Fourth Class Process Control

3-Dynamics of liquid level system

U U

Consider the system which consists of a tank of uniform cross –sectional area A to
which is attached a flow resistance R such as a value ,a pipe ,or a weir.

Case 1 The volumetric flowrate "Q" through the resistance is related to the head "H"
U U

by linear relationship (R is linear resistance). The density of liquid is constant. Find

the transfer function which relates the head to inlet flow.

Fig.15 Liquid level system

Mass balance
U

Mass rate In – Mass rate Out= Mass accumulation in the tank

Steady state mass balance:

𝑑𝑑𝐻𝐻 𝑜𝑜
𝜌𝜌𝑄𝑄𝑖𝑖𝑜𝑜 − 𝜌𝜌𝑄𝑄𝑜𝑜𝑜𝑜 = 𝜌𝜌𝜌𝜌 =0
𝑑𝑑𝑑𝑑

𝐻𝐻 𝑜𝑜 𝑑𝑑𝐻𝐻 𝑜𝑜
𝜌𝜌𝑄𝑄𝑖𝑖𝑜𝑜 − 𝜌𝜌 = 𝜌𝜌𝜌𝜌 =0 (1)
𝑅𝑅 𝑑𝑑𝑑𝑑

Unsteady state mass balance:

𝐻𝐻′ (𝑡𝑡) 𝑑𝑑𝐻𝐻′ (𝑡𝑡)

𝜌𝜌𝑄𝑄𝑖𝑖′ (𝑡𝑡) − 𝜌𝜌 = 𝜌𝜌𝜌𝜌 (2)
𝑅𝑅 𝑑𝑑𝑑𝑑
subtracting Eq. 1 from Eq.2:
𝐻𝐻(𝑡𝑡) 𝑑𝑑𝑑𝑑(𝑡𝑡)
𝑄𝑄𝑖𝑖 (𝑡𝑡) − = 𝐴𝐴
𝑅𝑅 𝑑𝑑𝑑𝑑

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Fourth Class Process Control

𝑑𝑑𝑑𝑑(𝑡𝑡)
𝑅𝑅𝑅𝑅 + 𝐻𝐻(𝑡𝑡) = 𝑅𝑅𝑄𝑄𝑖𝑖 (𝑡𝑡)
𝑑𝑑𝑑𝑑
𝑑𝑑𝑑𝑑 (𝑡𝑡)
𝜏𝜏 𝐻𝐻(𝑡𝑡) = 𝐾𝐾𝑄𝑄𝑖𝑖 (𝑡𝑡)
𝑑𝑑𝑑𝑑

Linear first order differential equation and zero initial conditions then taking Laplace
transform:

𝜏𝜏𝜏𝜏𝜏𝜏(𝑠𝑠) + 𝐻𝐻(𝑠𝑠) = 𝐾𝐾𝑄𝑄𝑖𝑖 (𝑠𝑠)

𝐻𝐻(𝑠𝑠) 𝐾𝐾
𝐺𝐺(𝑠𝑠) = =
𝑄𝑄𝑖𝑖 (𝑠𝑠) 𝜏𝜏𝜏𝜏 + 1

Where τ=RA and K=R

At step change in Q i (t) of Q R R

𝐻𝐻(𝑡𝑡) = 𝑅𝑅𝑄𝑄𝑖𝑖 �1 − 𝑒𝑒 −𝑡𝑡/𝜏𝜏 �

Case 2
U

R is nonlinear and follows the square root relationship

√𝐻𝐻 1 𝑚𝑚3 𝑚𝑚0.5 𝑠𝑠𝑠𝑠𝑠𝑠

𝑄𝑄𝑜𝑜 = = 𝑘𝑘√𝐻𝐻 , 𝑘𝑘 = , = → 𝑅𝑅 = 2.5
𝑅𝑅 𝑅𝑅 𝑠𝑠𝑠𝑠𝑠𝑠 𝑅𝑅 𝑚𝑚

Fig.16 Liquid level system with nonlinear resistance

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Fourth Class Process Control

Steady state mass balance:

