lI ae el slags Paalisal by caglae Slee geet he AON 30) Soe s1/Mg ltl gelaaelazhaisles M slaayels slog: gels S pei ange IM Slaagels alge Lola Jo ¥ Sb yesh caysSele loge PY JS 59 Bese pay ( cel ea NUT SIL, yo slasel 50 oS gelphat) cyt Nog LoliaY" taniee Basic Automatic Control Theory (Van Nostrand, New York, 1966). id Hrown, K. G., Analysis and Design of Feedback Control Systems (McGraw New York, 1960). mi Shine ES Eh sleel nee (ah we G(s) = Sen cnt Sh Ss ALY aap Seine eyes" Vyate S tis fly tele lye Beds Se ail sages Sige INF solids cl p65 oybny Glade Jolt cay eth cls 1. Ge) eh sages steal sles age ele cal yng Gu) oealite GGa) HG) wpe alge gate GT ghee (6'Ga)|"" = G-"Gu) + HGW) cleat vale gle TAY SS j0 Syste H's Co aslonger be baToleige S 2 ougT em ae, pale atl ely iyiy pn Selle a [6'Ga))-* = G7") +1 11S leds gin Sreeyd Sols Se Meshal a, egege spre Slee! Lid IL Gel yo sens sei ae rina. Sytigs Joe Kylie sloge! te shyla eee egg pe Sol Sha Se tG Gu) alee" W560 Go! (eo) aye Sees lal Se Se I A peiSege So RIG! eee 3S cylin tele atl jlal PEE Ea N50 <1 GN jen) er ghan Cg l slaget Habe oe Lays retIK 35 phy h—4 elas ee olpie bem pe SASL LAT pelytige S igelpaiowe jl sles AS eorast toe 9 2009 dip HI do sleds 39 002 heey? Geum Ses 2902S S cgelenionge WS iglle 43. Azam pgm Oyen Lip Slane Ae 9 Lgtygt SE 559 SE lynne NCIS I Labs 9 aeded aye CLS ol 1 beled Shetay UTS cl cel apt cobs bea! 59S igllytes setleee( SISO) este Sarg Sle tee asl lin, O54 Bay yee Aap Shean yy 53 alee SISO 290313 18 ealalage ped age |y lets onl oly Inette ae Sele yt esta 3 uals) 9 MAS) +5939 59 be ayeite Aig pee Set SE tne onl leeds» bewrart oer hlyy cent ost wale gles « x68) 5 x1) see! ote 16) = GiOui@) + GraGuz() } Qa) 2200) = Gas Ou) + Gralua(e) Cal) > Gn) eae cleat s9ey st tl pea $3 Ykjo Syhlisa pI SN eS ye 1 58999 0b geese 9) Gog ae DY ett ety Sel IP dete tyre Ste ponent ghe Gals) 9 Gal) Jade ale 00 vhser a Kote) sal ute) = ee) Palen or) t— Gal) PP oan yaa Sere ssla peels te ae gerne alawsl ae estes slays Jean oh eel ne Masada te bet paste ole A GSS tier aS Megks 5 ad owl 50 eee gine Slo saieTs JAS Cle 2594 99 Aegh gel glee apy Gl! abe Slee claslene 9S aS shed Syke JES pols Heese cul yelel. aly S gle gor cal Ste gens aes NIST penis S ales wleyerd Caper 6 Uslaae gecien hesetgiine G28 0839 le le rsSe canes Seb Mel Tet saayge | oS lala PS oe walt ensel 9 aloe gor gt cei gly 9 Uenbonl gels senleaseals Opa Air Elgato ula Vahey Sle Scales st slaegane Melony ex lye by tite Ai pee 3to fells ate leet 9 beees my = > Gala) yaa SSS etl paalys Soo cules are optige S08 5 Jane SISO poner 21 * GuGune) } ey *2(8) = Gr2(s)ua(s) 18S ele 5 Adee So sleds SAIS esletyy sh aalisel UL YoT oleeiee S 23088 09381 OTe sabe JAS S glle 3 Vat SE eyed aig pine OX Sele eae clea See! sd Lb oS 28 Sl, cal sat wale gle PA SSE poem Sol iad be aly 29 este — UL 929 Grrl) 9 Gu) uae os ae (cee "Myenee peS pyb— cel nat SSE SIG jI Jitae SISO pone 99 5H cede Heaths daly SISO pene 93 3S ye ae em 55265 ylvly Jeol teyeize oat ot cae al tale CRIS age tain Se paneer Ge 98 elise sel oyey Gydye OL et pee ott DLE Goel See ge Sige lye Ly pee erly says 08 LAT 5H cul les col GS igihely ad S Jed ole Lian Seed lS cb Lit yahise ay enian ie clean ele 