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ChE 404-Chapter 04

Dynamic systems can be analyzed using standard input changes like steps, ramps, pulses, and sinusoids. A step input involves a sudden change in a process variable. A ramp input approximates a slowly drifting disturbance with a constant rate of change. A rectangular pulse represents a brief change. A sinusoidal input can model periodic disturbances. The response of first and second-order systems to these inputs can be derived mathematically.

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30 views19 pages

ChE 404-Chapter 04

Dynamic systems can be analyzed using standard input changes like steps, ramps, pulses, and sinusoids. A step input involves a sudden change in a process variable. A ramp input approximates a slowly drifting disturbance with a constant rate of change. A rectangular pulse represents a brief change. A sinusoidal input can model periodic disturbances. The response of first and second-order systems to these inputs can be derived mathematically.

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Dynamic Behavior of First-Order

and Second-Order Processes


In analyzing process dynamic and process control systems, it is
important to know how the process responds to changes in the
process inputs.
Chapter 4

A number of standard types of input changes are widely used for


two reasons:

1. They are representative of the types of changes that occur


in plants.

2. They are easy to analyze mathematically.


1. Step Input

A sudden change in a process variable can be approximated


by a step change of magnitude, M:
(5-4)
Chapter 4

(5-6)
The step change occurs at an arbitrary time denoted as t = 0.

• Special Case: If M = 1, we have a “unit step change”. We


give it the symbol, S(t).

• Example of a step change: A reactor feedstock is suddenly


switched from one supply to another, causing sudden
changes in feed concentration, flow, etc.
Example:
The heat input to the stirred-tank heating system in Chapter 2 is
suddenly changed from 8000 to 10,000 kcal/hr by changing the
electrical signal to the heater. Thus,
Q  t   8000  2000S  t  , S  t   unit step
and
Chapter 4

Q  t   Q  Q  2000S  t  , Q  8000 kcal/hr

2. Ramp Input
• Industrial processes often experience “drifting
disturbances”, that is, relatively slow changes up or down
for some period of time.
• The rate of change is approximately constant.
We can approximate a drifting disturbance by a ramp input:
(5-7)

(5-7)
Chapter 4

Examples of ramp changes:

1. Ramp a setpoint to a new value. (Why not make a step


change?)
2. Feed composition, heat exchanger fouling, catalyst
activity, ambient temperature.
3. Rectangular Pulse
It represents a brief, sudden change in a process variable:

(5-9)
Chapter 4

(5-11)

uRP
tw Time, t
h

Examples:

1. Reactor feed is shut off for one hour.


2. The fuel gas supply to a furnace is briefly interrupted.
Chapter 4

Figure 4.2 Three important examples of deterministic inputs.


Other Inputs
4. Sinusoidal Input
Chapter 4
Processes are also subject to periodic, or cyclic, disturbances.
They can be approximated by a sinusoidal disturbance:

0 for t  0
usin  t    (5-14)
 A sin  t  for t  0
Chapter 4

where: A = amplitude, ω = angular frequency


A
usin ( s )  2
s  2
Examples:

1. 24 hour variations in cooling water temperature.


2. 60-Hz electrical noise (in USA!)
For a sine input (1st order process)

U (s)  2
s 2

output is...
Kp  0 1s 2
Chapter 4

Y(s)   2   2  2
s  1 s   2
s  1 s   s  2
2

By partial fraction decomposition,


K p  2
0 
2  2  1
 K p 
1 
2  2  1
K p
2 
2  2  1
Inverting,
this term dies out for large t

K p  t 
Kp
y( t )  e  sin(t  )
  1
2 2
2  2  1
Chapter 4

   arctan()

note:  is not a function of t but of  and .

For large t, y(t) is also sinusoidal,


output sine is attenuated by…
1
(fast vs. slow )
  1
2 2
5. Impulse Input

• Here, U I  t     t  and U I ( s )  1
• It represents a short, transient disturbance.
• It is the limit of a rectangular pulse for tw→0 and h = 1/tw
Examples:
Chapter 4

1. Electrical noise spike in a thermo-couple reading.


2. Injection of a tracer dye.

Here,
Y  s  G  s (1)
Second order process example, Example 4.2

y  T T u=Q-Q Ti fixed
Chapter 4

mm e Ce d 2 y  m e Ce me Ce m  dy 1
2
    y u
wh e A e dt  h e Ae wC w  dt wC

note when Ce  0, obtain 1st order equation


(simpler model)
Block Notation:

Composed of two first order subsystems (G1 and G2)


Chapter 4

K 2nd order ODE model


G(s) = 2 2
 s  2s  1 (overdamped)
K
   1 2 G(s) =
1 2s 2 + (1   2 )s + 1
1   2
=  1 overdamped
2 1 2
 1 underdamped
    2 1
roots:  1 critically damped

Chapter 4

Figure 4.8
Chapter 4

Figure 4.9
Chapter 4

Figure 4.10
Second Order Step Change
a. Overshoot
a   
 exp  
b  1 2 
 

b. time of first maximum


Chapter 4


tp 
1 2

c. decay ratio (successive maxima – not min.)


c  2  a2
 exp   2
a  1 2  b
 

d. period of oscillation
2
p 
1 2
Chapter 4

Figure 4.12
Chapter 4

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