Lecture 8

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11/15/2022

LECTURE 8.0. CHAPTER 3


3.12. Velocities associated to the Kunii-Levenspiel model
3.13. Volume of bubbles and wake parameter

CE3AREMU Advanced Reaction Engineering 1

CH3, L8: Gas-solid Catalytic reactions


3.12. Velocities associated to the Kunii-Levenspiel model
3.13. Volume of bubbles and wake parameter
3.14. Fractional conversion (XA) and amount of catalyst (W cat)
3.15. Minimum fluidisation velocity (umf) inc. sphericity and gravity
3.16. Design of reactors
3.16.1. Fluidised bed design considerations
3.16.2. Data specification sheet
3.16.3. Circulating fluidised bed reactors (CFB)
By the end of this Lecture you should be able to:
➢ Identify and calculate the velocities associated to a fluidised bed
system using the Kunii-Levenspile model; Be able to calculate
main parameters for a fluidised bed reactor design, Be aware of
the type of information needed to be included in a data
specification sheet for a reactor; Name main hydrodynamic
characteristics between fixed-bed, fluidised bed and CFB reactors.
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3.12. Velocities
associated to the Kunii-
Levenspiel model

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Continuation of the Kunii-Levenspiel bubble model


Exchange coefficient Exchange coefficient
between the cloud between the bubble and
and the emulsion the cloud

𝐾𝑏𝑐 𝜸𝒆
𝐾𝑐𝑒 Ratios for distribution
𝜸𝒄 of solid particles
𝜸𝒃

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Velocities related to the Kunii-Levenspiel bubble model

Superficial velocity (u0)


Initial volume of reactant (i.e.
𝑣0 gaseous material to process)
𝑢0 = per time;
𝐴𝑐 Cross sectional area

Velocity of rise gas in the emulsion


phase (ue); [can be + or -]
𝑢𝑚𝑓
𝑢𝑒 = − 𝑢𝑠
𝜀𝑚𝑓

Velocity of solids (us)


Wake parameter
𝛼𝛿𝑢𝑏 Volume fraction of
𝑢𝑠 = bubbles
1 − 𝛿 − 𝛼𝛿
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Velocities related to the Kunii-Levenspiel bubble model


Velocity of bubble (ub)

𝑢𝑏 = 𝑢𝑏𝑟 + 𝑢0 − 𝑢𝑚𝑓

Velocity of single bubble rise (ubr)


NOTE: Do not mix db
1/2
𝑢𝑏𝑟 = 0.71 𝑔𝑑𝑏 for diameter of bed
and db for diameter of
the bubble!!!
Acceleration of gravity
= 9.8 m/s2 effective spherical
diameter of the bubble

Considering the definition of ubr,


the velocity of bubble (ub) can be How to account for the gravitational
also written as: term or drag force?
𝑢𝑏 = (𝑢0 −𝑢𝑚𝑓 ) + 0.71 𝑔𝑑𝑏 1/2
𝜂 = 𝑔 𝜌𝑝 − 𝜌𝑓
η term has been observed or included in the
equation for umf 6
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Bubble diameter and height column

Relationship between 𝑑𝑏𝑚 − 𝑑𝑏


bubble diameter and = 𝑒 −0.3(ℎ𝑚𝑎𝑥 /2)/𝐷𝑡
height in the column 𝑑𝑏𝑚 − 𝑑𝑏0

➢ 𝑑𝑏 bubble diameter in a bed of diameter Dt, observed at a height h


above the distributor plate. The top or maximum height of the bed,
will be given by (hmax /2), i.e. middle bed height.

➢ 𝑑𝑏0 diameter of the bubble formed initially just above the distributor
plate

➢ 𝑑𝑏𝑚 maximum bubble diameter attained if all the bubbles in any


horizontal plane coalesce to form a single bubble (this will occur if the
bed height is high enough)
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Maximum and minimum bubble diameter


Maximum bubble diameter for all beds

Cross sectional area Superficial and minimum


of the bed [cm2] fluidisation velocities [cm s-1]

Initial (minimum) bubble diameter depends on distributor plate


type 0.4
𝑑𝑏0 = 0.347 𝐴𝑐 𝑢0 − 𝑢𝑚𝑓 Τ𝑛𝑑
For perforated plates, where nd is the
For porous plates number of perforations

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Velocities related to the Kunii-Levenspiel bubble model

The rise velocity for a single bubble (ubr) is related to the bubble
size.