1S eleatene eal tes L 9 SW SAS Hoe is hee” HIST cael oly” ol 59 had Gels GT ay ogee my9 GO) glance Sate pate Naat ae aele npSae teed jt I cob See el 58 pemesigt Sate phe cael eer "Ioame Lb G6) 2 purl (5 +1P G+ 27 Some 1 (s+ 2° (+16 + 2) 66) « —|__ ] G+1IP 6+ 76+ DG+2 +364 I col lt 1 7 245.666) Gl = L yo sy + 1% @ + 2) moo) : oles +3641? HG + 1) + 2) 6+ D6 +9 adj G@) = ane det GG) = (6+ FG + 3G +1 - 64 IPE +2 rier CFP C+NG+ 6+ De + 2H +3964? -C+ DEF > IF; +DC+D G+2F 1 [ C+DG+) -C+ DEH a s+2b-6+ D6 +2 @ +27 Get = Serb dele Le GUS cal cle opt GeHAE aT ee Meee yey ely pele peas eS | GEG)! 1 “6+ @+ 2 GW)GEy ras x16) = Gy)uaG) + GraG)ua@) + «-- + Gim@Um@) xa(s) = Gar(s)unG) + Gaa@)ua(e) +... + Gam()tm (6) (roa) Xml8) = Gils) + Gna (s)uals) +--+ + Grim()4m 6) tet aed wala Saxe a alse |b Soh Cole x6) = G)u(e) seam sloy—e 6s) beat dete a mest im slo x6) dab teed) 29 MeN ghee pine eaeeibimrmanastl jt eat egies Gl) 91th ere ee tebe) SUL G(s) e QE THA “elalee 59 oe! alin Jede owls vetlel) grat 9 u6) S399 rat Je 265 Sede Gab cael sian col gle L L ey + e+d 1 543 G+DE+D GH Gs) = Bere 505 telly SS ae agtige 03h Gls ATH eadle GSA men gascle use sett = OA (eta #0) deta adj A jet eal egle det Ag laJelege tags peel jl cul eybe adj A asi tally 53 Aobases jtGCG) = Um + OKO GOK) elle cel By A nxn reel 99 o35 ole gS SNe 53+ oe, tle obra geoute AB # BA Shearer ys Sglle ar ajlo okey Genel KG) 9 GU) wee A = 1 Hales 1 oglas egteatl Geyer SISO. rot db 1 ib LTO SSE taeda ate pee slay Goly dle 99 53 Ga() = 1 /(0/O $41) 9 GiG)=1/( 5 +1) « Gerls G26) = Gals) = Gra) = 1; Gail) = -1 ete patie a ee G12) = Gail) 0S BIE 50( tae slay ch sly S opto SG 3! ie get S soy S pe gd coe bel ee #1) = O9(1 ~ & x2(0) = 09(1 ~ e- 2%) Sareea Vot ‘adobe: Gai(8)= 1s GG)=1 AS Le 32) lates (4 3)(6-+ 1) +2)? — 6-4 1) +2)? 0 | [ 0 = (+ 1G +2? +64 G43) HD ti) cere GA) che tae T ete Mane cal grbige cael ely guise ph unsele Temleat vals oe y= 4 SS 52 atin LAS bla tpeite dig (mee Nectar Jee milere x66) + grat Sin dese mabey rs) Stoel? 225 JS Ses esheets mim guste KG) sony Jee! maleate) 5) thes clearLe GO) 5 KG) asthe eae clea m xm on rl G(s) » re) nie) ow ata) rat peal TH Se a arse by (s)uts) (4) Kel) ~ x01 (o8) x9 us) teal ol ply xfs) = G(S)K(s)[r(6) — x(8)] (F4), ens ie ats) = a + GIG) “GK (yea) Ek [T4GHT 6 1G) ee ae Sea a ntl col xm cel asc mat s3 S refaa ilal a8 aS Seas liga jl mim ephi wescl Kf) 9 col sas wretlys dye dds ale GLE ding WD] ey eee oT oli S atlage shan Sheba Spee bs Se salgs eotyy" any 0a JS det KG) pa 5 det G(s) 68 S pS BI cripan’ at lage geclne shoely wishes sn oh sn late GG) 3} tl pede tet ed Sore |) O66) onaile Je ls) = Gls)K(s) (ve=4) OG = Gis) shales aySege Cae yrphae Mambo yo Wea JS Cb ose RE aS pigs att eb aed g «KOI! = Ki) «GO)"# = Gey rer Saylasges tay be Grae Sleetany 19 lady clpwede Oe pam Goll OAS Ihe slo LID rsh sheds Sal y pd Hole 9,8 wale jt eel eole ds! ty Sitter slog 098 wate 9 eels Havel a8 3! onl alee eye tas Wyes)eslanae loge: ja 5 plea did¢ golo gla jl eel egle peuty ft beds tay te beT oy chp debs eMolee JS phe Helse = aed Bele w8agT ed ee sly Seed see pe 9 pat letyy "Dye. Code tay peed eas colizel eye cig st Je FQ) cee (D1 elle 9959 (0) 9 1) Sloper GL waleateey CF — 49 BF 