Professional Documents
Culture Documents
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The field of thermal ,system design and analysis continues to develop. The
number of workers is gro\\"ing, technical papers appear in greater numbers,
and new textbooks are _being written.
. .
The major objective of this third ,edition is tQ organize so.me of the
new approaches that are now ,avaHabJe and to provide more flexibibty to
- instructors who use Design of Thermal Systems as a texL The changes to the
twelve chapters of the second edition are modest and mainly constitute the
inclusion of some additional end-of-chapter problems. Chapters 13 tPJ"Dugh \
19, ho\v~yer, are all new_ One possible use of th~ text is to cover the
first twelve chapters in an advanced-level undergraduate course and the
remaining seven chapters as a graduate COjJfse. In some engineering schools
students already have some J.01d of optimiiatlOn course prior to ' taking the'
thermal design course. For those classes certai)1 chapters of the fIrst hvelve
(usually the ones on search methods, dynamic prograrrul:ring, and linear
proirarruning) can be omi.tted and material can be supplemented from the,
new seven chapters.
Several of the new chapters are exten~ions of the introductions offered
in the lust twelve chapters, especially mathematical moqeling, steady~state
system simulation', and search methods. Chapter 14 addresses $.Orne of the
challenges that arise when simulating Jarge, thennal systems. New material
appears in Chapter 15 on dynamic be'h~yior, in Chapter 18 which introduces
calculus of variations as a companion to dynamic programming, and in
Chapter 19 on probabilistic approaches to design, which is exploratory.
'.,
The author thanks colleagues both at the University of nlinois at
Urbana-Champaign and at other engineering schools for continued input and
suggestions during [he past several years on how to keep the ,book fresh.
~qraw2Hjl1 would rus,9. like to thank the foHowing ' reviewers for
their
useful comments: John R. Biddle, California State Polytechnic.
many
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The title, Design of Thermal Systems, refie,cts the three concepts embodied
in this book: design, thennal~ and "systems. '
DESIGN
A frequ~nt product of the erig?neer's efforts is a drawing, a set' of calcu~a
t!ons, or a report that is an abstraction an? .descriptio~ of hardware.' Within '
. ,epgineering education, thl? cookbook approach to design, often practiced
during the 1940s, discredited tpe ' design effort so that many engineering
schools dropped design courses 'from their curricula in the 1950s. But now
design has returned. This reemergence is Dot a re~apse to the earlier procedures; design is reappearing as a cre"ative and highly technica1 , ~ctivity.
THERMAL
Within many mechanical engineering curricula the tenn design J,s limited to
machine design. In order to compensate for this frequent lack of recognition
of thermal design some special emphasis on this subject for the next
few years is warranted. The designation thermal implies calculations and
activities 'based on principles of thermodynamics, heat transfer, and fluid
mechanics.
,
,The, hard,ware associated '1'ith therm~. systems iqcludes fans) pumps,
compressors, engines, expanders, ,'turbines, heat and mass exchangers, and
reactors .. all interconnected with some form of conduits. ' generally, the
.,working substances are fluids. These types 9f systems appear in such industries as power generatio'n, electric'and gas utilities, refrigeration, air conditioning and heating. and in the food, chemical, and process industries .
I
.
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xiii
xiv
SYSTEMS
Engineering elucation is predominantly pro,cess )orielZted, while engineering
practice is predornioantly system 'orien(eil. .
cO,urses of study in e;ngi- " "
_' neering .proyide the student wi~
effec~ve exposure to such processes
as the flow of a compressible fluid through' a nozzle and the .bel;l3rytor of
" ,~hydrodynamic and theI"ID:al bou,ndary l~y~rs ,at solid,$q.rfaGes,._lhe ptacti~ing
" . en'g ineer, ,however) is lik~Iy
be confronted with, a task ~ucp' as. desigmng ,
: ~an: _~eG,o,n.~c:-:.sy.st~,Itl __!p~t ,}"~ceiv~~ p,~t~~ g~ _from a. pipeline- aijc;l .,stores ,
it underground '.fo~ )~fef~'~sag~'~ - 'Th~r~,~~~~:' a~- big~/iap.:l>.e~,een:Jmoyw~~~qg.~:,;:,~(,.j -,::,:;;" .~'S' ~':
, inqi~id~hl proces~es 4tld rl1e ,~,~tegraticm- ~f these prQc~s.s~s in ~n.;engiriee~g. , -: '~:~. : " ,. ~~',
enterprise.
Clos~g the gap should ~ot b~ accomplished by diminishing the empha- .
si~ ' on pro~esses. A faulty .~no\vledge,' of fi?1dainentals may result in subs~:'
quent failure of the ~ystem. But -within a university enviroJ!illent, it is beneficial for future engineers to begin thinking in te~s of. systems, Another
re~sonfor more emphasis on systems in the llnjversity envirQnment, in additio,q to, influencing the (hought patterns of students, is that there are sqme
technjques-such as simulation and optinrizatjo~-which only re~ently have
been applied to thennal systems '. 'These are usefui t601s and the graduate
should have s6me facility with them. '
,
While the availability of procedures of simulation and optimization
js not a new situation, the practical application of these procedures has
only recently become widespread because . of ,the- availability of. the: djgital
computer. Heretofore, the lirriltation of time, did not permit hand calcula'tiqns: for example, of an pptirnization of a function that was dependent upon
dO,zens or hundreds of independent variables. This meant that in designing
systems consisting of dozens or hundreds of comp<?ne,n ts, the goal of achieving a 11,10rkable system was a significant accomplishment and the objective
of designing an optinll1J71 system was usually abandoned. The possibility of
oprin1iz~tion represents one of the few facets of design,
an
-'.
Most
to
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process
than -
XV
some
ACKNOWLEDGI\1ENTS (,
Thennal system design is gradually emerging as an identifiable discipljne.
.. Special recognition should' be given to the program coordinated by the
University of Michigan on Computers in Engineering Design Education,
which in 1966 .clearly delineated topics and defined directions that have
.since..P'oYed
to be productive. Acknowledgment should be given to activities
..
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within the chemical engineering field for developments .that are clos.ely related, and -in some cases identical, to those in thy theIDlal stem of ll1echanical
.
I
..engmeenng.
_ .
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M~y faculty members during the past five years have arrived, often '
.ind~pendently, at the same 'conclusion as the author: the rime .is -oppprtune' .
'. for .dever~pments in th~rmal-. q.~.s.ign. :Mjap.y ,of th.ese. fa<:;]Jlty memb~rs have .
.-:).,. .
-. ':share<;i some of.th~ir ~xperiences in the theilllal designsection' <?fMechanical" .' ~ . ... .
... ..~ ...~ ~ ::~~~~~:--~: Ellgineering~,:N~Ws.__ and ..h.ave, thus, pirectly and -indirectly c'oritributed
"
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This ,.manus'cn p~ ,is'- the'" '::. third~: id{tio~~ (jt.~ t~:it~ ~in~ftte~a):: :~t:~ed~~;:iD:rtht::. ~'.~~ :.'~'.',. ': :
' .Design of Thermal Systems c611rse " at,th~ ,University 'ofTIlinois"at 'Urbana--- '-' .-Champaigll7.-I thank the students-Vlho have .worked with
in this :course
for their suggestions. for improvement of the
manuscript. The. second
edition
,
.
.
I
was an at!:factively printed ~ook1et prepared by my D~partment Publication
Office, George Morris, Pirector; June J(empka and Dianne Merridith, typists; and Don Anderson, Bruce Br~ckenfeld, 'and Paul Stoecker, draftsmen.
Special thanks are due to the Engine~Png Department of Alpoca Chemicals
.Corporation, Chicago, for their intert:st jn ,engineering,.education and for
. their concrete evidence of this interest shown by printing the second edition.
Competent colleagues are invaluable as sounding boards for ideas and
a~ contributors ~f ideas of their own. Professor L. E. Doyle offered suggestions on the econoDljcs chapter and Prof C. O. Pedersen, a coworker
in the development of the thermal systems prqgrarn "at the Unive'rsity of
illiriois at Urbana-Champaign, prov]d.ed .a dvice at many stages . Mr. Donald
-R. \'\tin and a class of architectural engineering students at Pennsylvania
State University class-tested '~he manuscript and pf9vided valuable sugges. tions from the point of view of a user of the book. Beneficial comment~
and criticisms aJso came from the Newark College of Engineering, where
Prof. 'Eugene Stamper and a group of students tested the manuscript in one
of their classes. Professor Jack P. Holman of Southern Methodist University, -consulting editor of ~cGraw-Hil1 Book Company, supplied perceptive
.con1ments both in. terms of pedagogy as well as in the technical feattlfeS of
thennal systems.
The "illustrations in this book 'Were prepared by George Morris of
.Champaign~ IlJinojs.
By being the people that they are\ my wife Pat and children Paul,
Janet. and Anita have made the work on this book, as well as anyt..hing else
1 dO'1 seem worthwhile.
me
W. F. Stoecker
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"ENGIl\TEERJ]\TG
DESIGN
1.1 lNTRODUCTION
on
implying that engineering plays a aecisive role but also dovetails with other
considerations. Engineering undertakings include a wide variety of commercial and industrial enterprises as well as municipally state-. and federally
sponsored projects.
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e~gj~~erhi:g ~.dertakings. Studies on these .;~';"/' ;'~DJ.a.,'~IJ)t!o--'.Qi:;':,l.l~~'~:I~~k~i~Rr,t~1~~,~.,~.~,(,~,;~ "steps :'iih~: :procedUres used .reaching decisions.
":'2:::t~f!::'~,(',';n':;; :; jr;", :":r:.~'n~ .....'V"UL~.L~~~.~~.4 'Qttii~~e 'studies' has been to stimllIate .enginee.rs. to-reflect'
" . ,, ,.>,:<,.:': ~~p,# :'the ,,, .' proces~,es of theillselvfs and oth~rs o~ the proj ect','teani.
" ,:',-,,:,:: ,.':;',:~ ::';'~:'i~:~:~;,::,':' CenaiPIYJh.~~pI:gGes,~, . ~q.I.~f?q~.ep'~e, 9f.',s!.~p'?,,~~llowed in each undertaking is
',:' -~~.~':~:.' ' '': ' ',;:. <:" diffeient~ ' an:d':no ,:oDel's~queDce~' incli.Idii:tgJ~e,on,~~ d,~$c;riped,~t.N.s. chapter,
,
is univers,aUy applicabl~. Since the ~starting ,.Ppjrit, the-:goar~~'::aiitf;:8:':sidg :,\r~<'~ ,.: 'r;:'
" c;:onditioris differ from ~ne' ~;ndertaking ' to the next, the" pIoc~dllre,s,'':Pillst ' "',
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flow diagram in evaluating and planning an engineering
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commercial enterprises t typical needs or oppo~~J.t~rgiie in the renovation or expansion of facilities to manufactur~?,f;f -distribute a current
product. Opportunity also arises when the sale of a-.product not manufactured
by the-fh.ul is rising and the ro.arket potential stems favorable. Still a third
form in which nn opportunity arj'ses is through research and developmen[
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Probability distribution carve ..
in the evaluation of the area be~eath the cprve. The area under the curve
between xl arid-X2, for example~ represents the probability P of the event's
occurring between valli~s x 1 and X2', Thus,
Since the. probability .of the event's occurring somewhere in the range of x
is unity, the integration. over .the entire range of x is equal to 1.0:
I~o>Ydx = 1
The equation for the probability distribution curve is
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Several different shapes of the probability distripution curve,
After 1 yeaI
After
pf operari on
construcrion
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Retum on investment. %
FIGURE 1-4
Disr.tibutieilllAi ~eS at -various stages of.decision making.
24
ENGINEERING DESIGN
'"/
been analyzed more carefuUy C).nd mar.keting studies have been conducted_
more thoroughly.
_ .
I L
The. probab il ity distribution curves at Hvo other stages~ after construction and after 1 year.of operation, show progressively greater q~grees of .
confidence. in.the rate of retuill;after a 5-ye~r life. A.fier:.5 . ye~rs; th~ rate of
return- is kllQWn exactlY1 and th.e . :prob)abi1ifY;,distiibut~dn"c~rve - degeD.e~tes- .>-,"-' into' 'a: c urve-.. that:- is' infinites tmally' ttliriwand'::illfini-tely. .:;hi gh~,~:;' -;,',;\ .:~:o ;'>:->.:~ ,-.. :~.,:-:~:.~;;. :'\.~.':.
-~h re9ghition th.~~ pr:edj..ti9~ :pf:fjJ.Jilte ?-eli.~vi6r is "rioi :deterrmriisii.c!t"
so that only one ~Set of events or cOD:ditions \vill prevail, has spawned a ne\v
probabilistic approach ' to design (see the addirional readings p-~ the e~d of
the chapter and Chapter 19). One of the activities of this new study is .that" of quantifying the curves sho\vn in Fig_ 1-4. It is valuable for the .decision
maker to know not .only the most likely v3Jue of the rerum on investrTIent .
but also whether there i$' a high- or low.probability of achieving this mO${
_ likely value~ "
~ ~------------------------------~------~----~~
Prier:
f1GURE;M~_
Because the sales and advertising effort influences the!"Volume of sales "
for a given price, a family of curves -is'expected. Since a cost is associated' :'~,:,
with the sales and advertising effort,sib~e a continuous increase of ,',
this effort resuits ~n dirninishffig improvement in sales there eXls'ts an " "
optimum level of sales and' adv~rtising effort. A marketing plan, should ,:' '
emerge 'simultaneously \vith the ,tec~cal plans Jor the undertaking~' ,
and
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1.9 ITERATIONS
The loop in Fig. 1-1 emphasizes that the decision-making process involves
many iterations. Each pass through the loop improves the amount and
tbe quality of infQtmation and data., Eventual]y la point lS reac~ed" ,where
final decisions are made regardi~g the de~ignt prod\lction, and marketing
of the product. The substance that circulates through ~s flow diagram
is infonnatio,n which ' may be in. the form of reports and ~onyersatjons
a'nd f!1ay be both verbal and pictorial. The iterations are ' accompl ished by
c6mmunicatron between people, an'd this communication is interspersed by
t
go-~r-no-go
decisions.
..
'
ENGINEERL"IG DESIGN
1.10 OPTI1VIIZA.TIOI\T
O~F
OPERA.,.TJOlr1
: .
The 1low diagr:ln1 of Fig. 1-1 termipates with1the constnJction or begin~ ing
of lnanufacture of a product.
service. Actually lli.~other stage takes over
. at thi:s point, which seeks to optimize rh~ ope~ation of- a given facil.ity. The
facility was designed on the ba~is , of.qc~ain,9-~sig.r:t p~ram~Fer5. which almost
jnevit~bly cha.11ge by the tirne the facility )s iri-'optration~"rr(e ,ilext ,challeng'e, :
or
loss.
5 in Fig. 1-1, the product or system design, ,has no~,. been discussed~
'The reason for this omission is that the system design is 'the subject of this
book from this point on. This step 'js where the largest portion of eng'i neering
, time, is spent. System design as an activity lies some\vhere between the study
and analysis of individual processes or cOillponents and the larger decisions,
\vhich are heavily economic. Usually one person coordi~ates the planning of
the undertaking. This manager normally ~merges with a background gained
from experience in one of the subactivities. The manager's experience might
be in finane'e , engineering, or marketing, for example. Whatever the original
- discipline the manag~r must become conversant with -all the fields that play
role in the .decision-making process.
..
The word "desjgn~' encompasses a wide range of activities,. Design
may be applied to (he act of selecting a single member or part, e.g., the
size of a tube in a heat exchanger; to a ]arger co'mponent, e.g., the entire
shell-and-tube heat exchanger; or to the design of the system in which the
heat'ex:chang'er is only one component. Design activities can be, directed
toward mechanical devices which incorporate linkages, gears'~ and orher
moving solid members, electrical or electronic systems, thermal systems,
and a multitude of others. -OUf concenrration win be on thennal systems
such as those in power generation, heating and refrigeration plants, the
food-processing jndustry, and in [he chemjcal and process industries.
.
S,t~p
1~12
SUMMARY
The flow diagram and description <o~ the decision processes discussed in this
chapter are highly simplified and are nor sacred. Since mmost every undert~ing is different. there are almost infinite variations in startit:lg points,
goals, and intervening circumstanc~. The purpose of the study is to emphasize the advantage of sys.tematic planning. Certain functions are common in
the evaluation and pJanning of undertakings, particularly the iterations and
the dec~[ occur at various stages.
.""
'
10
ADDITIONAL READINGS
Introductory 'bQoks on engineering design
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KriGk. E. V.,: 'An Introduction to Engineenng and Engineering Design, Wjley, New York,_
I
1966.
1965.
Middendorf, W. H.: Engineering Design, Al~yn
1'4.isc;hke~
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DESIGNING
.A WORKABJ-.JE
SYSTEIVl
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interconnecting parameters betweerl components and selecting the components based on these parameters instead of letting the parameters float unti1
the optimum total system emerges.
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11
12
2~2
A WORKTCAJ3LE SYSTEM
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of
. 1 . .Meets the requi:rem:ents of the. pllrpose~;, the system, e.g., pr~viding the . .,
req~ired
of power, heating., cooling, or fluid flow., or sllITouild.ing
it spac~'vith a specified environm~nt so that peopI~ will ,be .. coIPf6rtable '. ,... ~
. :~~ . ~,~Qri_a~., ch~lnJca4 P.tq_c~s.~_ "Yi1Lp!oceed or not proceed
.
2~'~ ~iiil'Na~e:~ati~f~-~'t6~;/lif~~:~~~fu.:~i~ten~ce_6s:/~:'!.~};,;~~c~::.:.~'<'.:.:J :.,: .::' ~~<:: .:: :/~ : ~ -- ':'~':"'__
3. Abid~s by. ali constraints, sllch as 'size, ' .we~ght~ .i~~p~r~trires~ 'jpr~ss~i'e';< .' ~ '. ' "
materia) properti~s, noise, pollution,' etc. .
. .
.
amount
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. imposed
'as~igned
con~traints.
The
t\VO
concept to be 'used an~ (2) 't 6 fix whatever parameters ar~ necessary to select
the components of the system. These parameters must be chosen so that 'the
design requirements .and constraints are satisfied.
2.4
. CREATIVITY' IN CONCEPT' SELECTION
'Engineering~ especially engineering design. is a potentially creative activity.
In practice creativity may not 'be exercised because of lack of ~ime for
adequate exploration, discouragen1ent by supervision or environment, or
the laziness and timjdity of the engineer. It is particularly in selecting the
concept that creativity can be exercised. Too often only' one concept is
ever considered, the concept that was used on the last similar job. As a
standard practice, engineers should discipline themselves to review all the
alternative concepts in some manner appropriate to. the scope of the project. .
Old ideas that were once discarded as impractical or uneconomical should be
constant1y reviewed. Costs change; new devices or materials on the market
D1ay make an app'roach successful today that was not .attractive 1a. years
. ago.
<
13
2 The .;::;lcvauoIl of 8
<
ill
imposes a prc$sure
difference of
.
I
3)?
7805 kPa
. 'A~poaching the' same problem with the 9bjective of achieving an optimum system presupposes agreement on a c~terion to optimize .. A frequeptly
chosen criterion .is cOS.t (sometimes fn-st .~ost only in speculative projects,
.and sometimes the lifetime cost, GOI?-sisting of first plus lifetime pumping
and maintenance costs).
~ designing th~ optimum pump
piping system for minimum 'lifetime cost~ ,the pressure rise to be developed by the -pump is not fixed immediately but left free to float. If [he three major contributors to cost are
(1) the rust cost of the .pump, (2) the fIrst cost' of the pipe, and (3) the .lifetime pumping costs, these costs will vary as a function. of pump pressure,
as shown in Fig. 2-1. As the pump-pressure rise jnc.reases, the cost of the
Pl!mp probably Increases for the required flow rate of 3 kg/s because of the
- need for higher speed ~dJor larger impeller piameter. W~th the increase in
pressure rise) the power required. by' the' pump increases and is reflected in
and
Ui
First cost
" 0
of pipe
50
100
150
FIGURE 2 ... J
ContribUtions to costs by pump and piping systems.
250
' .'
14
a higb~~ lifetime 'pumping cost.' The first cost of the pipe, the third contrib- .
uto.r to, i:p.e t~t~ co.st,. "i;>ec~m~s 'e nornollsly hi~h as th~ presSUre available -to'
overcome fricTIon ill the pIpe .r educes to ~ero. The avaIlable press~e for. the'
.pipe is the pump-pr~ssuIe rise minus 78.5 .kPa. need~d for the difference in ,
'.elevation. An appropriate' optimization technique ~ ~~ used to deten;n1ne
the optim~ pump-pressure rise,.which in Fig. 2-1 is approximately-ISO kPa~ '-, _'
,
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" Fip~lly the pump can '~e selec~~d . to develop l.?O-J~~" p'ressur~ -r ise':," ~~,
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'.
:.'
mal6ires\t~ti()1~~ pref-~ten~~:"
-towax:d designing optinium systems.- To, temper thi.s bias, several additional
c~nsiderations should ,be_mentiqried. ,I f the job is a small one" the' cost 'of,
the increased engineering tim~ required Jor optimization ~a'y devour the
, -savings, if any. Not only the engineer's time but pressure of c!iIendar time,
-nlay not permit. the desigil to proceed beY0!1d a workable design.
t
.(\. [ooq company can buy sv/eet com and peas from farmers during the '
season and'sell the vegetables as frozen food throughout the year in a city
300 Ian away. What are the decisions and procedures involved in designing
the plant to process and freeze the crops?
.
The ,statement of the task actually starts at an advanced stage jn
the decision process, because it is already assumed that a plant will be
constructed. This decision cannot realistically be made until some cost data
are available to evaluate the attractjveness of the project. Let us aSSUDle,
therefore, that
'arbitrarily selected soJuriq,p has been priced out and found
to be potentially piofita ble. We are likely then, to
ve at a sol utian that
is an improvement over the arbitrary selection.
Son1e major decisions tqat _ rpy..~,~ , .pe , ,m'lc;le . are (1) thew location,
(2) size, ~nd (3) type of freezinp pl~t. The plant could be located near
(he producing area, in the market. city, or somewhere between. The size
\vilI be strongly influenced by the market expectati'on. The third decision,
the type of freezing plant, embraces ,the engineering desjgn ~ These three
major decisions are interrelated. For example, 'the location an d' size of plant
might reasonably influence the type of system selected. The seJecion of the
type of freezing plant includes choosing the concept on wh'cb the freezing-
an
am
--
.:-
15
).
plant des ign \vv. li be based. A.fter the cO.ncept has been decided:. the inter:nal
design of the plant can proceed.
I )
.
An outline of the sequence of tasks and decisions by vvhich a wQrkable
, design could be arrived at ' i~ as follows:
, ...:.- :
' . ...' _- . --l. I?~Gjde-.t.o locate the .plant i~ the .tharket ~ity adjacenf::t~ a
, ." ... :--':"~::' w~reflouse~~perated"by :.the -co_inpany. . "~'" ' .0.,,,,. -. ,; . . - . ' " :
2~ Select the , freezing capac'i ty of the plaiil
-availability of
fini!l~.iQg.
~etpgernted
" . '. '
".- ......
on
-'34 Decid~ upon' the co~cept to be used in the freezing plant, e.g. the one
7
. ..
shown in Fig.' 2-2. In this system the food 'particles are frozen in a fluidized' bed4 in' \vhich low-temperature air blows up through a conveyor
chain, suspending the product being frozen. This air returns from the '
fluidized-bed conveyor to a. heat exchanger that 'is the evaporator of a
: re~rigerating unit. The refrigerating unit uses a reciprocating cOlnpressor
and water-cooled condenser. A cooling to\ver. in tum, cools the condenser water. rejecting heat to the atmosphere.
4. The design can be quantified by establishing certain valueS. Since the
throughput of the plant has already been detelmined, [he freezing capac~
ity in kilograms per second can be .c omputed by d.eciding upon the nUffi.' ber of shIfts to be operated. Assume that one shift is s.elected, so that
DQ":' the .r efrigeration load can be' calculated at, say, 220 kW. To proceed
with the design, the parameters shown in Table 2.1. can be pinned down.
Air
Water
Pump
f:m
FlG~
Condtnser
~.
pl~nr.
16
DESIGN OF ~ SYSTE."1S
TABLE 2.1
,
Temperature, .C
.'
"
- 30
~ 23
Retu.Ql .
Refrigerant,' .ev~poration
- 38'
';",. ":-0-" :"' .". . J:ondensation . . '.
45 .:
,',' .-, ' . Condenser, cooling :water. inlet ,'
3D ? .
:< :~,~-=,:"'~'':'::~':::Olltlet::::~~,>.~:.-L.~~.:'r'''~,i':: '' : ,', :, ~"-'::'" ' ,35
.' ,
__
~:J
-I
'r
_ ._ .
"
,arr can
'
of
. .,:. /,;
17
vVf;~h~j]
.'
component around lhose temperatures and resw.tlng flo'w rates. 'Vhen one
approaches the design \vith the 'objective of optimization, aU those interconnecting parameters _are left .free to Jfloat. and one 'finds . th~ comhination
.. ~.'" of
-_/~.co~omic optiIn~rh).J":~<
.
(
,,-
. : '\
...
...
2~7
.. .
:-~
'I.
PRELnVllf\JARIES
OF OPTIMIZATION .
i.
.., .. :---..............:. . ,.
~
" .. ' . ;
....
.'
'-:'., :.
-'.',.
. '
TO .THE STrFDY
PROBLEMS
2.1. Location S in Fig .. 2-3 is an -adequate source of \l./at~r. and location A) B ,
Us
. 2.5
3.5
1.5
Points S .A, B. and C are all at the same elevation. The demands for water
at A and C occur inrerminen.tly and only during the working day, nnd they
may coinCide. The demand for wUler o.t B occurs only during nonworking
hours nnd is also intermittent. .GrQund-level access exists in II 3-m border
~g the building. ~.ccess is not permined over, through, or under the
bUilding.
'18
' '':;''J
. , ... . :~ .
~.
... .
_;!_l
/
./
/~~~--------~---~m---------------.~~
fiGURE 2-3
SuppJy and consumption points in water-distribution system.
1.0 .
0.8
0.6 .
0.4
c..
-c
L-
0.2
"C
2
;;
v.
:...0
!1: O. J 0
0.08
0.06
0. 04
0.1
0.2
2
0.4 0.6
FJow of wat~r. LIs .
10
.-. - ......
120
--~~~"'-"Q~-
~IOO
~g-
80
I I
"1 ~T
--
,,'
Z~
~
0
~~~~
19
,S'
,-:- J
-~
~-~
I, '
,~
"4
FIGURE 2-5
Pump perfonnance curves.
(a) Describe all the concepts ot" workable methods you can devise to fulfill
the assignment .
.(b) The influence of such factors as the expected life of the system has
resulted in the decision to use a' system in which a pump delivers water
into an elevated storag~ tank, which supplies me piping system. A water, level switch starts and stops the pump. Design .. the system; this includes
sketchjng the pipe network chosen, ,listing all the pipe sizes,"-select-ing
the pump, and speci~ying the elevation of the 'storage tank. Use pr~ssure
drop data from' Fig. 2-4 and pump performance from F~g_ 2-5. ,ENeglect
the pressure drop in, the pipe fittings and pressure conversions due to,
kinetic energy.) Fill out Table 2.2.
TABLE 2.2
Design flow, Us
size,
Pipe section
Day
rom
Apt kPa
NIght
Day
Night
(S to A. for
example)
..
'-
"
"
----+'Pl~l1mp
..........
20
(c) Review the design and list tb~ decisio~s that preclude~possible optimiza.
..'
tion later in the design.
202 A heating
ventilating syst~m for ~'publ~a indoor swimmjng
,designed.
.
'
and
l.
i.
i
I
i
,I'
.~ ..
l.- 'f
J' I
~
I!
,.-
, Specifications ,
, ,
po~l is
to be'
'.::.- )
' .
I I ',
IJr
J
peonstr~ctio~ .r:eatuTses
i,/) ,
l'
45
dl.Q1enSlozu;,.l x..
m
Essentially the structure has rnaseIiI}' walls and a glass roof:
ij;ji;i
,00
I ~ pn;~i
,ilIII!: ,
;
<_.'
:1 !t~
..
SupplementaT)' information
,
Rate of evaporation of water from pool. g/s
~: /' '
= (0.04)
~hojce
Single
Outside air film
Glass (between external
and internal surfaces)
'Inside film
34
118
11.4
Double ,
Triple
34
34
.8
11.4
3.4
11.4 '
doors
2. To abide by th~ cons~ints
','..
'- . .
.
3. To prevent condensat)on of. w~ter vapor on the lnsJde of the glass
(a) Describe at least two different concepts for accomplishing the objectives
.'
f::ither by heating recirculated air 'or by using convectors around the perimeter
of the building. PerfOffil the desigI.l ca~culations in order to specify ~he
following:
. ,
~
'
. ....-
<.....:..
. {,
...
.. ' .
.~
Temperature.).of.-jiis-idelsurrace::.of' gla'ss",.,:~-.!. .~G:.:-.,:.;>: .~,~""l'~' "~:~" "::':"- "~" '''~' ~ .. :': '-<.i':"
" COJ:ldition ,at-indoor '-air:-:-:dev.i. 'point_
'- _ . c" '. :. '.' .- ::.:.. -. --:' .'
: \
,Heat supplied to raise temperature of ventilation ,a~r fronl room temperature to supply temperature__ kW
. Heat to recirculated air or perimeter convectors_
. kW
Engine
10
1
2
3.4
2.2
20
' 30
40
~ , lL2
13.8
50
12.7
15.2
following rwq.generators:
22
' .J
"
I
Ii
Maxim~)
!,
I,
allowable
current, A
, ~D.erntor
PoleS
I.
'2
Efficiency
.~
OA83
.4
100
50 J'
,
30
50
10
20
38
7r -106-:-140. ..:~:174
II7 , 170 -224 , - 270
~9
40
Engine Dumber_
. _
Generator' number__
Engine-generator speed__ rls'
, Frequency_ Hz
Power delivered ' by . engine~ kW
Power d~livered by, generator__ kW .
Voltage_
'_ V
Current__. A
circuitin~
(c) Review the' design and list the 'decisions that preclude possible optimiza-
.0\:"
to
as
1 Numbered
~---1
Heater
~--------~--------32km------------------~
FlGURE 2-6
'Oil pipe]i~.
----
23
-.
:;.
.. .
FIGURE 2-7
Heat-transfer
da~.
available thicknesses 'of insulation are 25~ 50, 75, and 100 mill. The overall
heat-transfer coefficient U between the oil and permafrost in watts per ,square
meter per kelvin 'basd on the .inside pipe ~ea A i is
,1
UA,.
I13A;
k[(Ai
--=--+
+ Ao)!2]
+--7.2 Ao
L = length of pipe, m
._AJ
_4
,
' I
dl
I~
F1GURE2 ..8
Differential length of pipe.
~I
Insulation
ill
1800
-5
'-
15
10
20
25
, 30
35
flGURE 2-9
Oil pressure drop in 32-km length of pipe.
The pressure drop in the 32-km sect jon of pipe is a'function of the inlet' and
outlet temperatures of the oil because of the influence of these temperatures on
viscosity. Figure 2-9 shov.'s pressure drops for 32 krn. The maximum pressure
the pipe can withsra,nd is 2350 kPa ga'uge: Specify the follo\ving:
/i
'p
)
Insulation
mm
Inlet oil temperature Il_oC
Outlet oil temperature f2_oC
Pressure drop__ kPa
Temperature of surface in contact 'with permafrost (highest in 32-km
run)_OC
(c) Review the design and list the decisions that preclude possible optimization
later in the design.
2.5. The rube spacing and fin height are to be selected for th~ steam-generating
section of a furnace, ,shown in Fig. 2-10. The furnace section is 1.8 m wide;
[he tubes are 2.5 m long and
arranged in a square array, six rows high.
The tubes have an OD of 75 min, and they ,can be either bare 'Or equipped
are
with fins. The fins are 2 m~ thick and 'are spaced 6 mm apart along the
length of the rube.
'
'The stearn temperature in the boiler is 175C, and the entenng ten'lperature of the stack gases is 560C. The minimum spacing between the center '
Jines of the rubes, whiCh is dictated by the smallest U bend available, i'5
Prohlem based on
~omp;my.
Engin~rjng
r-I
r) +
+. +-
+ + +
.+ I !
' l@
:.. J.@.
,:,~,"' ."- ~~. ' ,:~
,.. . .
.
--- .
'.
=.......
~.'.':O
I.
'.~
( .~
. .
..
-. '~
''' ~
.. :::
.~.
'~
,.".,.
'
.'
,":.,j."-'.
. n, ,
:..r .t::...~J ' ..
":
.... ..~ ..
",
25
. ..:.- )
.::.:.+. ".. .
My
.@) .
Sqmre array
l-l@ @ . @ @ ..@ @ @ @ H
~--------~--------~1.8m ------------------~~
;,~
FIGURE 2-10
Steam-generaring secrion in a fumace_
125 mm. There -are ~wo restrictions on the design: (1) th.::re must be 3 rom
clearance between the fins of adjacent tubes and between the fins ~~d the
walls and (2) the maximum meta( temperature t which occurs at the tip of the
fins, must not exceed 41SoC in order to limit oxidation.
.
The essential requirement of the furnace is that the produc[ .of V A for
t.ne boiler section .be 18,500 WJK or higher. The U value, based on steam-
side area, is
I
Rto'tJI
= Rncam + Rtubc +
Rgm
where
h,
Aprlme
Ast.~:lm
.-
A fin
'TJ
.,
Rst.e.lm
= ~-O
= O.0001754(m-
K)/~V
570
.
Rrubc
= o.oZ~
!iCk =
O,OOO0909(m 2 K)/W
= 70 W/(m"!. K)
= 0.2 J0
= fin effectiveness
26
TABLE 2.3
Fin data
)'
,
.~
560 - t'tip ,
560 - !root "
.",;(,.
.'
"
~ ".
. ' ..:-,
31
:37 ',
.' 3.591
,0.64
0..55
0.46
4~503
44
5.6,65
0.58
0.49
0.41
Table 2.3 gives fro 'areas per meter of tube length, the fin effec'tiveness,
and values 'o f the expressIon for the fin-tip, temperature as' a :fu.riction of th~
, root temp~rature. In' tum the root temper~ture can be computed from
175
560 - 175
troot -
, Specify the numb~r of tubes in each horizontal row and the'fill height
so that the assembly fits into the space available (abiding by the necessary
clearances), provides ~ UA of 18,500 WIK or more, and maintains a, fin-tip
tenlperature of 415(: or less.
REfERENCES
1. D. F. O[hmer and J. W. E'. Griern-?mann, "Moving the Arctic OiJ: Pipelines and the
Pour Point:'Mech. Eng . vol. 93, no. II, pp. 27-32, November 1971. describes further
approaches to moving all under Arctic condjtions.
#)'
I I
'
C~IAPTEP
>3
. . . _;
, r'
"
J'.
";:.'
'
~ '.0;,
!.
..
. - ". '.
'ECONOMICS
3,,1 INTRODUCTION
The -basis of most engineering decisions is economic. Designing and building a device or system that functions properly is only part of the engineer's ,
task. The device or system must, in addition~ be economic, which means
that the investment must show an adequate return. In the study of thermal
systems. one of the key ingredients is optimization t and the function that
is most frequently optimized is the, potential profit. Sometimes the designer
seeks the solution having minimum fIrst cost or, more frequently, the minimum total lifetime cost of the facility.
Har~ly ever are decisions made solely on , the basis - of - monetary
considerations. Many ,noneconorrllc factors affect the decisions of industrial organizations. Deci'sions are often influenced by legal concerns, such
as zoning regulations, or by so~ial 'concerris~' such as the displacement of
workers, or by air or stream pollutjon~ Aesthetics also have their influence,
e.g., when extra money is spent to make a neW factory building attractive.
Since these social or aesthetic con'cerns almost always require the outlay of
extra money t they revert to such economic questions as how much a' fum is
'willing
able to spend for locating a plant wh~re the employees will live
in a district with good schools . . , ,
or
~.
27
28
. .,-., .
This' chapt~~ fIrst explai~s tbe practice of charging interest and the~ '
,p:roceeds to the ~il)p]ication of interest .in eva}.uating the worth of lump sums, .:.
of series of uniform paym.ents" .and of p~ymeJi1ts that vary linearly witp. time .
. Numerous applications of these fac~or~ win be explored, including such
" staridard ' and important .ones as' c<?mputing tli~ ' value of bonq,s.
.
... Methods '
".'of makin.& ~co.nomi~ comp~soDs -?f .al~emativ~s, th~ influe~~e .of"tax.es, "
. .several methods ,of comp~tmg depreClatlOn, and .continuous. ,compollndmg "..
,
'
"
~- )
d'
"i
:.. -
..
-:'':~:~~).'~',~'J..
.
W.',',
....
~ :, ....
,.. ;
i'
.;
-~ "
-'
#
....
~.,
...
....
._~> ~
: I~
":.~., ~
..'
3.2 INTEREST
.
Interest is the rental chcu-ge for the use of. money ~ When renting a house, a
tenant pays rent but also returns possession of the house to the owner after '
the stip:ulated period. In a simple .la,an, the borrower of money pays the
, interest at stated periods throughout the duration of the, loan, e.g., every' 6
.' ' months or 'e very , y~ar, and then i,etums the o~igin~l sum ~o the lender.
The existence'of inter~st gives money ,a time value. Because of jnterest ,
it is not, adequate simply ,to. total 'aU
expected lifetime receipts and ,in
'another coluum total 'all the expected lifetime expenditures of a facility
and subtract the latter from the former to determine the profit. A dollar at
year 4 does not have the same value ,as a dollar at year 8 (even neglecting
possible inflation) due to. the existence of interest. A thought process that
rrn.i.st become ingrained in anyone 'm aking economic calculations is that
the \vorth of money has [wo dimensions ~ the dollar' alllount and the time.
Because of this extra dimension of time equations structured forso]ution of
economic problen1s must equate amounts that are all referred to a common
time base.
The most fundamental type of inter~st 'is silnple inlerest, which will
be qui.ckly dismissed because it is hardly ever applied . .
the
Sol/ltio~!;.
..
($500)(0.08)
= $540
ECONOMICS
TABLE 30J.
. Year
Pi .-
I
2
..
I I
Interest
dur ing year
.PO +.
i)i .
P(l
;=:
)2.<
,j;I!~':;.-; ;:" :;/t<~/-I~/ i,e" "0""; ("I: ~: ~)~~;.:~:; (;~:' j;:'--;~',,-=; ;tr:~~":;r~'o .'.'":' .. '.
..
At the end
, [0
+ ($540)(0.08)
===
""".
$583.20
...;:-.'
($5~3.20){O.08)
= $629 ..86
The pattern for computing the value of an original amount P subjected '
interest compounded annually at a .r:-ate i is shown in Table 3.1.
Exampl~ 3.2. \Vhat amount must be repaid on the $500 loan.in Ex.ample 3~ 1
(5500)(1
0.08)5
Solution
t
Amount
[0
. .= (S5P<) (0.08)
1 + -4-
be repaId.
20
= $742.97
,
The interpretation of the 8 percent interest in Example 3.3 is that one ..
fourth of that rate is assessed each quarter and there are 20 quarters, or
compOltD}:ing periods. in the ~-year span of the loan.
30
3.5
"
The factors that' translate the value of lump sums bet\veen present-and futu~e
worctis are
':
....;:-,
The two factors are the' reiprocal of each other, and the' exp,ressions '
, for the factors are'
'
,
f/p '=
,
(1 + lJ; and
p/f
mn
(1
171
1 '
i/nz)mn
r',
u'
rI"
J
I,
Exa~ple 3.4. You inves~ $5000 in a credit unjon which compounds 5 percent
interest quanerly. \Vhm 1S the value of the investment after 5 years?
SolutiOJi
Future amount
(0.05
-4- . 20 periOds)
0.05)120
+ -4-'
= ($5000)( 1.2820)
= $6410
Example 3.5. A family wishes to invest a sum of n10ney when a child begins
,elen)enwry school so [hat the accumulated amount will be $10,000 when the
child begins college 12 years ]~teL The m0!ley can be invested at 8 percent,
compounded semiannually. What amount must be invested 7..
Solutiol1
')( p"If'"-2-'
0.08 24 periods J
Present an10unt = ~ f,uture 'amount
I
= (J +$ JO.ooo
O.08/2)~~
...
'
:c:
10.000
2.5633
:1
$3901.20
ECONOMICS
3.,1'
FiUTVJR~E
i :)
that senes of'ieg'Ji~ ;anl9unis :~iifi';ilie; apR~opn:ate int~r,~s'(~pplt~tr:>: ..-:..... , ' :.>,,, .. ,
. Suppose that in Fig. 3-1 the magnitude of R is .$1.00 a~d that this .
amount llppe.ars~ on p.n annual b~$is . Further assume that the interest rate is' 6'
.percent, compounded annuaH y. At the end o~ the first year the accumulat.ed
sun1 S is the $1-00 that has just become available: At the. end of 2 years the
.accunlulated sum is the $100 from the first year with its interest pl~s the
new $100 amount:
..
.
($100)[(1 +0.06)
+ 1]
= ($100) (( 1 + O.06}6
= ($100)( 8.3938)
+( 1
(1
+ 0.06)
+1]
== $839.38
In general. the
future Worth S of a unifonn
series of amounts, each of.
.
.
which is R, wi.rh an interest rate i that i.s coinpoun~ed at the .same frequency
'8.S the R amounts is
.
.
S = 'R[(l
i)"-1
(1
(1
i) JI -
(1
i) Il - 2
+ ... +
(1
'+
i)
(3 . 1)
A closed form for the series can be develop~d by first multiplying both sides
of Eg. (3.1) by 1 + i
(fJ a) ( (+ i) = (1
i) n
+ (1 +
i) n - 1
+ ... +
i) n
Time
/ 2
7
Furure
worth
(1
i)
(3 .2)
32
and so
.ffa
alf ..=
(1
'
(1
+ i)n
.'. i I I
- 1
.
+ i)n
(3.4)
- 1 .
A.
" .
'." !
1- .
I
= ($16,000) (0.06903)
0.08
0.08) 10
= $1104.50
Present worth =
.-
"
"
R
(1
i)1
R
(1
;)1
R
( 1 + ;)n
+ . . . + --.......--
ECONOMICS
R~~~!_
" ~I----,r
{I
33
'1\
.]A
I_I
.?i:
------,----I-.-------1-1-----'---------,--"
(' " j .
'~
:i -.'
. '. ". '.::,FIGURE .3-2 ....'- .'. ,. c;:'-'." "''''~,;,\, ,-:,:,- .....)~~ ..-:-._ .;.~...~ .
Present worth of a"seri,es .of ~ourts",~ ~." .
.',':1
' j.
-' .
, ..'. , :; .'
~:
.<",
or
+ .. . + 1 . . J
(3.5)
i)
(1
:=
Ine series-present-worth factor pia is' the one which when multiplied by R
yields the present worth. Thus
(1 + i)n - 1
pia = i( 1 + i)n
' ..
4
'
(3.6)
a/ _
i( 1
p - (1
i)n
i)n - 1
IS
called the
(37)
Example 3.7. You borrow $1000 from a loan company chat charges IS
percent norn.jnal annual interest compounded monthly. You can afford to pay
off $38 per month on the Joan. How many months will it take to repay" the
loan?
Solution
$1000 = ($38)(pJa, 1.250/0. n months)
(1.0125)ft - 1
.-
n 6'=
32.1 months
34
.of
.
.
. ' Present worth
(1
i)
2G
(1 + i) 3
(n-l)G
(1 + i)ll
+ ... + - - - -
= G (GPWF). = G { -:-1 [ (1
. _+
.
i) n - 1
' n ' ]}
.
..
1 (1 + 1) n
(1 .+ 1) n _
ExampJe 3.8. The annual cost of energy for a (acility is $3000 for the fIrst
the end of the year) and increases by ]0 percent,
year (assume payable
or $300, each year thereafter. What is the present worth
this 12-year
serjes of energy costs. as shown in Fig. 3-4, if the interest rate is 9 percent
compounded annually?
at
of
(n .,.. 1)G
4G
3G
. ).
4
y~
,
FIGURE 33
Gradient
~erit::s ,
~---
..
35
!ECONOll;L!CS
I I
6300
i"
3~OO
"3300
,. 6r
II
,.j:~J ~,,' .":O~O_:",_,; ,. '. "'", . 1.,., -, A';: _,", -"",:< :',." ~.,: :,
V
,..: ... ;
..
''' .~
I"J"
12
Year
flGURE3~
"
" SoZutf.on~ "The series "of amounts shown in Fig. " 3-4 could be reproduced by
a combinatiori of "two series, a unifoffil 'series of $3000 and a. gradient series
"'
in which G == ' 300. Thus "
,Present worth = (3000)(p/a, 990,12)
PW=($3000 (1.09)12-1 + ' -;oo'{"_l_[ (l.09)1:!-1 , ) (0.09)( 1.09) 12," (S- ) 0.09 (0.09) (L09) 12
PW
+ $9648
$21,482
12'
(
~l}
1.09) 12
= $31,130
of intere~t factors
Factor
Formula
f/p
fia
(-l
pia
GPWF
1[( 1+ olt - I n ]
j
/(
+ i)1t
(1
;)~
36
,.."T" ..
cated sitUations. In most of these~problems the solution depends on setting " -.','
:up an.,equation that expres$es the equivale:pce of amo-qnts existing at, differ-,~' : '
ent times. Many of these problems ~e' thus -solved by qanslating amourits t~' ...' '.
the same basis, such 'as the futuie ' worth orall arrlOl1!1ts, tJ?e present \Vorth~'
orthe annual ~orth. One point to emph3$.iz:e.is that the infJuep~Y-Jof interest '.
me?Us tha.t agiv~:q.,.sum.1:;t~s.differi~g v~ues at diffe!~nt times; As a con~- . ,.
quence .the .equatiC?ns just. mentioned sho~ld never. add-or s'u btract ,amounts
. ':<":~':' ;'appl~caRJe.~tQ:Aiff~r~?r ~~me~~' The amounts ~~s(~ ~.~a'ys ~'e J:~:arlsl~ted to ~.
first- . " :",-<,,,,~,::,~
:';"~'
J,j,("i~::" -t;; '.' .>:: : ':. ' .. '~.~ ! "': ~
~. , . '. ,
~,.
. One of ~ the i~~~;~t 'fi~~n~ia.i ' ~~~~~t"i6~s. is ...ili~. .iss~~~~ .sei~g:,.
and 'buying of bond$. Bonds will be the (list applic-ation of the combination
.of factors shovv'n in Table 3.2.
. eamon- base
J-:" ,
....
oJ'. . . :... _
.:"
'.: '
'....
.:: .,
:,
".
Pb [flp,
~. 211) (f/a, ~,
=1
2n
r;
oJ
(l 000)
+ 1000
(3.8)
31
ECONOMICS
.c 11
n
th e ,I e_t
fd
Eq. ('J~J" 8'
- j are as ro_ O\VS.:"";j}
SI .e Of- tne equatIon
is the future vrorth of the investment, \vhich1i)S the price to be paid for the
bond translated to .the future. The interest applicable is L"1e current rate of
interest, -v:.'b.ich is assumed to continue from now until fficlttllitv of the bond.
, . . The [list tetm, o'n the right,of'Eq. (3 ..'8) is the futu~e worth of ~tUnifolm'
.series 9'f 'the',s'emiiLrinli:a1.inte
paYm;~l).ts 'on<th~)!gngl')r, ,~'?" q~~b,\~l~d:, .that
.'; >, ,'. '; . ' :the"'mves:toF "immediately. .remVests"'the interest i:paYin-ents~.at; tb,e:'::goingyrate;.<,.:::,' 11, . . of iriterest ic. . The other ' term .cur.the right' 'o tthe' eqLi~ti6n is" $TOOa~ ' whIch '.....
,"IS the 'am~~t ili~ fmn'wii{
b~ckto th~ owner 'of the bond .at ~aturity.
This $1000 is 'alre~dy at the .lruh~e time, so no correction need' be made.on
it.
Ihe
rT1-
.'It
ten.T}S JIl
....--.
'
.rest
'
pay'
Example ' 389. A $1000: bond that has '10 years to maturity pays interest
. semiafi~llally at a nominal aimual rate of 8 percent. .,An investor wishes to
earn 9 percent on her investment. What price could she pay for the bond in
order to achieve this'9 percent interest rate? .
O~045,
1000
1000
. Ph = $9.34.96'
3.il
In the series shown in Fig. 3-1 for future worth and Fig. 3-2 for present
worth, the cO.Qvention is that the fust regular amount appears. at the end and
not the b~gjnning of the rJIst period. In an actual situation the rust amount
. may appear at time 0, and ,no amount appears at the end, as illustrated in '
Fig. 3-5. If the future worth of this series is sought, for example~ Eg. (3.1)
would be, modified by multiplying each of the terms by 1 + i. The closed '.
form in Eq. (3.3) could be multiplied by 1 + i, with the result that the f/a
for the series in Fig. 3-5 is
(f/a)shi~ ' ~
!1t
0"
(1
i)
(l+i)n-l
1 .t .1 .. 1
I
Year
FlGURE 3-S
First amourif' in
(3.9)
38
..
<"
"
.'
The fonnulas for f/a and pia were developed on the basis 'of ident;ical c~m.;
pOWliling and payment frequencies, e.g., annual Of semiannuaL A .situation
often "arises where' We .peri.oq.s . are .different, e.g ~ , quarterly compounding .
wIth annual. seri~s amOUI1ts::Mor~ freque~t compounding than payme.nts can
be 'a ccommodated by 'deterinining 'an 'equivale'n t ~ate of
.appIi<;able
>. =~: . -:;~ 'J?~~een ~061?~~ynient;pe.li?.d..:s.: ~ :(~:~. :.~~,."".:. .~.".>'~; ~.t.;. ' :' ,.:':. :"-.. : :.,.: -... 7~::
mteres{
._
Example. '3 .10 Annual in:ve~tmenl:S of-$.120.0. a,re.~to ~ ~_e mad~. ?-.t. sayings
,and loan iqstitution for 10 years. beginning at the end of the firs.t year. The.
institution compounds interest quarterly at a nominal annual rate of 5 percent.
What js the expected 'value of the investment at the' en(i of 10 years?
.'
.
.
.
SOlUtiOll . .If an' amount X starts drawing interest at. the beginning of year
is compounded .q~arterly at an. annual rate of 5 percent, the value Y at
the end of the year is
and
Y =X 1
(
0.05)4.
+' 4
=X(L0509) =X(l
.'
+ 0.0509)
amounts
Future worth
( 1.0509) 10
. 0.0509
. (1200)
..
= (12:631)(1200) = $15,157
.-
th~
ECONOM~CS
39'
I I
.. .:,-,
This
acc~mulated
vai~e
will drr,iw! interest for 'the next 5 years.. bu[ [he
" ,'.--..-'1 .... - '_t
_
.
i~ri}ai.nder of- [he $12,000 must be -provided by-th~ five additi6iia~ p~y'!nJ~n-~s '"_
0""
. :.-..-"" '.' 1.
:~'plus
interest
.~:."'.i,,;',"
."
.'
.' .-
~.,:
'.
'.. '
.'.
.. - :, .
.I
..
and so [he
paymex:~
12,000 -
(3~
-.
5. 6 J7 ( .
'.
= .$1183.30
'
'.
= (160,000 -
.... (155.000 -
5b~300)(p/a.
BOO,ooo
~uiIding
B:
6Of!~OOO
i%, 5) +
(54D,OOO)(p/f~ i% ,5)
40
TABLE 3.3
Economic
d~~a
Building A
,, '
$600,090
155,000
.'
"_50,300
rile" ";': :.:,_ ..' ;.:~,~o"';?'<"""" ~~~;Qrii:> ':; ~u ,~,:,'j:';"'::: _. .. :,;;. ' :.
, The unknown
iri' each of the two pres~nt-wortb 'equations' is the rate 'o f return
. i. Since the expressions are not linear in i, . .an jt~ative techniq~e must be
used to flnd th~ value of i:
'
i' = {13.9% buildin~ A '
16.0% ' building B
Building B provides a greater "tate of return, aI?d the flrm must now decide
whether even ~e 16 percent is adequate to justify the investment.
3.15 TAXES'
The money for operating the government and for financing services provided
. by the government COllles primarily from taxes. The inc'lusion of taxes in
an econorrUc analysis is- often important because in some cases taxes may
be the factor deciding whether to' undertake the project or not. In certain
other cases the introduction of
c~Dsiderations may influence willch of
two alternatives will be more attractive economically ..
In most sections of the United States, . property taxes are levied by
a substate taxing district in order to pay for schools, city government and
sen'ices, and perhaps park and sewage systems. Theoretically, the real estate
tax should decrease as the facility depreciates, resulting in lower real es't ate
taxes as the facility ages. Often on investments such as buildings, the tax,
as a dollar figure, n.ever decreases; It is therefore a common practice to
plan for a constant real estate tax when making the investment analysis.
The eff~ct of the tax is to penalize a facility which has a high taxable
value.
~ederal corporation income. taxes on any but 0e smallest enterprises
tax
after the corporation income lax has been extractM the rate of return
available for stock or bond holders in the company is of the order of 8
percent. Since income tax _is usuaUy a much more significant factor in the
I
.-
.'
ECONOMICS
41
ecpllomic analysis than p.foperty tax; income tax \Ivill be discussed furthe~.
f\n ingredient of income tax calculatio I1 s is) ?epreciarion, ex.plored in the
next .section.
' ..;:- J
'.':':,.
."
..
;~. Depreciation. . is' can -~amo unt- thai..; is'.;-.} isted'.- -:as .. an~ -annhaI,' expense~' -~"" the':, lax'!"" ':':t,~"
.c~cu'l9-tion,
to a~lqw- for replaceme:lIi ofrhe.:./?c'ility''"ar the: end" 'o f its -HfeD '
Numerous rrtethdds of computing depreciation ire p~m1itted 'by th~ Int~mal Revenue 'Service-, e.g., straight line, sum-'Of-the-yea{~s digits? and doublef?te declining balance. The first' two will be explained.
Straight-line depreciation consists .- simply 9f dividing the 4iffen~nce'
between
fIrst cost and salvage value of the facility by the number of
years' of
life. The result is the annual depreciation. The tax- life to be
used is prescribed by the Internal Revenue Service and mayor may not be
rl?-e "same as the economic life used in the economic ana1ysis~
. In the sum-of-the-year's~digits (SYD) method., the depreciation for a
given year is represented by the fOffi1ula
the
tax
..
DepreclatiOn., dollars
.
. ".
N-t+l
. (P - s)
N (-N + 1)
, (3.10)
= 2( 10/110) (P
= 2(9/110) (P
S)
- s)
;-
6'
'-..
42
'
...
'
~.
'
To see the -effect of depreciation and' feq.eral income tax, consider' t.he,
, following simpl,e exampl~ of choosing betw,e en ,ltemative investments A
and B~ 'f or ,whjch ,the .Qa.ta.~f:l. Table, 3,-4 ,apply.
\
.. ' ~~.1
A calculation "of the .annual c'ost of both aI'tematives without inclusion
of' the""' income taX is ' ~s follows: '
"
'.:,
, r:
-.
. ..
~"
~
,'
'.
.'
, . .i
o,
,'~
'. -
. .
Alternative A: '
FIrSt c'ost on annual basis (200,o.OO)(a/p, 9%, 20) , $21,910
.Annual opera~ng expense
14.000
10,000
Real esta'te tax and insurance
Total
$45,910
,Alternative B:
'Frrst cost on annual basis (270,OOO)(aJp, 9%, 30) $26,280 .
