11/19/2019

Ali M. Sahlodin
Department of Chemical Engineering
AmirKabir University of Technology
1397 S.H

 Dynamic modeling
 Simulation of Differential/algebraic
equations (DAEs)
 Index reduction
 Initialization
 DAE solvers
 Parametric sensitivities of ODEs/DAEs

Copyright © Ali M. Sahlodin, Dept. of Chemical Engineering, AmirKabir Univ. of Tech. 2

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Hybrid Discrete/Continuous
Dynamic Systems

Copyright © Ali M. Sahlodin, Dept. of Chemical Engineering, AmirKabir Univ. of Tech. 3

 Integrate the model

 t)  0
F(x, x,p,

 Do all processes conform to the above form?

 Does a certain process always conform to the
above form?

Copyright © Ali M. Sahlodin, Dept. of Chemical Engineering, AmirKabir Univ. of Tech. 4

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 Sequence of switching dynamic models

triggered by discrete events.

Bouncing ball

The ball path undergoes an abrupt

change each time it hits the ground.

Copyright © Ali M. Sahlodin, Dept. of Chemical Engineering, AmirKabir Univ. of Tech. 5

 Very common in process industries

Phase change
Check valve two-phase single phase

F
P1 P2

 F (P) P1  P2
F 
0 P1  P2

Copyright © Ali M. Sahlodin, Dept. of Chemical Engineering, AmirKabir Univ. of Tech. 6

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Pressure>Set Pressure

Closed Open
Pressurized
gas

Pressure<=Reseating Pressure

Relief valve opens when pressure exceeds safety limits

Copyright © Ali M. Sahlodin, Dept. of Chemical Engineering, AmirKabir Univ. of Tech. 7

Level>=Weir height

No flow Flow

Level<Weir height

Liquid flows down only when the level is above the height of the
weir
•Distillation columns
•separators
Copyright © Ali M. Sahlodin, Dept. of Chemical Engineering, AmirKabir Univ. of Tech. 8

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 Cyclic switches between the two columns

 Pressuring
 Production
 Purge
 Depressuring

Wikipedia by Daniele Pugliesi

Copyright © Ali M. Sahlodin, Dept. of Chemical Engineering, AmirKabir Univ. of Tech. 9

 Physico-chemical mechanisms
 Phase changes
 Flow transitions
 Laminar to turbulent
 turbulent to choked
 External actions
 Control actions (digital)
p
 Opening/closing valves p3
(manually) p2
pN
 Equipment failure p1

 Distinction not always clear! t0 t1 t2 t3 tN-1 tN

Copyright © Ali M. Sahlodin, Dept. of Chemical Engineering, AmirKabir Univ. of Tech. 10

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Transition condition
IF (A==TRUE AND B==FALSE OR …)
x
Mode 5 A : gi (x k , y k , x k , p, t)  0
Mode 3

Mode 2 Discontinuity function

Mode 4
Mode 1
t1 t2 t3 t4 t

State event location  f (1) ( x (1) , p) if g ( x (1) , x (1) , p)  0

x   (2) (2)
State transition
 f ( x , p ) otherwise
•Mode k→ Mode k+1

Copyright © Ali M. Sahlodin, Dept. of Chemical Engineering, AmirKabir Univ. of Tech. 11

 Modeling challenges
 Simulation challenges
 State event detection
 State transition
 Re-initialization
 Parametric sensitivity (ongoing
research)

Copyright © Ali M. Sahlodin, Dept. of Chemical Engineering, AmirKabir Univ. of Tech. 12