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Chapter 6
Mathematical description:
A time delay, , between an input u and an output y results in the
following expression:
0
y t
u t
fort
fort
(6-27)
Chapter 6
Fluid In
Fluid Out
Point 1
Point 2
Figure 6.5
Assume that the velocity profile is flat, that is, the velocity
is uniform over the cross-sectional area. This situation is
analyzed in Example 6.5 and Fig. 6.6.
Chapter 6
Example 6.5
For the pipe section illustrated in Fig. 6.5, find the transfer
functions:
Chapter 6
(a) relating the mass flow rate of liquid at 2, w2, to the mass flow
rate of liquid at 1, wt,
(b) relating the concentration of a chemical species at 2 to the
concentration at 1. Assume that the liquid is incompressible.
Solution
(a) First we make an overall material balance on the pipe
segment in question. Since there can be no accumulation
(incompressible fluid),
material in = material out w1 t w2 t
Chapter 6
W2 s
1
W1 s
(b) Observing a very small cell of material passing point 1 at time
t, we note that in contains Vc1(t) units of the chemical species of
interest where V is the total volume of material in the cell. If, at
time t + , the cell passes point 2, it contains Vc2 t units of
the species. If the material moves in plug flow, not mixing at all
with adjacent material, then the amount of species in the cell is
constant:
Vc2 t Vc1 t
(6-30)
or
c2 t c1 t
(6-31)
(6-32)
Chapter 6
(6-33)
U s
e s
(6-28)
Polynomial Approximations to es :
Chapter 6
2 s 2 3 s 3 4 s 4
1 s
K
2!
3!
4!
(6-34)
2. Pad Approximations:
Many are available. For example, the 1/1 approximation is,
Chapter 6
e s
1 s
2
1 s
2
(6-35)
Chapter 6
Chapter 6
0s
(6-57)
Chapter 6
0 s
1
e
0 s
1 0 s
(6-58)
Chapter 6
Example 6.4
Consider a transfer function:
Chapter 6
G s
K 0.1s 1
5s 1 3s 1 0.5s 1
(6-59)
(6-60)
Solution
(a) The dominant time constant (5) is retained. Applying
the approximations in (6-57) and (6-58) gives:
Chapter 6
0.1s 1 e 0.1s
(6-61)
and
1
e 3 s
3s 1
1
e 0.5 s
0.5s 1
(6-62)
TS s
5s 1
5s 1
(6-63)
Chapter 6
Chapter 6
2.1s
Ke
G%
Sk s
6.5s 1
(6-64)
The normalized step responses for G(s) and the two approximate
models are shown in Fig. 6.10. Skogestads method provides
better agreement with the actual response.
Figure 6.10
Comparison of the
actual and
approximate models
for Example 6.4.
Example 6.5
Consider the following transfer function:
Chapter 6
G s
K 1 s e s
(6-65)
(6-66)
Solution
Chapter 6
Chapter 6