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4528.05.R380.02
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C e d op u e r

2009 Honeywell All rights reserved.

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UniSim is a U.S. registered trademark of Honeywell International Inc

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Dynamic Details

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Dynamic Details

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Dynamic Details

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 Dynamic Details 3

Workshop

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This module examines some of the detailed parameters available in
UniSim Design. These details include actuator characteristics,

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nozzle locations and heat loss parameters.

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Starting with the dynamic model that you prepared in Module 3,

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you will add the necessary information to provide for a more

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rigorous simulation.

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Learning Objectives
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Once you have completed this module, you will be able to:
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add valve characteristics
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add heat loss models

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understand nozzle location

make changes/additions to the dynamic model in dynamics
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mode
C e d op

Prerequisites
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Before beginning this section you need to:

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know how to set up Strip Charts

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understand the pressure-flow network

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 4 Dynamic Details

Valve Characteristics

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The following observations are made about the valves in the

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dynamic model constructed in Module 3:

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The valves on all the feeds go from fully open to closed in 1

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minute.

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The valve on Charlie is not responding instantly; it has a

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5 second time constant.
The valve on Bravo does not close completely; it has a

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leakage flow equal to a 2% valve opening position.
The HP Sep liquid valve (VLV-100) is an Equal Percentage
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Valve.

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UniSim Design has the ability to model each of the above

observations.
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Adding New Valves

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Prior to entering the appropriate information, we will investigate

the valve options using a simple two valve model.
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1. Open the file 4528.03.Dyn1.usc. This model should be in

dynamic mode with all process variables lined out at the
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desired set points.

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2. Add two new valves to the process flowsheet: VLV-104 and

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VLV-105. Create new feed streams (streams 1, 3) and product

streams (2, 4) for them.
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3. Use the Define from Other Stream button on the newly

Notice that when
added feed streams to define them both from stream Alpha.
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streams are added in

4. Enter a dynamic pressure specification of 445 kPa (64.5 psia)
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dynamics mode they

are fully defined. for the feed streams and 101.3 kPa (14.7 psia) for the
product streams.

5. Size the valves, by using the User Input radio button on the
Sizing page on the Rating tab, to handle a 4535 kg/h
(9998 lb/hr) flow with a 345 kPa (50 psi) pressure drop and
a Valve Opening [%] of 50%.

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 Dynamic Details 5

Add a flow controller to each of the two valves. The Process

Variables are the mass flow through the valve and the Output

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parameters are the Actuator Desired Positions of the valves.

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Provide controller tuning and ranges according to the table below

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and place the controllers in Auto(matic) mode.

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In this cell Enter Enter

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Connections
Name FIC-104 FIC-105

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Process Variable 1 Mass Flow 3 Mass Flow

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Source

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Output Target Object VLV-104 VLV-105
Parameters

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Action Reverse
Range PV Minimum 0 kg/h (0 lb/hr)
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Range PV Maximum 9000 kg/h (19800 lb/hr)
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OP 50%
Kc 0.25
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Ti 0.1 min
Td <Leave Blank>
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C e d op

Actuator Linear Rate

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The Actuator page, located on the Dynamics tab of the Valve

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property view, allows you to model the valve dynamics. This page
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also contains information regarding the dynamic parameters of the

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valve and the open positions of the actuator and the valve. In
reality, changes that occur in the actuator are not observed
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instantaneously in the valve. Moreover, changes in the output

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signal of a controller, OP, do not instantaneously translate to

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changes in the actuator. Because the actuator and valve are

physical items, they take time to move to their respective desired
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positions. This causes dynamic behavior in actual control valves.

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The actuator mode defines the relationship between the desired

actuator position and current actuator position. The desired
actuator position can be set by a PID Controller or Spreadsheet
operation. A controllers output parameter (OP) for instance, is
exported to the desired actuator position. Depending on the valve
mode, the current actuator position can behave in one of the
following four ways:

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 6 Dynamic Details

Instantaneous Mode
Linear Mode

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First Order Mode

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Second Order Mode

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These are set in the Actuator Dynamics group of the valve.

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Figure 1

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1. Open up the view for VLV-105. Go to the Dynamics tab

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Actuator page.
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2. Change the mode to Linear and enter the rate of

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10 %/second for the Linear Rate.

