Fourth Class Process Control

3-Dynamics of liquid level system

Consider the system which consists of a tank of uniform cross –sectional area A to
which is attached a flow resistance R such as a value ,a pipe ,or a weir.

Case 1 The volumetric flowrate "Q" through the resistance is related to the head "H"
by linear relationship (R is linear resistance). The density of liquid is constant. Find
the transfer function which relates the head to inlet flow.

Fig.15 Liquid level system

Mass balance

Mass rate In – Mass rate Out= Mass accumulation in the tank

Steady state mass balance:

dHo
ρ Q oi − ρQoo =ρA =0
dt

Ho dHo
ρ Qoi − ρ =ρA =0(1)
R dt

Unsteady state mass balance:

' '
' H (t ) d H (t )
ρ Q i (t )− ρ =ρA (2)
R dt

subtracting Eq. 1 from Eq.2:

H (t ) dH ( t)
Qi (t)− =A
R dt

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Fourth Class Process Control

dH (t)
RA + H ( t )=R Qi (t)
dt

dH (t)
τ H ( t )=K Qi (t)
dt

Linear first order differential equation and zero initial conditions then taking Laplace
transform:
τsH ( s ) + H ( s )=K Qi ( s)

H ( s) K
G ( s )= =
Qi (s) τs+ 1

Where τ=RA and K=R

At step change in Qi(t) of Q

H ( t ) =RQ i ( 1−e−t /τ )

Case 2

R is nonlinear and follows the square root relationship

√ H =k H , k= 1 , m3 = m0.5 → R= sec
Qo = √ 2.5
R R sec R m

Fig.16 Liquid level system with nonlinear resistance

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Fourth Class Process Control

Steady state mass balance:

dHo
ρ Q oi − ρQoo =ρA =0
dt

o
ρ Qi − ρ
√ H o =ρA d H o =0 ( 1 )
R dt

Transient mass balance :

'
ρ Q ( t )− ρ
√
2
H ' (t )
= ρA
d H' (t )
(2)
i
R dt

[ √ Ho +
]
'
1 d H (t)
ρ Q 'i ( t )− ρ ( H ' −H o ) =ρA (3)
R 2 R √H dt
o

subtracting Eq. 1 from Eq.3:

Qi (t)−
1 ( H−H o )= A dH (t)
2 R √H dt
o

1 dH (t )
Qi (t)− H (t )= A
2 R √H dt
o

dH (t)
2 R √H A + H ( t )=2 R √ H Qi (t )
o o
dt

dH (t)
τ H ( t )=K Qi (t)
dt

Where τ =2 R √ H o A

k =2 R √ H
o

sec .5 sec
k= m = 2
m2.5 m

1st order D.E. ,linear zero I.C. then taking Laplace transform
τsH ( s ) + H ( s )=K Qi ( s)

H (s ) K
Q ( s )= =
Q i ( s ) τs+ 1

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