4 ohBt yo ee (DAI nO =09 p00 (0) eelys Aiphe Bbw spb yed sloaer FIle 59 peSyge salen Shel paved See 2a(0) pette 79 9 cel gshey Gyad pee (9) ley Bolg cel pene pe rat) clay see el) eke ale phe Ootue ree 9 120) pee NLS Ht) gee these Soe el Le gy te (0) geal GES) 59 Cebit Glocker oyry Nth ri () wee pt yo 10) Jaen G(6) Jede GE cnutle 59 opege ilies fais pol chm tern ces Tea oe pare ole Peete ae tS EL td prrelige carte Selle Uae Gel 3 gre ne Gen Sel Saye ox! Wy elise ged S optige els ght te pete Sie HAAS JAS Ser gge tele Shedaly S igs gelsb olig Le AL glared SiS py tele yo 91 0S 6S watt O89 Cot ee tA 2? atay cal tly ped Sel cg Oe pnem pine Cans SI NT iy TA ASS Sere leads Hm xm gaat Se KG) ey BO ele Jo rer9 ome aalye atlases bagless cel aay on atte IE Se Solel S Glahde Ny Usaycla Jets SS habiin tanto 3! slesyane JS. Diw)Ly ale beT elas Se 39) tl dpe alge yh ILE OLS) edthe Nae LE opt ingis Jala Sands jligloyane $l Sot So Gills ent oaz vale ERA Gall ( Sete YMA SE) aS chs —cy bya Ly eden yyoe cal 0a Bly pt Ke re c OQ gil v (aly ont Gs) = RWG) (ea) sete ole Gs) eae LL GG) pee NAB S See cone LT oF te bogey crlacl hla + eS sear by oT seth ty bib She pets Got Ladys Cod aly gil + petsise eles! Jed on! oll ale ceapd teh aasde rants Bend osbe ty onl 4 yehb ‘obey ool] S sles oe KO) oye st Gat ote el uel a Oy er ee 1uen> E 1 Gyls)) = D4). 1 = 1,2. em Ora) sheslle 35 epame 3! Gls) he owl / 52 GAS pose Glee yah Seo ube aU ee he gre? tay te olyieee Cred cael cul Sy pli gh yo polis Puede SL tile Ged yolie IS ye rshee eeSebsbajlages ol Weel gheayt peat pea bush cnesSel WT Se cole ape gt pv 0 ible nse Syed 9@ GL iret alaalan 1 ity col oat eS 9G) onl Tat dbs ol one GO) «3009 IN5 gears 2a GO) onal ebd aye HE 1 stl u c=} 1 OSs +1 ob Al G6) ort mel! (4 41) (0/05 41) shel els G6) Spat ge Sty ele . 1 Lees (© + Oss + THR LE hasan SP 6) = 1 ___ ie +1 ~6 + 1) OSs + 1) O57 #15642 [6+ OSs+1) OSs +1 Cade Soe! 79. cael oad wale gles Yat SSE 53 GG) yy Saw CISL fagh T eligsegss cal SLi RS pigs Mey 5 Samed 65 CLE pe oS peSage etal Axes See FA JS 59 0t pey slaenly 9 TH Ee ae aye anes eel ae Ted Peale l ayedte aap eS poe Se el plan O6s)= KGW) S saghr abe (Le ES jel ules pple! Mahan Sue cel el op IL4, ee oa 8 Anh SS Sey det KG) AS eS ange. 31S s ols Gls) Sy! rhe wy S cael easly veel aS ae se) « arg) [40 BO Ce) = B = 00 [OD oo] snes koe - 1 ao ee BE) La@AG) + )C) (8.51) + B()DE) corte BS) 9 a(6) + Cs) =P 8A» AGEN /FY(I/ETS 1) (Y/I4E 1) ose BUS) = V/FV(VITY SY) (V/19 5-1) =1O/4F ga) =—T TOA S | peSge CLL! (37-0 /A4s 40/1) CASI she celg S col ply. peSige pny Cale) Moye 65 1G ai(s)1 vcd oss ly aged Jel bags boy caret ghd GIL pga she Uli col SS thet big Real od Il yl he coe a rrr oo Oa © Ks) lus wo) amor [2 1 a) 1 &, be Yat Jon 4 She oF 1 075 stl Bet 075 \ el OSr+ 1 gee penne SIRT Meld S sles oy « K6s) 4 SIS Le gol yb cael cpllee aby AS eS ob hig | kas hils) able SG slaved JaS nye! ale ath cel caylae omee LSS Magan bh GO) ahi slae peer ese cays Sl “tN S spt nants pry coteat vals gle tot Be 5 O ipdacnaG 4 NG mp SF re Si cet Cast lee ri mirti~Blex-py) aks my thts FO)j Fn (xt) 9> hn ksop orn) Ser ciGue COT thisaX Tego baton eng) Mp a Tash pte fyb derek Av be ~ dere Yo, 398 x6)” pe ake a Slarbi the $s