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3. Set up a strip chart to monitor the Actuator Desired

Position, the Percentage Open for each of the two valves,
and the Mass Flow of each of the two product streams.
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(Set-up Logger 3600 samples and 5 sec for the Sample

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Interval). Run the Integrator for a few seconds.

4. Change the set points for FIC-104 and FIC-105 to 2250 kg/h
(5000 lb/hr).

5. Start the Integrator and observe the response (Figure 2).

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 Dynamic Details 7

Figure 2

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The feed valves go from fully open to closed in 1 minute. What

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should be the desired Actuator Linear Rate value for Alpha, Bravo
and Charlie control valves?
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_____________________________________________________
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6. Change the Actuator Linear Rate to the desired full open

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state of valve in 1 minute and change the set points for FC-
104 and FC-105 back to 4535 kg/h (10000 lb/hr).

7. Start the Integrator and observe the response.

8. Enter the desired Actuator Linear Rates values for Alpha,

Bravo and Charlie control valve actuators.

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 8 Dynamic Details

Stickiness Time

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Constant

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In reality, a valve does not respond instantaneously to changes in
the actuator. A Valve Stickiness Time Constant can be used to

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model the actual response of the valve position to changes in the

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actuator position. This feature allows you to specify the time

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constant used to model the time offset caused by a sticky actuator.

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The offset can be specified on the Actuator page of the Dynamics
tab in the Valve property view (Figure 3).

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Figure 3
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1. Set up VLV-104 and VLV-105 so that they are both linear with
a rate of 1.667 %/sec, and enter a time constant of
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20 seconds on the Stickiness Time Constant cell of

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VLV-105.

2. Change the set points of FC-104 and FC-105 to 2250 kg/h

(5000 lb/hr) and 6800 kg/h (15000 lb/hr) respectively.

3. Set up the Strip Chart to include the Actuator Current

Position and the Percentage Open.

4. Start the Integrator and observe the response (Figure 4).

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 Dynamic Details 9

Figure 4

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5. The valve on stream Charlie is not responding instantly but is

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has a 5 second Stickiness Time Constant. Make the desired

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change to valve VLV-103.

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Leaky Valves
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Leaky valves can be modeled by specifying a non-zero value for

the minimum valve position.

1. Make valves VLV-104 and VLV-105 identical (remove the

Stickiness Time Constant for VLV-105), change the
Set Points of both flow controllers to 4535 kg/h
(10000 lb/hr) and run the Integrator until you get the new
mass flow.

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 10 Dynamic Details

2. Enter 2% for the minimum valve position for valve VLV-105.

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3. Change the Set Points for the FC-104 and FC-105 controllers

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to 0 kg/h and observe the response.

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Figure 5

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4. The valve on Bravo does not close completely; it has a leakage

flow equal to a 2% valve opening position. Make the
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appropriate changes to the model.

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Inherent Flow
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Characteristics
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The inherent flow characteristic of a valve: f(x), is defined as the

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relationship between the valve tap position and the product flow
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rate, as a fraction of the maximum flow rate, when the pressure

drop in the valve is constant. Equation (2)

p (1)
Q = Cv f ( x )
L

Where: Q = flow rate

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 Dynamic Details 11

Cv = flow of water at 60 F in USGPM that goes

through a control valve when the pressure

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drop is 1 psi and f(x) is equal to 1

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f(x) = inherent flow characteristic, definition:
Equation (2);

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if equal to 1 means valve 100% open

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x = variable, position of the tap

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p = pressure drop in the valve

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L specify density of the low viscosity liquid (3)

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F A (2)

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Al igh lia h ry
Fmax Amax
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Where: F = actual flow rate through valve

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Fmax = maximum flow rate the valve can handle

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A = actual tap position

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Amax = maximum tap open position

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[lb / ft 3 ]
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(3)
L =
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1[ psi ]
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Q[USGPM ] = Cv 1
[
1 lb / ft 3 ]
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Kvs = 0.86 Cv (5)

Kv = f ( x ) Kvs

Where: Kvs = maximum flow rate in m3/h that flows through

a valve when the pressure drop is 1 bar

Kv = flow in m3/h that flows through a valve when

the pressure drop is 1 bar

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 12 Dynamic Details

What is the Cv value of a valve for a maximum flow of 5 USGPM of

water when it looses 2 psi fully open?

