Industrial Control

Behzad Samadi
Department of Electrical Engineering
Amirkabir University of Technology

Winter 2009
Tehran, Iran

Behzad Samadi (Amirkabir University) Industrial Control 1/7

Thermal Systems

Electrical Analogy
Type of System Electrical Thermal
T-Variable i, current q, heat flow
A-Variable v , voltage T , temperature
Resistance resistor thermal resistor
Storage (A-Type) capacitor thermal capacitor
Storage (T-Type) inductor unknown

Note that q is in units of power and no T-type thermal energy storage

has been identified.
[Ogata, 1997]

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Heat Transfer
Conduction: Heat transfer through solid media

Behzad Samadi (Amirkabir University) Industrial Control 3/7

Heat Transfer
Conduction: Heat transfer through solid media

T1 − T2 =Rc q
d
Rc =
KA

d =thickness of the wall

A =area of the wall
K =thermal conductivity of the wall’s material

[Macia and Thaler, 2004]

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Heat Transfer
Convection: Heat transfer through a fluid (liquid or gas)

Behzad Samadi (Amirkabir University) Industrial Control 4/7

Heat Transfer
Convection: Heat transfer through a fluid (liquid or gas)

T1 − T2 =Rh q
d
Rc =
hA

d =thickness
A =area
h =convection coefficient

[Macia and Thaler, 2004]

Behzad Samadi (Amirkabir University) Industrial Control 4/7

Heat Transfer
Radiation:

Behzad Samadi (Amirkabir University) Industrial Control 5/7

Heat Transfer
Radiation:

q =AεF σ(T14 − T24 )

A =area of the surface of the object of interest
ε =parameter descriptive of the emission of surfaces 1 and 2
σ =Stefan-Boltzman Constant
F =geometrical shape factor
T1 , T2 =absolute temperatures of bodies 1 and 2

[Macia and Thaler, 2004]

Behzad Samadi (Amirkabir University) Industrial Control 5/7
Heat Transfer

Radiation:

q =AεF σ(T14 − T24 )

1 ⇒ T1 − T2 = Rr q
Rr =
AεF σ(T1 + T22 )(T1 + T2 )
2

[Macia and Thaler, 2004]

Behzad Samadi (Amirkabir University) Industrial Control 6/7

Thermal Capacitance

dT
q =C
dt
C =mcx
C =thermal capacitance of the object
m =mass of the object
cx =specific heat of material

[Macia and Thaler, 2004]

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 Macia, N. F. and Thaler, G. J. (2004).
Modeling and Control of Dynamic Systems.
Delmar Learning.
Ogata, K. (1997).
Modern Control Engineering.
Prentice Hall, 3 edition.

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