Fourth Class Process Control

Heating tank
c. θo =f(m(s)):m is chanced while , θ i and q are remained constant at their initial
steady-state values
θo =f(m(s))
θo (s)
G3 ( s )=
m( s)
1. Steady state head balance :

Heat in by flow + heat out by heat transfer - heat out by flow+ = Heat accumulation

o o o o o d θ oo
m C p θi + q −m C p θ o=M C p =0(1)
dt

2. Transient state:
˴
˴ o o ˴ ˴ d θo(t )
m (t)C p θ i + q −m (t) C p θ o (t)=M C p ( 2)
dt

Linearization :

Eq. (2) is a nonlinear D.E. due to the nonlinear form term m˴ C p Q1o .this form should
be linear zed a roundmo∧Q oo.

f ( m ,θ o )=f ( m , θo ) +
˴ ˴ o o
[ ] ∂f
∂m ˴ o
(m ,θo)
o
( m˴−mo ) + ∂ f ˴
[ ]
∂Q o o
( m ,θo )
o
( θ˴o −θoo )

f ( m ˴ ,θ ˴o )=m˴ (t )C p θ˴o (t )

[ ]
∂f
∂m
˴
o o
(m ,θo)
=C p θo and
o

[ ]
∂f
∂ θ˴o ( m ,θ )
o o
o
=C p θ oi

f ( m˴ (t), θ˴o (t ) ) ≈ m o C p θio+ C p θoo ( m˴ (t )−mo ) +C p θ oi ( θ˴o (t )−θ oo )

After linearization, Eq.2 becomes:

˴
d θ (t )
m ( t ) C p θ + q −( m C p θ + C p θ ( m ( t )−m ) +C p θ ( θ ( t )−θ ) )=M C p o (3)
˴ o
i
o o o
i
o
o
˴ o o
i
˴
o
o
o
dt

Eq.4 is linear, first order differential equation and zero initial condition

Subtracting Eq.1 from Eq. 3 :

d θo(t )
m ( t ) C p θoi −m o C p θ❑ o
o ( t )−θ o C p m ( t )=M C p (4)
dt

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Fourth Class Process Control

Eq.4 is linear, first order differential equation and zero initial condition
d θo ( t )
+m C p θ o ( t )=C p ( θi −θo ) m ( t )
o o o
MCp
dt

−( θ o−θ i )
o o

( ) M d θo ( t )
m o
dt
+θ o ( t )=
mo
m (t)

d θ o (t )
τ + θo ( t ) =−K P m ( t )
dt

θ o ( s ) −K P
G ( s )= =
θi ( s) τs+1

( 1−e )
−t
τ
θ o ( t )=−K P

θi ∧q are changed while mremained constant at their initial steady state

Steady state heat balance:

o o o o o d θ oo
m C p θi + q −m C p θ o=M C p =0(1)
dt

Unsteady state heat balance:

o ' ' o d θ'o ( t )

'
m C p θ ( t ) +q ( t )−m C p θ ( t )=M C p
i o (2)
dt

Subtracting Eq.1 from Eq.2:

d ( θ'i ( t )−θ oi )
m C p ( θ ( t )−θio) +q o−q ' ( t)−mo C p ( θ 'i ( t )−θio )=M C p
o '
i
dt

d θo (t)
mo C p θi ( t ) +q (t)−mo C p θ o ( t ) =M C p
dt

od θ (t ) 1
τ dt + θo ( t ) =θi (t ) + o q ( t ) (3)
m Cp

Taking Laplace transform of Eq.3:

(τs+1)θ o ( s ) =K 1 θi ( s ) + K 2 q ( s )
K1 K2
θ o ( s) = θi ( s ) + q (s )
τs+1 τs+1

25
Fourth Class Process Control

Step change in θi ( t ) of θi and q ( t )of q

K 1 θi K 2 q
θ o ( s) = +
τs+1 s τs+ 1 s

( )
−t
τ
θ o ( t )=( K 1 θi + K 1 q ) 1−e

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