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CHEP 53!"
COMPUTE# APPLICATIONS
IN
CHEMICAL ENGINEE#ING
C$ispulo G. Ma$anan
Inst$u%to$$
Lim, Justine Kei T. Laboratory Exercise No. 8
Dynamics of a Heated Tank with ro!ortiona" #arch $, %&$'
(nte)ra" *(+ Tem!erature ,ontro"
173
Laboratory Exercise No. 8
Dynamics of a Heated Tank with Proportional / nte!ral "P# Temperat$re %ontrol
&. 'b(ecti)e"s#*
T&' a%ti(it) ai*s to sol(' o$+ina$) +i,,'$'ntial '-uations usin. %los'+/loop +)na*i%s o, a p$o%'ss in%lu+in.
,i$st/o$+'$ la. an+ +'a+ ti*'.
+. ntended Learnin! '$tcomes "L's#*
T&' stu+'nts s&all 0' a0l' to1
2." sol(' o$+ina$) +i,,'$'ntial '-uations usin. %los'+/loop +)na*i%s o, a p$o%'ss.
2.2 un+'$stan+ ,i$st/o$+'$ la..
2.3 un+'$stan+ +'a+ ti*'.
,. Disc$ssion*
A p$opo$tional3int'.$al3+'$i(ati(' %ont$oll'$ 4PI! %ont$oll'$5 is a .'n'$i% %ont$ol loop ,''+0a%6
*'%&anis* 4%ont$oll'$5 7i+'l) us'+ in in+ust$ial %ont$ol s)st'*s 3 a PI! is t&' *ost %o**onl) us'+
,''+0a%6 %ont$oll'$. A PI! %ont$oll'$ %al%ulat's an 8'$$o$8 (alu' as t&' +i,,'$'n%' 0't7''n a
*'asu$'+ p$o%'ss (a$ia0l' an+ a +'si$'+ s't point. T&' %ont$oll'$ att'*pts to *ini*i9' t&' '$$o$ 0)
a+:ustin. t&' p$o%'ss %ont$ol inputs.
T&' PI! %ont$oll'$ %al%ulation 4al.o$it&*5 in(ol('s t&$'' s'pa$at' %onstant pa$a*'t'$s, an+ is
a%%o$+in.l) so*'ti*'s %all'+ t&$''/t'$* %ont$ol1 t&' p$opo$tional, t&' int'.$al an+ +'$i(ati(' (alu's,
+'not'+ P, I, an+ D. H'u$isti%all), t&'s' (alu's %an 0' int'$p$'t'+ in t'$*s o, ti*'1 P +'p'n+s on
t&' present '$$o$, I on t&' a%%u*ulation o, past '$$o$s, an+ D is a p$'+i%tion o, future '$$o$s, 0as'+ on
%u$$'nt $at' o, %&an.'. T&' 7'i.&t'+ su* o, t&'s' t&$'' a%tions is us'+ to a+:ust t&' p$o%'ss (ia a %ont$ol
'l'*'nt su%& as t&' position o, a %ont$ol (al(', o$ t&' po7'$ suppli'+ to a &'atin. 'l'*'nt.
In t&' a0s'n%' o, 6no7l'+.' o, t&' un+'$l)in. p$o%'ss, a PI! %ont$oll'$ &as &isto$i%all) 0''n
%onsi+'$'+ to 0' t&' 0'st %ont$oll'$. ;) tunin. t&' t&$'' pa$a*'t'$s in t&' PI! %ont$oll'$ al.o$it&*, t&'
%ont$oll'$ %an p$o(i+' %ont$ol a%tion +'si.n'+ ,o$ sp'%i,i% p$o%'ss $'-ui$'*'nts. T&' $'spons' o, t&'
%ont$oll'$ %an 0' +'s%$i0'+ in t'$*s o, t&' $'sponsi('n'ss o, t&' %ont$oll'$ to an '$$o$, t&' +'.$'' to 7&i%&
t&' %ont$oll'$ o('$s&oots t&' s't point an+ t&' +'.$'' o, s)st'* os%illation. Not' t&at t&' us' o, t&' PI!
