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Analysis of System Dynamics
Chapter 10 (Seborg 3
rd
Ed)
Chapter 8(Donald 3
rd
Ed)


By

Marwan M. Shamel

August 2013

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1) Block Diagrams, revision and applications
2) Dynamic Behavior of Closed-Loop Control Systems
3) Control bands
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Lecture Outlines
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Block Diagram

Example
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Block Diagram

Example
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Block Diagram
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Block Diagram
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Revise the following topic in Chemical
process Modelling (CHE3513)


Solution of non linear (linearisation)
differential equations
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1) Feedback/closed system will be in focus
2) Based on block diagram analysis, a useful
simplification and process application will be
done


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Dynamic Behavior of Closed-Loop Control
Systems
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Work in group to propose a feedback controller to the following processes
a) liquid level in a tank
b) Distillate Reflex Ratio
c) High pressure Steam flow in a 10 steam pipe
d) Temperature control for Stirred tank reactor
Include in your discussion
1) Controller
2) Level measuring element
3) The process
4) The final control element
5) Identify the items in the process (disturbance, manipulated variable, and
instruments)
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Class Exercise (15 minutes)
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Identify the items in the process (disturbance, manipulated variable, and instruments)

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Dynamic Behavior of Closed-Loop Control Systems

Example: A stirred-tank blending system
) (
1
) (
1
) (
'
2
2
'
1
1
'
s W
s
K
s X
s
K
s X
|
.
|

\
|
+
+
|
.
|

\
|
+
=
t t
Composition control for stirred-tank
blending process
x2 1, x1 = 1.0
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Dynamic Behavior of Closed-Loop Control Systems
) (
1
) (
1
) (
'
2
2
'
1
1
'
s W
s
K
s X
s
K
s X
|
.
|

\
|
+
+
|
.
|

\
|
+
=
t t
constants are K and K ,
2 1
where
1
1 2
1
, , and (11-2)
w V x
K K
w w w
t

= = =
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Identify symbols and blocks

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The symbol denotes the internal set-point composition
expressed as an equivalent electrical current signal. is
related to the actual composition set point by the
composition sensor-transmitter gain K
m
:
( )
sp
x t
'
( )
sp
x t
'
( )
sp
x t
'
( ) ( )
(11-7)
sp m sp
x t K x t
' '
=
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Current-to-Pressure (I/P) Transducer
The transducer transfer function merely consists of a steady-state
gain K
IP
:
( )
( )
(11-9)
t
IP
P s
K
P s
'
=
'
Control Valve
As discussed in Section 9.2, control valves are usually designed so
that the flow rate through the valve is a nearly linear function of
the signal to the valve actuator. Therefore, a first-order transfer
function is an adequate model
( )
( )
2
(11-10)
1
v
t v
W s
K
P s s
'
=
'
+
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I/P
convertor
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Composition Sensor-Transmitter (Analyzer)
We assume that the dynamic behavior of the composition sensor-
transmitter can be approximated by a first-order transfer function,
but
m
is small so it can be neglected.
( )
( )
m
m
X s
K
X s
'
=
'
Controller
Suppose that an electronic proportional plus integral controller is
used.
( )
( )
1
1 (11-4)

c
I
P s
K
E s s
'
| |
= +
|
\ .
where and E(s) are the Laplace transforms of the controller
output and the error signal e(t). K
c
is dimensionless.
( )
P s
'
( )
p t
'
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Control Bands
Integral Control:
( )
s
K
) s ( G ) s ( E
s
K
) s ( P t d t e
K
P
I
C
C
I
C
t
0
I
C
t
=
t
= ' '
t
=
}
no offset
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Proportional Control
C C
K s G = ) (
With offset
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adjust K
c
and t
I
to obtain satisfactory response
PI Control:
no offset
PID Control: (pure PID)
|
|
.
|

\
|
+ =
s
K s G
I
C C
t
1
1 ) (
|
|
.
|

\
|
t +
t
+ = s
s
1
1 K ) s ( G
D
I
C C
No offset, adjust K
c
, t
I
, t
D
to obtain satisfactory result
(requires solving for roots of 4
th
order characteristic
equation).
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Ideal first order system
Example (from Process Dynamics and Control, Seborg et al.)

A stirred-tank blending process described below is operating with w
1
=
600 kg/min, w
2
= 2 kg/min, x
1
= 0.05 and x
2
= 1 (note w is the mass
flowrate and x the mass fraction). The liquid volume and density are
constant with V = 2 m
3
and = 900 kg/m
3
. Find

The initial steady state value of the exit composition, x(0)
The exit composition to a step increase in inlet concentration x
1
from 0.05 to
0.075. Take the initial steady state from part (a)
Find the approximate exit composition response to a sudden change in w
2

from 2 kg/min to 1 kg/min. Take the initial steady state from part (b).
w
1
, x
1
w
2
, x
2

w, x
The system has constant volume (V) and constant density (), so the following
can be derived: