First Order

systems

Instrumentation and Process Control Liquid Level

system

Examples of First order systems Thermometer

Mixing process

Heating process

Dr. Hemanth Kumar Tanneru

Department of Chemical Engineering

Indian Institute of Petroleum and Energy Visakhapatnam
Table of Contents

First Order
1 First Order systems systems

Liquid Level
system
2 Liquid Level system Thermometer

Mixing process

Heating process
3 Thermometer

4 Mixing process

5 Heating process
Learning Objectives

First Order
systems

Liquid Level
system

Thermometer
1 Understand the first order systems from the point of view of their capacity to
Mixing process
storage of mass and energy
Heating process
2 Develop models for physical example systems which are first order
Table of Contents

First Order
1 First Order systems systems

Liquid Level
system
2 Liquid Level system Thermometer

Mixing process

Heating process
3 Thermometer

4 Mixing process

5 Heating process
First order systems

First order systems are characterized by First Order

systems
• Their capacity to store material, energy, or momentum
Liquid Level
• The resistance associated with the flow of mass, energy, or momentum in system

Thermometer
reaching the capacity
Mixing process
Examples of first order systems Heating process
• Liquid level system
• Thermometer
• Mixing process
• CSTR
• RC circuit.. many more...
Table of Contents

First Order
1 First Order systems systems

Liquid Level
system
2 Liquid Level system Thermometer

Mixing process

Heating process
3 Thermometer

4 Mixing process

5 Heating process
Liquid Level System
h Driving force for flow
Fo = =
R Resistance to flow
First Order
systems
• Unsteady state Mass balance Liquid Level
system

dh h Thermometer
A = F i − Fo = F i − (1) Mixing process
dt R
Heating process
• At steady state

hs
Fis = (2)
R
• Transfer function
A. The effluent flow rate is linearly
related to hydro static pressure of H̃(s) R
the level, through the resistance = (3)
F̃i (s) ARs + 1
Contd..

First Order
systems

Liquid Level
system

Thermometer

Mixing process

Heating process
Contd...

First Order
systems

• Deviation variables: H̃ = h - hs and F̃i = Fi - Fis Liquid Level

system

• Time Constant, τ = AR Thermometer

• Process Gain, Kp = R Mixing process

Heating process
• A is the measure of the capacity to store mass
• τp = AR = (storage capacity) × (resistance to flow)
• Unit step response, h(t) = R(1 − e −t/AR )
Procedure to obtain Transfer function

First Order
1 Make unsteady state balance (mass, heat or momentum) systems

Liquid Level
system
2 Make steady state balance Thermometer

Mixing process
3 Subtract the steady state equation from the unsteady state equation Heating process

4 Transform the resulting equation into the Laplace domain

5 Rearrange the equation to get the ratio of the (out/in) in one side and the
other parameters in the other side
Liquid-Level Process with Constant-Flow Outlet

Assumptions:
First Order
• A1. Constant density systems

Liquid Level
• A2. Constant cross-sectional area system

Thermometer

Mixing process
The mass balance on the tank with a constant outlet stream flow rate
Heating process
dh
A = q − q0 (4)
dt
The steady-state equation is:
0 = qs − q0 (5)
Subtract the steady-state from the total mass balance & introducing the deviation
variables
dH
A =Q (6)
dt
Contd...

• Deviation variables: First Order

systems
H = h − hs Q = q − qs
Liquid Level
• Laplace transform system

Thermometer

Mixing process
AsH(s) = Q(s) (7)
Heating process

• Transfer function G(s)

H(s) 1
=
Q(s) As

Pure capacitive process

Table of Contents

First Order
1 First Order systems systems

Liquid Level
system
2 Liquid Level system Thermometer

Mixing process

Heating process
3 Thermometer

4 Mixing process

5 Heating process
Thermometer

Assumptions:
First Order
• A1. All the resistance to heat transfer systems

Liquid Level
resides in the film surrounding the bulb system

• A2. All the thermal capacity is in the Thermometer

mercury Mixing process

Heating process
• A3. At any instant the mercury assumes
a uniform temperature throughout
• A4. The glass wall containing the
mercury does not expand or contract
during the transient response
• A5. Constant physical properties
Thermometer

