Process Dynamics and Control

Chapter 6

Dynamic Behavior of Higher-order

and Time delay Processes

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Process Dynamics and Control

Chapter Objectives
At the end of this chapter, you will be able to
Explain Interacting and non-interacting systems
Derive transfer functions for higher order
systems
Explain delay times in processes
Develop transfer functions for delay times
Develop approximate expressions for delay
times

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CCB 3013 - Chemical Process Dynamics, Instrumentation and Control

Dynamics6and Control
Process Chapter

Interacting and Noninteracting

Processes
Processes with variables that interact with each
other, or
that contain internal feedback of material or
energy
will exhibit interacting behavior

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CCB 3013 - Chemical Process Dynamics, Instrumentation and Control

Process Dynamics and Control

Non-interacting Processes
The two-storage tanks were connected in
series in such a way that liquid level in the
second tank did not influence the level in the
first tank.
The following transfer functions were derived:

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H 1 ( s )
K1

Qi( s ) 1 s 1

(6.1)

Q1 ( s )
1

H 1 ( s) K1

(6.2)

H 2 ( s )
K2

Q1 ( s ) 2 s 1

(6.3)

Q2 ( s )
1

H 2 ( s) K 2

(6.4)

CCB 3013 - Chemical Process Dynamics, Instrumentation and Control

Process Dynamics and Control

Non-interacting Processes
Tank 2 level h2 is related to qi by a second-order
transfer function that can be obtained by simple
multiplication
H 2 ( s) H 2 ( s) Q1 ( s) H 1 ( s)
K2

Qi( s) Q1 ( s) H 1 ( s) Qi( s) 1 s 1 2 s 1

(6.5)

A simple generalization of the dynamic

expression in (6.5) is applicable to n tanks in
series
H n ( s)

Qi( s)

Kn
n

s 1
i

i 1

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Qn ( s)

Qi( s)

1
n

s 1

(6.6)

i 1

CCB 3013 - Chemical Process Dynamics, Instrumentation and Control

Process Dynamics and Control

An interacting process

In the process shown above, h1 depends on h2

as a result of interconnecting stream with flow
rate q1.
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Process Dynamics and Control

An interacting process
The equation for flow from Tank 1 to Tank 2 must
be written to reflect that physical feature.
1
q1 (h1 h2 )
R1

(6.7)

For Tank 1, the level transfer function can be

derived as
R1 R2 A2

R1 R2
s 1
R1 R2
H 1 ( s)

Qi( s) R1 R2 A1 A2 s 2 R2 A2 R1 A1 R2 A1 s 1
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CCB 3013 - Chemical Process Dynamics, Instrumentation and Control

(6.8)

Process Dynamics and Control

An interacting process
The transfer function relating h1 and h2 is
R2
H 2 ( s )
R1 R2

H 1 ( s) R1 R2 A2
s 1
R1 R2

(6.9)

Consequently, the overall transfer function

between h2 and qi is
H 2 (s)
R2
2 2
Qi(s) s 2 s 1
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(6.10)

CCB 3013 - Chemical Process Dynamics, Instrumentation and Control

Process Dynamics and Control

Processes with Time Delays

Time delays occur due to:
1. Fluid flow in a pipe

2. Transport of solid material (e.g., conveyor belt)

3. Chemical analysis

- Sampling line delay

- Time required to do the analysis (e.g., on-line
gas chromatograph)

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CCB 3013 - Chemical Process Dynamics, Instrumentation and Control

Process Dynamics and Control

Processes with Time Delays

If a fluid is transported through a pipe in plug

flow,

Point 1

Point 2

Transportation time between points 1 and 2 is

given by

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length of pipe
volume of pipe

fluid velocity volumetric flowrate

CCB 3013 - Chemical Process Dynamics, Instrumentation and Control

(6.11)

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Process Dynamics and Control

Processes with Time Delays

Suppose that x is some fluid property at point 1, such
as concentration, and y is the same property at point 2
and that both x and y are deviation variables. Then
0

y t
u t

G( s) e

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for t
for t

(6-27) (6.12)

Y ( s)

U (s)

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Process Dynamics and Control

Processes with Time Delays

The output y(t) is simply the same input
function shifted backward in time by the
amount of the delay translation in time.
The transfer function of a time delay of
magnitude is given by
Y ( s)
G( s) e s
X ( s)

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(6.13)

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Process Dynamics and Control

Processes with Time Delays

Polynomial approximations to (non-rational
function)
Taylor series expansion:

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2 s 2 3s3 4 s 4 5 s5
1 s

...
2!
3!
4!
5!

(6.14)

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Process Dynamics and Control

Processes with Time Delays

Pad approximation (A ratio of two polynomials)
1/1 Pad approximation
e s

s
1
2
G1(s)
s
1
2

(6.15)

Performing the long division in (6.15), we have

e s

2 s 2 3s 3
1 s

...
2
4

(6.16)

Comparison of (6.14) and (6.16) indicates they are

correct through the first three terms.
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Process Dynamics and Control

Processes with Time Delays

2/2 Pad approximation
e s

s 2s 2
1
2
12
G2 ( s )
s 2s 2
1
2
12

(6.17)

Comparison of actual
and approximate time
delay responses

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Process Dynamics and Control

Processes with Time Delays

An alternative first-order approximation
consists of the transfer function,
e

0 s

0 s

1 0 s

(6-58)

where the time constant has a value of 0

These expressions can be used to approximate
the pole or zero term in a transfer function.

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Process Dynamics and Control

Conclusions
Interacting and non-interacting systems were
introduced
Transfer functions for higher order systems
have been derived
Delay time concept has been introduced.
Transfer function and approximations are
explained.

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