CHAPTER 7

Fluid System and Thermal Systems

Dr. Bahaa M. Nasser

63 1
 Contents
1. INTRODUCTION
2. MATHEMATICAL MODELING OF
LIQUID-LEVEL SYSTEMS
3. MATHEMATICAL MODELING OF
PNEUMATIC SYSTEMS
4. LINEARIZATION OF NONLINEAR
SYSTEMS

63 2
 1- INTRODUCTION
A fluid system uses one or more fluids to achieve its
purpose. Dampers and shock absorbers are
examples of fluid systems because they depend on
the viscous nature of a fluid to provide damping. In
addition to providing damping, other applications of
fluid systems include actuators and processes that
involve mixing, heating, and cooling of fluids.

63 3
 1- INTRODUCTION
Active vehicle suspensions use hydraulic and pneumatic
actuators to provide forces to supplement the passive spring
and damping elements. Water supply, waste treatment, and
other chemical processing applications are examples of a
general category of fluid systems called “liquid-level-
systems”, because they involve regulating the volumes, and
therefore the levels of liquids in containers such as tanks.
A fluid might be either a liquid or a gas. A fluid is said to be
incompressible if the fluid’s density remains constant
despite changes in the fluid pressure. If the density changes
with pressure, the fluid is compressible.

63 4
2- MATHEMATICAL MODELING OF
LIQUID-LEVEL SYSTEMS

63 5
63 6
Resistance and Capacitance of Liquid-Level Systems
Consider the flow through a short pipe connecting two tanks as
shown in Figure. The resistance for liquid flow in such a pipe or
restriction is defined as the change in the level difference (the
difference of the liquid levels of the two tanks) necessary to cause a
unit change in flow rate; that is,

Since the relationship

between the flow rate
and the level difference
differs from laminar
flow and turbulent flow,
we shall consider both
cases in what fallows.
63 7
Resistance in Laminar Flow

63 8
 Resistance in Turbulent Flow
For turbulent flow; ( Re > 4000 ), the steady-state flow rate is given by

63 9
63 10
Capacitance

63 11
Mathematical Modeling of Liquid-level Systems

63 12
63 13
63 14
 Analogous Systems

Consider the liquid-level system shown in Figure. In this system, the two tanks
interact. (Note that the transfer function for such a case is not the product of two
individual first-order transfer functions.) If the variations of the variables from their
respective steady-state values are small, the resistance R1 stays constant. Hence, at
steady state,

63 15
63 16
63 17
 3- MATHEMATICAL MODELING OF
PNEUMATIC SYSTEMS
Pneumatic systems are fluid systems that use air as
the medium for transmitting signals and power.
(Although the most common fluid in these systems
is air, other gases can be used as well.) Pneumatic
systems are used extensively in the automation of
production machinery and in the field of automatic
controllers. For instance, pneumatic circuits that
convert the energy of compressed air into
mechanical energy enjoy wide usage, and various
types of pneumatic controllers are found in industry.

63 18
Physical properties of air and other gases
Some physical properties of air and other gases at standard pressure
and temperature are shown in Table 7-l. Standard pressure p and
temperature t are defined as

63 19
63 20
Resistance and capacitance of pneumatic systems

63 21
63 22
63 23
63 24
63 25
63 26
Example 7-1

Solution

63 27
Example 7-2

63 28
 Mathematical modeling of a pneumatic system
The pneumatic pressure system shown in Figure 7-7(a) consists of a
pressure vessel and connecting pipe with a valve. If we assume only
small deviations in the variables from their respective steady-state
values, then this system may be considered linear. We define

63
29
Mathematical modeling of a pneumatic system

63 30
Mathematical modeling of a pneumatic system

63 31
4- LINEARIZATION OF NONLINEAR SYSTEMS

63 32
4- LINEARIZATION OF NONLINEAR SYSTEMS

63 33
4- LINEARIZATION OF NONLINEAR SYSTEMS

63 34
4- LINEARIZATION OF NONLINEAR SYSTEMS

63 35
Example 7-3

63 36
Example 7-3

63 37
Example 7-4

63 38
Example 7-4

63 39
Example 7-4

63 40