Assumptions: First Order

systems
• A1. All the resistance to heat transfer
Liquid Level
resides in the film surrounding the bulb system

• A2. All the thermal capacity is in the Thermometer

Mixing process
mercury
Heating process
• A3. At any instant the mercury assumes
a uniform temperature throughout
• A4. The glass wall containing the
mercury does not expand or contract
during the transient response
• A5. Constant physical properties
Contd...
• Unsteady state balance
(Input rate) - (Output rate) = (Rate of accumulation)
First Order
systems
dy
hA(x − y ) − 0 = mC (8) Liquid Level
dt system

Thermometer
• At steady-state
Mixing process
hA(xs − ys ) = 0 (9) Heating process

• Subtracting Eq. 9 from Eq. 8 gives

hA[(x − xs ) − (y − ys )] = mC d(ydt−ys ) (10)

• In terms of the deviation variables

hA(X − Y ) = mC dY
dt (11)

• Deviation variables: X = x - xs and Y = y - ys

Problems

Example (Problem 1)
First Order
A mercury thermometer of first order characteristics takes 5 seconds to indicate systems
70% of the final temperature. Calculate the time constant of the thermometer. Liquid Level
system

Thermometer
Example (Problem 2) Mixing process

A mercury thermometer of first order characteristics having a time constant of 4.5 Heating process

sec. Calculate the time required to indicate 75% of the final temperature.

Example (Problem 3)
A thermometer having a time constant of 0.1 minute is at steady state
temperature of 30o C. At time t = 0, the thermometer is placed in a temperature
bath maintained at 40o C. Calculate the time required for the thermometer to
indicate 38o C.
Problem 1
Example
A mercury thermometer of first order characteristics takes 5 seconds to indicate First Order
systems
70% of the final temperature. Calculate the time constant of the thermometer.
Liquid Level
system
Solution Thermometer

Date Given: t = 5 sec; Y(t) = 0.7AKp Mixing process

Step response of first order system: Heating process

Y (t) = AKp (1 − e −t/τ )

Ultimate value:
Y (t) = lim Y (t) = AKp
t→∞

Therefore,
0.7AKp = AKp (1 − e −5/τ ) =⇒ τ = 4.15sec
Problem 2
Example
A mercury thermometer of first order characteristics having a time constant of 4.5 First Order
systems
sec. Calculate the time required to indicate 75% of the final temperature.
Liquid Level
system
Solution Thermometer

Date Given: τ = 4.5 sec; Y(t) = 0.75AKp Mixing process

Step response of first order system: Heating process

Y (t) = AKp (1 − e −t/τ )

Ultimate value:
Y (t) = lim Y (t) = AKp
t→∞

Therefore,
0.75AKp = AKp (1 − e −t/4.5 ) =⇒ t = 6.24sec
Table of Contents

First Order
1 First Order systems systems

Liquid Level
system
2 Liquid Level system Thermometer

Mixing process

Heating process
3 Thermometer

4 Mixing process

5 Heating process
Mixing process
Assumptions:
• A1. Constant density
First Order
• A2. Constant holdup systems

• A3. Perfect mixing Liquid Level

system

x, y: concentration of the salt in the Thermometer

entering & exit stream respectively Mixing process

Heating process
1 Unsteady state mass balance
dy
qx − qy = V (12)
dt
2 Steady state mass balance
qxs − qys = 0 (13)
3 Subtract the steady state equation from the unsteady state one
dY
qX (t) − qY (t) = V (14)
dt
Contd...

