Chemical Engineering

Prepared by: Mr Ali Abbas

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Mathematical Background
Laplace transformer & inverse
laplace transformer

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 Laplace Transformers
 The first step in study and analysis any system is find
model mathematical
 The Laplace transform can be used to solve differential
equations.
 The Laplace transform converts differential equations from
time domain into an algebraic equation in (S) domain by
rules of algebraic obtain the solution in S domain, the final
solution by inverse Laplace.
 The advantages of L.T. gives total solution (Transient and
steady state component)

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 The Laplace Transformation
Time Domain Frequency Domain

Laplace Transform
Differential Algebraic
equations equations

Input Input
excitation e(t) excitation E(s)
Output Output
response r(t) response R(s)
Inverse Laplace Transform

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  We can define the Laplace transform as:

L [f (t )]  F (s )   f (t )e  st
dt
0
Where; f(t)= is time function
F(s)= Laplace transform
S= complex frequency is given by
s  i
Where  is the real part and  is the imaginary part

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 Laplace transformers of some functions
Example1. Derive the Laplace transform of the step function.

0 t  0
f (t )  
a t  0

F (s )   f (t )e dt  st
0


F (s )   (A )e  st dt
0

e st  e 0 A
F (s )  A [ ]0  0  [ ] 
s s S 6
 Laplace transformers of some functions
Example 2. Derive the Laplace transform of the Ramp function.

0 t 0
f (t )  
at t  0

F (s )   At .e dt  st
0

 st  st
e e  A
F (s )  [At .  A . 2 ]0  2
s s s
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 Laplace transformers of some functions
Example 3. Derive the Laplace transform of the exponential function

 t
f (t )  e

 
 
 t  st  (  s ) t
F (s)  e e dt  e dt
0 0

 ( s  ) t 
e  e 0
   0
( s   )  0 ( s   )
1

s  8
 Laplace transformers of some functions
Example 5. Derive the Laplace transform of the Impulse
function: 100

90

0 t  0
80

 (t )  
70

60

 t  0

Input
50

40

30

20

10

0
0 1 2 3 4 5 6 7 8 9 10
Time

The impulse function has zero value every where

except at t=0, where the amplitude is infinite;
mathematically an impulse function is the
derivative of step function
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 Laplace transformers of some functions
Impulse function is the derivative of step function:
d
L  (t )  L [u (t )]
dt
 sL [u (t )]
1
 (s )  s *  1
s

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Table: (1) 11
 Inverse Laplace Transformer
 We can define the Inverse Laplace transform as:

1   j

1
L [ F ( s )]  f (t )  F ( s ) e st
ds
2j   j

 But this method is not generally used; we can u

Partial fraction and take the inverse Laplace with
help table (1)

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13
 Inverse Laplace Transformer
Example 6: Determine the inverse transform of the function below.

5 12 8
F (s)   2 
s s s3
3t
f (t )  5  12t  8e

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15
16
 Time
Modelling response
and Ttransfer (First order
Function response
system)

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WHY WE NEED DYNAMIC
MODELS ?
Do the Bus and bicycle have different dynamics?
 Which can make a U-turn in 1.5 meter?
 Which responds better when it hits bump?

Dynamic performance
depends more on the vehicle
than the driver!

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 WHY WE NEED DYNAMIC MODELS ?
Feed material is delivered periodically, but the
process requires a continuous feed flow. How
large should the tank volume be?

We must provide process flexibility

for good dynamic performance!
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 WHY WE NEED DYNAMIC MODELS
?
The cooling water pumps have failed. How long
do we have until the exothermic reactor runs
away?

Process dynamics are

important for safety!
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WHY WE NEED DYNAMIC MODELS ?

Math models
help us answer How does the process influence
these the response?
questions!

- How far? -How fast -“Shape”

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 Dynamic behavior of First-
order system
In analyzing process dynamic and process control systems, it
is important to know how the process responds to changes in
the process inputs.

• Two categories in process inputs.

1. Inputs that can be manipulated to control the process.
2. Inputs that are not manipulated, classified as disturbance
or load variable.

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 A number of standard types of input
changes are widely used for two
reasons:
1. They are representative of the types of changes that
occur in plants.
2. They are easy to analyze mathematically.

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1. Step Input

A sudden change in a process variable can be approximated by

a step change of magnitude, M:

The step change occurs at an arbitrary time denoted as t = 0.

