6626-4-11E AID : 142331 | 14/03/2019

(a)
As we know that according to ideal gas equation;
𝑃𝑉 = 𝑛𝑅𝑇
Where,
P is the pressure
V is the volume of the container.
N is the total number of moles of the gas and
T is the temperature in absolute scale.
R is the universal gas constant. (in S.I. units-> 8.314 JK-1mol-1)
Now, according to force – voltage analogy,
Force(F)<->Voltage(V)
Rate of change of mass(dm/dt) <->current(I)
According to Ohm’s law,
𝑑𝑚 𝐹
𝑤= = 𝑅 = (𝑉/𝑅)
𝑑𝑡

Here, the driving force being pressure and R is Resistance.

Applying Ohm’s law on surge tank 1

Similarly, for surge tank 2

𝑑𝑚2
𝑤2 − 𝑤3 =
𝑑𝑡
Also,
Applying Ohm’s law,
𝑃𝑐−𝑃1
𝑤1 = ………………………………………….(1)
𝑅1
𝑃1−𝑃2
𝑤2 = ………………………………………..(2)
𝑅2
𝑃2−𝑃ℎ
𝑤3 = ……………………………………………………………(3)
𝑅3

which is the required dynamic model.

Now,
According to Kirchhoff’s law,
At surge tank 1;
𝑤1 = 𝑤2
This is analogous to Kirchhoff’s current law in electrical circuits.
Similarly, at tank 2;
𝑤2 = 𝑤3
Thus we can state,
𝑤1 = 𝑤2 = 𝑤3
Adding(1),(2) and (3);
𝑃𝑐 − 𝑃ℎ
𝑤1 + 𝑤2 + 𝑤3 =
𝑅
If we assume R1=R2=R3=R.
𝑃𝑐 − 𝑃ℎ
3𝑤3 =
𝑅
𝑃𝑐−𝑃ℎ
 𝑤3 = 3𝑅

Which is the required dynamic model with respect to w2 expressed in terms of Pc

and Ph.

Total number of parameter constants=(k)={M,R1,R2,R3,R,T,V1,V2}=8

Total number of variables=(v)={m1,m2,w1,w2,w3,Pc,Ph,P1,P2}=9
Now, we can leave out Pc and Ph as their values are known for this process.
Therefore, v=7.(it can be safely assumed here).
Total number of equations=(number of variables -number of constants) +1=(7-8)+1=0
This, is equal to the number of degrees of freedom N=0.

(b)
According to ideal gas equation we can write,
𝑃𝑉 = 𝑛𝑅T
=>𝑃𝑉 = (𝑚/𝑀)𝑅𝑇
𝑀𝑃𝑉
=>𝑚 = 𝑅𝑇

Now,
𝑑𝑚
𝑤=
𝑑𝑡

𝑀𝑉
𝑑𝑚 ( )𝑑𝑝
𝑅𝑇
=>𝑤 = =
𝑑𝑡 𝑑𝑡

According to Ohm’s law,

∆𝑃
𝑤=
𝑅

Thus
𝑀𝑉1
( )𝑑𝑃
𝑅𝑇
= 𝑤1 − 𝑤2……………………………………………………………(4)
𝑑𝑡
𝑀𝑉2
( )𝑑𝑃
𝑅𝑇
= 𝑤2 − 𝑤3…………………………………………………………..(5)
𝑑𝑡

Substituting values of w1,w2 and w3 from (1),(2) and (3) into (4) and (5) and rearranging
we get,

𝑀𝑉1
( )𝑑𝑃1 𝑃𝑐−𝑃1 𝑃1−𝑃2
𝑅𝑇
=( )− ………………………………………………..(6)
𝑑𝑡 𝑅1 𝑅2

Also,
𝑀𝑉2
( )𝑑𝑃2 𝑃1−𝑃2 𝑃2−𝑃ℎ
𝑅𝑇
= − …………………………………………..(7)
𝑑𝑡 𝑅2 𝑅3

(i) Since there are two simultaneous differential equations ,

The order of denominator must be 2 since there are 2 roots of the characteristic equation.
(ii) Writing in transfer function form after adding (6) and (7) and taking
R1=R2=R3=R and V1=V2 we obtain;
𝑀𝑉1 𝑀𝑉2
( 𝑅𝑇 ) 𝑑𝑃1 ( 𝑅𝑇 ) 𝑑𝑃2
+ = (𝑃𝑐 − (𝑃1 + 𝑃2 + 𝑃ℎ))/𝑅
𝑑𝑡 𝑑𝑡

𝑀𝑉1 𝑀𝑉2
𝑠( ) 𝑃1(𝑠) + 𝑠 ( ) 𝑃2(𝑠) = (𝑃𝑐 − (𝑃1 + 𝑃2 + 𝑃ℎ))/𝑅
𝑅𝑇 𝑅𝑇

𝑃1(𝑠) + 𝑃2(𝑠) = (𝑇(𝑃𝑐 − (𝑃1 + 𝑃2 + 𝑃ℎ))/𝑀𝑉)/𝑠
From where we observe that numerator is of 0 order .
(iii) No integrating elements are present as there is no damping by there(only pure
resistance).
(iv) The dimensions of w3 and Pc being different the gain w3(s)/Pc(s) cannot be
unity as R term is also present.