6,200
Annual operating expense
13,500
Real estate tax and insurance
$45,980
Toial"
Alternative investments.
_ First cost
Life
SaJ\'age vaJue
Annual income
A nnual operating exPense
Re~1 e~lale tax and insurance
(5% of first cost)
Interest
Alternath'e A
Alternative B
$200,000
$270.000
30 years
,20 years
$60.000
$14,000.
160,000
$6,200
'
5JO,000
9%
$J3,500
9%
;~-"
. -
L~.3
ECONOMICS
TABI...E 3.5
mC0111 e
First-year
tax n
LV{O
Cl.lteJrn a i uves
:;;:~::enses
Depreciarion .
Interest. ,.9%.o.f..iJripnid::'baladce ""~
.. Operating expet!se,
... .
~.:aQA::~;~l!surance
.. ~:~.:.: ...:: ..
SIO,OOO.$. 9~OO'O .
118.000'
24.300
: -='.1
,_
'.' '.11" -)~_:.OOOOOO';:": -i':;'- " :;';' ' :'.-:.; ..:.-', .,'. '$'}39~010600~'' ' ~~'~'''' i'''~';:-~'.,- .,..~/~::~:'?::.:.:".::.. I-';~ .
.. . ,~Profit . =
. inc01pe .~ expenses'
. Income Lax (50% of profits) . :.
, 8.000 .
4,000
7 ~OoO . :
3,500
= (1 + ~
f/p
rn .
(f/p)coo,
= (1 +
~ fl-+a>
(3.11 )
In
(r/p)con,
~n [In (I + ~ )L~
. Express
, . In (1 + ilm) as an infmi[e ~eries of ilm
)~ (f/p)cOII\ == mn 10
[
.;2
i
+. m + (consc) m 2 + . ~ .]
J11:"
.
m~
44
co
-7
, Therefore
, ," . ', (f/p\orit ' . e~n
... ...
~.--:l
'-.'
.~ ~-:~''''~I'' ..... ~-
::1 ~ . ~.
' ! -'
Solutio~ ,~"
" "
and [(f/p)
cant ,
8%~ 10].
. . ....
(3.12)
..:. .. ,
, "1"
' . '
= . (1.:+
:O~08)'~O,, ~, 2~i5&9~
The next f~ct~r presented is that of the future worth of a uniform series
of lumped amounts. compounde~ continuously. Th~ continuous f/a ' factor
for annual amounts R can be derived by modifying Eg. (3.1) to cOJ;1tinuous
compounding by replacing 1 + 'j with e i
. . '= (ei)n (f/a) cont.lump
.1
+ ' (e i )n.-2 +
+ i can
ei
be replaced by e i and
e in - 1
lump
(3.13),
, -.--
el
The final continuous-compounding' factor to be presented is the COJ1linuous-flol1' !ztfure-'I"vorth faclor (f/a)llow, which expresses the future worth
of a continuous flow compounded continuously. If $1 per year is' divided
into ]]z .equal amounts and spread unifonnly over the entire year', and if each
of these JJ1 amounts begi~s drawing interest immediately,. the future worth
of this series after 11 years is
~(l + iJmn-l +
In
111
n!
172
(3.14)
If we use' the analogy between Eqs. (3; 1) and (3.3), Eq. (3.14) can be
translated into the closed form
1 (1 + i I nz ) mil
111
ilm
"
As
In
,
(f/a)~(JW
(1 + jim) m J1 - 1
- ------
i/nl)mn , approache~ e in
..
s,o that
(3.15)
ECONOM1CS
45
""
:'
,' "
_,
,,'
.. .. '
($10,000)
0.14
='$147:490
There are several , levels of economic analysis higher than that approached
by this chapter., The complications in accounting, financing" and tax computations involve sophistications beyond, those presented here. The ,stage
achieved by this chapter might be describ~d as ~he second level of economic
analysis. The first leve'l \vould be a triv'ial one of simply totaling costs with
no consideration of the' tirpe value of money. ' The second Ievei introdu~es
the influences of interest, which imposes the dimension of time as well as
.amount in assessing the value of money.
The methods of investment analyses explajned in this chapter are used
repeatedly in engineering practice, and in most cases engineers are not
. required [0 go beyond these princip~es. These meth.ods also are the base for
extensions int~ more complex economic analyses.
PROBLEMS
3.1. Using a computer, calculate your personal set of tables for the factors f/p.
fJa, pIa, arid GPWF. Devote a separate page to each of the factors, label
adequately, and c()1culate at the interest rates of4, 5,6,7,8,9,10,11. 12.
14, 16, 18, 20, 25 percent. Calculate for the following interest periods: 1 to
20 by' ones, 22 to 30 by two~, and 30 to 60 by fives. Print out the factors to"
four places after the decimal point.
3.2. Annual investments are being made so that $20,000 will be accumulated at '
the end of 10 years. The jnteres~rate on these investments is initially expected
to be 4 percent compounded annually. After 4 years, the rate of interest is
unexpectedly increased to 5 percent, so that payments for the, r~maining 6
years can be reduced. What amounts should be invested annually for the first
4 years nnd what sums' for the I~t 6?
Ans.: Final payment, $1547.
3.3., A fum wishes to set aside equal amounts at the end of ea'Ch of ]0 years,
beginniRB at the end of the flist year, in order to have $8000 in maintenance
46
DESIGN OF THERMAL
. SYSTEMS
,
#'-
funds available at the end of the seventh, eighth, ni nth, and tenth years.' What
is the required annually,payment if the1money is invested and d,raws 6 per,cen't
compounded annually?
"
I
, '
Ans~:
,
$2655.
'
3.4. ,A ,home inortgage ' extends for 20 years at 8 pe.rcent interest compounded
monthly. The' payments are ,also ni~de monOlly. After hoW 'many months 15
half of the principal ' pkid offlJ ' "
, ,. , , " ,
"
:
', , '
Ans_: 164 months., :.
'
,
,- ',: ::' 3.5.,"A lender 'offe~,a,-, l~yeat. I9?P ,a,t ~:~hat;:,he!, ,c;alI,S;:8~R~rc,~~)n t,~~e~t J:~~~:::requ~re~:,~:
,
the inJ.erest ,to be paid at, th~.,beg~n~iI:lg ' rather: than- at' "the', ie~'~ . 'pf'~tij:ye~~ ~:~"
as the usual practice is. To what interest rate ,qomputed in .. the. :conventional
manner does this interest ~h~ge c~r:t?sp?nd? ."
'
Ans .. : 8.7%.
3.6. A loan of $50,000 at 8 percent compounded ann u all y is to' be p~id off in
25 years by upifoffil annual payments beginning at the end of (he first year.
These ann'u al payments proc~ed on schedule until the end Df the 'eighth ,y~ar.
,when the bo!!ower is unable to pay and misses the payment. He negotiate$
with the 'lender to increase the remaining 17 payments in such a way that the
lender continues to rec,eive 8 percent., What is the amount of the original ~d'
the :(inal payments in the series?
Ans.: , Final payments, $5197.44.
3.7. An $18,000 mortgage, on which 8 percent interest is paid, compounded
monthly, is to be paid off in 15 years jn equal monthly installments. What
is the total .amount of interest paid du,ring [he life of this mortgage?
Ans.: $12,964.
3.8. What wiJl be the future worth 'of a series of 15 annuaJ $ I 000' payments if
the nominal annual interest rare is 8 percenI and the interest is compounded
J
"
quarterJy?
Ans.: $27.671.
3.9. A sum of sufficient magnitude is to be invested now so that starting 10 years
from now an amount of $2000 per year can be paid' in each of 8 succeeding
years. The unexpended money remajns invested at 8 percent c,o mpounded
annually. How much must be allocated now?
Ans.: $5749.50. '
3.10. A mortgage that was originally $20,.000 is being paid off in regular gunner])' ,
payments of $500. The interest is 8 percent compounded quarterly. How
much of the principal remains after 9 years, or 36 payments?
, Ans.: $14.800.60.
3.11. A' 20-year n)ortg~ge se[ up for' unifonn monthly payments with 6 percent
interest compounded monthly is taken over by a new owner after 8 years. At
that lime $12.000 is stil1 owed on the principal. What was the amount of the
original loan~
,
Ans.: $16.345.
3.12. An investor buys common stock in a firm for $)000. At'the end of the first'
,year and every year thereof/er, she receives a divide'nd of $100. which she
immediately in\'ests in a savings and Joan institution that pays 5percenl intet
es" compounded annua)]y. At the ,end of the' tenth 'year. just after
rece'iving
. ... .
.
'
ECO;VOMlCS
<~7
. her di vide nd) she sells the stock fOf $ 1. 200. \Vh:J.t is the f3te of interest (on.
aD arlnu~l compounding basis) yiel.ded by Itf1is investment program?
Ans:: 9.41%.
A. sun~ of $20,000 . is' borrovved a.t an interest rate of 8 pefcern on tpe. unpaid
~a1ance compounded semiannuaUy. The loan is to be paid back \v'ith~-10 equal
. paymemsjn,., 20 .y.ears .,.,The..paymenlts 'a~e , to be 'made every 2 ye;:rrs; sl~rting
; . ':.,:". '
att he endoLthe.~ec.o.nd.~y.ew.,.,. 'V~at".is, _ the..am6unt:. ,oJ..~.;!ph . bi. ~np.ial p~Ym~Il~?"!..."~ " ... ':
.-'Ati.~L: $429-r~r . .. -.. . '.~ ~ . , '.
. . . . . ....: .".. : . . . . . . . .
.
.-
'. .
The packing in' a ,cooling tower that cools condensing water for :1. power '
plant progressively deterio!'!tes and results .in gradually.rising costs due to
re.d uced plant efficieJ)cy. These costs are treated as lump sum.s at the end of
the ' year, as shown in Fig. 3-6. The cost "is zero for the first year a.nd men
increases $1000 per year unril me packing'is 16 years oJd. when replace~ent
is mandatory. At a point 8 years into the life of the pilck,:ing (ju~t after 'the
$7000 ann.ual cost has been assessed), a de~ision is to be made on ~e plan for
the next 8 years, i.e., whether r~pltlce the packing or to continue with the
existing packing. Money can b~ borrowed at 9 pen;::el~t interest. compounded
annually_ What is the maximum amount that could be paid for the packing
in or~er to justify its replacement?
to
Ans.: $44,279.
3.15. The anticipated ta'\es on a facility for its IO-year tax life decline in a stp3.ightline fashion a~ follows:
' .
At end of year 1
At end of year 2
At end
of year
S10,OOO
10
9~OO&
'.1,000 .
o
o
o~
'"
./
./
./
./
Vi
=:J
C
New packing
c::
<-
. 0
10
12
Year
FIGURE 3-6
Increasing !F':t., dn~ to cooling#[ower d~Jeriora[ion.
14
16
48
..
In an economic analysis of the facili ty the present worth of this series must
be .computed on the basis of 6 -percent interest compounded- annually. - _
(a) Using a combination of ~va11abl~'!factors, determine a formula for ,'the '
present ,worth of a, declining series l~e this 'o ne.
.
(b) Using the formula from part (a), compute the pre~ent worth of the above
-' series.
. '.
. ''''ADS~:-(~) $4$~999': :".,-" . )...
. '
'f',
"
'.~. ':"
on
.;:;;.
: .
. Life
. Frrst cost
Annual real estate tax. and insurance
Salvage value at end of 12 yeats
Annual cpst of raw materials, labor,
and other supplies
Annual income '
Maintenance costs, during first year
At' end of second year
:
At end of third year
At end of twelth year
.~-.J
1,2
".
ye~
$280,000
4% of first cost
$50,000
60,000
-$140,000
o
,$1000
S2000
S11,000
Ans.:
$33~560.
3.17. A $ 1000 bond was issued 5 years ago and wiD mature 5 years from now.
The bond yields an interest rate of 5 percent, or $50 per year. The o~ner
of the bond wishes to sell the bond. bur since interest rates have incre'a sed,
a prospective buyer wishes to earn a rate of 6 percent on his inve~tment.
What should the selling price be? Remember that the purchaser receives $50
, per year, which is reinvested, and receives the $1000 face value at maturity.
Interest is compounded an'nualIy.
Ans.: $957 ~88.
3.18. Equation (3.8) relat.esthe value of a bond Pb to the bond intere'sl and current
rate of interest by refiecring all values to a future worth. Develop an equation'
that reflects all val ues. to a unifonn semi?nnual worth and so} ve Example 3.9
'. with this equation.
3.19. Using'a computer program. caJculale tables of the price of a $1000 bond that
will yield 5.0,5.5,6.0,6.5,7.0.7.5,8.0,8.5,9.0,9.5.1 10.0, ]0.5, and
, 11.0 percent interest when the jnterest rates on the bond are 5'.Ot 5.5, 6.0,
6.5, 7.0, 7.5, 8.0, 8.5,' 9.0. 9.5, and JO.O percent. C,?mpute the foregoing
.table for each of the following number of years to maturity: 2, 3, 4,,5, 6, 7,
8, 9, and ] O. Interes[ is ~omp'ounded ,semiannually.
must buildI a new electric generating
plant and can choose
3.20. A municipality
'
,
between a' steam or a hydro fllci1ity. The anticipated cost of the steam plant
'$10 million., Compararive d~la for the IWO plants are
is
i?
Generating cost~
including main~
ter'ancf' ? per kvVh
ECONOfl.'lICS -
Salvage vnbe,
percentage of
firs'! cost .
Equip;m nj:
]ife~ y~~;xs
. ...:. ~
Steam
~y~o'
,.'
c"
50.0040.002"-' :"-
.,' ..~O
"
10
10
, 30'"
. -
49
I'
rr
duction m~chinery, and operating for 20.years~ The expected life of the building is 20 years; its first cost' is $250,000 with 'a' saly.~ge value of $50,000.
, Since ,the maximum life of the machinery is 12 years, it wili be necessary ~o
renew the machinery once ,during e 20 years. The first cost of the machinery is $132,000, and its salvage value is $132 OOO/(age, years)~ The annual
income less the operating expense is expected to be $50,000. Annual interest
is 6 percent compounde~ annually.
(a) When is the Inost favorable time to replace the machinery?
, (b) Compute the present worrh of the profir if the machinery is replaced at
the time iiJdicated by part (a).
f
Ans.: $256,500.
3.24. The anticipated income from an investment is $40,000 per year for the first
5 years and $30,000 per YC;~ f~r the re'maining 5 years of J ife. The desired
rat.e of rerum on the investment is 12 percent. The salvage val ue at the end
of 10 years is expected to be 20 percent of the first cost. Determine .. the flISt
_ cost that will result in the 12 percent retuql.
.
Ails.: $219,700.
,
3.25. How many years will be required to double an investment if it draws interest-,
at a rute of 8 percent, compoundeq semiannuaIJy?
3.26. You just received a notice of an insurance premium of $45 per month starting
op[ion of making one annual payment
October I but were, also offered' the
on October I. If you want 10 percent nnnual rate of interest what annual
J
50
('
~
3 .. 27. A sum .of $10,000 is in-yested and draws<. interest at a rate of 8 percecompounded annually. ' Starting at the end of the first year ,and each y __
thereafter $lOOO is withdrawn.' For how many years can this plan contiL
, until the mopey is exhausted?
.
Ans.: 21 years.
3.28. A frrin borrows $200,000 at 9 percent nominal -interest, compounded month:_
and is- to ' repay th~' loatf ill "12 years-'with regular -monthly payments -=
.:.:__ _ $2276,Q,6,. 'The. firm has the option 6f paying off in ,advance, 'an,d aft~r -. .:
"sixth year. makes an, additiq~,~l.~~,~,~O.O, ~axmeDt_.)! if-c~n~ipue'~"the::$g~l~~ ~:
pay_rpents" h0}V inany' additiona!,-moiitl:;ls,. are. ,re'qu'ired: to 'pay 'offthe.-16an? .
Ans.: 39
,months .
,'
,~t29. A car rental agency which leases cars to another firm buys cars for $9,00-:
anq. sells them for $6,000 two years later. It, charges a monthly rate th~
second year Df rental of 80 percent of that of the rust year. The agency ,seeks
"1 percent per month return. What are the monthly , rates each year?
,"
. Ans.: 2nd year, $177.74
3 .. 30. A 20-year loan is to be paid off by monthly payments of M. The nomina:
'annual interest rate is i. Develop' a, closed-form expression for the unpaic
'balance at year n.
3~31. A finn has capital on hand and is consjdering an investment in a plant 'that is
expected to show a net annual return (income less expen,s.e) of $80,000 per
year. The life of the facility is 10 years~ and the salvage value at the eDd o
rhat time js 20 percent of the first cost.. If the firm wishes a ]2 percent ,retum
on its investment, how much can it justify a.s the first cost?
Ans.: $483,131.
3.32. The first cost of an lnvestment js $600,000 borrowed at 1] percent interest
compounded semiannuaJly_ The expected income (less operating expense)
for 'every 6-month period is $60~OOO. If there is no salvage value, how jong
. must the plant operate in order to payoff, the investment?
Ans.: 7~ years
3 .. 33. A IS-year mo{tgage of $40,000 at 10 percent interest 'c ompounded monthly
is to be paid off with 'monthly payments. How much tota] interest will be
paid during the fust two years?
Ans.: $7,763.57
3.34. A sum of $1,000 is invested and draws interest at the rate of 8 percent
compounded annually. At the end of the first year and each year thereafter $50
is withdfi3wn from the invested amount. How much money is still availabJe
in the investment after {he 20th annual withdrawal?
Ans.: $2372.96
3.35. In a certain financing arrangement the sum of $iOO,OOO is loaned at 12
percent compounded monthly as though it were 'to' be paid off in 25 years.
At th~ end of 5 years the agreeme'nt calls for the borrower to pay back the
unp3id balance at that time. What is the unpail balance after 5 years?
Ans.~
$95,.653.
3.36. The expected annual inGome from a new fndlitY_,.that is under con!-iideration
L<; $120.000, and the anticipated annuaJ operating exp~nditures are $60,000.
The salvage value ar the end of the - expected life of 12 years wjJl be 20
ECONOMICS
51.
perceni: of the first cost. \Nhat first cost would result in a rate of retum Df L5
percent?
))
A nsD: $337,868.
30370 .A. .processing plant has a first .cost of $600.000 and an expected life of 15
years with rio salvage value. Money i~ borrowed ' at 8 percent comp-ounded
annuaUy, and the ,f'ust cdsLi"s .paid cj!ff with 15 equal annual paymejjrso The
, ;;(.,:~~h;"" expected" , ~nnua1,~.iu.~pp}~e. ~s . $~OQ,OO.o,: and' ann: i.lqI;)?pe~-~~~g exp'enses.. ,r:lfe . .".... ,.:,:. ,
,"
,$40,090 .. ' C6rpq'ratiiji( income ":tax' ,"is '5a:-p'ei~ehr of' the' profits''5ef5i-e' :;iliXe's: =:. , .< -.. '
. and the'.' SYD, method of de'predation ' 'I s :applicable on the ~taXJife of .'~: .. ' .
fac.ility I whic'h is 12 years 'with no salvage value. Compute th~ income .fa.'\:
for (a) the first year and (b) the se60nd year.
" , . ,
. Ans.:' (a) '$ 9846; (b)$14~576.
;f.. 3.38a A dieDt who is constructing a warehouse instructs the contractor. to omit
insulation. The client .explains that he will operate the building for severa)
months and . then install the in~ulation as a repair, so that he can deduct the
expense from income tax at the end of tbe first yeat rather than spread it
as straight-line depreciation over the 8-year tax , life of the warehouse. The
. contractor points out that a' later installation will cost more than the $20~OOO
cost of installing the insulation with the original construction.' How much
. could the cli~nt afford to pay for the .later installation ,for equal profit 'i f he
,plans on a 15 p~rcent return on his jn\~~~tment p.nd corporarion income taxes
are 50 perceiii?' "
' . - - .. .... ---.
I
.'
Ans.: $25,461.
3.39. A $200,000 facility has an 8-year tax life, and the fiim exp~cts a 12 percent
return on its investment and pays 50 percent corporation income ta."t on
profits. The firm is con1paring the relative advantage of the SYD and straightline methods of depreciation. If the taxes computed by the two methods are
expressed as 'uniform annual amounts~ what . is the advantage of the SYD
meiliod?
.
Ans.: $1630.
3640.. A fum borrows $250,000 for a facility that it will payoff in 10 equal installments at 12 percent interest, compounded annually. In computing income
tax the firm can deduct the aCTUaL interest paid during the year. What is the
actual interest paid the second year?
Ans.: $28,290.
3.41. An investor pays $80,000 for a building nnd expects to sell it for twice that
amount at the end of eight years. He can depreciate the building on a straightline basis during the eight years, or he can charge off no dep~eciation at all.
On the capital gains of the sale at the end of eight years, which is $160,000 ($80,000 - depreciation) he pays half the income tax that he does 'On regular
income. State which is the mo~t profitable depreciation pIon and ,give all the
Ie3,$ons why it is most profitab1e.
3.42. Regular payments of $1400 ~e to be made annuaIJy, starti~g at the end '
of the first year. These nmounts' wil1 be invested at 6 percent compo~nded
,
continuously. How many yenrs will be needed for the payments plus interest
to accumulnte to" $24,OOO?
Ans.: 12 years.
52
." ,
'~ - J
, 7'
.. . .
t"
',
4
. : . :.'
,J
. ,
~.
__ ...,,:':
,.
\:
"'
'~'I
'\
:"'"','
"EQUATIO'N'
FITTING
be
are
,~
54
certain laws that suggest a fo~ for the equation, and this insight c~ b:
used to advantage, as shown in Chapter 5.
. .. ' >,.;....:.
Where do
data come from on \Vhich equations are based1Us~an
. the da~a used by a designer come from tables.. or ~aphs~ . Expe_riment~
.' data from the laboratory
might provide the basis , and the
techniques'
E
"
.
the
, "
-:-)
"
. this 4lld the next ch~pter: ~e ap'plicable to.processing laboratory . data ..~ Bu:
. . system designerS,'are usually onb."step removed from the laboratory and ~e
: '.,.: .',:>."... ' . selecting CQgID1~rclally available components for :which the manufacture.
r. . ." . . .... , ., /!~:: 'has_. p~o vid~~ ~'peifoim~ce;.:datif>In/.aiJew:~ei~iMt.31?:C;:~,.'JP:?~ ~X~ctnrers~ma)
.. reserve several im~s
a pag.~ of..tabl+lai. d_ata to provide~ the. 'equa'tion:~ti1at
represents -the table'. If and wpen -thatpractice b~comes. wi.d~sp[ead/.lhe
system 'deslgner~s t~sk will'be made easier. That .stage",' ,h owever, has p'o t
yet been re'ache~l
' :
. Much of thls chapter presents systen1atic' techniques for detennining
. the constants and coefficients jn equations~ a process of following ,rules .
Th~ other facet' of equation fitting is that of proposing the fonn of the
equation, and' th,is operatiqn is.
art. Some suggestions will be offer~d
for .the execution of this art. Methods will be presented for determining
equations that fit .a limited numbe'[ of .data .points perfectly. Also explained
is the Dlethod of least squares, which provides 'an equation of best fit to a
.large number of poin~s.
.
.,,"
', . ~ "':"_"".
on
an
4.2 MATRICES
All the operations in this chapter can be perf9ITned without using matrix
tenninoJogy, but the use of matrices provides .several conveniences and
insights, In particular, the application of matrix tenninology is applicable '
to the solution of sets of simultaneous equations.
A manix is a rectangul8! array of numbers, for exa~ple,
[~
-r] [-~~] [; ~l
-2
1
all
'012
021
022
a I~l;
.. .
'Q'm"2' " .. .
OIn]
12n
a mn
The numbers that nlake up the array are caJled eleJJ7enfs. The orders of
these matrices, from left to right, are 3 X 3,3 x 2,2 x 2, and nl X n .
A transpose of a matrix (A], ~esjgnated [A]T, is formed by interchang~
ing rows and columns, Thus,. if
'"
(AJ
3
-1]
~
[
2
0
4 '-2
then
[A]! =' [
-1
41
-2
EQT6-ATION FITIlN.G
J .:?
Inarrix~
b1en sum the products to give t~~ .ele,ryent of the first row and fir~t .
column of the product matrix. For ex.ample~ , the multiplication of the t'i,:vo
m_atnces
-,
....
, gIves
,
2t I
, Xl
+ -3x 2,
4Jt- I
Xl
2x 2.
'+
3x)
x-)
=6
=1
0
3][XI]
.[6]
X2 == 1
'.-1
1
3
[ 4 -2
0
1
x)
compu~ing
matrix:
al2
aJ3
a22
a23
032
a33
------;;-
- +\+ \ + \
I
-) -) -
a32 Q 23 Q 11 -
21 a32
a33 Q 21 0 12
56
, .
is f~und as'
.' .<:, ...... :-~::~~;.> t:~-:~'. I:~~.; ,:': .:,~(,~:,,,~.;.~/.:?~-~::i~j"i~i~:~~,./,,::.~1.~,>. '.~,; ,:' ..->: .:.:~:,.:~ ' '/,:;?~;::~,'~<:>_.~' '" '< ::':,
,
A ..
, ,
:."
i; :~e cofa.~tor
'''::-1,-
= [( -l)i~j J
?y
strikingo~t " "
zth row and lID
fl, '
,'
','" "
column of [A]
~
'/
-1 0/
2 0
1 2
1 5
2
1
o
3
-1
del =
Q:!l
A 2J
+ 022 A 22 + G'2JA 23 +
1
1
(2)( -1):!-:-3 3
= 0,+
,
10
3
4
-1
024A24
1- 2
1 5
-1 . 2 + (O)A 24
2 5
46 + 0
= 56
EQrUA1l0N FITTING
+ Q12 .X 2 :+ il13:f3 = b l .
,anAl .+ a2~x2 + a23 X 3 = b2
. Q31X 1 +- a32 x 2 + a33 x 3 == b 3
J ..
' . .
.
. .
v/l).ich' co.:o, oe'\,;ritten- in .matro(IoiID .". ".. . . -': . .: ., .,. . ..
ail x
..
--
.,.-~
.. .
:.
. ..
...
.. ;"
.: '
Xi=
(4. 1) .
' ..: ":
.:
. .
,-
::r~~][;:]H:r [BJ
.. IAJfXJ. [;::
Cramer's rule
,-
'.: '
57
(4.2)
states that
\AI
Example
4.2. Using Cramer's l1,lIe. solve for
.
linear equations:
. -".
[i
-}
-2
0
X2.
( 4.3)'
-lfl] -fJ
2
3
X2
X3
Solution
~l2
2 3
1 9
-1 0
.2
1
-1
.....,...1
-11
1
-2 . 2
=-
30
= , -2
-]5
3.x 1
- 4x 2 + 3x 3
+. X2
2x J +
"2
(4.4)
2x3 =
14
(4.5)
(4.6)
X3
::= -
The two major steps in gaussian eli~ination are conversion of the coefficient
matrix into a triangular
matrix and solution for Xn to Xl- by back substitution.
In the example set of equations, the first part of step 1 is to eHminate
[0
Eq. (4.6):
58
Xl -
4X'2
== -7
3X3
,
(4.7)
:9X 2 -
<"
. , ,. . .
(4.8) ,
5 X 3 == 19 ,
, ,(4~9},
Th~ last part ofstep lis .to m~l tipI Y F1 ,!4J~) 1?y.~nlWdadd to ~Eq;
.'
(.4.9), ...
..",,"'.' :.; .;
....;".
~~
,, 34 ' ,
,(4.11)
35
13x2 - -llX3 ,
.
68 '
. (4.12)
. -X3 ,= -,--:-'
,13
'
' 13.
In 'step 2 the value' of XJ Cp.D be detennined directly from ~q. (4~I'2) as,
X3 = -2.-,.Substituting the 'value .of X3 into' eq. (4.11) and solving' gives '
.x2 == 1.' Finally, substitute the values ,of -X2 and X3 into Eq. (4.10) t?, find
that x 1== 3.
If a different set of equations were. being solved, and in the equation
corr~sponding to Eq.' (4.8) if the coefficient of X2 bad been zero insteaq of
13, it Wquld have been necessary to exchange ,the posjtions of Eqs. (4.8)
and (4-.9). If both the X2 coefficients in' Eqs,. (4.8) and (4.9) had been zero,
this would indicate that the set' of equations is dependent.
'
Ivlost computer departn1ents have in their library a routine for solving
set of simultaneous linear equations which can be called as needed. It may
be convenient to \vrite one ~ s own subprogram using a method like gaussian
elImination. 1 It \vil1 be useful for future work in this text to have access to
Probably the most obvious and most useful form of equation representation
is a polynomiaJ. If y is ,to be represented as a function of x, the polynomial
form is
)' = a 0
alx + a"x':J.
_
+ ...
+ a II xn
(4.13)
\vhere a o ,to Gil are constants. The degree of the equation is the hi,ghest
_ exponent of x, which in Eq. (4.13) is 11.
Equation (4.13) is an expression giYlng the function of one variable
in tenns of another. In other common situations one variable is a function
of [wo.or more variables, e.g., ~n an axial-flow compress~.r
, Flow rate .=
c'
pres~ure)
EQUATION FlITJNG
59
"
. "
AND
The ,x y
.pairs for ~e two known points (x 0' Yo) and .(x 1 , }' t) can be substituted into Eq. (4.14), providing two linear equations with two unknowns,
.'
Qoandal
Yl = a o
+ alx I
(4.15)
,
F1GURE 4-1
Two points describing
liDeru equation.
60
y
. l
.)
-2 ,
.... ..
,
... ','
"
'
"':
"
:...:.-
.,
,.'
. ..:. . '.
-'
":"
.., '
" ,:
'~' .
.J
'
. .,
"
. j
";-"
:". j,
_
A , ; :
,J
"
_.
_ .
.;:._,
~ . ~
. .
,. . . . .~
\'
' ,-
"
.. : ~ -,-
"
"
.-.. :
[i ;~;m~~] [~~]
=
2,
The solution of these three linear simultaneous equations provides the v~lues
of 00' a J, -and 02 . .
The coefficients of the high-degree terms in a polynomial may be quite
small~ particularly if the independent variaqle is large. For example, if the
, 'enthalpy of saturated water vapor h is a function of temperature t in the
equation
h =
Go
Q6t6
where the range of f extends into hundreds of,degrees, the value of as and
h =
Do
f
0]-
100
- 1
.-~
+ ... + a5(--~r +
\ J 00 .
f)6
06(-'100
\'
"
EQUATION FITTING
~~r"
6JL
of
;"0 ' ~- 'x 2 -- X -il':-.. " .: Xj'>./-.r.-;;'[ 1"- == ~ x ~t,- "x 3'~"1?fle,',rang&},qf-:.i'~~~r~' ': ~;~~i'~ .(\ is,;;:!;~: ;.i~ ~;
'. --. ,' : ':,-designaied.1?~ 'and :the' symhols' are 'ily I -~ Yl "- Yo~" L\Yi ' " Y2 '~ Yo; etc. - '
.. -
'~~~:&:;-~~;.:-i ~:: ~,
Y --Yo
'1
' .
-3
+~4[;(X -xo)f
, To find a 1 to
/1V '1
.,
04,
at
(4.16)
2
[4(X1 -'X O)J ,
[4(Xl -~Xo)13.
+
G'I
+
a3
' , -.
R
'
R
4(xJ - ,x o)
+a4 [
R
4(X 1
-: xo)l~'
(4.17)
'
axlS, n (x ,! -
(4.18)
4
Range
'
FIGURE 4..3
PoIynomjal....repr~ntation when
....
:-
axi~.
62
TABLE 4.1
:.
I1:Y2
I "
Fourth
-fly]
." . -3~~'''-'7a~
~ :'."'~~'~."~;
.)\'
~.""', ~I-
: _ :.,
1"1" : '
----------..,............,.....-.--.,~-~:___--.:...~~--_o__-____:_--'---~
.
. Cubic .
.kC;~yr:.+:A)'J . :
. .'
-:- 3~y.2)
"
. - 3a3
Quadratic
' . .6.)' I
Linear
::;:
2al
+ 40 2 +
xo)/R
== 2 gives
', (4.~9)
==
30 1
AY4 = 4aj
(4.20)
( 4.21)
The expressions for Q! to a4 found by solvjng Eqs. (4. 18) to (4.21) sitnul~
taneously are shown in Table 4.1, along \yith the constants for the cubic,
qua.dratic, and linear e9uations.
on
(4.22)
.v :::: C d x
- x:?) (x - X 3)
c 2 (x -
X J)
,u~ed
(x - X3)
+ c 3.( x
- Xl) (x -).' 2 )
(~.23)
"';'"
," :"
,~
EQUAT10N F1ITING
63
&-
Tbg tJ:rc:c a:vail~b e d~t 8.. points are (Xl: ~~JI)! r'~21 Y2), an~ (X37 Y3). E.quation
(4.23) could be mul tiplIed out and teI!TIs coUected to show the c9rrespoDdence to "he form in Eq', (4:22).
.
By se tting ~'( = . Xl, Xl, and X3 in tum in Eg. (4.23) th~ .cqn~t?-nts .can
be found quite ' sID:plX:..
..< .~ ~.~~ . ,'.J.,:... .... . ;- ...... .
. '.
. _~ .. ...:1-'.:.:';_ .
.
..' ,'.
.,CI
I.
......
I...
. , ' .... .
~
(..t l:~.:~ti).Cx
,
~.
"
~.'
. __
...
"
~"x"j)
......
-,'
. ..d.
,The general form oJ the equation''for fllldmg the value of J; 'for'a give:q
w~
\vhen
11 . data
V'
"'
== LY'
nn. -ex. -
i= 1 .1 j
Xj)
omitting
(x -.x i)
(4.24)
D.Pl ==
al
b1Q
+ cIQ2
(4.25)
Similar equations for the curve~ for the 24 and 16 rls speeds an~
. .
L'lP2
~.p3
= 112 +
= a3' +
b2 Q +
b3 Q
C2Q
+ C3Q 2
(4.26)
(4.27)
'of
.-
= Ao
+ A JS + A 2 S2
(4.28)
!
I
64
'
DESIGN OF
TIIERMAL
SYSTEMS
", ~
.~...,::-
'
rI . "
' .'
'.
. ... . ,.
,'
.,.: .. :::~". :
FIGURE 4-4
performance of a centrifugal pump ..
+, B1S + #').S ,2
Co + C1S + C2 S2
b' = Bo
" C
==
, (4.29)
(4.30)
Finally, the constants 'of Eqs. (4.28) to (4.30) ~e ,put into " the general .
equatio.n
.11p == Ao + A1S + A 2 S2
+ (Bo +
B1S
+ B 2 S2)Q
, The A9 B, and C constants can be computed.if nine dpta points from Fig.
4-4 are available.
Example 4.3. Manufacturers of coolmg towers often present catalog data
showing the outlet-water temperature as a function of the wet-bulb temperature
of the ambient rur and the range. The range is the difference between the in1et
and outlet temperatures of the water. In Table 4.2, for example, when the wet0
bulb temperature is 20C and the range is 10 e, the temperature of leaving
w~ter is 25. 9C and so the temperature of the entering water is 25,'9 + 10
= 35.9C. Express the outlet-water temperature t in Table 4.2 as a function
of the wet-bulb temperature (WET) and the range R.
I
t = 24.733
.-
.'
+ 0.075006R + O.004146R2
/"
'5J~
EQUATION FITTING
TABLE lL2
~O ~t.lu.
~'~'aDl
;' - - ;;ia " \::
0. "("
"'e
,., P .? ~<1: k. ~ ' ~ o
... .... t it
.5.
l
il _J _ .!I. al '; U'.' "-: ?
iL
r- , ('
t
'V_
I )
ForW'BT =23C
I
t = 26.667
'
+ O.041659R +. O.0041469R 2
+ O.024999R + O.00414&1R 2
r:= 28.733
Next. the const~nt terms 24. 733. 26~~67 .. and 28.733 can be expressed
by a second-degree equation of WBT.
15.247
O.32637\VBT
O.007380WBT
The coefficients of Rand R2' can also be expressed .by equations in terms
the WBT. which then provide the complete equation
t
(15.247
+ (0.72375
O.32637WBT
+ O.007380\VBT2)
.:. . O.050978\VBT
+ (0.004147 +
OWBT
of
+ O.000927WBT2)R
+ OWBT 2)R'2
(4.32)
!vi~thod 2. An' alternate polynomial form using second-degree expression's for Rand WBT is
(4.33)
The nine sets of t-'R- WBT comb'ina'tions expressed in Table 4.2 can be
substiruted into Eq. (4.33) CO develop nine simultaneous equations, which can
be solved for the unknowns c1 to C9' The c values thus obtained are
C4
= ~5., 247
= 0.723753
ci =
C7
= 0.00092704
Cs
Cl
C2
= 0.32631
0.0041474
= 0.0
, C3 = 0.0073991
C6
C9
=-
0.05097'82
= 0.0
It is possible' to mU'ltiply and collect the terms in Eq. (4.32) to develop the
equation of the form of Eq. (4.c3).
Method 3. Section 4.7 described a polynomial representation of a
dependent variable as a function of one independent vanable by use of
~nterpolatjon. La.$.range interpolation can be extended to a function
66
can t:
'
',I ,.
-:
.,-,',,=;Y
I ....
"
-':')'3).
.
-- .
" +C13(~'~ X2)(~ ~'X3).()' -~ Yl?(~ ~~~2)' ,
_ ~..
'
':
.. -..
:>-', , "
, :'. :
'
. .::-:
-.: . .
outl~t-\\1ater
in
to !he
teolPerature, x the WBT, arid Y the range. In Eq. (4.34.) Xl .- 20, X2 == 23, and
X3 ' ,= 26, while YI ' = 10,}'2 = '16, and')'3 =' 22. "
.. ,'. ' "'- To determine the magnitUde of
for example', values. applicabJe
when x = '
x.
land
y =)'2 can be substituted
into Eq'. (4.34). ' '
.
.
.. ..
-
cn,
27.0
C12
== bxm -
(4.35)
."
JOOO
,-
JO
I
I
I
I
I
O.t
FIGURE 45
10
lob
1000
EQUAT10N FInING
0-
67
iI
)')
.':
~.
~----~----------~~
x
(h)
(a)
FIGURE 4-6
Curve of the equation y
=b +
ax nJ
(4.36)
The equation permits representations of curves"similar to those ShOVvD in ..
Fig. 4-6'. The curve shown in Fig. 4-6b is especially c"ommon i!1 engineering practic.e. The function yapproaches some valu~ b asymptotically as x
mcreases.
One possible graphical method of determining G, b, and m in Eq.
(4.36) when pairs of xy values are known is as follows: '
fir
it is possible to determine the nz coefficients that result in the best fit of the
equation to the data. One definition ,of a best fit is the one where the sum
, of the absolute values of the deviations from the data points is a minimum.
In anothei ."type of best fit sligRtly''different from 'the one just mentioned
the sum of the squares of the deviation is a minimum.' The procedure in
.'
~.
.,.
68
is
establis.hing the 'coefficients in such ~ eqUf.tion called the method of least :'.
.
I
."
' .
squares. ' .
.
Some people proudly announce their use of the method of least .squares
in order to emphasize the care they have lavished on their dacii ~aIysis. .
: Misuses of." ~e .method as. ill:ustratedj~;B.ji~~A.~J,ct-:and1i;~~e~n~f.ti~cQnnnf)lfA~.:~
I
. .., ,.
.
._ . .
..... . . ~.Q.;.,In/ . ~ig~:: .4-74;. . hile)a:: straigp.t" line can, he"fourid thaf~resllltS iIi the least":" , .
:'squares' .deviation," the 'cprrelation betWeen the .,. x ~d y variables seems
, questionable ~d perhaps no such device can i,m prove the corr~l~iob.. The
scatt~r J!lay be 'due to the 6~ssion of SOIl1e significant variable(s). In Fig.
" - :-~"4-7b , it w'o uld 'have' been p~eferable to- eyeball.in the, curve, rather than to
.fit. a straight line to the data by the least -squares method. The error was not
in llSing least squares but in applying a curve of too low a degree.
Th,e pro.cedure for using the least-squares method fo~ frrst- and seconcldegree polynomials will be explained here. Consider -frrst the linear equation
of the fonn
1.
-.
'
.,;.
'
y =
a+, bx
(4.37)
where m pairs of data points are ayailable:' (xJ' YI), (x2,Yi), .'~., (x m ',
Ym). The deviation of the data point from that calculated from the equation
is a + bx i - Yi' We, wish to choose an a arid a b such that the sumrriation
m
L (a + bx
j -
Yi)2
,---7
rilln~um
(4.38) .
i=l
The minimum occurs when the 'partial derivativ'es ofEq. (4.38) with respect
to a and b equal zero. '
m
'
2
a"'-'
(a+bx-y)
I= I
I '
- - - - - - - - = L2(a +
aa
bXi -
Yi) = 0
'Y
o
o
o.
0
Co)
FJGUR.E 4:2
Mjsus~ of th~ method of least squires.
(b)
77 -
EQUATION fffTING
i-
[l'X
:::7
'
1,'
.:
..
2
:5
:2
2
;
Determine the values of' a and b that give the best fit oJ the equation to the
data in the sense of least square deviation.
Ans.: b = ,-:-0.35.
4.17 .. With the method of least squares, ' fit the enthalpy ,of saturat~d ' liquid Iy by '
means of a cubic equation to the temperatur,~ t in degrees Celsius using the
11 points .on Table 4.3. Then compute th~ values of hi at the 11 po~nts with ,
the .equation just developed.
A~.: hi = -0.0037 '+ 4.2000t - 0.000505r 2 + 0.000003935-t 3.
A frequ~ntly used form of equation to relate saturatjon pressures t9 temperatures is
B
Inp=A+-
where p
T
With the method of least squares and the 11 points for Table 4.3, determine
the values of A and B that give the best fit. Then compute the values of p
at the 11 points using the equation just developed.
Ans.: In p = 18.60 - 5206.9/T.
tt19: The variable z is to be expressed in an equation of the fonn
ax
by
+ ex y
The foJlowing data points are available, and a least-squares fit is desired:
:c
0.1
-0.9
2.0
-1.8
2
3
1
2
2
1
78
)'
Approaches y axis
Approaches ~
straight line
.-
,,- -
' . . _. ~..~. ~ .
...
'
... '
aSymptoticallY
.~ : -~' J'
, .. ...::-~
.'
I'
,~:!
'
"
'.~. ,;
. -.
' ~'.
---:f :.
'-. -- .
... - .L.:..:..:.-...:........-.._ _ _ _ _
-_--'--_~----'-----1f1-
FIGuRE 413
Function in Frob. 4.19.
4.20. Tbree points, (XJ,Yl), (X2,Y2), and (X3,)'3), lie precisely on the straight line
y = a + bx. If a least-:-squares best fit were applied to these three points to
detenninc the values of A and B in th~ equation y = A + Bx, show that the
process wo.UJd indeed give A = Q, aT1d B ~ b.
4.21. An eguatjon is to be found that represents the. function shown in Fig.
4-13. Since one single simple expression seems .inadequate, propose that
.)' = 11 ex) + fz(x). Suggest appropriate fonns for II and f2 and -sketch these
functions .
./' 4~22. The enthalpy of a solution is a function of-the temperature t and the concentration x and consists of straight lines at a constant temperature, as shown in
Fi.g. 4-14. Develop an equation that accurately repre~ents h as a function of
.x and t.
4~
40
35
30
:!5
20
r:
.r:.
!J.)
_.
10
,.
p.S
1.0 '
Concentration. :r
FIGURE 414
Enlha~clion
of
lempera!~rc and
BtUATION FrITI;-..IG
75
2r, 1
- X I
, . 3Xj'
"..,;":
+'
' ,
I. '
,
= a + ox
+ cx")
has been prqposed, to pass through the -thr~e (x ,y) points (C3). (2.4)~ aod
(2, 6). Proceed with the solutio l1 for a. b? and c.
'
(a) Describe any uriusual problems encountered.
. '
(b) Propose an alternate second-degree relation between x arid y ' [hat .. will
successfully' ~epresent these three points.
0
:f4.So Us~ data from Table 4.3 ?t I ' ~ o~ 50, and 100 to establish seconddegree p.olynomial that fits hg to t. Using the equation. compute hg a[ 80C.
'Ans.: :2643.3 kJ/kg.
'
'
4.6. Using th,e data froD1 Table 4.3 for Vg at I = 40, 60, 80 and 100C. develop
a third-degree eguation 'similar in form to Eq. (4.16). Compute Vg at 70C
Temperature
Pressure
Specific volume
"r' m) /kg
l,oC
,T,K
0
- 10
20
30
, 273.15
283.15
0.6108
206.3
J.227
293,15
303.15
2.337
4.24'}
J06.4
57.84
32.93
40
50
313.15
323.15
7.375
12.335
.. 60
333.15
343.15
353.15
363 .J5
-i13. J5
70
SO
9()
100
p, kPa
19.92
3 1. 16
47.36
7.0.11
101.33-
19.55
12.05
7.679
5.046 .
3.409
2.361
1.673
. .
hb kJ/kg
hi' kJ/kg
-{)'04
2501.6
41.99
83.86
125.66
167.45
209.26
251.09
2519.9
2538.2
2556.4
292.97 '
334.92
376.94
419.06
2.574.4
2592.2
2609.7
2626.9
2643.8
2660.1
2676.0
76
,+ a2(x
al(x:'- 1)'
- 1)2
js to fit the following three . (x~y ) point,s: (1., 4), (2, 8), al1d (3, 10). What
, are the vallle~ of Yo? al ~ and Q2?
. '~.'}
.
, ~'.' ,
. . . . , . Ans.: a 1 . = 5 ~
..
. J ,.
. ,
~. ' .. .,h,>-',' . ,. :.~~:: The pumping capacity of a refrigerating 'compressor (and thuS the 'capability
..'. ;'
.' .~~-<.,.f9! :~eve~~p'ing~. r~frigerating ~Q~P,.~S.rU.').::~:i,~ '~~\~~~:~9~\"~f .~~ :, evaporating, and "
'. ~ condensing pre~.s.~s:. The)'efrigerating~ capaCi.'ti~:s..,irr' kilovhftti:.o4~?;.q~~t~i~{.::,:;; ,.
. reciprocatirig compressor 'at combiiiationsof . thr.ee,o.jff~rent 'eyaporating"and:~:~ ...,-":.".
c9ndensjn~ temperattires ~e'shown in Ta~le 4.4. Develop'an equ'atiori ,simi1ar. ~ .: .
to the fonn of Eq. (4.33), D.runeJy,
'
~
lir~ok4:"
'.
........
- "
, , ' ""
"
qe . = Cl
- ........I
+ C2 t
t:
+ .C3 f ;
- . '
+ C4 t c . +
...
+ C9 t ;t;
0.54).
'
Ans.: y = 0.5 + 2.3.1"-1.~.
4.13. A function y is expected to be of the form), = CJ: m and the xy data develop
a straight 1ine on log-log paper. The line passes through the (x, y) points
(100, 50) and (1000, 10). What are the values of c and nz?
Ans.: c = . 1250.
4.]4. Compute the constants in the equation." = ao + a I x + 02x2 to 'provide a
best fil jn the sense of least squares for the following (x, y) points: 0,. 9.8),
(3. 13.0), (6,9.1), and (8,0.6).
Refrigerating capacity' q, kW
;
Evaporating
temperature /"
,
0
.5
, 10
.;;:=.
*
.25
35
1.52.7
182.9
J 17. J
81.0
14J .9
~15.4
J70.7
JOl.3
126 ..5
.'
4S
73
EQUATION FlTTiNG
y /.
','
-'
'..::.-:
,-
- .
( .
FIGURE 4':12
Combination of two forms.': .
, sales ~oIume vs ~ years for many products w~~ch J;1a~~ low sales when first
introduced, experic;nc'e a period of rapid increase, then reach saturation. The
personnel required in many projects also often follows the 'curve. The form .
th~t re presen ts Fig. 4-11 is
..
Y == ab~
where
(4.44)
unity.~
Combination of Forms
It may be possible to fit a curve by com.bining: two or more fOnTIs. For
example, in Fig. 4-12, suppose that the value of y approaches asymptotically
?l straight line as :i increases. A reasonable y!ay to attack this modeling task
would be to propose that
y = YI
+ Y2
= (a
+ bx) +
(c
dx
74
&
"
This
are
the -design
~.[Xx~Jj _
1
.-2. ,_2
) 1: -2
3 . -2
[- 1
1
,
3
- 3
.I
5
- 4 .~ 3
~\.,t
[5J
18 [
6,' I
13
EQUATION FITnNG
::
.
)~.
I I
70
?o
71
-~~ ~;
'-'~."
, 15
'
'
__ , ' r
,"
':
~~.
4,~~;"i~
"I;':':; :.:. -: .
:,~~.
... :fo
5~Y~3
~~Y=4
5 ,
;-,.. .. .,
-0
0 '
-, (b)
(a)
FIGURE 4-8
Cross plots to aid in developing the :form of the equation.
are
'
aD
+ a IX + D2Y + a3 x
"..J .
P9lynomiaJs
If there is a lack of special indicators that other forms are more applicable,
a polynomial would probably be explored. When the curve has a reverse
curvature (inflection p'o int), as shown in 'Pig. 4-9, at least a third-degree
polynomial must be chosen. Extrapolation of a polynomial beyond the
.~'
FlGURE 4 ..9
At lease a third-degree poJynomial Deeded.
72
'.
.I
I
. , . ...
."
"
,::
~'
:'~
"
r- ;-
.. .. .. ...
!; ~~'I ~ ;:-."1, . ',,~.
, . ; .. .'
'.
. -borders of 'the data used ' ~o develop the ~qllation often results in serious
error. .
. Polynomials with
N~gative
Exponents' .
When curv'es approach a constant value at large magnitudes .of the independent variable! .polynomi.als with negative exponents
.
y = qo +
Ql X - I . + a2 x - z -
4-10~
Equations
. Section 4.9 has described sever~ examples of exp-onential forms. The shape
of the curve in Fig. 4-10 might also include a c-~ term. Plots on log-log
paper wO\lld be a routine procedure, although a simple plot of log y vs .
log x yields a straight line only with equations in the form of~. (4.35),
Gompertz Equation
. The G.ompertz equation,4 or S curve (Fig. 4-11), appears frequently in
engIneenng practice. The Gompertz curve. for example, represents the
----"----"-'------
----------F1GURE 4-11
..
:x
'
Gompertz. or S curve .
EQu~_nON FTITING
and ,
69
I I
.. a i 2:
(o -+ . hr_y.)2
= 1\ -' I
l
.
- - - -.a-b---- == 2:2(a
.'
bXj -
y;)Xj
_0
,I
''';:1' ;
.",_ .
.'. , -;'-." DiYi4in.g.. -by.2: and seti~Ja.tiD.g the :at~ove-t':'vvo 'eqhat?',ons" inltd'.~qividlla1 tf;rrn.-s . : g1yes,,' '" ::. .: .,'" ~:.: .:.-.:,~.~~~.:.,~ ';' j"i') " :'~:~ ~'~':.';:':/'.-'.' t_ .. ,~ ,:;,~;::,:: .. _.: ~.": .~ ,~--:.?":~: .'. ::"':>' ":-,.:\. ..:~.:-:;.~-:>.-: ' --:': ,>":;", _..
j.,.
+.bIx i
.: "'111(1
.
a"x4
I
'2:Yi
."
"C4.39)
')
b>x:-J
.-I
"x-y
..i I I
'(4.40)
[0
,X I'
~
..t...
and m
4.9
4.9
9
16
36
33.6
13.7
6
14
20.1
49.9
The
X;}'j
11.2
l'
3
4
x:-I
)'i
54.8
120.6
213.9'
62
4
~imul~eous
+ 62a, = 213.9
+ 3.019.x
= a + bx + cx 2
( 4.41)
. <
, ' 2:(a'
+ bXr.t c.--II -
y/)2 ~ minimum
I ... 1
.-
!x;
Ixf
( 4.42)
...
:'
70
A comparison of Lhe ,matrix equation (4.42) with Eqs. (4.39) .(4 ..40) shows a pattern evolv~g whiqh by analogy permits developing :::.'equations ,for higher degree polynomials .without even differentiating - _
s,u~ation of the squared deviation.',
" -, '
....::-,
' ;" " ,~, 4.11 METHOD ,OF LEAST s,QuAREs~,~ " '"\- ,' '" ~,. " " " .','
~ ,::' ; :~," -" ' ~""-?~:APPLIED-.:T, O ',:NONPOLYNOl\lIIAi, FORMs ,"
,- "
,
', ,'
J:'-::" :'-r :-~~!~ ,,-i,;'; ~::;.":~'.' :',:, ~~);:,':, :;:~:o:i, ,:-i . - : 0':- ,~,~'..... "" ',~, :._ ~ , ,;:;,:' , :' .::'
The- e7Cplana.tion of the ,p1~Ui:6d bf 'Ie'ast 'squares ,was~, 'appl-ied-~:to" jJolyno '
' forms in Sec. '4.10, but' it ,should not be suggested' that ' ,the--:metho :~
limite4 to those faIms. The method is applic,a ble ,to any form which con ... - constant -coefficients. For ~xaIDp~eJ- if th~ form otthe ,e quati,o n is
": -~ ' , , - '"
"
,, ' ,-"
'I, :
.-=
y = a sin 2x
the
su~mation comparab~e
+.b
In x 2
to Eq .. (4.38) is
+ b 2: (sin
2x i )(ln x~)
b 2:( 1~ x1)2
2: Yi sip 2x i
= 2: Yi
In
x7
y -= sin 2ax
bx c
' the terms a ,~nd cdo not appear as coefficients and this equation cannot be
handled in a straightforward manne~ by least squares.
I
4.12
While there are methodica1 prpcedures for fitting equations to . data, the
process is also an art. The art of intuition is partic\llarly needed in deciding
- upon ,the form of the equation, namely, the choice of independent variables
to be included and the form in' which these variables should appear .. There
are no fixed _rules for knowing what variables to inc}ude or what their form
, should be in the equation, but making at least a rough -'plot of the data
, wjJl often provide some insight.t If the dependent variable is a function of
two independent variabJes... _Jls in l == j(x ,y) two plots might be made, as .
ilJ ustrated in Fig. 4-8.
.
.
I
-.
, . ...,,r,:.
.
'
-,J
,
.
'
'
. '!',
..
.'
,;.
'. ~
;"\
'.
... ~
~.
".
~', .
';:;
,. I: ' ,
.. .. .
.::~;
.
_
".
, ...
.,..
' 1
';-
~. ::",' ~.' .
.'
, '. , '
1' - '
" .,
.:
':...;'
"
'
. ; .
.'
TDis chapter continues the objective of the previol;ls chapter, of fitting equa, tibns to the perfonnance of cornpone~~s. Chapter 4, ' however, assumed that '
physical insight into the equation either did not exist- ~r offered:'no parti.cular
, advantage. In contrast, this chapter concentratt~s on three classe~ 'e{ 'co~po:
- nents "that a'ppe~ almost universallY , in thermal systems, heat exchangers,
distillatio.n' separators, and turbomachinery, . where' the knowledge of the
physical relationships helps struc;ture .the equations. '
The reasons for singling. out these three compon~nts are different for
each component.' The preface of this book indicates that 'a bac}t;,g'rouhd 'in
heat trans~er is assumed. In the study' of thennal systems a segment' of that
knowledge is p~icularly important, namely, predicting th~ performance of
an existing heat exc~anger. Not only is tJ:le sele~tion of ,a heat xcpanger
important, but it is also crucial to be able to calculate how a certain heat
exchanger will .- perform wpen ,9perating at off~design conditions. A useful
tool to ,be stressed in this chapter is the effectiveness of hea~ exchangers.
