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First Order Transfer Functions Explained

This document discusses first order transfer functions and their response to various input functions. It provides examples of: - A first order plus dead time (FOPDT) model responding to a step input, where the output is an exponential curve with a time delay. - Integrating processes, where the output is a ramp function rather than reaching a steady state, such as in a pumped tank system. - Modeling a stirred tank blending system using material balances and assuming constant molar holdup and overflow.

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Nikka Lopez
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18 views2 pages

First Order Transfer Functions Explained

This document discusses first order transfer functions and their response to various input functions. It provides examples of: - A first order plus dead time (FOPDT) model responding to a step input, where the output is an exponential curve with a time delay. - Integrating processes, where the output is a ramp function rather than reaching a steady state, such as in a pumped tank system. - Modeling a stirred tank blending system using material balances and assuming constant molar holdup and overflow.

Uploaded by

Nikka Lopez
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

First Order Functions

Time Domain

dy
+ y = Kx
dt
Laplace Domain

Response of First Order


Transfer Functions
K
G( s) =
s + 1

X (s )

K
Y ( s)
= G( s) =
s + 1
X ( s)

Y (s )

Input Functions (i.e., X(s))


Step

u (s ) =

Ramp
Rectangular pulse
Triangular pulse
Sine wave
Impulse

M
s
a
u (s ) = 2
s
h
u (s ) = 1 e tw s
s
2 1 2e t w s / 2 + e t w s

u (s ) =
tw
s2

A
s2 + 2
u( s ) = a

u( s) =

(5-6)
(5-8)
(5-11)
(5-13)

(slope=tw/2)

(5-15)

Y ( s ) = X ( s )G ( s )
M
X ( s) =
s
K
G( s) =
s + 1
KM
Y ( s) =
s (s + 1)

y (t ) = KM (1 e t / )
(5-18)

p. 76

Response to Ramp
Y ( s ) = X ( s )G ( s )
a
X ( s) = 2
s
K
G( s) =
s + 1
Ka
Y ( s) = 2
s (s + 1)

Response to Step

Response to Sine Wave


Y ( s ) = X ( s )G ( s )
A
s + 2
K
G( s) =
s + 1
bs + c
KA
a
= KA
+ 2
Y ( s) = 2
2
2
(s + )(s + 1)
s + 1 s +
X ( s) =

y (t ) = Ka (e t / 1) + Kat
(5-22)

y (t ) =

Ka

2 2 + 1

(e

t /

cos t + sin t )

(5-25)

Example: FOPDT

Time Delays ()
In time domain:
Replace t with (t-) and multiply by S(t-)

This is a response of a first order model to a step


function M
First order with a step function is:
KM
y (t ) = KM 1 e t /
Y ( s) =

f (t ) S (t )

In Laplace domain
Multiply by e-s

s (s + 1)

Now add time delay

y (t ) = KM (1 e ( t ) / ) S (t )

e s F (s )

Y ( s) =

Integrating Process

KM e s
s (s + 1)

Pumped Tank Example

Pumped Tank

dh
= qi q
dt
sAH ( s ) = Qi( s ) Q ( s )

H ( s ) 1
=
Qi( s ) sA

H ( s )
1
1
=
[Qi( s ) Q( s )]
Q ( s)
sA
sA
This is not a first order model
Called an integrating process (no steady-state gain)
Step function in q or qi results in ramp in h!!
H ( s ) =

Qi( s ) =

M
s

H ( s ) =

M
s2 A

Problem 4.7

Assumptions

H, L, and V are molar flow rates


ys and xs are mole fractions in vapor and liquid

Wanted:
X 1(s )
X 0 (s )

X 1(s ) Y1(s )
Y2(s ) X 0 (s )

Y1(s )
Y2(s )

Molar holdup H is constant

dH
=0
dt

Given:

Stirred tank blending system


(or stage on distillation column)

dH
= L0 + V2 (L1 + V1 )
dt
dx1H
= x0 L0 + y2V2 ( x1L1 + y1V1 )
dt
y1 = a0 + a1 x1 + a2 x12 + a3 x13
Vapor pressure correlation

Constant molal overflow

L0 = L1
V1 = V2

Simplification: only use L and V


(no subscripts)

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