Professional Documents
Culture Documents
Chapter 4 (10-6-06) 1
Chapter 4 (10-6-06) 1
Chapter 4
X s
system
y t
Y s
input
output
forcing function
response
cause
effect
1
Chapter 4
Y s
X s
where:
Y s L y t
X s L x t
Chapter 4
(1)
Chapter 4
0 wC Ti T Q
(3)
(4)
4
But,
dT d T T
because T is a constant
dt
dt
(5)
Chapter 4
(6)
(7)
Take L of (6):
V C sT s T t 0 wC Ti s T s Q s (8)
5
Evaluate T t 0 .
By definition, T T T .Thus at time, t = 0,
Chapter 4
T 0 T 0 T
(9)
But since our assumed initial condition was that the process
was initially at steady state, i.e., T 0 T it follows from (9)
that T 0 0.
Note: The advantage of using deviation variables is that the
initial condition term becomes zero. This simplifies the later
analysis.
T s
Q s
Ti s
s 1
s 1
(10)
6
1
and
wC
V
w
11
Chapter 4
T s
K
Q s s 1
(12)
Chapter 4
Q t Q Q t 0 Q s 0
Thus, rearranging
T s
1
Ti s s 1
(13)
Comments:
1. The TFs in (12) and (13) show the individual effects of Q and Ti
on T. What about simultaneous changes in both Q and Ti ?
Chapter 4
Answer: See (10). The same TFs are valid for simultaneous
changes.
Note that (10) shows that the effects of changes in both Q
and Ti are additive. This always occurs for linear, dynamic
models (like TFs) because the Principle of Superposition is
valid.
Chapter 4
1. Steady-State Gain
The steady-state of a TF can be used to calculate the steadystate change in an output due to a steady-state change in the
input. For example, suppose we know two steady states for an
input, u, and an output, y. Then we can calculate the steadystate gain, K, from:
y2 y1
K
u2 u1
(4-38)
K lim G s
Chapter 4
s 0
(14)
11
2. Order of a TF Model
Chapter 4
an
dny
dt
an1
bm1
dy n1
dt
n 1
d m1u
dt
m1
dy
d mu
a1 a0 y bm m
dt
dt
du
b1
b0u
dt
(4-39)
G s
Y s
U s
i
b
s
i
i 0
n
(4-40)
i
a
s
i
i 0
12
Definition:
The order of the TF is defined to be the order of the denominator
polynomial.
Chapter 4
Physical Realizability:
For any physical system, n m in (4-38). Otherwise, the system
response to a step input will be an impulse. This cant happen.
Example:
du
a0 y b1
b0u and step change in u
dt
(4-41)
13
3. Additive Property
Chapter 4
Y s
U1 s
G1 s and
Y s
U2 s
G2 s
G1(s)
Y(s)
U2(s)
G2(s)
14
4. Multiplicative Property
Suppose that,
Y s
Chapter 4
U2 s
G2 s and
U2 s
U3 s
G3 s
Then,
Y s G2 s U 2 s and U 2 s G3 s U 3 s
Substitute,
Y s G2 s G3 s U 3 s
Or,
Y s
U3 s
G2 s G3 s
U3 s
G2 s
G3 s
Y s
15
Chapter 4
16
Linearization (continued)
Chapter 4
(4-60)
f
u
y
s
(4-61)
Linearization (continued)
Substitute (4-61) into (4-60) gives:
Chapter 4
dy
f
f u , y
dt
u
u
s
f
y
(A)
(B)
Also, because y
y - y, it follows that,
dy
dy
=
(C)
dt
dt
Substitute (B) and (C) into (A) gives the linearized model:
dy f
dt u
f
u
y
s
(4-62)
s
18
dh
A
qi q (1)
dt
q Cv h
(2)
Chapter 4
Valve relation:
A = area, Cv = constant
C
dh 1
qi v
dt A
A
h f (h, qi )
(3)
(4)
19
Chapter 4
where:
Cv
f
h s
2A h
(5)
f
1
qi s A
(6)
(7)
2 h
Cv
(8)
20
Chapter 4
State-Space Models
Dynamic models derived from physical principles typically
consist of one or more ordinary differential equations (ODEs).
In this section, we consider a general class of ODE models
referred to as state-space models.
x = Ax + Bu + Ed
(4-90)
y = Cx
(4-91)
21
Chapter 4
where:
x =
u =
d =
y =
Chapter 4
Nonlinear
Model:
Linearized
Model:
where:
23
Example 4.9
Show that the linearized CSTR model of Example 4.8 can
be written in the state-space form of Eqs. 4-90 and 4-91.
Derive state-space models for two cases:
Chapter 4
dT a
dt 21
a12 cA 0
T
c
a22 T b2
(4-92)
24
Chapter 4
2 21 a22 x2 b2
B
A
(4-93)
which is in the form of Eq. 4-90 with x = col [x1, x2]. (The symbol
col denotes a column vector.)
25
Chapter 4
26