Process Dynamics Modeling and Transfer Functions

Process Modeling: Heated Stirred Tank

Assumptions
• Perfect Mixing
• Incompressible and constant Density
• Negligible Heat losses
• No work done by impeller
• Liquid height/hold up may vary
• Constant Heat Capacity
• No Change in kinetic, potential
energy
Transfer Functions
An algebraic expression for the dynamic relation between a selected input and output of a
process model
Deriving Transfer Functions
Transfer Functions
Assumptions
Heated Stirred Tank • Perfect Mixing
• Constant Density
• Negligible Heat losses
• No work done by impeller
• Constant holdup
• Constant heat capacity

Control Objective:
Maintain a specific value of T
Adjust Q
c While keeping constant
Transfer Functions
Heated Stirred Tank
𝑑𝑉 𝑤𝑖 −𝑤
𝑤 𝑖 =𝑤
𝑓𝑟𝑜𝑚
𝑑𝑡
=
𝜌

𝑑𝑇 𝑤𝑖 𝑄
= ( 𝑖
𝑇 − 𝑇 ) +
𝑑𝑡 𝜌𝑉 𝜌 𝑉𝐶

Control Objective:
Maintain a specific value of T
Adjust Q
c While keeping constant
Transfer
Functions
Heated Stirred Tank
𝑑𝑇 𝑤𝑖 𝑄
= (𝑇 𝑖− 𝑇 ) +
𝑑𝑡 𝜌𝑉 𝜌 𝑉𝐶
𝑤𝑖 𝑄
SS Model:
0= (𝑇 𝑖− 𝑇 ) +
𝜌𝑉 𝜌 𝑉𝐶

Control Objective:
Maintain a specific value of T
Adjust Q
c While keeping constant
Transfer Functions
Heated Stirred Tank

𝑑𝑇 𝑤𝑖 𝑄
= ( 𝑖
𝑇 − 𝑇 ) +
𝑑𝑡 𝜌𝑉 𝜌 𝑉𝐶
𝑤𝑖 𝑄
0= (𝑇 𝑖− 𝑇 ) +
𝜌𝑉 𝜌 𝑉𝐶

𝑑𝑇 𝑤𝑖 (𝑄 −𝑄 )
= (𝑇 −𝑇 )+
𝑑𝑡 𝜌𝑉 𝜌 𝑉𝐶
c
Transfer Functions
Heated Stirred Tank
𝑑𝑇 𝑤𝑖 (𝑄 −𝑄 )
= (𝑇 −𝑇 )+
𝑑𝑡 𝜌𝑉 𝜌 𝑉𝐶
Deviation variables:
′
𝑇 =𝑇 − 𝑇
′
𝑄 =𝑄 −𝑇
In terms of deviation variables:

𝑑𝑇 𝑤
′
𝑖 ′ 𝑄
′
c =− 𝑇 +
𝑑𝑡 𝜌𝑉 𝜌 𝑉𝐶
Transfer Functions
Heated Stirred Tank

𝑑𝑇
′
𝑤 𝑖 ′ 𝑄
′
=− 𝑇+
𝑑𝑡 𝜌𝑉 𝜌 𝑉𝐶
Laplace Transform:

′ ′ 𝑤𝑖 ′
− 1 ′
𝑠 𝑇 (𝑠)−𝑇 (𝑡=0 )=− 𝑇 (𝑠)+ 𝑄 (𝑠)
𝜌𝑉 𝜌𝑉𝐶

′ 𝑤𝑖 ′ 1 ′
( )
𝑠 𝑇 𝑠 =− 𝑇 (𝑠 )+ 𝑄 ( 𝑠)
c 𝜌𝑉 𝜌 𝑉𝐶
Transfer Functions
Heated Stirred Tank ′ 𝑤𝑖 ′ 1 ′
𝑠 𝑇 ( 𝑠 )=− 𝑇 (𝑠 )+ 𝑄 ( 𝑠)
𝜌𝑉 𝜌 𝑉𝐶

Isolate

[ 𝑠+
𝑤𝑖
𝜌𝑉 ] ′
𝑇 ( 𝑠)=
1
𝜌 𝑉𝐶
′
𝑄 ( 𝑠)

′
1
𝜌 𝑉𝐶
𝑇 ′ ( 𝑠 )= 𝑄 ( 𝑠)
𝑤𝑖
c 𝑠+
𝜌 𝑉
Transfer Functions
′
1
Heated Stirred Tank
′ 𝜌 𝑉𝐶
𝑇 ( 𝑠 )= 𝑄 ( 𝑠)
𝑤𝑖
𝑠+
𝜌 𝑉
Divide by