For more bubbles other factors to be


considered:

• Bubbles will carry each other UP through


the bed, therefore less drag effect will be
on an individual bubble

• Larger amounts of gas passing through


the bed (larger u0), the faster should be
the velocity of a gas bubble (ubr) as it
rises through the bed
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Velocities related to the Kunii-Levenspiel bubble model

Other factors affecting the rising velocity of a


gas bubble (ubr):

• Viscosity of the gas (µf)


• Size and density of the solid particles that
make up the bed

Both affecting umf:

The higher the umf, the lower the velocity of a


rising bubble (ubr)

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Kunii-Levenspiel model: bubbles velocities

The velocity of a gas bubble rise (ubr), as well as the bubble


velocity (ub), are functions of the bubble diameter (𝑑𝑏 ).

𝑑𝑏 is a very difficult value to obtain


as it depends on:

Bed diameter, height above the


distributor plate, gas velocity (u0),
and other components that affect the
fluidisation characteristics.

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Kunii-Levenspiel model: bubbles velocities

The bubble diameter (𝑑𝑏 )

It also depends upon the “internals” of the fluidised bed such


as: the type and number of baffles, heat exchangers tubes, etc.

• The design of the distributor plate


(which disperses the inlet gas over
the bottom of the bed), can also
have a pronounced effect upon the
bubble diameter.

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3.13. Volume of
bubbles and wake
parameter
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Fraction of the bed in bubble phase and wake parameter

Fraction of the bed occupied by bubbles or volume fraction of


bubbles (𝛿):

α is the wake parameter, and is


𝑢0 − 𝑢𝑚𝑓 a function of the particle size.
𝛿=
𝑢𝑏 − 𝑢𝑚𝑓 1 + 𝛼
Experimentally this value varies
between 0.25-1.0

The volume fraction of bubbles, can be simplified into…

𝑢0 − 𝑢𝑚𝑓 𝑢𝑏 ≫ 𝑢𝑚𝑓
𝛿= Valid for
𝑢𝑏 e.g. 𝑢𝑏 ≈
5𝑢𝑚𝑓
𝜀𝑚𝑓

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Fraction of the bed in bubble phase


𝑢0 − 𝑢𝑚𝑓
𝛿=
𝑢𝑏 − 𝑢𝑚𝑓 1 + 𝛼
BUBBLES
𝑢0 − 𝑢𝑚𝑓 Only valid for:
𝛿= 𝑢𝑏 ≫ 𝑢𝑚𝑓 SOLIDS
𝑢𝑏

Depending on the ratio 𝑢𝑚𝑓 Τ𝜀𝑚𝑓


δ fraction of bubbles in the
bed, it can be expressed as
𝑢𝑓𝑙 − 𝑢𝑚𝑓 fraction or in percentage.
𝛿= For 𝑢𝑏 ≅ 5𝑢𝑚𝑓 Τ𝜀𝑚𝑓
𝑢𝑏
𝑢𝑓𝑙 − 𝑢𝑚𝑓
𝛿= For 𝑢𝑏 ≅ 𝑢𝑚𝑓 Τ𝜀𝑚𝑓 4 different alternatives,
𝑢𝑏 + 𝑢𝑚𝑓 how to select?

END VIDEO 8.0. 15


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CE3019
Advanced Reaction
Engineering (2021-22)
LECTURE 8.1. CHAPTER 3
3.14. Fractional conversion and amount of catalyst
3.15. Minimum fluidisation velocity (umf)

Dr Paula Blanco
[email protected]
MB184-B
CEAC; Aston University November 2021

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3.14. Fractional
conversion (XA) and
amount of catalyst
(Wcat)
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Fractional conversion across the bed…

The fractional conversion across the bed is given by:

Volume fraction of Concentration of A in


Min. fluidisation velocity
bubbles the bubble region

𝛿𝑢𝑏∗ 𝐶𝐴𝑏 + 1 − 𝛿 𝑢𝑚𝑓 𝐶𝐴𝑒 Concentration of


A in the emulsion
𝑋𝐴 = 1 −
𝑢𝑓𝑙 𝐶𝐴0 region

Rise velocity of Velocity during Concentration of A in the


the bubble plus fluidisation inlet of the bed
the gas
surrounding
bubble

𝒖∗𝒃 = 𝑢𝑏 + 3𝑢𝑚𝑓

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How to calculate the height of the bed?

