CEE 5403:

PROCESS
CONTROL
NON INTERACTING /INTERACTING TANKS
PROCESS DYNAMICS
PROCESS DYNAMICS
PROCESS DYNAMICS

Dynamics Behaviour of 1st Order Control System CSTR

𝑉𝑑𝐶0
𝑞𝑖 𝐶𝑖 − 𝐾𝑉𝐶0 − 𝑞0 𝐶0 = 𝐸𝑞 1
𝑑𝑡
𝑑𝐶0
At steady state….. =0
𝑑𝑡

𝑞𝑖 𝐶𝑖𝑠 − 𝐾𝑉𝐶0𝑠 − 𝑞0 𝐶0𝑠 = 0 𝐸𝑞 2

PROCESS DYNAMICS

Dynamics Behaviour of 1st Order Control System CSTR

𝑉𝑑𝐶0
𝑞𝑖 𝐶𝑖 − 𝐾𝑉𝐶0 − 𝑞0 𝐶0 = 𝐸𝑞 1
𝑑𝑡
𝑑𝐶0
At steady state….. =0
𝑑𝑡

𝑞𝑖 𝐶𝑖𝑠 − 𝐾𝑉𝐶0𝑠 − 𝑞0 𝐶0𝑠 = 0 𝐸𝑞 2

Introduction of deviation variables ….

𝐶ഥ𝑖 = 𝐶𝑖 − 𝐶𝑖𝑠 ; 𝐶0 = 𝐶0 − 𝐶0𝑠

𝑉𝑑
𝑞𝑖 (𝐶𝑖 − 𝐶𝑖𝑠 ) − 𝐾𝑉 𝐶0 − 𝐶0𝑠 − 𝑞0 (𝐶0 − 𝐶0𝑠 ) = (𝐶0 − 𝐶0𝑠 ) 𝐸𝑞 3
𝑑𝑡
PROCESS DYNAMICS

Dynamics Behaviour of 1st Order Control System CSTR

𝑞𝑖 (𝐶𝑖 − 𝐶𝑖𝑠 ) − 𝐾𝑉 𝐶0 − 𝐶0𝑠 − 𝑞0 (𝐶0 − 𝐶0𝑠 ) =
𝑉𝑑
(𝐶0 − 𝐶0𝑠 ) 𝐸𝑞 3
𝑑𝑡

𝑉𝑑𝐶0
𝑞𝑖 𝐶ഥ𝑖 − 𝐾𝑉𝐶0 − 𝑞0 𝐶0 = 𝐸𝑞 4
𝑑𝑡

𝐶0 (𝑠) 𝑞𝑖
= 𝐸𝑞 5
𝐶𝑖 (𝑠) 𝑉𝑠+𝑘𝑉+𝑞𝑖

𝑞𝑖
𝐶0 (𝑠) 𝐾𝑉+ 𝑞0
= 1 𝐸𝑞 6
𝐶𝑖 (𝑠) 𝑠+1
𝐾𝑉+ 𝑞0
PROCESS DYNAMICS

Dynamics Behaviour of 1st Order Control System CSTR

𝐾
𝐺(𝑠) = 𝐸𝑞 7
𝜏𝑠 + 1

𝑞𝑖
𝐾= 𝐸𝑞 8
𝐾𝑉 + 𝑞0

1
𝜏= 𝐸𝑞 9
𝐾𝑉+ 𝑞0
PROCESS DYNAMICS

Dynamics Behaviour of 1st Order Control System Liquid Level Single Tank
𝐴𝑑ℎ
𝑞𝑖 − 𝑞0 = 𝐸𝑞 1
𝑑𝑡
ℎ ℎ
But 𝑅 = ∴ 𝑞0 =
𝑞0 𝑅

ℎ 𝐴𝑑ℎ
𝑞𝑖 − = 𝐸𝑞 2
𝑅 𝑑𝑡
𝑑ℎ
At steady state….. =0
𝑑𝑡

ℎ
𝑞𝑖 − =0 𝐸𝑞 3
𝑅
 PROCESS DYNAMICS

Dynamics Behaviour of 1st Order Control System Liquid Level Single Tank

Introduction of deviation variables ….

