Chapter 6

Dynamic Behavior of Ideal

Systems
 Overall Course Objectives
• Develop the skills necessary to function as an
industrial process control engineer.
– Skills
• Tuning loops
• Control loop design
• Control loop troubleshooting
• Command of the terminology
– Fundamental understanding
• Process dynamics
• Feedback control
 Ideal Dynamic Behavior
• Idealized dynamic behavior can be
effectively used to qualitatively describe the
behavior of industrial processes.
• Certain aspects of second order dynamics
(e.g., decay ratio, settling time) are used as
criteria for tuning feedback control loops.
 Inputs

 t

A A

a
 First Order Process
dy (t )
p  y (t )  K p u (t ) • Differential equation
dt
Kp
G p (s)  • Transfer function
 ps  1
• Note that gain and
time constant define
the behavior of a first
order process.
 First Order Process
0.95 AK p
y (t )
0.63 AK p


y

u u
t
0  p 3
p
 Determine the Process Gain and
Process Time Constant from Gp(s)
16
G p ( s) 
s2
Rearrange to standard form
8
G p ( s) 
0 .5 s  1
Then  p and K p can be determined directly
 p  0.5 Kp  8
Estimate of First-Order Model
from Process Response

y
Kp 
u
p  settling time
4
 In-Class Exercise
• By observing a process, an operator
indicates that an increase of 1,000 lb/h of
feed (input) to a tank produces a 8%
increase in a self-regulating tank level
(output). In addition, when a change in the
feed rate is made, it takes approximately 20
minutes for the full effect on the tank to be
observed. Using this process information,
develop a first-order model for this process.
 Second Order Process
2
d y (t ) dy (t )
p
2
2
 2  p  y (t )  K p u (t )
dt dt
• Differential equation

Kp
G p (s)  • Transfer function
 s  2  p s  1
2 2
p

• Note that the gain, time

constant, and the
damping factor define
the dynamic behavior
of 2nd order process.
Underdamped vs Overdamped
 Effect of  on Overdamped
Response
1
 =1
0.8  =2
 =3
0.6
y(t)/AKp

0.4

0.2

0
0 4 8 12
t/ p
 Effect of  on Underdamped
Response
2
 =0.1

1.5
0.4
y(t)/AKp

0.7
1

 =1.0
0.5

0
0 4 8 12
t/ p
Effect of  on Underdamped
Response
4

2
y (t )/AKp

1
z=0
0

-1 z=-0.1
-2
0 4 t /tn 8 12
 Characteristics of an
Underdamped Response
• Rise time
B C ±5% • Overshoot (B)
• Decay ratio
(C/B)
y(t)

T • Settling or
D response time
• Period (T)

Time
trise trt
 Example of a 2nd Order Process
P sp PC

Vent
PT C.W.

• The closed loop performance of a process with a PI controller can behave as

a second order process.
• When the aggressiveness of the controller is very low, the response will be
overdamped.
• As the aggressiveness of the controller is increased, the response will
become underdamped.
Determining the Parameters of a
2nd Order System from its Gp(s)
1
G p (s)  2
2s  1.5s  0.5
Rearranging into the standard form
2
G p (s)  2
4 s  3s  1
Then
p  4  2 Kp  2
3
   0.75
2 p
Second-Order Model Parameters
from Process Response
Data: PI controller with 20% overshoot and
with a period of oscillation equal to 5 min.

Solution: PI controller yields K p  1. With Equation 5.15

20% overshoot yields ζ  0.456. Then, Equation 5.17
with the period of oscillation yields  p  0.708 min
1
G p (s) 
0.0502 s 2  1.29 s  1
 High Order Processes
• The larger n, the more
sluggish the process
response (i.e., the larger
n=3 the effective deadtime)
• Transfer function:
y

n=5 n=15
Kp
G p (s) 
 p s  1
n

Time
 Example of Overdamped Process

LC • Distillation columns are

made-up of a large
L
D number of trays stacked
AT on top of each other.
V • The order of the process
LC is approximately equal
AT
to the number of trays in
B the column
 Integrating Processes
• In flow and out flow
are set independent of
level
Ls • Non-self-regulating
process
• Example: Level in a
tank.
Fout
• Transfer function:

0 20 40 60 80 100
Time (seconds)
1
G p (s) 
 Ac s
 Deadtime
F spec
FC

FT
F

C A 0

AT
L
F

• Transport delay from reactor to analyzer:

Cs (t )  C (t   ) where    L Ac / F
• Transfer function:
 s
G p (s)  e
 FOPDT Model
5th Order
Process

FOPDT Model

Time

• High order processes are well represented by

FOPDT models. As a result, FOPDT models do a
better job of approximating industrial processes
than other idealized dynamic models.
Determining FOPDT Parameters

2/3  y

y

1/3  y

0 t1/3 t2/3
Time
• Determine time to one-third of total change and
time to two-thirds of total change after an input
change.
• FOPDT parameters:
t 2 / 3  t1/ 3 y
p   p  t1/ 3  0.4 p Kp 
0.7 u
Determination of t1/3 and t2/3
t u y
0 0 0 y  6
1 1 0 y1/ 3  2
2 1 2 y2 / 3  4
3 1 3 t1/ 3  2  1  1
4 1 4 t2 / 3  4  1  3
5 1 6
6 1 6
 In-Class Exercise

• Determine a FOPDT model for the data

given in Problem 5.51 page 208 of the text.
 Inverse Acting Processes
• Results from competing
y(t) factors.
• Example: Thermometer
• Example of two first
order factors:
u(t)
Kp K p
G p (s)  
Time  ps  1  p s  1
K p  K p and  p   p
 Lead-Lag Element
 ld s  1
G(s) 
 lg s  1

 ld> lg
y (t )

1.0

 ld< lg
0.0
Time
 Recycle Processes
• Recycle processes recycle
mass and/or energy.
• Recycle results in larger
Product T f
time constants and larger
process gains.
• Recycles (process
T o T r
integration) are used more
Feed today in order to improve
the economics of process
Energy Recycle designs.
 Mass Recycle Example
Fresh A
Feed
Fresh B
Feed

LC

PT
LC
Steam
TT

TT LC
Steam

C Product
 Overview
• It is important to understand terms such as:
– Overdamped and underdamped response
– Decay ratio and settling time
– Rectangular pulse and ramp input
– FOPDT model
– Inverse acting process
– Lead-Lag element
– Process integration and recycle processes