Transfer functions: Example

Derive transfer function relating changes in outlet T to changes in inlet temperature Tin and heater Q

Tin win

Kp 1 T (s) = Tin (s ) + Q( s ) ! s +1 ! s +1
T w Q

Well solve this in class.

Transfer functions: Example

How many manipulated variables and how many disturbances do we have?

Kp 1 T (s) = Tin (s ) + Q(s ) How many ! s +1 ! s +1 controlled

T (s ) = G1 (s )Tin (s ) + G2 (s )Q(s )

outputs and how many inputs do we have here?

System can be forced by a change in either Ti or Q (see Example 4.3 textbook). G1 and G2 are transfer functions and independent of the inputs, Q and Tin. Note G1 (process) has gain K and time constant !.

Transfer functions: CSTR Example

The isothermal, CSTR in the figure has been operating for a long time with a constant feed concentration. The feed composition experiences a step. All other variables are constant. Determine the dynamic response of CA. Non-linear! F CA0

A!B
0.5 "rA = kCA

CA

Well solve this in class.

Transfer functions: CSTR Example

We solve the linearized model analytically and the non-linear was solved numerically.

Deviation variables do not change the answer, just translate the values

In this case, the linearized approximation is close to the exactnon-linear solution.

What are other causes of errors in models?

Dynamic modeling Errors in Parameters

The parameters we use in mathematical models are never known exactly. For several models solved in the textbook, evaluate the effect of the solution of errors in parameters. ! 20% in reaction rate constant k ! 20% in heat transfer coefficient ! 5% in flow rate and tank volume How would you consider errors in several parameters in the same problem?

Dynamic Modeling - Transfer functions

The emphasis on analytical relationships is directed to understanding the key parameters. In the examples, you learned what affected the gain and time constant. K: Steady-state Gain ! sign ! magnitude (dont forget the units) ! how depends on design (e.g., V) and operation (e.g., F, W)

!:Time Constant
! sign (positive is stable) ! magnitude (dont forget the units) ! how depends on design (e.g., V) and operation (e.g., F,W)