as6 Faron dest el at as | seth] << ka Fede Gael MMi 2> Yo. by, Sot ete es e Ht. ike coe oe SLT ag EN ete et Ze y ta (re then cone by Nak ‘dug, MS GL Ts pele @ ob Set MATE, CUA Crib) OS Ge Ue ese atele Ret eg EL rat, (a et GIL Cay ole Se SL ber ok (vt PANG pa Sis Oy tata Kk StTs+1) Vea cleus TO SE LA le der el] eb) Meads ose ded el oloheg Rede Seine de EET OMe eet dese 4 Fivae 1 ete ng Ce hs yi) __k xy 7S 2 Se oie teat eo Meat el eal ane wee Ee We aren ATI SEGA wm 5 or A Sot AE NS BST Ty hes Mare Cra) OE Ny tg 2 QUAN Sask ty ee ey SL Gy 7 ee 6 PF atin PN SF ial y dere SRN at op BY sas ode Si Sie pede Ge ov re(DASHFOTS) rey Gl Sa Rees Glas UeT ek yy (Ae shes sete NTT some WaVoAG ae & eee ESL a —_ Myon ete Sel, Sete aL ees aT dese baer Gobiide ss oo te ‘shes ont Liss aire cue ASHL ola aloe Crib ) Woy chats dcoee ROR! - AE EU We WE oF ar woe mised igh Be Gt ss 20? Cussiry Ss\o byoe ML Sy ¥ BBL Gn gue wba cist AAS o7aFE (Ry sEom ~ gig 10 (a) Dashpot: (0) step change in ie e CR) 289s Fe ihe corresponding change in y plotted Zersus 1; (c) block diagram of the dashpot. eed wae Ele Sy ceo at (Poet ook KBD SZ o ore sb ae Ge OF FASS HTS Fat GU. ee F Pade GO ttle eee Ran aae wea etek hoe NS share he a Beh AS Cole wy cole Ma ae Gb ts Sel el ve <. . . wit, ler lusd eee o mlsMy 5 dat let Ko ws I PAGE: 5 reXif co senaie tee Fhe os hye we ominal-putiategal cone roller () Bock dag of the conto. CGh> hict, Whe ILL Gb oon eet FrBie Soar be et ITE paths lent (garb 1 pos Ys) . ab" “5 | ka 7/Lcasmrs-+0] >t I aPoe Coan dad a ahaa re AB iyo b bolo? TANS yet sh Ue lat ve rr fe STEN, oe wat TEN (ytd AIBA “ky Featea oak + Gtaghns PME NS ke (RSS sot Mat sane Me goth Vote Mt Saree Gis GSI pe-p 7 (éx-dy) eh Soares Me VGH MN, tye ote a, 4a OP 2 p-an hy a k Paar ed ae ae kk ae et aap) : Fae See Mal ANE hes SxIs) = SY 15) 4K ys) . yo s xi 3+ PRP THREE tM wo et (YOK ob aT dor el athe (ytere ) US at AU\ eb w o> (ras Wesg det Na abe mer CO ONEB he oe esT Se ee ea 7 = 3 Tt Ne Sa pete or “pede Nos Tao Py 5, his hive K vale TT li obiedty (He pice eel 708)" ET eet tise ———__ rr Narfercen Feet Mogi Zy osej) tel Ae cout | Cys Crsq) Bid Dard aT ceize = we BeflZpsvx pastel LAs fosalt eG eke Mie Geaat ls Sd Gorn SG MN ae hier-kui- Be RE Phar dol Neon T ae ste het aod Gel Man Sue ey Sak SY WS AIT Carers Sh WY oto ule fy ol DE EE hehe i hl dL yok tle PEL Cae cay TTT aa ets alg ee che fsa bsg MMe gh ME y berg) ol petra | Catia — tin We “Cee 2 -*, Weae$- ke % (eve) PEM UL she Soe (yey VEAL yay vwLee Shee dor et te Cra AE ole Phe Gate) alas? ats cals fe (a ebule 1 SE asker 7] T= 072X768 05% ass 8 aoe Trou x 59 + Bg oga x57 21.83 ccattt dex poke gh ae SN he sta aoe rey. 22.2- 183-034 037s Tae (EFS 41) (08S 41) SaaS aby dE SE y cee Oh sd Cees eas QUA RUB C22 Gee) (or oe Spee Gh Sy ba Spe oT el oe all ase eeu Gli ct Tpke Dl oe OTe at ; "Bells A 6 tymnss ate tel F pps CF FEL Be oye + on 1x Prone $ 063 Zino Fo. Rm Me bes wl Gr aieeahs TH 02864 a 1b rss Tx 63 womb y Ase Fig OW x64 295 Ad> MS ENTE Meg Tone gy Ble nh urel Me biel oes on desde * Tea Sales 41) 7 ym6 Applied process conrol ‘Assume the tanks to be well mixed, of constant volume and of equal sz. () Write down the appropriate conservation balances. (©) Write the sate and output equations using perturbation variables where the ‘output is X2 . (Wate the model in discrete form, where: F = 2. M T, = 05. (@) Write as an input-output model between X: and 5. (©) Weite down the corresponding pulse transfer function. (1), Show that the process is stable. {g) Show that the closed-loop system is stable with a proportional controller of ‘gain 10. Calculate the gain at which the closed-loop process would be ‘unstable. 