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Chapter 4
x (t )
X (s)
system
y (t )
Y (s)
input
output
forcing function
response
cause
effect
1
Chapter 4
Y (s)
X (s)
where:
Y ( s ) = L y ( t )
X ( s ) = L x ( t )
Chapter 4
dT
= wC (Ti T ) + Q
V C
dt
(1)
Chapter 4
( 2)
(3)
dT
V C
= wC (Ti Ti ) (T T ) + ( Q Q )
dt
(4)
4
But,
dT d (T T )
=
because T is a constant
dt
dt
(5)
Chapter 4
dT
V C
= wC (Ti T ) + Q
dt
(6)
(7)
Take L of (6):
V C sT ( s ) T ( t = 0 ) = wC Ti( s ) T ( s ) Q ( s ) (8)
5
Evaluate T ( t = 0 ) .
By definition, T = T T . Thus at time, t = 0,
Chapter 4
T (0) = T (0) T
(9)
But since our assumed initial condition was that the process
was initially at steady state, i.e., T ( 0 ) = T it follows from (9)
that T ( 0 ) = 0.
Note: The advantage of using deviation variables is that the
initial condition term becomes zero. This simplifies the later
analysis.
Rearrange (8) to solve for T ( s ) :
K
1
T ( s) =
Q ( s ) +
Ti( s )
s +1
s +1
(10)
6
1
and
wC
V
w
(11)
Chapter 4
(12)
Chapter 4
Q ( t ) = Q Q ( t ) = 0 Q ( s ) = 0
Thus, rearranging
T ( s )
1
=
Ti( s ) s + 1
(13)
Comments:
1. The TFs in (12) and (13) show the individual effects of Q and Ti
on T. What about simultaneous changes in both Q and Ti ?
Chapter 4
Answer: See (10). The same TFs are valid for simultaneous
changes.
Chapter 4
1. Steady-State Gain
The steady-state of a TF can be used to calculate the steadystate change in an output due to a steady-state change in the
input. For example, suppose we know two steady states for an
input, u, and an output, y. Then we can calculate the steadystate gain, K, from:
y2 y1
K=
u2 u1
(4-38)
K = lim G ( s )
Chapter 4
s 0
(14)
11
2. Order of a TF Model
Chapter 4
an
dny
dt
+ an1
bm1
dy n1
dt n1
d m1u
m1
dy
d mu
+ K a1 + a0 y = bm m +
dt
dt
du
+ K + b1
+ b0u
dt
(4-39)
dt
Take L, assuming the initial conditions are all zero. Rearranging
m
gives the TF:
i
b
s
i
Y ( s ) i =0
G (s) =
= n
(4-40)
U (s)
i
a
s
i
i =0
3. Additive Property
Chapter 4
Y (s)
U1 ( s )
= G1 ( s ) and
Y (s)
U2 ( s)
= G2 ( s )
Y ( s ) = G1 ( s )U1 ( s ) + G2 ( s )U 2 ( s )
The graphical representation (or block diagram) is:
U1(s)
G1(s)
Y (s )
U2(s)
G2(s)
14
4. Multiplicative Property
Suppose that,
Y (s)
Chapter 4
U2 ( s)
= G2 ( s ) and
U2 ( s)
U3 ( s )
= G3 ( s )
Then,
Y ( s ) = G2 ( s )U 2 ( s ) and U 2 ( s ) = G3 ( s )U 3 ( s )
Substitute,
Y ( s ) = G2 ( s ) G3 ( s )U 3 ( s )
Or,
Y (s)
U3 ( s )
= G2 ( s ) G3 ( s )
U3 ( s )
G2 ( s )
G3 ( s )
Y (s)
15
Chapter 4
16
Linearization (continued)
Chapter 4
dy
= f ( y, u )
dt
(4-60)
f
f ( u, y ) = f ( u , y ) +
u
f
u +
y
s
(4-61)
Linearization (continued)
Substitute (4-61) into (4-60) gives:
Chapter 4
dy
f
= f (u , y ) +
dt
u
u +
s
f
y
(A)
f (u , y ) = 0
(B)
f
u +
y
s
(4-62)
s
18
qi
Chapter 4
dh
A = qi q (1)
dt
q = Cv h
(2)
Valve relation:
A = area, Cv = constant
q
C
dh 1
= qi v
dt A
A
h = f (h, qi )
(3)
(4)
19
Chapter 4
where:
Cv
f
=
h s
2A h
(5)
f 1
=
qi s A
(6)
(7)
(8)
(8)
20
Chapter 4
State-Space Models
Dynamic models derived from physical principles typically
consist of one or more ordinary differential equations (ODEs).
In this section, we consider a general class of ODE models
referred to as state-space models.
(4-90)
y = Cx
(4-91)
21
Chapter 4
where:
x =
u =
d =
y =
Chapter 4
Nonlinear
Model:
Linearized
Model:
where:
23
Example 4.9
Show that the linearized CSTR model of Example 4.8 can
be written in the state-space form of Eqs. 4-90 and 4-91.
Derive state-space models for two cases:
Chapter 4
The linearized CSTR model in Eqs. 4-84 and 4-85 can be written
in vector-matrix form:
dcA a
dt 11
=
dT a
dt 21
a12 cA 0
+ T
c
a22 T b2
(4-92)
24
Chapter 4
b2
21 a22 x2
2 14
{
243
B
A
(4-93)
which is in the form of Eq. 4-90 with x = col [x1, x2]. (The symbol
col denotes a column vector.)
25
Chapter 4
26