• Special Case: If M = 1, we have a “unit step change”. We give it the

symbol, S(t).
• Example of a step change: A reactor feedstock is suddenly switched
from one supply to another, causing sudden changes in feed
concentration, flow, etc.
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2. Ramp Input
• Industrial processes often experience “drifting
disturbances”, that is, relatively slow changes up or down
for some period of time.
• The rate of change is approximately constant.
We can approximate a drifting disturbance by a ramp input:

Examples of ramp changes:

1. Ramp a setpoint to a new value. (Why not make a step change?)

2. Feed composition, heat exchanger, ambient temperature.
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3. Rectangular Pulse
It represents a brief, sudden change in a process variable:

XRP
h

0 Tw Time, t

Examples:

1. Reactor feed is shut off for one hour.

2. The fuel gas supply to a furnace is briefly interrupted.
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4. Sinusoidal Input

Processes are also subject to periodic, or cyclic, disturbances.

They can be approximated by a sinusoidal disturbance:

where: A = amplitude,  = angular frequency

Examples:

1. 24 hour variations in cooling water temperature.

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 5. Impulse Input

Here, U I  t     t  .
It represents a short, transient disturbance.
Examples:
1. Injection of a tracer dye.

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 Transfer Function
 The transfer function of a system is heart of the control system
analysis.

 Transfer function is defined as ratio of Laplace transformer of

the output to the Laplace transformer of input with initial
conditions are zero.

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 Simple Dynamic Systems:
1st Order
 The basic equation for a 1st order system

 However in process control, we have the standard form of

1st order by dividing each term by a0:

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Standard form of the first-order transfer function.

Y (s ) K

X (s )  s  1

Time constant: characterize the speed of response of

a first-order system.
Static gain: characterize the sensitivity of the output
to the input signal. 31
 Example 1: Transfer Function of Liquid level
System

If qo is the volumetric flow rate through the resistance

and is related to the head (h) by q  h
o
R
By writing the mass balance around the tank to find transfer
function;
Mass flow in – Mass flow out = rate of mass in the tank
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 d (  A .h )
q i  q o 
dt
Dividing both sides of equation by  then;
dh
q i  qo  A
dt
dh h
A  qi 
dt R
dh
At steady state condition, the term 0
dt
hs
q is   0
R
1 dh
(q i  q is )  (h  hs )  A
R dt 33
 h  h  hs
Q i  q i  q is
1 dh
Qi  H  A
R dt
By take Laplace transformer of above equation
1
Q i (s )  H (s )  AsH (s )
R
H (s ) R1

Qi (s ) 1s  1

This called the transfer function for first order system

The term, τ (time constant) and R1 (static gain)
characterize the first order system
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If the transfer function relating inlet q i to the outlet
flow is desired, we follow the following steps:
h
qo 
R
hs h  hs
q os  q o  q os 
R R
H H (s )
Qo  Qo (s ) 
R R

H (s ) R

Qi (s )  s  1
Qo (s ) 1

Q i (s )  s  1 35
Time Response Analysis of system

First Order System

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 Time Response
 The time response of a control system is
divided into two parts
 Transient response
 Steady state response
y (t )  y t (t )  y ss (t )

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Transient response of first order system

 Transientresponse: the time required to

change from one state to another state is
known as transient time.

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 Example 2: Find time response of
thermometer if subjected difference inputs
function
:is The transfer function of Mercury
Thermometer
Y (s ) 1

X (s )  s  1

 forfirst order system (e.g. thermometer)

is subjected to unit step change the
response can be evaluated as following: 39
 The response of thermometer for unit step function

Y (s ) 1

X (s )  s  1

The Laplace transformer of unit step function

1 1 1
X s  
1
Y s   . 
s s  s  1 s ( s  1)
By applying the partial fraction
A B
Y s   
s  s 1 40
 1 
Y s   
s  s 1
1 1
Y s   
s s1

By taking the inverse Laplace
transformer

y t   1  e t /τ

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The response of thermometer for unit step function


y t   1  e t /τ


Note: Large τmeans a slow response.

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Response of thermometer for ramp function
Y (s ) 1 1
 X (s ) 
X (s )  s  1 s2

1
Y (s )  2 Y s   2 
k1
k2

k3
s ( s  1) s s  s 1
1  2
Y s    
s2 s  s 1
1  1
Y s   
2 s
  .
s 1
s
 43
y t   t     .e t /τ

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Response of Unit-impulse response of first-order systems

The unit-impulse input x(t) =  (t), t  0

Laplace transform: X(s) = 1.

1
The output transform: Y(s)=
 s 1

Taking the inverse Laplace transform:

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