Fourth Class Process Control

2-Dynamics of heating tank :

U

Consider a perfectly mixed stirred and perfectly insulated tank header ,with a
single feed stream and single product stream, assuming that the flowrate and
temperature of the Intel stream (and that the rate of heat added per unit time (q))
can vary , develop a model to find the tank temperature as a function of time.

Fig.14 Heating tank

𝑄𝑄𝑜𝑜 = 𝑓𝑓(θ𝑖𝑖 , 𝑞𝑞 , 𝑚𝑚)

a. θ i is chanced while ,q and m are remained constant at their initial steady-state
R R

values .
θ o =f(θ i )
R R R R

θ𝑜𝑜 (𝑠𝑠)
𝐺𝐺1 (𝑠𝑠) =
θ𝑖𝑖 (𝑠𝑠)
1. Steady state heat balance :

Heat in –heat out =heat accumulation in the tank

𝑑𝑑θ𝑜𝑜𝑜𝑜
𝑚𝑚 𝑜𝑜
𝐶𝐶𝑝𝑝 θ𝑜𝑜𝑖𝑖 + 𝑞𝑞 − 𝑚𝑚 𝑜𝑜 𝑜𝑜
𝐶𝐶𝑝𝑝 θ𝑜𝑜𝑜𝑜 = 𝑀𝑀𝐶𝐶𝑝𝑝 =0 (1)
𝑑𝑑𝑑𝑑
2. Transient (unsteady) state heat balance

At t=0 ,Q i is disturbed : R R

𝑑𝑑θ′𝑜𝑜 (𝑡𝑡)
𝑚𝑚 𝑜𝑜
𝐶𝐶𝑝𝑝 θ′𝑖𝑖 (𝑡𝑡) 𝑜𝑜
+ 𝑞𝑞 − 𝑚𝑚 𝑜𝑜
𝐶𝐶𝑝𝑝 θ′𝑜𝑜 (𝑡𝑡) = 𝑀𝑀𝐶𝐶𝑝𝑝 (2)
𝑑𝑑𝑑𝑑
Subtracting eq.(1) form (2) to express in term of perturbation variable
𝑑𝑑�θ ′𝑖𝑖 (𝑡𝑡)−θ 𝑜𝑜𝑖𝑖 �
𝑚𝑚𝑜𝑜 𝐶𝐶𝑝𝑝 (θ′𝑖𝑖 (𝑡𝑡) − θ𝑜𝑜𝑖𝑖 ) + 𝑞𝑞 𝑜𝑜 − 𝑞𝑞 𝑜𝑜 − 𝑚𝑚𝑜𝑜 𝐶𝐶𝑝𝑝 (θ′𝑖𝑖 (𝑡𝑡) − θ𝑜𝑜𝑖𝑖 ) = 𝑀𝑀𝐶𝐶𝑝𝑝
𝑑𝑑𝑑𝑑

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Fourth Class Process Control

𝑑𝑑θ 𝑜𝑜 (𝑡𝑡)
𝑚𝑚𝑜𝑜 𝐶𝐶𝑝𝑝 θ𝑖𝑖 (𝑡𝑡) − 𝑚𝑚𝑜𝑜 𝐶𝐶𝑝𝑝 θ𝑜𝑜 (𝑡𝑡) = 𝑀𝑀𝐶𝐶𝑝𝑝 (3)
𝑑𝑑𝑑𝑑

1st order d.E ., linear ,zero I.C.

P P

𝑀𝑀 𝑑𝑑θ𝑜𝑜 (𝑡𝑡)
� � + θ𝑜𝑜 (𝑡𝑡) = θ𝑖𝑖 (𝑡𝑡)
𝑚𝑚𝑜𝑜 𝑑𝑑𝑑𝑑
Laplace transform :
θ𝑜𝑜 (𝑠𝑠) 1
𝐺𝐺(𝑠𝑠) = =
θ𝑖𝑖 (𝑠𝑠) 𝜏𝜏𝜏𝜏 + 1
𝑀𝑀
Where 𝜏𝜏 = [𝑠𝑠] , 𝑘𝑘 = 1[−]
𝑚𝑚 𝑜𝑜

b. q is chanced while , θ i and m are remained constant at their initial steady-state