• Laplace transform
First Order
systems
qX (s) − qY (s) = VsY (s) (15) Liquid Level
system
• Transfer function G(s) Thermometer

Mixing process
Y (s) 1 Heating process
= V
X (s) qs +1

1
G (s) =
τs + 1
• Here, τ = V
q and Kp = 1
Problems

Example
A thermometer is kept inside a constant temperature bath at 700 C . This suddenly First Order
systems
transferred into another bath kept at 600 C . The following readings are recorded. Liquid Level
system

Time, min Temperature (C) Thermometer

0 70 Mixing process

1 68 Heating process

2 66
4 64
5 63
8 62
10 61.5
12 61

Calculate the time constant of thermometer.

Problems

Example
First Order
A tank having a time constant of 1 min and a resistance of 1/9 ft/cfm is systems

operating at steady state with an inlet flow of 10 ft 3 /min (or cfm). At time t=0, Liquid Level
system
the flow is suddenly increased to 100 ft 3 /min for 0.1 min by adding an additional Thermometer
9 ft 3 of water to the tank uniformly over a period of 0.1 min. Plot the response in Mixing process

tank level and compare with the impulse response. Heating process

Solution
Date Given: τ = 1 min; Valve resistance R = 1/9 ft/cfm
From the information given, and looking at the transfer function for liquid level
system FH(s)
i (s)
R
= τ s+1
1/9
The transfer function for the given process is s+1
Contd...

First Order
systems

Liquid Level
system
Solution Thermometer

Input: As the time interval over which the 9 ft 3 of water is added to the tank is Mixing process

shortened, the input approaches an impulse function having a magnitude of 90. Heating process

Currently it can be treated as a pulse input of magnitude 90 in the interval from 0

to 0.1 sec
Table of Contents

First Order
1 First Order systems systems

Liquid Level
system
2 Liquid Level system Thermometer

Mixing process

Heating process
3 Thermometer

4 Mixing process

5 Heating process
Heating process

Assumptions: First Order

systems
• A1. The tank is well mixed
Liquid Level
• A2. The flow rate to the tank is system

Thermometer
constant at w
Mixing process
Heat is added to the tank by means of an Heating process
electric heater

Goal: The transfer function relating the

change in the inlet temperature and the
change in q to the change in the outlet
temperature.
Contd...
• Unsteady state energy balance
d(T − Tref ) dT
wC (Ti − Tref ) − wC (T − Tref ) + q = ρVC = ρVC (16) First Order
dt dt systems

Liquid Level
where Tref = the reference temperature and C = heat capacity of the fluid. system

• Steady state energy balance Thermometer

Mixing process

wC (Tis − Ts ) + qs = 0 (17) Heating process

• Subtract the steady state equation from the unsteady state one
d(T − Ts )
wC (Ti − Tis ) − wC (T − Ts ) + q − qs = ρVC (18)
dt
• If Ti is constant (and so Ti = Tis ) and introduce the deviation variables

d T̃
−wC T̃ + Q = ρVC (19)
dt
Contd...
• Taking Laplace transforms

−wC T̃ (s) + Q(s) = ρVCs T̃ (s) (20) First Order

systems
• Transfer function relating T̃ (s) and Q(s): Liquid Level
system

Thermometer
T̃ (s) 1/wC K
= = (21) Mixing process
Q(s) (ρV /w )s + 1 τs + 1
Heating process

• Transfer function relating T̃ (s) and Q(s) (when, q = qs )

d(T − Ts )
wC (Ti − Tis ) − wC (T − Ts ) = ρVC (22)
dt
wC T̃i (s) − wC T̃ (s) + Q(s) = ρVCs T̃ (s) (23)
T̃i (s) 1 K
= = (24)
T̃ (s) (ρV /w )s + 1 τ s +1
Summary

First Order
systems

Liquid Level
system
Table: Time constants of different first order processes
Thermometer
Process Time Constant Mixing process
mC
Thermometer hA Heating process

Liquid-level process AR
V
Mixing process q
ρV
Heating process w
 First Order
systems

Liquid Level
system

Thermometer

Thank You Mixing process

Heating process