The techniques this book explains are particularly applicable to the
thermal processirig industry, which includes petroleum refining, and other
process industries where the separation of mixtures of several substances by
, means of distillation is an integra] process. , Even an - unde'rstanding of the
separation of binary m~Xtures which is explained in, thi~ chapter t e~pands
t
80
, "
J'
. .-.... . .
: -
" .:
..
81
the .h.orizons of applications 'of tht? future ~opics of simult;ltion and optimii:a~ ,
.
tIOD.
. '.
. ,T he third 'class of thennal equipment trated in th,is chapter. i~' Ujrb~-' ". ~'
,'::--,..'.'<;', machi~erY' the; performanc.e of which can often be .~x:piessed in '
. :of -.: " .
terms
'>/:: , ~. ": 'diWensionl~ss. gro~ps. This chapter wlvi sho~v hpw " ~_ :~$e' o{dim~.nsi~.Q.~e~~ " :~,: -.
"
._~.
-
':
~; ,~:;'
,
';
\.. ! : :
:
II
'-'
" ,
[ ;. '
-'.
:...
.:
'::
'
.,
' .' , .
..
ot
to
t +
W!uer
(b)
FIGURE 5-1
Several types of heat exchangers.
Finned-coil
(c) Compact
EQUllJ10N FITTING
79
.~- ;
.; -
:' !'"
,.
-1'
,. ' ,
FIGURE 4-15
Gompertz equation in Prob. 4~23.
,=
ab
cx
4-15, 'c = O.'5,yo = 2 and the asymptote has a value of 6. Determine the
REFERENCES'
.1. Procedures for Simulating the PeifomzQn.ce of Components and Systems for Energy Cal-~::
culations, American Society of Heating, Refrigerating, arid Air-Conditioning Engineers,
New York, 1975.
2. M. W. Wambsganss. Jr . "Curve Fitting with Polynomials," Mach. Des., vol. 35, uo.
10, p. 167, Apr. 25, 1963.
3. C. Daniel. and F. S. Wood, Fitting Equations to Data. Wiley-Interscience, New York,
1971.
4. D. S. Davis, Nomography and Empirical Equations, Reinhold, New York. 1955.
5. N. R. Draper and H. Smith. Applied Regression Arullysis; Wiley, 'New York, 1966 .
.-
. , '--~ "-'
82
~..
cor:rugated an~ arranged so that th~ t\vo.f1uids tJow through alternate spaces
between the plates.
"
')
'
..
'
, We now return to ,the ' distinction ,between selectiIlg ,anq simulating a
,heat exchangeI:' To select a sheIl-and-tub~ heat exchanger; for example, the
,flov/ rates, entering temperatures, and'lea~ing t~mp'efatuies 'm both fluids
',; 'would be ,known~ The task 'o f the ,designer is to select the combinaticin":of
-.,
"
". i
!"
,.
. .... .. ~ .,'
~.
:."
and
,: ~the," baffle , spatmg. that. will::accomplish,: tli' ~p~pi:fi~d':'he.a,t.~tpt,n,~~8~" duty =,. Ihe __
de~ign 'must also en,s ure :'that certain 'p ressure-drop Iiini,tatiopso~',of-ttie.JJbiclS~flowmg through the heat exchanger
Dot ~xceeded. '
'
'
. In ~imulation" on the other hand, the heat exchanger already exists,
either in actual hardware or as a sp;c1flc , design. ' FllrthenDOre the pedoi":
mancechantctenstics of the heat exch~g~r are- available, such 'as Ithe ,area
and overall heat-transfer coefficients,_ Simulation of a heat exchanger COllsists of predicting outlet ~ondjtions,. slIch as temperatures, for'variolls inlet '
terp.peratures and flow rates. The emphasis of the next several sectionS wi,11
be on' predicting outlet condit~ons of a -given heat exchanger when the inlet
conditions are known.
are
'
12
./C
}1'2
kgls
cp'J.1/(kg ",K)
II,jOe
l(
U',
cp
kg/s
k,....g_-K_)..L-L--"'--_ _
,
FIGURE 5-2
A counterflow hear exchanger.
n-;
OJ
coun terFo'vv heaL txctanger 'Vt/ith the sYrn?ols Ithat vlill be used in developi,ng
equ~tions.
, )
Th.-ee equations for the rate of heat transfer q. in w'arts are
;:r .
q
.q
= WI ( t I ' ; - t~;o)
,v-I
...;.-:
~J
* v-1!...-:-.,;.. ..
(5.1)
(11
q = UA
.f
(5.3)
W2
= flow rates
')
A = heat,-transfer
[~ =
TV
Y ?
-
Wi
~ea,
)lciiJ ~ Q
= H:..,C p 2
-
,,., "
-' l)(
m26":cti\ ..~----,\./
7~,_~/,~~
. . . .,--. '
j....
"'\
..t--
~~/'
,/
....,"--- / "
_,,,'--
Equations (5.2) to (5.3) have made no ' assumption about which is the hot
fl uid, and which ,the col d. I( q is pas i ti v e', fluid 1 is ho tter than-iJ.8-icl--2,
, ~ut if q is negative, ' t!Ie opposi~~~_~S(..L-_ILtM._Ws, UA, and the entering
, temper~tures are known, the ~ee equations contain three unkno.w~s~ ~
and .t(!5 The number of equatIons can be reduce,~, to two by eliminkfin~
to gIve
(5.4) ./ ,/ '
~v (t . I
Solving for
12.0
1,/
)
1,0
==
Define D as
~ (1 -1)
D=UA
WJ
W2
TIJen
II./ -:-/2/ - (W J IW2 )(tl.l -/1.0)
t 1.0....
12.i
= e~'
(5.5)
. 84
Sqlving for
t1,0
gives
t10
':-;'".i o':'f.;"
"
. tl,i(W llW2
1)
W 1 /W 2
+ (2.i( 1 -
eD)
eD
\ ."..."~ tl
_. '
" .
. '~-l
. ', :
~
"e- Dn :.~
.
. , : -...- -:.~,o ,
'.
'D
, (5:6
'1 .... ..
= 11 i - (t1 i ...:- 12 i)
"
w'-
2 -
:.--.'
'
'
,"
"
in
The
, WlcpI
=W2 cp2
thUS
~.
, .
The value of D is zero~ and Eq. (5.6) is indetemlinate. There are two ways to
develop an a1ternate expression for the outlet temperature, one mathematicaI
and lhe other by physical reasoning.
,
The mathematical solution uses the expression for eX as a series.
x2
l+x+-+'"
.
2 The indetenninate part of Eq. (5.6) can be written
1 '-
1eD
----- -
W1/W2 -e D
J + UA
WJ
(1 - ~Vl + ~ [ UA (1 _.WI
J' ]
J'
W2
2 WI
UA(
WI
[ '.
'W))'
W2 - 1 + WI 1 - W
+
2
+ ...
W2
I[VA(
W1J]2
}
WI 1-'W
+ ...
2'
Canceling where possible aAd dividing both the numerator and denominator
by 1 - l]/ W2 re.suIts in
,
~'
Wi
1 ~ eD
'WlVf - e D
-.'
: 0_.'"
"", .
COD1.t'lJpn \f~llie
(5J5i gives
~-
Cr& ~
,: - 5\ t2ft,:..-~\:~" , l't-,,' Jl \'
I
,
'.
t1 j ' ~ t2 i
= t '. - ' " . - '
&
t,
1.1
.1,0
.'
ii
. .~-;
UAjW - "W"JUA + 1
'
H' . Then
,U fil Vi
85
"'i_--
' .,
WI UA + l
'
'.'
'
t2,i}
Since the sldpes through dA are identical, the temperature d,ifference after
dA is stil~ tl,o - 12,i' and qy similar reasoning the temperature difference
remains constant through iPe entire heat exchanger. ~us the temperature
/ r.J
1 I. ;
12.0
~ , -.-
_ ,'..... . : ..:.;._
f"
I I
I ' I
, 1,0
~
J
I~j
I
I
I
.-
dA
I
I
I
J
A -
Arc,a. m2'
FIGURE S~3
Counterflow heat exchanger where
WI
W1 .
Q
'
"
1".
Starting at the left edge of the graph in Fig. 5-3, the inlet temperature t2.f of
fluid is ~pecified, and there is some o'u tlet temperature of fluid I, designated
t1.01 yet to be determined., Regardless ~f the value of {I,o' the slopes..,of the
temperature lines are fixed for the first rncrement of area dA
(fl,o -
..
C)
:,
t~7)- 'j' .', ':.
<:';. ," --
__ . "
dtl
dt2
U
dA ::::: dA = W
l~
'
86
line$ are straight" parallel lines. The choice of 1'1.0 \-vas arbitrary, but now
, w'e see that it must be chosen so th~: the) tIl 'line ~errninates' at the specifi,ed
inlet'temperature of t I,;. Since t.he, mean temperature difference in the he,at
e~changer is t I ,0 ' - t2,i, the rate' equation can: be written
'..;.-,
I'
.-
,' .
I ""
.~
r -:
"
. ' i :
and
t 1.0 ' -~
WIl ..;
,+
UAt2.;
,UA +W
"
,'"
.' .. '
. : . 11,0
''''-''iiJ''= '~
side;
W) to the right
- .
= f U - W / UA + .1/)
which checks the rna thernatical deriv ati on, Eq. (5. 7) .
1 '/-:-
y-~ b:'-~7.'
. I<~ 1:
"-
"'
> 0_
'
, Example 5.1. In the counterflow heat exchanger shown in Fjg. 5~, '2 flow
rate of 0.5 kg/s of water enters one circuit of the heat exchanger ata temperature of 30C, and the same flow' rate of water enters the other circuit at a
temperat.ure of 65C. The VA of the heat exchanger is 4 kWIK. What is the
Dlean temperature difference b~twe~n th,etwo streams?
Solution. The pr,odl!cts of the flow rates and specific heats of the two streams
are the same, (0.5 kgJs) [4.19 kJ/(kg' K)] =2.095 kWIK. For this speciaJ
case whe!e the wC p products are equal, Eq. (5 .. 7) gives the outlet.temperature
for the hot stream 1l.0
= 65 -
1
1.0
65 - 30= 420C
2.095/4 +
O.S kg/s
VA
s:
4 kW/l<
0.5 ksls
I I."
~
.......
....
1....,.~
FlG URE 54
Heal exchanger in Example 5. J.
MODELING
THERf/~ EQUIPMENT
87
.
orcondenser,.as shown in Fig. 5-5, as~t1me that there)~ no_supetheatihgor
. .. '.subcoolin,g of llie fluid that changes pl),,aseD .'1)l.at fluid 'will then remaiIi .at..a .'.
. ./:r-::constailf Lemperp.-t!lre;."provided~.thae'its):pk.stiY~':.d$6:~(rib:t":',liahg~~:'":,:"' ('" ,<:-' ~;.''-'' :,' ',,'.'
,,. " TP.e
tEtrijperature' difference' 's till 'appli'es and in conlbirtation , . ,
. , with a heat b'a lance, gives
.
log-mean'
c
q = UA (t - Ii) - (Ie - to~ ==
In [( t e - t i) / ( t c - to) ]
' (
wCp
to -
ti
, UA ' In t c
ti =
Ie ---: to
WC p
-In t f;
to
te --. Ii
te -
ti - ti
tj
(5.10)
For a heat exchanger of known characteristics Eq. (5.10) can be used to
compute the outlet te~perature of the fluid that does not change phase when
its entering temperature and the temperature of the boiling or condensing
fluid tc are knOWD.
The characteristic shape of the temperatUre curVes, of the two fluids is
shown in .Fig. 5-6, applicable to a condenser.
t
(
tD
tI
Cp
" Ie
FIGURE 5-~.. - - An evaporator oi- condenser where one (lwd remains !It B. constant temperaO,lCc.
J. .
, :...::-,
.....
, ' .t'
'.'
..I.
~.
I.
..'
. 1'.
...
..
"
-FIGuRE 5-6
Temperature distribution
ids in a condenser.
At:ea
W,
flu-
densing at 110C. If the water flow rate remaUis constant but its inlet
perature drops to 15(:, what will its new outlet temperature be?
~il
tem-
Original
New
to - Ii . 1
to - Ii
- = -e-UA/we'P =
--
te - ti
50 -
is
Ie - ti
110 - 25
15
110 - 15
To -
New to = 42.9C.
5.6 HEAT--EXCHANGER EFFECTIVENESS
The effectiveness
of a
~eat
exchanger is defmed as
c=
where
qactJlJl1
~- -
qmax
(5.11)
qBCruaJ
case
I..
.,7 .1.-'
'
!
I
89
'Oil
2,6 kg/s
,V 60C
2.2 klJ(kg " K)
1..5 !~g/s
30C
.,.-,,:
-3!' ''~
', / '.'
- -: .;
, 4.19 r-J/(kg
~ K)
.. '-:- ... ..
,_" _":.:.~-::. .. .!
. ~- :
',-
, ',
'1
, .'
"
--i'-
~=="-====<
Infinite area
FIGURE 5-7
-Oil cooler in Example 5.3.
'
Fl ow rate
".
{ 2.6 kg/s
1.5 kgls
oil
water
2.2 kJ/(kg' K)
Specific heat = { 4. 19 kJI(kg . ,K)
oil
water
Solu.tion. The break in the heat exchanger indicates that to achieve the maximum rute of heat transfer the area must be made infinite. The ,next question,
then, is: What are th~ outlet ,temperatures? Does the oil leave at 30C, or
does the water leave at 60C?
.
From energy balances those two options give the folIowi,ng consequences:
Oil
1.
leaves at 30C
'
---,
300C
= r71~
'
, 171.6 kW
57.30C
Water leaves at 60 C
q
188.6 "
(2.6)(2.2)
~"
/
--The second case is clearly impossible because the oil temperature would drop
,
below th~r of the entering water, which would violate the second law of
thermodynamics. Thus. t}rnu. := 171.6 kW.
Th~--G,?:c,ept [hat Example' .s.3 has exposed is that the maximum rate
of heat transf~r occurs when the fluid with the minimum produ'ct of flow
. 90
rate and specific heat changes .temper~ture to the entering temp~rature " of tl:J.e other flu.id. Equation '(5.11) can 'be re\yritten ..
': ,J ,
". ', .'
E=
"".; .
qacrmJ.
. '
( wep).min ( ~ hot.in
,,' .... ,;,~.. : , . :.:. ... ' ..where.' (W' Cp)~n"! is' tPe: sma11erjvtp .of th~" tw()
..
. '
.. '
'
'':''
'
... .
,- ..
..,.
_.
t col!:f.in)
:l
":, .(5.)2)
,
. ~
.. :
riu,ids ..
. . ....
..'
"""
. .
'"
- ,'
and
. the fluid whose temper~ture changes mO$t. The c~rves . are ste.epes( in the'
portion of the heat exc.h~ger where the rate.of heat transfer is 'highest~ anq .
this region occurs ' where the temperature differences are larges~.
5.8 EFFECTIVENESS OF A
COUNTERFLOW HEAT EXCHANGER
The form of Eg. (5.12) can be applied to the equati6rl' for a counterflow
heat exchanger, Eq. (5.6}, to 'd evelop an expression for the effectiveriess of
the counterflow heat exchang~r. Denote fluid 1 as the fluid with the lesser
value of wC p . Note that
(a)
FlGURE 58
Te!p-pcra.lUCc profiles ;n
(b)
~'!
91
....... :
.. . - '
~...
~- '
-."
where
(5.14)
(
Z?/!//I/J/}/R//I//////1///1/4
L He:t-transfer surf~ce
'
lOQ
80
~ 60
1.)_
.~
t;
40
"'"""'-----0.75
20,
'-----LOO
.-
4 2
3
NTU = UA/WrrM
F1GURE 5..9
Effectiveness of 8 counterflow heat exchanger.
I (From \Y. M. Kays and A. L. London. Compact Heal &chansers. 2d ed;, McGrawHill
Book Company. New York, 1964, p.SO, used
by perntission.)
92
100
.
'_ .
. -.
. -:..t.'r
".= ....
J . ...
~,~.,
'.J
..She~ fluid
. ' .'
", .
'0 '
f
. ....
'"
,' >,
'~60
w'.
,0.75 '
o
'0
FJGURE 510
Effectiveness of a parallel counterflow heal exch.anger. (From. W. ,M. Kays and A. L. London,
Compact Heat Exchangers, 2d ed., McGraw-Hill 'E ook Company, New. York. 1964, p.54. '
used by pem1ission .
.
)
' .
So lu ti.o J1
l1'a = (6 kgls)(4.1 kl/(kg' K)J=24.6 kW/K
~Vh
= (3.8)(3.3)
NYU == , VA
Wrni~
designate Wmin
12.54 kW/K
(1.1)(16) = 1 40
] 2.54
.
Wmin
12.54
1V = i4".6 = ,0.51
2
= 0.67
= 1.40( I - O.S 1)
= 0.686
J - eO.t.8f,
0.51 _ e O. 6S6
= 0.668,
ro
~.'"
93
'
eUng was approached was to predict the pe~foI)il1ahce C?f an existing heat
exchan,ger, which is a common assignment in systems simulatiolJ. The outlet
remperatlu-es can be C01TIpllf.ed if the inlet temperatures and effectiveness ~e
known. The effectiveness can be , compu[~d or detennined froni
'.X/hen
~e product of u.A:, ~~ .,tf?:e ,pro,~ct~
wa:$:~ . Ia'~~ -of ,flow and;"specific he2tt ":- ':,)
,', a:re,
l~~o-v/n_
'EqJl,atlons
,fOF i4~ ,~~ff.~~ti,y..eness_qf.a;<c.QunterflQY'!: .heat:~xcbariger .: , " ,
,
',
' , -, ' ,
,.; . ',-' ,
'
1
' , "
"
.' ,
' , " ", .",. '"
ha ve bet3ri"presented,' C).nd ,~,grapl).s- are .avaiJ,ab Ie ~ fOF' variOUs." configUrations- ';, , ' "
,'of heat exchange~s'~' \i\lorse-Schmidt2 and Hgaard lZuudsen have provided '
c6efficients for equations. th~t fir 'the curv~s' of 'Fig. 5-10 as' well as .othelheat exchangers.
9t
agraph
to
Mass fraction of A
mass of A. kg
:= ............------~--......---
mass
of A. kg, + mass of B, kg
(
FIGlLRE 5-11
A binary 50lution.
94
..
- ':'9' : ....:.
...
Boiling
Vapor
.' ,' I :. . .
1.:
'#
.-
..::"/
,:
...... :,-
.
: ' . ......" _ . ':. : : ... LJ.. : : .
:, "
.
.:
~~;'::;,":.,.; '.~
=..
J-
BoiHng
temperature ..
. of pure A
LO
. F~.ct~on of A,
Xa
'. ' - '
LO
.0
Fraction of B,
or
FIGURE 5..12
Temperatnre-concen~tion
Q.iagram of Ii
Xh
as mole fractions
.
mol A
mole fractIon of A = . . 1. A
+ mol B
.
rno
(mass of A, kg)/CMWa)
-
----------------~--------~------------
where MWa . and MWb are the molecular w~ights of substances A and B,
respectively.
The curves on Fig. 5-12 mark off three regions on the graph. The
upper region is vapor (actua]]y superheated vapor), If the temperature of
vapor is reduced at a constant concentration, the state reaches the dewpoint. line, where some vapor begins to condense. The region between the .
two curves is the liquid-vapor region, where both vapor and liquid exist in
equilibrium, as represented by the vessel in Fig. 5-11. The lowest region in
Fig. 5-12 is the liquid region (actually subcooled ljquid). If the temperature
of subcooled Jiquid is increased at a constant concentration, the ~tate reaches
- [he bubble:-point line, where sO(11e liquid begins to yaporize.
The temperature: where the curves join at the left axis is the boiling
temperature of substance B at the pressure in question. and the temperature
. intercepted at the right axis is the boiling temperature of substance A.
,
The pair of curves shown in'Fig. 5 .. 12 apP1.ies ,to a given pressure t and
there will be a pair of curves for each different pressure. as shown in Fig.
5-13.
' ,'
.. .
"
.::.:
. ~-
'l....
Low pressure..
LO'
95
:' : ~. ./(
FlGURE 5-13
T vs. x diagr~ for two different pressures. '
5. 12
DEVE~OPING
A T-VSo"X DIAGRAM
Liquid
Vapor
1.0
,.-
FIGURE ,5.14
Pressure--coDcen~ioQ
diagram.
, - .
The' three tools used to deve~op the binat>j properties are (1) e' :s~hl
ration pressure-temperature rel~~~$hip~
the tv/o substances, C2) RaoillCs
la~~ and (3) Dalton's lawo ' .
.
. . . ':.. ' -
?f
, 1, '
.-
"., '
0( ,
J'
,J
' :.
,-
The values of C imd' D are 'u ruque to each substance and mus~ be developed
from 'experimenf?3l data. It is presnrp.ed that Co and Da fo~ substance A and
Cb and Db' for subs~ce B arp kno~ in the equations
".
.
. D
(5.15)
.In Pa . Ca + ;.'
In Ph = Cb
Db
+y '
(5.16)
PI
. FUI1hennore
, pa
and
Pb
= Pa + Ph
= Xa.vPI
(5.19)
= X b,,,Pr
(5.20)
Q ."
(5.18)
MODELING
p~
===
e... . . ...
THER~AL
97
1
EQUIPMENT
I )
t 50 kPa ~..........-.~.:
I ";:''','
..
...
".
"
. ....i;.
. ..'
~ ., . ....
' . .... _.
,.
.... ...1
,/,',.'
.;
Exam ie .5.S. A binaDr ~oLution of n-butane .and n~heptane exists i,n 'Iiquid-,:,upor equilibriu.m at a pressure of 700 ~a. The "saturation pressuretemperature reiationsh.i:ps are
.
~utane:
.
"
' 2795
In P =!= 21.77 -
"
3949
Heptane: In P = 22.16 - - ..
T
.
where P is in pascals. Compute the n101e fraction of butane in the liquid and
in the vapor at a temperature of 120C.
.
eXP
The combination of Eqs. '(5.17) and (5.18) along with the recognition that
xhep. I
and
Xbu!.
J)( 182)
(Xbut, J)(23~2)
= 700
so
Xbut. J
= 0.242
To find the concentration of butane in the yapor use Eqs. (5.18) to '(5.20)
t
Xbu(,
Xbl.ll.v
P,
700
tat
98
300
280 '1-
. z~o,
.'
. -"
'1
. 240'-
I"
.
.",:;:,<<.l.:t~~::::,:,
','
'.
.'
-:;
'
220
"
"
. '
"
'0
' 0
.
...
. .
-,'
,.1
..
.
'
'
" "
100
80
60
p = 700kPa ' ..
40
20
0.2
b.4
0.6
~ 0.8
FlGURE 5~16
1.0
n-heptane.
. for a specjfic binary mixture as in Fig. 5-16. Assume that th.e condensation
takes place at a constant pressure 0[--2800 kPa and vapor enters wjth a
mo1e fraction of 0.6 n-butane. Point. 1 is superheated vapor at a temperature
of 223C, which is fIrst cooled until point 2, where the temperature is
218 C ~d condensation begins. Removal of heat from the mixt~re results in
continued condensation. At point 3 the temperature has dropped to 190C,
and here the liquid has a concentration of 0.33 and the vapor 0.80. The
system is a mixture of liquid and vapor at point 3, and a mass balance of
the butane can indicate how much liquid and how much vapor exists at 3.
For 1 mol of combination
C
+ (0.80)(1
....-,::::!5. ~~
. .' .
"
AU liquid
SubcooJed
liquid
FlGURE,5-17
Coc:do.ll&aIoiQA of
binary
mixtu~ ,.
99
I '.-
,; ,
, ' " J', .,.
~~-
A s~~ple di'stillation unit,is the single-stage 'still shown ,in' Fig. 5-18. If the '
still operates at pressure for v/~ch the bubble-point and dev/-point ,curves
are sll1ywn in' Fig. , 5-19, and jf the entenng Jig uid to
partial vaporizer
is at point 1, various outlet -conditions o,f the -vapor~and , liquid are possible. '
Th~ limiting cases are combination 2-3 and combination 2 "_ 21 If,the iiquid
is heated to point 3, only. liquid wouJd leave the still and no vapor. If the
vaporizer carries on the process to 2' I, only vapor leaves the still and no
the
I.
liquid. The desired operating condition will be 2 /-3', for example, where
the sense 'that the vapor leav~s with a high '
there IS some separation
in
r'------'-------;!>-'
Vapor
Separator
Liquid feed
Partial vaporizer
3
'--------!l- Liquid
F1GURE 5-18
Single-stage sriH.
- .o
..
1.0
FlGURE 5.. 19
Some possibte outlel conditions from
the sriH in Fig. ,Sa 18. .
10,0
but:ane,.
of
' -J-.1
. " SO[l!ti.on. At 120C aI?-d. ,2 . pr:es~tiIie .of ?,oq kPa; "the 'mol'if"fr,i'ction: of'bir~e:- .-:-- ~in the liquid is 0.242 and in the vapoi:. isO.80?:. A .~aterial hruance OD the:..
WJ'=
2.30 IJ?olls
+
.
WI'
(3.2 - w/)(O.8q3)
.
5 . 15 RECTIFICATION .
. The single-st~ge still described in Sec. 5.14 perfOrn1S a separation but has
rather poor per.formanc~. The other end of the performance spectrum IS'
r.
. Cooling
Liquid
feed
-....
"
FIGURE 5-20
A rectific8rion column',
.'
Vapor
f>
101
FIGURE 5-21
1.0
Xa
tion column.
an, id~al r~ctificatio~ ' tower~ ' shown in ,FIg. 5-20. The ' i-vs_-~t' properties, , ,cor:responding to the key locations in the rectification celumn are shown in
, 'Pig. 5-21. 'Liquid feed, assumed saturated, enters at point i., passes- through
, a partial vaporizer, and is heated to temperatu~e 2. In the 'Col,uffiIl; vapor,
flo\vs upward and liquiq downward. , The liquid is heated at the bottom
to drive off some vapor, and a heat exchanger at'
top of the to\y.er
~ondense~ some of the vapor, providing a s.ource of liquid to drain down the ' '
column.
'
Figure 5-21 shows that the separation of the two componeJ?ts is quite
effective, since the liquid leaves the bottom of the tower at condition 3L
and vapor leaves tl,le top at condition 1V. There is a continuous trapsfer of
, heat an'd mass between the rising vapor and descending liquid. Furthermore
in the ideal rectification tower there is equilibrium of temperature and vapor
pressure between the liquid and vapor along the column. For accurate
simulation of towerS there must be a' temperatur.e difference between the
vapor and liquid to transfer heat and vapor-pressure difference between the
vapor and liquid in order to transfer mass. 3--6
-
me
5.16 ENtHALPY
Enthalpy values of binary solutions and mixtures of vapor are necessary
when' making energy calculations. < For sys tern simulation (Chapter 6) -the
enthalpy data would be most convenient in equation form. More frequently
the enthalpy data appear in graphic fonn, as shown in the skeleton diagram
- of fig. 5-22. Figure 5-22 is an entha\py-concentration, h-vs.-x, diagram for
solutions and vapor. Since pressure has a negligible effect on the enthalpy
of the liquid, the chart is applicable to subcooled as well as satuIated liquid
but becalJC_'be enthalpy of the v.?por is somewhat sensitive to the pressure,
the ,enthalpy curves for vapor apply only to saturated conditions.
I
102
':
_. ~-: ......
.....
L<?w ~em
".
'.
'.Perature
."
.' .. :,..:0 , .
.~", .,
;.;'
., . ~: ,~<'
.-
-".:.")
.J
,;
..
"
'
' j'
,",
.'
t. '
i.
1.0
FIGURE 5-22
Form of an ~ntha1py:- .
concentration diagram.
5 .. 17 PRESSURE..DROP AND.PUl\1PlNG
POWER
A ' cost that appears in most economic analyses 'Of thennal systems is the
pumping cost. The. size of a heat exchanger tral?sfemng heat to.a.liquid can be reduced, for example, if the flow rate of liquid or the' velocity for a given
flow rate is increased. The cost whose increase eventually overtakes the
reduction in the cos.t of the heat exchanger as the velocity or flow lI)crease
. is the pumping cost. Another example of the ,e mergence of pumping cost is
in the. se1ection of optimum pipe size. The smaller the pipe the less the first
cost but (for a gi ven flow) the higher the pumping cost for the life of the
. system.
.
Since the pumping-cost term appears so frequently, it is appropriate to
review the expression for pumping power. The pressufe drop of an incompressible fluid flowing'turbulently through pipes,. fittings, heat exchangers,
-and almost any confining conduit varies as w n
t1p
= C(wn)
whereC is a constant, w is the mas.s rate of flow, and the exponent n varies
- between about 1.8 and 2.0. Generally the .value of Ii is close to 2.0, except
for flow in straight pipes at R~yno)ds numbers in the low turbulent range',
The idea] work per unit mass required for pumping fluid in steady
flow .is J v dp. and for an incompressible fluid tbe power required is
,
w
Power == -Ap
..
Th
~S
pO'\Vrf
103
is
. .t.-:
'vvhieb is . furthermodified bY;:di~'idirlg . by. ~he pUl)ip:~ .f9P~ -9'r .. cQr,4p~:es.sor, . :., .. ,
-...;- -ef-flt?iency . '<"' :!""/'<.:~,. '.:~' --....--.;;: -.'7~,_.;.:..:- :>.':_ :I:J";"':~-"/;-'- "~ . : ,' ,: "
,.' .' . '
: . ~
.
-'
The rn.ethods of ffi2.thematical fi):odeling explained. in. this .c hapter- have geperally been limited to expressi~g one variable as a functio-n of one or two qther' .
varial?les. In prinoiple ' it is possible to extend these m~thods
functions
of tlire.e variabl~s, but the execution might be formidable. Turbomachines,'
such ~ f~ns, pumps? compre~sor~j and turbines, are used in 'pnictic:,!lly all
themial systems, an~' in these components the dependent variable m~y. be a fun~tion 'of three of more 'i:ndependent yariables'. Fortunately, the tool of
dimensional analysis, frequently pennits reducing the number of indepen- '
dent variab l.es -to a, smaller numb.e r by treating groups of tenus as i.n dividual
variables~' The perfonnance of a centrifugal compressor, for example, 'w ill
typicaUy appear as in 'Fig. 5-23. Instead 'of attempting to express P2 as a
. function of six v'ariables, an equ-ation could be developed 'to express P2/P(
. as' a function -of the two other dimensjonless groups. Then in calculFtting"
to
roD
- - ::: constant
""c T I
p
ww.
D PI"
FlGURE 5-23
of s, centrifJgaJ compres.sor expressed in dimensionless groups to reduce the
Perfonn;lll~
l1umber
oT iril1ependel"i [ 't1ar1abJes"
..
104
.,. .
P2 ,the .two iIidependent variables wDI -JcpTj and :,v )Cp TI/P2pl would.be
"c~culC1ted frrst ~d ~ext p21p~; fiDai~y') P1.} would l?e c~mput~d from /!2iPl
and Pl.
,/:. -
_'""_,
,"
' .
t'
'. '
' :'
: \
',' -
.,
' .
' .
. , ;>'.:'" ',":-i:::'>'.. ~', ~.~l .. ~h~t..is the.. '~ffectiveness' of. a ~Qunterllo~. heat _exch~ger
. ,
that. ha~ a
UA :
- ~ ,': - ', . .<~~'~:: .value' pf 24- -kW!K~if:th~;:-r~$.p,~cti~,;;m~:s:.1:"at~ ,of flow and sp~d.pc . h~ats of
J. .
. . thetw~~dt__te~.IO kg~S; 2kJjcki:kr~41~!Vs;:'~kJf(k~: ~)~,._~:f;;~; : ~ .
,5520. W~ter fl.ows tJ:rrough one ~ipe of a heat~xchanger with -flow -rate- of,'O:2
, kgls rising in temperatUre f~om 20 to 50~C~ The specific heat of w~ter is 4.19
lcJ/(kg . K). The fluid on the 'other side of the Q~at exchanger enters. at 80C
~nd leav'e s' at 40C. What is the effectiveness' of the heat exchanger? ' ,
Ans.:. ,O.667. ,
.
'5.3. A flow 'rate of 2 kg/s of ,water, ,cp = 4~19 kJ/(kg . K), enters one end of. a
~ounteiflow heat exchanger at a temperanrre of 20C and leaves at 40~C. Oil
enters the ' o~er side of-the heat exchang~r at 6Q'?C and leaves -at 30C. If the
hept exchanger were mao.e infmitely.large while the entering t~mper).~es
and flow rates of the water and oil rem?ined constant, what would the rate
of heat transfer ~ the exchanger be? ,
Ails.': 223.S kW.
5.4. Tht? evaporati,n g fluid in an evaporator has a temperamre of SoC and the heat
. exchanger transfers 50 kW. The U
, A of the exchanger js 12 kW/K, and the
u'cp of the fluid being c;:ooled is 8 l-wlK. What are the' entering and leavIng
temperatures of the fluid being chilled? '
5.5. Stream 1 enters a mUltjpass heat exchanger at a temperature of 82C V!jth a,
, flow rate of 4.1 kg/s; the flujd has a specific heat of 4.19 kJ/(kg . K). Stream
2 enter~ at a temperature of lSoC, wjth ~ flow rate of 4.5 kg/s; the fluid has
a specific heat of 3.2 kJ/(kg . K). The effectiveness of the heat exchanger is
0.46. ,What is the rate of heat transfer in kW in the heat exch~ger?
5.6. A counterflo.w heat e.xchanger having a VA value of 2 kW/K receives stream
1 at a temperature of 60C and stream 2 at a temperature of 20C: The flow
rates are 0.3 and 0.4 kg/s, and the cp in kJ/(kg' K) are 3.2 and 4.19 for
streams 1 and 2, respectively. What is the outlet ,temperature of stream 2'1'
5.7. Fluid 1 enters a counterflow heat exchanger at a temperature of 60C having
a f1o~ rate of 1.0 kg/s 'and a cp of 3.2 kJ/(~g . K). F1uid' 2 el1rers with
a temperature of 20C havjng a ~ow rate of O.S kg/s and a cp of 4.'0
kJ/(kg . K). The , VA value of. the heat ex~hanger is 3.0 kWIK. What is the
outlet temperature .q'f Fluid l?
. .
,
5.8. A./1ow rate of 0.8 kg/s of water' is heated in a heat exchanger by conqensing
steam at lOOcC. When wa-ter enters at 15'cC. it leaves the he~~ cxch'anger
at 62C. If the inlet water temperature were changed to 20C while its flow
rnteand the condensing temperature remained constant, what would its outlet
temperature be?
:Ans.: 64.2C;
7
' ,
[f:"
~n: '.
~~i:,
I-
105
5.9. A CDU_,[cr:[ , -: -h eal exchanger coo:s5 kg/, of oil, cp = 2.4 kJ/(kg - K), wirh
vlater that has a flow rate of 7.5 legis. 1-be specific heat of water is 4. 19
~g~~: '
r.,~":t;_-'.,~:~;_.',r: .
kJf(kg . K). Under the original oper;,ting conditions the oil is cooled from'
75 to 40C ~wben. water enters at, -25.~C. To what tenlperature w~l1 ..the oil rbe .
cooled if it enters at '65C ,and if there is no change'in the entering water
~".;. :.,,;.:,.,. ,...... ,. " :
. remper~.i~re? the:
~9f e.~me~ fluid, or ,the .he a t-transle< ~gefflci~nts? , ." .'
.~ :;
'.' A\ns 37C' :.,,=.,:-.:,- > .......:' " .: . .
' .... . '
5~<:Ul,~ ~n a pr~ce~Osing pI;~;': ~~~~a~erial ' m~~ti be .~b~~!edl~orri ..~O ~o~'8Q~C~. i~ oi~ei~ ,
: for the desired reaction to proceed, yvhel!eupon. the material. is'c.ooled in a' , .
" 'r egenerative heat exchanger" as' shown in Fig. 5-24 ..The specific .heat of .the ,
ma~eriaI before and . after'
reaction ' is 3.0k1/(kg K).' If the UA o{this'
counterflow regenerative hea' exchanger is 2.1 kVIfK and the flow rate' is'
. 1.2 kg/s, what is the .temperature t.leaving the 'heat exch~ngei? '
/~..
Am.: 57.9~. . ',.
'~. ,
. -",
'
.
. 5 .. 11 .. A condenser having a UA value 'o f 480 kW/K condense.s steam at a temp~r,a ture of 40C. The cooling \var.er enters at 20C with a flow [(lte of 160, kg/so
What is the outlet temperature of the coolirig water? The specific heat of
,water is 4.19 .k:J/(kg . K). . .. .
,
Ans.: 30.2C
A heat exchanger with one shell pass and t\~tube ~asses (Fig. 5-10) uses
seawater at 15C, cp
.3.8 kI/(kg . K), to' cool a flow rate of fresh water
, of 1.6 kg/s enteri.pg at. 40.C. The specific heat of the fresh water is 4.19
kJJ(kg . K). If the VA of the heat exchanger is 10 k;WIK, ~hat must the flow
.
flow ,ra'tes
!'
the
'=
~/'
.P/./ .
l~
kg/s
,
F1GURE 5-24
Regenerative heat
exd: ~ nger in
Prob. 5.10.
.106
~4~O ventilate a factory ~uild~g, 5kgls offuctfu-y air; ~lemperature Of. 27C
' .~s exhausted,
the
.. ,
"::' .'. ".:, }.'
" ~ (,,'" ~Y:'~', .
' ,
"
,: ,,) ":"
~::f1S:1 A,' SOI;'~~~ ~c'con~~.;~ZOf;'1i~t}a~>~,,?uct,~mp~~~cl,:<)a:~e,:~S!,~9; ~~7 an"
6,' , ,\7, aoS'orblng sheet- backecl:,by msulatIon- and.:.~ii, tl,ie'. ntfiet:.slde',;by. a;t:ran:sparent :~
and
. ',,,.
f'
/_
yV
rJ\')
'j~
The
\l\A,Cp "-5
Air.
-12C
';-(5 1- i'l,)~
' ,
,~ - .
"';v ... . 1vv ~ y4l~~
____
5 kg/s
Cp =
I k1f(kg.K)
2 kg/s water
Cp
(b"
= 4.19 kJ/(kgK)
FIGURE 5-25
Heat-recovery system in Prob, 5,'14 .
Ambient 15C
'~'\-\-\ '-'~
\
'
Trruispannt sheet
)-m
Airflow
0.02 kp)s
I = J5C
cr == 1000 JI(kg K)
sheer
,
FIGURE 526
S'oJar air heater in Prob, 5.) 5,
'i"\'
;;:::J'.
~:~~
h m ilie
".t;i~~r',!":;.~:_,;'~,: ,;:l:
[ansp~ent
sheet to me
a~bientl ::~~L::G
:/::A~
::U~::~:m
:::
Vv/(m~
'. , 4 .
[i~:
'of
)?
k:'
':0'
'.
of
the t~mpera.ture
a fluid t? 3~O K~ at \vhic~. temperature_~q,~~sired chemical.
reactIOn ta~es, place. The flUid has a speclfic heat 9(3:2~PI(kg . K) ~oth,
be~ore -and after the r~3ctlon., and its flow r~te is~ '.~-kg;s. , .The en[eri~_g
temperature of the flUId to heat exchanger I IS 290 K and the UA of tins
heat exchanger is 2.88 kW/K. Steam is suppljed {O heat exchanger ~I at 3)5
"K" and condensate leaves at the same temperature. The UA values of heat ,
exchangers II and III are 4.7 and 9.6 k\VIK. respectively._What are the values
,of temperatures t I to 1>l?
''
,
l
.
Ans.: to{ = 365 K.
5.17. A binary solption of liquid and vapQr exists at equilibrium. In the liquid the
molal fraction 'of material A ' is 0.4 and of material B is 0.6. At the exis'tinE!: .
te~peratu[e the saruration pressure of pure A is 530 kPa' and of. pute 13 i~
225 kPa. (a) What is the pressure in [he vessel, and (b) what is the fraction
of A in the vapor?
'
Ans.: (b) 0.6.15~1~. A single-stage still, as in Fig. -5-18~ is supplied with a, feed of 0.6 mole
fraction of n-butane and 0.4 mole fraction of IZ-heptane with properties as
shown in Fig. 5-16. The still operates at a pressure o'f 700 kPa. How many
moles of vapor are derived from 1 mol of feed if the vapor is to leave the
still with a mole fraction of butane of O. 8?
Ans.: 0.5l.
5.19. 'A vapor mixture of ,n-butan~ and n-heptane, with properties as shQwn -in'
Fig. 5-16, at a pressure of 700 kPa and a tempe~ature of 170C, and a mole
fraction of butane of 0.4 enters a condense!,_
Steam 375 0 K
II
Heal
e~changer
II
Heat exchntnger I
Rextor
flGURE 527
Chain of hea~t.-e""'xc""h'--a-ngers in Prob. 5. J 6~'
108
.
.
5~20 .A mixtur~ . of. butane and propane i~ often sold as a fu~~. ,Wei-are in.tt;r.. : .: ested in detenninfug .the"T-Vs. ..-x-lrelanonship.,of a binary mixture of bit~e
. . : 004 prop,Ule .at statIdaid atmosp~eric p.ressure of 10 l . 3 ~ ..
pr~sure- . ..
The
. .. . .
-:.:'!~<~.~. .:'" ~ =, :-:~~.. .' J :', ,.. te~pera.~e re!~~p~.~p.ip'~..~.~ .~aWIJl~~fP~~i.ti~p:s ~?r .,~~~ p~e ~~~~tances ~e .
.
: ., .. ."'.-
. .
'~. '
. . ,. . :i ...t . /..
f:
..;-: .
':: .'.
. . _. _
where P =
ill P -
::
:....:.
f;~86 ~ ~. 5~'<:~:.
"2~~
pres$ure Fa
. ~ absoh,lte temperature; K
t
Presentthe T -vs.-x curves for vapor and liquid neatly on a full-size sheet of
grapb paper, where x represents the mole fraction of propane.
Ans~: One pOlnt on vapor.c~rve, x = 0.5 when T = ,260 K.
5.21. A distillation tower (Fig . 5-28) receives a two-component solution in liquid
form. The two components are designated as A and B, and x indicates the
mass fnKtion of material A. The ceflcentration of the feed .x 1 = 0.46 and
the entbalpies entering and leaving the still ru-e hI = 80 kIJkg, h3 . = 360
kJlkg, and 115 = 97 kJ/kg.The condenser operptes at .1 = 30 D e, at which
state X2 = 0.92, h2 = 320 kJlkg, X4 = 0.82, h4 = 23 kJlkg, and the condenser
rejectsS50 kW to the cooHng water. The reboiler operates at t = 210 ClC, at
which temperature X6 = O.081h6 = 108 kJ/kg, X7 = 0.13, h7 = 41S kJ/,kg,
and the reboiler receives 820 kW from high-.pressure steam. Complete Table
5.1.
Ans.: Flow rate at f = 2.18. kg/so
- Feed
Sri H
,
6
nGURE 5..2.8
DistilJation tower in Prob . 5.21
Iv10DELfNG
'IABLE5~1
Opera6.ng
C,
. li, !{j"lkg
Position
'1-' ' . .~
>,11--' ,..,.,
'.l.',
, ". ,- 80
. D..92
320,
.3
360
23
0.82
97
0.08
108
0.13
415
5022a Dunensional analysis s~ggests that the performance of a centrifugal fan can
be express~d as a function of hvo dimensionless gro~ps:
SP
and
D 2 w 2p
.-
Qlhl
FIGURE 5-29
Performsnce of 8 centrifugal fan .
110
TAJtHJ~ 5 .. 2
Perfor~ance of
rad/s
Q,m'3/'s
SP, Pa
157 .
1.42
J.89
2}6 .
'861 '.
. '.
<
..
861. ;
<"-,'
126
3.30
114
0.94
304
1.
~ ~ ';:: .~:
SP, Pa '
.: ~. 94 ' .. ' ,:
..
..
radis
I'
~ r~'~> ~
"
.; " 299
,.
1"26
L42:
1.79
2.17
2.36
2.60
548:
530
473
428
351
. O~80....... ~':.
(34
L94.l
W22
. 1.42 .
70
L51.55 .
form of the equation Gust use symbols for the coefficjents; do not evaluate
them numerically).
REFERENCES
L. London~ CompaCl Heat ExclzQngers; 2d ed., McGraw-Hill, New
. York, 1964.'
'
.
2. P. Wo[s~e-Schrnidt and H. J. Hgaard Knudsen, "The~aJ Modelljng o(Heat Exchangers
for Simulation Purposes!' 25th Hear Transfer Fluid Mech. lnst., Davis, Calif.: June 19'76.
3. Vi. Badger and J. T. B-anchero, introduction loChemica/ E11gineering, McGraw-Hill, New
York~ 1955.
-1. W. L. McCabe and 'f. C. Smith, UniT Operatiolls of Chemical Engineering, 3d ed.,
McGraw':Hill, New York, 1 9 7 6 . '
.
5. C. M. Thatcher, Fundamentals of Chemical Engineering. Merrill, Columbus, Ohio, 1962.
6. C. G. Kirkbr!de,. Chemical Engineering FlIlzdc:menlals, McGraw-Hill, New York, 1947.
1.' \V. M. Kays and A.
~.
.-
. .....
) I
.:~
. ....
. .... J.
'0
' , '"
'~J :- _, ="
..
' -~
.f
.l
. ~.~
-: ,' : \
=--
I.... .
'
,.,
~.
',
'I '':'
.-',
' ,"
,,'.
'
be
of
112
'"
"~
.">':: .'>. ,
r . '<~ :.'
;>.
increase
r-' .
. system, the flow through -the systen1 is that of a continuum e.g., a fluid or
I
even -'solid particles, flowing at such rates relative to .particle sizes that the
as
on
SYSTs:M SIMULAT.ION
-'i_l.l .'l:.. .
sis the . input con trIaDS are uncertain., .eithrr being cornplet~ly random o r
.' (more commonly) following some probability distributionc In simul:J.ting
the pelfoHl1ance of a s[eam-electric generating plan t tIl.at supplies both.
process steam and electric povler to '3. facility 'J for exam:ple, it dererm~rtistic
.
analy~,~s s~?Its \Vi~.h 'Qn~. ~~p~c.i.fi~~t Y-~lJ.~ .of ~be st~arp demand cliong with one
. . .: sp~ci4e~ y~~Iue _.Qf th~ pqwe~ ~d.em_~nd. ~ ..f." 'st6cQas:tic ,:~ui~y_~is .migJJ:t_beg.~,., : ...
some
. -: .: . ;:shall cop.centrate i'n :Lhis 'chapter on deterministic analysis, 'and reserve,Jor.Chapter 19' the stUdy of probabilis.tic influences. ."
.'
...
. ' Fin~lly. system 'simula~ion ~ay be classed as st~ady,~s~ateor. d}nar[lic,
. \vhere in a dynamic simulation the~e are cha~ges of operating. \:arjables w.iiJ~
respect to time. py:o.amic analyses are .used for such 'purposes as the 'study
of a control system in order to- achieve greater precision of coritrpl and to
avoid uns.table operating cqhditions (Chapter 15). Th,e djnamiG .sirp.u!a.:tioP.1
of a given system is more difficult than the' steady-state simulation, .since
the steady. state fall$ out as one special case of the transient analysis. On
~he other hand~ sreaO:y'-state simulations are req~ired much more often than
dynamic simul-arjons and are normally app~ied to much larger systems.
The simulation to be prac~iced here will be that of continuouS'~ deterministic steady-state systems.
.
"
PI--~
'-8
- ~~>tl
~
-~-.fI_0-t;_,",_.t_e
or
P 'I ----a..-t
P2
(0)
Pump
't - - - - t - w
I(P 1, Pr w) co '
(b)
FIGURE 61
(0)
pump,
114
hs
_~' . .
shows
;' :: .:":::' .
'.; -':' ,.'.:".( ", ~' ..,-. ',fire-w~ter ~~cility shown -in Fig., 6-2. A pump .having 'ijres.sure~fl-6w ,charac-,:::' ". '~ ." ".'',. ;"';~te:ns.tics~ sli6wD..jn:Fig;,,',6r-2 \~~WS,..W.~t~r frQ~ . ~. op~~i re.servoir ~d :delivers
,'it through a lengJil o{pipe'to':'hyOrarit A>::~jl(w~~qme.wate".con-tint.tjJJg-'*9..ti~
. additional pipe to hyd:dint B. -The" w~ter flo.w -rate~,.,in ~e"pip'e" sectiori~' ..~
., desjgnated w] a~d W2, and .the .f1ovl fates pas-sing out the'~':fiy:drants -are" 1.v.
and .l-VB. The 'equations for -the water flow rate througb open hydrants are
l-VA = CA ~P3 ~ Pat an'd WE ,~ CB ~P4 ~ Pai, whe~e. CA and CE . are. constants
,and Pat is. the atmospheric p.ressure~ The "equation for .the pipe section 0..;.1
is Par -: PI, = C1 W + hpg, wher,~ el w_ aCCO,unts ~or frictIon an4 hpg is
the pressure drop due to the change elevation h. In .pipe sections 2-3 ane
1-4
. .
.
.!_
in
and
P3 - P4
2
311'2
(6.1)
(6.2)
!3(Wt,Pl) =0
(6.3)
f4(Wl,P2,P3) =0
(6.4)
=0
(6.5)
. f2(WB, P4)
:=
The atmospheric pressure Par is not listed as a variable 'since it will haye a
.t
,-....:~2~
WA
WB
_ _ _ _ _ _ _t.'' H_Y_d_ran_'_1_
A __
'kll~
, hm
0
J
~~. ----1
P.,
FIGURE 6-2
Fire~w3ller ~y51em and pump characteristics.
w:! -...:.
1,
Hydrant B
..
Pump
characteristics
J( P" P2' w);:: 0
SYSTEM SIMULATION
/;~
115
Hydrmlt B
FIGU~ 6-3
Infonnation-flow diagram for fire-water system.
or
(6.7)
3.l1d
'Or
(6.8)
116
Steam
:...
J
Absorpt ion
.re.frigenui~n
unit
. -,' . ',=.
,, -
. ...: .. ;
. . '. _.~ondensale
q. ~frigeration
.. .
Engin
.-e- '-,- 1----11 Ge~erafor
I,
FIGURE' 6-4
On-site power generarion with b eat recovery to develop
ste~m ~or
refrigeration.
EXhaust-gas fi o-
Speed
Input
Engine
.......
'Electricpower
demand
Elec[ric
generator
"
"
Engine
..
,capaci.y
tcmper.lwrc
RcfrJgenJlion
'.....-_fl_o_w_--I
un.i t.
10-_ _-
_ _....
flGURE 6-5
information-flow diagram for an on-site, power-generating plan', of Fig, 6-4,
.-
Exhaust-gas
Steam
'
Reriget:Hion
r""1
Power
BoBer
Sy~ SIMULATION
117
Fig. 6-5 is I r:s:- ~-:.:.~ :::; :-':'- c S ~i'!1 u.ltaneous s/r..f1ulation requ.ired for the illfor. mation-flo\ di2~gram or Fig. 6-3 . Sequential s1ffiulations' are straightfo0~ard~
but simultaneo us s imulations are the ~baH:enges on iNhich 0-e remainder of
th.e cha.i?ter c n ~ eri.trates .
' .,. : ..
" ~.. . ;.'. !., . ;
':'-:"".: '::>-":~J;-..
.: . . 1\ , ."," ' .
~ , ;.1'",
~'.:. . .
.... . ,.:,
..f~ .'-'--"-::~:
,...... ;.
. . ,'"
::,~r _ .~ . . .SUCCESSIVE
' . . ' .,
.,'
NE1tYTON~RAPI-IS'O N
The ta'sk 9f simulating a system~ after -the functional relatiopships and interconnections have been established, is one' of solving a set of sirnultan~ous . .
algebraic equations, some or all of which may b~ nonlin~. Two of ;the
methods available for t't~.is simultaneo.us sp1ution are sLlccessive substitution.
and Newton-Raphson.Each method has advantages and pis advantages which
will be pdipted out.
'.
Pump 1:
Pump 2:
flp. kPa
= 900 ~ 65w2
- 30w~
WI and W2 are the flow rates through pump 1 and pump 2. respectively.
Use sLl!ccessive substitution ,t o simulate ,this system and determlne the
va!uesofl1p, WI. W1, and w.
.
where
~oJution.
.'
equatioDs~
~18
J.
..,.
. : . . ..
~.:
'. ,;
.........
40m ' .
: , ,:
'
.. '" .
.W2 .
.
"
..
)1' "
~~Pl
F1GURE 6-6
\Vater:"pumping systeTI?- in Example 6.1 .
., ' (40'm)(1000 kg/~3)(9.807 mls
/1p =. 7 .2w- +
.
1000 PaIkPa
(6.9)
Pump 1:
(6.10)
Pump 2:
(6.11)
Mass balance:
(6.12)
One possible 'information-flow diagram that represents this system 'js shown
in Fig. 6-7. If .a triai value of 4.2 is .chosen for WJ, the value of Ap can
be computed from Eq. (6.10). and so 'on about the l oop. The values of
. the variables resulting from these ite~tj.9ns are shown in Tabje 6.1. The
calculation appears to be converging slowly to the values
1.99, w = 5.988, and !:ip = 650.5.
111'
Elevation
and
fricrion
WJ
= 3.991" W2
U'
Mass
~1
Balance
Pump 2
I
FIGURE 67
Informat'ion-flow diagram J for Example 6.).
't.
wJ
Ap
Pump 1
...
SYSTE!'v1 SL\1ULATlON
',:
1: j
:J.p
119
\)
w~
.-.
2.0.60... .. , , ~.<. . 5...852. : _ ,' " _.: 3:.,:}9.2: .. <: .... ~-<. ,,';:-. ,,;,~ ,.~;., .: : .~~.:... . ~;:. -<.~.~:.~.:;, :.. ;" ~: '.~ '
9~J.16 ":....~ .... '; 1:939" ., ..... . . '6 ..112 ,-:'.' "
4 . 174-., -, ... ...... .
640.34
2~052
.: ~5.-870 . . 3-,818
659.90
. . 1.946
6.097
4.151 .
. _-.638J15" - ,..
.. -
.....
47
48
49
50
..
......
"
, "
. . . . . . . . . . . . . . . . . . . . . . . . . . . .j,
......
........
5.~83
1'.000
1.995
2.000
649.98
650.96 .
650 ..04 '
650.90 .
.......
..
3.983
3.999
3.984
3.998
5.994
5.983
5.993
1.995
Elevacion
and
."
friction
l:lp
~
..
Mass
w,
Balance
,I
Pump I
I
.:IGURE 6-8
W'2
Pump 2
IIp
120
.'
,". .:
. ~. '-~" .
Pump 1
'.
~1
Mass
Balance
\i:'2
.-
j I
"
', :
' .,
JrAJBIJ8 6.2 .
Ap
650.0'
653.2
, 635.5
726.5
42.8
..,1
.L
3
4
WJ
5.983
6.019
5.812
6.814
4.000
3.942
'4.258
2.443
1.983
2.077
1.554
4.371
.L
/lp
651.5
648.5
654.6
642.'1
667.6
616.1
722.3
514.5
951.2
2
3
4
5
6
7
8
9
)1'1
W,2
3.973
1.992
4.028
3.916
4. J42
2.008
~.671
4.593
2.539,
6.149
' 1.975
' 2.042
1.903
2. ]78
1.580
2.662
5.965
6.036
5.891
6.184
5.575
6.771
4.120
8.811
t
..
that ~onyerges.
