Dynamic & Control of

Industrial Chemical Process

Empirical Models

Eng. Misael Gnzalez Macias

Dynamic & Control of Industrial Chemical Process Course

Learning Outcome
By the end of the lesson, you should be able to
develop first order plus time-delay and second order.

Eng. Misael Gnzalez Macias

Dynamic & Control of Industrial Chemical Process Course

Agenda
First-order + dead time.
Second-order.
Second-order with numerator dynamic.

Eng. Misael Gnzalez Macias

Dynamic & Control of Industrial Chemical Process Course

First-order + dead time.

Laplace Domine
=

Eng. Misael Gnzalez Macias

+ 1

Dynamic & Control of Industrial Chemical Process Course

First-order + dead time.

Gain approximation

12.00

Level (cm)

10.00
8.00
6.00
4.00
2.00

0.00
0.00

1.00

2.00

3.00

4.00

5.00

Time (min)

Flow (l/min)

5
4
3

2
1
0

0.00

Eng. Misael Gnzalez Macias

1.00

2.00
3.00
Tiempo (min)

4.00

5.00

Dynamic & Control of Industrial Chemical Process Course

First-order + dead time.

Gain approximation
12.00

Level (cm)

10.00
8.00

= 9.7 3.5 = 6.2 cm

6.00
4.00
2.00
0.00
0.00

1.00

2.00

3.00

4.00

5.00

Time (min)
6

6.2
min cm
=
=
= 2.06

3
liters
= 5 2 = 3 l/min

Flow (l/min)

5
4
3

2
1
0

0.00

Eng. Misael Gnzalez Macias

1.00

2.00
3.00
Tiempo (min)

4.00

5.00

Dynamic & Control of Industrial Chemical Process Course

First-order + dead time.

12.00

63 % Method

10.00

Level (cm)

8.00

= 6.2 cm
6.00

4.00

2.00

0.00
0.00

1.00

2.00

3.00

4.00

5.00

Time (min)

= + 0.63
= 3.5 + 6.2 0.63
= 7.4 cm
Eng. Misael Gnzalez Macias

Dynamic & Control of Industrial Chemical Process Course

First-order + dead time.

12.00

63 % Method

10.00

Transfer function

Level (cm)

8.00

2.06
=
()
1.3 + 1

6.00

4.00

2.00

0.00
0.00

1.00

2.00

3.00

4.00

5.00

Time (min)

= 7.4 cm

Eng. Misael Gnzalez Macias

= 1.3 min

Dynamic & Control of Industrial Chemical Process Course

Check parameters.
0.00
0.27
0.37
0.75
1.17
1.55
1.83
2.35
2.87
3.18
5.05
5.62
6.07

Experimental
Level (cm)
3.50
4.50
4.80
6.00
6.80
7.60
8.40
9.00
9.20
9.50
9.60
9.70
9.70

Theoretical Level
(cm)
3.500
4.646
5.019
6.209
7.161
7.804
8.172
8.666
8.999
9.146
9.553
9.598
9.622

Laplace Domine

=

+ 1

2.06
=

1.3 + 1
Eng. Misael Gnzalez Macias

12.00
10.00
8.00
Level (cm)

Time (min)

6.00
4.00
2.00

0.00
0.00

1.00

2.00

3.00

4.00

5.00

Time (min)

Time Domine
= + 1 exp

= 3.5 + 2.06(3) 1 exp

1.3

Dynamic & Control of Industrial Chemical Process Course

Second-order.
Laplace Domine

= 2 2

+ 2 + 1

1 + 1 2 + 1

()

Time Domine

= + 1 +

Eng. Misael Gnzalez Macias

Minimize

1 1 2 2

2 1

Dynamic & Control of Industrial Chemical Process Course

Second-order.
Example:

1 =?
2 =?

= 10
t (min)
0.0
0.5
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
5.5
6.0
6.5
7.0
7.5
8.0

y(t)
0.980
0.974
0.968
0.962
0.958
0.956
0.955
0.954
0.954
0.954
0.954
0.954
0.954
0.954
0.955
0.955
0.955

0.985

Use MS-Excel Solver

to minimize quadratic error

0.0025

1.17 + 1

0.980

=
0.975

1 + 1 2 + 1

= 0.025

= 0.0025

0.970

= + 1 +

y(t)

()

2
2 1

0.965

0.960

0.0025

(0.59 + 1)(0.58 + 1)

0.955
0.950
0.0

1.0

2.0

3.0

4.0

5.0

6.0

7.0

8.0

Time

Eng. Misael Gnzalez Macias

Dynamic & Control of Industrial Chemical Process Course

Second-order with dynamic.

Laplace Domine
=

+ 1
()
1 + 1 2 + 1

Minimize

Time Domine
=

+ 1 +

Eng. Misael Gnzalez Macias

1
1 2

2
2 1

Dynamic & Control of Industrial Chemical Process Course

Second-order with dynamic.

Example:
= 10
t (min)
0.0
0.5
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
5.5
6.0
6.5
7.0
7.5
8.0
8.5
9.0

0.989

y(t)
0.9800
0.9851
0.9876
0.9880
0.9879
0.9877
0.9875
0.9873
0.9871
0.9870
0.9868
0.9867
0.9866
0.9866
0.9866
0.9866
0.9866
0.9865
0.9865

Eng. Misael Gnzalez Macias

0.987

0.985

0.00001(3.2 + 1)

(0.68 + 1)(0.5 + 1)

0.983

1
2
1
= + 1 +

+
2
1 2
2 1

0.981

0.979
0

1 =?
2 =?
=?

10

Use MS-Excel Solver

to minimize quadratic error

Dynamic & Control of Industrial Chemical Process Course

Thank you
M. Sc. Misael Gonzlez Macas
misael.gonzalez@uptlax.edu.mx

Eng. Misael Gnzalez Macias

Dynamic & Control of Industrial Chemical Process Course