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Development of Empirical Dynamic Models From Step Response Data

This document discusses various methods for developing empirical dynamic models from step response data for complex processes that cannot be modeled using first principles. It describes black box modeling approaches using step, impulse, random, and frequency response testing and compares them to theoretical modeling. It also provides examples of modeling a distillation column and outlines simple process models like first-order plus time delay models as well as methods for parameter estimation including graphical techniques and the S&K method.

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0% found this document useful (0 votes)
76 views21 pages

Development of Empirical Dynamic Models From Step Response Data

This document discusses various methods for developing empirical dynamic models from step response data for complex processes that cannot be modeled using first principles. It describes black box modeling approaches using step, impulse, random, and frequency response testing and compares them to theoretical modeling. It also provides examples of modeling a distillation column and outlines simple process models like first-order plus time delay models as well as methods for parameter estimation including graphical techniques and the S&K method.

Uploaded by

dhiyaul
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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Development of Empirical Dynamic

Models from Step Response Data


Black box models
step response easiest to use but may upset
the plant manager (size of input change?
Chapter 7

move to new steady-state?)


other methods

impulse - dye injection, tracer


random - PRBS (pseudo random binary sequences)
sinusoidal - theoretical approach
frequency response - modest usage (incl. pulse testing)
on-line (under FB control)

1
Some processes too complicated to model using
physical principles

material, energy balances


flow dynamics
physical properties (often unknown)

Chapter 7

thermodynamics

Example 1: distillation column


50 plates
For a 50 plate column, dynamic models have
many ODEs that require model simplification; and physical
properties must be known; e.g., HYSYS

black box models (only good for fixed operating conditions) but
requires operating plant (actual data)

theoretical models must be used prior to


2
plant construction or for new process chemistry
Chapter 7

Need to minimize disturbances during a plant test

3
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

4
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

maximum slope (t = ) intersects the 100%


line at (t = ). [see Fig. 7.2]
K is found from the steady state response for an input
change magnitude M.
There are 4 generally accepted graphical techniques
for determining first order system parameters , :
1. 63.2% response
2. point of inflection
3. S&K method
4. semilog plot ln(1 yi / KM ) vs. ti 5
Chapter 7

( = 0)
speed of response 6
Chapter 7

Inflection point hard to find with noisy data.


7
S & K Method for Fitting FOPTD
Model
Normalize step response
(t = 0, y = 0; t , y = 1)
Chapter 7

Use 35 and 85% response times (t1 and t2)


= 1.3 t1 0.29 t2
= 0.67 (t2 t1)
(based on analyzing many step responses)
K found from steady state response
Alternatively, use Excel Solver to fit and using
y (t) = K [1 e (t-)/t] and data of y vs. t

8
Fitting an Integrator Model
to Step Response Data

In Chapter 5 we considered the response of a first-order process


to a step change in input of magnitude M:


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))
9
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)

Comparing with (7-22),

K
K2 (7-25)

matches the early ramp-like response to a step change in input.

10
Chapter 7

Figure 7.10. Comparison of step responses for a FOPTD


model (solid line) and the approximate integrator plus time
delay model (dashed line).
11
Chapter 7

( 0)
12
Chapter 5

13
Chapter 7

14
Chapter 7

15
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

16
Using Excel Solver to Fit Transfer
Function Models
use y (data) vs. y (predicted)
Chapter 7

column 1 is data (taken at different times), or y1


column 2 is model prediction (same time values as
above), or y2
target cell is S (y1 - y2)2 , to be minimized
specify parameters to be changed in reference cells
(e.g. 1 = 1, 2 = 2)
open solver dialog box to check settings
click on < solve > (calls optimization program) 17
Chapter 7

18
Chapter 7

19
Chapter 7

20
Chapter 7

Previous chapter Next chapter 21

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