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Chapter 6 PDF
Chapter 6 PDF
m
∑i
b s i
G (s) = i =0
n
(4-40)
∑i
a s i
i =0
1
bm ( s − z1 )( s − z2 )… ( s − zm )
G (s) = (6-7)
an ( s − p1 )( s − p2 )… ( s − pn )
where {zi} are the “zeros” and {pi} are the “poles”.
Chapter 6
2
Example 6.2
For the case of a single zero in an overdamped second-order
transfer function,
K ( τ a s + 1)
G (s) = (6-14)
( τ1s + 1)( τ 2 s + 1)
Chapter 6
Solution
The response of this system to a step change in input is
τ a − τ1 −t / τ τ a − τ 2 −t / τ
y ( t ) = KM 1 + e 1 + e 2
(6-15)
τ −
1 2τ τ −
2 1τ
3
Note that y ( t → ∞ ) = KM as expected; hence, the effect of
including the single zero does not change the final value nor does
it change the number or location of the response modes. But the
zero does affect how the response modes (exponential terms) are
weighted in the solution, Eq. 6-15.
Chapter 6
Case a: τ a > τ1
Case b: 0 < τ a ≤ τ1
Case c: τa < 0
4
Chapter 6
5
Summary: Effects of Pole and Zero Locations
1. Poles
p = a + bj x
x = unstable pole
2. Zeros
Note: Zeros have no effect on system stability.
• Zero in RHP: results in an inverse response to a step change in
Chapter 6
the input
Imaginary axis
Real inverse
x ⇒ y 0 response
axis
Point 1 Point 2
Figure 6.5
Assume that the velocity profile is “flat”, that is, the velocity
is uniform over the cross-sectional area. This situation is
analyzed in Example 6.5 and Fig. 6.6.
10
Chapter 6
11
Example 6.5
For the pipe section illustrated in Fig. 6.5, find the transfer
functions:
(a) relating the mass flow rate of liquid at 2, w2, to the mass flow
rate of liquid at 1, wt,
(b) relating the concentration of a chemical species at 2 to the
Chapter 6
Solution
(a) First we make an overall material balance on the pipe
segment in question. Since there can be no accumulation
(incompressible fluid),
12
Putting (6-30) in deviation form and taking Laplace transforms
yields the transfer function,
W2′ ( s )
=1
W1′( s )
13
An equivalent way of writing (6-31) is
c2 ( t ) = c1 ( t − θ ) (6-32)
C2′ ( s )
= e − θs (6-33)
C1′ ( s )
Y (s)
= e − θs (6-28)
U (s)
Note that θ has units of time (e.g., minutes, hours) 14
Polynomial Approximations to e−θs :
θ 2 s 2 θ3 s 3 θ 4 s 4
e − θs = 1 − θs + − + +… (6-34)
2! 3! 4!
The approximation is obtained by truncating after only a few
terms.
15
2. Padé Approximations:
Many are available. For example, the 1/1 approximation is,
θ
1− s
e − θs ≈ 2 (6-35)
θ
1+ s
2
Chapter 6
16
Interacting vs. Noninteracting Systems
• Consider a process with several invariables and several output
variables. The process is said to be interacting if:
o Each input affects more than one output.
or
o A change in one output affects the other outputs.
Chapter 6
17
Figure 4.3. A noninteracting system:
two surge tanks in series.
Chapter 6
18
Figure 4.3. A noninteracting system:
two surge tanks in series.
Chapter 6
dh1
Mass Balance: A1 = qi − q1 (4-48)
dt
1
Valve Relation: q1 = h1 (4-49)
R1
H1′ ( s ) R1 K1
= = (4-53)
Qi′ ( s ) A1R1s + 1 τ1s + 1
20
Q1′ ( s ) 1 1
= = (4-54)
H1′ ( s ) R1 K1
Q2′ ( s ) A2 R2 s + 1 τ 2 s + 1
Q2′ ( s ) 1 1
= = (4-56)
H 2′ ( s ) R2 K 2
21
Q2′ ( s ) Q2′ ( s ) H 2′ ( s ) Q1′ ( s ) H1′ ( s )
= (4-57)
Qi′ ( s ) H 2′ ( s ) Q1′ ( s ) H1′ ( s ) Qi′ ( s )
or
Q2′ ( s ) 1 K 2 1 K1
= (4-58)
Chapter 6
Qi′ ( s ) K 2 τ 2 s + 1 K1 τ1s + 1
Q2′ ( s ) 1
= (4-59)
Qi′ ( s ) ( τ1s + 1)( τ 2 s + 1)
23
Chapter 6 Dynamic Model of An Interacting Process
1
q1 = ( h1 − h2 ) (6-70)
R1
Q2′ ( s ) 1
= 2 2
Qi′ ( s ) τ s + 2ζτs + 1
Chapter 6
H1′ ( s ) K1′ ( τ a s + 1)
= 2 2 (6-72)
Qi′ ( s ) τ s + 2ζτs + 1
where
τ1 + τ 2 + R2 A1
τ= τ1τ 2 , ζ , and τ a R1R2 A2 / ( R1 + R2 )
2 τ1τ 2
In Exercise 6.15, the reader can show that ζ>1 by analyzing the
denominator of (6-71); hence, the transfer function is
overdamped, second order, and has a negative zero.
