Professional Documents
Culture Documents
Chapter 4
Transfer Function
And
State-Space Models
Transfer Functions
x (t )
Chapter 4
X (s)
system
y (t )
Y (s)
output
forcing function
response
cause
effect
Chapter 4
x (t )
X (s)
system
y (t )
Y (s)
Y (s)
X (s)
Y ( s ) = L y ( t )
X ( s ) = L x ( t )
Chapter 4
dT
= wC (Ti T ) + Q
V C
dt
(1)
Chapter 4
( 2)
(3)
(4)
5
But,
dT d (T T )
because T is a constant
=
dt
dt
(5)
Chapter 4
dT
V C
= wC (Ti T ) + Q
dt
(6)
T = T T , Ti = Ti Ti , Q = Q Q
(7)
Take L of (6):
V C sT ( s ) T ( t = 0 ) = wC Ti( s ) T ( s ) + Q ( s ) (8)
Dr. M. A. A. Shoukat Choudhury
Evaluate T ( t = 0 ) .
By definition, T = T T .Thus at time, t = 0,
Chapter 4
T (0) = T (0) T
(9)
But since our assumed initial condition was that the process
was initially at steady state, i.e., T ( 0 ) = T it follows from (9)
that T ( 0 ) = 0.
Note: The advantage of using deviation variables is that the
initial condition term becomes zero. This simplifies the later
analysis.
Rearrange (8) to solve for T ( s ) :
K
1
T (s) =
Q (s) +
Ti ( s )
s +1
s +1
Dr. M. A. A. Shoukat Choudhury
(10)
7
Chapter 4
1
and
wC
V
=
w
(11)
(12)
Chapter 4
Q ( t ) = Q Q ( t ) = 0 Q ( s ) = 0
Thus, rearranging
T ( s )
1
=
Ti( s ) s + 1
(13)
Comments:
1. The TFs in (12) and (13) show the individual effects of Q and Ti
on T. What about simultaneous changes in both Q and Ti ?
Chapter 4
Answer: See (10). The same TFs are valid for simultaneous
changes.
Note that (10) shows that the effects of changes in both Q
and Ti are additive. This always occurs for linear, dynamic
models (like TFs) because the Principle of Superposition is
valid.
2. The TF model enables us to determine the output response to
any change in an input.
3. Use deviation variables to eliminate initial conditions for TF
models.
10
Chapter 4
1. Steady-State Gain
The steady-state of a TF can be used to calculate the steadystate change in an output due to a steady-state change in the
input. For example, suppose we know two steady states for an
input, u, and an output, y. Then we can calculate the steadystate gain, K, from:
y2 y1
K=
u2 u1
(4-38)
11
Chapter 4
K = lim G ( s )
s 0
(14)
12
2. Order of a TF Model
Chapter 4
an
dny
dt
+ an1
dy n1
dt n1
d m1u
dy
d mu
+ K a1 + a0 y = bm m +
dt
dt
du
(4-39)
+ b0u
m 1
dt
dt
Take L, assuming the initial conditions are all zero. Rearranging
m
gives the TF:
i
b
s
i
Y ( s ) i =0
G (s) =
= n
(4-40)
U (s)
i
a
s
i
bm1
+ K + b1
i =0
13
3. Additive Property
Chapter 4
Y (s)
U1 ( s )
= G1 ( s ) and
Y (s)
U2 ( s)
= G2 ( s )
G1(s)
Y (s )
U2(s)
Dr. M. A. A. Shoukat Choudhury
G2(s)
15
4. Multiplicative Property
Chapter 4
Suppose that,
16
Chapter 4
17
Chapter 4
f
f ( u, y ) = f ( u , y ) +
u
f
u +
y
s
(4-61)
18
Chapter 4
dy
f
= f (u , y ) +
dt
u
u +
s
f
y
(A)
(B)
f
u +
y
s
(4-62)
s
19
dh
A = qi q (1)
dt
q = Cv h
(2)
Chapter 4
Valve relation:
A = area, Cv = constant
C
dh 1
= qi v
dt A
A
h = f (h, qi )
(3)
(4)
20
Chapter 4
where:
Cv
f
=
h s
2A h
(5)
f 1
=
qi s A
(6)
(7)
(8)
(8)
21
Chapter 4
22
Chapter
Chapter64
23
Chapter
Chapter64
24
Example 4.4
Chapter
Chapter64
dh1
= qi q1
dt
Mass Balance:
A1
Valve Relation:
1
q1 = h1
R1
(4-48)
(4-49)
dh1
1
A1
= qi h1
dt
R1
(4-50)
25
Chapter 4
State-Space Models
Dynamic models derived from physical principles typically
consist of one or more ordinary differential equations (ODEs).
In this section, we consider a general class of ODE models
referred to as state-space models.
Consider standard form for a linear state-space model,
x& = Ax + Bu + Ed
(4-90)
y = Cx
(4-91)
where:
x =
the state vector
u =
the control vector of manipulated variables
d =
the disturbance vector
y =
the output vector of measured variables.
(We use boldface symbols to denote vector and matrices, and plain text to
represent scalars.)
Dr. M. A. A. Shoukat Choudhury
26
State-Space Models
Chapter 4
(4-90)
y = Cx
(4-91)
27
Chapter 4
Nonlinear
Model:
Linearized
Model:
where:
28
Example 4.9
Chapter 4
=
dT a
dt 21
Dr. M. A. A. Shoukat Choudhury
a12 cA 0
+ T
c
a22 T b2
(4-92)
29
Chapter 4
b2
21 a22 x2
2 14
{
243
B
A
(4-93)
which is in the form of Eq. 4-90 with x = col [x1, x2]. (The symbol
col denotes a column vector.)
Dr. M. A. A. Shoukat Choudhury
30
Chapter 4
31