9/21/2021

Ali M. Sahlodin
Department of Chemical Engineering
AmirKabir University of Technology

Importance of dynamic modeling

Importance of process control

Examples of control systems

Basic definitions
 Controlled variable, manipulated variable,
disturbance variable, set point.

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Improve process understanding

Train operating personnel

Develop control strategies

Optimize operating conditions

F
M
Twc

Twj x

AmirKabir Univ. of Tech. Dept. of Chemical Engineering 3

Examples:
 Minimize startup time
 Minimize startup waste
 Maximize yield in a batch process

We need a dynamic model for optimization

AmirKabir Univ. of Tech. Dept. of Chemical Engineering 4

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w1, x1 w2, x2

Steady-state model
 Assumptions?
0 = Rate of mass in - Rate of mass out w, x

w1  w2  w  0
w1 x1  w2 x2  wx  0

Dynamic model Rate of accumulation =
 Assumptions? Rate of mass in - Rate of mass out
d ( V )
 w1  w2  w
dt
d ( Vx)
 w1 x1  w2 x2  wx
dt
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Dynamic models yield differential equations

 Time as an independent variable

This
course is limited to ordinary differential
equations (ODEs)
 p: constant parameters dx
 x: state variables
(t )  f(x(t ), p, t )
dt

Find
state variables and parameters in the
blending example.

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More assumptions?
w1, x1 w2, x2
 Constant density
d (V )
  w1  w2  w
dt
w, x
d (Vx)
  w1 x1  w2 x2  wx
dt

 d ( x) d (V ) 
 V x   w1 x1  w2 x2  wx
 dt dt 

Assume constant volume

How?
 Overflow line
 Closed tank that is filled to capacity
 Nearly perfect control of level

w1, x1 w2, x2 w2, x2

w1, x1

w, x
Filled
Overflow up
w, x

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Analytically
 If model is simple enough

Numerically
 Used in most practical cases

Sudden change in inlet composition x from

0.4 to 0.8.

Initial condition

Dynamic solution
 Transient behavior
 Final steady state

See Example 2.1 of Seborg’s book

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How to know if the model can be solved?

Linear system of equations y  Ax

For General systems of equations N F  NV  N E

Exactly Specified
Underspecified
Overspecified

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Rate of accumulation Rate of work done Rate of heat

of energy in system on the system added to the system

Rate of energy added to Rate of energy

system by incoming removed from system
material by outgoing material

Total energy in the system

Etot  U  EK  EP

Changes in kinetic and potential energies can usually be

ignored in process modeling
Exceptions?

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dV
P
dt
W&s

F h
in
in in F h
out out
out
Q& i

Q& e

dU & &
 Q  W   Fin hin   Fout hout
dt in out

dV
W&  W&shaft  P
dt
& &
Q  Qe  Qi &
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dU & & dV
 Q  Ws  P   Fin hin   Fout hout
dt dt in out

dU & &
Constant-volume (rigid vessel)  Q  Ws   Fin hin   Fout hout
dt in out

dU dH d ( PV ) dV
   Q&  W&s  P   Fin hin   Fout hout
dt dt dt dt in out

Constant-pressure

dH dV dP & & dV
P V  Q  Ws  P   Fin hin   Fout hout
dt dt dt dt in out

dH & &
 Q  Ws   Fin hin   Fout hout
dt in out

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k
A B
Some assumptions
•Constant volume
•Constant density
•Tc constant through the coil

E
( )
k  k0 e RT
Nonlinear ODE? Why?

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Change in cooling water temperature

I. -10 K
II. +5 K

Response changes dramatically with direction & magnitude of change

(typical for nonlinear dynamics)

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