R R

values

θ o =f(q(s))
R R

θ𝑜𝑜 (𝑠𝑠)
𝐺𝐺2 (𝑠𝑠) =
𝑞𝑞(𝑠𝑠)
1. Steady state head balance :

Heat in –heat out =heat accumulation

𝑑𝑑θ𝑜𝑜𝑜𝑜
𝑚𝑚 𝑜𝑜
𝐶𝐶𝑝𝑝 θ𝑜𝑜𝑖𝑖 𝑜𝑜
+ 𝑞𝑞 − 𝑚𝑚 𝑜𝑜
𝐶𝐶𝑝𝑝 θ𝑜𝑜𝑜𝑜 = 𝑀𝑀𝐶𝐶𝑝𝑝 =0 (1)
𝑑𝑑𝑑𝑑
2. Transient (unsteady) state heat balance:

𝑑𝑑θ′𝑜𝑜 (𝑡𝑡)
𝑚𝑚 𝑜𝑜
𝐶𝐶𝑝𝑝 θ𝑜𝑜𝑖𝑖 ′
+ 𝑞𝑞 (𝑡𝑡) − 𝑚𝑚 𝑜𝑜
𝐶𝐶𝑝𝑝 θ′𝑜𝑜 (𝑡𝑡) = 𝑀𝑀𝐶𝐶𝑝𝑝 (2)
𝑑𝑑𝑑𝑑
Subtracting eq.(1) form (2)
𝑑𝑑(θ ′𝑜𝑜 (𝑡𝑡)−𝜃𝜃𝑜𝑜𝑜𝑜 )
𝑚𝑚𝑜𝑜 𝐶𝐶𝑝𝑝 (θ𝑜𝑜𝑖𝑖 − θ𝑜𝑜𝑖𝑖 ) + (𝑞𝑞 ′ (𝑡𝑡) − 𝑞𝑞 𝑜𝑜 ) − 𝑚𝑚𝑜𝑜 𝐶𝐶𝑝𝑝 (θ′𝑜𝑜 (𝑡𝑡) − 𝜃𝜃𝑜𝑜𝑜𝑜 ) = 𝑀𝑀𝐶𝐶𝑝𝑝
𝑑𝑑𝑑𝑑

𝑞𝑞(𝑡𝑡) = (𝑞𝑞 ′ (𝑡𝑡) − 𝑞𝑞 𝑜𝑜 )

θ𝑜𝑜 (𝑡𝑡) = θ′𝑜𝑜 (𝑡𝑡) − θ𝑜𝑜𝑜𝑜

𝑑𝑑θ𝑜𝑜 (𝑡𝑡)
𝑞𝑞(𝑡𝑡) − 𝑚𝑚𝑜𝑜 𝐶𝐶𝑝𝑝 θ𝑜𝑜 (𝑡𝑡) = 𝑀𝑀𝐶𝐶𝑝𝑝
𝑑𝑑𝑑𝑑

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Fourth Class Process Control

1st order Q.E ., linear ,zero I.C.

P P

𝑀𝑀 𝑑𝑑θ𝑜𝑜 (𝑡𝑡) 1
� 𝑜𝑜
� + θ𝑜𝑜 (𝑡𝑡) = 𝑜𝑜 𝑞𝑞(𝑡𝑡)
𝑚𝑚 𝑑𝑑𝑑𝑑 𝑚𝑚 𝐶𝐶𝑝𝑝

Laplace transform :
θ𝑜𝑜 (𝑠𝑠) 𝑘𝑘
𝐺𝐺(𝑠𝑠) = =
𝑞𝑞(𝑠𝑠) 𝜏𝜏𝜏𝜏 + 1
𝑀𝑀 1
Where 𝜏𝜏 = [𝑠𝑠] , 𝑘𝑘 = [𝐶𝐶 𝑜𝑜 ⁄𝑤𝑤]
𝑚𝑚 𝑜𝑜 𝑚𝑚 𝑜𝑜 𝐶𝐶𝑝𝑝

23