𝑞ഥ𝑖 = 𝑞𝑖 − 𝑞𝑖𝑠 ; ℎത = ℎ − ℎ𝑠

ഥ
ℎ ഥ
𝑑ℎ
𝑞ഥ𝑖 = + 𝐴 𝐸𝑞 4
𝑅 𝑑𝑡

ത
ℎ(𝑠) 𝑅
= 𝐸𝑞 5
𝑞ഥ𝑖 (𝑠) 𝐴𝑅𝑠 + 1
PROCESS DYNAMICS

Dynamics Behaviour of 1st Order Control System Liquid Level Single Tank

𝐾
𝐺(𝑠) = 𝐸𝑞 6
𝜏𝑠 + 1

𝐾=𝑅 𝐸𝑞 7

𝜏 = 𝐴𝑅 𝐸𝑞 8
PROCESS DYNAMICS

Dynamics Behaviour of 1st Order Control System Mixing Process

𝑉𝑑𝐶0
𝑞𝑖 𝐶𝑖 = 𝑞0 𝐶0 + 𝐸𝑞 1
𝑑𝑡
𝑑𝐶0
At steady state….. =0
𝑑𝑡

𝑞𝑖 𝐶𝑖 − 𝑞0 𝐶0 = 0 𝐸𝑞 2

𝑞𝑖 𝐶𝑖𝑠 = 𝑞0 𝐶0𝑠 𝐸𝑞 3
PROCESS DYNAMICS

Dynamics Behaviour of 1st Order Control System Mixing Process

Introduction of deviation variables ….
𝐶ഥ𝑖 = 𝐶𝑖 − 𝐶𝑖𝑠 ; 𝐶0 = 𝐶0 − 𝐶0𝑠

𝑉𝑑
𝑞𝑖 (𝐶𝑖 − 𝐶𝑖𝑠 ) = 𝑞0 (𝐶0 − 𝐶0𝑠 ) + (𝐶0 − 𝐶0𝑠 ) 𝐸𝑞 4
𝑑𝑡

𝑉𝑑
𝑞𝑖 𝐶ഥ𝑖 = 𝑞0 𝐶0 − 𝐶 𝐸𝑞 5
𝑑𝑡 0

𝐶0 (𝑠) 1
= 𝐸𝑞 6
𝐶ഥ𝑖 (𝑠) 𝑉
𝑠 + 1
𝑞
PROCESS DYNAMICS

Dynamics Behaviour of 1st Order Control System Mixing Process

𝐾
𝐺(𝑠) = 𝐸𝑞 7
𝜏𝑠 + 1

𝐾=1 𝐸𝑞 8

𝑉
𝜏= 𝐸𝑞 9
𝑞
PROCESS DYNAMICS

Dynamics Behaviour of Stirred Tank Heating System

Introduction of deviation variables ….
𝑑𝐸
= 𝑊𝐻𝑖 − 𝑊𝐻0 + 𝑄 𝐸𝑞 1
𝑑𝑡

𝑑𝐻
𝜌𝑉 = 𝑊𝐻𝑖 − 𝑊𝐻0 + 𝑄 𝐸𝑞 2
𝑑𝑡

𝐵𝑢𝑡 𝐻 = 𝐶𝑝(𝑇 − 𝑇𝑟 )

𝑑
𝜌𝑉 𝐶𝑝 𝑇 − 𝑇𝑟 = 𝑊𝐶𝑝 𝑇𝑖 − 𝑇𝑟 − 𝑊𝐶𝑝 𝑇 − 𝑇𝑟 + 𝑄 𝐸𝑞 3
𝑑𝑡
𝑑𝑇
𝜌𝑉𝐶𝑝 = 𝑊𝐶𝑝(𝑇𝑖 − 𝑇) + 𝑄 𝐸𝑞 4
𝑑𝑡
 PROCESS DYNAMICS

Dynamics Behaviour of Stirred Tank Heating System

Introduction of deviation variables ….
𝑇ഥ𝑖 = 𝑇𝑖 − 𝑇𝐶𝑖𝑠 ; 𝑇0 = 𝑇0 − 𝑇0𝑠 ; 𝑄ത = 𝑄 − 𝑄𝑠
𝑑𝑇
At steady state….. =0
𝑑𝑡

𝑊𝐶𝑝(𝑇𝑖 − 𝑇) + 𝑄 = 0 𝐸𝑞 5

𝑑
𝑊𝐶𝑝(𝑇𝑖 − 𝑇𝐶𝑖𝑠 ) − 𝑊𝐶𝑝(𝑇0 − 𝑇0𝑠 ) + 𝑄 − 𝑄𝑠 = 𝜌𝑉𝐶𝑝 (𝑇 − 𝑇0𝑠 ) 𝐸𝑞 6
𝑑𝑡 0
𝑑
𝜌𝑉𝐶𝑝 (𝑇 − 𝑇0𝑠 ) = 𝑊𝐶𝑝(𝑇𝑖 − 𝑇𝐶𝑖𝑠 ) − 𝑊𝐶𝑝(𝑇0 − 𝑇0𝑠 ) + 𝑄 − 𝑄𝑠 𝐸𝑞 7
𝑑𝑡 0
𝑑 𝑇0
𝜌𝑉𝐶𝑝 = 𝑊𝐶𝑝𝑇ഥ𝑖 − 𝑊𝐶𝑝𝑇0 + 𝑄ത 𝐸𝑞 8
𝑑𝑡
 PROCESS DYNAMICS

