CHEN3005 Process Instrumentation and Control

Review Exercise 3
Q.1 A jacketed vessel is used to cool a process stream as shown in the figure. The
following information is available:
i. The volume of the liquid in the tank V and the volume of the coolant in the jacket
Vj remain constant. Volumetric flow rate FF is constant but FJ varies with time.
ii. Heat loses from the jacketed vessel are negligible.
iii. Both the tank contents and the jacket contents are well mixed and have significant
thermal capacitances.
iv. The thermal capacitances of the tank wall and the jacket wall are negligible.
v. The overall heat transfer coefficient for the transfer between the tank liquid and
the coolant varies with coolant flow rate:

U = KFJ0.8
Where U = [Btu/h ft2 oF]
FJ = [ft3/h]
K = constant
Derive a dynamic model for this system. (State any additional assumptions that you
make)
TF
FF
TJ
FJ

Ti
FJ
T
F
Solution Q.1
Choose what type of balance equation to be used. Here, temperatures are of interest, so
apply the energy balance equation.
Standard Statement:
Acc = In Out Consumption + Generation + Qgain

For the reactor system:


=   +  



Note: Assume exothermic reaction occurs, so heat is generated and the reactor need to be
cooled down. Hence, Qloss represents heat generated that is transferred to the cooling
jacket system.
The terms in the equation above are given by
 :  =  ! " = # $ % ", ''()
, -.':  = -/ $ % "/ 
 = -$

% "

  = 0 #  ; 0 = 3 ,  = , 4 3

 5'':  = 67(" "9 )

Substituting all terms into the equation and simplification leads to

# $

"
; <=$



% (-/ "/

-") + 0 #  67(" "9 )

Likewise, energy balance in the cooling jacket system can be performed, but without
reaction term and heat loss is replaced with heat gain. The equation is
#9 $9

%9

"9
; < = -9 $9



%9 ="

"9 > + 67(" "9 )

Also, the constitutive equation is given for overall heat transfer coefficient
7 = ?-9@.B

Dependent variables: ", "9 
7

Independent variables: , -/ , -, "/ , " 
-9
Parameters: # , #9 , 6, $9 , $, % , %9 , ? 


C 4 4
) CD- = 8 3 = 5

Solution Q.2
Control Objective: To maintain R = CA/CB at desired ratio or setpoint.

Disturbances: -H ,

0@ , H@

Manipulated Variables: -0 , -

Assumptions:
1. -0 '  ),(
IJ
2. The worst disturbance is -H
The combined feedback-feedforward control strategy as shown below. The feedforward
acts to remove the disturbance FB before it can seriously upset the process. This strategy
works effectively provided the CB0 does not fluctuates that much, otherwise, the strategy
will not be able to provide improved performance.

Q.3 A stirred-tank reactor is operated with a feed mixture containing reactant A at a

mass concentration CAi. The feed flow rate is wi as shown below in the drawing. Under
certain conditions the system operates according to the model:

d (V )
= wi w
dt
d (VC A )
= wi C Ai wc A VkC A
dt
wi
CAi

w
CAi

(a) For cases where the feed flow rate and feed concentration may vary and the
volume is not fixed, simplify the model to one or more equations that do not
contain product derivatives. The density may be assumed to be constant. Is the
model in a satisfactory form for Laplace Transform operations? Why or why not?
(b) For the case where the feed flow rate has been steady at w i for some time,
determine how CA changes with time if a step change in CAi is made from CA1 to
CA2. List all assumptions necessary to solve the problem using Laplace transform
techniques.
Solution Q.3
If density is assumed constant, the total mass balance equation becomes

#
$ ; < = . .



The species mass balance can be expanded using chain rule

#

0
.
<+#;
<=; <




$

0;

0

Substituting the first equation into the second one:

0
.
;
< = ; <(


$

0

.
; <
$

0)

#K

#K

The equation above contains a nonlinear term #K

and

0,

i.e., bilinear term consisting of #

(two variables in combination becomes nonlinear term). Laplace Transform only

applies to linear equation, so the above equation cannot be directly transformed.

Let 4 = K#

0,

application of Taylors approximation

N4
N4
4 K#L 0 + K ; <
# + K ;
<

N# OP,QR
N 0 OP,Q

4 K#L 0 + K 0 # + K#L

0 , . #

= # #L 

Substituting 4 into the equation above and convert to deviated form:

0
.
;
< = ; < (


$

0

Apply Laplace Transform to the equation

.
' 0 (') = ; < = 0 (')
$

0)

(K 0 # + K#L

0 (')>

0)

=K 0 #(') + K#L

Rearrangement and form transfer function, assuming # = 0

.
0 (')
$
(') =
=
.
0 (') ' +  + K#L
$

0 (')>

Its first order transfer function, so the response will be monotonic shape (no oscillation
whatsoever).

Q.4 An expression has been found for the transient response of a second-order process:

d2y
KV
2 dy
=

y + Qx 3 / 2
2
dt W
dt
(a) What is the effect on the system characteristic time ( ) and damping
coefficient of doubling V while keeping W constant?
(b) What can you determine about the response time of the manometer? About its
damping characteristic?
(c) Calculate the response of the manometer to a pressure change, p (t ) = 2e 4t .
Solution Q.4
Apply Taylors approximation to the nonlinear term 4 = T U/W
X

3T W
4
+
T,
. T = T T
2
Substituting the approximation into the equation above and apply Laplace Transform
?#
3T X/W
' W Z(') = [ W 'Z(')
Z(') +
\(')
[
2
The transfer function obtained is
3T X/W
Z(')
2
(') =
=
\(') ' W + [ W ' + ?#
[
This is a second order process and can be written in the standard form of
?%
(') = W W
] ' + 2^]' + 1
The process gain
3[T X/W
?% =
2?#
Time constant
U
T W

]=`
Damping factor

^=

[
?#

[ a/W

2?#
Therefore, for constant W, by doubling the value of V, both time constant and dampin
factor will be reduced by factor of 12.

Q.6 Consider the standard block diagram shown below, with the following transfer
functions:

Gc = K c , Gv = Gm = 1 , G p =

1
1
, GL =
s+2
(5s + 1)( s + 1)
L

(a) For a step change of 10 units in R, what is the offset?

(b) Find the range of Kc for which the closed-loop system is stable.
Solution Q.6
Need to find the overall closed-loop transfer functions.
For setpoint tracking or servo transfer function
 =

e ! %
1 + e ! % f

For disturbance rejection or regulatory transfer function

g =

g
1 + e ! % f

Step change of 10 units in R, so that d = 10/'.

Apply final value theorem, the new steady-state value of C:



= lim m' n
l

e ! %
10
o ; <p
1 + e ! % f
'

Substituting the transfer function components into the equation above



= 10 ;

?e
<
1 + ?e

The steady-state offset is

D44' = d
The characteristic equation (CE)



= 10 10 ;

?e
10
<=
1 + ?e
1 + ?e

1 + e ! % f = 0

(5' + 1)(' + 1) + ?e = 0
5' W + 6' + 1 + ?e = 0

Apply Routh stability, the necessary condition

1 + ?e > 0 ?e > 1

In this case, ?e > 1 should give stable closed-loop system.