The height of the bed (h) necessary to achieve a specific conversion


(X), is given by:
𝑢𝑏 𝟏
ℎ= 𝒍𝒏
𝑘𝑐𝑎𝑡 𝑘𝑜𝑣𝑒𝑟𝑎𝑙𝑙 𝟏−𝑿

Where…
t: time

𝟏
𝒍𝒏 = 𝑘𝑐𝑎𝑡 𝑘𝑜𝑣𝑒𝑟𝑎𝑙𝑙 𝑡
𝟏−𝑿
Rate constants: catalyst, overall

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Amount of catalyst (Wcat)


Extended version of the solid holdup…

𝜌𝑝 𝑄𝑓 1 − 𝜀𝑚𝑓 𝑢𝑏𝑟 𝐶𝐴0 If we consider the definitions of h, Ac, δ,


𝑾𝒄𝒂𝒕 = 𝑙𝑛 the corresponding catalyst weight can be
𝑘𝑜𝑣𝑒𝑟𝑎𝑙𝑙 𝑢𝑓𝑙 𝐶𝐴 expressed as:

𝑾𝒄𝒂𝒕 = 𝜌𝑝 𝑨𝒄 𝒉 1 − 𝜹 1 − 𝜀𝑚𝑓 Voidage at min.


fluid. velocity

Density of the solid Volume fraction of


Cross sectional Height of the
catalyst particles bubbles
area bed

Substituting “h” into Wcat…


𝑢𝑏 1
𝒉= 𝑙𝑛
𝑘𝑐𝑎𝑡 𝑘𝑜𝑣𝑒𝑟𝑎𝑙𝑙 1−𝑋

𝜌𝑝 𝑨𝒄 𝑢𝑏 1 − 𝜀𝑚𝑓 1 − 𝛿 1
𝑾𝒄𝒂𝒕 = 𝑙𝑛
𝑘𝑐𝑎𝑡 𝑘𝑜𝑣𝑒𝑟𝑎𝑙𝑙 1−𝑋
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3.15. Minimum
fluidisation velocity
(umf) in terms of
sphericity and gravity
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Spherical particles…
We know that for a spherical particle the diameter is
6 × 𝑉𝑜𝑙𝑢𝑚𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑝𝑎𝑟𝑡𝑖𝑐𝑙𝑒 6𝑉𝑝
𝑑𝑝 = =
𝐸𝑥𝑡𝑒𝑟𝑛𝑎𝑙 𝑠𝑢𝑟𝑓𝑎𝑐𝑒 𝑎𝑟𝑒𝑎 𝑜𝑓 𝑝𝑎𝑟𝑡𝑖𝑐𝑙𝑒 𝑆𝑒𝑥

The volume of a spherical The surface area of a spherical


particle is given by particle is given by
1/3 2
𝜋𝑑𝑝3 6𝑣𝑝
𝑉𝑝 = 𝑠𝑒𝑥 = 𝜋𝑑𝑝2 =𝜋
6 𝜋

Define a new term known as “sphericity”, which is a measure of a particle’s


non-ideality in both shape and roughness, is given by (Psi):
2/3
6𝑉𝑝
𝑆𝑒𝑥 𝜋 𝜋
𝛹= =
𝐴𝑝 𝐴𝑝
Ap is the surface area of the particle (not
necessarily spherical shape)
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Equations useful for fluidisation reactors

Voidage or porosity of the bed at minimum fluidisation (𝜀𝑚𝑓 )


0.029 0.021
𝜇𝑓2 𝜌𝑓
𝜺𝒎𝒇 = 0.586Ψ−0.72
𝜌𝑓 𝜂𝑑𝑝3 𝜌𝑝

Kunii and Levenspiel state that 𝜀𝑚𝑓 is an easily measureable


value, but if we do not have experimental data, the above
equation should suffice.