..
..
1..t, 1
lri the m.E;[hod of succes.s ive substitution each .equation is solved for
one var i1ble? and the equation may be nonlinear in that varjable, as was trLle,
for example"1 for the calculations of w ~d W2 in diagram 1 f',To 'p'articular
problem resulted in compil~i.I}g. ,y~~.,\~.nd ~W2' h~re because the. eqnat~ ons 'wer.e
G
;."
. .. " :
" : ....
- .. . '
.'
.. '.'
. .
..:'
..
anq
w hich 'is dependent upon' .t wo variabl~s x and j,., is to' be exp'arided about ..
. . the point (x = a ~ y . b), the fonn' of the series expansio~ is.
. z.
: " const
first-degr.ee terms .
+ second-degree terms
higher-degree terms
=: Co
[Cj(x - a)
C2(Y - b)]
+ [C3(-::-
- a)2
es(y - b)2]
+ ...
(6.13)
Now determine the values of the constants in Eq. (6.13). If x is set equal .
. ro a and -y is set equal to b,' all the terms on the right side of'lhe equation:
reduce to zero except Co, so that the value of the function at (a,b).is
Co
(6.14)
= z(a, b)
so
alta'. b)
Cl -
rn
(6.15)
ax
a similar manner,
rJz(a, b)
(6.16)
( oy
The constants C31 c4, _and Cs are found by partial differentiation twice followed by substitution of x = a and y x: b to yield
a2 z(a, b)
2i1 x 2
a2 z (a, b)
C3 =
C4
ax a y es
1 a2 z(a b)
I
="2 ay 2
( 6.17)
. :..
,' '12~
y = y (a)
. .
+ .dy.(a)
" (x
:
- a}
'9 x.
[ I-d 2y
+ . +-
(a).]
, .'
. -' (x '- a).2 + ' ~,~ ~
2 dx 2
, :
.' ,
,The general expression' for-the Taylor-series expansion if y'is a f
i .., '
'j '..,
,, -.
'., +.'L'
n
.
J ~1
"
i}x
J
._' ..
x2
In
y =
Co
'
Cl(X
~ 2)
1)
C1(Y -
.+
C3(X -
2)2
i2 '
= In. T ==
CJ
= a z (2, 1)
ax
az(2~ I)
C"2
-..:..-~
C3
~ a~ ~.~;
,
C4
ay
1n 4
1.39
= 2-.; Jy
= ~
.:'('1/)'
x:'/v2
" 1
=.--.,"- = - - =.-1
x-I),
1)
M-x2~) -l
=
_ o2 z (2, 1) _
-:-~",'
, _ '.'ox'a"
. - 0
'J a2z(2,t 1)
] 1
- -- ay"J
- 2.\'2 -
c - ~ - '1
"2
_.__._,_.., _z =
1.39
+ (x
2) -(y
(x" - c.
J.
Tay~or-;,s.erie.s expans:_ =
. Solution'
Z
lr_
SYSTEM SL'vYULATION
123
. -."i ,"
, ' ."';" ",:,;:" ?"':',;t~)::: ~~,:[.y' l(alJ(x'~~';:~" 'dY~'~~~-:""- :' , -:. ,- ", '~:' (6:: 26Y: ~:~':'~\-;
_
. I. '
..:
.....
..
.
#
'
, "
+ 2
Define y
= eX'
as
y(x)=x+2-e i ,
(6.22)
and denote x c - as the corr~ct value ofx that solves Eq. (6.2'1) and make,s '
y
(6..23)
,The Newton-Raphson process requires an initial assumption of the
, value of x~ Denote as x { this temporary value of x. Substitudng x t into
Eq., (6.22) gives a value of y whjch almost certainly does not provide the
desired value of}' , . O. Specifically, if x t = 2"
Y(x I )
:= Xl
2-
=2 +2-
eX,
7.39 ='-3'.39
Our trial value of x is incorrect, but now the question is how the value of
, x should, be' changed in order to bring y closer to zer09
Returning to the Taylor expansion of Eq. (6.20), express y in tenns
of x by expanding about ,x c
y (x) = y (x c)
[y' (x c) ] (x - xc)
(6.24)
[y'(Xt)](x, -xc)
(6.25)
Equation (6.2:5) contains the further approximation of evaluating the derivative at XI . rather than at Xc, becau~e the value of Xc is still unknown". From
Eq. (6.21) Y (x ,) := 0, and so Eq. (6.25) can be solved approximately for
<
_,
Xc ~ X, -
,y(x,)
'(
y x,
In e numerical example
,-
Xc
-3.39
1 - e2
= 2 - ..
= 1.469
(6.26)
124
4 1
S~,ond
. ",
~
'
tri'P' x = 1.469
'
.,.:
\.
dyJdx ,
~ ..
:.
. ..
...... .-
. ... . ;"
'-.'
-2
--4 '
F1GURE 6~ 10
, Newron-Raphson iteration..
The' value of,x == 1.469 is a more 'correct value a,nd sbould be used for the
next iteration. The results of the next 's everal iterations are
x
J (x)
1.469
1.208
1.152
-0.876
-0.132
-0.018
=0
(6.27)
(6.28)
~(xJ ,X:2,'>:3) := 0
(6.29)
fl(X).X2.X;4)
f2(X, ,X2,X3) =
f
.-
125
SYSTEM ZI..\liULATION
,The' procedure for solving the equa~iolls \is an iterative one' in v;hich
the follo,vin,g step~ ar~ follo\.\led:
,.t;.-
1. Rewrite the equations so ' that "all .terms are on one side of L'1e: e,qualiry , '
, sign [Eqs. ,(6.,27) to (6.29} alre~ulY ,.eki,stir. 'tJJis' fom~i.r ', :",'. ,' ,'
,,' ",;
2':.:.~j~.ssfime~' ieill:pofaDL~<al}l.~~ fbL ili~.v~'~b.les';\dellote(hx'yj-'; ~ ';~~~:t' ~,:: ap4"~t-'~:~~J~"," ~::.: :~': .:.';, ",
"3~ Caic4Iatethe' y(lln~'s off" ~'-'i' f2".,~df3 :.cit'the:'t,emporary :vaiu~ of ~l~ :~'2~ .
,.and ,x 3
4. Compute the partial derivatives of all functio.ns with respect to ~l1., vari- .
ables',
5. Use the Taylor-series expansion of the form of Eq. (6.19) to establish
a set of simultaneous, equations. The' Taylor-series expansion for: Eq'.
(6.27), for ex~mple, is
'
' .
,
'
~)
I :
ail (.x1.r
X2.I'
.1:3.1)
aX2
(X?
,-.
r -
X I.e
'
')
x? c
" -~ .
(6.30)
The set of equations is '
6. Solve the
iJ!l
ail -ail
ax}
r3x2
af1
af?
ax)
aff
ax}
BX2
aX3
af3
af3
_at3
ax)
rJX2
aX3
x I.e
~ X
i1
I.e
X2.1 -
x2.c
X3.t -
xJ,c
12
(6.31)
i3
X i,e'
7. Correct the x s
t
X:L new
~ Xl. c)
8. Test for convergence. If the absolute magnitudes of all thef's or all the
/).)( '5 are satisfactorily small, -tenninate; otherwise rerum to step 3.
;,' ',',
126,
, Example 6.3. Solve Example 6.1 by the Newton-Raphson ,method.' , "<~ '~
I
'Solution
STep 1.
.:,
1. -
'.:>"\ ".
.
\,'
..~. .
:' j7' \'
'.
~.<.-
-,';':::-;r.'~:~~':~':~,~,~.";:?!:- : l :,': ,
. - .:'
\' .
.~
'-.,: '
' _[ 1.0
0.0
-...: 1.0
,0.0
where
j,'Yi '
= .r;'~ I
-72.0][01:J.-l]
[177.7_]
0_0 .6. x
48.7)
0.0
0.0
155:0
-1 '.0
0.0 ~x 3
1.0 ~x -f
,-
15.0
0.50
Xj. c
.6.x J = 98.84
L\.r~
= -1.055
.1.:\'3 = -0.541 ,
L\X4
= -1.096
Jlp
= 750.0 -
98.84
= 651.1?
H'I
= 4.055,
w;?
= 2.041
11'
= 6.096
These values of the variables are returned to step 3 for the next iteration.
The values of [he I's and the variables resulting from continued iterations are shown in Table 6.5.
TABLE 6.4 ,
'.
af,1 j}
i)f ~Jii
/If ,fa
af~/D
~.
J
J
ala\\'
a/PH~
0
25 + 7.5\\',
0
0
- J4.4w
.0
65 + 601"2
-J
0
-J
,- ,
...
127
SYSTEIIJr s1MULATION
After
iteration.
.,
:W2
'- 8.68.)
. ~O:.0'81
,
"4.170
. 8.778:
O~OI48"' . O.fJ~~6
~. , ..
0"
..:
.'
is
I)
Combustor .
P3
'2
p..,
"
Turbine
qkW
Shafl
Compressor
Ec kW
. JeW
"
..
w kg/s
P,
:=
4-
10 J 'kPa
FIGURE 6.. 11
Gas-rurbine cycle.
-.-- -
P4
= 101 kPa
128 ,
~o .Neglect the r,nass added 'm the form of fuei in tlJe combustor ~o'~that : the
, mass fate 'of flow w is constant throughout the cycle .-
P2
,I
'
'
,"
'p
(6.32)
a,nd
Ec
\\,lhere p =
= 1020 -
O.383p
+ O.00513p~
(6.33)
When operating at a given speed and discharge pressure, the characteristics of the turbine take the form shown in Fig. 6.. 13. V{ith the techniques
600
500
:E
oX
c.i
2000
~
oX
400
..:
v.
8.
Ir.
e
c-
300
f!l
r.
..r:::
(.)
v.
] 800
IJ
L..
::l
] 6QO-
Co.
200
100
1400
1200
l~
)0
12
Co)
14
100
__
______
200
300
__
400
.500
FIGURE 6 J2 .
Performance ofaxial~f1ow compressor operating at 120 rls with 101- kPa inJet pressure.
e
'
SYSTEM SJitIULATION
-woo
<.
'.'
~~: 12'"
.:L.
.
.I
129
'-:..l
e3 10
. =:J.
u: . 8
6
1000
200
Inl~[
~----&-'_ _ _....L.....-_ _- - - - - t _ - . l I
400
300
.300
200 .
400
pressure. kPa
(b)
(0)
.; FIGURE 6-13
. Pertormance of gas turbine operating at 120 rls and 101 kP'.:i discharge pressure.
of .Sec. 4.8 eqyations can be developed for the curves in Fig . .6-13
= 8.5019 + O.02332p +
. +0.1849
'--
.'
IO-.:l,2.
0..48 x IO-4p 2
+ O~000121pt
0.02644t .
- 0.2736
lO~6p2t
(6.34)
anQ
E, = 1727.5 - IO.06p
+ O.033033p2
- 7.4709t
+ 0.4473 x
+ O.OO39~9t2
0.2356 x lO-4pt 2
10-7p~t'2-
(6.35)
To achieve [he simuiation the values of the following unknowp variables.must be determin~1 w, p. Eel /21 E,H t3t and E,. Seven independent
equations must be found to solve fo~ this se,t of unknowns. Four equations
are available from the performance characteristics of the compressor and
,turb~ne. The three other equations come from energy baJances:
Compressor:
Combustor:
Turbine power:
Ec = WC;<t2 - 25)
(6.36)
(6.37)
8000
E., ="-E c
+ E$
(6.38) .
'.'
.' t, .;
111 .
;300.0
Es.
l000~'n
250.0
. .1509;~.9 :. -
.. '
. -t3 .
.4
" .'.
. . .. ..
. . 354.8'
'10.77
. 354.9
10.7'7 _ .... 35.4..9
1530.1
. 1530.1
'173.0
173.,0
". ",,:-
:~;.: '10.77
',
'.....
:. ' ~i '_:;C"~f;~on~~'
c" I~: ~ -:':~:1~~~ ';: ;;o~ :::":';~O.8: .: J569;:h~;:';&7;5 :';"
i .'. .,
>.
i
3(1'11;0::
. The exe'cuti~n of the solution follows the steps outl~ned in Sec. '6 ~ 11. A
summary of the trial valueS and results aft'e r the Newton-Raphson ite~tions . "
. is presented in Table 6.6.
'
.
'
..
, shaft power delivered by this system is 1598.5 kW.
, . The
. .
. '.
The
in
_necessary tool s.
..
SYSTEM SDAULATION
131
"
PROBLEMS
~~.;
...-/
Duct
Fan:
where
s.p
IS
to be detennined. The
+ 10. 73QJ.8..
= 80
SP
st~tic, pressure Fa
airflow rate , nJ) Is
t'
Use successive substitution to solve for the operating point, choosing as trial
values SP = 200 Pa or Q = 10 m 3/s .
...4 D.S 6 m31s and ,350.P'J.
132
~:J
---
' I I S? ' ~
,-7>'"
'
o
o
'"==-_~~'O""""--_----'
IL...-_ _ __
'
20
40
Ol' ,
ris'
'/
, '(2.
60
FIGURE 6-14
: Ton}ue-rotativ.e:speed curves of engine
drive and load on a truck.
The, torque-rotativ~-speed
CUIve
where T
w =
,.
torque~
N .m
rotative spe.e d, rls
Engine .
Engine
T
.Load
,
t'c. r)
(J)
Load
(b)
(O)I .rI!bt1
FIGURE 615
FJow diagrams in Prob. 6.2.
...
SYSTEvr
Tfo.J3LE C. f'
P~suHs
of iteratlLJDS ~r.
.. 2
.
IteratioA1.
.
133
1.1
PrG~) ~
- , ,:y I
':f~
tV
.'
""J
,": ~_ .'
1.
.J
o Converging to point
1
::<::c"
'[
, 0 Diverglng } "
6
SIi~i1JUl.TION
,
"
.;L seawater desalination plant operates on the cycle shown in Fig. 6-16,
W'r e is elevated by the condensation of what b'ecomes the desalted water, and ,
flows next through a ste~m he,a t e=<:ctIanger, where itis heated but is still in
, a li~d. state at poin.t 3. In passing 'rough the flo'at valve the pressure drops
and soipe of the liquid flashes into vapoI:, which is the vapor that condenses
as fresh Water. The portion at point 4 that remains liquid flows out as waste
.
at point 6. The following conditions and relationships ?Ie kno\.vn:
~ Temperature and flow rate
~nd
of entering seawater.
V'v'-Q ~i...
='V'\I'>..~
heat exchangers. L.-.:Enfi('alpies of saturated liquid and sa~a[ed vapor of seawater and
@of the
~ ,~
. '
the
hI
== fl(t) ~and
hg
= 12(1) ~
For heat exchangers with one fluid condensing, use Eq. (5.10).
V~
t
',...
Y(\L!-
. - ~-'~ , I....J.---...J
= 15 0 C
r "oJ.. \
~~
Seawarer
= 10 kg/s
Fresh
w8't er,
FIGURE 616
Desalinatioo..ptW[
,-
Condcnsare
150C
134
,.
-,-- .
high-sp~e~ aircrm.~an ~ir-crY~]e r~fri~e~a~jon , unit,is ~s~~ .for ~~bin -:';;. .. ' _=.
. ' '- , coobng, . one concept of:whic~ IS shown In FIg. 6-:17. Eq~~t~tms -available '.' '
.
' for th~ :compress6r' are: powet= fl(tJ,'Pl, 'P2,' in) ~lJ;ll= 12(11, Pl', I), pi).:
.,': .~., .~::. ,"'. .For-t11.e: turbine . .the ..equ.ations .are:" po\Y.ef .~ /3.(t3 ,t ,P3~:"i:L~, P4) ~~d Tjt .= <:.. '- >-~ .~, ,:
-' . ' . "-:f4(t3 ~ 'P3," -w''- P4):~ .w.heie,~jt) )rt~j~at~~~'a:::'fubftt~o~T' o'r':,eq4~tiq~:::fi1- ~teb:ii~~~of ~<~~ -,~,"."~ ~.~-.-~e variables- in .the. p!.r~n.~~s~s, .. A~s,um~.no. i!~ssure,dIop Urrough-..the.. heat.::. -..... ...:~
, exchanger. The compressor-turbine combination operate.s when p1 is greater ' ': '",
'"~4' The following data ~. impose{fand.lmown: PI, II,' P4, the VA of'"
the beat exchanger, and: the temperature and flow rate of ambjent.air through,
!pe heat exchanger. 'Construct" an inform~tion-f]ow diagram- to simulate the
system llsiIig the equations and variabJe~ previously listed: as well as others
~ fthat are necessary. .
.
6.5'. Steam !Jailers s~etimes use a continuous b)owdown of water
control the
n
" am~t.. or: impurities in .e w~t~r. ~is high-temper?-tu~e -water 'is "c apable
,
,- n.), ofheatlng feedwater, as shown lfl:1Flg.. 6-18.'A flow rate of '0.2 kg/s at a
. ( l\
temperature of 340(: is. blown down ~rom th~ boiler. The. fI0:-V rat: of the
V
feed water to the heater IS 3 kg/s and Jts entenng temperature IS 80 C. The
.
UA~alue ~f ~. he feed-water hea. teT ~O kWfK. Equations-for the enthalpy of
s~turated lJqUld and vapor are, respectively, hi = 4.191' and hg = 2530 + 0.41,
where t .is the iemperarure jn C. The system is to be _simulated and the
following variables computed: 11: 1CJ~ WA and WB.
(a) .Construct.. an information-flow diagram.
(b) Using successive substitution. comp\lte the value.s of the variables.
Ans.: 12 = IOB.2C.
'/Jy Gfa... Co~ {\.IyJ.
6.6. I!l a synthetic-~mmonia planrFig. 6-19) a 1:3 mixture, on a ,ml ~lar basis,___ ./ .___ -.~f N2 and H2 along wit~ ~f!lpuritYI argon, passes through a reactor
to
"j.
'>
01'" ..
js
. .~)~.
:&~.
P ~ "';c.r' C> "Ie
~;~.~
'\,,"'"I>
~)
fu
shaft
, Compressor
(J)
rev/s
F r~r:n cQmpress()r
of engine
FlGURE 6-17
Air-cycle refrigeration unit in Prob. 6.4:
135
SYS~1 SThHJl.ATION
\ .'
~;~ .~ ::
.,.'
' .i
.~ . :;
", :, '
I Feedwater hea~er
I .
~===-=''''-===:l
Ft!ed water"!
laooe
-<:i;---~~f.----I"1V\.1rv V\r---fl~~_
~ ~.......
B[o~own
3 kgls'
Co~densate
Sep~tor
1-
r-f
I
I
Level____
.
,tIl_...:...._.
~
control
FIGURE 6-18
Blowdown from a boiler in Prob. 6.5.
!., .
where . some of the nitrogen and hydrogen combine-'to form ammonjuo The
ammonia product formed leaves the system at the condenser and the remaining
'H 2t N'2 .and AI recycle to the reactor.
'The presence of .the inert gas argon is detrimental to the rea~tion. If no
argon is present? the reactor converts 60 percent of the incoming N2 and Hl
into ammonia, but as the flow rate of argon through the re~c[or increases. the
I
NH J N 2 ' H 2 AT
Reactor
I
j
~AAA
.."..,.."
I,
Condenser
I
3
I----
'2
Bleed,
F1GURE 6-19
A syntht:rlt:.!lllf1iiiO.llia plant.
..
- ', ' (
136
percent
co~version
,' ,
Conversio~,. % ~ 60e-<!'016w
.where w is the flow fate of argon through the reac'tor i.n moles per ,second:.
. ::. . To pre\~ent
reaction from coIning to standstill, a"cqntipnolls bleed "
.' . of i5 . inollsof mixture of N2 , Ib, :.a,nd Ar)s provided. Ifthe.in-;;omirig fe~d '
." ": .. . :.,.,
. -' . consists of :l'OO:mol/s oi .N2 , 30b m6l!s:of H 2,, :and 1" molls oCA.f;~s'imii14~~ e'~ ~
.~.':/::i~.:> --:' , .' , this' syst,e;m b)(successive sti1?stitUti,9n' to d~terniine . the "flo\l!'. rn.:tff 9f..~xi1:rre '
. - .: . :' .: :~'. -~:'::<..:~: througfi :th,eire~ctor::~c?:Jhe:,:raie-.::of;~jq~i:. @.UIlb:n:~:a::I~iQdiidtiBii::J1ifi-b:ol~~1>~ri.':;-.:;
the
'.second~ "
.-.
Q . :.
r . .
.. :
'
1.,
-(m- . K)/kW
'
0.0445
wO. 8
(
Water. 30 C, W = ?
A~ 1.4 m 2
) .
~ Condensate. 50C
FIGURE 6-20
Heal exchanger in Prob. 6.8.
+ 0.185
-In normal operation the flovv rate is 25 kg/so The pressure drop in the pipe' is
proportional to the sq uare of the fLay! [a~e. If one pumping stalion falls and
Lh9:t station ~ypassed? v~l o,t ~ill be the flotv rate. provided by ~e .re~aining
n_~ ne
stations?
. through
' . .: . ;:"~- :':','- .. <.C?InP"Qrie~ts~,~e::,.,w::~,.,,:.~,.~.,.,:,..:::r,,:'. ',":' ".-,:: .", "":""""',>, . '.:;,.,." ,.,", . ,,'
~ centrifugal pump-:---: .. , .. flp :=,'!i.~t 2Q '-_.oo,5Q_~ ... ': ' ' ','
' .. :"",",""":'
~ -~
gearpurnp:
Lip
~\40
5Q
'
/.
oJ
.' .'
pipe:
.where I1p '~ pressur~'J;is~' (or drop in the pipe), kPa
I?p
= 1.2(Wbp)~
I1p
= 50 +
5wp - O.lw~
\rv\Vapor
120 K
= 1460 kJ/kg
\e\-Mv"
T = 200 K. h = 230 kJlkg
: "i':. 4.. .
cp s::
T == ?
2 kJ/(kg K)
FIGURE 6--21
Cryogenic liquid cooler in Prob. 6. J2 .
.-
flow rate = ?
..
138
.~ .
Air
{:llr QuI
~--~--~------~~~~~-------'28C
H~
4
M.,
Water
,
FIGURE 6-23
CooHng coil in Prob. 6.14.
...
kgls
4 kg/s
.:; ~
139
SYSTE:VI SIMuLATION
j-
..
Displac~men[
rate =
"
~nd
for both
compr~.s.s0rs
P~i~h )
1A
\Psuc[lon
The
,.
-----------
I
I
r
I
.I
II
I
I
I
I
I
J
I .
"
10
11
12
---.-
..-
FIGURE ~24
Ch'aractenslics of valve in Prob. 6.14.
140
1200 kPa
Intercooler
1
1
.,;".
, A.i!.
,,100 kP3. .
.':... \
'~. '.
'
,~~:...':.:' ~' ..
.'-
.'
.,'
:--:"':: ~':.-:
. Cooling water'
22C, 0:09 kgls
flGURE .6-25
Two-stage air compressio~ in Prob. 6.15.
product of the oyer~ll heat-transfer coefficient and, the area of tills h~t
exchanger is VA = 0.3 kWIK. Assume that the air is a perfect gas.
,
Use 'the NeM,on-Rapbson meth.o d to sim1:l-late'this syste.m, ~eterm.injng.
, at least the values of W ,Pi, 1'), and r3.'Use as a test for convergence that all
'variables change less than 0.001 during an ite~atio~. Limit the number of
iterations to 10.
Ans~: w = 0.18 kg/s. I]. = lOl.Soc, Pi = 387~7 kPa, 13 = 43.84C . .
6.16. A helium liquefier operating 'according to the flov,' diagram shown in Fig.
, 6-26 receives .high-pressure helium vapor, liguefi~s '? fmc[ion of the 'vapor,
and returns the remainder t.o
recycled. The for"lowingoper;:tdng conditions
be
prevail:
Point
(~/apor entering warrp side of heat 'exchanger), ! == 15 K,
kJlkg, W = 5 gls. p' = 2000 kPa
Point 5 (vapor leaving lUrbjne), T = 8 K, h =:== 53 kJlkg, w = 4 g/s
= 78.3
8
w
= 5 g/s
7
VA
=:;
Separator
100 kPa
lOO\V/K
4.2 K
3
'.
-- w
= '4 g/s
T=~K
h =
'FIGURE 6..26
Helium liquefier in Prob. 6.16.
53 k1/Kg
ThrouJing
valve
141
h-:+
!
= 4,2 K~.,
.'
. -.... .
.r
' . "
'
.'-
:' . .<._.':.,.
. ~)t k IiQrg _~,;l(.,L:~:al~ l.OU.kEi.. ,.. -' ~:.:'.' ~',
d
"
. ,_ , . . .
. {6.~' kg/s
evaporator
7.6 kg/s
condenser
I C"
'")
+ O.0013tet~
Condenser
Evnporator
I
Expansion
valve
I,
.
FIGURE fr21
Refrigeration plnn~ in Prob. 6. 17.
.-
qt
2 .,
- O.OOO080005t e't~
142
P.,
kW == -2.634 - ,O.3081t e
O.00301t~
. ~
...
..~:~_... {':'" ~':' .: ~e .condens~r '.~ust ~reje~~ 'rh~' ,e nfrgy a~ded in b~th t~e evapor~tor ~d .~~ '"
, ", ': " ': '~-). , . -, .::'\ ',' .compressor. DeterID}ne the vaIues ~f ..Ie, t c~_ , 'Lj~, 'i .an~' .P Jor th~ . foIl~wlng
.; ; :
...
.~
..
'.
' .1 '"
'_;.',':.
. .:. .
"
'.
f b.
'<?C
'I
I
.-
10
"'~
"
0,25
.1'
i5
10
25
-30
15
1
30
. Continu.~ iterations unta all variables change by ari absolute value less than
0.1 percent'duiing an iteration.
Ans.: For ia ~ 10C ai;ld tb = - 25C. t~ = 2.84C, Ie = 34.0SoC .
q~ ....: 134.39 kW and p. = 28.34 kW.
REFERENCES
1. G. M. Dusinberre and J. C. Lester, Gas Turbine Power, International Textbook, Scranton.
Pa.;,1958.
2. Proceilures for SiJ1lularing the Peifonna,l1ce of Componems C/Jld 5.,,srems for Energy Cal.. clilan'oJls~ American Society of 'Heating, Refrigerating, and ' Air-Cond'i rioning Engineeri'.
New York, 1975.
.
3. H. A. MosIer, PACER-A Digital Compu~er E~ecutjve Routine for ,Process Simulation
and Design," ?\1.S. thesis, PurdlJe University,- Lafayetre, lnd.~ January 1964.
4. C. M. Crowe. A. E. Hamie1ec, T. W. Hoffman, A. 1. Johnson, D. R. Woods, and
P. T. Shannon; Chcmi,ca! Plant SimulaTion; an 1l1!rodllcTtoll 10 ComplJler-Aid~d Sready .
Slale Process Allalysis, Prentice-Hall, Englewood Cliffs, N. J., 1971.
5. \V. F. Stoecker, "A Generalized Program for Sready~Srate System Simulation:' ASHRAE
TrOllS., vo1. 77, pt. 1. pp. 140-148, 1971.
ADPITIONAL READINGS
Chen. C-C . and L. B. Evans: "More Computer Programs for Chemical Engineers .. ' ChcJ1I.
Eng-..-\,oL 86. no. IJ, pp. 167-173. May 21. 1979.
Henley. E. J., and E. M. Rosen: MOlerial alld Ellergy Balance ComplIIa!ions. Wiley, New
York. 1969.
.
Naphtali. L. M . "Process Heat and Material Balances," Chelll. Eng. Prog . vol. 60. no. 9. '
pp. 70-74, September 1964.
,
Peterson. J. N .. C. Chen, and L. B. Evans: "Computer Programs (or Chemica} Engineers:
1978:' pl. L Ch~m. ~ng .. yoL 85" no. 13. pp. 145-154. June 5, }978.
.-
.~~/
---~- .
..
., - :'1,' , . - ' ,
.-.,
J . . .. .
, ,,,,:- ,, ';
.'
"
.
,
~/ -
.'
"
"
:~
7.1 INTRODUCTION
Optimization is the' process of finding the conditions that giye rriaximurr; or
minimum, values of a function. Optinl1zation has always been an expected .
role of engineers, although sometimes on s,malI projects the' cost of engineering tjme may not justify' an optinlization effort. 'Often a design is difficult to optimize because of its complexity. In such cases, it may be possible
to optimize subsystems and ,then choose the optimum combination of them.
There is no assurance, how'ever, [hat this procedure will lead to the true
optimurp.
Chapter 1 pointed out that in desigriing a workable sys,terp ,the process
often COn~lS!S of arbitrarily . ~.uming certai~!:parame.ters and selecting individual f:omponents around these assumptions. In contrast, when optimizaJion. is an integral part of the design. ,the parameters are f~e
float until
the combination of p'a rameters i$ reached. which cipthnizes the design.
Basic to any optimization process is tije decision regarding which
crherion is to be optimized. In an ~ircraft Or space vehicle, minimum weight
'may be [he criterion. In an aUltomobHe t the size of a system'may 'be the
to
143
144
or
The ele,ments of the mathematical $'tatement of o.ptjmi~a'ljon include s-pec. 'jfication of the fu!nction .and ,the constraints~ Let )' represent the 'function
(hat is ....to ..4.be optimized. ca]]ed.,.. the objeclh't junction: )' is a function of
145
o PTl MIZATION
~
-.....
...~ -
.X. I, vt..
2., . ....
... _
1 . \..
ii'
: ,-,..1-
",",,'"
function" then? is -
t.
-,
._
.....
f'
,. ' / 1ft 1 ~
T~
......
.o.f.
- _.
01
" ":<:1
...
. ,
1[-
.- -~/
lfzaepL1Ikl1l ~ all r_ lD
I I
ill
e.). . .
~-"'~.,
0
...,
l:,\;",;,
\~ : ,..
~ , -7 '!1
OIUjCC U \. e
"
.......
'
' <pm
lLe
":';-1
...
"'
1 1'J-"''-~
,ale Cad"c u,
v\ [l! L-!.!.
0,
"
II!;
'
..
..
..
'
-<, 'L 1
X;l)
,.
(7.5) /
-< 'Lj
'The physical conditions , dicta~e' the sense of the inequaliti~s in Eqs.' (7.4) to
(7.5).
'
An a~ditive constant appearing i,n the objective, function do~s not af~ect
the value~ Clf the independent variables -a~ which the optinluin occurs. Thus~
,
~.
'
y = a
,.X n)
+ r(x!,
... , xn)] = a
+ min
[Y(Xl, ~ x n, )]
(7.. ~)
'
sum of It he individual first plus instaUation costs, and this is the quantity
that we wish to minimize.
y (x CP ,x E V
:t'eD,
(7:8)
146
Cooling
Cooling wa.,~er
tow~r (7
I
I
..
'
;' r
,-
. ' _', r !
' .,:
'1
'. -
.I~ j. .-'~
" 1- .
"; '
.. -'.
.' .:-
~ ,
' .
--~ ~'vaporator EV
Water
20 kg/s, l30e
Com pressor CP .
FIGURE '7-1
With only the statement of Eq. (7.8), the minimum could be achieved by
shrinking the sizes of all ~omponents . tozero_ Overlooked is the requirement
that the' combination of sizes be such that the water-chiDing assignment of
providing
.
.
.
'(20kg/s)(I3 - goC) [4. 19 kJ/(kg .- K)J == .419 kW
c;>f refrigeration is accomplished. Equation (7.9) expresses this constraint
(7.9)
where is understood to mean the cooling capacity as a function of component sizes when 20 kg/s of water' enters at 13C. Actually, Eg. (7.9)
could be
inequality constraint, because probably no one would object
t<? a larger capacity than the requir em.e n t of 419 kW if the cost were not
increased.
Some
practical considerations impose certain inequality constraints.
\ ~
The syslt em should be designed so that . the evaporating lte mperature lev is
above OC or, at the lowest, -2 to -] C to prevent water from freezing on
.. the
tube surfaces. This constraint i's '
.
an
.,
lr.v(XCP,XEV,XCD,XPtXcr)
f:: OC
(7.10)
(7.11)
th~
condenser
OPTIIvHZATION
,"
CO(}Hng--water
F1'
LO~i:!
- "
l
l'
.
to (tne
SIze Of.I: [ he COGung
to-;,Ner to DreYC:tlt It
-,
In reJ.atlOII
3_4 7
'
'
I I
'
,'-"
JJ,-
,The elements qf the ,optimiza~ion problem are all iJlesent h~[e,. the
, objective ftihction" equality constral,nts~ and inequalIty. constr.a~Qts~ _, all in
, ,teTITIS of-the indepenqent ,v~, ?-?~es-, 'yhich ate the sizes of ,c~mp~~ehts~, ,- _,_,' ,
.
.'
.'
...
..
~.I.
' .
In the' ne~t fe\v s' ecti~~s " ~~y~r~i, .'~ptiilli~'~tio.n metllodS ~/ill be'listed.
Although this .list hlcludes most, of the, frequently used methods
engmeer:ing pra~lice, .it is novvhere- nem:' 'exhaustive. Tn the optimization of systems.,
--.it
is almost axiomatic that.'th'e objective function is.. dependent upon ,more
,
"
.
'
I
than one ,variable. 'In 'fact, some theffilal systems may have dozens or even
hundreds of variaples w~ich demand sophisticated optirriization techniques.
Whil~ considerable effort may be required 'in the op1timization process, '
, developing mathematical relationships for the function .to be op,timized
the,' 'constraint~ m~y ~so require consiqerable, effort.
in
and
also inefficient. The search m'eth~ds of interest are those which are efficient,
particularly when applied to multivariable optimiza.tion~
When applying search 'methods to continJl0us functions, since only
':qiscrete points are. examined, the ~xact optimum can only be approached,
not reached, by a fmite Dumber of trials. On the other hand, when optimizing
systems ,where the components are available only in finite ,steps of sizes,
search methods are often superior to calculus methods, which assume an
.'
infinite-gradation of sizes.-
- 148
7 Js DYNM.flC PROGRAI\1lVUNG
'">
"
"
.)
. The word ~'progiammingtt her~ and in Jthe next several ,sections means
optirp.i:z:ation and has no direct relationship with ~oP1pyter pJ;"ograrllining
. ... for example .. This method of optimization; introduced in Chapter 10 ~d
:. ' ,amplified in Chapter' 18, i$ ijnitlue in that the result t~ an:..opti$1ti~rF_furicpob ,
:' ::"_ ",rather ~', an op..4m~m state P9irlt.~ th~ .fesult:of1!i~,~opiiiiiizatio~:draii ihe
:;:~:~'~:' ':'. \?,,~ ~other~meth~ds::riiention~
'( f se(6f \i~ues',
the indepeI)deni: y.arjables
'.~'
l'
X'n : that. result i~ ~'e optimal .value 'of the objective function y .' Tht
problem atfacked bydyn,affiic' .progrannirlng js one where the desirt?a res.ult
.is' a path, e,.g.', the best route of a gas. pipeline. The result is ther,efore a
function relating seve~ , vm;:i~bl~s. DYDainiC.P~~~m.mIDg 'is relate,d. to the'
calculus of variations,"'and it does in a series of.discrete processes what the
calcul:u's 'of variatiqns ,does continuously.
';.
l
..
,"
of
here',is
"'. x to
.,
of
.'
0P11MlZATION
1!.J9
"
hI.E equat1.0n
.,..
,
te mpera.ture an d
' pressure
" etc ." (2)
\- d.. eSC[LE.
rOTfC
the component characteristics and prope.rties qf'working substances, and (3)
'write mass and energy balat1ces., Opera'tions (I) and (3) usuar.y provid,e a set
of equa.tions contaiping more variables ,'il1.Clll 'exist in the objective .functiol1 ~
The set :of contrairlt' equ?-tions is then reduced in nu~nber by'.efiininating .
l"
' .
'
HJT~t2.tlOn. S
0,.f
':_:. " ..,'~-'y2I[i?-bl~~.' th~t go no:t ,e~?$;,t: il~,<t~::e , qtJjec-~ve fu.~~tiori, : ,Xt. should.:J?~. 'pQ.~n~~,~;:'.:':,: ~,
, ',: ' ~"o:ut; hQwevet p,;t~~t So.rne~0.pJijz~6,nJ~,~h~:~R~~~)?,~qp,~( a~.~i.!J9.P~L~~~~1~;~.:, ,~~.\:
,'in th:~ constraihts ' that do -pot exist: in -iti.e: obj~cti;V~. fifn~tioii. s.t~p~~(2)." and"-, :...- -...:
(3) i~ sel~ing 'up the constraints .are similar to ttIe process used in structu,nng .. ',
asystem-sirimI'ation problem. ,
' ,Ex~mple 7.~.
is
The .flow rate of c<?mpressed ~iir is 1.2 kg/s, and the specific heat
1-0 kJ/(kg . K). The flow rate of \vater is 2.3 kg/s, ~d its specific heat 'is
4.l9 kJ(kg . K). The water leaves the cooJin'g tower at a tempera~ure 24-C.
The system is to be designed for mInimum first cost, where this ftrst cost
comprises, the
of the refrigera~ion .unit, preco~l.t:, and c99jing tow_~r,
design,ated x I. X2, andx3, respective1y, in d911ars. The expressions for these
cost
costs are
Refrigeration unit:
(7.12)
=,
.Wnler
2.3 kgls
.-------~--t---------1_.~,
Cooling
lower
Compression power P. kW
tI
1\ir
95C
1.2 kg/s
Precooler
FlGURE 7-2
Reidgcration
, unit
II
~I
'q)
150
Precooler:
f )=
.50q2
13 -
(7.13)
t~
..
-l'3
".
= 2Sqj
,:: ..; ... ,where . th~ q '5 arerates ~(heat trflsferin kilQwatts~ ~S desi_n ..d in Pi .7'-2. -,.
. : . ,~,< Th(coinpressjon power P k\V requi~ by~the~getation unit in 0.25
'. '..
Total cost .= y =
XJ
+ .\"2 + -'"3
. (7.15)
10)
(7.16)
I J)
(7.17)
. t;OPTH"UZATiON
151
.:_:.
'~ "
.':', .'
. !Coolirtg t~~~r:
'\f.~: . -'"
'
"a
-~
"',
":
.....
'
(1:2)(: 1.nr(-95 :~ 1-3J:: ~\" f2':3){4:'i9),t f~;; .-l.'ct1~.y'".'\; </ ;:' t '"- ";."
,..
Q3' "
(7.18)
. (~.19)
P
XI
= O.25q,
-'
X3 -
+P
. (7.21)
= 48ql
x,=
ql
(7.20)
. ' 50q~
.(7.22)
13 '. -/1
(7.23)
')-
_:1q)
(7.24)
. (7.25)
(7.26)
(2.3)(4.19)(t2 - 24) = q)
There are nine equatio~s in the set, Eqs: (7.18) to J7 .26) and ten
unknowns, q,. q2t Q3. P, XI. -'"2 .'(3. t), 12, and't3. The next operation
is (0 eliminate in this set of ~q'uations all but tb.e variables of optimization,
Xh Xl. and X3. As the elimination of variables and 'equations proceeds, there
will always be one more. unknown than the number of equations, so when
all but the three x 's are eliminated, there should be two equations remaining.
These two constraint equations are Egs. (7.28) and (7.29), so the' complete
mathematical state~ent of this opti.rrUzation problem ~s ns foUows:
Minimize
subject to
y =
O.01466xIX~
- 14.t:1
XJ
+.t:. + x 3
1.042tl =5100
(7.27)
(7.28)
(7.29)
i~
to
introduceprocedu~s
for setting up
'
. ;
152
.
The constraints are an fite gral .part qf the statement of the optirniza~ :
tidp. pr~blem .. The obJective function without the constraints is meaningless
Oecause .."the x 's co~ld all shrink. to ' zero and ther~' would be. no..cost for
. .the .system. The cori~trairit in':Eq ~ (7. 28) ~q*e~ a: positive valu~ of Xi
'.' . .: .. ' ' which' tbe same asj:equiring. the I existen.ce 'of "
a refrigerati6n-uni~.
~rom
.
. .
~'~'i;~: , .:'.. )l;~~~:-~ansfeJ,:. ::c;~nl~~d~t~tions , the.preeoo!er can c?ol the..air no .lower than:. a'.,
'. . ".', ~temperat:Ure of24-~C<':~\Ib~~ritu~~:%.~,.};::.::O..?*~.::Pl7u (?., ~8) makes x 2 lnegative,
. . . w~j~4 is p~ysic~I:y, i~PQ~~j91~."Equat.ion.:(I~~2~f:~?e.S~p~~~~>J.::..Y:?;~!~~~ZtP;:/.
: in wlllch case all cooling is penonned"by .the,. I~fri.gerat.i6tl IDlit:,: :.;. -.'- .:' .: :'.' -,
. - . The constra"int equation (7'.29) imposes a miDi~lJ,m VaIll~ o,f thec~ol':: . '
'.. ing-tower size aDd cost x3.' As' the size of the refrigeration unit. and Xl
. increases, x 3 al$o increa~~s because .of the compression power associated
with the refrigeration unj.t..
, y .... . .
. "'
."
is
.....
,',
'
. 7.13 SUMMARY
While it is', true that eng~eers have always so~ght to optimize their designs,
it has been only since the widespread applicauon of the ciigital computer. that
sophisticated m~thods of optimization have :become practical Jor complex
systems. The application of 'optiID:izarion technique,s to large-scale thermal
systems is still in its infancy, but' experience so far indicates that setting up
the problenl to the poinr - where an optinllzeition method can take over tep. resents perhaps 7.0 percent of the total effort. ~e emphasis on opt.i~zation
techniqpes in the next five chapters m-ay sllgge~t mat ~ngineers are home
free ,once they know seve-ral nle~ods. Realistically, however, the execution'
,of the optimization can only begin when the characteristics of the physical
system have been converted into the equations for the objective function
and constraints "
',. . ..
!
PROBLEMS
7.1. A pair of pumps j,s available to fill a tank from a constant-level reservoir,
as shown in Fig. 7-3. The pumps may be operated individually or together,
J,
and the objective is to fill the tank using 'a minimum total amount of energy.
The pump characteristics (head-flow rate) are shown on the graph, and both
\.-
pumps have the same efficiency as a function of flow rate, State clearly the
m.ode of operarion of the pumps over the enter filling process that- resul ts in
minimum total energy.
. '.-. ,
7.2* Two heat exchangers in A circulating water loop, as shown in Fig, 7-4.
lransfer heat from a fluid condensing !l't SQoc '0 8 fluid boiling at 20C. The
requi~ed rate of heal transfer. is 6S kW. the U value of both heat cxchangeI:s
is 0.03 kW /(mJ K),
fir~t cost of the heat exchange-rs is SSO/m,2 of heattr~nsfer area, and lhe present worth of the lifetime pumping cost in dollars
is, 12.00011.1. Develop the objectilve function for the total jJresent cost of the
__~.YSI1malOng wilh any ~onstrainl equation(s).
.
.
.
me
~&~.
~t
r'
:. ~;:", . .-:.. - ..
DP111v:!lZ..A.TION
153
"
. . . : ~i. .
==
.' -
"Wv"
::-
~"',,:v.~:~~:" (
J -,
'~ Tan~'
o
..
t.
'
~
~
: .;:!
20 Q.Us
10 .. .
G(
-~ (\-\ - 8 )
...
?S
.'
.'
-'
"
60
50
40
i>
0 30
!;:
~
OJ
~o
Power ==
(Head)(Q)
.
Efficiency/l 00
FIGURE 7-3
Combination of pumps in Prob. 7.1.
1'2
w kg/s
""'-""'"'!""..-+-""
,. . ......"l,;'
Heat
exchanger 2
-~.
~OC
liquid
,
FIGURE 7-4
.-
, . 20 C liquid
10
20 Q.l/s
154
"Air and
~O%
CO2
Extractor I '
Size=A
- , ... .\ . . "';
:Q m3/yr";~
Ak and'.cO.,,~ ."
".
..
, J.
~' .,.
~ ' . ,
'
,,:
..
: -..
"
. .
. .. :7
.:... ... ~,
I; .
~": '-:--
,;''' '-:.
. ~~.. ,. ,:
. .
7' -~ ';:'~~""'~:r .,::,-~ - :::-_~1 .,!."'-': ~~id~~Ij.~'~ ::--::-.~C01.-."; ; ; -:\ ,' ~'~'::>_
.;""' ~': _
..-.:;
-! '
Exhaust
air
.
, aildCQl
"
F1GURE 7-5
Carbon dioxide extraction in Prob. 7.3.
'/
/ .
7.3. A plant produces C02 by ex.tracting it from a mixtUre of CO2 ,and air ~ ,as
:"
'shown in Fig. '7-5. The feed rate o(the' CO2 -air mixtUre is 5 X 10 9 m 3/year.
Jpe system consists of two extractors-Extractor I of low cost and lowefficiency, and ExtraCTor II of high cost and high efficiency. The CO2 , in
m3/yr removed by Extractor r is (total m 3 Jyr entering)(x)(l - e- AI2OOO ), and
that removed by Extractor n is (total m 3Jyr entering)(x)(] _',e BIJOOO ), wh~re
the x's are the fraction of CO:! in the feed stream. Th,e annual capital costs
of the extr4ctors in dollars/yr afe 30aOA and 500DB, respectively. The value
of the CO 2 product is O.OlQ doUars/yr. Develop the objective function and
constraint(s) in" terms of A lB. and Q. '
7 .. ~., An optimum shell.-and-tube heat exchanger, as showri in Fig. 7-6 has a VA
I value of ]500 kWIK and has a pressure drop of the tube f1uid of 300 kPa.
Applicabl~ equations are
'
"
, ' ,
A = 'O.2N-L
V
]1 U
= 5A11/V
;:: 0.08 + 111;
;=
N = (7T D 114)J160
0.08
1/(0.4 V)
= 0.005 D,2
of
In
The pressure drop of the tube, fluid per lInit Jength of tube, kPalm, j's
--.0.' y.,. The optimum h~at exchanger is one of Je~st COS[ thai meets the other
OPTIMiZATION
15S
. .
. .FI~URE 7-6.
7.4-
requirements, and the cost is a "function ofL ,and D. DevelQP the constrnint(s)
ln tepns of Land D.
'
7.50 The flow ~ate of raw material to the processing plant shown in Fig. 7-7 'is
1.0 kgls of m.ixture consisring of 50 percent A and 50 percent B. The separator
can remov~_some of marcl1al A in pure fonn. and tnis product has a sellip,a
price of $@ per kilogram. The other product from the separator sells for~
per kilogram,' and some of this ~tream may' be recycled. The cos.t of operating
the separator in dollars per set;:ond is
(a) Set up the objective fU'Qction in terms of Wl, W2, and x I to maximize the
profit. The cost oftl)e iaYJ rnaterial is constant
"
Mixture of A and B
W == 10 kg/s
~----~---u-
x = 0.5,
separatO(' .. ~
WI ';X.
.(
.or ,
A_ ' _ _
to-
'- .
~--~------------~$~g
' - -_ _ _ _ _--11
fiGURE .1.:_
-$lO/kg
w),..t 3
"'4. X 4
156
..
92
'
, '
1. 1, '
9: . .
",
-4HCI
",
,.:
..
',The. 'p lant receIves 80 'molls :ofHCl and 20 'moils 'o f Oi. "The c~nvertet is
, :' -' '~--'~"' :~" ~ ..' ~' : cap~bl~,~ of:achie1{i~g, pn~y, ' ~Rarti.!:{. ~~!1v:~si.qn, ', ,~~ the unreacted H~f and
I
.. . .
"
--
, " 'The -fIrst cost of-the ~system.is to, be. -minirn.,ized~" arid' ,the' inajor"- vari',~liI~:
-affecting , th~ cQst is that of the converter :vhose 'co~;t" i~ r.epresented by: ~, '
,
Cost per
-'
'
,24 '000
of reactants at A, dollars =:== 800 + ,- -'--
100
iX
'
Ylhere x
or
fll01ls
Determine (a) the objective function ofw and x and (b) the constraint(s)
that permit optimization for minimum cost:
Ans~= '(b) 11o'X = 10,000.
7.7. A supersonlc wind-tunnel facility is being 'designed in which the air \vilJ
flow in series through a con1pressor, storage tank_' pressure-control ' va1ve~
the wind tunnel, ,and' t.hence to exhaust., During -tests a i1o,w rate of 5 kg/s
' nlust be "vail able to the wind tunpel at a press'ure of 400 kPa. The test~ are
intended to study heat transfer, and before each test 120 s of srabiJ'ization
tiDle is required, during \-\'hich 5 kg/s must also flow. A. total of 3600 s of
useful 'test tini.e is required during an 8-hour period. and this 3600 s can be
'subdividedjnto any nUDlber, of equal-length tests.
,
The mo<;le, of operation is to start the compressor and allow it to r un
continuously at fulJ capacity during the 8-hour period. Each cycle consists
of the foJlowing stages: (1) buildup of pressure in the storage tank from 400
LO 530 kPa, during which time there is no flow through the wind tun'nel.
(2) 120 s. during which the flow is 5 kg/s _and the storage -tank pressure
begins to 'drop, and (3) the useful test. during which f10w is 5 kg/s and at
the end of -which [he storage-tank pressure has, dropped'to 400 kPa .
SOmalIs of HCI
20 molls of O:!
..
A
Conye~r
Cooler
Separator
.......--
w moJ/s
Remoyes
., all
Wnter
FIGURE 78
Ch1cri~.,~ ' jn Prob . 7.6.
..
w~ler
Remoycs
, all chlo6f\t
A 'p ressure 400 kPa is available in) the storage tank at ITle start of the
day. .
I "
'
. .
,~
.'
. -.
I ,
'", .
. ... -
Cost
.... .
';;'- '
".
. I
(-
1.5V
J"
0.214 V = 5 .
3800
6500
8800
Combustor
~,kW
-1--
3800 kW
Low-pressure
steam
Propane
Air
6500 kW
t
8800kW
Auxili.:uy,
t - -_ _-tr--tll
Boiler
burner
FIGURE"""""''''''Y-
.'
High-pressure steam
158
perc~~t
of
,.,. ~ .
steam
+ O.441q2
18,820 kW
qJ + I .665q2 ~ 3.1,880 kW,' . '
7.9. Nagip2 discusses improvement in the <?perating efficiency C?f a gas-tUrbine
q)
cycle
:>
The
by
del~vers
+ 273).
Exhaust
480C
Regenerator
Boiler
820C
Combu,l\lor
2
Src;lm loop
J05C
Shaft
FI
,
32C
45 kg/s
Compressor
Absorption
rdriserBtion
Precooler
FIGURE 7-10
Precookr of gas.turbine inlet air in Prob. 7.9.
-.
.'
Turbine
OPT!MlZATION
b
159
The flow rate of gas through the;cycle jis 45 kg/s, and negligible 3dditiOD
.of nnss at the comb~stor is assumed.' . 1,
"
U value
of the boiler
bas.e d 'on steam-side ;)iea~ 0.15 kV!/(m~ . K).
.
.
U value ofr~~nerator", 0.082 k'\IV /(m 2 . K}.
':I"
'.
'
, I'-
, Cost data
'r'
Present worth ,of pO'wet genera[,~d during the life of the plrulL 2'25P
dollars
Present worth of fuel cost for the plant life. 45Q dollars
, First
of
t
(a)' Develop the obj~ctive function for the total present worth of the profit of
the sy~teIT.l in terms of A, B't C, Q', and P .
(b) Develop expressiqns for the temperatures tit /2, t3. and t.), in terms 'of
the variables of part (a).
.~ (c) Develop [he constraint equations ,in terms. of the variables of part (a).'
Ans.: (b): ') = 32 - O.0222A
t'). = 262.5 - O.039A
,
13
14
= 262.5 - O.039A +
= 480
'217.5 + O.039A
S48.8/C + 1,
217.5 + O.039A
548.8/C + 1
"e-O,OO5~~6B) == 0 '
"
-Q - (45)[(557.5
+ '~.039'A
217.5 + O.039AJ
0
548.8/C + I
=
.'
-160
Sea water .
x = % salt
Treatment
faciliry
3% sail, Q kg/s
,: -
w = flow rate of
Desalination
plant
., '
FIGuRE 7;'11'
pe~aliIJ,atiDn
Y . == % salt
. .. .,
no
Q=
REFERENCES
1, B., G. \Vobker and C. E. Knight, !Y1echanj~a1 Drive Combi~ed-Cyc1e Gas and Ste.am
, Turbines for Northern Gas Products:' ASME Pap. 67-GT-39, 1967.
2. M. M. Nagib, "AnaJysis of a Combined Gas Turbine and Absorption-Refrigeration Cycle."
ASME Pap. 70-PWR-18, 1970.
ADDITIONAL READINGS
Beveridge, G. S. G. and R. S, Schechter: Opli!11ization.~ Theory and PracTice, M,cGrawHill, New York, 1970.
Denn. ~1. M.: Optimization by variational Melhods t McGraw-Hill. New York, 1969.
Fox. R. L.: Optimization Methods for Engineering Design. Addison-Wesley, Reading, Mass ..
197}.
'
Ray. W, H., and 1. Szekely: Process OpTimiz.ation, Wiley, New York t 1973.
Rosenbrock. H. H. and C. Storey: CompwQlional. Techniques for ChemicQI Engineers.
.Pergamon, New York. 1966',
Wilde, D. J .. and C. S. Beighr1er. ~oll':ldations of Op,imizaTion. Prentice~all, Englewood
" ,
.
.
,,
.
Cliffs. N.J., 1967.
t
..
.'
) I
~:-:--,-,.~ ;~ '.:2r.::J-~,'~:'-'
.
~
' .
. '-~
......
. '.
.'
. ..: .....
-'
""~ .~~
.
:. '
...
'.
>
.'
'
..
LAGRA.NGb
MULTIPtIER~S
in noncalculus methods.
.
.
This chapter presents the ~grange multiplier equations proceeds to
'the interpretation ,and mechanics of optimization using these eqll,ations,
'and then .begins the presentation' of the background and visualization of
constrained optirn.ization. Since unconstrained optimization i.s on ~ y a spe
cial ca~ of constrained optimization. lhe method of Lagrange multipliers
I
161
162
aU
is appljcable to
situations explored
in ,this chapter. this chapter also
explains hOVI an optimum con~ition c~ be tested to establish whether the
condition is a maximum or a minimum-:and,1 finally, introduces the concept, :
of the sensitivity coefficient. , : .
'
, Op' timi~e ,-
"(8.1) ':
(8'.2)
, subject to.
, (8.3)
The nlethod of Lagr~nge multipliers -states that the optinlum, occurs at ,values
of the x's that. satisfy the equations
V'YI V '1 ~"Xm\l m = O'
1(Xl1'. ~ ~,XJ1)
cPlI1 (x 1
=0
X n) ~
(8.6)
0 ..
[he remainder of the chapter' explains the meaning' of the symbols and oper~ ' .
ations desjgnated in the equ,ation~, the mechanics of solving the' equations,
. and appljcatlons, examples, and geometric visualization of the Lagrange
multiplier equations.
.\' Y =
av . + a)" . +
ax J " ax 2 -
--11
---)j
.
... + -ay
-I
ax
, n
(8.7)
\vhere i J, i ~, ... , i" are unit vectors, which means that they have direction
.and their magnitudes are unity.
. ..