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_____________________________________________________

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The most common valve characteristics are Linear, Quick

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Opening and Equal Percentage. Linear and Equal percentage

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operating characteristic are the most popular in control systems.

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On the Sizing page of the Rating tab of the valve property view,

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UniSim Design implements all three characteristics and gives a

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chance for the user to implement a custom valve characteristic by
entering a table of % Flow vs % Valve Lift values (pick the User
Table radio button and press the View button).

ig Ho in A nd 1. Define Stream 1 as a pure water stream at 15.6 C (60 F)

and 108.2 kPa (15.7 psia).
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ht n te p 2. Size the valve Cv for VLV-104 equal to 1 USGPM and turn off
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the FIC-104 controller. The controller can be set to Off after it

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is set to Indicator Mode.

3. Make sure VLV-104 has Instantaneous Actuator Dynamics.

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4. Add a Transfer Function and select the

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Actuator Desired Position of VLV-104 as the OP Target.

Transfer Function icon Dont make a PV Source connection since in this case the PV
will be a fixed value. (Figure 6)
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 Dynamic Details 13

Figure 6

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5. On the Parameters tab, select the Configuration page.

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Define 0% and 100% as minimum and maximum values

respectively for both, the PV and OP Ranges, and enter a value
of 0 for the PV.
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6. Select the Ramp page, and check the Ramp option in the
Active Transfer Functions group.
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7. Enter 100% for the Ramp Magnitude and 10 minutes for the
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Ramp Duration.
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8. Enable the Transfer Function by checking the G(s) Enabled

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option on the right bottom corner.

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 14 Dynamic Details

Figure 7

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9. Add a strip chart to follow the Std Ideal Liq Vol Flow of
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Stream 1 and the Percentage Open of VLV-104.

10. Run the integrator and click the Start Ramp button.
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11. Click the Reset Ramp button.

12. Repeat the test for a Quick Opening valve and an

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Equal Percentage valve.

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Your strip chart should look like Figure 8.

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When the ramp is reset

it is necessary to
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re-enter the Ramp

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Magnitude and Ramp

Duration as they are
set back to 0.
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C e d op u e r
Figure 8

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Dynamic Details

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 16 Dynamic Details

Equipment Location

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Static Head

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By default, static head contributions are not included in any

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calculation. Examine the stream pressures around the High
Pressure Separator; they are all equal.

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For any unit operations with holdup, UniSim Design calculates the

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static head by considering the equipment holdup, geometry, and
elevation of any attached nozzles.
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In order for UniSim Design to calculate the static head
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Al igh lia h ry
contributions within the model, you need to enable the
calculations. This is done on the Options tab of the Integrator
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property view.

1. Open the Integrator view (Simulation Integrator menu

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option or hot key CTRL I).

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2. Check the Enable Static Head Contributions box on the

Options tab. (Figure 9)
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Figure 9
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 Dynamic Details 17

3. Run the simulation and observe the slight changes in the

controller outputs. Look at the pressures surrounding the

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separator by pressing hot key SHIFT P.

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What is the pressure of stream HP Liq?

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_____________________________________________________

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Nozzles

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By default, all unit operations are placed at ground level. The
Nozzles page, located on the Rating tab, contains information
regarding the elevation of the equipment and the elevation and

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diameter of the nozzles.
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Figure 10

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The elevation of each nozzle is displayed relative to several

reference points:
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The Ground is a common reference point from which all

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equipment elevation can be measured.

The Base is defined as the bottom of the piece of
equipment.
1. Plot on a new strip chart:
The Phase Mass Flow - Aqueous and Phase Mass Flow
- Liquid of stream HP Liq.
The Liquid Percent Level of HP Sep (i.e. the hydrocarbon
level)

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 18 Dynamic Details

The Phase Level Percent for Liquid2 of HP Sep (i.e. the

water level)

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2. Change the nozzle location for the stream HP Liq from 0% to
25%. (Figure 10)

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Can you explain the results?

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_____________________________________________________

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The nozzle diameter, nozzle elevation, and the levels of the phases

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inside the vessel determine what flows out through the nozzle.

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3. Change the set point (SP) for the level controller LC-HP Sep
from 50% to 25%.