1.7 References ‘strom, K. J. and Wittenmark, B. (1984), Computer Controlled Systems: Theory and ‘Design, Prentice Hall, Englewood Cliffs, NJ. 2 The evaporator model 2.1 Introduction cae ep ek ? “The conccniation of dite iquors by evaporating solvent from the fed steam is an important indutil proces used in such industries as sugar mils, alumina production 00 paper fo name afew. An often used evaporator, known asa “forced Circulation evaporator i chown in Figure 2.1. In this evaporator, feed ie mixed witha wm Ww > . . a . steam 3 val ‘Fo a ‘Evaporator 5 3 3 Condensate 3 Feed + FARE TH Figure 2.1 Evaporator system oy lp8 Applied process conirol high volumetric flowrate of recirculating liquor and Chchanger, Often the heat exchanger is heated with steam, caeuieof the tube walls. The liquor which passes up the inside of hen pases to a separation vessel In this vise, Tiquid and vapor liquid is redroulated with some being drawn off as prod. condensed by cooling, with water often see his chapter derives a mathematical ‘are two major parts to this description of the mathematical model: STi part_derves a linear state space description in normalized form by ‘evaluating the appropriate Jacobian elements. 2.2 The nonlinear model Evaporator variables “The variable names, descriptions, standard steady state values, and engineering units are sewn in Table 2.1 and in Figure 2.1, The solvent is water and the solute is nonvolatile. ‘Table 2.1 Evaporator variables 7 icodtowse 109 fan a ‘sae ao ih 8 essing tows 3 Wine I orca 33 inn é sees tows 2 gan a iceman Sse 4 ee pion 25 Baca i Reiger mo Bene 8 wesc ere me ie 3 Ser erga Be se a sone me ae Pe operating pressure: 50.5 kPa Fo seen tte Me i ties ser eae wa Se 783 satpone wR ore sme ee Fx at toute 338 Ginn ‘0 Se eae yenure HD See sr Se errs et ae om Senres a 8 2200 ___condenserduty t iw le. Le peegeeeett Lm wl wl ees ‘wow wid Ww ww iw Ww mo (Chapter 2—The evaporator model 9 Process liquid mass batance ‘aces ance on the ol proce igi solvent and slut) in the ye Ye pAdi2|dt = Fi - FA F2 aay where: pis the liquid density isthe cross-sectional area of the separator. “The product pA is assumed to be constant at 20 ke/metre Process liquid solute mass balance ‘A mass balance on the slut inthe process liquid phase veld: Maxadt = FLX ~ FRX @2) where M athe amount ofligid inthe evaporator and is sumed t Be constant st 2K Process vapor mass balance “Aras alae onthe proces vapor inthe evaporator wil expres he ota mas of he Arner vapor in terms of the prearue that exists i the syne: carnd = FA - FS . es “where Cis constant that converts the mast of vapor ato an equivalent pass 0 ver Ci crea valo of 4 Kg/kPa. This constant can Be derive from te Wem xe law. Process liquid