;" J x~,
and x),
------
."
LAGRANGE MULTIPLIERS
I>
,f_
63
I )
. i3 " .
' ~ '
-. -1,- ;,. I~
.;
:t
:.
. '\
'
,
.. .. .,.J,..~
X:z
.. ' .11
' Y-"
--:-"--~.
' ..
I"'~"."
.~.
"
.~
"......:. ..
", .
FIGURE 8 .. 1
. S~lid object in"wbic1;l ~ scalar, the temperature, is express'ed asa function of x.,
Xl,
and
.l3.
'1,
'
Vt ~ (2'+ x2)i l
"
(Xl
+- ~~)i~ + (2t"2Jt))i3
where if, i 2 ,' and i3 are the unit v'e ctors in the Xl, Xl, and X3 directions,
respectively. The gradient operatioq is one that cO(lverts a scalar quan.tity
. ~to a vector quantity.
- .
(8.8)
. .. . . . . . . . . . . . . . . . . . . . , . . .
(8.9)
These n scalar .equations, along ,r 'ith the m constraint equations (8.5) to
(8.6), form the se't of n + m simultaneous equatjo.ns needed to solve Jor the
same number of unknowns: xT, X1 ..... x! and )Q,A2, .. Am. The
asterisk on !he oX's is often used to indicate the values of the. variables at the
..I
164
optimum. The optimal values of the-x 's can be substit:ated into the objective
function, Eq. (8.1), to detennine the oP,~imal value of y , designated y If!.
, The number of equality constraiD:ts ~ is) always. Ie's5 than the number
, .of -v.ariables n . .In the limiting case where ' m = n the cons,traints (if they
.. are.independent .equations) fixthe valu~s of the x's~, ~~ ' no : optirtpzationis
1
.;.
"
" ,,'
. , ' . '
. _'..
8.5 . . UNCONSTRA!NED..,OPTIl\tlIZATIQN"
'.
.
. '
.
'
~'~"
~ ~
... . .
" :
,. . .,. .
! .
Th~ Lagrang'e multiplier equations. can be used to att~ck Gonsttain~d " 'opti
mization problems, but the equatio~s apply equally well to unc0Il:str~ined
optimization. The unconstrained 'optimization is a special (and simpler)
of constrai~ed optimization. The objective-function,y ' is a function oflVariabIes Xl, ' - . . ,- X n
case
. ' y -:- Y (x 11
- - , X
. (8.10)
n)
.
are
(8.1.0}~
since
(8.11)
.or
ay
ax}
av' .
av
ax"
- - '=
'(8.12)
The ,state pojnt where the derivatives are zero is called a critical point, and
it may be a maximum or minimum (one of which we are ,seeking), or it may
be a saddle point or a ridge or vaIJey. Further mathematical analysis may
. be necessary to detennine the type of critical point, although in physical
. situations the nature of the point will often be obvious. We shall assume
jn the ~emainder of tills ch~pter that Eq. (8.12) describe a maximum or
mlnlml,lm. '
= 0 = . ay
ax I
aX2
)' = -
X2
1.,
X3
J6
+ - - + -x + X JX)
Vy == 0
..
or
oy
0)'
d)'
ax.
ax~
ax)
--=-=-=0
LAGRANG~\1ULTIPUERS
165
. ' .,
'
"I.
.".
' .'
",
Minimu~
dY _ dy.
oX
~ .: .I. ,
where
= 0
ax}',
FIGURE 8-2
Unc'ons[n;tined optimum occurs where panial derivatives equal zero.
'lay = __
1_
ax)
:c l.x~
_1 = 0
16
.x; =
x;
x;
..
166
,-
.,
"
,. -
"
'" "
1":" '-'-,
',,,:.,;"
~.
~ ,~ ~ .- ~
\-
. . ./
FIGURE 8-3
Heat exchanger in Example 8.2.
3. The cost of the floor space occupied by the beat exchanger = 320D L,
where L is 'the lengtJ: of the heat exchanger and D is the diameter of the
sheJ], both in meters
The spaciQg of the rubes is such that 200 tubes will fir in a crosssec.tiopa( area of 1 m 2 in the~helJ.
Detennine the diameter and length of the heat exchanger for minimum
. first cost.
.
or
640
~D
LAGRANGE !vl'L1...TIPLlERS
eq u.ating
'0
"~ 67
zero yiel. ds
:
. TID:'
D *. ='0.7
!.
:Su~stln;tin~:'b.; opU.i;i ~vallle' of'D'B~di(tifi{d;illd'tonsrrn;n tgi ve's' ' , ~ .,. ;,- ,: :, ' '
.;
.
L
.;. "
"
...
"- "
"
1.3 m
~'
'
is
(8.6).
Example 8.3. ,$oIve Example 8.2 using the Lagrange multiplier equations.
Solution. The statement of the problem is:
Minimize
y = 90.0
tV/O
(8.14).
'Vy = ((2.5)(1100)DI. 3L
nnd
(8.13)
320DL
507fD 2L = 100
subject to'
The
+ 1100D 2. 5L +
, 'V
+ 320L]i, +
lOO7fD~'il
(1100D 2 ,5
320D)i 2
+ 50'TTD 2i 2
2750DI.$L
.f.
50rrD1L
=:.
loo
A. From
the,'
168
i 1 equation
A'= 2'i50D
: "
1J
j+ 3~O
~OO1TD
:.
. - -::"
..,"
~-
-.'-' "
..
" ."
. '
: .... ~.,.).
"
,~
.'
.~
','
"
: '"
..~ ";" "'~': ,: ~ ..;' Substifutiri'g. thi~\\laiue 'of .Qj~t~:~.~ c~(jJ;ls~n! give~ " . . .
. . ,
~ >.~.t)~~;~-~ '~~;'::~~':~'-';~'~";~ ~::~:-_;~:~'. :::;~n(::':;.-:.~<~A:/;:, -":':..'
'" ':' '. ." , .' . .'" ... ' .' .'
.
and
The objective"fu~~tion, Eq. (~.13), is. sketched -in Fig. 8-4a.' So lo~g
as - ei~er ~ or D is zero, . the cost is, $900 _ As Land D -increase: -the
cost rises, providipg a \Yarped surface. that rises as it rn6v~s away from
. the v~rticaI axis. The problem takes on meaDjng only after introd.uction
, of the constraint in Fig. 8-4b, which is a curve in the. LD pla'ne. Only
the vertical projections' from the constraiIH up to the objective function
surfa~e are perrrDtted. The minimum value pf the objective function along
"the projection js the constrained mlni~um.
.
Since Example 8.3 had only one co~stnrint equation, only one A
appeared In the' Lagrange multiplier equations. There will be the same
Cost
Cost
Constrained
900
(0)
FIGURE 8-4
Objective.function surface (b) wjth constrarnt added.
(0)
---
..............
-.. "..:...:.~-.-
LAGRft..:l'iGE MUI.."IWUERS
169
met.hod4
'.
.:J"
..,'
'L .-;:.
The 'purpose of this section and tne next is to provide a visualization of [he ,
.
.
Lagrai1ge multiplier equations. The pres~ntation \-vill not .be a proof I but a
g~ometric displ.ay. Tbe first step in provid~ng the. visualization is t<? show
that the 'gradient 'vector is normal to the contour line or .surface at the point
where the gra~ient is ' being evaluated. If y 'is a. function of x i an~ X2, a. . ,"
contour line on the x I VS. X2 graph is a line of const.ant y., as shown in Fig.
8-5" . FroID calculus \ye recall that
~
'ay dx 1
ax 1
+.
'
Bv ' '.
-J-
ax]
dX 2
Further substantiation of the method is provided in Chapter 15. and a proof can be found in
the book by Wil~e and Bei.~htler given in the Additional Readings at tllc: end of the chapter.
.ll
FlGURE 8-5
Con tour Jines (curves 0 f constant y) whe n
::a:
I (x It :c 1).
170
Th~refore along
, dy
; ~'
. '
"
'
=0
' . iJy
==
~ dXl
'dX f
,,dXI
ay_
+ -dx2
aX 2
. . " .'
= --',~~:-' ~~,<:.'.~, ,: "',::' ;" :-'n'. : ':"";:,' " f ' "~":'~~J: ;~,l,
',': ,
,-'"
" .
. ~ . .'
",t'
,......
' .
-.
"
..
. '-
(8.15)
, -",.J
+ dX2ii
(8~16)
constant
line; has dx 1 ana dX2 related accord~ng to Eg.' (8.15); substituting dx I from
"
.
'Eq. (8.)5) into Eq. (8.16) yields'
(8. 17)
T=
aVJax
-
( By/aXl
)'2: + 1,
Equation (8.17) is the unit vector that is tangent to the y - constant line.
RetUrning to the gradjent vector and ,dividing by its magnitude to obtain
the unit gradient v~ctor G, we have
--Vv'
G
= IV; I -
J<8y 18x d 2
(8.18)
The re] ationship between the vectors represented by Eqs. (8.17) and
-(8.18)
"that one is perpendicular to the other. If, as in Fig. 8-6, the
con1ponents of vector Z are band c. the perpendicu]ar ve~tbr Zl has
-components c and -b. Thus, the components are interchanged and the sign
of one is reversed.
'
'
The important conclusion reached at this point is that since the gradient
. vector is perpendicular to the tangen~ vector. the gradient vector is normal
'is'
)0
,,"
.'
. )
.; '
"I
... 1
-.
'.
.. --
~.., -'
..
1"",
,'.
,. .
' !.
- ',
'
.
:~
FIGURE 8-6
c
y=5
FIGURE 8-7
A gradient vector in three dimensions .
VY
ay
--al
ax.
iJy
- .-12
aX2
oy .
--I)
8X3
(8.19)
,
is nonnal to the y == constant surface tJ:l .~t passes through that point.
The magnitude of the gradient "vector indicates the rate of change of
'the dependent vru1able with respect to the independent variables . Thus. if
I
171
172
'in
.;
.'
.-
) ,'! ,.
'"
- I ,
.~ . '
'.
','
- '
be
(8.20)
subject to the constraint
(8.21)
,
,The
Lagrang~
mulripljet equations
2
(2 - A:X 2)11
~e
(3 - 2AX IX2)12
-=
and
x; ,-
are
x,
Consmlin[
= 4&
x)x5
3
2
, 8
.1" I
'
I'
fIGURE 8'-8
Optimum-occurs where the constrahlt and the Jines of constant), have s common normal.
173
LAGRANGE MULTIPUERS
G-
the (x ], ~ .\:2) position rh3.t provides the constrarncd optlrn.lirIl~ p o~nt A. ir;.
Fig. ' 8-8 .. The process of visually CLTTiving .at lth:ls s.o llq:ion migh ' be one
of foH6vving along the constraint line unti.I the co~.str~int and the line .9f
constaL.t y are '.~paralleL " Stated J110re precisely , the tangeat veCIors to the . curVes have th~ same direciion.
. . ,
' , ' ... .
. AI-: more cQu,'enient- me,a'ns:-:~f reqn.i-~,yg JJ1.?J the , ~f-!,ng~nt ' ~~~r::tors '
..:tile' same-direction is",to. ~~ql)ire~ ihar ,.qle,..nonnal :vec~(~n;s.Jo, tl~eF.cllr-ves;,b~ye~Jh~~,;.~ ;'~:,..~~:
'same' direction.' Since the 'gradient vector is nOTIDfd- to -'a' conto~r lin~,' tIle' ...... .
inarI)e~.atical state'merit' 9f 'this requirerri~nt is , . '
..
. . . , '
have. .
VY '~
A-V ~ 0-
(8.22)
is'
,optimum.
.
.
. On the other hand, a brief discussion of the classical tests for maximum
and minimum provjde fuIther !nsight into the nature of the optimization
process. The discussion will be limited to the optlffii-zation of one and 't~o'
variables of .~n unconstrained ~unctioI1.
Consider first the cas'e of one independent variable y = y (x) for which
'the minimum is sought. Suppose tha:t the point x = a t .jl$ the pos,ition at
whfch the minimum is expecte(~ t9 occur. To test' whether the value
y at this point y (a 1) is tru.ly a ~nimum; move slightly in both possible ,
directions from x = a 1 Ito see- if a lower value of y can be found. If a lower
. value is available. y (at) is' not' die minimal value. For the mathematical'
cheek, expand y in a 'Taylor series (see Sec. -6.9) about pOin-t X= al
of
-.
y(x)--== y(al)
- ,.
'dy
-- . . ' 1 d 2y
+~
d (x ~ aJ) + - ~2 (x
x..
2 dx
- G'I )2
(8.23)
174
First examine. moves so s-m al1 that :the (x - 01)2 tern1S and higher-rorder
termS can- be ignored;. if dy ldx > .0,. -~eri 'I ~ (x) > y (a 1) f9f a value of
x > ,0 1 ~nd y (a 1) is still the acknowledged minhnuffi_ -vYhen x m~ves to _
a ' v~ue less than 'aj, however, y(x) < y(al) and, yea}) will not be -a
-' ,- - minimum. In ' a similar. manner, i~ caD be shown . that .when dyJdx < .0, a _
,-;",: -' '_ ,-"- lower value tlian y (a 1) can
found for -y.(x). -The."only solution to the,.'
-be -
:: ~:~::-~:<-..'~':- dilemma i~ for dy /dx' to -equal zerO, which is the claSs'l<?al req,rii~ement :for
.: :.:.. :":~~:l)j~ .~ptimu:rp.:..>~l<,~~?f:-'':'~:, ..,J, .. .', ... . . ,,~.:~- . -' : . r '. 1~.' .'.;
.~ ~ '
..: . . ' Incluqrng -the-''---influeiic~.,: " ot:~-~,.the~<nexr: . : .t~rin:: :of~:..~ ''1~q,:::.. :(8 ~-73)1> -;;'
(!)(d 2y Idx 2 j(x ~ a})2 :, 'we,'observe that .a "moye 'of'x'~" either-din~ctip~:~'. "
from ,a Iresults in ~ positive value of (i - a f )2, so that the sign 'of the second. . .' '.
-derivative decides whe~er the optimum is. a tn~iIiiurri'or minimum. '
t
dy-
Mininium:
. dx
'
---= 0
dy-
Maximum:
dr -==0
. . :...
.'
. .. "
, _
d 2y
--; >0
dx-
and
'
.."
d 2y
and
<0
dx 2
+' Y 1(x I
a 1)
+ )':2 (X'2
a 2)
+ (1.1 Y i 1(x I
a J ):2
(8.24)
where the prinle on the y refers to a partia] differentiation , with respect to
the subscript.
.
When x I and Xi move slightly off (0 J ,02), both of the f~rs't derivatives
y j and y ~ must be zero in order to avoid some position where y (x 1, X2)
<
(.a 1 , 02).
"
D
,
=
.
I I
YJII
"
Y 2)
J I
Y12 II
Y22
> 0 and
LAGRANGE ;"IULTIPUERS
175
( i'
-"
',
"
... ,.....
. . \: .
" .
"
..
.. ........ .
.}
2
-:;::--. -
,.' 0)'.
ax I
'XI
a..'1d
.' . ,
'{:
.'
';",
I _ : ',
'
iJv
,,' L
~. = - - - +.:1
, iJ .r 1
"
~. 2
, .l .l -~
d '
~ ',
x., =
'1I'
2,
. a2y =
a'2y = 16
a.1y
------'-'-- = 2
ax 1 a~'r2
,The deteiminant
''2'
I~ 16/:d >.o
.
and
'. '
501fD 2
?=
100
.'
176
DESIGN OF ~ SYSTEMS
thr
of Lagrange
multipli'
ers. The result \vould
be.
.
.
.
-.
'
..
',.
~.
-t
' . ,D .0.7 m" ' *"" O.013H . ':;;' ." , ' ' ' ':';'~' '-''i ;~.,;:
..'~.:.~' <" . '. -::Cosl"'" <900,,+ (1100)r(t:7)~~~(ftof3H)~+~;'t'32(}){O:7}(O:13H'J::-r",.'". : .::.:::~.~~
r:,"' \
-:'_'
. "'.'-'
. '. . ' ';. . ' .'. .900
f.
. .
8.78H. ."
. .
. !"
C " .. d (cost*)
S - --'-._-
ali
are
determined check to,
see IfI
the temperature in question is above 320C.
"
If i.t is not, the constraint is not effec[ive. If the temperature is .above 320~C ..
rework the problem with the equality constraint of 320C.
----.
LAGRANGE MUT
....1lPLJERS
t;.
117
1-
....
,;. '....;.~.c:<. : .~:- 'I(~~; pe~e1fu.i~~ tl}e p?siiiv~~.Dp~~;iu:i~nrr \'all1~s :-or~i'i1~and ':r'2~ .:'..: : ~ . : /"~'~':'_":.~:l'~'~"'~~_~-'~.'_:' '>
. .
of -':Sec. - "809'-' t'?' 'tst" - the solution' 'to .detemiine"- ' :,:.
the opt.imum 1$ a niaxir:p.lJ.m-or mi.nim~m~
~echniques
1 - ':-:, - 2 .
~ ~ X 1 --:- . ' '. '.
, .
of .
are
(-
'
-'II
0.6 m
========~~==============~ j
FIGURE 8-9
Duct in bar joist in Prob. 8.2.
0.01 m.Ns
FIGURE 8-10
Paralle I, pump-pipe assemblies in
Prob. 8.3.
178
flo~ rate~,
.'
.are
the
<..
.' <,:~-; .. .:. (ibj~c'th~e. f#~2~:i'on:,~. ~~!.:FR~~W.~.~::~,e~~_.:9~~~:.~:;fP.~ f,2.~: .t;':'<'~"'~':' ~;':r";"':' ' ~ ,: '.:t';:
'.
power
is
./
FIGURE 8-11
Steel frnmework in Prob. 8.4.
----.
...
LAGRANGE MtJLTT.2UERS
179
P-z = i 7, j 08 ~P3.
Iorer-cooier
..,;
-,
. '_
.~
.: , .
:'
_. I .
, . I.. ..
~
_Centrifugal.
""
cOmpressor
p o = 175 kPa
.
Qo =' 15 m 3js
I =
FIGURE 8-12
SocC'
, flo'w rates but can devel.o p high presstir~. ratios. To combine th~ advantages
of each, the compression will be carried out by a centrifugal compressor in
series' with a' reciprocating compressor. as shown in Fig. 8-12.
The intercooler returns the tempera.ture: of rbe gas to SOC. Assume that
the gas obeys perfect-g'ls laws. The equations for the costs .of the compressors
are
Cc
where Cc
Cr
= 70Qo +
1600 PI
Po
Cr
.~ 200QI + '800 P?
p)
compressor, dollars .
first cost of reciprocating compressor, dollars
Ans ..:
/
D; :;: 10 mID.
8.7. In a cascade refrigeration systert) shown in Fig .. 8-14 that is used- for lowtemperature appJica,tions, the condenser of the low-stage unit is the evaporator
,. of
high-stage unj,t. The area, this interstage condenser-:-evaporator is to
be chosen such that minimum lifetime costS result. The costs associated with .
the decision of [he size of the condenser-evaporator and the temperatures are':
the
of
.-"
.. '
LC-
ISO
DEsIGN OF
~ SYSTEMS
v-
~ 't!
C;cJ
JilJ
l ~lo-5{;'
U
.. ~ -, .:-:
"---
",
, - ~:-
'.
'.
3~
4) .
-\ 'LG ~ V
.
... -:
I '
'D'
Prob.
2 .
~L6.
. :
=' 75 A
=
.
-31',000 + 150 Tc
T;
Heat rejection
Expansion
valve
High stage
Compressor
T,.
160'kW
Tr
Condenser~vapornlDr
Expansion
valve
Low stage
FIGURE 814
Cascade refrigeration system in Prob. 8:7.
-.
Compressor
.
where A = heat-transfer C1r~9., [nTc = cond~nsir1g tern.perature,: K
Te = evaporating tegnperature, . K
')
The .Uvalue of the' C'o'ridenser~evapora.tor 'is 0.8 kV{i(~f12.. K)~ :aad the rate
'. : of heat .that must be, ~a.n~~erred isl~ ~Q_K~'>,,', ..;,. :':". i ... ' . . , "
':..,
Ushl]:g the' ~~6.d J~l: Lagr~nge,.,rnu.l,tipliers.~:..deterilline, ..the ;,~Ja1UesJ1Df:A''F.~' ,';;;, ~:.:
' .. :' Ti . and . :z:;~::tbat resuit 'i~':niL~uin tatat 'present ~w.orth: of ,costs',.';: :. ' . ':. ' :.. .. : " . :
'. '
. AIls.:' A'" k 20m2 .
:,"....
",
"
Y
.
,. ' .
..'
,'.
, .
..: ..
'<
P,,$v A
. '.
'sol~r ~~ll~~t?~ aod ~torage tariic~ ~hown. in Fl.g. 8-15~~' i.s to be o~ti~iz:d. b~
. to achlc:ve m1ll1mU~ frrst cOSL Dunng '~he day {he temperature. of water In
.-t c;
the storag~ vess~l i~ elev?ted from -oC (the rnin,imum useful temperamre) to
t mnx as shown in Fig. 8-15b .. The collector receiyes 260 W/m'!.. of solar en~r-.
gy, bur 'there,is heat loss from .t he coHector to ambient air by convectioJ1. !The
convection coefficient is .2 WI(m'2. . K), and the av~rage tern:p~rature diffei.:. .
ence during .'the IO-hour day is (25 + t~ax)/2 minus the ambient tempera~re .
.of IOoe: . -
'
.: .
" '.
"
----=-';.~
'
t.A
-0-
30
_ I
oL..
:;:J
8.
,~
Storage
tank
E.
'letoC nmbient
to h 36,000 s
Q
Time
(a)
(b)
FlGURE S.lS
'
B.8.
-t
'2 0 ~ if
182
, 2.4 ri1 3
'.
,.
/s
,
-
,' , '"
.' .
.,
- . ,'
, .
.B '
A
,
. -:,. '
"
0.8 m~ls
e
'. -
. .' : . '
'FIGURE 8'--16 ~ ,
;' . \ . "
.. . ~
" :'0,6m?/s:; <;'). o);O;~ ~{~::':;" .~. ': ">. :"'~:c'- _;: . _.
',. , : '
, ~,
'
.:/: 8.9.
Deteumne the diameters of the circular air duct in the duct system shown
, scheI!Jati~aJly .in Fig. 8-16 so that the drop in static 'pressure betWeen poilUS,
A and B win be a minimum.
.
Fprther information'
0;
Cost per
square meter
$30.00
Top
37.50
7.50
. ...
0;
...,;."
,"
..
To[al~ ,
t ,'k\V ":",
,,t, ",
' 0,"' ,
.10.
,"
183
"
'
.FIGURE 8~i7
Optimal )o.adi~g of nvo units ,m
, a pO\.yer generating station~ Prob.
" 8.,10.
ot
Outpur. k\V'
The tank ,is to be ,con,s tructed wjth din1ensions such that the cost is miniq1um '
"
, (a) One possible approach, to selecting the capacity is to build the tank l!ITge '"
epough for an additional cubic meter of copaciry 'to cost, $8. (Note that' ,
this does not m~an 58 per cubic meter average for the entire ta'n k.). \Vh~t '
'is the optilnal diameter' and optimal height of the tank?
, Ans.: 15 tn', 1 I.25 rrl.
,
'
(b) Instead of the nppro,ach used in purr {a). the tank is to be 'o f such a size
, that the cost 'will be $9 per cubic ' meter average for the entire storage
capacity of the tank. Set, up the Lagrange mUltiplier equations and verify
[hat they are s,atisfied by an optjmal' diameter of 20 m and. ,an optimal
height of 15 m.
' .
--r
DUCI
-L
,
FIGURE 8-18
Duct mounted under beams in Prob. 8.12.
184
Load A
Qenerat9r2
. ..
. .. .
~
.
..
I~
_.
'
-"
"'"
. '. .I:: :,.
'~"
.,:
-.
0'
~~.
. .......
.~,
4
'~ '
. ._ .. :
'.'i':. :
'"
"
-;a. -
' I ',
.. . . .
":
"'"t
,'
, 3,'
" -
.~
.;
~------------~~.
LoadB
, ,-
"
'
LoadC
FIGURE S-.I9
Qenerating and distrib'ution sy~tern 'in 'Probe 8.13.
load A = 40
ill the ' Enes are given , in Table .8. t', where the ,loss in tine' i is a function
'of the power Pi in megawatts carried by the line. To"be precise,. the 'line
Joss should be specified as a function of the' power at a certain point.:in t,pe
line; e.g:, the entrance or exit, ',but' since'the loss will be small relative to the '
power ,carried, use p j at the point in the line !bost convenient for calculation.
As a first approximation in th~ loa'd balanceS'. ~sume that Ps .leaving
load A equals
entering load B and rec~culate. if necessary, after the
flISt complete solution.
_
Assuming that the two generating plants
equally effiCient) ' use the '
. m,ethod of Lagrange multipliers to compute the ,optimum anl0unt of power
to be carried by' each of the Jines for the most efficient open~tion.
Ans.: 24.3, 1b.3. 40~ 46.4, .4.6, 31 MW.
8.14. The power-distribution system shown in Fig. 8-20 has a source voltage of
220 V at ppin.t ] anti must supply power 10 positions 3 and 4 at 210 and
215 V, respectively, with a current' of 200 and :300 A, respectively. The
electrical resistance Rfl is a function of the area and length of the conductor:
R
= 17.2 X ] 0- 9LI A, where L is the length
conductor in meters and'
A i's the area of conductor in square meters.
Ps
are
of
TABLE 8.1
O.OOlOp~
3.-
O.OOO7p~
' O.OOO8p~,
o.ooo8pl
. - '.,
o.OOJ2pi
-- .
O.OOllPl
'
~.
. ..
. LAGRAN~ MULTIPLlERS
I
220 V
1.0 t~ m
O.75-k.m
G----------<!.r--~------'----L..--___i)
185
215 V
300 A
200 A
O.5.krn
,'
" .
, : ,1
r'~
:', '
r'
. .'
.' .
"',
,.
.. ..~,
. Fu;tTkE 8~2ij
.,I'ower-disi;ributlon ,network in Prob. 8.'14 .
.
'
.(a) Set up the objective function for the total volume of. conductor arid the
: constraint(s) in lerms orA 1~:2, A 2- 4 .and AZ-3:.
'.
(b) Verify,
using
all
the
Lag,range
'multipli~i
equations.
thar
A
;~2'
=
.0.00273
.,
m-.
ADDITIONAL READINGS
Bowf!1an, F . and F. A. Gerard: Higher Calculus, Cambridge University Press ~ London,
1967.
.
Brand, L.: Advanced Calculus, Wiley, New York .. 1955 .
. Kaplan, W.: Adl'Qllced Calculus~ Addi$on-W~sley, Reading, Mass . 1952.
.0
Taylor. A. E.: Advanced Calculus; Gino, Boston. Mass . 1955.
Wilde, D. I . and C. S. Beightler: Foundations of Optimi:.ation, Prenti.ce-Hall, Englewood
Cliffs, N.J . 1967.
-.
..
,
I
CHAPTER.
-.
"9' .
- ..: ":','"
.
-
-. '.' \ .
-: ;
..
.'
.... .
-:
- .
~-'
,-
_ .....
".,
, ',;'
. ...
"" ,
-
'.,
'
,-'
,
-.
.. .
,,"
SEARCH.
. METHQPS :.,
"
-.
186
.,
SEARCH METHODS
187
"'"
f0I10 Vll S:
10 Single variable
Cl.
, , -" " , ,~
' E xhaustive
h. Efficient '
iL Dichotomous
iii. , Fib-ona~~i'~'{'.:',",
..
" .~,:, :",:~ "
'::'
I~
.-
.!~
~":
'
,.
.:..... .. \ ,
'L'attice
h. Univariate
c. Steepest ascent
,30 Muhivariable, constrained
o. Penalty f':lDctions
h. Search along a constraint
In the calculus . method of optimization pre$ented in
~"
Chapter 8; calcu-
step in the process. The major effort in the optimization ,'was determi~ing '
the values ,of the ind~pendent variables, that provide me optimiJrrL In opri-' ,
~z~rion 'by m~ans of search methods. an' opposi~e sequence is folhl\ved
in that' values f)f the objective ' function' are detennined and co~clusions are'
drawn, from the values of the function at various combinations of independent variables.
interval of interes.t 10' (Fig. 9-1) is divided here into eight equal intervals.
Assume that V'le,val:ues of y are calculated at the -seven positions shown. In
fhis exampl,e the maximum lies be.tween x A and x B; -so the fmal interval of
uncertainty I is
210
10
1 =-=-
188 '
YA
JV..
. y.
. )3
~ 0;. ' :
_ '
..
)6
4 ...... ......
1.;:
.. '.
""
..... .
.. '
~' .
'.
FIGURE 9:'1
ExPaus~ive
search".
, If tWo observ"ations are made, the final interval of uncertainty is 210 13; if
, ~'"ihree observgtions "are made, the final ~nterv.al nf,~ceftainty js 210/4,
in general
"
and
Fip?1
9Q4
UNIMODA~
int~n'al
qf uncert~inty
=I
2/ 0
12
(9.1)
+ 1
FUNCTIDNS"
)'
.~
,I
I '
,I
1/
/
I
,x
I
,( a)
flGURE 92
Unimodal (unctions.
---.
.I"
I
(-/J)
.1"
(c-)
SEARG{ jviETHODS
169
ON BASJiD
"
, ~. ~~~
Ol\f '
,-
, , _
e(
in ,'the interval 'o f interes,t 'is sufficiept' to elitoinate a -pprtipn', the teg~o~ "
-of a unimodal function. Suppose thp:t mliYJrnum 'vallJe of y, is ' sought it"]:" -the function that exists 'in Fig., .' 9-~a. ,The'Dj,agnltude of y ' is -kno~/n 'at, tWo'"
, valqes of x, desigpate,4 i A and x B" :From this infonnatioD it is' possible to'
elimiriate the reg{on to th'e left of XA-- The-region to the right of XA. must still
I?e retaine.d. It cannot. be detennined whether'the maximum 'lies betwe~n XA
a'ad x B or to ~e right' of x B ' becaus'e th~ maximum' coul,d, reside ' in 'either'
interval, as shown' in ,Fig. 9-3b. , '
'
.r
(0)
FIGURE 93
Two
lest
points
On
a unimodal function.
'( b)
190'
,,I
I
. . ~ , .: . :
"
"
;p-~~
,-'-B
' ,X A
. -'
_____'_"~
,, ~I~~~l~'--~~~~
' I, '
1-4------,---~
10
------~
,
'
.'
made
~
.. 'where
11
"
0
..,
-, ~Ill_
: 1
I.
+,.(l
,
-,~),
2nl-,
(9.2).
Fo .
FJ = 1
F;
, it,', ' ,
= F,.;2 + 'F'-l
for i ;::: 2,
Thus~
after the first two Fibonacci numbers are available, each number
, thereafte~)s fc;>und by sumn1ing the two preceding numb~rs. The Fibonacci
series starring with the ind'ex zero is therefore 1, 1,2,3,5,8,13,21,34,
". 55, FlO = 89. etc.
.
,
Th~ steps in execu[ing a Fibonacci sear~h are as follows:
<
1. Decide how n1any observations will be made and call this number
IJ
.2. Place the first observation in;J 0 so that the djstance from one end is
, J o{ F 1/ - J / F IJ )
3. Place the next observation in the interval of uncertainty at a position
191
SEARCH jvlETHODS
~r
' .'
I.
..
"
.. " ','~"-'<'~;:::.',
:;. : . _
01 ypce,r:au1ty.
"
'
,",
~c;'_', :,>~&:~:,::.RI~~e: 'th~ - laSr::ohsl~rVation 'as' 'clos'e"as~'p6ssible to this' center pqin(" a#"?( ,' . .~
;, " .., eliminate half the "intervEl-L
-.'
, : . , ., ":, ...... ... . '"
~'." -
.'_ ',,'
.. .
".'
to
, i
Solution
1. Arbitrn.rily choose
/1'
= 4.
...
2 .. Place the first (?bservation a distance"] o( F 31 F-l) from the left end .. as in
Fig~ 9-5- This distance is 3/5 10 or (3/5)(5)~ ',The current interval bf nncer:tainty- is '0 'to 5.with an observation at 3.
38 The 'next observation symrrH~uic in the intervaJ oJ lln~~rtainry to 3 locates ' " .
this observation at x =.2. By rnakip.g use of the relative va1~es of y at,
x = 2 and x = '3 ~ the section 3 < x :s 5 can be ~Iiminated. The interval
o.f unce.rtainty is I).OW 0 :::; x -::;; .3, with 'the ~bserv'\.tion at x ~ 2 available',
PlaCing the third point symmetric to the x = 2 o.bseryation locates it at
~ = 1. The relative values of y at ~'t = .~ and ~'C = 2 permit eiimh~ation~
of 0 -< x < 1.
)'
8
Last poinc
tl
First observation
.;
()
FIGURE 95
Fibonacci search in E.xample 9. i .
.:.
j .
~~ ,; :.
. . . . ,.
'.
I ~
, '.1
. ~ .. .-
. ' .. r
. .. './
~ J .'
..
.-.;' ,'
-'
:'.1
SEARCH ~lETHODS
c
193
SEARCHES
Th~
on
. any significant advantage in one of the efficient search inethods, and such
step .
a'
~any-
194 -
.,
,9&11
LATTICE SEARCH
T]J.e _procedure in the lattice' search i~ :to' sWt at ,o~e point in the regi~n
, 9f., jnterest -'an~ c~ec~ a n~mbe~ ?f.points ,in ~ gri~ surrounding the ' ce~tfaI
', ' " poinL_Th~ surround~g,point haYiIlg the large~t value (i~,a maXimum is _being ,
,~.' ,',.sought) is 'chosen ?-s. ~e ,central point for the next search. ,If nO: : sUrrouri4~~.ig'
",'- '.' POiD:t.: ,p_royjdei','a,:'great~r~~yallle.:'~,of;:thb'~func~on-'th~!:tb!i, '.c~ntra1",:,po~('C" tne{;':';~:
" , r .. , "
c~n tr~l: poirit: is tl;le"iiiaxinjUIiL;: A:. 'fieq~eht ,practice is, first , ~o'
,a ' ~0fl!se' "
,':':",',: __ .':grid and atter the 'maximum, has ,been found for that grid Si1bdj~ide the"gri9
',' .'~-, -,: ' 'into, smaller ,elem,ents for. a ~er searh, " ~~,~g from the IDax.lmun .,of
,use
"
_
As '~ , example, of the prOgressIon to the maximmn Df a function' of
v~a~les."
.r ..
G
61
.,
.,
3
.\' I
FIGURE-9-7
A lallice search.
SEARGP'r.I METHODS
lattice
~ ' .
. .
1~5
in
'
In -, '
. .{ I
FlGURE 9-8
Univariate
siirCti.
..
196
:/
')::<~" ".
one
'\r :":" .
~;".,~':~".;;;'oP~r.!;t~:i~id;~"~~h,in~fail~~~:a'ridg~~~"in.:'the"Qbj~~~~
, .: .
on
. . not
been reached~'
,'From .the purely matilematicat point
even
.
of ~iew, get:tillg hung up on the
. ridge would appear to b~ " it' serious, deficiency of the univariate s~.arch .
.physical systems, how~ve.r,' ,the occurrence of ridges is ran~ because
nature avoids disco.ntinuities of both functioris and derivatives o{ functions ..
Caution is' nee~ed, .however: h~cause even though 'a true , ridge does' po.t
. exist, problems 'may' ,arise '-if" 'the contours are very steep. If the intd:val
chosen for the univariate sea~ch is too large; the' process rna);' stop at a
nonoptimaJ, point, 'sucti as pO'j nt A in Fig_ 9-10.
Another note of.caution is',that even though ridges may not occur in
tbe physical sY$tem, .the eql,lations used to represent the physical syste.m
m'ay' accidentally contain ridges.
. In
I'"
I
IT' 1
!'/
'na
. XI
.1')
,
FIGURE 9-9
Failure of the invariate search at a ridge.
SE.<LJ?CH IviETHODS
197
) I
<fl'
" . .,.
.'
"'~': '
."
'
'1"',
FIGuRE 9-XD
Erroneous
conclusion
because
. .
,.
. the interval of searchis to~. large~
. As the
name implies,' this multivariable search method ' moves the' state
pqint in 'such a direction that" the objective function changes a't the 'greatest
favorable rate. As shown in Sec. 8. 7 ~. the gradient vector is normal to th~
contour line or s~rface and th~refore indicates 'the 'direction of maximum
rate- of change: In the function of two variables wh6s.e .contour lines .~e
shown in Fig. 9-11, the gradient vector V' y at poirit A . is nonnal to the
contour lirie at that point and i~~~ates the direction in ,which y . increases at
the greatest rate with respect to distance on the x lX2 plane. The .equation
for Vy
IS
(9.7)
where il and i2 are unit vectors in the Xl and X2 directions~ respectively. ... The essential steps in execu9ng the ,s teepest asJcent method are as .
follows:
1 . Select a trial point.
2. Evaluate the gradient at the current. point and the ,relationship of the
changes of the x variables.
.
3. Decide in which direction to move along tbe gradient.
4. Decide1low far to move and tllen move t hat ~stance.
198
.,
DESIGN
OF THERMAL SYSTEMS.
...
'.
t
. ' ....
.- ' ,- -,
..
~ .
f: '
.' . ::
'
. "
- ', I
'
" 1
.:
"
..... .
~'.,
FIGURE
9~11
. : ,Steepest-ascent method.
",,- .
~ Th~.
frrs.t three steps are .' standqrd, but ther~ .aremany variations of
steps 4' and ? .The individ~al .steps will TI9W be. disc.lissed.
Step 1. The triaJ point should' be chosen as near to ' the optimum as possjble,
but tlsualli such iI1S.i ght is nor. available and the point is selected arbitrarily.
Step 2. Th,.e partial derivatives can be extracted mathematically, or it may be
more convenient
compute the'm numericaily by resorting to the equation
for the partial derivative,
to
ay
Y (.x J,
.+.!l,
...,
n) - )J (x 1, . . . , x (, . . . ~
II )
fl ;
aXj
where 1:1
.' , Xi
(9.8)
is
SEArfCH f"'lETHODS
Step ~L ~Jnly two of the numerous methods rqr deciding -hcfl.v far to move
in the direction of ste~pest asceil't \'VilI be presented. The first method is to
select a rbitrarily a. step si~e for oJie ~()nable'~ say 0.X I, and COD1pute .!1.:C2 -to
.t.l~t II frQffi Eq. (9. ~)., This metD~,d .~sually '},.,orks .\Nell unril one or.~nlore of
. ,the ,partial. 'deriyatives ?pproa~~~j..'. ze-r.p! . ..... .:.': .
.~-'-: .. ~
. ~=i"'."'~ ~.
~,
~
.':- . ,:.:-.:-: -Tne $ec'ond '-method~:of'de;clding:"how"~ffu- rG<rrio,~~"js-tb~prt;ceed'u/rilir'~:l".';"' "
reacblJ;lg'. an" . opt.irri~l valu'e In t4e.-dir~ct'iQri of the gradienL .'iYben a~oth~r., .'"..
'-gradient vector. is calculated, and once again ' the position 'moves untiI"
optimai value in rht1t direc~on is achieved. From po'jnr'B 'in Fig. ' 9~ 11.
the point.an6ves ~ to.Cand thence roD.
process ~Cdeterminin'g"the optimal'v~alue ~ri the gradient qirection can be converted into a single-variable
. search by using Eq .. '(9.9) to elirp.jna~e all x's except one in the objecti've
function. The FibonacCImethod can then be used as' an efficient sing:1e'-'I'
.
, ..
..
.' :
.'an:.
The
~".'
:vCirIable search.
Example 9.2. An insulated ~t~e[ tank storing .ammonia, as shown. in .,Fig:.
9-12, 'is equipped with a.rec,o~cf~nsation sys'tem which can controI'the p'ressure '.
Lind thus the' -temperature 'of the ammonia: J Two 'basic decisions' to rnake in
m'e design of the, tank are th~ sheil thickness and insulation ~i~kness .
. If the .tdnk operates with. a temperature pear ambient, the pre~sure in
the lank will be high and a heavy expensive vessel will be required. On the
othe~ hand. to maintain a loY' pressure in (h~ t~mk req;ires more operation of '
.. ' the reco.ndensarion system becau?~' the'rewill be more .~'eat transferred fr<;>m
the environment unless tile insl!lation is increased. which also 'adds cost.
Deterrnine the optimum operating ternp~rature and insulation thickne.ss
if. the following costs and oth~r data apply:
Vessel COS, 1000 + 2.2(p - 100) 1.2 dollars for p > 200 kPa
Insu [.arion cost for the 60 m 2 of heat-tta~sfer. area, 2Ix P9 dollars
Recondensarion plant
, ~5C ambient
-.
Ammoriia storage IJFiX :, Ex,omple 9.2.
200
'.
" , : ,: ~
"
..::'O:::,.;:~
~ ": '
, 2800'-' ,
' , : Inp - ,
+ 16 33
<'
. -
Soluti~n. The' total ,lifetime. :cost' is the' -'sum" of ,thr~e "in4iyidu"ai,'-CO$ts~~ 'tne
vessel ', ,t.he insu]ation~ and the lif~tirrie cost of recondensation. ' All th~e' costs
will b'e expressed in -tenns of tp~, o~rating ,t emperature .1 c and 'the: insulation
,
thickness' x DllD. : '
, ,The iI;lsulation cost is
Ie = 21xo. 9
The 's aturation press~e is, a func~on' of temperature'
, ' , ' p -:-
e-2~/(/+273)+16.~3
VC
1000
2.2{e-28~/(/+273~7.16:~~>_ 100)1.2
RC
(9.10)
But also
qkW
= ---=----
(9.11)
1200 kJ/kg'
where, q is .the rate of heat transfer from the environment .to the ammonia,
Assuming that only the insulation provides any significant resistance to heat
transfer, we have
' .'
q, k\V
25 - r
(xmm)/JOOO [0.00004 kW/(m'
KJ
..
(60 m-)
(9.12)
Combining Eqs . (9.10) to (9.12) results in the expression for the recondensation cost
'
RC
= 9000( 25 -
t)
x
The total co.s.t is the sum ~f the individual cos,ts l
Total co'st C
:::r
Ie + VC
+ RC
201
SE,5},RCH METHODS
until :J. m i n im~m is reac-hed ; then a nevv )gr adienr wdi be established. The
part'ial derivati"ves of
total cost C 'wi th respect to x and tare
..
the
ae ~
_ (D.9)(-,-l)~1.
? ' :."70,1
-.iJ ..:c',
'
:~.'
' ::
' :' .
9000(25 - .r)
'
,
.:r-
,'
. )
'.
,-."
" '....
'~"" "
. .
..,
where'. .
A=
~,
'
..
. " I.,
2800 '
--~ +
[ +' 273
'
16.33
to
.~
.y, 1~(
"
. --
. nx ,
'-6.075
~t
77.3.47',
or'c
partial
i .:. .
the.
TABLE 9.1
3_
x,mm -
l,oC
aCliJ:c
100.00
101.23
142.83
5.(X)
-10.66
-7.54
-'17.78
$7237.08
6675..58
6334.98
-6.075
-19.409
-2.845
-7.16$
-1.471
-3.051
143.,62
~ 68.92
4
5
6
169.40
182.87
,.
&
'.
40
32 ,'
196.5'6
,196.62
34
196.69
196.77
33
3S
36
'196.83
-15.54
-20.80
.,
-19.50
..............
,It
..............
6'152.85 '
6067.68
6026.09
6005.85
,
...........
-23'.~8
5986.07
5986.05
5986.05
-23.38
-21.3(r'
5986.Q4
5986.04
-23..24
-23.36
..
.'
For me firs~ point,' arbitrarily select ~~ = . 'iOO xI-un and ct' = 5~C. A'
'this pqsition.C = $7237.08~ 'aC/.a~r- .= -6.075, and aCI8r '=.. 77.-347. (Th~
derivative with respect (0 x is ' negative and with' '. respect
t is p-ositiv,e ;
therefore to decrease 'C the value 'of x must be , incre.p.sed' and t must be
decreased. ,Furthennore, to. move 'along the ,direction of the gradient. ih~
. ,changes in x and! :. design~~~d !1:r and D.r. sho'uld bear the relation
'.
'.
~o
_', i:
, , ~"
'
-0.749
It
It
.......
,:
aCI81
77.347
-1.455
37.505
- 0.634
16. 145
.... 0.294
7.477
1
..................
-0.090
-0. ,112
-0.086
-0.100
-0.076
0.189
-0. J23
O. J lJ:
-0.143
0.088
"
I
202
~.'
-.
' .. J
_The name .steepest ascent implies the' best possible -direction- ih .which
. . ,to' move. The. m~aning 6f .this statement' is that for a -g iven distance
AI"~+:U~ '+' . . . . 't he, objective ',func.ticin will expe~ence a ni~~~~ ch~ge.~:_
.::~ :.'. ;j ,...-" " ._,,-Xs': '.F.~g. .;9,;.1?B sho.w.s ;~)J.6~v.ever-;,jd ;may-r be~~de.~ir~ble; .f~~;::' th~fe'. to. Ii#~!'farge-
?~.-f '.:' . ,:'. ~~h~ges .ih . . Xi ~ompaied .witl:I tr.tose Of"X2- -Wild~ ~xt~~ds. '~e ,conclusions
'. .... . ':;of Buehler: Shah~ and KamptboPle4 reCommend that 'the 'scales be cho. 'sen so that the. contours are as .spberi~:al a$ _ po'~,~ible in .order to accelerate
. -th~ convergence-. Ln Fig. 9-13b, for ~xample', th~ originai equation. would
be _r~vis~d vyith a n~'V. yar:-iable _X.2 .replacing' X2 so. that x 2 = 4x 2 and the
contours \VQuld thps "cov,er 'the' same range as x I. ' .
,;.,' .. " " '-.
to
9.15
.Const(ained optimiza~i<?ns ':ITe probably_ ~e most frequent .and most_@'P9_r.' tant ones ,encount'ered in the design of th.e.ijnt:tJ .sjsfeini.-Numerollsmethods .
. a.n d variations 6{search meihod,s applicable to constrained .optimizations are
presented in the liter~ture, most of them prompted by attempts to accelerate
the search. In some cas.es neW me,thods were developed to p:r:event the s~arch
from fail,ing on a certain function or problem. ' It 'is this multitUde of techniques that blunts the s,a tisfaction' C?f using. search m~thods, because there is
!lot just- one fundamental concept, asthere is with Lagrange mqltipliers.
, Two methods. of constrained searches win be presented in the next
several sections, (1) conversion -to unconstrained by use of penalty functions
-and (2) searching . ~:tIong the con~tralnt. Only 'equality constraints (and ,
400
300.
J()()
:-
...
:..:
lUU
"'7
200 ,
'
'"
100
100
JOO
300
. 400
o------------~~400
300
200
)',
( u) Oric,inal
scafe
FIGURE 9-13
Effecl o'f seCt/Ie of independent variabJes.
(h)
~,.
Revised scale
203
SU'RCH Ivl,E1HODS
10t
, COJ.ld adapt the ecjJial ity~cons.rrajI?t technique by rl1aking an linequality 'co nstrai nt . act~~e qr inactt,,'-e depend ing upon 'N he[hei-' th e con~rraiDt-. iJ violated
or not.
. . , . ....
..~
If. a function is
- -!: . .
19 be mf\4imized
y
==
.'
, '
...
"
<P~1J C( I , X 2, . . . , .X fJ)
=0
'. . y =
. ~ . ~ Pill ( 4>m)2
..
If the function 'is to be minimized. the Pie (hf!. terms vvould be added to the
original . objec~ive funcrioP . to, ~onstrocr. the new unconstrained function. The
underlying principle. of the .technique is valid, bur care must b~ exercised
in.the execution to maintain proper relative influenc~' .o(the function being
optimized to that .of the ,constraints", The choice of the p' .t enns provides the
relative weighting of the .t wo influences and if P is too high, rh~ searc~ ~ilI
~atisfy the constraint but move, very slowly in optimIzing. the. function. If
P is too' small~ the' search may 't erminate without satisfy.ing the constraints
adequately. One suggestion i~ to start with small values of the P's' and'
gradually increase the values as the m,agnitudes of th~ , 's become small.
I
CONSTRAlNT~HEMSTITCHING
The next search technique for constrained opt{riiiz"ati"on ,to ,be explained "is the
"search al.oJ)g the constraint(s)" Of 4~hemstj tching'H method. 5., The techniq~e
consists of s,tarting at a trial point and fust driving directly toward the,
constraint(s). Once on the constraint(s). the process is one of optirrllzing
afong the constrain~(s). For nonlintar constr.aints . .a tangential move starting
.on a constraint moves sl~ghtly off the constraint, so after each tangential
move it is necessary to drive back onto the constraint.' This search meth.od
is one of many that ru:e available but-is effective in most problerns'-and offers
, Tmee.
"
204
with one'
constraint, and (3Y
three-vari~ble
problem \-vith
two constraints.
.
. .
.'
I
,.
.All of the constraints will b.e ~qllalities, These three cases lead us thr:ough
.- the se'v~ra1 fund~menta1. operatiop.s that .appears in larger 'problems ,as' ~eil,
',' "' ." namely, (1) driving iowan:~ consttaipt(s), (2) movmg}ri.a favor-a,b!e direction.
" :.::,... . ~ith .:respect to the objectivt- . function u~der cC)J~nplete res~ction of the
'-i .,~~~:. . . 'constraint(s) and (3)"
iri.a .favorable directio~ Vvlth resp~ct- to the
.~:' .~/.;,:~~j..~~l)J~~~Y~ .~~ncti6n with ~o or .more .degrees of .freedom. - .
'. .
~ ".~
' :~: ~.7, ~~.>. ;:~~;:::7::;,{:~~(:~ :::~.->~:~d'.::~~' .::/t \<,;:: ,~j (~~:' :;7: ,. )':',;;:,-:.;>; . '. < .' :',- "". . .:
.: ..~,;~~'\::::.' ''~'> ,.....
mo'ving
. __
....
::
oi
of
. . The number'
co.nstrai~ts WIll" ~lways be ..]ess than the number "arl' . abIes n, so' if .In v'ariables are held constant at the cUiTeDt"location,' the
remaining n - In variable(s) can b'~ ' saIyed to bring the point back 'onto the
c<?nstrain t( s) .
xi
SOliltiOJl . . (a)
X2
'::=
-1
. One constraint in a two-variable problem or two constraints in a threevariable problem'. establish the vector for a tangential move along the
constrajnt(s). Only the direction. of ,the move aIong the vector is open ' to
,quesri,on, and thjs direction is .~hosefl to achieve a favorable change . in
the objecrive' funcdon. In the two-variable problem~ where the constraint' .
(x J. X2) = 0, the tangent attempts [0 mainIain = 0 during the fi10ve, so
a
,
tl = - , ~
- llx 1
ax),
~o
,iJ
~ I1X2
= 0
dX2 .
(9,13)
the relationship of Ilx 1 and. LlX2 in the tangential move must satisfy
.
llx J
a/ iX2
- - =t1 x 2 . ' " a/ ax J
(9.14)
n..,
.CE:;
::-=-!lx J
ax}
uy
-~x
')
ax]."
(9 15)
i
SEARCH
METHODS
C;
205
(b)
(a)
FIGURE 9,-14
Hemstitching search in a two-variable probl~m \vitll (a) rerum to the constraint with fixed x
(b) ~etum 10 the constraint with fi~ed Xi.
~-l?ich
A' - '
D.y
=
ax I a/ aXl
ax 2
U~2
= G UX2
A
(9.16)
LlX2 shou~d
be negative, and
'
E~ample
9.4. The objective functiQn associated with the constraint of Example 9.3" XTX2 - 8 = 0; is
'y -- 3-.\... 21 + x 22
Minimize this function start,i-nK with ,a trial val ue of ..T2 = 1.6 choosing a
st~p size lt1x_~1 ~
= 1.6,
= 2 .236,
so the' first point (2.236,1.6) giy,es y == 17.56 n~d 4) = o. Table 9.2 sho\1JS
,the progression of moves, s~.l1s; }~~n.8n,t ~9 ,tJ:le ,c~nstraint followed by Ii
. move back to rhe constraint, at a constant value of X2. The initia,1 ~e of G
is -6.175, but s'teadHy decreases until i,t passes through z.e,ro and attai,ns a
positive val'ue of 0.0631 on 'the J7th cyc-le. The zero-value of G is critical.
because this -position satisfies the L.agrange multiplier- equations that establish
the opti'mum. This fact can be shown by arbitrarily defming a term A
as
...
..
: X = oy/.o)',1
a</Jlox I
TABLE 9'. 2
'move .,
_ CYcle'
'..17~560
1.60.:
X~. :~ >:: tetU!Dc",' ;.:.~'. ":.,2.27]" '. ,': " 11 ..65 ;-,
' tano-ent
,
2.202 . .
1.65
....'- .'
: c 'Cc c c-
...
.
","
c'.
. . . . .. .
It
":5
"
.. ' . . . . . . . . . .
e '
........
. . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
i6:
tangent
.. -1.886~,
1.907
J7
.return.
. tangent
18
1 .:865
1.845 '
~eturll
.l.~86
tangent
.return .
1.907
..
"
...... '-
......
15~725
0 .. ' 0.361
0
15'.272
~O.343
15.729
16.195
,. '. .15-..129
16.195
2.25
2.30
.,2.30
2.25
2.25 '
2.30
','
::
..............
...
-0..241
I
0.0631
-0.241
0.361
When on the
requires that
(9.17)
(9.18)
=0
" (9.l9)
. <Pl(X l ,X2,X3) . =
and
con~traint',
= . 1 is
optirri.ize'
-7
(9.20)
(9.2 I)
For a chosen step size of one of [he variables, x 3, for example, D.x I and
~x 2
iJl
I --
ax )
..
(9.22)
,
The direction of the tangential move along. the vector to achieve a favorabJe '
, , .' ~5.5-15
"
subject to
.:." ',> :
~ . . - ,-6.175 :
: 0
18 ..194 "
. . 0,.509
' -17.26'8 ': , ' '0,'
..
. ,G
y.
SE~\RCH d ~ ! HODS
207.
I J
4y
=
,
oy .
~-WXl
aXl "
av~'~{\ x'} -+
+' aX'2
OV
---.!l .:r ;
aX3
,-
'.'
ily
(9.23)
, choices of direction of
I
,I'
,-I
I
I
I
I
J
I
I
I
I
./
J---------,,'-..",c...------~--"""""""'-~ .t:!
FIGURE 915
Vector gwJrlg lJJaximum r;:lle of chan~ of y. but also tangent to 0 -constraint,
_ 208
. J
. _
L1~i
. ..
.
a4>
.
-. !1'x1
aXI
.j)
,+ -.-
l1x2
aX2 "
+ - -LlX 3
~X3
'.'
'.. (9.25)
=.Q.
an
' . .. .
- .- - .- AJ(2) llx 3
.aX 3
"
'. .
,B4>
A2- = O
(9~28)
aX3
Multjply Eq. (9.26) by a/8x}, Eq. (9.27)by alaX2, and Eq: (9.28} by
a/ BX3, th~n total the fust tenns, the ~econd terms, and the thhd tenns of
the three equatibn~,
(9 ..29)
From .E g. (9.25), 'the second group in the. sununation is zero. For convenience, ]et .
.
..
,
and '
----.
~.
..
SEARCH METHODS
ti.'
I I
(9.30)
,\, = ~
- .B
I
209
Substitute Eq. (9.30). into .ea<;h of the equations Eq. (9.26) to Eq. (9.28).