𝑑𝑑𝐻𝐻 𝑜𝑜
𝜌𝜌𝑄𝑄𝑖𝑖𝑜𝑜 − 𝜌𝜌𝑄𝑄𝑜𝑜𝑜𝑜 = 𝜌𝜌𝜌𝜌 =0
𝑑𝑑𝑑𝑑

√𝐻𝐻 𝑜𝑜 𝑑𝑑𝐻𝐻 𝑜𝑜
𝜌𝜌𝑄𝑄𝑖𝑖𝑜𝑜 − 𝜌𝜌 = 𝜌𝜌𝜌𝜌 =0 (1)
𝑅𝑅 𝑑𝑑𝑑𝑑

Transient mass balance :

2
�𝐻𝐻 ′ (𝑡𝑡) 𝑑𝑑𝐻𝐻 ′ (𝑡𝑡)
𝜌𝜌𝑄𝑄𝑖𝑖′ (𝑡𝑡) − 𝜌𝜌 = 𝜌𝜌𝜌𝜌 (2)
𝑅𝑅 𝑑𝑑𝑑𝑑

√𝐻𝐻𝑜𝑜 1 𝑑𝑑𝐻𝐻′ (𝑡𝑡)

𝜌𝜌𝑄𝑄𝑖𝑖′ (𝑡𝑡) − 𝜌𝜌 � + ′ 𝑜𝑜
(𝐻𝐻 − 𝐻𝐻 )� = 𝜌𝜌𝜌𝜌 (3)
𝑅𝑅 2𝑅𝑅√𝐻𝐻𝑜𝑜 𝑑𝑑𝑑𝑑

subtracting Eq. 1 from Eq.3:

1 𝑑𝑑𝑑𝑑(𝑡𝑡)
𝑄𝑄𝑖𝑖 (𝑡𝑡) − (𝐻𝐻 − 𝐻𝐻𝑜𝑜 ) = 𝐴𝐴
2𝑅𝑅√𝐻𝐻𝑜𝑜 𝑑𝑑𝑑𝑑
1 𝑑𝑑𝑑𝑑(𝑡𝑡)
𝑄𝑄𝑖𝑖 (𝑡𝑡) − 𝐻𝐻(𝑡𝑡) = 𝐴𝐴
2𝑅𝑅√𝐻𝐻𝑜𝑜 𝑑𝑑𝑑𝑑

𝑑𝑑𝑑𝑑 (𝑡𝑡)
2𝑅𝑅√𝐻𝐻𝑜𝑜 𝐴𝐴 + 𝐻𝐻(𝑡𝑡) = 2𝑅𝑅√𝐻𝐻𝑜𝑜 𝑄𝑄𝑖𝑖 (𝑡𝑡)
𝑑𝑑𝑑𝑑

𝑑𝑑𝑑𝑑(𝑡𝑡)
𝜏𝜏 𝐻𝐻(𝑡𝑡) = 𝐾𝐾𝑄𝑄𝑖𝑖 (𝑡𝑡)
𝑑𝑑𝑑𝑑

Where 𝜏𝜏 = 2𝑅𝑅√𝐻𝐻𝑜𝑜 𝐴𝐴

𝑘𝑘 = 2𝑅𝑅√𝐻𝐻𝑜𝑜
𝑠𝑠𝑠𝑠𝑠𝑠 .5
𝑠𝑠𝑠𝑠𝑠𝑠
𝑘𝑘 = 𝑚𝑚 =
𝑚𝑚2.5 𝑚𝑚2
1st order D.E. ,linear zero I.C. then taking Laplace transform
P P

𝜏𝜏𝜏𝜏𝜏𝜏(𝑠𝑠) + 𝐻𝐻(𝑠𝑠) = 𝐾𝐾𝑄𝑄𝑖𝑖 (𝑠𝑠)

𝐻𝐻(𝑠𝑠) 𝐾𝐾
𝑄𝑄(𝑠𝑠) = =
𝑄𝑄𝑖𝑖 (𝑠𝑠) 𝜏𝜏𝜏𝜏 + 1

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