Dynamics Behaviour of Stirred Tank Heating System

𝐾
𝑑 𝑇0 𝐺(𝑠) = 𝐸𝑞 11
𝜌𝑉𝐶𝑝 = 𝑊𝐶𝑝𝑇ഥ𝑖 − 𝑊𝐶𝑝𝑇0 + 𝑄ത 𝐸𝑞 8 𝜏𝑠 + 1
𝑑𝑡
𝜌𝑉
1 𝐾=1 𝜏= 𝐸𝑞 12
𝑊
1 𝑊𝐶
𝑇0 𝑆 = 𝑇ഥ𝑖 𝑠 + 𝑄ത 𝑠 𝐸𝑞 9
𝜌𝑉 𝜌𝑉 1 𝜌𝑉
𝑠 +1 𝑠 +1 𝐾= 𝜏= 𝐸𝑞 13
𝑊 𝑊 𝑊𝐶 𝑊

𝑇0 𝑠 = 𝐺1 𝑠 𝑄ത 𝑠 + 𝐺2 𝑠 𝑇ഥ𝑖 𝑠 𝐸𝑞 10

𝐺1 𝑠 with Process gain K and 𝜏 and 𝐺2 𝑠 with Process gain 1 and 𝜏

 PROCESS DYNAMICS

Dynamics Behaviour of Liquid Level Tank

𝑑ℎ
Linearization of Non linear System At steady state….. =0
𝑑𝑡

𝑞0 = 𝐶 ℎ 𝐸𝑞 1
𝑞𝑖𝑠 = 𝐶 ℎ𝑠 + 0
𝐴𝑑ℎ
𝑞𝑖 𝜌𝑖 = 𝑞0 𝜌0 + 𝜌 𝐸𝑞 2 Introduction of deviation variables ….
𝑑𝑡 𝑞ഥ𝑖 = 𝑞𝑖 − 𝑞𝑖𝑠 ; ℎത = ℎ − ℎ𝑠

𝜌0 = 𝜌𝑖 𝐴𝑑ℎത
𝑞ഥ𝑖 = 𝐶 ℎത +
𝑑𝑡
𝐴𝑑ℎ
𝑞𝑖 = 𝐶 ℎ + 𝐸𝑞 3 1
𝑑𝑡 ℎ = ℎ𝑠 + ℎ − ℎ𝑠 𝐸𝑞 4
2 ℎ𝑠
 PROCESS DYNAMICS

Dynamics Behaviour of Liquid Level Tank

Linearization of Non linear System 𝐾
1 𝐺(𝑠) = 𝐸𝑞 8
ℎ = ℎ𝑠 + ℎ − ℎ𝑠 𝐸𝑞 4 𝜏𝑠 + 1
2 ℎ𝑠
2 ℎ𝑠
1 𝐴𝑑ℎത 𝐾= 𝐸𝑞 9
𝑞ഥ𝑖 = ത
ℎ + 𝐸𝑞 5 𝐶
2 ℎ𝑠 𝑑𝑡
2 ℎ𝑠 𝐴
ത
ℎ(𝑠) 1 𝜏= 𝐸𝑞 10
𝐶
= 𝐸𝑞 6
𝑞ഥ𝑖 (𝑠) 𝐶
+ 𝐴𝑠
2 ℎ𝑠
2 ℎ𝑠
ത
ℎ(𝑠)
= 𝐶 𝐸𝑞 7
𝑞ഥ𝑖 (𝑠) 2 ℎ𝑠 𝐴
𝑠+1
𝐶
 PROCESS DYNAMICS

Dynamics Behaviour of Liquid Level Tank

Linearization of Non linear System
Example 1.
A liquid level tank system has a cross sectional area of 3 𝑓𝑡 2 . The nature of characteristics
are q = 8 ℎ where q is the flowrate in CFM, h = level above the value. Calculate the
time constant for this system if the average is
𝐾
𝐺(𝑠) =
(i) 3 ft 𝜏𝑠 + 1
(ii) 9 ft
2 ℎ𝑠
𝐾=
𝐶

2 ℎ𝑠 𝐴
𝜏=
𝐶
 PROCESS DYNAMICS

Dynamics Behaviour of Liquid Level Tank

Linearization of Non linear System 2 ℎ𝑠
ത
ℎ(𝑠)
Example 2. = 𝐶
For a level tank system has a cross sectional area of 100 𝑐𝑚2 . And inlet flowrate 𝑞ഥ𝑖 (𝑠) 2 ℎ𝑠 𝐴
𝑠+1
𝑞𝑖 in 𝑐𝑚3 /𝑠. The outlet flowrate 𝑞0 𝑐𝑚3 /𝑠 is related to the liquid height (H) in 𝐶
cm as 𝑞0 = 3 ℎ. Then the Transfer Function of process around steady state
point 𝑞𝑖𝑠 = 18 𝑐𝑚3 /𝑠 and h = 36 cm is 𝐾
𝐺(𝑠) =
𝜏𝑠 + 1

2 ℎ𝑠
𝐾=
𝐶

2 ℎ𝑠 𝐴
𝜏=
𝐶