This gives the {QJIQ.\.~~~ng .~xpres~ion tQ[ tbe' 'relati ve vait~.es of Llx I, . !lx: 2, and
1. -
.~
J)
. ,.; _1_'
I _
: '2;\, ,
.',.
_ .. _ :~.~~ :._. ~ ,-
. ...
~.
-.
'.
... .
" . j
.J
'. '
'.
~.
'
...
.,
"
.'.
Ll x I
:"
''-When me step size of one of Jhe variables in the move- has' been selected~
the' .magnitudes of the remaining Llx 's 'can be computed from Eq. (9.3i)..
9 .. 21 SUMMARY
This chapte.rexplored single-variable searches as w~n as both unconstrained
and constrained mu1tivariabl~ searc,qes. The types of problems for which
search methods are most likIY to be called into service are the difficult
ones, which are probably the multiyariable constr~ined problems. Of the
:rpany methods ,a vailable' for m.ultivariable .co:nstrai,ned optimizati.ons, the '
search along the (~onstrain!(s) was chosen because of its wide applicabqity
(alrpough it is not necessarily the most efficient) and because it follows
logically from calculus ~ethods.
The actual: :eNecution, of the calculations in' complicated problems
would probably .be carried out on a ,computer, and' the availabilitY of the .
interactive mode .is partkul~ly convenient. The possibility the searcher has
qf cnanging such quantities as. the step size or starting- with a' DeW trial point
facilitates ~onvergence to the optim.um in"a rapid manner.
The techniques presented in this chapter are tools tha~ can solve .some
realistic engineering problems. The chapter also leads into extensions, such ,
as those that appear in Chapter 17, where' penalty methods are explored
in greater depth, and the reduced-gradient technique 'is shown to be a
generalization of some of the specific s.i tuations examined in this chapter.
PROBLEMS'"
x
where x 2 /25 is in radians, is unimodal in [he range 1.5 S x
- .
:s 10.
210
(a) If ~ FiboDii~ci search is empl?yed to )deterrnine the maximum, how rua'u y :c:
points will be 'n eeded for the fmal inijerval of uncertainty' of.x to be '0 .3 :: ',
. or less? _
'
",
(b) ,Using the number points determin'e d irfpart (a), co]}du~t' th~ Fi150naccl '
search and determiDe the interval in Which the ,maximum oocurs; ," ,_
of
:' : Ans.:.:, ,~p).,:?,~?~:.' to" , ~'.OO;:~'' : : 'l, ':' :,;,:;:,:~:~::,: :,: ':' :~<~" ~.:,~':~,;-::~~,~ ~ :./" ',:,~?<~~~: : :" :'~' :~ '~: ,:~,'~:';\ ",',:::~;':' : "~;::: ' ',:-: .
:,<, ,::", '::: ~':!J:2.~-One~~of 'the" strtii~gj~s',:_i:Il'-some"search metho~s is 'to fust, use,a' ~arSe ~9bdi.;. ,
,
, vision to' determin~ the ,approximate regkm
the optimum and then 'a rme ':
. sllqdlvislon for a second search. For a single-:-yariable se~ch '16 points ' tqtal , "
or
. 2~'j~.be applied. -C~mp~ ' the :ratio 'o f the initial ,to final inte,ryal of 'unceT- "
nsedin one -F ibonacci s~arch and (b) ~ poi.nts in ,::
, , .. tainty if (a) aU 16 poirits
,: :'a FibonacCi search,
used to dete~ne an interVal of unceru.inty of redu~ed. . '
: size on which another 8-p~int Fibonacci ,search is applied.
'
9 ~3. An .economic an-alysis of a proposed facility is being conducted to select an , .
,
operating life -such that ,the ,maximum uriiioriri- annual income, is achi~ved. :
A short life results in high annual amortization costs" but the main~e~ance
costs become excessive far a long life. The annual income after ded:uc~ng all .
operating expenses, except maiIitenance costs, is - $180~OOO.The fitst cost of
the faciltity is $500,000 borro~ed' a~ 1'0 perc~nt interes~ compounded annuaIIy. '"
The mainten~ce costs are zero at the ,e nd of the first year; $10,000 at
the end of the second" $20,000 at the end of the third, etc. To express these
rpajnt~nance charges on an annual basis the gradient present-worth factor of
Sec. 3.8 can be multiplied by the capital-recovery factor, which for the 10'
percent interest is presented in Table 9 . 3 . '
.
, Use a Fibonacci search for integer years benveen 0 and 2) to find the
:lifc of the facility which results in the maxjrnum ,annua.1 profit. Omit th~ last
cal~ulation of the Fibonacci process since \v'e are interested only in integeryear results.
,
Ans~: 12 years~ $62,760 annual j'nc'Ome. ,
9.4. The exhaust-gas ,t emperature leaving a continuously operating furnace is
260C, and a proposaJ is, beIng considered to install a heat exchanger in theexhaust-gas stream to generate low-pressure steam all -105e. J1le que~ti,on to
be inves.tigated is whether it is economical to instan such a heat exchanger,
and, if so, to pod its optimum size. The following data apply:
are
are
TABLE 9.3
Factor
Year
Fact-or
an~uaI
Y~r
cost
Factor
0.000
0.476
0.937
1.379
5
6
1.8]0
J.
2
2.224
2.622
8
9
110
.....
I
.-
3.008
3.376
JJ
3.730
4.060
12
4.384'
,13
14
..
4.696
5.002
I
I
is
5.275
16
5.552
5.801
17
.J 8
J9
20
21
6.058
6.295
6.500
6.703
2 11
SEP.RCH lv'iETHODS
B-
,r
I .
(~" ~
'.
,'
"
fOnTI
pf ; ~e)~~~t"
I.~'; ,-~. ~.; >'~. ~~:~;i~~!::, :~7:~ :;::::~;:~. ':.,...,>.>.', "". '".... . ;~, .. ... :.,'.
t , " .'
r...
,
Satu~ated liquid
, s~it~ated 'yapoL
water ent~rs
.:. ~ =-..
<"l.. :
0"
.,
":
'.
,', "
(a) Develop the equation frn; the s~vjngs ~s, a functi~n ' of the area, -expre~sed
,as a uniform annual amount.
.. ' . ' , ' , ' , ' " ,t :"~, ,:' r ~
(b) What is the maxjroum permitted area if the exit-gas,' t~mpeciture is to be ,
. above ' 120C in order :,to prevent condensation of water vapor fro'm the '
exhaust gas?
' ,
,
(c) Use a seven-point Fibonacci search and set up, a tabI~ to simplify calcu~
lation of the opti.m um heat-transfer area.
'
2
An.?: Optimum area' between 686 and 724 m
,P erform a univarjate search to find ~he minimtlm value of the function
y
16
,x",
XtX2
+ - - +-=
=X'l
-f-
= 3.
72xl
360
'
XIX3 ,
, '.is to
x ~ '=
is
[0
WI
'
second point?
.
Ans.: y at second point -. 8.548.
A pipe 'carrying high-temperature water is t.o be insulated and then mounted
in a restricted space, as shown -in Fig. 9-16. The choices of dle p-ipe di'ameter
D m a04Jn.e insulation thickness x m are to be such tha.t the on of the insu-,
-.
..
,.
... - lation y is 'p. miriimum~ bu.t the totalannti~l op~rating cost o.f ~e installation
" .is li~ted to $40,000 .."This annual . pperati~g :cost has two components~ the
'. ".
..water pu~ping cost .aI?-d the cost of ~e h~at loss:
.."
1500
x ..
to
Air
') 0
Refrigeration
pJant
C
M'
kgls
p_rn
H~t
exchanger
Pump
FlGURE 917
Refrigeration plant, heat exchanger. and interconnecting pipjng.
"
S~CH METI-IODS
1::.3
:. .....:
'.~ "
"
-,'
'J '
,' .
'.
'.
. _.,
.t"
..
,
~n.~
D 'are '
.
.
'
'
: "'T. . . .
' .
1.0/, -
'
....
..
~OOw -dollars
60,
. Don. .
4000t 1 . doIlars
, (a) Set" up the" ~uation forthe cost as the' ob}ective filliction~ the pres~U!e ,
REFERENCES
1. J. Kiefer, USequential Minimax Search for a Maximum," Proe. Am. MaIh. Soc., vol. 4. --',
p. 50.2, 1953.'
- "
2. D. I. Wilde. OpTimum Seeking Methods, Prentice-HaU, Englewood Oiffs" N.J . 1964.
3. N. McCloskey, "Storage Facili[ies Associated wjth an Ammonia Pipeline," ASME Pap.
, 69Pet-21,1969.
4. R. J. Buehler, E. V. -S hah, and C. Kempthorne: Some Propenies of Steepest Ascenl and
Related Procedures for Finding Opti"!um Conc/i#on.s . Iowa State Univessity. ~~ica:l
... Labora~ry, pp'. 8-10, April 1961. '
,
5. G. S. G. Beveridge and R. 'S. Schechiet: Optimization: Theory afuJ Practice, ,McGraw-
/'
.
6. S. M. Roberts lUId H. I. I..yv,e-rs, The Gradient Method ,in Proces!,, CentrO,}, /nd. Eng.
" Chern.; vo1. 53, pp." 877-882, 1961. ' .
~
U
...
.~
.-:: :
)
.. -:. '. ':
. \
'." :~:
'~:"~' .
". " ',: ," ; .,.;:. ....: . ..
"
'.
"
"
..
'J
....
'
.. .....
;..
J.-
'.
'"
,. . . r- .... :. .'"
10.1 ,UNIQUENESS OF
DYNAMIC-PROGRAMMING PROBLEMS
Dynamic progr~m.ing is a m,e thod of optimization tpat lS applicable either
to staged. processes or to continuous functjons that can be approximated by
staged processes.. The word Udynannc" has rio connection with the frequent
use of the word in engineeqng technology, \vhere dynamic 'lmplies changes
with respect to time.
.
.
As a method of optimization, dynamic programming is not usuallj'
interchangeable with s~ch other fonns of optimization ~s Lagrfinge multipliers and linear and nonlinear programming. Instead, it is related to
the calculus of variations, whose result is .~n optimal junction. rather than
an optimal state point. An optimization problem that can be subjecte<l to
dynamilc programming or the. calculus of variations, is usually qifferent from
~hose suitable for treatment by Lagrange m u]ripliers and linear and nonlinear programmin.g. The calcu]U's of variations is used, for example, to
determine the trajectory (thus. a function in spatial coordinates) that results
in minim'urn fuel ' cost of a spacecraft Dyn3mic programming can attack
this same problem by dividing the total path into a number of segments
and considering the continuous function as a series of steps or stages.' In
1
.:
' :'
' ,
'.
215
DYNAMIC P:ROGR.AJ\-lM1NG
cas~s fit dynamic prograrnrning exactly~ , and 111 e re the calculus of variations
~Nould
10~2
'
"
11
Lr
-returns
'
' .
01:" n1inU1'lUrXl,
depending upon
{=l '
The
11
'
d~not:d
here ,as
i= I
'
rue
'
T i.
In
the.c'alculus of variations
terminal points of the 'function y are specified.
In dynamic programmjng, ' also, S nand Sf are sp~cified.'
'
Often some insight is needed to recognize that a phy~ical problem fits
into the IDO,ld qf dynamic programnling. Some hint is provided when theproblem involves sequences of stages, 's uch as a chain of h~at exchang~rs"
reactors, compressors, etc.'
.
So far only the nature of the ,problem has been described. The next
section shows how dynamic program1ming solves the problem.
Srage
_ _ _n~---"Il
Stage
n-I
sn'
rn _ 1
SI
n-I
S'2
Stage 1
,t,
------------------'J
~-------------~---V"
,
FIGURE 10-1
Pictorial representatio'fl of problem ,that ~an be solved by dynamic prognunming; S t:I state
of [he inpu!...~ ..3 stage " S'
state of t~.e' outpUl from a stage, d
dedsion variable. and
r c retum (rom a stage.
E%J
:;lJ
216
D1(NAMIC..PROG~GSO~UU:ON
.
. '.
:.".1 '
' . The trademark of dynamic progra~prni?g in arriving at aP: overall optimal, ::..
:: planis to . establ~sh 9ptimal plans fQT' subsections of the problem. In, suc- :: '.
':.,' :: ceeding evq;luadons the optim-aJ. p'Ians fOT the. subsections are. ~secr~ and all .' :'.
:'.'- :;:. nonop~ plans are ignored~ Th,e mdchaIlics 'caI1:.. l?e 'l1histrated by a prob- :
~~.'-~ : :~;'~ :. ...lein(of.~~~w.B.. t4~~~pp.timaI ~01:lte qe~e~iL:~H.,.p;~m.t~""as iPt. ~xamp~e : .
..
..
-<
. , T . ..
(':r... ;.,.
<...... .
~ ~.: ~?:~./.:-:
.'.. '. " ' -.-~- Example' 10'.1. cA riruIiiti.lh~cqst pijJe1me IS tobe.constrUct~ be~~nPofuts . .' ..
. A and 'E ~ passmg ~u~cessively through one node of-each,,' B, 'C, and D, as : ',: "
shown. in Fig .. 1-0-2 .. The cos.ts frow. A to B' and from D to E ax:e sho~ in ... .. .:.
fig. '10-2, ~d. the costs between B and ' C and .between C' and 'D are ' giyen :' .
in'Table 10.-1.
.'
.
I
Solu?-~~.
.4
FlGURE 10-2
Dynamic programming used to minimize the ct?st between points A and E:
TABLE
Cos~
l~, l
,
-
From
-3
.J .
'3
12
1'5
21
15
16
21
J7
17
16
28
24
28
24
15 .
12
-- .
15
2 7
.~ 1
.....
b:
DYNAI"llC PROGRA.l
'..!MING
no
"
J.
of
~'
?'
. , ' I."
...:.
E.
can
me
TABLE lO .. l
Example 10.1, D to
from
Thro~gh
'
Optimum
DI ,
20
D2
15
16
20
,x
x
x
D3
D4
218
TABLE 10.3
Example ,10 . 1, C to E
Cost
.X
I
D2
20
16
IS.
DI
15
20
._ 31
35
D4
D3
D2
'DI
28
20
1.6
15
20
. 37
30
32
D3
. CI
' 44
24.
17
16
D4
C2
21
15
12.
33
48
TABLE lOA
Example 10.1, B to It
Cost
From
ThI."ough
B to C
C to E
Total
Optimum
B4
C4
C3
12
31
32
31 -
43
47
15
C2
CI
B3
~
0'
B2....
C4
C3
C2
Cl
C4
C3
C2.
Cl
,
Bl
C4
C3
C2
--C J
24
28
30
55
58
15
31
46
]6
32
48 .
17
2J
31
30
48
51
24
17
31
3~'
55
49
31
30
47
45
. 16
lS
28
21
15
12".
31 -
59
32
5,3
31
30
46
42
219
) I
Cosi: _.-
'Total
.. ,-.;).:c,'
' :~ --'7~
: 82
':
... .
"
_.- , . 1 "
.:
:" ~"
16,
20
BI
'.
' 42 ,
.
0"
61
'
" . ; :: :: '.'
' ,.', ~,
,62
,"'"
-_
'
"
"
fquI- state vatiab ~es, B I?' B 2~ ,B 3, and.jJ 4.,. and the optimuIn cost fr'Om each
of these states to the ~',nd. '
I
, The finnl step in',the ,~ollltibn is provided by'picking UP. 'th~ firs~' stat~ ,
(A t9 B) ,in t,he accumulation? and ,'the resul'( is Table'IO.S. Ther~--is, only one '
state variable, the position A2. From A2 me .options are' to pass thrOllgp B 1',
, B2, B 3, or B4. The cost frqrn A2 t'o, B is' found in 'Pig. IO~2 and the coOst
-from B to ,'E 2.is the opt,lmal oue- fr<?JTI the appropriate B position from Table '
10.4. '
"
The ~jnirnum cost from A2
E 2~ thus the mlninlu:m .total cost, i~ 61.
To identify which route results in this minimum cost it is only necessary to'
trace back through the tabIes and note which -choices were optimum: A2, B 2.
CI, Di, 2.
'
"
to
'
i<
220
Feed
0.6%
',' ".'
- LactoSe
.
,J
. .-
:.~
" ,
, 'i . ,
--:'.
. . .. .., ",':
, ",
--~
," , , . '~~ample . 10.~ ... ' ~hey is 'a by-prqdu~. of chees'e manufacture a.hd contains, '
,among o~er cons~ituents ; protein ?TId l~~~se. The t~o subst2TIces . are .val~ab]e .
when separa1ted, protein-rich whey for yogurt and la~tose for ethyl alcohol.
One me~od of 's eparation is' ultrafiltration, w~ere. the separation o,ccurs ~n
the basis of mol~cu1ar size and' shape'. A series of ultrafilters is employed ,
,-'(four iIi the"charn shown i~ Fig. 10-3) to separate the protein and lactose
progressively. Klinkowski 1 show'S' the ope,rating cost qf ~ stage to be a function
o(
inlet and outje't protein concen~tions, as shown {n Table 10.6. Use
dynamic programming to solve for the concentrations leaving each st,a ge that
results in the minimum tota). cost.. :
the'
3.6
[0
0.9,
1-8,
6.0.
TABLE 10.6
Leaving protein
. ?53
0.9
1 ,1
1.8
2..4
3.0
3.6
4.:!
4;8
1"
1.8
2.4
)0.77
' 3.73
20.24
28.38
10.77
5.54
1 7.23
10.78
3.74
3.0
~oncentration,
3.6
4 .,.
,%
4.8
5.4
35.20
23.10
1.42
5.4
6.0
~ :.;--~
,-
6.0
2.82
. ,1.26
22~"
DYNAMIC PRO
GRJti\1MING
-t'7
,___~-'--lE 10 ,,1
I I
.,'' .:"""".
...
~~:~~"~,:. ;:,;;~: : -: ;:
... : . ....
".;
lO ~ 8l
TABLE 10.8
Concentration
III
~ntering
1.1
Through
L8
~.4
3.0
3.6
'4.2
, :4:8
5.4
L8
~.4
3.0
3.6
4.2
4.8
S.4
3.6
Cost
4.2
4.8
5.4
3.0 '
IV
2.4
3.0
3.6
-4.2
4.8
5.4
3.6
4.2
4.8
5.4
2.26
4.47
-1-.8
-.
2.82
=
=
9.59
9.25*
::z
9.4~.
+ 1.26 = 9.99
1.89 + 4'.78 = 6.67
3.75 + 2.82 ~ 6.S7f6
'6.82
5.. 56 + t .26
lC
~.2
+ 7.33
+ 4.78
6.63 +
'8.73
:...----~ .. '-.
~.:
.. " . . .
4. 8
1.62
SA
3.21
+ 2.82
+ . 1.26
5.4
,.1.42
+ 1.26
J:I
4.44
4.47
1:1
2.681\)
':
. ":,.
..
.
3I;a.d
~:' -, ;
7..33 . .
4.78
. 2.82
1..26
"
- ,-'
,
.. " . .
222
TABLE 10.9
~oncentr.ation
'
1,"hrough
Cost
4.~
'1'.2 "
2.4 <
3.0
3.6
4.2'
, 4.8
' 5.4
2.4
3.'0
3.6 4.2 '
4.8
3.6
4.2
4.8
3.0
...."")
f 18'.1,2
+'12.88
+ 9.25
+ 6.57
=
=
=
+ 4,,44
+ 2.68
--
3.74 + 12.SS
7.33 + .9.25 -JiO.. 79 + 6.57 .14.00 + 4.44 =
17.23 + 2.68 =
9.25
6.57
:::;
=
=
4.44-
2.68
~.26
3.6
3.6
5.54
10..78
]5.67
20'.24
24.47
28.38
2.82 +
5.55 +
8.21 +
10.80 +
3.0
,.
23.66*
23.66*,
24:92
26.81 .
28.91
31..06
16.62
l-~.58~
17.36
18.44
19.91
, 12 .07*
, 12.12
12.65
13.48
4.2
+ 6.57
4.47 + 4.44 =
4.8 .
4'")
'4.8
3.75 + 2.p8
6.43
4.,8
1.62
4.30*
1.89 +
.8 .83*
8.91
9.31
4.44
2.68
6.33*
TABLE 10.10
Example 10.2,
s~ges
Concentra'don
,entering I
- 0.6
1.2
L8
, 2,.4
3.0
3.6 .
4.2
-----'
.
I to IV
Cost
0..9
-'.
"\...
5.53 +,2'8.89
]0.77 ,+ 23.66
20.24 + J6.,58
t!1
~,
'=z
28.38
12.07
8.83
.35.20 +
40.70 +6.33
44.88
s:
a=
S~34A2"
')1.43
36.82
4().45
44.03
47.03
+ 4.30 .. 49.18
DYNA\1IC PROGRAlV1MII..;'G
2.23
A
TH'E
prll
r"' TJ~ F
~'lF
XL .r~ R-"1
~)} __ TIXP
,l', ..Lll..l'~
~~_-l\[ ~lVII CbPR O,G R~IVj[pl]U\T G SO~l!l1I,O r~
10
_ nJ-
, ,- ,
Examples 10,1 and 10.,2 begin ,to. display a pattern of the n~r:-.r~ f?f t11S:
problern, ,and tne rcharn<;:tenstics 9f the dynamic-p~ograrn.muJ.g solut!on-_ the
solutions ,can be' show~ gra_p.~~~s~_I.~x~,~,J :~< ~ip,:;_ IO~~~ _a~d ,p_:- ~xar~ple, '~O:: l, " : ,
~;... , __ <is.. a.. geo~e~~,9.:,"_p,ro bJeni:~" , ,~ifC llif:~: J?!.41P~t~, :,1S." a" R9~-g~qn~" )!.~,:)~k~~, "qJ::9.ip'-at~Stt:,:, , : ',:,:,~
.ciarnple fO!,2 'IS' :a"piys ic,'aXY~D~~,bl~ ~'_ ,the"prbieiii c,O.n:ceIitiatiq~L Th~: a6s,c~,s,a5,,~_:,' ,'-. ',
- ',are the 'st~ges; A-B is rhe:fir,st stage' in,Exampl~ :10.1 ,.:and' the fi~st"-~tag~ i~:' <, -:,',',
',:Example IO.2 lies between POSitiPflS 1 imd -2. '. - "
Another characteristic ,of .the p,roblelTIS is 'rhE!-_t,th~, -'terminal -points are
"
specified (A2 ~nd E 2 in Fig. IO-4a anq 0.'6 and 6 'percent in FigG -104b). An'
',_ optirual path is' sought.-that mi.nin:Iizes
a suni.,m~tion'-' which in both probletns
.
.
'
.
.
is a cost.
,
The frrst table in the' dynamic-progTamming solution -is a nec~ssa-ry
routin'e~ but it is in the second table -tbat dynanue progranimmg becqmes'
, effective. In Example .1-0.2 fr~m a given s't ate variable entering stage nt '
e.g.-. a coilceriiration of 3.6 percent, the-various possible rOlltes, to 6 perc~nt
at position :s are investjgated., Once the optimum rouce from 3.6-" percent
at position 3 to 6 p-e rcenr at position 5 has been idendfied~ the nonoptimal
, route's are discarded.' Any future path that passes throu.gh position 3 at 3 . .6
percent uses only the .optima]. route. '
,
The, choice of the increments of protein concentration in', Example
10.2,(0.6, 0.9, 1.,2, L8, etc.) 'was s,o mewhat arbitrary' and introduced an
approximation. More precisio~ wQuld "have resulted jf ~. f percent incre- "
) ~ents had been chosen and the perfonnance data that Ylelded Table 10.6
'
'
c.l? 5
al l
e
c:v
-'> 3
J,j
.f: 2
v
tl-
Stage
(0)
Stage
(b) ,
FIGURE'10-4
Graphic display of dYfl <lmic-programming (a) Example 10.1 (b) Example 10.2.
224
DEsIGN OF
~ SYSTEMS
TABLE 10.11
}.-~lr't taoRe of Example 1{t2
stage I .
""
','
!",
: : '.
:: . :
.'
:' '{<,':'
~ving stage
_.
':",
I
I.
"
,:,;;.:.:'';t:;:eJtc
':,!.'6, ;'.' ;,)
~-
Cost, $
"Entering stage I
~:~ ;~ ' ,; ..
. .. . '.
proceerung iOf1Vard,
.
'.1 I
._
. '.-
':;
, I , , ' '.
<",". c' ,
.'
. !' ."":'.:,.10
'1~:~~
"r
,, '
' : "",
,'-:.0
~< '~.:o..
.., ,
.
',z~.,:,,'
-. ... ... , .
,' ,
_. . ' -.-
,stage n
'ThrQugh _,
at position 2 ,
0.9
0.9
, 1.2
,1.8
r.2
0.9
,2.4,
1.2
1.8
etc.
C~st~
, 3.73
+
+
+
5.-53
5.53 =
10~ 77.
9'. 26 '
16.30*'
10.77
5.54 = 16~31
5.53 + 17.23 = 22.76
lOr77 ,+ 10.78 ~ 2~.S.5*
20.24 + 3.74 ',= 23.98
"
used to' conlpute"a more detaileq table. The coarser grid was chosen simply
to lessen the n~mber of calculations. After having established the approximate optimal p'a-th a recalculation 'could have been made using a finer grid
' but considering paths only in the neighborhood of the preliminary optimum.
It has already be~n pointed out that the form of the ava,Hable data may
in some prbblems make starting at the front preferable,' and in other cases'
starting a~ the end and working backward. In Examples 10.1 and ~O.2 it was
'immaterial which direction was chosen. It should be realized, however, that
the form of the tables will dilfer 'depending 'upon whether the progression
is forward or backward, because the Sta,te 'variable will be different. If the
progressi,on- in Example ID.2 were forward, the fIrst tab]e would hav~ th~
form shown in Table 10.11 and the second table would be as shown in
T2;Qle 10.12.
, The state variable in TablfC 10.,12 is the protein percentage leaving
. stage II, and
once
it has been detennined that the optimal way to achieve a
.
.
protein concentration of 2.4. for e?Cample, through the first two stages (0.6
to 1.2 in the first stage and 1.2 to 2.4 in the 's,econd stage. as indicated by
Table 10.12)., the nonoptim,al routes are ne~lecteQ.
_'
.
..
DYNAMIC PROGRAM!vlJNG
225
I I
i nlportan~
class of .problems i n ' dynanlic program.ming .is that of COD. strained GPti . nizati on ~ v.;here. a fu~ction y (J~:) i s' so ught . that J.; t. iniwizes a
. 'sumrnation ::g(y ~ x) ,but in 'addition SODle other summation is,. 'specifie'4 '
.: ""'Ih(y 7X ) . 11,' ~!here.~the. furtctj~ons gl;,.l7;-, and the ' uurrieri.callenn Ii are '.
:~" '~:~'~"'Iu'1oV'/n ~-This' ct~.ss tif',~:onstralli~d"problen1s;:Vi.il,rb{:'ifeate'tti"IJi'>(~~pi6F'i8:('::~ .;:
"".' ;'. .A.noth~Jf ~t~ss' of problems-;at':fjrst gla~ce::uray~'seeni.'}c{ be '.corrs'tr~in..~!;L' 'bUt . ':
they can be c'C?flve"ited il1to. a fOnTI l.denti,cal to that u'secLin Examp,le? 10.1.- :
. arid 10.2. This class may 'be called (ippilJ~elltly coJisirained. and illustrated"
by Examp~es 10.3' and lO.4~ ' .
.
. . Ji.::-D
is
Forty ,tubes are to be -arranged in the banks so that the minimum total
pressure drop preva.ils in the' evaporator. The pressure drop: in a bank is
approximately proportional to.' the square of the ve10ci ty . and 'a satisfactory
expression for the pressure drop flp is
'
J
.. (10.1)
Bank pi
OUller
.r
1.0
4
Bank HI
3
..
--
Inlet
= 0.2
If
T
Aow, rolte
:2
0:..5 kg/s
FIGURE .10.5
--
,..
II
Bank 11
Bank I
226
.)
" \ ,'
,I
.. So~OJll. Selection' 'of Ltl6:nrimben of tubes'-ip: ' ~. stage: (bank)' as the state :
.:-:~ . .:;~-., .... .: .:;;,,,:!~'~:~J' vaxi~bl~, .is_.unpp;jda.Gtil!~+',l?e~use..,tb~_t~onjpa1 points iri graphs comparable "to '
. ., .
.; \.~,.; ..' ~ :-'..::' '~ig~ '1'0-4 ar~ not ijXed~~ Ftiithrmori_~':'i~~~ ~b~ice~. o~ P~~?;f4;?~tupes /~~,:tb~~:_ ':~" .
d~es
.l?'ot a.ccoWl t' 'for the. Cpp~trahlt th~t- pr~~lselY-: 40" t~QeS.:~~e;:~:.' ."":"
.
,'. ' . . .,
The difficulties .-are .overcome by choosmg ~as tb~-state variable CUIDU.... ' Jative tubes c0111IIlltt~d, which resuJ;ts iri coordinates as shown -in Fig. 10-6... ....After stage 0 (before stage I) no tupes hav~ been -c9mmiried, and following
'stag~ TV' 40 tubes have beeo' corrimitted.
Table lO.I3 .shows pres~ure drops 'for the first bank or stage for several ..differe.nt choic~s of tubes. Table 10.14 uses as the state vanable -.the total
number of tubes committed in the :frrst two stages and permits an optimal
". selection. For e~ample, if ~3 tubes an~ used . ~ the. first two stages, the op~m.al
distribution is. to allot
5 tubes in bank I and 8 tubes in bank n
to achieve
a total
.
'
.
4O~
[I
-'_3D
:.r.
~
20
'!..J
>
10
,'--'
1
. FIGURE 10'6
State variable of cumulatiye
IV number of lubes commirted in
Ex.ample 10.3.
III
11
Aft,er stage
TAI:LE 10.13
Exanlple
~Oe;3,
Total tubes.
c,o mmitted
stage 1
'lUbes in
stage J
.(
2
3
3
4.
7.20
3.20
1.80
1. 15
.6
0.80
,4
6~
-.
217
"
1 {L3~,
2xanlple
trtages
I and ]]
,
'
~--------------
. "
12
{'}
'7
8
3.20
,
13
.9
10
14
7
8
9
10
1.5
9
10
----~~------~----~--
+ 0.60
= 3.68
~
.
1.70
l.tS
0.80
056'
=
=
=
=
2.29 '
I.95'i!
1.9S::'
2.35.
from Eq. (10.1) using x/ = 0.20 + (0.02) (number of tubes .in stage I).
Table 10. 15 determines the optimum number of tubes in b,ar:U< ill for
various total numbers of tubes ' in the frrst three banks. Table 10.16 is the ' ,.
final table 3J1d indicates that. 17 is,$e optimum number of rubes in bank IV.
The optimal distribution of tuhesis 5, 7 tIl. 17, resulting in a total
preSSJJre drop of 4.71 kPa.
'
228
TABLE 10.15
~xample 10.3, s:~ges
10 '
Jl ,
24
....
,12 '
13 ,
25
10
II
12
13'
26
II
12
,13
TABLE lO.}6
Example
an~
TIl, , ,;
)
"
+ 1.80 = 3.51
+ 1.37 = 3.32
+ 1.0'6 ~ 3.21:~
+ '0.82 = 3.29
1.71
1.95
+
+
+
~.16
'
1.49 = 3.20
1.15 = 3~OO*
0.90 = 3.06
10~3,
Total
, tu,bes
stages I to IV
Tubes
in IV
13
14
40
15
]6
17
18
Total Ap t kPa
2.93 + 2.3.3 = '5.26
3.00 + f.90 = 4.90
3.22 + 1.57 = 4.79
3.42 + 1.30' = 4.72
3.62 + l.09 :;;:: 4.7J
3.86 ,+ 0.9J = 4.7.7
the feedwater with ' exhaust steam' from .the turbine, there w<;>uld be no
temperature difference between the exbaust system and the feedwater to
provide the driving force for heat transfer.
-.--,
. .......
L.
SLfperhemer
.. ......
~'
FIGURE 10-7
,
'Se~e,cdon
.'
"
....
."
'I
'"
............. '
,-.
the ares.
I .
~.
230
"llitilLE 1@.1"l
, E~acti6n-steani data
futra~tion point
and
temperafure,,
, "
Worth of e~"traction
"
steam, c~n~ p~r g~g,~j()itle ,' ~': ': "
Sqturation
90, ,'
' 23
'
47 '.
. .
' ..
,.
.
,/
area
TABLE iO.18
0'
100
200
300
400
SOO
600
700
o
100
~OO
300
400
500
600
700 '
,800
, 800
900
)000
Area for
stage I
-.
900
)000
Saving
per secon,d
32.00
60.27
7,4.76
82.19-
$.000 '
.438
.663
.778
.837
86.00
87.95
88,.95
89,.46
.89J
-89.72
.,89.86 ,
. 89.93
.895
:897
.898
.867
.883
DYNAMIC P3:0GRAMMn-.rG
.231
Total
~L ea
Area
on II
'. .
o ..
".
~.
200
....
'
~OO
a!l
4:0
..
__
1000
.,.
0
100
200
300
" 400
500
600
700, .
800
900
1000
,
:..
, .:,
,..
If.
,.
7"
74.89 '
. ~. '.575*'
74.76
89.38 .
96.88"
.663
:.829
. '.870*
.....
'
,.
III
"
... .
."IlS.8})'
117.S6
f lS.S7 .
. 119.38
119.65
09.18
1.19.85
. 1i9..89
Area
inID
Savings
per seco~d
13
~OOO
32 ..00
100
0
100
74.89
94.39
.575*
.575*
200.
0
100
200
96.88
116.37
.870
.957
.870
...................
1000
126.37
,.
.. . ....................... .. .
~
H'9.3.8
1.~85
JOO
138.88
1.462
~OO "
1.49.14
154.26
157.02
300
400
500
600
700
800
90(l'
1&16
158.37
159.13
-15'9.48
J59.70
159.79
)S9.84 '"
1".548
I.S90
. 1.598
1.597
1.566
" ).537
1.449'
L358
1.178
'i'. "
"0
:r Oo .
'
.898
.. r.094
' 1:.194
1.245
1.270
.
J .2~2 ,
i.285*
1.280 .
'1.267
1.237
1.178
89.93 .
. 104.55
112.04
..a
-:0
100
.0
100
......
. '..
...-...'
:.
.~
'.'
S-avings
P'ci- secon.d
.....
'
....
:.
,"
;.
232
TABLE 10.21 .
Ex'~ple 1~ ~4;
.
stages I
t~
IV
-
,:
,Savings
--
~h,~tr~~~';f} "
"
"
I,
~r -seco~d
, "
':';.
: " ,. ~ '
' ,
',L804*'
"
" " . ~:,'; '\ ," ,<,,-'ziO.68 " ',: ' ,,1.790'
:'i.,"~,:;!'::;:i':,.:'.,:!:"-" \"
"
"' ,.': :,: ,:, " .;:,: ~'fog "< ' ;:E~ -
",,,,~,,, ,,,.,,,,,",,
'214.5-3 "
214.66. ,, - -
!::~
,1.492
,', 1.336
'
1000 ,
214.77
..
" ,
'.
'"
.996 '
...
,Finally, Table 10.21 where the full , area of 1000 m 2 'is coInm.itt~d,
inclicates that ~e optimum distribution of area is 100, 300, 300,- 300 -for a
.- total ~~ving <;>f $1. 804 per s~cond. '
:'
10.7 SIJI\1IVIA,RY ,
"'hen optimizing a system that ,consists
\\h.ere the output condition from one unit forms the input to the next~
dynamic programming should be -explored. In large problems th~ amount of
calculation may be extepsive , even though it repz:esents o.nly a fraction of the
effort of conducting an ,exhaustive e'x ploration. The systematic nature of
dynamic programming lends its~lf to d~velopment of a computer program
to perform the calculations. The major challenge usuaUy appears
setting
up the tables" and especially' ill identifY,ing 'the, s~te variable.,
Chapter 18 'w ill revisit dynamic. programming and focus on its rela-,tionship to calculus, of variations. The ins,ight provided by calculus of variations sugge,sts proce~ures by whicJ1 ,dy.namic programming is able to solve
constrained optimization problems.
'
in
.'.~ .. "'!:- ,: ~.
'.
\.'
PROBLEMS
-19,~} ..
The total pressure drop from point 1 Ito point 5 in the multi-branch duct
system shown in Fig. '10-8 ~ to- be 500 ~. Table lO.22 p~esents the costs
for various duct' sizes i~ ,each of the sections asa function of the pressure
drop in the section. Use dynamic programming Ito detennine the -pre~sure
drop in each section that results in the. minimum total cost of the systeIlL
,
Ans.: $599.
10.2. A truck ,climbs a hHI that consists of Wee sections. The fuel consumption '
-- ..
~" ~jn
'
di~~ce
in the
DYNAlvllC P~9GRAMMl.N G
1.-<<,- - -- - - -
! I -- , -.
. fi}' ,
- - ~;;J;.~~..:r
..
'"' 2
'--~l
SOOPj - - -
J
.
233
~-
';'~ ~~ ~
--
FIGURE 10-8
" Duct ,systeminProb.lO.L
-;fABLE ).tL22
drop, 'Fa
.Section
Pressure
100
150
200
" 222
,1-2 .
100
150
J80
166
200
157
,_-.J
',
Cost, $
205
193
4-5
..
135 '
100
3-4
"
150
'125
200
117
100
93
150
' 86
: 200
81
, (.
234
DESIGN OF ~ SYSTEMS
TABLE 10.23
".
Fuel cOilsunlption, g
Time7~
,7
40
, 34
' 29
.' _.
1 "
,. ,
.. '. .
' ,45
10
38'
49
8 '
41
' .
.,
'
, ',
30
r------.=--~-__,~~""'---'O~__,.==~--__,
8~OOO
----r------t--~~__i>-----......,j
p
, ..
6.000
a-------+-_---I------:---+----.--~.
4.000 ~
I
,2.000
,,
35
9
10'
]0,000
' '
61' 52
(:-D
'
~,, ~,.:,,= ~- .\',::~; ~ ~~~~::~I; '_'.A': ' ; ~-'-: "; ,~ ;: ":':";'~:;~'I~"'~: '<:-:. ,:t'::< ',~ f::.. ,\,>. ,'",: ,.'--"< '~ ' " ,-~~,;" , ::
7
8
" -B-C
"
~!!__--'--~_+_---'------ll~,~--------t
I~--~~"'""'------!f__~~~=t_---_II'
Destination
Start
I--
200 Ian
--I
TABLE 10.24
Fror:n
a!t~tude, m
0
2.000
"0
300
120
0
0
0
.4.{)OO
6.000
8.000
10.000
-- .
2000
4000
1500
600
J80
300
60
120
30
840
200
O
,.
6000
8000
10,000
l~OO
2070
1000
' 1500
2300
1950
1160
2300
2500
1730
600
1200
80
ISO
600
60
90
. &
235
)!
5
1 .
.~
" ,
. ....
".
" , '
.....
..
~ of , ' ,' ,
'
,'
__ '
""
. .... .
,:'
~ ~ ... . .
:'
: '
- ....01
-..~~ .. _. ,:0.
20
'
I }D . .
,:
:..
...
'-
,,
',
, ' , ,"
,'
e
C
. .B
FlGURE 10..10
P~pe' line route in, Prob. 10.4.
(a) If an possible combinations of roures are' 'investigated, how many different paths must be examined?
(b) If dynamic p~ogramming is 'used, how m any cal~l~tions must be made
.' .' jf one calcukmonconsists of one line in a. table?
Ans.: 7776 and ~56.
10.. 5. The maintenance schedule for a plant is ~o be planned so ~hat a maximum
,.total profh wilI be, achieved during a 4-year span that: is part of the life, of
the plant. T~e iilc<?me level of the plant during n given year is 0-functi.on
of the condition of the plant carried over from [he previous year and ,the
amouut 9f m~inten~nce expenditures at ,the beginning of the year. Table'
10'.25 shows the necessary maintenance expenditures that fesult in a cert41in
income level' during the ,year for various . income levels carried over from
the previous year. The income ley,el nt the beginning of year 1. just before the
fABLE 10.25
level
.:anied over
'roni previ.oU3
:ear
$30
$32
$34
$36
$38
$40
>30
32
$.2
$4
$7
5
4
$16
$-23
' 13
10
8
14
$11
9
'7
5
')
'2
10
9
,.,0
34,
'2
I
36
38
X
X
.w
-.
:,q...,
3
2
J
0
18
.. . .
,'
.'
.. .
\
,236
..
' ". >
37SC
"
,-
. "'- .
-..
FIG1)RE 10~11
Chain of heat exchanger~ 'in Prob~ ' ~0.6 ..
at
TABLE lO.i6
Inlet
temp.,
exchanger
100
150
200
250
300
50
520.8
558,. 0
X ,
50
23.1
62.6
36.1
5,0
100
J50
, SO
tOO
150
200
150
300
----. ---
50
200
4
of steam,
~ullet temperature,
100
150
cos~
2LS
0
. 132.3
.93.,6
62.8
79.9
129.9
94.3
51.2
0
$),77.0
$308.3
141. 7
266.7
103.0
57.6
223.6
176.4
41.1
0
372.4
309.3
243.7
173.7
94.4
.
.
. .
~.::;. .-
237
If:..
DYNAl'vlIC PROGRAi\Ill-All'\lG
of
,,\leu.as
~,
'
",
'~"'-\'
"., ~
.~ ."-
the
TABLE 10.27
Pumping epergy
remperature difference
It start of 3 .. h period,
" - twbt
.5
0.5
1.0
16
12
8
. 4
')
,L.
~,O
:.5
:.0 _
:.5
.0
-.5
'.0
:.5
.0
I....
.b
..
,
;z temp:er;srurt: of waler if! pond'. c
= wet-bultrte~!"3l'tlre or L'Tlbient air,. c
.. -
1.5
2.0
2.5
54
'XX
X
X
45
36
96
27
18
80
X
166
64
139
48
32
111
83
16
0
55
27
0
238
, TABLE 10. 28 ,
, Increase in velocity in
3i)-~
intervaJ,. r;nJs
)
, Fuel b~ed
hPtial "
. " ', mass of.
',: " ' fuel, kg :
" 2000
1000
5000 -
4000
3000
in 30 s, ~g
6000
'7000
.~;,.;.~.:,., !~~.~ .' . .:;":..: .~:~~.,.~!J~:~ <;":"' ~!~r::.".);7;;;::. .,. :'' i~:~'r. . +"~ ',.:."'~~'. ~. ,;.... :,.,::.'..'.
5.000 -
312
152
143
136
:,.J 6~OOO
. :7.000
,8.000
1~1
127:
9~OOO
10~900
-124
486-
288
445
269
253
241
412
385 '
362.
231
,;343 -
, 1024 "
- 926 '
847 ,
781
726
1140 .
1034
'/
947
875
of
The rea,ctof is to,consist four stages; as 's hown in Fig. 10-12. A particular
reactor is limited to a tota(of 14 kg .6f cataiyst"which is available'in I-kg
packages. Each stage can accommodate 0 td 5 kg of catalyst. The fraction
of hydr~zine undecomposed
~' stage is given by
in
)'0
-=--=
'0 . 5
"
)';
where
+ '0 .e
5 -m,"
' '
Stage I
I
I
I'
I caw,ys,li
Pure
J
hydrazine I
~J
,,
I
III
JV
I
I
I
I
I
C]rD 0
'
,J
f1GURE 1012
Four-stage hydrazine reactor.
11
,
I
f NH 3 N 2 , H]
: and undecomposed
I hydraz.ine
I
I
DYNAM1C f~OGRAMivIJNG
239
an initial contamination of 2'000 ppm. e:nlqring the first stage. A total of 140
kg of activ(1req carbon i~ available to be bi~tribut~d. in the four stages in
qup ntities of 10.20,30, <-/0. orSO .kg_iri each stage, The perromlance of
. each stage is. expresse~ by
..
. where x 0
REFERENCES
I, P. R. KJlinkowski. "Ultrafiltration: An Emerging Unit Operation." Chem. Eng., vol. 85~
no. ll.pp. 164-173, IvJay6.1978.
2. 1 .. L. Rizzo and A. R. Shepherd. "Treatil;lg Industria.! \Vaste\~nt6r with AGi\'~ted Carbon:'
Chem. E.Jlg. vol. 84, n~, 1. .pp .. 95-1b.~. Jan. 3. 1977 .
~DITI0NAL READINGS
Bellman. R, E.: Dynamic ProgT'Qlnming, Princeton University Press. Princeton. N.J., 1957.
Be]}man, R. 'E . and So Dreyfus: Applied Dynamic Programming, PrinceOn University Press,
Princeton. N.J., 1962.
.
Denn, M: M.: Optimi:alion by Variariolla/ lYlethods. McGraw-Hili, New York; 1969.
GJuss. B.: An Elementary IJlITOductioll10 Dynamic Programming;" a SWle EqlWTioll Approach.
A.flyn and Bacon. Boston. 1972,
. . ..
. Hasrings, N. A. 1.: Dynamic Programming with Jrlallogemellt Applications.- Crane, New
York. 1973. .
'
~emhauser. G. L ..: lmrodllction 10 Dyiulmic Prqgrammillg. Wiley. New York. 1960..
Roberts. S.: Dynamic Pro,gralllming in Chemical Engineering ~)Jd Process Control, Academic, New York. 1964.
I ..
- . ..
'
'J
,,-
'
.-
11.1 INTRODUCIJON
Geometric prograrnming is one of the newest methods of optimization.
Clare'n ee Zener fust recognized the significance of the geometric and arith- ,
metic mean in eases of unconstrained optimization. Since then others ~ave
extended the methods to accommodate more general optimization problems..
,The form of problem statement that is particularly. ~daptable to treatmen t
by ,geometric programming is a sum of polynom~a1s for both the objective
function and th~ constraint equation~~ These polynomials can be ,made up of
combinations , of variables of either positive or negati.ve noninteger or inte, ger exponents. After seeing the usefulness of polynqrnial representations in
Chapter 4, we recognize that the ability to optimize such functions is clearly
of engineering impprtance.
A ' feature of geometric programming is that the first stage of the
solution : <) to find the optimum value of the function rather than first to
determine the values of the independent varjables that give the optimum.
This knowledge of the optimum value may be all that is of interest, and the
. c~lculation of the values of the variables can be orpitted .
I
240
-.
GEOl','lETRlC PRGtJRAMMING
241
scope
'
or
Minimize
Y = 5x
Maximize
y = 6
. Minimize
-V --
10
+' 3x
?:r
........ I "~y2
2
(Jl.l)
-Jx
-
La
5
.JXjX2
(11.1)
l 'Q.\v.'O.8.
I
4....v ::?'
(11.3) '
Minimize
subject
to
y
,
11.3 DEGREE OF
Sx I
XIX2
Cl1 .4)
= 50
DIFFICU~TY
242
providing the support for 'the method, the. PJechanics will be pre. . sented through s~veral examples. The optimal value' y ~ will be sought for
. . the function
(11.5)
The individual terms will be designated by the symbol u; thus
Geometric .programming asserts that the optimal value y * can also be rep, r~sented in product fonn by an expression' that we shall call g *,
~ -g
_ *
and'
WI
Q1Wl
W2 ~
+ a2w2
W2 .
WI
(11.6)
(11 ~ 7)
= 0
(11.8)
A consequence of Eq. -( 11.8) is that ,the x t s cancel out of Eq. (11.6) t so the
solution is
y* = g* =
.
where
wJ
and
W2
. A further
. CJ
-.....
( WI
s.ignific~ce
of
WI'
'and
"
WJ
"
W,2
u*J
uj + ui
uT
=-
y*
(l1.9)
}1J2
(11.10)
243
E_~ample 11 ~ L
Deterrnine the optim.Llm pipe di ameter. which reSJ IcS in D1!ninTuH1 first plus operating cost for 100 m Ofl gipe conveying a given water
fl o\v [ate. The first cost of the installed pipe in dollars is ~,60D. where D is .
the pipe dianleter in mil1imeters. T~e lifetime punlping COSKis ..(32 x 10 12 )/ D 5
doli~s. It to 'be expected that the pumping cost ~vill be p roportionalto D -5 '
because the pumpi.q.g cost for. :i specified.Jlow rate Q, n umber:'0f hours'of
~'. '. ' .::..,: : operation',.. p~p . .a.fficiebty. ;; }i~Qf0r,"efficieucY'f,: ~arid.."electric~f,ate':.!s-" propo(ciohaI ~.; :'.~ ~ I;~:,: ;~(i"/., -~'.. to..the..p[~ssun~
drop in~tfie: ..pip~., Fu.rtheF;-' this"piessuredroil' rp ...i~ ,. .' . .
:,
. .
. , ..
-'..
. '. - I. _ . .
is
'.,..: .~ ~
The objectiv.e function,' the cost .J'. in terms of the va.riable D is then
I
Y = 160D'
32
lOI::!
+ -D5
(11.12)
-,
Solution 1.. To .p rovide a check' on the geometric-pr6gramnling method, opri. rnize by calculus.,.
.
Then
D*
= lOOmm
y*
and
= $i9,200
p[o~ran1ming.
Solution. 2
y* = 160D*
32 X 10 12
(D*)5
= g*
. '160DjkJi32 X IOl2jW2
y* = g* = ( - wl
D5 w2
provided that
WI
and
W2
and
and
_Solving gives
t
6
=-
Substituting these values for WJ and w~ intO the expression for g. results in
the cancellation of the D's. leaving
y. :;;
g~
.
$ ,
= g~
==
(160)1"6(32 X10
5/6
=,.,$19.200
1/6
12
)1/6
244 .
.Wl
" .
uf. lui
= Ujl'* + U2* = y:* . =
D* = lOP mm
" and so
' r:;,,'"
5
-6
'
'
optimum
I ..
'..
160D*
1.9,20'0
d~amete(
....." ., .
(rJ is the rotative speed .in radians per second. Detennine the 'maximum
power of which this engine is capable and the rotaiivt? speed at which the
. maximum occurs.
'w~ere
Solution. The power P in watts is the product of the torque and. the rota.tive
. speed,
p '= T c)
=:
23.6
ltJ1.7 -
3.17w2
_l~*=g*=
. '.
(' 23.6)W
- I' (
,
w~
-3. 17)W1
(l1.13)
Hl2
. provide.d that
and
Solving the two equations for
Wj
and
~'l
and
Sub,stituting these values of
HlJ
2W2
=0
gives
W2
= -5.667
L7wJ
= 122 .. 970 W
. - 5.667
= 123.0 -kW
== y.
ut =
,
so
-.
23.6
",.1.7'
= Y wll
= (122,970)(6.667)
= [ ( 122.970)
. (6.'667>"1. JlJ.7 :: 469- radJs
= 74.6 tIs
23.6
. .
245
GEOMETRIC PROGRAMMING
Ii}
A:o, ali:eIl1ate
mEaDS
ui =
'. :
I!.
(W*)2:= 219~830
w* = 469 radls
).
-\
-........~,~.'~
..: '
. .:- . ~
:." ~ .
..:" _<The t::xi:>ttjJ3ce. of.the.., ~.~g:?~iy~" cge:fPc~~nt"i'1.: ~:e; .qbj~..tiye: flli1c.tio~...~~'f:l~e:d.li1o<J..": ,.":
.}
'.
'
' -
7'
: ~ '.,
.. - .
.'
" >.
'
. .
~.
'I
.,~
: .' ;,~..
' : , : ' , -.
-.<'
~~
. I
+ x 1.6
y - -4x
.Solution
_4)\I'!( - 1 )W2
.:
y* =g* =. . '
WI
+ l-vi
= 1
WI
WI
= 2.6~7
\."'2,
~vl + (6W2 = 0
. and-
and
-1.667, and so
W2 ' =
y* = g*
~.-
2.667
-1.667
(11.14)
y * = (-lf~667 - 2.667
)2.667(-1) -1.667(1
)-1.667
-- .
4 ) 2.6fJ7( 1 ) = (-1) - --
2.667
1.667
1.667
1.667
-6.90
. . ~"4.~' ~ uf '~~i~~y- * ==
(2~667)(-6.90)
x = 4.6
,
The optimal value of y in this example is negative, which makes the components complex numbers in Eq. (l1.14). Ie is possible, however, to extract
the negative terms and group [hem as .negative unity , taken to the power. of
-.
_____.
uni~~
.1.;.
246
1105
WORKS;
!~~
INDEPENDENT yAJIDtBLE
of
(11.15)
g such 'that,
where
(11.17}
To
11aximize
'subject
lng
t~
= WJ(lnuI
+
1Vl
-In'wl)
l1.'2 -
(11.18)
= .=
(11.19)
= 0
which provides the three equations:
\-1'",:
1n III
1 - In W J
)..
== 0
]n 1:1 2
1 -:- Jn H)2
=0
Wj'
}-i)l, W2
H':! -
1= 0
, WJ -
II)
-----------~
ul
WI
and
11'2
are
(II .20)
U2
"
and
(11.21)
t}
GEO&1ETRIC PROGRAMMING
' .
g = Ll u +
Thus
247
H2
Let ~J S pause at this point to. assess our statu.s . By theSfloice of l-t'J and
according te Eqs. (11.20) arr~(11.:21) the .v alue of g is 'tnade equal to
.
. that of It 'I ':- U2 ' ~nd th~~e~~~,~._. ~Iso, .~o 'Y!,~"t.7n~\,.9.0.~f.:~~.Q.mpitn1:ti.on/of. wr-'arld::,."... .
" . . .-"'-v )t~2_~~~.4lt~. :~~ p_.:y?-lue ~of. g~ ~tl~~t ) sJes:s,~.than_.u.l <:.,'~ l!-2':~ . >;..y' _.,' ...:.-.,;;;;::,::: ';;;., .'-(... ~'r.:'/ ~:j;: ..:.: :.:.~..';~ ..:w!:_T:
--, Sl.n~C'e:out, onginal.objec:tive .is:o .rni~iInifle '.y, the ~exrstep is,to "u-se .'
, the value "of x' in Eq. (11'.15) that results the minimum, value of HI + u2, The va~ue 9f g at this c-o.ndition g:i: will therefore be the one vvhere the 1t-' 's
are chosen., such. that g always equals Y ,bur also with [he value of x' chosen '.
so .that y is a minimum. This va'-lue 'of x~ can be found by eq'ilating the
w;2
in
.i
+ Q2C2X(02-1)
GICtXCa.J-1)
Mt1lt~'plying
= 0
by x gives
- )
al Cl .;rDI
.-and so
+ ..a2C2X02
alIlt
=0
Q2 u j
(11.22)
Il2
WI
and
uj
w"- -..
' * + 1I2*
~(a2/al)1l2
-a'2,
(11.23) .-
a, - Q2
l
Gl -
Q2
When these values of WI and H"2 are substituted into Eq. (11.16) for the
exponents, the expression for g'* results
.. '
g*= ' - - .
- -- -
WJ
Of special
jmport~nce i~ th~
W2
-02/<QI-02)( ,
g * - El ,
-
I
( WJ )
or
gfl = ('
El.
). 01 / (01
~al)
W2
ElJwl( C2 )1"-2 = y.
WI
. (11.24)
' W2.
248
..
J
~.. Geomeu-ic proir~mming not qnly yields optimal values of the variables
arid
.. .- . objective function but can provide some insight into.lhe solution. CO!lsider, .
. _. :,: for. .ins.tiUlc~, . E:ra:np1e 11.1,' .~her~ ~~ life-~y~le :'c~si
.the .p~p-pipe":"'~'i'~'
,}.~~._:: '. >~ ~~~~7.~~: ~~ .op~ed:
" . .