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Minimum fluidisation velocity in terms of Ψ, η

Sphericity

3 2
Ψ𝑑𝑝 𝜀𝑚𝑓
𝑢𝑚𝑓 = 𝜼
150𝜇𝑓 1 − 𝜀𝑚𝑓

Gravity term
𝜼 = 𝒈(𝝆𝒑 − 𝝆𝒇 )

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Example: voidage, vol. fraction bubbles, solids holdup


A pilot fluidised bed is to be used to test a chemical reaction.
The bed diameter is 91.4 cm.
You want to process 28.3 X 103 cm3 of gaseous material per second. The average
particle diameter is 100 µm.
The reactor height is 10 feet. Allowing a disengaging height of 7 feet, which means
that we have a maximum bed height of 91.4 cm. The distributor plate is a porous
disc.
𝑑𝑏𝑚 − 𝑑𝑏 ℎ𝑚𝑎𝑥
= 𝑒 −0.3( 2 )/𝐷𝑡
Additional data: 𝑑𝑏𝑚 − 𝑑𝑏0
7 feet =
213.36 cm The maximum bed
10 feet = height is divided by
304.8 cm two in the above
hmax = equation (hmax /2=
3 feet = 45.7 cm); while the
η = 1270 g cm-2 s-2 91.4 cm bed height (h) is a
Not the same! One is value observed at a
diameter of the bed (Dt or height above the
Dt = db = 91.4 cm = 3 feet
db), the other one is distributor plate.
diameter of the bubble (db)!
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Example: voidage, vol. fraction bubbles, solids holdup

Additional data:
Use the following Figure to determine the value of α. Assume glass spheres are used.

Calculate:
𝜀𝑚𝑓 , 𝛼, 𝛿 (assume Rep < 10), report
0.525 values with two decimal places. For
𝛿 report the value as a percentage (%).

Also, use the following equation to


calculate the amount of solids in the
reactor (Wcat):
𝑊𝑐𝑎𝑡 = 𝜌𝑝 𝐴𝑐 ℎ 1 − 𝛿 1 − 𝜀𝑚𝑓
NOTE: To calculate umf use the equation
involving sphericity (Re < 10)

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Solving methodology: voidage, vol. fraction bubbles,


solids holdup
DATA: 1. Calculate 𝜀𝑚𝑓 by 0.029 0.021
𝜇𝑓2 𝜌𝑓
𝜀𝑚𝑓 = 0.586𝛹 −0.72
db = Dt = 91.4 cm substituting data given 𝜌𝑓 𝜂𝑑𝑝3 𝜌𝑝
v0 = 28.3 X 103 cm3 s-1
dp = 100 µm 𝑢0 − 𝑢𝑚𝑓
2. Calculate 𝛿, (find 𝛿=
h = 10 feet 𝑢𝑏 − 𝑢𝑚𝑓 1 + 𝛼 Slide 15
missing values in the
hmax = 91.4 cm
equation)
Ψ = 0.7 2 3
ρf = 1.07 x 10-3 g/cm3 2.1. Calculate 𝑢𝑚𝑓 , 𝛹𝑑𝑝 𝜀𝑚𝑓
µf = 1.5 x 10-4 poise (Rep < 10) 𝑢𝑚𝑓 = 𝜂 Slide 24
150𝜇𝑓 1 − 𝜀𝑚𝑓
ρp = 1.3 g/cm3
η = 1270 g cm-2 s-2 2.2. Calculate 𝑢𝑏 ,
𝑢𝑏 = 𝑢0 − 𝑢𝑚𝑓 + 0.71 𝑔𝑑𝑏 1/2
Distributor plate: porous disc NOTE: db is for the
Glass spheres bubble and NOT 𝑑𝑏𝑚 − 𝑑𝑏
bed! = 𝑒 −0.3ℎ/𝐷𝑡 Where…
𝑑𝑏𝑚 − 𝑑𝑏0
Conversions: 2.3. Calculate 𝒅𝒃 , values
required: 𝒅𝒃𝒎 , 𝒅𝒃𝟎 , then isolate db
1 poise = 1 g cm-1 s-1
-4
1 µm = 1 x 10 cm 2.4. Check relationship between
1 feet = 30.48 cm 𝑢𝑏 𝑎𝑛𝑑 𝑢𝑚𝑓 ; see if you can use
g = 980 cm s-2 reduced version of 𝛿
3. Calculate Wcat 𝑊𝑐𝑎𝑡 = 𝜌𝑝 𝐴𝑐 ℎ 1 − 𝛿 1 − 𝜀𝑚𝑓
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Solving methodology: voidage, vol. fraction bubbles,


solids holdup
DATA:

db = Dt = 91.4 cm
v0 = 28.3 X 103 cm3 s-1
dp = 100 µm
h = 10 feet
hmax = 91.4 cm Please try solving this problem based on the
Ψ = 0.7 guideline provided in the previous slide.
ρf = 1.07 x 10-3 g/cm3
µf = 1.5 x 10-4 poise
ρp = 1.3 g/cm3 We will check your results and calculations
η = 1270 g cm-2 s-2
in the tutorial of Week 9 or 10.
Distributor plate: porous disc
Glass spheres

