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4_Transfer Functions_Chemical_Process_Control_and_Safety

The lecture covers the concept of transfer functions in dynamic systems, emphasizing their purpose in expressing models and understanding system properties. It outlines the process of deriving transfer functions, using examples like a thermometer system and a stirred tank reactor, while discussing various input changes such as step, impulse, ramp, and sinusoidal inputs. The session concludes with insights into the response of first-order systems and the importance of deviation variables in eliminating initial conditions.

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1 views29 pages

4_Transfer Functions_Chemical_Process_Control_and_Safety

The lecture covers the concept of transfer functions in dynamic systems, emphasizing their purpose in expressing models and understanding system properties. It outlines the process of deriving transfer functions, using examples like a thermometer system and a stirred tank reactor, while discussing various input changes such as step, impulse, ramp, and sinusoidal inputs. The session concludes with insights into the response of first-order systems and the importance of deviation variables in eliminating initial conditions.

Uploaded by

madiiar.biek
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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CHME 403

Lecture 4: Transfer Function

Lecturer: Dr. Dhawal Shah

Chemical and Materials Engineering Department,


Nazarbayev University
Spring 2025
Overview of the previous lecture
 We have learnt (and “sufficient practiced”) the use of
Laplace transform to solve differential equations

 We have also seen dynamics of a tank-system, when the


concentration or temperature is changed.

 Now we learn dynamics of other systems when the input


conditions are changed (either manually or by
disturbances)
Step
Impulse
Pulse
Ramp
Sinosoidal

(2) Dhawal Shah 12/2/2025


Transfer function
 Purpose
 Express dynamic models as transfer functions
 Understand properties of transfer function models
 Identify nonlinearities

 Disadvantages of Laplace Transform:


 Full LT procedure must be applied for each model solution.
 Any change in input condition or type of disturbance (input)
requires the complete model solution be re-derived.

 Transfer function (TF)


 introduces the concept of input-output models
 relates one input and one output through algebraic expression
 “transfers” input effect into output response
 independent of IC and choice of forcing
 dynamic properties of a process can be identified directly from its
transfer function
 very useful for control system design and analysis
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Transfer function
 The following terminology is commonly used

 Definition: Let G(s) denote the transfer function between an input, x,


and an output, y. Then, by definition

 where

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Thermometer system: Example
 Objective:
Develop a transfer function for a first-
order system by considering the unsteady-state
behavior of an ordinary mercury-in-glass
thermometer.

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Assumption
 Allthe resistance to heat transfer resides in the film
surrounding the bulb (resistance of glass and
mercury is neglected or lumping of parameters)

 Allthe thermal capacity is in the mercury.


 The glass wall containing mercury does not expand
or contract.

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Solution

Introducing deviation variable

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Transfer function

 To summarize the procedure for determining the transfer


function for a process:
Step 1. Write the appropriate balance equations (usually
mass or energy balances for a chemical process).
Step 2. Linearize terms if necessary.
Step 3. Place balance equations in deviation variable form.
Step 4. Laplace-transform the linear balance equations.
Step 5. Solve the resulting transformed equations for the
transfer function, the output divided by the input.

(8) Dhawal Shah 12/2/2025


Classical Stirred Tank Reactor
 Recall the previous dynamic model, assuming
constant liquid holdup and flow rates:

 At steady-state

 Make the analysis as general as possible. Eliminate


the explicit dependence of the model on the initial
condition by subtracting steady state eq from the
dynamic eq

(9) Dhawal Shah 12/2/2025


Classical Stirred Tank Reactor
 Introducing the deviation variables.

 So the equation simplifies to become:

 With laplace the equation becomes

 or

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CSTR Transfer function
 The transfer functions can be expressed

 Rewriting the equation in the format of transfer


function:
 The system can be changed by forcing a change in T
or Q. Both are first-order transfer functions.

 In terms of block diagram

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Standard form of first order system

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Properties of transfer function

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Conclusion about TFs
 Effects of different inputs are additive.

 TheTF model enables us to determine the output


response to any change in an input.

 Deviation
variables help to eliminate initial conditions
for TF models.

 Thesteady state gain can be determined from G(s)


by setting s = 0: K = G(0).

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Standard input changes
 Step Response
 A sudden, sustained change in a process variable
 Occurs at an arbitrary time denoted as t = 0.
 Special Case: “unit step change”

 Example: A reactor feedstock is suddenly switched


from one supply to another, causing sudden changes
in feed concentration, flow, etc.

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Response of a first order system
 Step input:

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Insights into Matlab: Simulink

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Response of a first order system
 Effects of K and τ on the response

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Standard input changes
 Impulse Input
 Here U(t) = δ(t) and U(s) = 1
 It represents a short, transient disturbance
 It is the limit of a rectangular pulse for tw→0 and h = 1/tw

 Examples:
 Electrical noise spike in a thermo-couple reading.
 Injection of a tracer dye in infinitesimal time.

 For this case, Y(s) = G(s)

(19) Dhawal Shah 12/2/2025


Impulse input

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Response of a first-order system to an impulse

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Standard input changes
 Ramp input
 Industrial processes often experience “drifting
disturbances”, i.e., relatively slow changes for some
period of time.
 The rate of change is approximately constant
 A drifting disturbance is approximated by a ramp

 Examples:
 Ramp a set point to a new value. (Why not a step
change?)
 Heat exchanger fouling, catalyst activity, ambient
temperature.

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Ramp input

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Response to a Ramp input

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Standard Input changes
 Processes are also subject to periodic, or cyclic,
 disturbances - approximated by a sinusoidal
disturbance:

 Examples:
 24 hour variations in cooling water temperature.
 50/60-Hz electrical noise (mixing, pumping).

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Sinusoidal input

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Sinusoidal Input

At steady state (infinite time)

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Compare: Forcing function with the response

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Summary
 Transfer function and its definition

 Use of time constant (tau, τ)

 Response of a first order system to various inputs:


step, impulse, ramp, sinusoidal.

NEXT
 Some physical examples of first order system, use of
Matlab® (Simulink®), Second order systems.

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