0% found this document useful (0 votes)
47 views28 pages

Chapter 5

Uploaded by

MD IMRAN HOSSEN
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
0% found this document useful (0 votes)
47 views28 pages

Chapter 5

Uploaded by

MD IMRAN HOSSEN
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 28

ChE 4745

Process Control and Dynamics

Dynamic Behavior Of
Chapter 5

First Order and Second


Order Processes
Dynamic Behavior

In analyzing process dynamic and process control systems, it is


important to know how the process responds to changes in the
5
Chapter 5

process inputs.
A number of standard types of input changes are widely used for
two reasons:

C 1. They are representative of the types of changes that occur


h in plants.
a
pt 2. They are easy to analyze mathematically.
er
1. Step Input

A sudden change in a process variable can be approximated by


a step change of magnitude, M:

(5-4)
5
Chapter 5

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

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


h give it the symbol, S(t).
a
pt • Example of a step change: A reactor feedstock is suddenly
er switched from one supply to another, causing sudden
changes in feed concentration, flow, etc.
Example:
The heat input to the stirred-tank heating system in Chapter 2 is
suddenly changed from 8000 to 10,000 kcal/hr by changing the
electrical signal to the heater. Thus,
Q t   8000  2000S t , S t  unit step
5
Chapter 5

and
Q t   Q  Q  2000S t , Q  8000 kcal/hr

2. Ramp Input
C
h • Industrial processes often experience “drifting
a disturbances”, that is, relatively slow changes up or down
for some period of time.
pt • The rate of change is approximately constant.
er
We can approximate a drifting disturbance by a ramp input:

(5-7)

5 Examples of ramp changes:


Chapter 5

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


change?)
2. Feed composition, heat exchanger fouling, catalyst
C activity, ambient temperature.
h 3. Rectangular Pulse
a
pt It represents a brief, sudden change in a process variable:
er
(5-9)

XRP
5
Chapter 5

0 Tw Time, t
C
h Examples:
a
pt 1. Reactor feed is shut off for one hour.
er 2. The fuel gas supply to a furnace is briefly interrupted.
a
5

h
C

er
pt
Chapter 5
4. Sinusoidal Input

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


They can be approximated by a sinusoidal disturbance:

5
Chapter 5

(5-14)

where: A = amplitude,  = angular frequency


C
h Examples:
a
pt 1. 24 hour variations in cooling water temperature.
er 2. 60-Hz electrical noise (in the USA)
5. Impulse Input

• Here, U I t    t .
• It represents a short, transient disturbance.
Examples:
5
Chapter 5

1. Electrical noise spike in a thermo-couple reading.


2. Injection of a tracer dye.
• Useful for analysis since the response to an impulse input
is the inverse of the TF. Thus,
C
u t  y t 
h G s 
a U s  Y s 
pt Here,
er
Y s   G s U s  (1)
The corresponding time domain express is:

y t    g t  τ u τ dτ
t
(2)
0

5 where:
Chapter 5

g t  = L1 G s  (3)


Suppose u t    t  . Then it can be shown that:
C y t   g t  (4)
h
a Consequently, g(t) is called the “impulse response function”.
pt
er
First-Order System
The standard form for a first-order TF is:

(5-16)

5 where:
Chapter 5

K = steady-state gain
τ = time constant
Consider the response of this system to a step of magnitude, M:
C
U t   M for t  0  U s  
M
h s
a
pt Substitute into (5-16) and rearrange,
er Y s  
KM
(5-17)
s τs 1
Take L-1 (cf. Table 3.1),

(5-18)

Let y = steady-state value of y(t). From (5-18), y  KM .


