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Development of Empirical Models From Process Data: - An Attractive Alternative
Development of Empirical Models From Process Data: - An Attractive Alternative
Chapter 7
(7-1)
2
Chapter 7
S =
i =1
12
= (Yi 1 2ui )
(7-2)
i =1
S = ei2
i =1
(7 4)
3
Chapter 7
1 =
2 =
Suu S y Suy Su
NSuu ( Su )
(7-5)
NSuy Su S y
NSuu ( Su )
(7-6)
where:
N
Su ui
i =1
Suu
i =1
ui2
S y Yi
i =1
Suy uiYi
i =1
Chapter 7
y = j X j +
(7-7)
j =1
S = Yi j X ij
i =1
j =1
Chapter 7
S = (Y - X )
(Y X )
(7-8)
(7-9)
1
= #
p
Chapter 7
X11
X 21
X =
#
X n1
X1 p
" X2p
#
" X np
X12 "
X 22
#
X n2
= X T X
X TY
(7-10)
Chapter 7
(5-18)
8
Chapter 7
d y
1
=
dt KM t =0
(7-15)
y y
=
u M
Chapter 7
Figure 7.3 Step response of a first-order system and
graphical constructions used to estimate the time constant, .
10
Chapter 7
Ke- s
G (s) =
s + 1
For this FOPTD model, we note the following characteristics of its step response:
1. The response attains 63.2% of its final response
at time, t = +.
2. The line drawn tangent to the response at
maximum slope (t = ) intersects the y/KM=1
line at (t = + ).
3. The step response is essentially complete at t=5.
In other words, the settling time is ts=5.
11
Chapter 7
Figure 7.5 Graphical analysis of the process reaction curve
to obtain parameters of a first-order plus time delay model.
12
Chapter 7
Chapter 7
(7-19)
Chapter 7
Chapter 7
Figure 7.6 Step response for several overdamped secondorder systems.
16
Smiths Method
Assumed model:
Chapter 7
G (s) =
Ke s
2 s 2 + 2s + 1
Procedure:
1. Determine t20 and t60 from the step response.
2. Find and t60/ from Fig. 7.7.
3. Find t60/ from Fig. 7.7 and then calculate (since
t60 is known).
17
18
Chapter 7
Chapter 7
y1 ( t ) = KM 1 e t /
(5-18)
(7-22)
19
(7-23)
Chapter 7
y2 ( t ) = K 2 Mt
(7-24)
K2 =
(7-25)
Chapter 7
KM
y (t ) =
(t ) S (t )
t
where S(t-) denotes a delayed unit step function that starts at
t=.
21
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).
22
Development of Discrete-Time
Dynamic Models
Chapter 7
= f ( y, u )
(7-26)
23
Chapter 7
dt
t
(7-27)
f ( y ( k 1) , u ( k 1) )
t
y ( k ) = y ( k 1) + tf ( y ( k 1) , u ( k 1) )
(7-28)
(7-29)
24
Second-Order Difference
Equation Models
Chapter 7
(7-36)
y = j X j +
(7-7)
j =1
Chapter 7
by defining:
1 a1 ,
2 a2 ,
3 b1 ,
4 b2
X 1 y ( k 1) ,
X 2 y ( k 2) ,
X 3 u ( k 1) ,
X 4 u ( k 2)
S = Yi j X ij
i =1
j =1
(7-8)
26
(Y X )
(7-9)
Chapter 7
Y1
Y =#
Yn
= X X
T
X TY
(7-10)
27