al.o$it&* ,o$ %ont$ol +o's not .ua$ant'' opti*al %ont$ol o, t&' s)st'* o$ s)st'* sta0ilit).
So*' appli%ations *a) $'-ui$' usin. onl) on' o$ t7o a%tions to p$o(i+' t&' app$op$iat' s)st'*
%ont$ol. T&is is a%&i'('+ 0) s'ttin. t&' ot&'$ pa$a*'t'$s to 9'$o. A PI! %ont$oll'$ 7ill 0' %all'+ a PI, P!, P
o$ I %ont$oll'$ in t&' a0s'n%' o, t&' $'sp'%ti(' %ont$ol a%tions. PI %ont$oll'$s a$' ,ai$l) %o**on, sin%'
+'$i(ati(' a%tion is s'nsiti(' to *'asu$'*'nt nois', 7&'$'as t&' a0s'n%' o, an int'.$al t'$* *a) p$'('nt
t&' s)st'* ,$o* $'a%&in. its ta$.'t (alu' +u' to t&' %ont$ol a%tion.
-. .eso$rces*
Matla0
/. Proced$re*
". A %ontinuous p$o%'ss s)st'* %onsistin. o, a 7'll/sti$$'+ tan6, &'at'$ an+ PI t'*p'$atu$' %ont$oll'$ is
+'pi%t'+ in Fi.u$' 4<5. T&' ,''+ st$'a* o, li-ui+ 7it& +'nsit) o, $ in 6.=*3 an+ &'at %apa%it) o, C in 6> =
Lim, Justine Kei T. Laboratory Exercise No. 8
Dynamics of a Heated Tank with ro!ortiona" #arch $, %&$'
(nte)ra" *(+ Tem!erature ,ontro"
174
6.?@C ,lo7s into t&' &'at'+ tan6 at a %onstant $at' o, W in 6.=*in an+ t'*p'$atu$' Ti in @C. T&' (olu*' o,
t&' tan6 is V in *3. It is +'si$'+ to &'at t&is st$'a* to a &i.&'$ s't point t'*p'$atu$' Tr in @C. T&' outl't
t'*p'$atu$' is *'asu$'+ 0) a t&'$*o%oupl' as Tm in @C, an+ t&' $'-ui$'+ &'at'$ input
q in 6>=*in is a+:ust'+ 0) a PI t'*p'$atu$' %ont$oll'$. T&' %ont$ol o0:'%ti(' is to *aintain T0 A Tr in t&'
p$'s'n%' o, a %&an.' in inl't t'*p'$atu$' Ti 7&i%& +i,,'$s ,$o* t&' st'a+) stat' +'si.n t'*p'$atu$' o, Tis.
0odelin! and %ontrol E1$ations
An 'n'$.) 0alan%' on t&' sti$$'+ tan6 )i'l+s
7it& initial %on+ition T A Tr at t A 7&i%& %o$$'spon+s to st'a+) stat' op'$ation at t&' s't point t'*p'$atu$'
Tr..
T&' t&'$*o%oupl' ,o$ t'*p'$atu$' s'nsin. in t&' outl't st$'a* is +'s%$i0'+ 0) a ,i$st o$+'$ s)st'* plus t&'
+'a+ ti*' td 7&i%& is t&' ti*' ,o$ t&' output ,lo7 to $'a%& t&' *'asu$'*'nt point. T&' +'a+ ti*'
'Bp$'ssion is .i('n 0)
T&' ',,'%t o, +'a+ ti*' *a) 0' %al%ulat'+ ,o$ t&is situation 0) t&' Pa+C app$oBi*ation 7&i%& is a ,i$st o$+'$
+i,,'$'ntial '-uation ,o$ t&' *'asu$'+ t'*p'$atu$'.
Lim, Justine Kei T. Laboratory Exercise No. 8
Dynamics of a Heated Tank with ro!ortiona" #arch $, %&$'
(nte)ra" *(+ Tem!erature ,ontro"
175
T&' a0o(' '-uation is us'+ to .'n'$at'+ t&' t'*p'$atu$' input to t&' t&'$*o%oupl', T.
