03 – Thermal Systems

Osberth De Castro
Facultad de Ingeniería. Programa de Ingeniería Electrónica.
Control 1 y Laboratorio
Based on:
Modern Control Engineering, by K. Ogata
Joel Dawson, course materials for 6.302 Feedback Systems, MIT, 2007
 Temperature

• Conduction: Surface contact.

• Convection: fluid movement.

• Radiation:

Prof. Osberth De Castro

 Mathematical Model
• Thermal Resistance

• Thermal Capacitance

𝑇2 − 𝑇1 𝑉
𝑞= 𝑆𝑖𝑚𝑖𝑙𝑎𝑟 𝑡𝑜 𝑖 =
𝑅 𝑅

𝑞 Rate of heat flow

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 Conduction

q : rate of heat flow

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 Thermal Resistance
𝐿
𝑅=
𝐴∗𝑘
𝐴 Cross Section área of material (𝑚2 )
𝑘 Material Thermal conductivity. ()
𝐿 Distance between points.

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 Rate of heat flow
𝑇2 − 𝑇1 𝑉
𝑞= 𝑆𝑖𝑚𝑖𝑙𝑎𝑟 𝑡𝑜 𝑖 =
𝑅 𝑅
Then
𝑇2 − 𝑇1
𝑞 =𝐴∗𝑘
𝐿

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 Thermal Capacitance
Measure of store for internal enegy

Given 𝑞2 − 𝑞1 the rate of internal enegy,

𝑑𝑇
𝑞2 − 𝑞1 = 𝑚𝑐
𝑑𝑡

𝑚 Mass of material
𝑐 Specific heat Capacity
𝑑𝑇
Rate of change of temperatura over time.
𝑑𝑡

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 Complete model
𝑇𝑖 (𝑡) 𝑇𝑜 (𝑡)

𝑑𝑇𝑜 (𝑡) 𝑇𝑖 (𝑡) − 𝑇𝑜 (𝑡)

𝑞𝑖 − 𝑞𝑜 = 𝑚𝑐 𝑎𝑛𝑑 𝑞 =𝐴∗𝑘
𝑑𝑡 𝐿
Then, supose initial conditions in zero (𝑞1 = 0):

𝑑𝑇𝑜 (𝑡) 𝑇𝑖 (𝑡) − 𝑇𝑜 (𝑡) 𝑑𝑇𝑜 (𝑡)

𝑞2 − 0 = 𝑚𝑐 𝑡ℎ𝑒𝑛 𝐴∗𝑘 = 𝑚𝑐
𝑑𝑡 𝐿 𝑑𝑡
Finally:
𝐿 𝑑𝑇𝑜 (𝑡) 𝑑𝑇𝑜 (𝑡)
𝑇𝑖 (𝑡) = 𝑚𝑐 + 𝑇𝑜 (𝑡) = 𝑅𝑇 𝐶𝑇 + 𝑇𝑜 (𝑡)
𝐴∗𝑘 𝑑𝑡 𝑑𝑡
En el dominio de la frecuencia:
𝑇𝑜 (𝑠) 1
=
𝑇𝑖 (𝑠) (𝑅𝑇 𝐶𝑇 )𝑠 + 1

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 Activity
• Search for air and water thermal coefficients
(k, C).
• Estimate room thermal characteristics (for air
and water).

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 Simple Examples
• Bulb on a closed room.
• Closed Water heater.
• Fluids with inputs and outputs:

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 Modeling examples
Sistema Físico Modelo eléctrico

http://lpsa.swarthmore.edu/Systems/Thermal/SysThermalIntro.html

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