5
Chapter 5

1.0
y
t y
y 0 0
0.5
y τ 0.632
C
2τ 0.865
h 0
0 3τ 0.950
a 1 2 3 4 5

pt t 4τ 0.982
er τ 5τ 0.993
Note: Large τ means a slow response.
Integrating Process
Not all processes have a steady-state gain. For example, an
“integrating process” or “integrator” has the transfer function:

5
Chapter 5

Consider a step change of magnitude M. Then U(s) = M/s and,


C
h
a
pt Thus, y(t) is unbounded and a new steady-state value does not
er exist.
Common Physical Example:
Consider a liquid storage tank with a pump on the exit line:
qi

5
Chapter 5

h
- Assume:
q
1. Constant cross-sectional area, A.
C 2. q  f h
h - Mass balance: A
dh
 qi  q (1)  0  qi  q (2)
a dt
pt - Eq. (1) – Eq. (2), take L, assume steady state initially,
er
- For Q s   0 (constant q),
Exercise Problem

5
Chapter 5

C
h
a
pt
er
Second-Order Systems
• A second-order transfer function can arise physically
whenever two first-order processes are connected in series.

5
Chapter 5

• For such systems

C (5-37)
h
a • Alternatively, a second-order process transfer function
pt will arise upon transforming either a second-order
er differential equation process model
Second-Order Systems
• Standard form:

(5-38)

5
Chapter 5

which has three model parameters:

K = steady-state gain
τ = "time constant" [=] time
C ζ = damping coefficient (dimensionless)
h
a
pt
er
Damping coefficient ζ
• Damping coefficient ζ (zeta) is dimensionless. It provides a
measure of the amount of damping in the system—that is, the
degree of oscillation in a process response after an input
change.
5
Chapter 5

• Small values of ζ imply little damping and a large amount of


oscillation, as, for example, in an automobile suspension
system with ineffective shock absorbers. Hitting a bump
causes a vehicle to bounce up and down dangerously.
C
h • where ζ < 0; it corresponds to an unstable second-order
a system that has an unbounded response to any input. The
pt overdamped and critically damped forms of the second-order
er transfer function most often appear when two first-order
systems occur in series
Equating the denominators yields the relation between the two
alternative forms for the overdamped second-order system

Equating coefficients of the s terms,


Chapter 5
Step Response
The Characteristic polynomial

Poles are
Chapter 5

For a unit step input, the response will be:


1

3
Chapter 5

1. Overdamped Response

Where,
Case 2: Critically damped Response

Case 3: underdamped Response


Chapter 5
a
5

h
C

er
pt
Chapter 5
a
5

h
C

er
pt
Chapter 5
• The type of behavior that occurs depends on the numerical
value of damping coefficient, ζ :
It is convenient to consider three types of behavior:
Damping Type of Response Roots of Charact.
Coefficient Polynomial
5
Chapter 5

ζ 1 Overdamped Real and ≠

ζ 1 Critically damped Real and =

0  ζ 1 Underdamped Complex
C conjugates
h
a • Note: The characteristic polynomial is the denominator of the
pt transfer function:
er τ 2 s 2  2ζτs 1
What about ζ  0 ? It results in an unstable system
Several general remarks can be made concerning the
responses show in Figs. 5.8 and 5.9:

1. Responses exhibiting oscillation and overshoot (y/KM > 1) are


obtained only for values of ζ less than one.
5 2. Large values of ζ yield a sluggish (slow) response.
Chapter 5

3. The fastest response without overshoot is obtained for the


critically damped case ζ  1.

C
h
a
pt
er
a
5

h
C

er
pt
Chapter 5
1. Rise Time: tr is the time the process output takes to first
reach the new steady-state value.
2. Time to First Peak: tp is the time required for the output to
reach its first maximum value.

5 3. Settling Time: ts is defined as the time required for the


Chapter 5

process output to reach and remain inside a band whose width


is equal to ±5% of the total change in y. The term 95%
response time sometimes is used to refer to this case. Also,
values of ±1% sometimes are used.
C 4. Overshoot: OS = a/b (% overshoot is 100a/b).
h
5. Decay Ratio: DR = c/a (where c is the height of the second
a peak).
pt
er 6. Period of Oscillation: P is the time between two successive
peaks or two successive valleys of the response.

You might also like