1
′
𝑇 (𝑠 ) 𝜌 𝑉𝐶
𝐺 ( 𝑠) = =
𝑄′ ( 𝑠) 𝑤𝑖
𝑠+
𝜌𝑉
𝑂𝑢𝑡𝑝𝑢𝑡
𝑇 . 𝐹 .=
c 𝐼𝑛𝑝𝑢𝑡
Transfer Functions
Heated Stirred Tank Block Diagram
𝐼𝑛𝑝𝑢𝑡 𝑂𝑢𝑡𝑝𝑢𝑡
′ ′
𝑄 ( 𝑆) 𝑇 ( 𝑆)
𝐺 (𝑆 )

𝐺 ( 𝑆 )=
′
𝑇 ( 𝑠)
=
( 1
𝜌 𝑉𝐶 )
′
𝑄 ( 𝑠) 𝑤𝑖
𝑠+
𝜌𝑉
c
Example:
𝐺 ( 𝑆 )=
′
𝑇 ( 𝑠)
=
1
𝜌 𝑉𝐶 ( )
Heated Stirred Tank ′
𝑄 ( 𝑠) 𝑤𝑖
𝑠+
𝜌𝑉
a.) If If derive the response from an input given by:

ρ – 1000
𝑡
kg/m3
Given:
V – 10
m3
C – 4.184 kJ/kg K
wi = 0.5 kg/s
a.) If If derive the response from an input given by:

From the Derived Transfer Function

𝐺 ( 𝑆 )=
′
𝑇 ( 𝑠)
=
1
𝜌 𝑉𝐶 ( )
′
𝑤𝑖
𝑄 ( 𝑠)
𝑠+
𝜌𝑉 ′
𝑇 ( 𝑠)
𝐺 ( 𝑆 )= ′ =
( 1
1000 ∗ 10 ∗ 4 . 184 )
𝑄 ( 𝑠) 0 .5
Derive the response from an input given by: 𝑠+
1000 ∗ 10
𝑇 ′ ( 𝑠) 2 . 39 𝑥 10 −5
𝐺 ( 𝑆 )= ′
=
𝑄 ( 𝑠) 𝑠 +5 𝑥 10−5

′
𝐺𝑒𝑡 𝑡ℎ𝑒𝑒𝑥𝑝𝑟𝑒𝑠𝑠𝑖𝑜𝑛 𝑓𝑜𝑟 𝑞 (𝑡 ) 𝑏𝑦 𝑖𝑛𝑠𝑝𝑒𝑐𝑡𝑖𝑜𝑛:
𝑆ℎ𝑖𝑓𝑡 𝑞 ( 𝑡 ) 𝑑𝑜𝑤𝑛 𝑠𝑜𝑡ℎ𝑎𝑡 𝑞 ( 0− ) =0

𝑡
a.) If If derive the response from an input given by:

From the Derived Transfer Function

𝐺 ( 𝑆 )=
′
𝑇 ( 𝑠)
=
1
𝜌 𝑉𝐶 ( )
′
𝑤𝑖
𝑄 ( 𝑠)
𝑠+
𝜌𝑉 ′
𝑇 ( 𝑠)
𝐺 ( 𝑆 )= ′ =
( 1
1000 ∗ 10 ∗ 4 . 184 )
𝑄 ( 𝑠) 0 .5
Derive the response from an input given by: 𝑠+
1000 ∗ 10
𝑇 ′ ( 𝑠) 2 . 39 𝑥 10 −5
𝐺 ( 𝑆 )= ′
=
𝑄 ( 𝑠) 𝑠 +5 𝑥 10−5

𝑇ℎ𝑒𝑛 :
 ′
𝑆𝑢𝑏𝑠𝑡𝑖𝑡𝑢𝑡𝑒𝑄 ( 𝑠 ) 𝑖𝑛𝑡𝑜𝑡ℎ𝑒𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛𝐺 ( 𝑠) :
′ −5
𝑇 ( 𝑠) 2 . 39 𝑥 10
( )
𝐺 𝑆 = =
20
𝑠 (
𝑠 +5 𝑥 10−5
)
′
𝐼𝑠𝑜𝑙𝑎𝑡𝑒 𝑇 (𝑠)

()
−4
′ 4 .78 𝑥 10 1
′ 𝑇 ( 𝑠)=
𝑞 ( 𝑡 ) =20 𝑆 (𝑡 ) 𝑠+5 𝑥 10 −5
𝑠
′
𝐺𝑒𝑡 𝑡ℎ𝑒 𝐿𝑎𝑝𝑙𝑎𝑐𝑒𝑜𝑓 𝑞 ( 𝑡 ) :
20 𝐸𝑥𝑝𝑎𝑛𝑑𝑡𝑜𝑝𝑎𝑟𝑡𝑖𝑎𝑙 𝑓𝑟𝑎𝑐𝑡𝑖𝑜𝑛𝑠 :
′
𝑄 ( 𝑠 )=
𝑠
 T(t)
Take the Inverse Laplace Transform

not T itself.To get T(t):

T’(t)