9/21/2021
Ali M. Sahlodin
Department of Chemical Engineering
AmirKabir University of Technology
Importance of dynamic modeling
Importance of process control
Examples of control systems
Basic definitions
Controlled variable, manipulated variable,
disturbance variable, set point.
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Improve process understanding
Train operating personnel
Develop control strategies
Optimize operating conditions
F
M
Twc
Twj x
AmirKabir Univ. of Tech. Dept. of Chemical Engineering 3
Examples:
Minimize startup time
Minimize startup waste
Maximize yield in a batch process
We need a dynamic model for optimization
AmirKabir Univ. of Tech. Dept. of Chemical Engineering 4
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w1, x1 w2, x2
Steady-state model
Assumptions?
0 = Rate of mass in - Rate of mass out w, x
w1 w2 w 0
w1 x1 w2 x2 wx 0
Dynamic model Rate of accumulation =
Assumptions? Rate of mass in - Rate of mass out
d ( V )
w1 w2 w
dt
d ( Vx)
w1 x1 w2 x2 wx
dt
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Dynamic models yield differential equations
Time as an independent variable
This
course is limited to ordinary differential
equations (ODEs)
p: constant parameters dx
x: state variables
(t ) f(x(t ), p, t )
dt
Find
state variables and parameters in the
blending example.
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More assumptions?
w1, x1 w2, x2
Constant density
d (V )
w1 w2 w
dt
w, x
d (Vx)
w1 x1 w2 x2 wx
dt
d ( x) d (V )
V x w1 x1 w2 x2 wx
dt dt
Assume constant volume
How?
Overflow line
Closed tank that is filled to capacity
Nearly perfect control of level
w1, x1 w2, x2 w2, x2
w1, x1
w, x
Filled
Overflow up
w, x
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Analytically
If model is simple enough
Numerically
Used in most practical cases
Sudden change in inlet composition x from
0.4 to 0.8.
Initial condition
Dynamic solution
Transient behavior
Final steady state
See Example 2.1 of Seborg’s book
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How to know if the model can be solved?
Linear system of equations y Ax
For General systems of equations N F NV N E
Exactly Specified
Underspecified
Overspecified
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Rate of accumulation Rate of work done Rate of heat
of energy in system on the system added to the system
Rate of energy added to Rate of energy
system by incoming removed from system
material by outgoing material
Total energy in the system
Etot U EK EP
Changes in kinetic and potential energies can usually be
ignored in process modeling
Exceptions?
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dV
P
dt
W&s
F h
in
in in F h
out out
out
Q& i
Q& e
dU & &
Q W Fin hin Fout hout
dt in out
dV
W& W&shaft P
dt
& &
Q Qe Qi &
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dU & & dV
Q Ws P Fin hin Fout hout
dt dt in out
dU & &
Constant-volume (rigid vessel) Q Ws Fin hin Fout hout
dt in out
dU dH d ( PV ) dV
Q& W&s P Fin hin Fout hout
dt dt dt dt in out
Constant-pressure
dH dV dP & & dV
P V Q Ws P Fin hin Fout hout
dt dt dt dt in out
dH & &
Q Ws Fin hin Fout hout
dt in out
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k
A B
Some assumptions
•Constant volume
•Constant density
•Tc constant through the coil
E
( )
k k0 e RT
Nonlinear ODE? Why?
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Change in cooling water temperature
I. -10 K
II. +5 K
Response changes dramatically with direction & magnitude of change
(typical for nonlinear dynamics)
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