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Chapter4 PDF
Chapter4 PDF
x (t ) y (t )
Chapter 4
→ system →
X (s) Y (s)
x y
input output
forcing function response
“cause” “effect”
1
Definition of the transfer function:
Y (s)
G (s)
Chapter 4
=
X (s)
where:
Y ( s ) = L ⎡⎣ y ( t ) ⎤⎦
X ( s ) = L ⎡⎣ x ( t ) ⎤⎦
2
Development of Transfer Functions
Example: Stirred Tank Heating System
Chapter 4
3
Recall the previous dynamic model, assuming constant liquid
holdup and flow rates:
dT
V ρC = wC (Ti − T ) + Q (1)
dt
Suppose the process is initially at steady state:
Chapter 4
T ( 0 ) = T , Ti ( 0 ) = Ti , Q ( 0 ) = Q ( 2)
where T = steady-state value of T, etc. For steady-state
conditions:
0 = wC (Ti − T ) + Q (3)
= wC ⎡⎣(Ti − Ti ) − (T − T ) ⎤⎦ + ( Q − Q )
dT
V ρC (4)
dt
4
But,
dT d (T − T )
= because T is a constant (5)
dt dt
dT ′
V ρC = wC (Ti′ − T ′ ) + Q′
Chapter 4
(6)
dt
where we have introduced the following “deviation variables”,
also called “perturbation variables”:
T ′ = T − T , Ti′ = Ti − Ti , Q′ = Q − Q (7)
Take L of (6):
V ρ C ⎡⎣ sT ′ ( s ) − T ′ ( t = 0 ) ⎤⎦ = wC ⎡⎣Ti′( s ) − T ′ ( s ) ⎤⎦ − Q′ ( s ) (8)
5
Evaluate T ′ ( t = 0 ) .
But since our assumed initial condition was that the process
was initially at steady state, i.e., T ( 0 ) = T it follows from (9)
Chapter 4
that T ′ ( 0 ) = 0.
Note: The advantage of using deviation variables is that the
initial condition term becomes zero. This simplifies the later
analysis.
⎛ K ⎞ ⎛ 1 ⎞
T ′( s) = ⎜ ⎟ Q′ ( s ) + ⎜ ⎟ Ti′( s ) (10)
⎝ τ s +1 ⎠ ⎝ τ s +1 ⎠
6
where two new symbols are defined:
1 Vρ
and τ (11)
=
K =
wC w
T ′( s) K
= (12)
Q′ ( s ) τ s + 1
7
Transfer Function Between T ′and Ti′ :
Suppose that Q is constant at its steady-state value:
Q ( t ) = Q ⇒ Q′ ( t ) = 0 ⇒ Q′ ( s ) = 0
Chapter 4
Thus, rearranging
T ′( s ) 1
= (13)
Ti′( s ) τ s + 1
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 ?
8
• Answer: See (10). The same TFs are valid for simultaneous
changes.
9
Properties of Transfer Function Models
1. Steady-State Gain
The steady-state of a TF can be used to calculate the steady-
Chapter 4
y2 − y1
K= (4-38)
u2 − u1
10
Calculation of K from the TF Model:
If a TF model has a steady-state gain, then:
K = lim G ( s ) (14)
s →0
Chapter 4
11
2. Order of a TF Model
Consider a general n-th order, linear ODE:
dny dy n−1 dy d mu
an + an−1 + K a1 + a0 y = bm m +
dt n
dt n−1 dt dt
d m−1u du
Chapter 4
bm−1 m−1
+ K + b1 + b0u (4-39)
dt dt
Take L, assuming the initial conditions are all zero. Rearranging
m
gives the TF:
∑
Y ( s ) i =0
bi s i
G (s) = = n (4-40)
U (s)
∑i a s i
i =0
The order of the TF is defined to be the order of the denominator
polynomial. Note: The order of the TF is equal to the order of the
ODE.
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3. Additive Property
Suppose that an output is influenced by two inputs and that
the transfer functions are known:
Y (s) Y (s)
= G1 ( s ) and = G2 ( s )
U1 ( s ) U2 ( s)
Chapter 4
Y ( s ) = G1 ( s )U1 ( s ) + G2 ( s )U 2 ( s )
The graphical representation (or block diagram) is:
U1(s) G1(s)
Y (s )
U2(s) G2(s)
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4. Multiplicative Property
Suppose that,
Y (s) U2 ( s)
= G2 ( s ) and = G3 ( s )
U2 ( s) U3 ( s )
Then,
Chapter 4
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)
= G2 ( s ) G3 ( s ) U3 ( s ) G2 ( s ) G3 ( s ) Y (s)
U3 ( s )
15
Linearization of Nonlinear Models
• So far, we have emphasized linear models which can be
transformed into TF models.
• But most physical processes and physical models are nonlinear.
Chapter 4
16
Linearization (continued)
• Consider a nonlinear, dynamic model relating two process
variables, u and y:
dy
= f ( y, u ) (4-60)
dt
Chapter 4
f (u , y ) = 0 (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 ∂f
= u′ + y′ (4-62)
dt ∂u s ∂y s
18
Example: Liquid Storage System
qi
dh
Mass balance: A = qi − q (1)
dt
Valve relation: q = Cv h (2)
h A = area, Cv = constant
q
Chapter 4
dh′ ⎛ ∂f ⎞ ⎛ ∂f ⎞
= ⎜ ⎟ h′ + ⎜ ⎟ qi′ (4)
dt ⎝ ∂h ⎠ s ⎝ ∂qi ⎠ s
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where:
⎛ ∂f ⎞ Cv
⎜ ⎟ = − (5)
⎝ ∂h ⎠s 2A h
⎛ ∂f ⎞ 1
⎜ ⎟ = (6)
⎝ ∂qi ⎠s A
Chapter 4
dh′ 1 Cv
= qi′ − h′ (7)
dt A 2A h
dh′ 1 1 2 h
= qi′ − h′ with R = (8) (8)
dt A AR Cv
20
State-Space Models
x& = Ax + Bu + Ed (4-90)
y = Cx (4-91)
21
where:
x = the state vector
u = the control vector of manipulated variables (also called
control variables)
d = the disturbance vector
Chapter 4
Nonlinear
Model:
Chapter 4
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:
(a) Both cA and T are measured.
Chapter 4
Solution
The linearized CSTR model in Eqs. 4-84 and 4-85 can be written
in vector-matrix form:
⎡ dc′A ⎤ ⎡ a a12 ⎤ ⎡c′A ⎤ ⎡ 0 ⎤
⎢ dt ⎥ ⎢ 11 ⎥ ⎢ ⎥ + ⎢ ⎥T′
⎢ ⎥=⎢ ⎥⎢ ⎥ ⎢ ⎥ c
(4-92)
⎢ dT ′ ⎥ ⎢ a a22 ⎥⎦ ⎢⎣ T ′ ⎥⎦ ⎢⎣b2 ⎥⎦
⎢⎣ dt ⎥⎦ ⎣ 21
24
Let x1 c′A and x2 T ,′ and denote their time derivatives by x&1
and x&2 . Suppose that the coolant temperature Tc can be
manipulated. For this situation, there is a scalar control variable,
u Tc′ , and no modeled disturbance. Substituting these
definitions into (4-92) gives,
Chapter 4
which is in the form of Eq. 4-90 with x = col [x1, x2]. (The symbol
“col” denotes a column vector.)
25
a) If both T and cA are measured, then y = x, and C = I in
Eq. 4-91, where I denotes the 2x2 identity matrix. A and B are
defined in (4-93).
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