Conversions:

1 poise = 1 g cm-1 s-1


1 µm = 1 x 10-4 cm
1 feet = 30.48 cm
g = 980 cm s-2
END VIDEO 8.1. 28
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CE3019
Advanced Reaction
Engineering (2021-22)
LECTURE 8.2. CHAPTER 3
3.16. Design of reactors
3.16.1. Fluidised bed design
3.16.2. Data specification sheet
Dr Paula Blanco
[email protected]
MB184-B
CEAC; Aston University
November 2021

29

3.16. Design of reactors

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Process design in chemical reaction engineering

Involves making decisions about:

Size:
Type of volume or
reactor amount of
catalyst

Operation
mode Process
(batch, conditions:
continuous) T, P, product
distribution,
etc.

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The “design problem”

Flow and
Reactor design mixing
pattern
uses information,
Energy Mass
knowledge and Balance balance

experience from
Design
principle
a variety of
Stability,
chemical Momentum control,
Balance sensitivity
(P, T)
engineering
areas Optimization

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3.16.1. Fluidised bed


design considerations

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Fluidised bed design considerations

The special features to take into account include:

• Fluid-particle interactions (fluid dynamics)


• Calculations of catalyst or reactant solid holdup
for a given fractional conversion
• Bed depth
• Vessel diameter and height
• Heat transfer requirements
• Conversion in the freeboard region, distribution
region, disengagement height
• Issues related to superficial velocity and flow
characteristics of the solid and fluid phases
within the vessel

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Parameters to be considered
(Bubbling fluidised bed systems)
Assuming laboratory-scale data is available, the following factors
can be considered in the design of larger units:

(height to diameter

Stability and aging


Bed aspect ratio

Size distribution
Bed type and
Circulation

of catalyst
bubble size

Distributors
Freeboard
ratio)
system

Design decision
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Parameters to be considered

Circulation system
If the catalyst deactivates rapidly and if
regeneration can supply (or remove) the
heat needed (or generated) by the
reaction, then a circulation system should
be considered for the pilot plant.

Bed type and bubble size


The two commonly used bed types are the freely bubbling
bed and the bed with internals. Thus, circulation systems
can have freely bubbling beds or beds with internals only for
control of bubble size and its rise velocity, whereas beds with
a batch of solids usually have internals for heat exchange
and control of bubble size and bubble rise velocity.
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Parameters to be considered
Bed aspect ratio (height to diameter ratio)
In a bed with internals the bubble Size is close to
constant, so for a given weight of solids and
volumetric gas flow rate, the aspect ratio has only a
small effect on conversion. Very shallow beds should
be avoided. As a safe value the minimum aspect ratio
should be about unity.

Freeboard
In vigorously bubbling beds catalyst is entrained above the
splash zone; thus reaction continues in the freeboard. If no
secondary reactions occur in the freeboard, then the gas
outlet can be located at the TDH. If harmful secondary
reactions do occur, they can be countered by reducing the
freeboard and using more efficient cyclones.
TDH is the region where the fluidized solids fall back in the bottom of the bed 37
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Parameters to be considered

Distributors
Good distributors such as porous sintered metal or ceramic plates
are commonly used with bench-scale equipment, but they are not
used in larger units because of their high cost and poor
resistance to the high mechanical and thermal stress. In a bed
with internals to limit bubble size, any conventional type of distributor
should operate satisfactorily. In a freely bubbling bed a distributor
with relatively small opening should be used.

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Parameters to be considered

Temperature stability and aging of catalyst


For highly exothermic and fast reactions the catalyst
particles dispersed in rising bubbles or resting in stationary
pockets near the inlet of an oxidizing gas stream may
jump to the high temperature stable point and there
deactivate rapidly. This situation is also likely to occur
when catalyst fouled by carbonaceous
material is regenerated by air.