'. '
~
~ '-~'
:-'r .: - :~ .'. :' . ~ .
. '. : ..... . : .:.,....:-.. y ' :..-. pipe c.os.t.ct~pres.~nt ,w~rtl! ofJifetiroe eJ;1ergy _~ost .. ....
~:";::'-~~.i.':;:~~)-.-, ... i~.!''';::. :, ':.','; ",:;:;::': .::.<: ,.:~" ,, ;, <:/ . ,>J;~~ :",:'::-.::-~ .
. '
32 x 10 _ .,., .. .. '. . ' .. . . .
.- 160D +
5
"
.
.
.
.
~
.
1)
.
.
of
..
-<
. . '...... '...
.- ...
0,'
-. : .
'.
_.
"
".
. - - , .
".',
..
' .
the
to
The
:.>
2r~9
GEOMETRIC' PROGRAlviM1NG
Wasi'e :'
I I
Effluent
: . .:~ /, -~
:
,-
~;'
..~.
. .":
~lGURE
.'
....
~.
....
:'
'
-::
.~
.',:,'
.......': :
' ."
lId! ,"
't he treatm.ent by a' con1bination "of dilution and' che~ical actiOJ!] so iliat tqe effluent
'meers' code req~irements. The ,size -of .the reactor can decrease, as the dilution
increases. The cost of the reactor is 1501Q, where Q is the flow rate in cubic
per second. The equation for the ' pumping cost ~ith 'Q b~o:k'en out of. the
cOffiQined co~stant is (220 x 10 15 Q2)/ D5. Use ,g eometric programming to optimize
the tqtal system.
meters
.,
'
220 X 1015Q1
'5
D
+.
160D
'
y..* "= g* =
150
+ -Q
(-160)H'
1,( 22'0 X10 15 )11'I 2(' -150)".1]
I
lVl
YV3
}V1
provided that
to cancel
D:
Q:
Solving gives
5
and
wJ 8'
-2
8
=-
Then
5/8
. }/8
Uj
= J50
Q.
11.4
, <
uj = 16{)D == "8(30.224)
I
W3
= ~(30
224)
B'
"
so
,
224
D* = 118 rom
so
.
,,",
250
e quations (from V y := 0) V/ould bave been solved. In general~ the solu tion
,by geometric programming of a zero:degt~-of-djfficu1ty problem requires
the soiution of one ,m9r~ equat~on in a set of simultarteo~s equations than
required by Lagrap.g~, ,m ul,t ipliers, _but the equations 'aT~ - linear. -For this,
sPeCial ,c lass, of pr<?blems,,_th~n, so~u~Qn by' geometric programming is likely
,~
b~ much , ~lmpler than by: calcUlus.
' , ' , ' , ,' , "'" , , "
~"r{ _,:' .,., :_ ,,:' ; lbe,,~a~e.roa~ic~ .~.ubsumti~~9n. for the proc~dure ' of solving'the nilil-
,to
:' ',' .
~ ,Wi =,1.
;=1 '
to find that the ,optmlal w' s equal the fractions that the respective u' s are
of the total [Eq. (11.21)]. With those 'o ptimal values of w the function
g equals the original function to be optirriized.
',' 4. Optimize tDe function. The differentiation with respect to the x ~ s is. now a
parlia' differentiation, and ,the derivatives are equated to zero, following
- which the equations are multipliel through b~ the appropriate Xi.
5. The result will be a summation fO'f each variable
T
L a1nlv/' = 0
(11.25)
i= J
where
The N equations designated by Eq. (11.25) are the conditions that result in
[he cancellation of all the x's in the g-function fonnulation.
-.
(11.26)
GEOMETRIC PROGRAMMiNG
co ns tra~ n{
l!.:j
.~VJhe[e
251
) )
Us
= 1
11 ~s
(11.28)
provided that
and
l-Vj
III
1i2
(11.30)
+ ll3
J.V~.
J"
"'5
(11.31)
1Vs
provided 'that
and
Ws
(J 1.32)
== 1
and
Ws
Us
= Us
1
= -
(1 L33)
Equation (11.31) can be raised to the Mth power, where M is an. arbitrary
constant, and j t$ value rema~.ns .unity
t
( 11.34)
Next mUltiply Eq. (11.28) by Eq. (11.34)
Y = g
",.
W2
'V3
.
W4
Ws
(11.35)
Y' CUI
+ u2 +
U3) -
A[V (U4
+ U5)]
= 0
(1 1.36)
(11.37)
The vectoLeQ18,tion (11.36) represents four scalar equations. the terms
of which 'ire- the parti al derivatives with respect to .x I 'to x 4. By taking
..
1.36) can
Iby
differentiated. The resUlt
.. .III
............
"
. . . . . . . .,
.....
111
. . . . 41 "
'"
..
III
fII
.....
&
.II
.......
'"
........
41
~et
<II
.........
<6
a'J4'WJ
..
0lil
...
..
..
...
..
..
G24W2
..
..
..
.....
..
"
..
fII
.......
'"
....
a34wJ
<III
..
..
..
..
..
...
..
..
..
Ma44l1'4
"
..
..
..
..
...
II . '
it equal - AI)' *.
..............................
..
Ma54w5 = 0
(J 1
\<1'2
\1/),
= I
(11
(11.
=M
. (11.40)
11
A water
across 4l
nation plant at the seacoast to a city. The pipeline. as
In
J J
J6
water.
costs of the pipeline
+ O.OOO32t\pl.:!
1)'
are
dollars
Assume a frlction
Use geometric
m
ve
[0
..
---:-------'2l
-- 30 Ian - . -
Seacoast
".
'
or
B.GURE 11-2
\Varer pipeline in E~ample' 11.5.
~s
y" = n(lSOO
d00032~p~.1)
2~560,OOODl-5
30.000.m
L
where L is the length of each pipe sec[ion in meters. The pressure drop in
each' pipe sectio~ is.
.
L V2
!1p =
f D2 p
- L . 0.16 )2}
3
(0.02)D (7rD~14 Z( 1000 .kg/m )
'.
-
andso
/).iD
rs .
Minimize
= 75,0.00,000
2.410LlpD
subject to
0.4150 '
.9.6~pL2
(l1.41)
2 560' OODD L5
+.
= 1
(l1.43)
L
y. ' =
(11.42)
l.
WI
W;2
Wl
W4
provided that
L:
MW4
trp:
MY!4 = 0
1.5w3 +5Mw4 = 0
D:
SMW 4 == M
wI = 0.0385,
-0.2308_ .
so
- .
W2
= 0.1923.
WJ
MW4
..
-0.2308
y*=
-
'-V * =
$410 150
L* = 4750 m
D~
so
*..=
. L*
.2.410D"s -
= 0.246 m
188,000 Fa
=2
k.Pa
sections is
six pumps ~ould be used; which
L to 5000 fit
can be
(11.42) and (l ],43)
a reo-pnnrnZ2l!l0J
and D.
11.9 SENSITIVITY
In
. ] 0 rhe
multiplier A
as the sensitivjty ~ . . n~
cient, which \A'as
"A
numerical term on the
the constraint equation.
the development of the procedure fcir conuSIng
-: .A /y *
\vas replaced by the tenn 1M I in
optiis complete
y * and M are kn.own, the sensitivity coefficient
can be detennined
. In Example I]
1M J = )' * =
410~150. so the sensitivity coefficient A = -My* ==
660.
value of
the
tivity
applicable to the constraint equation i.n the
.... ,.
A .. JA .......... J...........
of
sen~jtivjty
, of
the
form
coefficient in Example
rate
the total first cost with respect
to the change in
constant 0.4150. If, for example , the water flow rate
\\'ere
from 0.160 to O. J 61 m 3 /s I the constan t WOll Id ~".~""'"
0..4150 [0 (0.4150)(0.161/0.160)2 =
increase in cost of the
_ system is (218 100)(0.4202 150) = $1 J 87.
of
11 . 10 HIGHER
DIFFICULTY
AND EXTENSIONS OF GEOMETRlC
only
problems to
appl i~ in this chapter were
lems-geometric programnli
is
GEOMITRIC,:PROGRA~L\'!lNG
G eomeL'_ic pro gramrni ng a lso -p rovides SOlTIC phvs iell!, .Tn s~ ght Rnto the sol u[ion not usun.lly offered by other ~e[h?ds of'optirnizatio" .
'-
'-'
).....
<-J
"
_,,"..-
....
t'J
".'~
.......:
.. 'r~.'."
,~
computer programS thar include the soIu'tion of: these nonlinear eqi.iat'ions ... ,,' .,
These computer programs can also handle inequality ~onst~jnts, as .well as
the' ~qualjty cOIlSt(aints pr~sent~d in this chapter. '
, : Geometric programming is useful .too[ to ~arry ::1 the optimization
kit for,tf.1ose spe~ial :situatio,~ t~ ,which it i~ . partic~larly adaptable. ' .. .i
Pl\{OBLEMS
So1ve the following problems by geometric programming .
. ' 11-1. The thickne'ss of the insulation of a hot-water tank is to be' s~lected so thar
the total cost of the insulation and standby heating for the IO-year life of the
facil-iry will
b~
minimlim.
'
Data
0.5:,(0.8
dollars
The operation is continuous. Assume that the only resistance to heat transfer
is [he insulation.
(a) What is the minimum' total' cost of insulation plus standby heat loss
per square meter of heal-transfer area for 10 years, neglecting interest
charges?
(b) What is the optimu"m insulation thickness?
.Aris.: (b) 99.3 mm.
11.2. A hydraulic power system must provide 300 W of power. where the power
is the product of. [he volume flow rate Q m~/s and the pressure buildup
6p Pa. The cost of the hydratilic pump is a function of both the Dow rate
find pressure buildup:
'
COS[
10- 4 ) dollars
C,onvert to a single-variable, unconstrained problem and use geometric programming to determine the minimum cost of the pump and the optimum
values of Q and fl p .
..:- -Afls.: D. po = 400 k.Pcr:
256
. ~
u=
. xII
+ 57.5(rlx)2F
x:
.x
.=
of
to
11
..
$/m 2 =
0.5
C1
:x.
= 100 _
.
0.023
(mil + '0.0025)2
It----
of
..
I
FIGURE 11 ..,3
Free~stream
:.r..
GEO.\1ETRlt::- PROGRA~L\'l!NG
Ho(
\ \
257
\.\:Llt~r
.-1.'.-------t
AiL 2JOC
1111/ kg/s
So.ck gas
Combu.<;rion
lSOOC
.f
:,,",'," .' ,., :.:.~- i,";::~e~7q2~~,:c,~(:,,~:;.~;:?H!_~~S_, ' ':. e:~c~~~<r/,:' ";;;::P',' ,,~: h~'
0.0025
,.", .:
!':g/~
\V.:tl~r
FIGURE 11 1-'
Ho[-w<Her bo.i1er in Prob. J 1.5.
Th~ specific heat of the
Use
[0
- ' Rtl
k - 1
, . (k -
1-
(P:!.)
.PI
I )1 J:
j1
11. 7. The hear-rejection system for a condenser of a steam power plant (Fig.
11-5) is to be designed for minimum first plus pumping cost. The heatrejection rate from the condenser is 14 MW. The following costs in dollars
must be included:
or
First cost
cooling tower. 800Ao. 6 where A ~ area, m 2
Lifetime pumping cost, O.OOO.5w l where w = flow rate of water, kgls
Li fetime penalty in power ~roduction due to. elevation of t~,mpera.rure
of coo~ing water, 2701 where I = temperature of water entering the eona
denser. 0(.":
,
j
.
Cooling
tower
,:;';:'~-:-a~: a::~TaJ:. a
,
..
. -
,~.
. . &,
- -__--:--.i
'.' . . : ......-.
wkg/s
re,
FlGURE 11-5
Heat-rejection system in Prob.1 1-.7.
a
of
Heating cost
= O.002Q~f
where Q
=
=
10- 9 Q3
Af
= 2.6 X
area
J'11e values of Q and 6.1 also jnf1uen~ the time required for adequate drying
of the grain 2ccording to the equation
.
a
Drying time
-----..
gO X ]0 6
Q'2llr
days
m':G
~59
U~ing
the gc.orncL:lc-pr0gra:mIni.i. ~g. tD.~tll0d of cODstrnint:G c.-~t~.x:~l~:n,"u~ "on. corn.pute the mini~um operating cosi'at-ld the! optimum value of Q and ~r rha[
will aC,hieve adeqL:ate drying i.n 60 days.
Ans.: 111 = 2.28C.
-:
York~
E.
1967.
:L~' Petersbu',
'-'
'''!',:
.. ...
' , ... .. -
'.~' -
......
~: i ' D~ttn,
.'. :
i.
B!BLIOGRAPHY
C , Beightler and
--
p.
'
.. .. . '. . ..
' . '.
"
'.
.~,
.,'
~ \"~
.-., _....-. . ~ _ . .
' ".
".
,J. ',
'-''\.."
t...
....:.
~'.
- "
~...
..
...-=~:......... ' .:
I
. "
PROGRAMIVIINO
\"
p!ib'GRAl\IIMING
Linear programming is an optimization method applicable ,vhere both .the
objective function and t~e' con'straints can be 'expressed as .linear combinations of the variables. The' constraint equations may be equalities or
inequalities& Linear programming flrst appeared in Europe in the 1930s.
when economist$ and 1!lathematicians began working on economic models.
During World War II the United States Air Force sought more effecti ve
procedures for al10cating resources and turned' t6 linear prograrnrDing. In
L947 a member of the group working on the Air Force prob1em, George
Dantzig, reported the shnplex mefhOd for linear programming \ which was a
significant step in bringing linear progranuning into wider use.
Economists and jndustrial engine~rs have app]jed linear programming
. more
'their fields of work than' most other technical groups. Decisj~ns
in
about time allocations of. machines to various products in a manufactur- ing plant. for example, lend themselves neatly to linear pr0grammjng. In
thermal .systems linear progrartuning has become an important too] in the
petroleum industry and is now being appJied in other thermal industries.
Most large oil comp.anjes use linear-progra.mmjng- models -to detennine the
,quantities of the various product~ that will result in optimum profit for the
entire operation. Within the refinery itself, Hnear programming helps determine where the bottlenecks to production exist and how much the tota]
260
LlNEAl;: PROGRAMMING
2 6=~
i.:~
,,'<
'
262
.'
o'ne. or more plants. The object is to determine how much of each plant's
: production should be ~hipped -to
w~ehouse in order to' minimize the
total' manufact1.Uing .and transportation. co.st..
. (, .
Sj.mple Iinear-programm~g problems can be done i~.a hit-or..miss fashion, .but those with thr~e or..~ore v~a~l~s .require systematic procedures .
. Even when us~g,.rrietho~i.~~ tc;bp~qu~~! . . ~e .magnitude.ofa problemat
.~.vanables)
each
currentlY""avaIlabnt~:as-~:l
li.bniry routines.
of
C1XI
+ C2 X 2 + ... +
c}Jx~
( 12.1)
..
..
..
..
+ ..
.. '
+OlnXn >- Tl
ill
(12.2) ,
Furthermore~
263
LINEAR PROGRAMMiNG
(II-
3.2
k:~js
. ,:"::"
/.
FIGURE 12-1
Power plant
in
ExampJ~ 12.1 .
. .~
$/ .
The gene~ation rL1[e of electric power'depends upon the flow rate of steam
passing through each of the sections A, .B. and C; these flow rates are WA, WB.
and We. respectively., The relations.hips are
PA , kW '- 48wA
PB , k\V
= 56ws
Pe , kW = 80wc
where the w's are in kilograms per second. The plant can sell as much
electricity as it generates. but there are other restrictions . .
To prevent overheating the low':pressure section of the turbine. no less
than 0.6 kgJsmusc .always flow through section C. Furthermore, to prevent
unequal loading on [he shaft. the pennissible combination of exmcrion rales
is such tha r if ;r I = O. then ~t.2 ::S L B kg/s and for each kilogrum of x I
extracted 0.25 kg le~s can be extracted "of.'C2'
The customer ofthe process steam is prim-arily interested in total energy
'.
and wilJ purch~se no more thah
I
4x I +. 3.x.2 :s 9.6
Develop the objective function for the tota1 revenue from the .plant and also
[he constraint equations.
.
SO~fion.
The revenue per bour is the summAte revenues from selling the
steam"and the electricity.
...
::... I . , '
,"
.; -
264
1.65
1.10 r
:. Revenue = 1000 (3600x 1) + 1000 (3600x2)
.
..
.
.
:. '
!
. I
."
WB
the
1.5.~~2 .
,.( 12.3)
.: .
. :' . ..... _j. .".::.:. .' ..:. . . 'B~cause 'the coPS.tant: .has ~no effecr.~ori.
state 'point at.' vihlch ' the,
~'~:-!:.:~,~.":~~: :~7"', .:;_~~optiIDuni::.O9~~.,::,~~_ ~1?j~~.~ive ~.nction to' be ~aX~zed is ' . . . ".
.
. . 'h ".:,. ~';L;;", ~t::86;;<~.i:L56i/',
. .'
+.'
x 2 .< 2.6
.XI
+ 4X2::; 7.2
4Xl
( 12.5)
I
(12.6)"
(12.7)' -
12 . 5
r----
4x I + ~X2 $ 9.6
.\",5
=0
..r--
.x1+.r2~2.6
x)
=0
FIGURE 122
Constraints and lines of constant profir in Exlmple 12.1.
-.
2~55
LINEAR PROGRAMMING
,~
x~
= /.,6 is pennitted. Placing the other two cOl1slrain"tS in Fig. 12-2 further
restricts the perrQ.itted,regJ,on to ABDFG., !!
'
I\Text the lines of cons,~ant revenpe yare plotted 011 Fi.g~,12-2~ ,!.nspection
shows tnat the great~st profit can be achieved,'bY,lTIovrng to point D~ ~:vhere
, _ Xl = 1. 8 'and X1 ' O.B. ~"1,jmp?~t g~Iie,(,i.dization "is that t'be optimu.rn ,', '
':
solu1.iqn li~s, at ~. COj~;'1:e~~ 'j:. sp'e~i,al ~ase ofJh.is, g~ne!aJ),2;:atjonjs J\~hereJ:.he.. ...;,,-.
, ',', ,"J~~s' pf .cons~~t' profit is' ~panil1.el
'a co'rj~tfaint lirie,,' in \.vhi,ch case ~y._,'~",.
-, 'point
tl1e
'ljn~ betv/en the
is 'equallY' f~vora,ble~'' : .
If the objective' function depends ~pon three variables, a three,dimensional graph is requjred, aDd i:h~n the constraint ,equations are represente.d by planes. The-corner ~here tJ?e optimUlTI occurs is' formed ~y the '
intersection of. three planes.
'
on
12.6
to,
consrramt
INTRODUCT~ON
I,
cQmers
OF SLACK VARIABLES
The constraint ~quations (12.5) t~ (12.7) are inequalities, but they cari be
conv~rted into equ~lities by the introduction of another variable In each
equation
X I
Xl
+ X2 + x) = ~.6
'+ 4X2 + X-t =,7.2
+ 3X2 + X5'= 9'.6
."."
4x I
(12.8)
( 12~9)
, .
X3
>- O,X4
( 12.1b)
> 0, and Xs >- a.'These,
functions
written many times; instead of repealing Xl, for example, in all the equations
Xl wilJ be used as a column headjng, as jn Table 12.1. The double Line
is interpre[e~ as the equality sign and only the coefficients of [he x terms
appear inrneooxes.
~.
'266
TABLE '12.1
Constraint equations'in'"
tableau
form
, .
, '
,. 1
"1
1 -'
7.2
'r.
---+-----;------'-+---:--~t_'_-------'t__-_____ir__.,._-_____i~..____--;--;-~
. , ,:..
1" .... :
.3.""".
,-I'~ ., ') .
'"J.'oj ; '.:
... r-
,9.6
. ' :.~>' ,~~:., . ":~, <t~,:~o:'~:?'.~' ~ ;.:t:;,;'; ~;:~\ ;.~~' ~":iT.:-.;~X. <,
.1
The bo"ttom line' of Table '12.1 was left plank anticipating the inclusion"'of~
the o~jective function, Eq. (12.4). T.he forin of the equation is ~evise.~,
. however, before' inserting the numbers' so that all the x tenns are move.d to
,the left' side .of theequatio:Q'
.
(12.11)
Insel1ion of these terms into the tableau yields the results" shown in Table
12.2. The coefficients of the x terms in the bottom line for the objective'
function are called diffe.rellc~ coefficient;.
6
, 12.9
' , "
in
tabJ~au
form
Xl
XJ
-1.86
.-1.56
:tJ
x,.
x$
2.6
7.2
9.6
-
-1.86
. - t.56 .
note them in the column heading;, thi~ converts the tableau .into lhe forin of.
Table 12.3, wbi.ch.is n.ow the ~Q~plete tableau 1.
.
.: A property of all tableau?'. throughout the.linear-programming proce- ' .
dur"e is that the current values of all the x's and the objective function' can'
be'!read immediately from the tableau. In Table 12.3 t for eXaJ?1p~e7 x 1 and
X2 are zero; since the first line corresponds ~o Eq . .(12_8)~ the value of X3
is 2.6 .. Similarly, x 4 '= 7.2 and X5 = 9.6. The bottom line is the objective
function. iIi the fonn of Eq. '(12.11), so y = O. The number in the lower
right comer of each tableau.is the current value of the objective function.
.
..
.,
can
1 .. Decide which of the variables that currently are zero should be progranuned next. In a' maximization p~oblem the variable with the largest
negative difference coef{ic.ient is chosen; in minimization the variable
with the large'st positive difference coefficient is chosen.
.
._ ..'
.
.
2 .. Determine which is the controlling constraint by selecting the constraint
with the most restrictive (the s~allest) quotient of the numerical term on
the right side of the equality divided by the coefficient of the variable
being programmed:
.
3. Transfer the controlling constraint to the new tableau by dividing all
- tenns by the coefficient of the variable being programmed.
4 .. For all other boxes in the ne~ tableau (including noncontrolling constraints and difference coefficients) use the following procedure:
. a. Select a box in the new tableau. Call the value in the same box of
, me old tableau 'V.
b. Move .sid~ways in .the pld . tableau to the coefficient of the variable
bemg programmed. Call thls value w.
268
C"
An
the new tableau ,move from the box being calculate~ up or down
to the row . which
contains the:previ;O~s
controlli~g equation. Call the
.
.
J
.
.
value in .that box z. '.
'"
.
'.... ,
'.
- ':. .-:~.-.
~i:~. ~:-:
. ,. :1 ... 'r.
>rr!
.II",'
;..~
""';:.
12~~'"
, _
The.simp.1e:~ a1.gorithm,.p.~,~~nP.e? ~~. . S;~C;.., }~.~.~Q ~in .n<?w be us~4 'to .sol~e .
Ex ample .12_1 ..': ~~e"fust tahI e.a"uJs"::oompJi.~e~- ~~':::sh~w~ ~n~:.Tahle?~2:~~::arrd;r:~~-
reproduced in .Table 12:4' .fqr-transf0ri?ation.. io th~: ecop~ Jtabre~u.: ". _~.:
.
T"
Step "I. The' firs~' s't~p 'is to "decide' VwJhich of "the 'variables ~urrently' noted.
in the col urnn heading 4S iero (x] .or x 2) should be programmed first ..The
l~gest negative 'difference is -1.86 in the x { column, which indica.tesJhat.
. x 1 'sho~ld be programmed (increased from' its zero value). Th~ vertical ~rrow ~
indicates tha~ x 1 is .being progranuned. "
5:
TABLE 12.4
.u
~I=O
:2.6/1 = 2.6
x~::;o
~
XJ
.%'.-4
X.s
I,
'2.6
..
7.111
~.6/4
= 7.2
.4
~A
, .3
-1.86
- 1.56
::;
7.2
I
I
9.6
0
LrNEAR ~.~OGRAMM1NG
~bleau.
2 of Exam p le 12.1
? 59
) !
{It
.~ .. ::
........
I'
,fA"
O.~~l_.":.
.:._.. =
~.:--(1)(O.75) .
=3.25
3:2
:-
.0.75
"':"'1.86-
-1.56-
(-1.86)(1)
(-1.86)(0.75)
=0
= -0.165
0-(1)(0) ==:0
.0
0-:--
(- 1. 86)(0)
=0
0....:(1)(0.25) _; _.
2.6-{l){1~~L
1~(i)(Or\ '"Q"-(I)(CL1$j ~
= l
= -0.25
-~7.2:;("i Mi4)
=4.8
O~25
2.4
0-
0"":'-
0- .
(-1.86)(0)
(- 1.86)(0.25)
=0.465
( -1.86)(2.4)
=0
=4.464
becomes ze[o~ as indicated both by. the geometry in F~g. 12-2 an~- by the
third constraint in t~bleau 1. If that'constraint is thought of as an eql.latiop"
. the only. v~ables taking part in the action of the move ate x I and x ~. All
~he other varia~les .are .either zero or have zero ~oefficienis. The variable x I
"increases until x 5 has dropped to zero.
S~~p 3~ The first numbers inse!1eq.in the boxes of ~ableall 2 come from -the
controlling equation of tableau 1. Dividing all the coefficients of the thjrd
constraint by 4, which i~ the coefficient of the variable being programme(t
the numbers in the boxes of table~u 2 for the third _constr~int become-'1,
0.75, 0,0, 0.25, and 2.4 ..
Step 4. For all the o~er boxes in tableau 2 the v - w z routine is fpllowed~
The individual calculations are shown in the boxes of tableau 2.
Tableau 2 is now complete. It contains the v~lues of all the x's and
the value of the objective function. Two of the x's, namely x 2 and x.5. are
zero. as shown by the column heading. for each of the other x's a constraint
equarion will provide its value. In the fU'St constraint allthe variables are
eiEher zero or have a zero coefficient, eX~~Fr. for x 3. ~o the equat~on has
reduced to X3 = 0.20. From the other two constraints, X4 = 4.8 and Xl =
2.4. The box in the bottom rign~ corner indicates the CJ,1rren[ vaiue of the
objective function [0 be 4.464.
..
.
The e'D.tire simplex '~goriuJn is repeated to transform tableau 2 into
tableau 3. ~e largest negative difference coefficient,'~ fact the only nega-
programmed next. This lime the first
tive one. is -0.165, under Xi, so X2 is
.
.
270
~
TABLE 12.6
x,]
o '
"' 1.
=0
' Xs
'. ';f'
. _, ;-:.13
=0
. 0.8
-)
"! '
J,' , 3
, -
'"
<:0
'
",&.
,"
...
are
, , .The
are
= 2.'4 -
0.75);2 - 0.25,\'5
(12.12)
- and substitute this expression for .x 1 into the first two constraints a,nd the
objective function to obtain l
Consrrain-t 1:
, Constraint 2:
Constraint 3:
Objeellve.-!unction: ,Y
X '2
4X3 -
x5=O.8'
13.r3 + .x4 +
3.xs
).: 5
">:1-
+ O.66x:\
,.
.
3xJ
+ O.3x;i
= 2.2
= 1.8
= 4.596
(12.16)
(12.17)
(12. f8)
(12.19)
LlNEAR PROGR,\yIM!NG
171
"
,
i,
J )
.' 3
... r'l\'.
'~
-,
'
PeJ,lllined region
o ~~--~----~~------~------~------~--~
FIGURE 12-3 .
. Tableau
expressed on .r SX J coordinates.
The three constraints, Egs. (12.12) to (12.14), are shown on the XSX1
coordinates of Fig. 12-3, as we]] as a fe\v lines of constant objective
ftinction from Eg. (12.15). An examination of Fig. 12.3 indicates that to
improve (increase) the objective funccion .r~ should be increased until a
constraint limits the advance. The restriction is imposed by constraint 1.
which occurs when .x 3 == O. so [he coordinate X2 wi]! now be replaced by
XJ. That replacement wjll be p~rfonned by solving for X2 in Eq. (12.13)
anti substituting into Eqs; (12~t2)r (12.14). and (12 ..15). The resulting set
of equations is
.
Cons~int
J:
X2
CQnsrrain[ 2:
- 13x
Constraint 3:
Objectiv~n:
3"
xI
y
+ 0.66-\.3
4X3 -
X~
-, 3X3
X.s = 0.8
(12.16)
= 2.2
(12.17)
1.8
(12.18)
= 4.596
(12.19)
3x.s
X5 =
+ O.3xs
I
J
1.0
-p"o"
"'Y,...,."'P<:~l"rl
on
XSx}
,,-oJ
:.
":
coordinates.
onglTI
because an
j
is
or
the optimum
f\1rther improvement .
about th.e transformations where
replaced in Figs.
and 1
the equations on which
ba~ed.
(12.12) to (12.15) are placed in a tableau
column
7 is
A
Table 12.7
tableau 2
12.5) shows the two
~
(12.16) to (1 19) could also
tabulated to show
tableau 3.
conclusion
that
....... "............... as a progressive transformation
coordinates replaced
L<.... ..., ...
TABLE 12.7
(12~
Xl
Xl
Xl
3.25
0.75
x,"
X-t
-0.25
0.2
-0.25
4.8
O.:!S
2.4
0.465
4.464
...
....
27:)
1 2~8
TABLE
C ~ ..11P:'] .~
L,.. rn of . abJe 1. 2 44
{Y
) )
.I .
2.6
I
I
>
~.
~",
~.6/4=2_4. ~.~
-'
. . . .. .
.,;4
~
".,
"
- 1. 86
:.:.. 1.56 .
.".
. 9.6
.0
. TABLE 12.;9
Compact
form
of Table 12.6
.
.
XJ
'XS
."(2
-1
0;8
."('"
--:-13
2.2
-3
1.8
0.3
4.596
XI
I
!.'
0.66
--
tableau even if arranged in a more compact form. Tables "1~. 8 and 12.9
are conversions of Tables 12.4 and 12.6_ respectively. In Tab,le 12.8, for
example, X3 = 2..6,x4 = 7.2, and X5'= 9.6. Because XI is':the variable'
to be programmed next, the -right-hand colu~' values are divided by the
coefficients in the x I column to find the most restricitve constraint.
of
- -
274
m>n
m<n
(~)
(0)
BGURE 12-5
of number of physicaJ and slack ~~abl~.
~elatioD
to zero at the optimum, or' for that J?attei ~t any corneL When ~ > ~, as
:fig. 12.,.5a shows,. at least m - n constraints play no role in the solu~ion_
In Fig. 12-5b ,where m < J1! at least n - m physical variables are zero.
12 . 15 MINIMIZATION WITH
~ GREATER-THAN CONSTRAINTS
Solution of the maximization problem with less-than' constraints consisted
of moving from one comer in e feasjble region to whichever adjacent
comer showed the most improvement in the objective function. Since linear programming always starts at the physical origin, the origin is in the
. feasible region wi.th Jess-than constraints. In the minimization problem with
greater-than constraints locating the first feasible point may be difficult.
Admittedly, in 'simple prob1ems involving a smaJl number of 'variables,
co.mbinations of variables could -be set to zero in 'the constraint equations
and the other variables solved until a combination )s found that via] ates no
constraints. In large probJems this method is prohibitive and a more systenlatic', procedure must- be employed. The introquction of artificial \'ariables
facilitates this procedure.
I
, convened into ~n equality but, also must permit the physical variabJes
.rake on zero values. The inequality
3x J
+ 4X2 ~ 12
. ....:.. .
to
(12.20)
Cl
3x I , +
(i2.21)
'Th e slack v-3Jiable takes on a negative sign t so that the constraint is sati~fied
when x) > O.
.
,
........ .
The geofIletric mterpretation taken on by' the slack aq,d artificiat variaples
with respect to the constraint is shown in ,Fig. 12-6. Along the constraint
3x 1 + 4.x2 = 12, x3 == 0, 'a nd X4 = D. When moving to the, .rig~t of
the constraint into the fe?Sible region, X3 rakes on positive vallJe~ and X-I
remains zero. When rnovin,g to the left of the constraint into tpe ~feaslble
regioD~ X4 takes on positive values ,and :,\) remains zero. The result of the
, ,inrioduction of both the slack and artificial 'variable is that the position may
be located anywhere on the graphs but all the variables are--s~ill abiding by
the requirement that .x j :> O.
i\.o uneasy feeling should prevail at this point because the arb~trary
addition of terms to equations is no( orthodox m().rhemati~s_ Further treatmen [
,o f the artificial y~ab]e is necessary, and this treatJ!1ent will be explained
O-.? part of Example 12.2.
2.
FlGURE 12a.6 -
276
~here
-, '
....c.... .
subj ect. tb~'the~ coristrain ts '\ 'S; t: .;:.""; ,~, ,';I~, ...J,:" ".',',., ~' .
'.;.j:'.,..: ;. ~ '~....,...;
.' '.'
.'.' ". 5~1~:;:'~~I~-:"';' _'
';..0-
<'/";" , " . .
9x I
13.i~ :>
':.F
74, ,
Solution. ,Because iQjs problem inyolves ',pnly tyJo- physical variables, the
constraints and lines of constant y can be graphed,; 'a s in Fig. 12-7. "
For the sqlution by , li~ear .prograrnn;:iing, first write the constraint
inequal ities as equations by introducing the slack vari abIes x J, X 4, and x 5"
5Xl
9x I
XJ
10
\
X
+ X2 ,+ 13x2
+, 3X2
X3
10
74
-x.s =,9
'\
/,,33
."=27
\
\
.\
\
\
\
o ~----~------~------~------~~----~--~
F1GURE 127
'-1inimi2.ariol1 in Example 12.2.
,
----.
10
277
LINEAR PROGRAMMING
~
l'-Jext ;:ile lli-rlficiai varia bIes. x 6 , X 7, a,nd x 8 ~) are inserted In each 'eq uation
+ . x~ ~ X3
9X l + i3x2
-
+ -'.:6
5x ~
" -.' 3
.x,\ .+
~::"
..
......
~Tc,w
-J"
."X2. ' . .
X4
".
: -
I.,
~
~X5.,-.
X7
~C
'= 74
(12.24>'
,~
.(12.-'J~)
' . '+"~-O
: , .
_7. ':/",
....
.
( 12.26)
-:JJ
Subs~ituting
X7
= 74 -'- '9x I
~'(' g
= 9-
13x2
Xl -
3x 2
ing gives
y = (6 - 15P)x,
(3 - 17P)x2
PX3
PX4
+ Px~ +
93P .
.'
.ij.
~-
Xt
......
.ra
",--,
XJ
-1
1()
-1
74
-1
-p
-p
-p
93P
, 74113
x,
1,1
~,3
x,
15P - 6
J7P -3
x!
0
-- ..
. X6
10
%4
" .
278
TABLE u.li
,
=>
,', ~ 6 .
312
"
9'
'-1.
..14/3
......~: .. .. .
'
" , t;..
, Xs
. X,3
f"
l'
{It
"
....
: .....
0,
...
....
'. -0 ~ ,;- r
113
. . . .. . .
'
~~- .",
':
~}L~, ,~,~i:'
',1"~'
:" .;,
':'; ""'<~
~ :. "';;"~' :.'
1/3
.t')
.~
-113
.113 "
____~~
, I _-- +________~--~----~----~----~--_*~----
28P -,15
i4P - 1_ .~_::r7p
3,
3
'-P
-p '
'3
+3
42P +9
I .
TAELE 11.1i
T~bleau 3 of Example 12.~
, II
X3
I
~1
XI
~7
X7
-7 . .r ~
-3/14
'4-
1I14
14P - 15
14
-p
..1'8
3114
1114
0
-1
X6
Xs
X.t
-]
J.
-11l4
3/2
-4
28
-5/1~
- 1114
56? - 9
J4
-'28P + 15
-70P +9
14
J-1
5!J4
512
56? + 33
2
TABLE 12.13
x,
-13/56
.1',
x,
13/56
- 11.56
x~
1/56
x{
1M
- 114
-1/~
.\' :
9/56
-5/56
-9156
-51/56
-9i56
-.
5/56
+ 51156
'-p
.
J/4
:...p + 9/56
Xs
-)
-p
2.J
~~
279
LINEAR fROGRAMML~G
~,
~1f~'
~t'
~~"~\e
~_w,~ ~;,~,r',
;,)."
kW'
V' '
(
;"~'-'
:':'-'
-"~
, "
next question is this: \Vhat ,i~ the ~imit \::) whic ~'( 2 can be increased?
J liSt as in the m:lXin1ization process, the varlabloe x 2 is incr~ased to the most
lin-::,~tjng constraint. which in this caSe is the rhird ODe. ,The procedure in
. ' trLDsforrriing to tableau 2 (Table 12.11) is the standard simplex algorithm~
The differenc~ coefficient with the) largest po~itive' value is (28P -:- 1,5)/3 ~,
'so X'l is pro gran1fl;ted nex;: until' "lim;ted by.' tr)e ,point ,where'~"C 6" starts' to '~O
',negatlv.,e i-9-.-J l?:e=:,fi rs,~' cons'v.~jnt. ")n~t'ableau;, 3':..'Tabje'-12~'f2 yi ~':"n'hsL"~[he<'-rfu:g{~~':"':'~::'
t
positive' difference'coefficien1:,"so,Xj" is'increas,e;d 'untjf it fI!a'ches tIie"limi"t'ini: "'~ ,
value of 7 beyond wh'lc~ X7' would 'be~~~~ '~~gative.'
, ,
~
In ,tableau 4 (Tab Ie 12. 13) all difference coefficients are ne ga rive 5C
no fuI1he~ ~eduction in the objective function is possible. The solu[i~n is
',: <,"
'-
"= 1
Xl
and
.....
,x; = 5
functioD_,
'
In contrast to the maxiI1!ization problem, e.g., Example 12.1, vv'here
the constraints were like solid walls tpat could not be surmounted, in the'
minimization probJem the constraints are like stiff rubber bands that can
be violated temporarily, but "with a severe penalty in ,the magnitude of the .objective function.
Looking first at tableau I, we see that the position represented in Fig_ '
12-8 is the origin, because XI = X2 = O. The slack variables X3, X4, and
x 5 are also zero, but the artificial variables have nonzero values: x 6 = 10,
X7 = 74, a'nd x 8 == 9. The value of the objective function is 93P, which is
prohibitive]y large.
In tableau 2 the nonzero values of variables are X2 = 3. x 6 = 7 t and
X7 = 35. In moving from point 1 'to poine 2 in Fig. 12-8 t the magnirude of
the objective function drops from' 93P to 42P + 9. In other words. the pure
l1umerical value increases by 9, but the staggering P term decreases from
93P to 42P.
The next shife is to point 3, 'represented by tableau 3. where the nonzero values are Xl == Jh X2 = '12, X7 :::: 28. The magnitude of the objective
funccion---is (56P = 33)/2, .., showing a continued increase of the
t
280
}
J
. " ..
..
.~:, .
. : '>'.'
.'
j
- '. ~ "'" i
'l. - ~-,
.'
,X4
'~~. .~;~~.'
},t"
, ... ~.
"'~,:~;- . ..\
'\.1, ;.:
~ .
I, = 0
X.s=Xg=O
12..8
Points
repre.~=:n[f~a
numerical portion
x 8.
At this point
and x 6
PO-int 3 requires a positive \lal ue of the -x 4 + X 7
a zero
of
and a positive value
point 3 to point 4, where the
are
xj =
All the artificial variables
tableau 4 is
point
.........,......,..,. . . . .,. to move around
Lll"'\'EAR PROGRA.t\-fM1NG
One :SL,-rher cornn1ent should :bemade: regardin~ taoleau 3, \vhere, f6novv.""ing 4?E: .decision to program .:C 5, th~ ]iriijt~tio'n for increasing .7F 5: ~l1:~. 'bY.J9.e . .
.
': ;,:...~~tlrst.
,
.....
1- .
-.
.' .
..
\ '; .... . f
equation, \'!a.s 2Irbythe ~se'Co'nd -eciua~9n' 7;ahd 'by t~e 'it1iifd :" ~qy,~/16jr""
--: 7 .:~ Strict sonsistency' vlould have' req'uired us to' cl1Qo?e' 'the 'rbiter a's ~ the. '.'
controliing equation_ Geometrically, in Fig_ 12-8~ the t~st to find the ' COTI,trolling ,equation consists of moving along me -X:3 + x 6' = 0 line. Beyon~.
point fl" \vhere X5 = 21, the value of Xl \vQuld' go negative'. Beyond 4,
where Xs :=;: 7, X7 would go neg~tive. The linlitation C?f Xs = ~7 is represented by point fJ'~ which would resu~t in a step backward, so the'limitatiops
with negative values are ignored.
.
0=
maximized.
EXDlnpJt 12.3. Find the maximum of y, where
y = 3.r J + 2t' ~
4x 1
OF TIiERMAL SYSTEMS
J..J.r;:;...:J.IU1"
subject to- .
3X l +
=
.:
(12.28)
,(
2+
'Xl +X2
"
+x3+ x s=9
( 12.30)
y =
1)
a
the function and [he maximum should not be reached
IS
-X6
an
with
,tem
revises Eq. (12.3]) further
)' = 3x 1
the
an~,.t7
X7
- P.t oS
int9
-
P X7
step before
x .5
from Eq. (12.32) into the objective function. Eq.
y =
+(
+ (
function
(I
02.30)
ur'fEAR
-:{
1 2.~ 4
Tableau 1 of Exanlple
~OGRAMMING
. J.
{tXl
.. ' I
I
.x J
'. 4013
.1 ;". , .0:'_ ,: .
'x s
: 1
. .. ,~: ~
'.
-8P.-3
-1 .
-sp -
.. .
42
-sp -4
TABLE 12.15
.r7
23/7
317
-3n
22
317.
In
.. -In
411'
-117
In
-3P - f6
-I: -
SP +3
7
-3P
Xl
XJ
. '
:?154/23
x~
1617
Xj
3n
..
4214
- 4J7
XI
-3P - 2
7
18
TABLE 12.16
Tableau 3 of Example 12 .. 3 .
{}
r ..
Xtj
7n3
3123
-3fl3
154123 '
-2f23
3/23
Sn.3
50123
Xl
16J23 .
154J16
Xl
~1
Xj
3/23
-3/23
2123
XI
4123
-4123
::-50?3.
2512
X7
'
..
.'
'.'
-3P
+ 30
23
......
3P
+' 16
23
-2P - 3
23
25P
+J
23
-3P
+ 766
23
284
TABLE 12.17
.r
: ' -18
' --1613"
23/3 '
":"':6 "
,XI"
"
}),
~1J3
,.,113
213'
-2)3
3f' - 30
3 ' .
l'ABLE 12.18
-]
..
I'
~ " '.
~..
32
112
.t6
3/2
112
J: I
J/2
X~
.XS
X7
'
1/2
-3/2
-312
23/2
-112
5/2
]/2
2P + 3
2
1312
-I
312
512
33.5
..t';
2.5,x 2
Example 12.4. In rhe pro~essing plant shown in Fig. 12.. 9, the operatjon is
essentiaJJy one of concentmting material A. The concentrator receives a raw
matedal consisting of 40 percent A by mass nnd elln supply two products
of 60 nnd 80 percent A. respectively. The flow rate of the raw material is
designated x I metric tons per' day and rhe 60 percent and 80 ptrcent products
are designated .r~ nnd :t';\. respectively. The ptjce$ are:
-.
~.
LO-lEAR PPrIJOR.<\MMING
.1.";::.60%
Processing
plan[
40%A
285
, 1
.'(3;80 %
nGuirnri~9
<.. ,
..
Amoun[
Price per metric ton
T~e
$4Q '
S80
S120
3x J
:s 60
betermine the combination 'of raw 'mat"eri~ and products that results in maximum profit for the plant.
Solution. The objective function is the difference between the income of the
productS and the cos tof [he raw materiaJs
+ 0.8-'3
= 0.4,t 1
(12.3 4)
(I 2.35)
0.6x ,
Maximize
,y
subject to
3X3
s 60
+ 0.6x, + 0 .8x, s 0
Taole i 2. 19. The yanabloto
- 0.4-'1
x,
286
. TABLE 12.19
Tabl~au
1 of Example 1.2.4
----~----------~--------_r~------~~~--~_ff-----.
20
12
,.1" ~ .
.:<: .. .-~,~~~Oe,~.O-'.;.)'''-~x.5~.~~~
"
"~60
..
.-120
":
40
'
any
x;
Let us now return to tableau .2 and e,xplor::e what, would have .occurred
if the second equation had been chosen as the controlljng one. That tableau
-\vould have been' as shown in Table 12.22. The values indicated by r)1e
TABLE 12.20
.vx~
XJ
:::;:'40
-O.~5
1.5
XJ
[I
Xs
-3.75
60
0/-0.5 == 0
X.l
-0.5
0.75
-20
10
TAnLE 11.21
-D. J 667
Xl
0.833
.r .'
13.3)
X.a
0.6667
0.33-3
J3.~J
,
x!-
-2.5
0
)00
40
20
800
1.25
150
a
0
I~JLBr I ="i1
Incor ""cf rf a lea'il 3 of Exam.pIe 12 .4
60
'... , ,~ ... ,.. ~..:';"" x t' _" -. ~ ;'"'~ ~.5 ..;...;~::.~;:-:- ?-:"':': .'.;... >~.~..:.,
.....~,.
I I
.:~
'to
:,,~Q ~": ,. ;, .... -..:..-.......,:"~':.':~:r~~.~:;,''''''''::' --, "-':"~ ,::: '. ,. .: .: . . ~.: :>:. ,"' ':":~'"
:"0 ..... ,.:...... .
.-
4.
y = 4_tl
2'( ~
to
3X2
x:!::s;'
and
Solution. The' initial and final (third) tableaux are shown in Table 12.23
yie,lding [he oprimal resuhs of-x; = 3.
= 2. and y ~ = 18_
x;
Example 12.6.
subject to
and
Minimize
y = 8wJ + 12\1,/2
2w .. +<2W2'~ -4 -.-.Wj
+ 3Wl
2: 3
Solution. The ftrst tableau is shown in Table 12.24. and the fmal tableau in
.-.- Table 12.25. The optimal vaJue~ DIe
= 3/2, wi = Jl2, and Y = 18.
w;
The Jinks between the two "probJem' statements are the following:
(I) the..:coefflclent matrices of- [he constraints are transposes, and (2) the
.'
288
TABLE'U.23 ,
'
~xairiple .12.S ~
' X4
,Xj'
2..
x,
,-,
Ii
.x: 2
:~',,;:' .\, '_~. ,. .-4,-,".:.:.:. .~ ~_2_'+--'...:...:.",_3_'f-I-r---:---:~
-=- 3 ~: O~.~: -,:~:~~. ~.(;~:
o J
,:,
..
_ - I . - _---'--;--'-------l....L-----:-. ,
.. ' ,"
3/4
-114
112':
,'2
. . . \-I:l""
'-112
"
~-"'.'
I'
,:,
) ..
"
,'312:.:,.. , . ,l~'
'c ' ..." ....: '," :~,'_:::.,~ .:.':.~-':
. 18
. ,-. "
.
';, ,~:
TABLE "U.24
'2
1\16'
W...
~
U's
3P
WJ
WJ,
WI
..
-1
'
":""1
-p
7P
..
5P
12
-p
TABLE 12.25
W'"
W5
W.s
WI
-3/4
}/2
314
-112
3n
\1'2
114
-1/2
-114
]12
112
-2
-p + 3
-3
-p + 2
J8
tn
--
"
','.
.'.. '. ':;::- .... ~.
<.:~:.:~: ~. -.. ;f.:.:,;i;. :-:. ?~.;'::,',:
L1.NEAR PR06RAl..,!MING
an
289
Ey.~.mp1.e
~nt[o-
12 .5,
3x~
subj~ct to.
..
.:
'. I
.. ;... ..
:, ,'
....
..,"... ir r' .*:' .x ~.__~ .s.~... ".....~::, . : ;;:".i"":":' :'.', ": ' .-
~'-
2'-( 1
' . ' .J
+ 3x~ < 12 '. ::"" . ..... ".; '.: .....:..:... ~ ., .' '."
[0
'f
Exampl~ 12.7 IS
" minimize
subject to
,W l
and
4Wt
+ _-2w:!
+ . 2W3 > .4
w,:!
3 HI)
Xl
X-'
.t5
xJ
12
XJ
514
1-7/4
.r J
8"
XI
3/4
-114
Xj
12
X2
- tl2
112
-4
-)
312
l~
18
TABLE U.27
)1.'7
. w)
Wl
"4
WJ
-1
5P - 12
3P - 8
5P - 12
,
,
...
-p
in Tabies 1i~17";~a12.28.
respectively .
. TABLE 12.26.
:::>
-I
-p
7P
290
TABLE 12.28
....Wl ' :
"
'.
J
.~
W4
-5/4
-3/4
w,
Ws
112
"
..... 112
3/4
'312
..
"~] :
,,
WI
).
7/4
:.
o-~' "'7":
,1/4
':"114
-.:..112
\.'
. . 112
;- .:7l'!
: ' .; il2
Let us propose ' using the results of .the pIjInal in' Example -12.'7- to ','
predjct' the optimal SOlp.Don in , EXaplpJe 1-2.8. For the tlrree vv,' s -there
'only .two. values', 3/2 and 1/2, avaiiable :in Example 12.7_ Oile of the w's will '
be zero. because there are three v,ariables and two constraints in Ex~pl~ '
12.8, but which ope? The natural order is 'follo'wed: x] =rf 0, so Wl = O.
The difference coefficient 'of X4 '= 3/2 = W2, and the difference coefficjent
of Xs = 1/2 =, W3.
are ."
~2024
POST-O~TIMAL
ANALYSIS
Post-optimal analysis is the activjty that begins afte;r the original problem
has been sob/ed, and asks the follo\ving question: 'What jf a const.ant or
coefficient is changed slightly in the statement o~ the original problem?"
Three of the sensitivity coefficients applicable to linear programming are to
evaluate the change in y" with respect to (l) a coefficient in the objective
function, (2) a right-side constant in p constraint, and (3) a coefficient in
one of the constraint equations. The first two of these sensitivity coefficients
will be examined now.
The sensitivity coefficient with respect to a coefficien,t in the objective
fu~c[ion is readily available. If, for example, the objec[ive function is
y = Ax J
BX2
y. = Ax; + Bx;
x;
x;.
lx, +
3X2 ~ 12 == D
,
The dual of this problef!l is Examp]e 12.6 ha,~in~ .an o~jective function
---..
Y = CWJ
DW2
,(
./ /"
I~ ,
'
....
/"
,/
/"
~\" J
/'
UllEAR PROGRAiVfMING
.....
.......
/.
"..../
"
so
.-->.
"
'"
-:tiY..f'ly.; -'-;.,
= '-Y
~,
'.
= CW 1
~"
+ D"'v2~
:- " ,
. ~. ::~,~';:.:\:.&-:-.-'
.~.'
. " ' -.
1/2, ,resp~c .. ,:
'
- ':~.~"
',.:
,1-
,-1
12.1. A farmer wishes to choose the proportions of com "and soybeans to plant,
to achieve maximum net return~ He has 240 hectares, available for planting
although he may ele-ct to operate less than 240 hectares. The ~apital ~9-d
labor requirements and the net return on each of the two crops ,a re
Crop
Capital cost
per hectare
Com
Soybeans,
$120
40
10
Net return
per hectare
$50
75
'
Ans.: Maximum net r~tu'rn = $16-.000.
12.2 .. During a summer sessjon B srudent enroJis in two courses, psychology for
four hours and engineering for three hours, The student wants to use the
available time to amass the, largest number of grade points (numerical g::rade
multiplied by the number of hours). Students who have taken these courses
pr.eviously indicate that probable grades "are funct-ions of the time spent:
G
I
= !l
5
'.
and
G:::
P
X2
,1
DESIGN OF
, ,:~ ~
(4.0
= B.
hours per week spent outside
engineering
.;= number
.. :.
~.:
u .....
UJ,1.J ........
&.
Also it is
. J . .)0.
. .
ne(:essary to
to-
earn an
courses.
is planning construction of a plant that co~d manufacture a combina,tion
pot
TV dinners,
""'.-T.....-.""'r.. cos~ c<?nsist qf plant costs .
costs
and the credit rating of the firm will. pennit loans of $4.8 n;Glijon or less for'
or
each of the proposed products are
I
cost
Food
Pot pies
TV dinners
Pizzas
500.000x:
400.000x)
where x J. X 2
.x 3
dinners. and pizzas.
I
"'P""T'p4~pn
$100.ooox I
400 IOOOX 2
200 ,OOOx 3
the hourJy
rate
in thousands of units.
hourly
donars in
It 30X21 and 40X3,' respectively,
X;:I are to be
The values
profit
X:3.
:- Optimum
profit
=
cemeht
mix with clay or shale, and then
in
1 1 A
cement:
are to
the mixture in a rotary
Jimestone,
, ~s
ASTM types of
,..
t)-
LI1'.r1:AR PROGRAJviMING
)
. ICoarse-ground
1Estone ,- . =,~=-kJ
'
-----i<.~l
.Gnnaer
..
. '.
.,'
storage
..
- = -==.~
..<.,; .......,
. t, ..
..
~.~
Cemeu[
lYilxer
. /- /: . ""storage '..',.
. "" . . .
-J
~, 1=. ~~:~
..
'[
~l'.~. . : '. ' ><1"
~' .
.
- .
293
,_..'r:<..,
_:.
..
,,;.,,:
.-
Kiln
~.
-:.
'
".,
Gay
. F:GURE 12,-1('
Cement plant jp P~b. 12~4_
the
Cement
type
Profit,
per megagn1m.
Grinder capacity,
GgJday
I
II
$ 6
10
9
Coarse 10
5
Fine
Fine
5
'm
Kiln capacity
Gg/day
8
. 4.8
6
The grinder capacity shown in the taqle of 10 Gglday for type I means. for
example, that the grinder could grind the limestone for lOG g of type I if it
operated. aJJ day solely on limestqne for type I. The grinder and kiln operate
24 h/day and can switch from one cement tjpe to mother instantaneously.
The limestone storage space and mixer capacity are more than adequate for
any rates that the grinder and kiln will penniL
.
Use the simplex algorithm of linear .programming to determine what
daily production of the various types of cement will result ip maximum
profit.
,Th~,
Material
resistance,
,
ceDtirnelt~ thtckness
A
B
C
Load
bearing c:spsdty;
units/an
Cost per
c-entlmeter
30
$8
20
2
6
4
3
units per
10
,"
,.J
i3 sought
294
,x em
!>liIil
'
cm
X3C
1>1
,
FiGURE U-l1
' ', '.
,.. COinpo~jte wall in Prob. 12.5. '.:.. , " .
".
'.1
::
- ,
~ .~: ~
....
'
"
. -.
...
,'
.;,
...
q'=.qJ
Subjec~ to
+ Q2'-
ql
1.2q2
:>
28MW
g]
0.4q2 >-
19MW
qJ
+ L7q2.
>-
32J-..1W
,
Using the simplex. algorithm of Jinear programming, determine the c.ombinalion of fuel rates that results in minirrIum costs and yet meets all constraints.
Ans.: Minimum cost
$0.00231 per second.
12.8. A manufacturer of cattle food mixes a combjnalion of wheat and soylxans
to (orm a product which has minimum 'requirements of 24 percen't prol~in
_ ond J.2 percent minerals by mass ..,The composition and prices o(the whent
- -and soybenns are given in the table.
295
LINEAR PRORAMM1NG
Constituent
\Vt1eat
. S.~yb~~.ns
'.j:".~.'"
PeJ.""ca~t
CO.Hl.position by mass
P r otp-in
J\1inertlIs
. l6
48
1.5 J
" ~ i" .Q' .'
~:u
w"o
......
:f'.~' .. :.