T&' t&'$*o%oupl' s&i'l+in. an+ 'l'%t$oni%s a$' *o+'l'+ 0) a ,i$st o$+'$ s)st'* ,o$ t&' input t'*p'$atu$'
T .i('n 0)
7&'$' Kc is t&' p$opo$tional .ain o, t&' %ont$oll'$, tI is t&' int'.$al ti*' %onstant o$ $'s't ti*'. T&' qs in t&'
a0o(' '-uation is t&' 'n'$.) input $'-ui$'+ at st'a+) stat' ,o$ t&' +'si.n %on+itions as %al%ulat'+ 0)
T&' int'.$al in E-uation 4<<5 %an 0' %on('ni'ntl) 0' %al%ulat'+ 0) +',inin. a n'7 (a$ia0l' as
T&us E-uation 4<<5 0'%o*'s
L't us %onsi+'$ so*' o, t&' int'$'stin. asp'%ts o, t&is s)st'* as it $'spon+s to a (a$i't) o, pa$a*'t'$
4a5 !'*onst$at' t&' op'n loop p'$,o$*an%' 4s't Kc A 5 o, t&is s)st'* 7&'n t&' s)st'* is initiall)
op'$atin. at +'si.n st'a+) stat' at a t'*p'$atu$' o, D@C, an+ inl't t'*p'$atu$' Ti is su++'nl) %&an.'+ to
<@C at ti*' t A " *in. Plot t&' t'*p'$atu$'s T, T, an+ Tm to st'a+) stat', an+ ('$i,) t&at Pa+C
app$oBi*ation ,o$ " *in o, +'a+ ti*' .i('n in E-uation 4<25 is 7o$6in. p$op'$l).
405 !'*onst$at' t&' %los'+ loop p'$,o$*an%' o, t&' s)st'* ,o$ t&' %on+itions o, pa$t 4a5 an+ t&' 0as'lin'
pa$a*'t'$s ,$o* Ta0l' 4<5. Plot t'*p'$atu$'s T, T, an+ Tm to st'a+) stat'.
4%5 #'p'at pa$t 405 7it& Kc A 5 6>=*in?@C.
4+5 #'p'at pa$t 4%5 ,o$ p$opo$tional onl) %ont$ol a%tion 0) s'ttin. t&' t'$* Kc=tI A .
4'5 I*pl'*'nt li*its on q 4as p'$ E-uation 4<E55 so t&at t&' *aBi*u* is 2.6 ti*'s t&' 0as'lin' st'a+) stat'
(alu' an+ t&' *ini*u* is 9'$o. !'*onst$at' t&' s)st'* $'spons' ,$o* 0as'lin' st'a+) stat' ,o$ a
p$opo$tional onl) %ont$oll'$ 7&'n t&' s't point is %&an.'+ ,$o* D@C to F@C at t A " *in. Kc A 5
6>=*in?@C. Plot - an+ -li* ('$sus ti*' to st'a+) stat' to +'*onst$at' t&' li*its. Also plot t&' t'*p'$atu$'s
Lim, Justine Kei T. Laboratory Exercise No. 8
Dynamics of a Heated Tank with ro!ortiona" #arch $, %&$'
(nte)ra" *(+ Tem!erature ,ontro"
176
T, T, an+ Tm to st'a+) stat' to in+i%at' %ont$oll'$ p'$,o$*an%'
2. !'t'$*in' t&' input pa$a*'t'$s o, P$o%'+u$' ". Ta0ulat' t&'*.
3.!'t'$*in' t&' p$o%'ss 4 t&' *at&'*ati%al 'Bp$'ssion in(ol('+5 ,o$ P$o%'+u$' ".
<. !'t'$*in' t&' output pa$a*'t'$s o, P$o%'+u$' ".
5.C$'at' an */,il' ,o$ P$o%'+u$' ".
G
%o$rse* %hE Laboratory Exercise No.* +
2ro$p No.* 3ection*
2ro$p 0embers* Date Performed* No). &/4 +5&,
Date 3$bmitted* No). &/4 +5&,
6. Data and .es$lts*
'7TP7T P8.80ETE.3
A
H% A