Control of size distribution


The proper addition of coarse or fine solids and the
adjustment of the cyclone efficiency are used to control
the size distribution in the bed and to keep the bed
lubricated with sufficient fines for good fluidization.
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3.16.2. Design data


specification sheet

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Data Specification Sheet


(Design data)

Some of these
values can be
assumed based on
the literature
and/or given/fixed
as part of the
process
requirements!

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Fluidised bed reactors design steps

Proposed steps involved in the FBR design (advanced water treatment)

To predict the
behaviour of a
chemical reactor
requires information
on the
hydrodynamics,
stoichiometry,
thermodynamics,
heat and mass
transfer, reaction
rates, and lastly, flow
or contacting pattern
of materials in the
reactor.

International Journal of Innovation, Management and Technology, Vol. 5, No. 2, April 2014 42
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Example of parameters required for the design of a


fluidised bed system

Fluidised Bed Reactor for


Wastewater
Treatment

International Journal of Innovation, Management and Technology, Vol. 5, No. 2, April 2014 43
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Distributor plates
Primary distributor plate designs

The distributors are grouped based on the direction of air entering into
the distributor: normal direction, lateral direction and inclined direction
The efficient operation of a fluidised bed is dependent on
the distributor performance, which, in turn, is dependent on
the design parameters of the distributor.
Shukrie, et al. (2016) Engineering, Technology & Applied Science Research. 6:3; 1029-1034 44
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Requirements for distributor plates

e.g. using angle of incline,


*
nozzles and covers

If your process is not


corrosive, then this
* parameter can be
excluded

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Designs for distributor plates

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Designs for distributor plates

Can you tell what happens to the fractional conversion as


the diameter of the bubble is increased?

Different bubble size gives different reactor performance!

END VIDEO 8.2. 47


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CE3019
Advanced Reaction
Engineering (2021-22)
LECTURE 8.3. CHAPTER 3
3.16.3. Circulating fluidised bed
reactors (CFB)

Dr Paula Blanco
[email protected]
MB184-B
CEAC; Aston University
November 2021

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3.16.3. Circulating
fluidised bed reactors
(CFB)
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Circulating fluidised bed reactors

Require fluid velocities higher than Fluidised bed systems: turbulent flow, fast
fluidised, and pneumatic conveying

Circulating fluidised bed systems (CFB), are operated in the


transport mode. 50
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Circulating fluidised bed reactors

➢ The solids are carried over from the top of the


riser, separated and returned or recycled back
to the bottom of the riser via a L-valve, or
return valve.

➢ Recycling aims to improve efficiencies and


conversions (when compared to conventional
bubbling fluidised bed reactors)

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CFB: major parameters & calculations

1. Solids recirculation
∆𝑃
rate: superficial gas 𝑥𝑟 = Solid volume fraction
𝜌𝑝 𝑔∆ℎ
velocity (flow regime
and density of the Archimedes number:
bed), geometrical 𝜌𝑓 𝜌𝑝 − 𝜌𝑓 𝑔𝑑𝑝3
𝐴𝑟 = Relationship between gas
configuration 𝜇2 and solid particle properties
(dimensionless number)
2. Gas mixing: gas
bypassing 𝜌𝑓 𝑑𝑝 𝑢0 Reynolds number
𝑅𝑒 =
phenomena and gas 𝜇2 u0 – superficial gas velocity
mixing
𝑢0
3. Solids residence 𝐺𝑠 = 𝜌𝑝 1 − 𝜀 − 𝑢𝑠𝑙𝑖𝑝 Solid flux and gas velocity
𝜀
time: residence time
distribution

Up to some extent, the hydrodynamics for CFB is similar to FB 52


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CFB: transition velocities and riser solid hold-up

Empirical
equations to
determine the
fluidization
velocity at the
transition of
subsequent
operation regimes

The literature offers


a number of
equations to predict
the voidage in the
riser flow

Huili Zhang et al. / Procedia Engineering 102 ( 2015 ) 1092 – 1103 & 1112 – 1122 53
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CFB: operating variables

The key operating variables


for commercial operation of a
CFB, usually fall into the
following ranges:

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CFB: major commercial applications

END VIDEO 8.2.


Handbook of Fluidization and Fluid-Particle Systems
edited by Wen-Ching Yang END LECTURE 8 55
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