energy balance . “Te process igi is assumed to aways exist atts Boing point and to be psy mixed (assisted by the high circulation rate). “The liquid temperature is: 7 = 0.5616 2 + 03126 X2 + 48.43 en which isa linearization ofthe satrted quid line for water about the standard seady~ eeicnsdand includes a term to approximate boiling point elevation due to the presence of the solute. ie “The vapor temperature : TS = 0,507 F2 + 55.0 es which isa linearization ofthe saturated liquid line for water about the standard steady- state value. Fi10 Applied process control, ‘The dynamics of the energy balance are assumed to be very fast so that F4 = (Q100 - FIG, (72 ~ TIA eo where G+ isthe heat capacity ofthe iquor and is assumed constant at a value of 0.07 1W/ Kee) min) and is the lant heat of vaporization of the liquor and i assumed to have a constant valu of 38.5 KW /kg/min). 5 ~The sensible heat change between 72 and 73 for Fis considered small compared to the latent heat. It is assumed that there are no heat losses to the environment or heat ‘gains from the energy input of the pump. Heater steam jacket Seam pressure P10) it‘ manipulted variable whch determines steam temperature under assumed saturated conditions. An equaiion relating steam temperature to steam pressure can be obtained by approximating the saturated steam temperature-pressure relationship by local linearization about the steady-state value: Ti00 = 0.1538 PI00 + 90.0 an ‘The rate of eat transfer to the boiling process liquid is given by: @100 = VAI (7100 ~ 72) 8) where VAI isthe overall heat transfer coefficient times the heat transfer area and is a function of the total flowrate through the tubes inthe evaporator: UAL = 0.16 (FI + FB) ‘The steam flowrate is calculated from: F100 = Q100/A. as) Where As is the latent heat of steam at the saturated conditions, assumed constant at a value 6f 36.6 kW/(kg/ min). “The dynamics within the steam jacket have been assumed to be very fast. Condenser ‘The cooling water flowrate F200 is a manipulated variable and the inlet temperature 7200 isa disturbance variable. ‘A cooling water energy balance yields: (0200 = F200 C9(T201 - 7200) where Cr isthe heat capacity ofthe cooling water assumed constant at 0.07 kW/(ke/ sin). ‘The heat transfer rate equation is approximated by: (0200 = VA2(T3 ~ 0.5(7200 + 7201) where UA2 isthe overall heat transfer coefficient times the heat transfer area, which is 7 x] is 3 3 i 3 a) x) iS) oi wow ww www Chapter 2—The evaporator model V1 ‘assumed constant with a value of 6.84 KW/K. > “These two equations can be combined to eliminate 7201 to give explicitly: {UA2 (13 ~ 7200) ey T+ UA2/(@ Cr F200) It follows that: TAM] = 7200 + 9200/(F200 Cx) Qa) ‘The condensate lowrate is £ FS = Q200)d @2) where A lis the Intent heat of vaporization of water assumed constant at 38.5 kW/K(kg/ min). "The dynamics within the condenser have been assumed to be very fast In any modeli iti advisable to check that the problem is well formulated. This can be achieved by performing a degrees of freedom analysis. Ifthe ges of freedom ofthe problem is equal to zero, then the problem is well posed and ‘unique solution ofthe problem is possible. \ Peep yoblon thre