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Could the controller achieve the SP?
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_____________________________________________________
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Al igh lia h ry

The nozzle elevation refers to the center of the nozzle opening,

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unless the nozzle is placed at the bottom or top of the vessel. If

the product nozzle is located above the liquid level, the exit stream
draws material from the vapour holdup. If the liquid level partially
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covers the nozzle, the mole fraction of liquid in the product stream
C e d op

depends linearly on the coverage of the nozzle by the liquid.

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Figure 11
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Molar phase fraction

depends linearly on liquid
level in nozzle
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i.e. 25% level in nozzle =

0.25 phase fraction
in product stream

4. Restore the original nozzle location (0%) in HP Sep, and the

original level controller SP to 50%. Turn off the static head
calculations on the Integrator Options tab.

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 Dynamic Details 19

Detailed Heat Loss

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Model

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All operations with holdup have the ability to take into account heat
loss from the holdup to the environment. For example, you can

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There are several
supply details about the equipment and insulation to take into

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underlying assumptions
account heat transfer from the vessel to the environment.

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that are considered
during a heat loss

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calculation: The heat loss models are located on the Heat Loss page of the
Rating tab. By default the None option is selected, meaning that
there is a heat
capacity and a
heat loss calculations are ignored. There are two heat loss models

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thermal conductivity available for you to use: Simple and Detailed.
associated with the
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wall and the

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insulation housing
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the fluid,
Simple Heat Loss Model
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the temperature
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across the wall and

insulation is assumed The Simple model allows you to either specify the heat loss directly
to be constant or have the heat loss calculated from the following variables:
(lumped parameter
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analysis), Overall U value specified by the user,

C e d op

the calculation uses

Ambient Temperature specified by the user,
convective heat
transfer on the inside
r

Overall Heat Transfer Area, A, calculated by UniSim Design,

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and outside of the

vessel. Heat flow calculated by UniSim Design.
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The heat loss is calculated using Equation (6).

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qloss = UA(TFluid T Ambient ) (6)

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Where: qloss = heat loss [kJ/h]

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U = overall heat transport coefficient

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[kJ/(m2-h-C)]
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A = area [m2]

TFluid = bulk fluid temperature

TAmbeient = ambient temperature

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 20 Dynamic Details

Detailed Heat Loss Model

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In the detailed model the user supplies both conductive and

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convective information.

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The program calculates the heat loss and supplies a temperature
profile from the fluid to ambient.

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1. Enter the following conductive and convective data for the

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HP Sep vessel and insulation:

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s e rn ril C
Heat Loss Parameters
Conductive Properties
Material Metal Insulation

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Thickness 0.051 m (0.167 ft) 0.030 m (0.098 ft)
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Cp 0.473 kJ/kg-C 0.82 kJ/kg-C

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ht n te p (0.113 Btu/lb-F) (0.196 Btu/lb-F)
Al igh lia h ry

Density 7801 kg/m3 (487 lb/ft3) 520 kg/m3 (32.46 lb/ft3)

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Conductivity 45 W/m-K 0.15 W/m-K

(26 Btu/hr-ft-F) (0.087 Btu/hr-ft-F)
Convective Properties
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C e d op

Inside Vap Phase 36 kJ/h-m2-C (1.761 Btu/hr-ft2-F)

Inside Liq Phase 180 kJ/h-m2-C (8.806 Btu/hr-ft2-F)
r

Outside U 36 kJ/h-m2-C (1.761 Btu/hr-ft2-F)

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Vapour to Liquid 18 kJ/h-m2-C (0.8806 Btu/hr-ft2-F)

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2. The default global ambient temperature is set on the Integrator

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window on the Heat Loss tab. Leave the default

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Ambient Temperature of 25C (77F). (Figure 12)

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 Dynamic Details 21

Figure 12

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The global ambient temperature can be overridden locally by

changing the ambient temperature for a specific unit operation.
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This will force the specific unit operation to use a different ambient
C e d op

temperature until that temperature is deleted, at which point the

global temperature will be used.
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3. Leave the default ambient temperature of 25C (77F) and

start the Integrator.
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Observe the temperature profile of the vessel. Did it immediately

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go to a steady state value?

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_____________________________________________________
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Do you see any changes?

_____________________________________________________
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Save your case as 4528.05.HL.usc

Save your case!

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Dynamic Details

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Al igh lia h ry
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