ono,, A
"
T A
".'I3 J
Lim, Justine Kei T. Laboratory Exercise No. 8
Dynamics of a Heated Tank with ro!ortiona" #arch $, %&$'
(nte)ra" *(+ Tem!erature ,ontro"
177
0 20 40 60 80 100 120 140 160 180 200
55
60
65
70
75
80
85
Temperatue vs time
time in minutes
T
e
m
p
e
r
a
t
u
r
e

i
n

C


Tank
Outlet T
Measured T
;
H% A
5
ono,, A
"
T A
0 20 40 60 80 100 120 140 160 180 200
64
66
68
70
72
74
76
78
80
82
Temperatue vs time
time in minutes
T
e
m
p
e
r
a
t
u
r
e

i
n

C


Tank
Outlet T
Measured T
C H% A
5
ono,, A
Lim, Justine Kei T. Laboratory Exercise No. 8
Dynamics of a Heated Tank with ro!ortiona" #arch $, %&$'
(nte)ra" *(+ Tem!erature ,ontro"
178
"
T A
0 20 40 60 80 100 120 140 160 180 200
60
65
70
75
80
85
90
95
100
Temperatue vs time
time in minutes
T
e
m
p
e
r
a
t
u
r
e

i
n

C


Tank
Outlet T
Measured T
!
H% A
5
ono,, A

T A
".'I3 J
Lim, Justine Kei T. Laboratory Exercise No. 8
Dynamics of a Heated Tank with ro!ortiona" #arch $, %&$'
(nte)ra" *(+ Tem!erature ,ontro"
179
0 20 40 60 80 100 120 140 160 180 200
68
70
72
74
76
78
80
82
Temperatue vs time
time in minutes
T
e
m
p
e
r
a
t
u
r
e

i
n

C


Tank
Outlet T
Measured T
E
H% A
5
ono,, A

T A
0 20 40 60 80 100 120 140 160 180 200
74
75
76
77
78
79
80
81
82
Temperatue vs time
time in minutes
T
e
m
p
e
r
a
t
u
r
e

i
n

C


Tank
Outlet T
Measured T
M 3FILE
FUNCTION FILE
%filename TCD.m
function Tdot=TCD(t,T)
global !et"t taud taui #c T!et"t onoff
Lim, Justine Kei T. Laboratory Exercise No. 8
Dynamics of a Heated Tank with ro!ortiona" #arch $, %&$'
(nte)ra" *(+ Tem!erature ,ontro"
180
% U!e logical bloc$ to model t%e !te" c%ange at &' min.
if t(&'
Tinlet = )'*
el!e
Tinlet = +'*
end
in= !et"t,#c-(T!et"t.T(/)),onoff-#c0taui-T(+)*% total %eat !ent
in
% u!e t%e follo1ing !tatement fo2 "a2t (e)
%in=ma3(',min(4.)-!et"t,in))*
2o1(&)= (5''-(Tinlet.T(&)),in)0(+''')* % ene2g6 balance
2o1(4) = (T(&).T(4). '.5-taud-2o1(&))-40taud*
% 7ade a""2o3imation fo2 dela6
2o1(/) = (T(4).T(/))05* % T%e2mocou"le d6namic!
2o1(+) = T!et"t . T(/)* % t%e e22o2 me!!age
% 2o1(+) not needed fo2 "a2t (e), but i! calculated an61a6
Tdot = 2o18*