25
Model Comparison
• Noninteracting system
Q 2′ ( s ) 1
= (4-59)
Qi′ ( s ) ( τ1 s + 1)( τ 2 s + 1)
where τ1 A1 R1 and τ 2 A2 R 2 .
• Interacting system
Q 2′ ( s ) 1
= 2 2
Qi′ ( s ) τ s + 2ζτ s + 1
• General Conclusions
1. The interacting system has a slower response.
(Example: consider the special case where τ = τ1= τ2.)
2. Which two-tank system provides the best damping
of inlet flow disturbances?
26
Approximation of Higher-Order
Transfer Functions
In this section, we present a general approach for
approximating high-order transfer function models with
lower-order models that have similar dynamic and steady-state
Chapter 6
characteristics.
e −θ0 s ≈ 1 − θ 0 s (6-57)
27
• An alternative first-order approximation consists of the transfer
function,
−θ0 s 1 1
e = ≈ (6-58)
θ0 s 1 + θ0 s
Chapter 6
28
Skogestad’s “half rule”
• One half of its value is added to the existing time delay (if any)
and the other half is added to the smallest retained time
constant.
• Time constants that are smaller than the “largest neglected time
constant” are approximated as time delays using (6-58).
29
Example 6.4
Consider a transfer function:
K ( −0.1s + 1)
G (s) = (6-59)
( 5s + 1)( 3s + 1)( 0.5s + 1)
Chapter 6
Ke−θs
G (s) = (6-60)
τs + 1
using two methods:
(a) The Taylor series expansions of Eqs. 6-57 and 6-58.
(b) Skogestad’s half rule
and
1 1
≈ e −3s ≈ e −0.5 s (6-62)
3s + 1 0.5s + 1
31
(b) To use Skogestad’s method, we note that the largest neglected
time constant in (6-59) has a value of three.
32
and G(s) can be approximated as:
Ke−2.1s
GSk ( s ) = (6-64)
6.5s + 1
The normalized step responses for G(s) and the two approximate
models are shown in Fig. 6.10. Skogestad’s method provides
Chapter 6
Figure 6.10
Comparison of the
actual and
approximate models
for Example 6.4.
33
Example 6.5
Consider the following transfer function:
K (1 − s ) e− s
G (s) = (6-65)
(12s + 1)( 3s + 1)( 0.2s + 1)( 0.05s + 1)
Chapter 6
Ke −θs
G (s) = (6-66)
( τ1s + 1)( τ 2 s + 1)
Compare the normalized output responses for G(s) and the
approximate models to a unit step input.
34
Solution
(a) For the first-order-plus-time-delay model, the dominant time
constant (12) is retained.
• One-half of the largest neglected time constant (3) is allocated
to the retained time constant and one-half to the approximate
Chapter 6
time delay.
• Also, the small time constants (0.2 and 0.05) and the zero (1) are
added to the original time delay.
• Thus the model parameters in (6-60) are:
3.0
θ = 1+ + 0.2 + 0.05 + 1 = 3.75
2
3.0
τ = 12 + = 13.5
2
35
(b) An analogous derivation for the second-order-plus-time-delay
model gives:
0.2
θ = 1+ + 0.05 + 1 = 2.15
2
τ1 = 12, τ 2 = 3 + 0.1 = 3.1
Chapter 6
In this case, the half rule is applied to the third largest time
constant (0.2). The normalized step responses of the original and
approximate transfer functions are shown in Fig. 6.11.
36
Multiple-Input, Multiple Output
(MIMO) Processes
• Most industrial process control applications involved a number
of input (manipulated) and output (controlled) variables.
Chapter 6
37
• For example, consider the system illustrated in Fig. 6.14.
• Here the level h in the stirred tank and the temperature T are to
be controlled by adjusting the flow rates of the hot and cold
streams wh and wc, respectively.
• The temperatures of the inlet streams Th and Tc represent
Chapter 6
(6-88)
38
Chapter 6
39
Chapter 6
40