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MODELLING PRINCIPLES
When I complete this chapter, I want to be
able to do the following.
Dynamic performance
depends more on the vehicle
than the driver!
Time
We must provide
process flexibility
for good
dynamic performance!
WHY WE NEED DYNAMIC MODELS
Temperature
F
Dangerous
T L
A
time
Process dynamics
are important
for safety!
WHY WE DEVELOP MATHEMATICAL MODELS?
T
A
6. Validate the
model
SIX-STEP MODELLING PROCEDURE
CONSERVATION BALANCES
1. Define Goals
Overall Material
2. Prepare
information {Accumulation of mass} = {mass in} {mass out}
3. Formulate Component Material
the model Accumulation of component component
=
4. Determine component mass mass in mass out
the solution generation of
Energy component mass
5. Analyze
Results Accumulation
= {H + PE + KE in} {H + PE + KE out}
6. Validate the U + PE + KE
model + Q - Ws
SIX-STEP MODELLING PROCEDURE
3. Formulate C A (t ) = C A (t ) t = 0 + ( C A 0 )K (1 e t / )
the model
for t f 0
4. Determine
the solution Many results will have the same
form! We want to know how the
5. Analyze
process influences K and , e.g.,
Results
F V
6. Validate the K= =
model F + kV F + Vk
SIX-STEP MODELLING PROCEDURE
We will solve complex models
1. Define Goals
numerically, e.g.,
2. Prepare
dC A
information V = F (C A0 C A ) VkC A2
3. Formulate
dt
the model Using a difference approximation
for the derivative, we can derive the
4. Determine
Euler method.
the solution
F (C A0 C A ) VkC A2
5. Analyze C An = C An1 + ( t )
Results V n 1
6. Validate the Other methods include Runge-Kutta
model and Adams.
SIX-STEP MODELLING PROCEDURE
1. Define Goals
Lets practice modelling until we are
2. Prepare ready for the Modelling Olympics!
information
3. Formulate
the model
4. Determine
the solution
5. Analyze
Results Please remember that modelling is not
a spectator sport! You have to practice
6. Validate the (a lot)!
model
MODELLING EXAMPLE 1. MIXING TANK
F
CA0
CA V
1.6 Maximum
1.4 slope at 63% of steady-state CA At steady state
t=0
1.2 CA = K CA0
1
0.8
0 20 40 60 80 100 120
time
Output changes immediately
2
inlet concentration
1.5
0.5
0 20 40 60 80 100 120
time
MODELLING EXAMPLE 2. CSTR
F
CA0
A B CA V
rA = kC A
(Well solve this in class.)
MODELLING EXAMPLE 2. CSTR
Annotate with key features similar to Example 1
1
reactor conc. of A (mol/m3)
0.8
Which is faster,
mixer or CSTR?
0.6
Always?
0.4
0 50 100 150
time (min)
2
inlet conc. of A (mol/m3)
1.5
0.5
0 50 100 150
time (min)
MODELLING EXAMPLE 2. TWO CSTRs
F
CA0
CA1 V1
CA2 V2
A B
rA = kC A
(Well solve this in class.)
MODELLING EXAMPLE 3. TWO CSTRs
Annotate with key features similar to Example 1
1.2 1.2
tank 1 concentration
tank 2 concentration
1 1
0.8 0.8
0.6 0.6
0.4 0.4
0 10 20 30 40 50 60 0 10 20 30 40 50 60
time
2
inlet concentration
1.5
0.5
0 10 20 30 40 50 60
time
SIX-STEP MODELLING PROCEDURE
dF 1 d 2F
F ( x ) = F ( xs ) + ( x xs ) + 2
( x xs ) 2 + R
dx xs 2! dx xs
y =1.5 x2 + 3 about x = 1
We must evaluate the
exact
approximation. It depends
on approximate
non-linearity
distance of x from xs
F
CA0
A B CA V
rA = kC A2
(Well solve this in class.)
MODELLING EXAMPLE 4. N-L CSTR
dY
+ Y = K[f ( t ))] with f(t) the input or forcing
dt
Output is smooth, monotonic curve
1.8
tank concentration
1.6
Maximum
1.4 slope at 63% of steady-state At steady state
t=0
Sample 1.2 = K
response 1
to a step 0.8
0 20 40 60 80 100 120
input time
Output changes immediately
2
inlet concentration
1.5
0.5
0 20 40 60 80 100 120
time
DYNAMIC MODELLING
K: Steady-state Gain
:Time Constant
sign
sign (positive is stable)
magnitude (dont forget
magnitude (dont forget
the units)
the units)
how depends on design
how depends on design
(e.g., V) and operation
(e.g., V) and operation
(e.g., F)
(e.g., F)
DYNAMIC MODELLING: WORKSHOP 1
Mixing tank
linear CSTR F
CSTR with CA0
CA V
second order
reaction
DYNAMIC MODELLING: WORKSHOP 2
L
DYNAMIC MODELLING: WORKSHOP 3
F
CA0
CA V
DYNAMIC MODELLING: WORKSHOP 4