end
9C:I7T FILE
%filename 72ob;.m
clea2 all
clc
global !et"t taud taui #c T!et"t onoff
!et"t= &e+* taud=&* taui=4* T!et"t=;'*
#c= in"ut(8ente2 t%e gain = 8)
onoff=in"ut(8no integ2ato2('),integ2ato2 on(&) = 8)
% initiali<ation
to='* tfin=4''* % limit! of integ2ation
t!"an = =to tfin>*
To==;' ;' ;' '>* % initial condition of !6!tem. Tan$ Tem",
Outlet
% Tem" T%e2mocou"le Tem" and e22o2 !ignal
=t,T> = ode+5(8TCD8,t!"an,To)*
% Fo2 ?e2!ion + u!e
% =t,T> = ode+5(@tem"d6nA,to,tfin,To)*
T
"lot(t,T(B,&),8?8, t,T(B,4),828,t,T(B,/),82B8)
g2id
title(8Tem"e2atue ?! time8)
3label(8time in minute!8)
6label(8Tem"e2atu2e in C8)
legend(8Tan$8,8Outlet T8,8Cea!u2ed T8)
Lim, Justine Kei T. Laboratory Exercise No. 8
Dynamics of a Heated Tank with ro!ortiona" #arch $, %&$'
(nte)ra" *(+ Tem!erature ,ontro"
181
9. %oncl$sion*
In t&is a%ti(it), I ,oun+ out t&at Matla0 &as -uit' si*ila$ ,un%tions to EB%'l. Su%& t&at *atla0 &as its
%o*pl'Bit) 7&'n it %o*'s to %o**an+s an+ its +i,,'$'nt 7a)s on &o7 to op'$at' it. E('$) pa$t &as its
sp'%iali9ation on 7&at'('$ 6in+ o, output )ou 7is& to &a('. Its %o*pl'Bit) *a6's it +i,,'$'nt ,$o* t&' $'st.
8. :$rther .eadin!s*
F'$$a$is, G. an+ Man'nti, F. 42"5. Int'$polation an+ $'.$'ssion *o+'ls ,o$ t&' %&'*i%al 'n.in''$1
sol(in. nu*'$i%al p$o0l'*s. G'$*an)1 Kil')/LCH L'$la.
Filo, O. 42"5. In,o$*ation p$o%'ssin. 0) 0io%&'*i%al s)st'*s1 n'u$al n't7o$6 t)p' %on,i.u$ations.
N'7 >'$s')1 Kil').
Gopal, S. 42F5. ;ioin,o$*ati%s1 a %o*putin. p'$sp'%ti('. In+ia1 M%G$a7/Hill S%i'n%'=En.in''$in.
Mat&.
>alu$ia, M. 42"25. Co*put'$ *'t&o+s ,o$ 'n.in''$in. 7it& MATLA; appli%ations 42
n+
'+.5. ;o%a,
#aton,Flo$i+a1 C#C P$'ss.
Hnop,, F. C. 42"25. Mo+'lin., anal)sis an+ opti*i9ation o, p$o%'ss an+ 'n'$.) s)st'*s.Ho0o6'n,
N'7 >'$s')1 >o&n Kil') an+ Sons.
L'lt'n, H. 42F5. Mat&'*ati%al *o+'lin. an+ si*ulation1 int$o+u%tion ,o$ s%i'ntists an+ 'n.in''$s.
Sin.apo$'1 Kil')/LCH.
;. 8ssessment ".$bric for Laboratory Performance#*
TE%HN'L'2%8L N3TT7TE ': THE PHLPPNE3
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Lim, Justine Kei T. Laboratory Exercise No. 8
Dynamics of a Heated Tank with ro!ortiona" #arch $, %&$'
(nte)ra" *(+ Tem!erature ,ontro"
182
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Lim, Justine Kei T. Laboratory Exercise No. 8
Dynamics of a Heated Tank with ro!ortiona" #arch $, %&$'
(nte)ra" *(+ Tem!erature ,ontro"
183