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K. Craig
Tjo
Jacket Inlet
Tji
Tank
Jacket
Jacket Outlet
Stirred Tank Heater
Tt
Tj
Tank Outlet
Tto
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Mathematical Model
Conservation of Mass: Tank
dV + vidA
0=
t CV
CS
d
( t Vt ) = t Vti t Vto
Assume constant density.
dt
d
Assume constant volume in the tank.
( Vt ) = 0
dt
volume flow rate in = volume flow rate out
Vti = Vto
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dV + vidA
0=
t CV
CS
d
jVj ) = jVji jVjo
(
Assume constant density.
dt
d
Vj ) = 0
(
Assume constant volume in the tank.
dt
Vji = Vjo
volume flow rate in = volume flow rate out
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Q+W =
edV + evidA
t CV
CS
v2
e = u + + gz
2
For most chemical processes where there are thermal
effects, kinetic and potential energy terms can be
neglected because their contribution is generally at least
two orders of magnitude less than that of the internal
energy term.
Rate of work done on Control Volume by surroundings:
W = Wshaft + Wnormal
Wnormal =
nn
vidA
nn p
CS
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Q + Wshaft
p
=
udV + u + vidA
t CV
CS
dU
+ Vt t ( h to h ti )
dt
d ( H pV )
=
+ Vt t ( h to h ti )
dt
Q + Wshaft =
Q + Wshaft
But since the volume of the tank is constant and the mean
pressure change is negligible (good assumption for
liquids provided the pressure change is not too large), we
have:
d ( pV )
dt
dp
dV
=V +p
=0
dt
dt
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dH
= Vt t ( h ti h to ) + Q + Wshaft
dt
Neglect the work done by the mixing impeller and
assume single phase and a constant heat capacity:
h = c p T
dTt
t Vt c pt
= Vt t c pt ( Tti Tto ) + Q
dt
dTt Vt
Q
= ( Tti Tto ) +
dt Vt
t Vt c pt
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dTj
Vj
Q
= ( Tji Tjo ) +
dt Vj
jVjc pj
Q = hA ( Tj Tt )
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Vj
T
(
V
ji
Tj )
hA ( Tj Tt )
jVjc pj
hA ( Tj Tt )
dTt Vt
= ( Tti Tt ) +
t Vt c pt
dt Vt
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Tts = 125 F
Vj = 1 ft 3
Tjis = 200 F
ft 3
Vtis = Vtos = 1
min
ft 3
Vjis = Vjos = 1.5
min
Stirred Tank Heater
Tjs = 150 F
Ttis = 50 F
Btu
hA = 183.9
F min
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MatLab M-File
V_dot_t_s=1;
V_dot_j_s=1.5;
rho_cp_t=61.3;
rho_cp_j=61.3;
V_t=10;
V_j=1;
K1=1/(rho_cp_t*V_t);
K2=1/(rho_cp_j*V_j);
h_A=183.9;
T_t_i_s=50;
T_j_i_s=200;
T_t_s=125;
T_j_s=150;
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Linearization
Nonlinear
Equations
hA ( Tj Tt )
dTt Vt
= ( Tti Tt ) +
t Vt c pt
dt Vt
dTj
dt
Tt = f1 ( Tt , Tj , Vt , Vj , Tti , Tji )
Tj = f 2 ( Tt , Tj , Vt , Vj , Tti , Tji )
Vj
T
(
V
ji
Tj )
hA ( Tj Tt )
jVjc pj
f1
f1
f1
f1
f1
f1
Tt = f1 +
Tt +
Tj +
Vt +
Vj +
Tti +
Tji
Tt
Tj
Vt
Vj
Tti
Tji
f 2
f 2
f 2
f 2
f 2
f 2
Tj = f2 +
Tt +
Tj +
Vt +
Vj +
Tti +
Tji
Tt
Tj
Vt
Vj
Tti
Tji
Stirred Tank Heater
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Vts
hA
Ttis Tts
hA
Tt = 0 +
Vt +
Tt +
Tj +
Vt t Vt c pt
t Vt c pt
Vt
Vts
[0] Vj + Tti + [0] Tji
Vt
hA
Vjs
hA
Tj = 0 +
Tt +
Tj + [ 0] Vt +
jVjc pj
Vj t Vt c pt
Tjis Tjs
Vjs
Vj + [ 0] Tti + Tji
Vj
Vj
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V
t
T 0.4 0.3 T 7.5 0 0.1 0 V
t
j
t =
50 0 1.5 T
T 3.0 4.5 Tj 0
ti
j
Tji
Stirred Tank Heater
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V
t
y1 1 0 Tt 0 0 0 0 Vj
y = 0 1 + 0 0 0 0
Tj
Tti
2
Tji
y = Cx + Du
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Y(s)
= G ( s)
U( s)
sX(s) x(0) = AX(s) + BU(s)
Y(s) = CX(s) + DU(s)
Laplace Transform
sX(s) AX(s) = BU(s)
sI A X(s) = BU(s)
X(s) = sI A
Define:
BU(s)
(s) = sI A
Y(s) = C sI A
B + D U(s)
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Characteristic Equation
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Transfer Functions
Tt
7.5s 33.75
= 2
Vt s + 4.9s + 0.9
22.5
= 2
Vt s + 4.9s + 0.9
Tt
Tj
15
= 2
Vj s + 4.9s + 0.9
Vj
0.1s + 0.45
= 2
Tti s + 4.9s + 0.9
Tti
Tt
Tj
Tt
0.45
= 2
Tji s + 4.9s + 0.9
Tj
50s + 20
s 2 + 4.9s + 0.9
0.3
s 2 + 4.9s + 0.9
1.5s + 0.6
= 2
Tji s + 4.9s + 0.9
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15
15
= 2
=
Vj s + 4.9s + 0.9 ( s + 0.191)( s + 4.709 )
16.67
=
( 5.236s + 1)( 0.212s + 1)
50 ( s + 0.4 )
50s + 20
= 2
=
Vj s + 4.9s + 0.9 ( s + 0.191)( s + 4.709 )
Tj
=
Stirred Tank Heater
22.2 ( 2.5s + 1)
23
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150
145
140
135
Linear
130
125
120
115
110
Nonlinear
0
10
15
time (min)
20
25
30
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Observations:
For the nonlinear model, the gain (change in output /
change in input) varied as a function of both the input
magnitude and direction.
If small input changes were made, the gain did not
change much from the linear model case.
For large input changes, the gain of the nonlinear
system was less than the linear system for increases in
jacket flow rate, but more than the linear system for
decreases in jacket flow rate.
The response of the jacket temperature is faster than
that of the tank temperature. From a physical point of
view, this makes sense since the jacket volume is one
tenth of the heater volume.
Stirred Tank Heater
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slow
2 = 4.7089
fast
0.8207
v1 =
0.5714
0.0695
v2 =
0.9976
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