re 2 variables, which are shown in Table 2. Thee ae 12 equations defined above. Therefore: DOF = Number of variables ~ Number of equations 2-12 8 - r define a This implis that eight extra picces of information need to be supplied to ‘unique solution. This is achieved by specifying the input variables as follows: 3 manipulated variables (F2, P100, F200) 5 disturbance variables (F3, FI, X1, T1, 7200) With these variables assigned values, the problem has zero degrees of freedom and a unique solution is possible Nonlinear model implementations ‘Several implementations ofthe nonlinear model are currently available: 1. a FORTRAN subroutine; . 2. an IBM Advanced Control System simulation; 3. a SPEEDUP simulation model; 4. a Bailey Network 90 simulation; 5. a FIX simulation. Information on the availability of software can be found in Appendix A.12 Applied proces comtol . 1m the implementations, proces contoles are included on the manipulated variables F2, P100, F200 and the slay controllers to any process contro i ‘more “réalistic", making instailancous changes in these variables impossible. The Tpeamits of these control loops ae approximated by Gs-order lags, with time constants of 12 ninuts, 2.3 The linear model ‘The Jacobian matrices “The tnear models derived from the nonlinear state space model: cy, BIE 0D) Be bby making a Taylor Series expansion about a steady state and considering only the first order terms: yD Barge wiki fbldt = Bie + Bay + Bde where: the subscript p denotes a perturbetion variable (€.8. 3» = § ~ Sun where Xu is the steady state). ae Matrices 4, 8 and are the Jacobians of /{) with regard to x, y and d ~ 2 respectively, at “The individual elements in terms of steady state values are listed in Appendix B. “The variables are then normalized by substituting: where: xq are the normalized variables. 2x ae steady sate values. FFor the standard steady states Usted in Table 2.1 the Jacobians in nofmaized perturbation form are: fo o.1044s jo 01 jo 0.10340 x 10 0.37935 0 is [la 0.54738 x 10} LP 1 037266 ° ee a9) ° , 0 0.36914 x 10" -0.78272 x 107] | Tras 03667 038s % 0 -0.36360%10" 0 F p-|o o1 o1 0 . 0 0.36302. 10" 0:32268% 107 0 0.35972 107 0.1785 x 10" LH te ow 4 Chapter 2—Theevporain inde! 13 where, y and d ae defined a: y= (22x22) uf = [F2 P100 F200) ¢-(BAXIT TM) 2.4 Exercises 1, Wrke a FORTRAN program to evaluat the dynamic reponse of the evaporator Aba sep change ina selected manipulated or disturbance variable 2. Obtain the response of the system states 1 step changes of 20 percent inthe fend concentration. 4. Determine the steady state of the proces for a 20 percent reduction in seam pressure P00. “A Determine the values of the Jacobians for a linear sate space model at the new steady sate determined in Exercise 3. eychopper. preamplifier, and demodulator, * | gure Reel Thermocouple temperature contrat cei: (4) Thermocouple bride input STKE Py OMA ‘Pot 1002 ‘Amolifier loteprator InverterDitference Between Ory Bulb and Wet Bulb Temperature (°F) + slo alee oo | 93 | 6838 Ae 8 [0 eel or oy G see 4Y (0 Aragcmen of he hand webubina rome ser rktple shows RTDs 31 the temperature detectors. 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