Development of Empirical Dynamic Models From Step Response Data
Development of Empirical Dynamic Models From Step Response Data
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Some processes too complicated to model using
physical principles
thermodynamics
black box models (only good for fixed operating conditions) but
requires operating plant (actual data)
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Simple Process Models
-s 1st order system with gain K,
Ke
G(s) = dead time and time
s + 1 constant ; 3 parameters to
be fitted.
Chapter 7
Step response:
y(t ) KM (1 e (t ) / ) t y(t ) 0 t
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For a 1st order model, we note the following
characteristics (step response)
(1) The response attains 63.2% of its final response
at one time constant (t = ).
(2) The line drawn tangent to the response at
Chapter 7
( = 0)
speed of response 6
Chapter 7
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Fitting an Integrator Model
to Step Response Data
Chapter 7
y1 t KM 1 e t / (5-18)
For short times, t < , the exponential term can be approximated
by t
e t / 1
so that the approximate response is:
t KM
y1 t KM 1 1 t (7-22)
(straight line with slope of y1(t=0))
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is virtually indistinguishable from the step response of the
integrating element
K2 M
G2 s U (s) (7-23)
s s
In the time domain, the step response of an integrator is
Chapter 7
y2 t K 2 Mt (7-24)
K
K2 (7-25)
matches the early ramp-like response to a step change in input.
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Chapter 7
( 0)
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Chapter 5
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Chapter 7
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Chapter 7
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Smiths Method
20% response: t20 = 1.85
60% response: t60 = 5.0
t20 / t60 = 0.37
from graph
Chapter 7
t60 1 2 1
2.8 = 1.79
= 1.3 2 2 1
Solving, 1 3.81
2 0.84
1 2 Sum of squares
S 3.81 0.84 0.0757
NLR ( = 0 ) 2 . 9 9 1 . 9 2 0 . 0 0 0 0 2 8
F O P T D ( = 0 . 7 ) 4 . 6 0 - 0 . 0 7 6 0
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Using Excel Solver to Fit Transfer
Function Models
use y (data) vs. y (predicted)
Chapter 7
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Chapter 7
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Chapter 7
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Chapter 7