Assignment 2

TCE 5102 PDC

Group Members

1. Beauty P. Gororo N0198880E

2. Gugulethu P. Ncube N0198299K

3. Iphithule Ndhlovu N0198428Q

4. Kholwani Matshazi N0198561W

5. Matifadza Mashamba N0198657A

6. Mhleli Makhalima N0198001X

7. Munashe S. Makusha N0198640Q

8. Samuel Z. Tembo N0916395B

9. Tadiwanashe R. Mbodza N0199016K

10. Takudzwa Manyora N0198788L

11. Thamsanqa Gumbo N0198493

Question 1

Consider a thermocouple with a time constant of 0.1 seconds and a static sensitivity of 3
mV/°C. Initially the output is 0.01 Volt. The temperature is suddenly changed to 100°C?
What would the response be? Plot the response. [25]

τ = 0.1
K = 0.003 V/C
Assume temperature change occurred at t = 0s.
y(0) = 0.01V initial voltage
x = 100°C

𝑑𝑦
𝜏 + 𝑦 = 𝐾𝑥
𝑑𝑡
 𝑑𝑦
0.1 + 𝑦 = 0.003(100)
𝑑𝑡

𝑑𝑦
0.1 + 𝑦 = 0.3
𝑑𝑡

𝑑𝑦
+ 10𝑦 = 3
𝑑𝑡

Introducing a Laplace on both sides

𝑑𝑦
L [ 𝑑𝑡 + 10𝑦 = 3]

3
sY(s) – y(0) + 10Y(s) = 𝑠

but y(0) = 0.01

3
sY(s) – 0.01 + 10Y(s) = 𝑠

3
sY(s) + 10Y(s) = 𝑠 + 0.01
3
Y(s) [s + 10] = 𝑠 + 0.01

3+0.01𝑠
Y(s) = 𝑠(𝑠+10)

Partial Fraction
3+0.01𝑠 𝐴 𝐵
= 𝑠 + 𝑠+10
𝑠(𝑠+10)

3 + 0.01s = A(s + 10) + Bs

For s = 0
3 + 0.01(0) = A(0 + 10) + B(0)
3 = 10A
3
A = 10
For s = -10
3 + 0.01(-10) = A(-10 + 10) + B(-10)
2.9 = -10B
29
B = -100

3 29
Y(s) = 10𝑠 − 100(𝑠+10)

Introducing inverse Laplace

3 29
L-1 [ − ]
10𝑠 100(𝑠+10)

3 1 29 1
L-1 [10 (𝑠 ) − 100 (𝑠+10)]

3 29
Y(t) = 10 − 100 e-10t

Y(t) = 0.3 – 0.29e-10t

0,35

0,3

0,25
STep Response

0,2

0,15

0,1

0,05

0
0 0,1 0,2 0,3 0,4 0,5 0,6
Time (s)
Question 2

For tank 1

Inlet – outlet = accumulation

𝑑ℎ1
qi – q1 = A1 𝑑𝑡

ℎ1
but q1 = 𝑅1

ℎ1 𝑑ℎ1
qi – 𝑅1 = A1 𝑑𝑡

Taking the Laplace

ℎ1 𝑑ℎ1
L [qi – 𝑅1 = A1 𝑑𝑡 ]

𝐻 𝐼 1(𝑠)
Ql1(s) - = A1(s)HI1(s)
𝑅1

𝐻 𝐼 1(𝑠)
Ql1(s) = A1(s)HI1(s) + 𝑅1

1
Ql1(s) = HI1(s)[ A1(s) + ]
𝑅1
 𝐻1𝐼 (𝑠) 𝑅1
=
𝑄𝑖𝐼 𝐴1 𝑅1 (𝑠) + 1

But Ql1(s) = q1 – qis (steady state) and HI1(s) = h1 – his (steady state)

From the equation above 𝐾1 = 𝑅1 and 𝜏1 = 𝐴1 𝑅1 (𝑠)

Hence equation becomes

𝐻1𝐼 (𝑠) 𝐾1
=
𝑄1𝐼 𝜏1 (𝑠) + 1

Since ℎ1= 𝑞1 𝑟1 transforming into laplace 𝐻1 (𝑠) = 𝑄1 (𝑠) 𝑅

𝑄 | 1 (𝑠 ) 1
=𝑅
𝐻1 (𝑠) 1

𝑄 | 1 (𝑠) 1
But 𝑅1 = 𝐾1 THUS equation above becomes =
𝐻1 (𝑠) 𝐾1

For tank 2
𝑑ℎ2
q1 - q2 = A2 𝑑𝑡

𝑄 | 2 (𝑠 ) 1
ℎ2
but q2 = 𝑅2 transforming to laplace =𝑅
𝐻2 (𝑠) 2

ℎ 𝑑ℎ2
q1 - 𝑅2 = A2 𝑑𝑡
2

Taking the Laplace

𝐻𝐼
Q1I(s) - 𝑅2 = A2(s)H2I(s)
2

𝐴2 𝑅2 (𝑠)+1
Q1I(s) = H2I(s) [ ]
𝑅2

𝐻2𝐼 (𝑠) 𝑅2
=
𝑄1𝐼 𝐴2 𝑅2 (𝑠) + 1
From the equation above 𝐾2 = 𝑅2 and 𝜏2 = 𝐴2 𝑅2 (𝑠)

Hence equation becomes

𝐻2𝐼 (𝑠) 𝐾2
𝐼 = 𝜏 (𝑠) + 1
𝑄1 2

𝑄 | 2 (𝑠 ) 1 𝑄 | 2 (𝑠) 1
Also, equation =𝑅 thus becomes =
𝐻2 (𝑠) 2 𝐻2 (𝑠) 𝐾2

q1s – q2s = 0 (steady state)

𝑑ℎ2
q1 – qis – (q2 – q2s) = A2 𝑑𝑡

Making a product of All transfer functions to relate the Tank 1 volumetric flow (in) to tank 2
𝑄 | 2 (𝑠 ) 𝑄 | 2 (𝑠) 𝐻2𝐼 (𝑠) 𝐻1𝐼 (𝑠) 𝑄 | 1 (𝑠)
volumetric flow (out ) = x x x
𝑄𝑖 (𝑠) 𝐻2 (𝑠) 𝑄1𝐼 (𝑠) 𝑄𝑖𝐼 𝐻1 (𝑠)

Substituting to yield all the gain transfer functions to yield

𝑄 | 2 (𝑠 ) 1 𝐾2 𝐾1 1
=
𝑄𝑖 (𝑠) 𝐾2 𝜏2 (𝑠)+1 𝜏1 (𝑠)+1 𝐾1

Simplifying the equation becomes

𝑄 | 2 (𝑠) 1 1
= 𝑥
𝑄𝑖 (𝑠) 𝜏2 (𝑠) + 1 𝜏1 (𝑠) + 1