X.h
'
Item
Designation,
Uday
Source 1
Source 2
Hal f-and-half
Skim milk
Xol
Homogenized milk
Xj
XI
Xl
;( )
Butterfat content,
Sale or:
purchase cost
$0.23 per lieer
0.24 per liter
0.48 per.. halfIHer
vol %
-.
4.0
4 ..5
r,
. -~10.0
~ 1.0
~
3.0
.::.~
296
wax
X3
o
,
,no
>"'"
.1'4
' _. '
60% wax
Wax
wax
~.
F~GURJE 12--_~,2
concen~ting
80%
pJaI}t
0.
XI
Wax:(2 ..
I
I
12.9~
'.
....
"
0.68 Lis"
'
.-
"
.;
:.
"
Slcim milk
Crearn
40 % bunerfat
1
'
1% bu nt:rfa
Adeq'uate
storage
Adequate
storage
.. .
~pa'ralOr' : ~ ;-
..:., .
,
Pasteurizer
(one'fluid at a time)
] .4 LIs of skim milk
0.1 Us of cream
-"
--.'
.~
.'
,cr~am
Adequate
skim milk
srqrage
storage
Adequate
. "~
"..-
J:iomogenizcr
1.1 LIs
,
.. .
,
Packager
JXl
..
~ x,
I~.x,
Skim
Hom08enJud
milk
milk
FIGURE 12 ..13
Dairy in Prob. 12. 10.
llN'"""c.A.R PROGRAMMlNG
2.)7
profit.
s.: (a).
",:.--. .-
Separator.-- .. :
r ..
&
. x (-+'\X"1~-1.g."584~': ",
""
':
Past~uri zer:
X I
31,680
.
::-':,....:: .. ,..
Homogenizer:
'=',
.'
.Packager:
. Butterfat:
Total Mass:
. -XI
+
x:2
",
,',;...
+ X4 + Xs"
<
48,000
-<
.4xJ
--:-4x 1'.- 4.S:r2
.'
+ x) +.Lol + Xs :S 0 .
"
, 12,,11~ . A chemical plant .whose flow diagram is shown in Fig. l~- 14 manuf~ctures
ammonia, hydro~hloric acid urea, ammonimn 'c'hrbonate, ~d ammoniu:m'
chloride from carbon dioxide, niu-ogen, hydrogen . .aJ1Q. chlorine. The x .
values iri Fig_ 12- 14 indicate tJow' tates. in' moles per secend ..
. The costs o.f t,he feed stocks are Cl. C"2, C3, . and C4 dollars per mo!e.
and the values of the products are P5~P6, P7, . and 'Ps dollars per mok.
where the subscript corresponds to that of the x v~ue. In reactor 3 the
ratios of molal flow raCes are nl = 3X7 and x 1 = 2x 7 , and in the other
reactors straightforward material balances apply. The capacity of reactor '1
is equal to or less chan 2 molls of NH j , and th~ capacity of reactor 2 is
equal to or 'less than 1.5 moUs.
.
(a) Develop the expression for the profit.
(b) Write the constraint equations for this pJant.
y
XI
Xl
x)
X"
CO 2
Urea and
ammonium
carbonale
N2
H2
Cl,
.r,
Xli
NH3 Hel ,
FlGURE 12-14
F10w diagram...of chemical plaot in Prob. 12.11.
- .
298
ADS.: (b)
' xl-<2x 7 =0
I .
2r2 _ xs -
3X7
-xS ~ 0
..............~ '~.:::
.....
=e
U4 . -X6 . -XS
, -~ . .' "- .
~
x . + x, S 1.5
.~~
x, + 3",- +x,
....
" ",
12.12 .. 'When large fabric filter inst.allaticins. called baghouse fluers, fil ler hightemperature gases, e.g., -from a smeJter;
temperature of
'g ases
must be teducted to .265C or Jess, even whon using glass-fiber filte".
Three methods l of reducing the temperature may be used' singly or ' in '
combinati on , as shown in Fig. 12-] 5: (1 ) reject he!n to 3D11;lient air lhrough
the use of a heat exchanger, (2) dilute the bOl gas with ambien t rur thal is
at a temperature of 25C. and (3) inject water for evaporative cooling , Ii
either d iluti on air or water.injection "is used. the baghouse must be enlarged
to accommodate the additional mass fl ow. Designate
the
the
= mass
flo~
rate
of dilUljon air. kg/s
.
Data
Cost of baghouse is $2000 for each kilogram per second of capacity.
The hcaHransfer swface costs S15 per square meler.
There i$ no cos t for the dilu ti on air and spray water other than that
due to the enlargement of the baghouse.
x)
kgls
--r------------1--~.--~
,
Heal exchanger
Water
XI
Spr::ly
m'
a: Are.e
fIGURE J2 JS
Ct'oling ~ ~ns before il e nlerl 8 baghou~ 'fdler .
-.
.~
"""'?} I S 265C
Baghouse
tilter
299
LINEAR PR:f)G.RAJv:i.YUNG
The er)tering tlow rate o.f gas' -:- 16 kgls ai: 500=" .
Each Sql:~-e meter of hep-l exchanger lreduces the terD_p eratllie of gas' .
~~C.
The evap.oration 9f spray water cools. the. gas,.-ajr n1ixture equi~~alent :' .
. to. 'a sensi ble..;h,eat .removaL from Hte' gas. entering the water. spray of 200{)
." to:"'<:>
..-,:~...
"'.
. , "J.
III
'i' -:: ~
""l.. ':.
.".
straints.
(b) 'Develop the llist tableau of the simplex algoriilim of the' linear.' programmin.g. solution of this optimization and indicate which v~able
to program f~SL
2t 1 + 15x.,
1-
.".
12.13. Some perrochemical plants take a large t10w rate [.com a natural-gas tr~s
mission line, remove ethane and propane from it, and return the methane
to-'"the pipeline, as shown in Fig_ 12-16.
Cost data
Cost per cubic tneter
$0.06
Feed
Price of x I returned to pipelinet
0.0595
X2
0.08
x]
0.'10
Operating cost:
Extractor. per cubic meter of total flow
Separator. per cubic meter of pure propane
0.003
vaJu~
0.001
Restrictions
~
..
300
Pipeline
Feed
90%
8%C 2 H 6
2%'C 3 Ji: 8
,.:
. ..
;,'
~.'
..
..w........""'Io#-
I.:',"
'. .
t.'"\o~
.. ".c.'.
I,
11---+----'-------11-
~2
FIGURE 12-16
pipeline. The units of the flow
+
3x 1 + 5x 2 + 6..'( 3 ~
4x J + 2.r 2 + Sr 3 :;:::
.r
subject to
=2x}
2J
16
2tl
the
, and
(b) by solution of the dual determine the optima] values of the x's in the
primal.
. = \'
= ]0.667
]5. (0)
Y
to
2'( 1
.'(J'+
;s;
21
2..t J
.2 .$
At
Xl
X2 ::S
A =
----..--
4x:!
is shown in Figure I
the
17 and
into
of
naDmas, oils. and bOttOr..1S~ an oil crnckirg 1rrit LhQ.~ corrvE:..1i:S SOffle
tile
oil~ into naptha; a bottom cracIcing u:nil: Lt~alt converts some' of the bottoms
into oi13; a gasoline blender; ~.nd a fueI"oil .blender.
. .
.
prices.are
The composition of the feedand products and their
.
,
)
'-"
. .
~.
:. l\1apth-a;:, _ _. ()i'~.,~ '':.._, -:- .. B.ottnms" ..:.. ,'. "_'It':iee,i'::': .' ...... :.J' , ,,; :.~.r:::, : ';.~.~".'(::' ':"'~ ::: '~'!~:'
., p ef'Ce,i'l t- ',percen~'
percent.
$/bariet .~', .... " . .
.
..
0........
Crude 1
Crude 2
Fuel oil
Gasoline
10
15
75
65 .
30
70
80
20.00
24.00
15
20
20
25.00
36.00
-<
3,000
Cr~cJcing
Unit 1 input
:$
8,000 barrels!day
;$
.10,000 barrels/day
In terms of x II
Xl. X3,
Naprhas
'rude 1
_
..
Cr.1Ck.ing
Unit I
Distillation
Oils
Gasoline
Blender'
Gasoline
.%')
Oils
\
Unir
~rud~
Napthas
L . . -_
Oils
BottoI'M
FlGURE 12-17
011 refinery'ln frob. 12.16.
~rxkin8
-Unit 2-
B.ononu
Oil
Blender
Fuel Oil
..f4
...
302
generating power in turbines. Power also may be purchased from the local
electric utility. The, plant regui!es 30 M\iV of shaft power wNch may , be
, obtained ~y combinatfon of the three sources shown in Fig. 12-18. There
are'thr:ee prQcess ' heating requ~e~ents and ,the flow rates at' the steam
required for these need.s are shown in Fig." 12-19.
",
':
The flow rates of the 4000 and 1100 kPa steam may be combined . '
ljnearly to meet 'tJle requii~ments,lf~r example, 15 kg/s of 4000 'Jd?l ~team' ,'~ \
: ,'",--' . -~'.,"-,
plus,.20 .kg/~ ,of
k?a steam coul9 se~re th~ ,175C 'need.
", :' ' ~" ',':. - " . '- a 'IirnHatiort ,.:,Qn',! .th~;,}?,oiler~ .'~P-~8,o/~;. ~-;,I?,?f..~~,~ , C!f.
:kg{s ,of.,4000 kPa' " ,
. '.. ,
stearn cap qe
"gerierated::"'Thefily~~~ept~1??~a",o.t.th~F:ie,
a
riexchangersjs~1~:',
,>::,~~,~ ,
. '.
.
.
.
1'100.
/9
Because at:'-
.
'
,'
"
,
(O.l)(c'a pacjry in legis)
mvestmeht cost, dollars ,per s = ' _ .. ,..
,
"
(c - 1)
where t c c =
c =
..
4000 k,Pa
200 k.1/kg
kPa
Work.
125 U/kg
\Vork
"
I J 00, kPs
~80
From
Motor
75% efficient
ulililY
FIGURE 1218
Means of providing shaf, power in Prob.
-------.
~.
J 2. J 7.
lPl.I
1..-------1....
.1'."
LINEAR PRoQRA.:,,2M1NG
303
4.000 kPa
Full lo.:Jd handle(~ by
30 kg/s of 4.000 kPa 0-
.J
'--'~. ",
~
~.
.)
'-~
..
.'
. -:
.'
" "
.X3.---.:....-)::1
r-----""'-~
140 0 e
---1-
l.100 kPa
..1"5 - - - : ; -
linear combinations
TIGURE
lhe~of.
12~19
Combinations of steam flow rates to meet the three process he~tjng requirements in Prob.
12.17.
REFERENCE
J. P. Vandenboeck, "Cooling HOl Gases before Baghouse Filtrarion;" Chern. Eng .. vol. 79.
pp. 67-?~,. May t. 1972.
ADDITIONAL READINGS
Chames. A . W. W. Cooper. and A. HendeI3on~ An Introduction to linear Programming,
Wiley, New York 1953.
,.
. Dano, S.: Unear Programming in Indu.rtry. 3d ed., Springer. New York. 1%5.
Dantzig. G. B.: Linear Programming and Extension, Princeton Unjveniry Press. Princ~toD,
N. l . 1963.
GMYin, W. W.: Introdllc/ion 10 Untar Progrpmmlng, McGraw-Hili, New York. 1960.
Greenwald. D. U.: Linear Programming, Ron~d Pre", New York. 1957.
:--.
.......
'".
~';
. ,r
CHAPTER
.~ .
,.,'
.....
'.'
'.,
'~
,-~,
J
- inal system can begin is almost invariably that of mode]jng some chruacteristic(s) 9f the equipment or processes. The simulation and optimization
. operations "almost a] ways use data in equation form, and the conversion of
. data to equation form is called mathemati~a] modeling. The groundwork for
modeling, has been laid in Chapters 4 and 5, and in ~any .cases the techniques covered tpere are adequate for our needs. Chapter 4, "qn equation
fitting, approached the task as a number-processing operation and showed
how the method of least squares could apply to. polynomial and other forms
of equations. Chapter 5, on the modeJing ofthennal equipmen~1 took advantage of physical relationships that prevaiJ for heat exchangers, distillation
towers, and turbomachines to choose effective fonns of the equations.
This chapter carries on the work of matbematicaJ modeling by con~
centrating on non-linear as
as linear regression, and on expressing
thermodynamic propertjes in equation form. Before settling on those topics
the chapter briefly introduces several criteria for the fidelity of the model
comments on the choice of the fonn of the equation.
weV
and
304
---.-.
305
abound, bu'- the acc ur~Le ones art; usually cornplex. Our 0- je.c~i ye vliE be
to develop equations that are simpler, although slightly l~ss accurate. In.
many C4Ses it\.vill be poss ible to use some classical therrn~ dynamic ptoperty .
relationships to suggest a il . ajdiio~al term or t1l~O that c~ be ,add::d ~o a
simpI~
---:,'.1"'_1.:.
',-p~' --~,
.'_.~
J '
l.'.-... ;.-~:~ _.
"
_L~_':.~
,"
".).-"':I,
."
"':l
......
~.
...
"
p.-". :
/ _
.
,Section 4.12 ,described the ","'art, of equation', fitting," and suggested that
having sorp.e in~ight into the reliltion~hip nKly fe,sult in a ,choice of equation
torm, that gives a' 'good representation with a sjnlple equ.B.!:ion.' Problem:.
.13.1 illustrates two forms of 'e:quation that both require the determination
of two coeffic.ients. One of the representLlrions is a far better match of the
data ho\vever. While 'ti).ere ,are some expectations of how, given individual
functions behave, it is difficult to set rules for choosing the form of the
equation. Whe,n no, iosl~t exists, polynomial -representations might be
chosen. Transcendental functions should frequently,be explored, and'c~rt~in
rechniques of nonlinear regres~ion allow the detenn'ination of exponents
orher man integers which provide a better fir of the data to the equation.
(.
' :
'
"'~.
'
;,
.~. ~
'
l'
~ , _~
"~
SDS
= L(Yi -
Yi)1
(13.1)
i:=> 1. _
where Yi :::::: value of the dependent variable computed from the equation
Y,. = value of the dependent variable from the ori~inal data
n = total number of data ~oints
Squaring the deviations prohibits the negalive qeviations from canceling
out the positive ones and giving a Jow value of the summation for what
wou1d be a poor representation. AI characteristic of the', SDS is that since
the deviations are squared, the data points that are far off of the u lrimate
equation_contribute more than a proportional influence to the summation.
~arks
306
The second
While
GOF., is
SDS
% = 100 1(
where
sum
0.5
(1
'Y j from
the
n
Y,
;=1
results
a zero
a perfect fit of
points
a GOF of 1000/C'.
OOF is more demanding
flat curves
than of
CUD'es. In Fig. 1 1 ~ for example, the same devia~ions of the
curve from the original
for both the nearly-horizontal and
IS
for the
curve
The GOF
is less
The
.3
_ _----.~..,-.....c:r":_::::-::--:-:-:-::-.- - - - - - - - - - - - - - - - -
~y rne.a..n
of horizontal
of
the
'~p
curve:.
3C"7
Regression analysis as ,the term win ,be ~sed 11en~, applies ~o the 'process'
of detef[nining constants and coefficients (call~d parameters .. in equations
, that represent a dependent variable 'as .a ' fty:lct~on.' of one
more indepen", de nt '~/ariables. In "'lineat r~gre'ssion 'anqly$is~,~~ the partial deriva~ves of the
'parameters ~e' ~dep'e:nd-eht ' ~f the .:_
, ,,' , fid~lity criterion"v.ii tli" ,'~especf" td al l 'the <
:-~~:-"'t ci th~l~1 pirrame't~rs.' :Artother\way'-or'jaent.ifYm'g'~'a'; '-Iilfear"tegiessi6n: ': si tUatloij'" ' .','
, ~s to ask whether th~ , paraine~ers.
.be soI\ied ,uSing 'a, set' of 'linear siiniiI~ ::,
~ Lan~ous eql:lations.',l\Ton'l inear regression "viU require the sol1!-tion of one or ",
, more nonl~near equations.' "
'~e method
least squares presented in Sec. 4.10 is aD. example, of
lipear 'regression. ,Values
th,e co'ns-tantS ,~d cO,efficients 'in ~e equatipn
)t' = jex) are sought that minimize the sum of the squares of the deyjations, ,
the SDS. Section 4.,ll'e,m phasized ,th'a t the designation linear does not refer
to the form in which the independent vari?ble(s) appear, but rather 'that
the P1!ameters appear in lin~ar fonn. In the minimization ,process of the'
SDS with respect -to the parameters, 'the partial , derivatives are extracted
and equated to zero. Even non-linear fODDS of the independent variable can
provide a set. of linear equations with re,speet 'to the parameters. Some of
the example of fOITI1S soluble by linear regression are:
7
ot
,can
'<
or
of
,y = a
+ bx
+ bx +' ex"
'J
,y =a+blx+c"(L5
y
y
13~5
= ae -x + b sin(2x)
== a + bx 2 - c la( x)
When the p~~p1eters do not appear in a linear fonn in the equation, determining their values usually consists of an optimization process, perhaps
using a search method. The task is to find in the unconstrained optimization
problem the optimal values of the parameters, ao, a I, . . . an th,at provide
the most favorable value of the fidelity criteria, C. One possibility is the
method of steepest descent (Sec. 9. J 3) which starts with trial values of the
parameters and revises them in each step according to the relation
/lao
a C/ aao
-~
Lid J
aCI aa)
!J.a n
aCI aa n
ac
C(a(J, ... a,
+ s, ... all)
8
because
-C IS
(1341
( 13.5)
308
- ~,!!...... '
Yes
at
Yes
~~~~~~~~~~~
.I
~~~~~~~~~~
Other parameters
l----------r----~--~-
Terminate
132
Flow diagram of a search ............ "", ....
of
a nonlinear regresslon ..
While the
one
3 {~9 '
'ff.LBLE 13 .1.
. Itera tion
I '. ,'.,
,~;'!:', 2-'
'. 3 I
42
43
.......
a-step
.b-step
3.00000 . O.~40PD~t ,: :" ' ...~_:?~..~~Q~ ~_ ".~'.' '",1, _:." O~.~_Q_9qo . ,_'.:. . )J:-P2:QQ90~,.
3.10000 :. '0.42000' , 49.500.6
0_10000.. . ~. 11020000.',.
3:2000~O->~.;<'~O.44000~'::-"~ - "!:~'44A l17 -,~ .....s""";"" "~'O"~'lOOQ{r'- :' :'~':O~020000~.'3''''~' '.
. 3--30000
0.46000-' . - 38.4851- " .. : "O~ lobon ' .. ((020006 .. ,', .
l1li
J.,
_8,.
J'
j"
-'
............
2.58753
2_58753
_.&
.....
III
J.,. _ .. ",
lIa_B_
..
a.a
O.60062~.~
0.1360213
0.6006298
Op 1360212
_.II
__
....
.II
__
.......
...
7.62942-7
9.5367E-8
.,
__
. . ..
1_90735E-8
1_]9209-9
I
1,. Incre.ase Lhe parameter by rue, initia11y~assigned step. size_ If the fidelity
c.qterion is Improved, go on to the. next parameter~
2 .. If the crite.qpn w'as not improved in (1)', decre.ase the parameter by the ."
. st~p size. If th~ criterion is improved, go on to the ,next parameter.
3 .. If neither (1) nor (2) improve
return to (1).
the criterion,
~o
preas.
Example 13.1 .. The following pairs of (x, y) points are to be fit to the
equation, y = ae bx : (1, 4.7), (2, 8.6), (3, 15.7), (4, 28.7), (5, 52.2), (6
95.2), (7, 173.4), (8,316), (9, 576), and 00, 1049). Use a search technique
7
to determine the Q' aqd b pararneter:s thiit result in the minimum averagepercent deviatiol?-'
Solution. Trial values of a = 3 and b = 0.4 are chosen, and the iilltial step
sizes selected are 0.1 and 0.02 for a and b, respectively. The early and final
values are shown in Table 13.1. For purposes of comparison, the.same search
was conducted except that the regular increa.ses in step size were omitted.
,That se.8rch.required more ~an 1600 itef1l:tions to a~ve at the tina] values
.
.
shown In Table 13.1.
13 . 6 THEIDriODYNAMIC PROPERTIES
The need for equations to represent thermodynamic properties arises continually Ln...,!,Qrk with thermal sts~ms. Those properties of particular interest
are the temperatlJre pressure. enthalpy. density or specific volume, entropy.
I
310
'
)
Q..)
'-
. ::1
U1
.~
0..
..
'. '.' . .
..
J
! .
I." :
.
'J
~--~--~--~
En~py
"
. J.,
alll4J'
,"
Eniropy-
'.
"';
'~-'.:: :,~.'
J.I'
and 'occasionaily the internal energy. The app'roach, that vvi11 be ' fol1.o~ed '
.in the rem'a inder of this chapter is a compromise between e:xbaus~ve ,_e~rt,
to achieve precise represe,ntations . on the one hand, and ro'u~ . idealizat,ions
on the other. We will be satisfied if the accuracy of the equation can be
,improved, from 5%, for example, ,~o 'an accuracy of, say, 1 ,or 2% .
. ~epre~en~ation of the,thennpd.ynarruc properties requiFes both property
rel~tions 'fr9ffi classical. thermodynamics ~d experimental data. 'T here ate a
number of possible starting points and paths 'i n arTIving at desired ,property
'e quatjons, but a frequently used teclmique U is to seek fro'm experimental
'data the following four equations:
1. p-F-T equations for vapor
2.
cpo, the
3~
4. Pj,
th~ den~jty
of liquid . .
--
-:---.
311
Th~ first
-d q = d. u .+ d~v
piston-
.( 1 ~.6)
. "'
Cl
" ,
""
.I
, ; ' u -.-:
.'
'j'
VII ' =
0' -.r..
uitemhl-. enerO'y
lG71co ' : ~.j:.,.,:;,~"" ", ,. 'r' ' ,::
:.: .
, .'
b'.::l
.
ext~ma/ v';ork .per unit 'mass ~,'in ' ves'sel; kJll<:g . ,;.:.;; ........ .':... : '. :' .~ ..... ;' .
io
" , "...
.I: "\",."
..
'--...
.. ..
~-
.~
'.'
rev
" T ds
..
.' (~3.7)
where T = temp~aturel K
. s . ."enrropy, kJ/kg - K
and if the .work is perfonne<;t reve.rsibly
-. dw')
. rev
~ 'p
dv
. (13.8)
T ds = du
.+ P dv
(13.9)
Even though Eq. (13.9) was arrived at ~ough the use of a nonflow process
du
Ma5.$ m
:=t===
dq
nGURE 13-4
EnerBY blla[)ce in
closed system.
h=u
'+
.1
(13.1
II
..
--
':;--
313
region wher. p is const~.T)t the temperature i,& also constant, so in this region
the line.is straigliJ. ""hen the line moves f;;m:he_" into the superheated vaJ!oi"
region T progressively increases., so the line curves upward.
l
;,
13~8
'
~-'
.'
"':_ . -_0" _ .
.....
. 'A'.~eful
".
' .
s:xpiessi.6i:L~: (o{.:.~biafjrig '~some -therriiodyp:~c :.: li-q ilid ~ :'~d '.:.Y~P9r _:. ..~.:
F, kl/kg = h - T s
Because it is
qased on propertie's', F
d F = dh :.-
and
~ubstituting
{13.16) .
T d s ,- ' s dT
. (13.17)
v dp - T ds .- s, dT
(13.18)
Eq. '(13.12),
dF = du +
P dv +
Next apply' Eq. (13.18) to a change between saturated liquid and saturated
vapor at the sam~ : pressure. In the mixture region the temperature reEains
constant in a constaht-'pressure process, so b~th dT and dp jn Eq. (13.18)
are zero,
dF
dll
:=
+ P dv - T ds
+ pd~',
dF ='0
so the Gibbs functions of satUrated liquid and saturated vapor are egual at
the same temperature and pressure, Fj = Fg
The n.ext operation will be to change slightly the pressure and temperature of a 'sample of liquid/vapor at saturation as shown in Fig. 13-6. Since
'Fu = Fg.r,.aJ?d Fl."!. = Fg .2t
.
dFg = dFr
dh, - T dS g
or
and
so
\1,
dp -
58
dp(v J
dT = y( dp.- s(dT
}I()
= dT
(St -
Sf)
Equatron{t3.20) is [he
Cla~ron
h. . . ;. (~8_
__
(13.20)
T(v, - v,)
.
314
..dFg
Fg 1
[ ;0-
Fg.",:".,
..J.. J..
dFj
fj .1
..
FIGURE 13-6 .
Pi .1
III
'"'
IiquicVvapor mixture.
,',
. : ':.' '-:' . .. ..
"
~.
'.
'"
','
'
.: _
I,',
. {'"
. '
'.
'
. '
:... :_~.
,"
'.
,"
(2593.1 - '211.4) .
I1p - ( 1 K ) - - - - - - - - - ' - - - (50.5 +. 273.15)(11.775 - O,OOlO~24)
0.62.5 kPa
.
The s[eam tables give the following cbange in the .saturation pressure,
=
13.9 PRESSURE-TEMPERATURE
RELATIONSHIPS AT SATURATED'
CONDITIONS
By making two bold approximatlons the Clapeyron equation can be used
to suggest the fonn of an equation to relate the saturation pressure to jts
corresponding saturation temperature. Assume (l) that v( ~ v~, and (2) that
the ideal gas equation applles, even for saturated vapOr, pVg. = RT, Equation
(13.20) then beconles
dp _ __J~2(8"'---_
dT
T(RT/p),
and
Integrating,
or
~.-
In.p
1n p
=A
+"'B IT
(13.21)
315
where A and B are pos i ti~e and negative cor~stants, respec tively. rI'he form
suggested by i::q. (13 .2l) is . . videly used an d indicates that on a In p I.:S
1.IT graph a .straight J.in~ represents the cha'ractelistics of a given substance .
. Figure 13-7 shoVJS such a graph for several fluids.
A g()~J,. of ~is "94apter is' to identify. mefu~S of making slight refme111ents
50.000
------1-------.. _..._-._.... -
. , - - -.. - .. ----"---'-~I--'----'-.---., .. - .
----I--"'-----,~----l----I--.--- -
-:\~-'
~:-' - - - ' --.:....--. ~
.'
(')
.....
7.
0.001
0.002
0.003
0.004
0.005
nGUR~
0.006
O.OC)7
0.008
-'"
TAIlI.1( 1.1.2
0\
:(
Temperature
t,OC
20
40
60
80
100
,120
140
160
180
200
220
240
260
280
300
320
340
360
374. 15
T, K
273 . 15
293 . 15
313 . 15
333 ,1 5
353 ,1 5
373. 15
393. 15
413. 15
4).1.15
453, 15
4]J,15
493.15
513. 15
sn 15
~S3,15
573.1.1
,I<}3. 15
6 1.1 . 15
6.13. 15 '
647.30
LiCJuid
Pressure
lJenslty
p, kP-.l
kglnr'
0.6 108
2.337
1.375
19.Y21J
47.360
101 ..13
19R.54
361,40
6IX . IO
I(XI2.7
1554.9
2319.8
' 3347.8
4694 .}
6420.2
8592.7
11289,
14605.
18675 ,
22120 ,
009.S00
998.303
092,260
983, 187
971.(,28
958. 130
912.R6)
925.H,O
9U7.276
RH (,,9IH
864.678
B40.336
3D.fiO,
783 .94.1
75 0.S2 5
712 .200
666.B89
6/0 .2_0
528.011
3 15.457
Sp. Vol.
or V:lpor
Entha
ln~/kg
hr
206.3
57,84
IY, 55
7.679
3,409
1.673
0.8915
0,5085
' 0.3U68
O.1 93H
0,1 272
0,08604
0 .05965
0.0421 3
0.030 13
' .O,Ol I65
0.01548
0.0 1078
0.00694
0.003 17
- 0.04
83.86
167.45
25 1. 0
334.92
419,
503.72
589.10
.675.47
763.12
852.3
943.67
10)7.6
1134,9
1236.8
1345,0
1462.6
1595 .5
1764.2
2107 .4
+ B.I (T
in p = A
(I3.12)
t- -::')
)
~s
+ O. :.9T
. C, K = -18
.r.; .0: .
317
. " ... Fo_."the,: saturation pr;~ss~es ,0', \y~(et' sho~vl1 in 'Table L3.2,. the . av~rage
p~rcent .d e.Vi.a rion :.(frOID J2.rp.b..) ,3. :.4)...u.sing..,e .An.toine..tor.ixds,j.. 39% ;::.W hi ch,::r... ,',
.nlay' .he~comp.ate.d".,to 6.53 %Ior. tfie. ~Qi-.rp..of E(f~tJ3.. il f used.j~LPr0b .{-3-2 .., .... . .
,. ..".
. '
t,."
_"
1.
of
aT):' _ - OP)
av s
as v
{13.23)
(13.2.4 )
aV)
_ .
as)'
aT p
ap T
:~),.
= -
~~t
(13.25)
(13.26)
The Maxvv'ell relations provide .n link between entropy.and the properties ill
the p-\t-T equation of stare and are derived from four differential equations:
T ds = du
+ pdv
= dh
- v dp
T ds
dF
.=
(l3~9)
(13.13)
dh - T ds - s dT
(13.17)
. A = u - Ts
(13.27)
dA = du - T ds - s dT
.
The same pa~tern is used in developing each.of the Maxwell relations,
,
and Eq. (13.9), which is the basis for Eq. (13.23), will be used as an
illustration. The internal energy u can be specified by two independent
properties, s and v) so
u =/(s,v)
and
-..
du
;;;1S.
au)
as
ds
+ OU)
dV
dv
I
(13.28)
DES] GN OF TH.E.RJvtAL
du
.9)
ds - p dv
"
".
<C,
equal, so
'.'.
.
':. . "
dv
dv must
.coefficients of ds
(13.28) gives
-'
.~
,"
"
relations are -
a ., - aT)
av . a1'.
= _
aP)
is
the
l'
MaxweU
'SPECIFIC HEATS
to.o15 listed
properti~s
is the specific
those at constant vo]uD1e and at co.nstant ......."'...
Their definitions are
.I.J.u.J..J..I...I. ......
C'111r'O
constant pressure
(13.29)
(13.30)
en~alpies,
and
Specific heats are means of
base
are alo/ays chosen for those proper1~est so
the
is more precisely defined as compllti,ng the differences in enthal PY
entropy.
internal
between two
points .
. ]n
,.
heats vary both with respect to pressure and temalrhough we shall find that the temperature has
dominant
I
of a
~hus
entails an
tion for the
,heat as a funcrion of p
to be followed js to first
Cp
with respect to
deveJoped by solving
...
~~ ,
~r
~,
319
lj~'.
(13
\. ',
13)' Lt..!..
::!nc~ ...c:hOlf
.lr ' .r.:
Vv J~~"'~
1 (o..r thp.
.....
>.
~ ah)'
~.
,. . ., arr
1 . ,',
~~
0 r er"':C'/'~l1/' v'-ec;:,"llT"e
D-,
r'h~t
J. ..-0 '_ __
!.
1 v~,
c1J
... ......
r>f"lDI
_,'U . , ,sL--:.~_L K.
S)
= ' .J
::I T
.0 _
;t,-.
f:
-,' . :. -t ::....:::..E!.
'c'< ~)' ,.."
"'a'
ap ., T
Substi~ution
of the MaXwell
. . .
. . '. ,". .
"
'" '.iJ~-"[
v.:t-S:j ~'j
.. u .
."
= aTap = iJ T '~a p . T P .~ . ,.... . ,.
.'
~2s,
'
to p at
.0
relation, Eg.
(13.25)
results. in
.
.
'..,...
~)'
"ap
"
" .
VJ
-T aT2 p
_.
T -
iJ2
of
(~3.32)
rnod~s~
incre'ase in
320
K,
'-0.0849 + 0.69380.5
the equation
of oxygen as a
a temperature
of 60.0 K
p. kPa = - - - --:;v - b
v-
So]ut~on.
=0
. 500
1000
t"relssure. kPa
.asB
----.
1500
",""",H~~'
__
O.07'74274~~3033
VS9S
V 6011
= 0.0780840914874-
V6~~'"= 9.07874059~1?40'
',,' :..J. -~' -.. :. " 'The'~s~~'Olid ,de rjv_~qye ~w.nrf'respect)o' tetnper,~t~re ~(e '=
, ~ '.
32 1
;209
'l.,j-:-~ i~, .
. ..
. ...
'
-----------'--'--- = 0.470 ~< 10- 8
5
.
5'"
"5
,yep I
ap
" At 600 K
2_844 X 10- 6
T,
oe
~}
OP'T
ac
"and
= 2.844
.::..::.t!..j
Jp
'
'T'
=Oatp"=O,
"
13-8~
At 600 K~
'where 'a I
il"2
= (2_844 x
IO-6)/2p
1.4~2 x 10- 9
= 0.9865 +
= 0.9865 + 0.0057
=
0.992 kJ/(kg . K)
~.
only
mCllec:UI:ar weight,"
sure of 'the
. The simplest
teD[]pe~rature
and
D.rc~bablv
most
'".
refinement
factor,
PV.=
RT
f3
\vhere
data.
Ct
OP) - - 0
-0\1 Tr
where
When
'= O
(13.35)
critical temperature,
van
(13.
RT
p (
(13.
v2
b=
(13.3
".
'
.'
3.73
~.,, '
. ,'
...
"
'."
','
,._
p =
'.
.'
.J
...
v'- b
- , . ' .,
TU-v(v + b)
.
..: . .' ':""
. "
.' (13.38)
R2r5/1
c .
O.42748~- -
(13.39)
Pc
.
RTc
b = O.08664Pc '
(.13.40)
Solution.
(a) R of w~ter vapor
v
= 8314/18 =
=
=
0.461889kJ/(kg . K)
(OA61889}(3'sO + 273.15)
5000 k.Pa
0.057565 m 31kg
(b) Using the values of critical pressUI1: and temperature from Table 13.1.
the van der Waals constants can be computed,
a = 1.7048
and
b = 0 .0016895
5000
(0.461889)(623.15)
= ---~--~
,
y -
1.7048
O.OO16~95
v = 0.05303 mJ/kg
(c) For warer) the RedJichKwong constants from Eqs_ (13.39) and (l3.40)
are
= 4~.95J
and
= 0.001171
v yields
v=
"
... -
'""
. ;L-.
....::..
FULL SET
I'~ ~',l ~~
~/'
'~":.:' ~ ~ I."
..
.'
.:" ....#1:
......
'
DATA
of saturat.ed liquid.
superheated.
saturated vapor have
are enthalpy
entropy.
-n.'I'"lrn'!:Ir>
to developIng 'a'
of property
conditions of entillJpy
.
13-9.
and entropy are
usually are in reference to .
values assigned to saturated liquid at a chosen.
Clapeyron equation then
jumping
the enthalpy and entropy
of
From this .
condjtion
enthal pjes and
saturated and superheared vapor can be
the
..... .J-!...I ..... JU. ...
to
h and oS of
superheated
vapor at all
temperatures
11 and .r of
saTUrated vapor
using
Saturated
h
and s at base
temperature
equarion
h .::md s of
:\.alura~cO liquid
h.and s of
salu rated
C1apeyron
. J
f
I
--~""----,
I Ii and s of
I saturated
vapor
al
all
I
I
,
j
I
__ J
polynomial
I fif
L
_______ _
s.equence
10
'I..","
: :; ".
I'
I~.~:;.';.
325
alread~l,
~~
:~emper.atures
. to
dh =
Also, since T ds
ah)' dT
aT p
= dh
+ ~h)'
dp = ' CpdT +
dp T
iJh)
dp
ap T
- v dp
-Dh)
op
- v
T -
'as
T-)
...L
,ap T
,~q.
(13.41)
The expression for a differential change in entropy comes from a
parallel development
as)
ds
aT
ap
T ds
and from
as)
dT +
p
dp
T
= dh
- v cfp
:;;p :;)p - i
= :
Then
ds == cptf!... - dV)' dp
T
aT p
(13.42)
DESIGN OF
yields P
so
x1
--
':--
so h at
(13
327
using the Rediid.l-t(wong equatiofL,Unf0f}unately v cannot be soived explicitly in this equation~ so a .1umerical c'ompu~atiori 'Of av/ aT)~ must be ~nade.
For example.
4000 KPD.
the following specific vol umes
can be computed,:
.at.
,
.
='0.085963245748 '
Vl
f .. ~
, '. " t
~.,
\"'
-"
.'
500.0 ".'.'
. r'":
1".-'
':
'"
.. '
'''-
"",vc
.=~O~08~9881.8054.l- ,
v -
ay . '.
r-)
a.T
Vb -"
.
773.15(vc
= "-0.010
O~2
.-
v3 )
'
m3/kg
I,OC
pJk.Pa
Table
SOO
0.6108
0.6108
2501.6
3489.2
500
4000
3445.0
. Example 13.6
I
2501.5
3488.5
3448.5
328
pl~xity.
. .... ".
~ROBLEMS
:..... ,: .. ',13.1. Use ~e m~thod ofleast:s~uar~ to .find the tbre.e param,eters' in the fo1l9win~
., . . ,,:.'
,' e~:j.1-laf:i6~s:~at :giv~ the -best fit
tile.' li'lui4 density"orwat~r"to ', the ,absolute .
. : : J.~'" .,~" <~ ;~. ,7 '!emp'e~~ ~ JJ.s~. the ~,~ fr.9}I?~ Ta~Je ~~: 2. . " ~
. '... . ' :
'
. '- .', _.' :.. ' (a')'" dens
' rl~ty'" ",,::,:~'.~.
'+"'a'
,;,T:+"a"2.
..
T:'!:'.
,V:.'t~::
'.~'
.
.:-~
.
;:_;.i
':.
b f'-~;" . '. ' . ;~,:':'.'. : .,.-.
'.
'
T ' . ':"'.' . . . '~" . .. .~. "."
.I'~ ~O.,...
.J....1..: ~
>-i::.
.
(b) density' = Co .+' CI (l.~~ 'i'rI:e: i~~~':+-.~;( >
.
;~)'~3:"." ....;~ . . ",. . , ' ....... '..,: .. ~.
of
,.
i <1'/i
"
'1, 1'
."
:,.'.
....
,-'.
..
. Cdnip~te the sum of the deviations squared. for harp representations'., Ans4: (a) 30,885, (b) 174/. -,'
.
'
.
,
13.2 . . Using the 20 temperature-pressure data points fi?r water at saturqfed condi- .
. tioris fro'm T~.ble ~3_21 write a computer'progTarll or use one from .a comp~t'et _
library tO'determine tbe values of A ~d B in the equation
.
p
e(A . ~E!T)
. that give the rnin.imum average ..p~rcent deviation. Select the trial yalues of
A and B by substituting two, different'p-T. points jnto the equation,
(0) What are the values o( A and B?
(b) What is the 'minimum average-percent devi~tion?
Ans.: (b) 6.61 % or 6.530/0 depending on trial values.
13.3. A vapor pa.s ses through a venturi-type flow rn~asuring device, as in Fig.
13-]0, havjng an area ratio A tlA2 = J.8. The process from point] ,to point
2 is usually assumed to be isentropic. The specific volumes are VI = 0.06
m3/lq~, v:! == 0.068 m 3Jkg; the arithrnetk mean of these two values may be
used in Eq. (13. 15), If I1p {-2 := 40 kJ!3. what is' Vl?
Ans.: 82.1 mls.
13.4. Examine the 20 temperature-pressure pajrs for water at saturated conditions
from Table 13.2.
(0) Detennine the values of ~ B ,
C in the revised form of Eq. (13.22)
P = e{A+BI(7-C)]
I
and'
(b) 1.02%
~aJ
------~~----------------
------.
13 . 5 ~
13. J~ , Vhea cp is knov/il, C\', ray, be determi0ed! if a..'1 ,expression for' cp - Ci'
ca n be devdoped .. Us;ri,g s = f l( T ,p) and's = f lCT, ~: :') equate the t\.)-"o
, exp[ess~ons for ds to d~v~jop' 4Tl equation for dT _ '
'
, _~tz) Equate ~:his d~", t~ th~ e~pre~s.~.~t ~oi ~T ~r~r.:- T, r f 3(.V ~ p)', and make
, ': apprapnate suI?stIlutIOT'L". i to gevdoP an equatlOf!_ :wf cp ~ "C'.)". "".,:'..!, . ,,' .. _, :
-: ~'(8) -:~Nhat. is"cp~ ~7"'"
c~:'-foi
a~pelfecr'g'as'?, 7,..;:,~.'".,_:.,~...,,~,:,
"'"''
,.:,' .. :.. ,
tpe magriitude of. tp'- - c fq(.~,flter vapor at '300~C p~d".7000 " ' ,
kPa. ,~i!l,g the Redlich-Kwong eqLlatio~ in Example 1 3.51 --,
'.'
l ',
,iF
pI
aT,'"
J.3.7. Sh,owthat because of tJ:1e, required conditions at the critical pomt (expressed
in Eq. (13.35)), the a and b consUlnrs in ~he van der Waals equation:are as
represented in Eq., (13.37).'
,
13.8'. Several properties of Re frige ram": 12 (dichlorodifl~or~methane. CChF2 ) are
as follows: molecular mass of 120.93, a critical temperature of 112.0C~
and ~ critical pressure of 4113 kPa, C~mput~ tb~ specific volume of R-12
superheated vapor at 100C a,rid 2350 kPa using (a) the perfect gas equation.
(b) the van def Waals equation~"and (c) [he Redlich-Kwong equation.
An$.~ property tables show v = 0,0079888 m 3Jkg.
13.9. Using as the starling point the entropy of saturated 'water v'apor of 8.9767
kJ(kg . K) at 1 kP-a', (6.98C), compute the entropy of superhea[ed water
vapor at 400C and 4500 kPa. Use the Redlich-Kwong equation and the
specific heat data from Example 13.6"
Ans.: fr9m tables,
at 400C and I kPa, s = 10.671 I kJ/(kg . K)
at
REFERENCES
.1 ~
----.--
."
..
.v.~!.
a..
~( ')I,'
~
~'.'
""=",'.
~..
;'~ .,,!~.,
: ',
,' ~
. . .. ,. ..:c.,-'!.
'.-
. . . ._ .
It:.,. . . . .
" . Ii',
It
';.
.. '
':
...
:-
~TE
J'
OF
LARGE
SYSTEMS
14Ji DEVELOPJ\1ENTS
SIMULATION
SYSTEl\1 '
cessive substitution and the Newto~ ..Raph.son technique. Successive SU~St1. tution is straighdorward to program and does not demand large c~mputer
memory. ,The Newton-Raphson method is powerful and CODvenient, particularly when using generalized computer pro grams I that extract the partial
derivativ,es numerically. For moderately sized problems (less than 50-100
equatiEms) mete is not much J1~ed for more sophisticated approaches. The
331
. 10
:appeais;\that>N~W~9,h~~.J:~ir?~:;
..
and
Raphso~
similar
are'.no~~"g~~~riing,&9~.n"d.:.
d~,apret"wJlf' , ",.
look dee~er iri.to:'-rhe,- divergence problem, jncluding ways to avoid the" '
problem and correc;ting it it
occur.
to large problems, . the computer
the Newton-R~phson m~thod
. roughlyl as
the square
. . . u. ..
This
refiriernents of
the Ne\vton-Raphson method that
.L..L~L ~
problems.
r,.'.. r ..T\r that
important in ,Jarge systems is the modular
approach, in which
considered to be a col1~ctjon of
subsyste~s. each having
Two final topics covered in
chapter applicabJe to both small and
, are "(I) coefficients and (2) correction of component'
models when experimental or field data become avajlable to verify the
j.uJ.J..,).
.L..........
.......
simulation.
...
STEADY~STATE
sub~tirLltion
SIMULATION' Ot;'
A.RGE SYSTEMS
process.
ill
the
Un~ar eq~ations:
A:
4~
I -
3X2
B:
I -
21' 1
+ 2t' 3
X3
= 12
~
6 ',
substi~~t:ion.
as
shown by the infor:mation-flow diagram~ Fig. 14-L If trial values of Xl = 0
anq X3 = 0 are chosen and the diagram of Fig. 14-1 is executed, the results
are as shown in Table 14.1.
the calculation,
A;
x 1 = (12
C:
X2
=6 -
B:
X3
=(6 -
as shown in T4b1e
+ 3x 2 2'(1 Xl
XI
Xl
3.0
1.75
-1.5
-1.625
. . . . . . . . . . . .
10
:lO
-- .
---l.045
2
. . . . . . . . . .
XJ
-1.021 . .
-1
0.5
1.375
3X3
+ 2.xi)/2
14.2, piyerges.
x 3) 14
...
0 .977
1
334
:" .. 1 -:
:" ,2
solved' ,
.r,2
'f0vcle
"
a9' ..
.-: 3
. XJ"
I.
,,' 0
~-"
'~
3.75':
',"'r,
.L;.~U.L......J
:". '", .
0.703
A-C-B. Djvergent
A-B-C, Cqnyergent
-3
-3
[I
[r
iJ
"1
:-2'
i]
an
4,,\
;\
2;\
A = 0, 0.125
-2),
A
'2
3;\
=0
so A-B-C is convergent
3'
2,,\
=0
A = 0.0.2713. -4.] 46
so J\-C-B is divergent
wi}]
The translation of
Gauss-Seidel criterion to nonlinear equatjons
throu gh '\P
e.
is a function of
E,. '':l j,1ple 14.1 _ The Do'ver required ' by a certain ' automobi e
its speed~
,p
wh~re
,
~. ~~)
r '
,P = power, leW',
,, "/ ,=:=7.. ,$.P~~~tof
" ,,;,
"-
_ _
'.
."
'.
. "
(14.1)
. '"
-.
~.'
"
'.
- - ,.
.'
. ',
=:' 60 +
p'
-.
: '
8V " ~ ;O.'i6V2
",,, '
"
' .:
...
r:n/s'~is'
, (~4.2)
' By means of successive subs,ti.tution" determine the speed ,of wh'ich the auto
;;) capable and d1e p()wer detiver:ed by the engjn,e at that speed_
So/utiOJ1. Two different infoflT!.a[i~n-i1ow diagrams are possible, as shown j'n
Fig. 14-2. Ro'w' diagram a, with a trial v~loc~ty of 50 m1s\ yields a set
" values nbstracted in Tab1e 14.3 and converges to P = 112.39 'k\V and V = ,
, 42.25 m/s_ Solution of Eq_' (14. 1). whico is a nonlinear equ'ation. requires an "
iteratl ve process,
or
r __'
AUla
~' ,--_Eq_
, (_14_.'_)-----J
_E_q,_(_14_
, 1_)-----'
Vl
pi
V
Allra
Eng.in~
Engine
Eq. (14.2)
Eq. (14.2)
(b)
(0)
FIGURE 14~2
Information-JJow diagrams for Example 14.2.
TABLE 14.3
0
1
151.9144
76.6163
3,
18
79
8()
50.0000
32.0188
47.8273
60.0000
2
a
Iteration
It
---.
--
JI
.....
112.3907
112.3893
112.3905
35.84,g7
l
42.2501
42.2499
42.2501
336
TABLE 14.4
- --- - - ,
." ' ~
.'
'
",
29.431~
156.8580 .
51.2382
.
49.8492
.. Squa,re root of negati ve
flIunberin Eq'. (14.2)
. 24
25
26
--
al,
ax,
al.
ax)
al,
aXn
al.
ax.
and we propose that the partial derh'atives be used fo( the nonlinear equ ations.
Tho arrangement is th at if variable.T , is computed fromiJ ' the afJ I ax, must
be one of the diagonal elements. 'At th e converged values of v = 42.25 and
P = 112.39, the matrices for the two flow diagra m are as shown in Fig. 143.
For convergence .we seek a coefficient malIix thai has large magnirudes down
the diagonal. Figure 143 shows that Flow Diagrar:' a, which is convergent,
best meets thai requirement.
v
Eq. (14.1)
Eq . (IA .2)
6.36
-5.52
p
-I
-I
Eq. (14.1)
Eq. (1~ . 2)
-I
-I
V
6.36 ]
-5.52
FIGURE 14-3
Matrices of parti al derivelives in Example 14.2 .
---:.,---
.,
114.2082
.110.8078
",': "'i <"
',::.'~
'f
Iteration
"
..
337
'The test of the absolute values OL.A. desfli.bcd p[\.:. via s!.y is vu).id for
Example -1.4.2 and con ceivably could be used ' for calculation loops with
many. egyations ..vV irh l~ge num,bers of equations, ho'wever, ' the method
b~comes cumbersome and is quite. impracticaL OUf approach wil..' be to
use the -:oncept in d, qualltative m~pn~r ,;:iJ. trying to arrange ~e caIcu.la-:
.". . . ./ ..: "ti.o.ry, . ~~q}~S~F,f :~~rfh:~.~. I-~f~9:!a~.9qar )~Jetpeh~ ~~~)P"'~ Jru-ge.-:,~qll~t~4~ E<+~.i,al . ,
'.. derivatlY.~s~.~~Ail()~flet "vi'ay ,'of st,atin.f'tfie"sa'rpe o~jectlve','it~,to: lIy...ti:t s'truc~ :.'
,..
tun~ the sequence so that the vanabl~ computed through use of;~ equa't~o'n'
chnnges only ,a.small ,amount for large change's in the othl?f vaJ.iables'in that
equntioTI_.
of
where
+. (1
- (3)
X j,i
, (14.3)
f3
i +
+, 1* = subscript indicating new value computed directly from
the equation
Choosing f3 = 1 gives the u~altered successive substitution process and
for a set of linear equations defines the Gauss-Seidel method. Reducing f3
shortens the steps during the. iterations and in general do ves the calculation
'roward a more convergent process., No general statement can be made about
the influence of {j on the speed of convergence. Figures 14-4a nnd 14-4b
show the effect of {3 on the number of i'Lerations needed for convergence of
flow dMFa m a and flow ding!am b, respectively, of Example 14.2.
"
'. ,J
~.
....
".'.
'
' ,
,
,
:1': ,'.;,;"
:.... -,
I ,
.. -, ,.::.,-.-,
,:
~'; "':
'::":'
).
~,'
",',
"
:..
'"
~...
..:
t.:..
l00~----~----~----~~--~----~--~
~I
.'~~
__
.:......L..-","":"",,,,----l
1.0
1.2
600
500
400
13 300
200
100
J.,~
'0
0.2
----
~
'0.6
O.B
j3
b
flow
-----
:--..
....
1.0
1.2
.'
339
Table 14 .3 sp-owed that Vi/hen Lhe va1u~ of 1f3 was unity thai: the ch&.i.1ges
in V 8n d P during an iteration ~Nere 'too la1rge" resulting in oscillations
aro und the ultirnaie solution. Vlhen f3 js set ?-t '0.55; Cc.1.v'ergenc:e ~.o the criterion list~d in the caption :of Fig. f4-4 occurred in 8 i~~ra[ionS. Increasing f3 .
'beyo1;ld 1.06 results jl '). div.erien'2e. Fl,aw.:diagram b \A/~th f3 '. 1, .is divergent; .
'but, ~ 'Pig. 14-4q shows, choOSI!l.g.f3 less' tl1.?rf 0"~95 perinitS the siriluI2_tioD.
~ v.~.~;
:'
..
, _ . " .
.~
340
tions with respect to all variables, arid tb.~ solution of a set of simultaneous
linear equ~tlons to compute the coqectio~ I9 each of ~e variables. The
" user has the responsibility, 3:Dd indeed will demand the 'right~ to, describe ", ,',
the system by spec;ifying the equations, ~d pro,viding trial. valtis of ~e
.' ,'< :'" variables. ~
. ,.
'
, . ' ",: ' ., '. .', . .
~~ ~': ',~', 'The p<?5.sible strU,cture o{ ~e' ge'rit?i-afued: ._ ~yst~1p.~,,~~~~~.~or: P~~graW ,':"
. . ,listed in Appendix If is shoWn, mFig_ ,14-5 - Jbe user 'must prepare: the M.AIN": ' , .
..::-.4:,...'"-."<pregTIi ~d . th~. ,~l!qroutine co~.~alning the. equations, called :gQNS': !ri': tpe ',. ':
. : "~-MAlN
tli~,~us~~r.~::p~~~-id~s': ihe:~r~ uiretf j1lferinat1on:~fudiM~.~~,:mifig ~. ;"J:~'
14-5 .and finally calls the simui~tiQ,q'i;ov.if.ri~,," ~ere I)~.mectSnv.rt:rJ::~' S~~iii:'~;<";'i::'
turn calls E'Q NS, PARD;IF, and 'GAUS'SY. Subroutille EQNS computes ,the":," ~'
values of the J -fui1CtiOD's, pAR]jwriurQ'erically ejdracts_.partial' derivatives"
and GAUSSY solves for the ,changes ,to be-made jn all the variab'!es_ After',
the val~es of the variables are, updated, the co'nve.rgen~e test deteirnipes
... w~ether to terrrli!late or to r~tum to EQNS for another cycle_
: I. : ..
<'
I ,
1.-
,., '
"
"
'program
1 ' "
. '
...
MAm progrpm
Designa'tes:
number of variables (and equations)
convergence criteria, for example.
Use"
provides
-'
In Jibr:lry
routine
set of linear
FlGURE 14-5 .
Struclure of s genern!ized program for sleady-stBte simulation of
-.
systems.
341
&-
i ;,
lJ ~nC>l'al;
ot:
~
1.:.
zea' l:r)o
.,- -a'....,1 g,t
iLL
s-::l\/p.~
_ ~ 1..'1 1(..
"", 'U.:""
c, ~a.. "".:J CO"lSi
11 Cil,,,,
LLU!..J
-.; C,.... (i~'n
l..L..)" 'I\,,, "
L
J''1('
partial derivatives numerically, rather 'than r~quiring ,mathem atical expressions for the derivative~. rI'he partial d~rivative o:1? fu:nctiun j i iNit>. respect
to variable Xj ; for 'exarnple ~" is' '
.
,
'J. '
"
.". _!:,.:
.~:
-..,
-!>L-.
~ ~
".
~.
~ ...
'''-'
/,
-'
-. ':
'
! ., _
I.
.' _.
r.~;
..~'.
.'
/1.
(14.4)
.are
may change a large amount on the first iteration. It is ~so possible that the
variables foHowing the first iteration are farther from the solution than the
. trial values, as illustrated for one equation in Fig. 14-6. otten after th,e ,big
jump in the fust iteration the process then coqverges to the correct solution.
, On some other occasions the variables are thrown so far from realistic values
that e program eventually fails. It is possible to damp the rust iteration
-- .
. DESlGN OF
HL.. .."Y'ncL.
SYSTEMS
0.4
0.19
)
0.3
)1
II.
!.(
.~ I
ZI
1 .
the variabJes
the solution
f=
----..
=0
(]
3 3
. 0.15
r. J
. 0.10
r. .
0.05 !- ~'
~~
.. ~: I .':. ' ; . . .
'~
'
"
,,'-
-J
-0.1
flGURE 14-8
Behavior afJin 'E q. (14,.5) o\:er a range of values of the wat~r flow rate
\Y.
'W
= ,0.6 kg/so
"
,
The Newton-:Raphson technique converges to the solution if the 'trial
value w t is
o<
wt
< 0.92
If 0.92 < We < ) .27, the first iteration jumps to a nei.;ative value of HI and
from t)1ere drives to -co. Tri3.I values of w greater than 1.27 drive w to + x,
An example will illustrate several other pitfall,s that in' rare instances
may arise when simulating systems that include heat exchangers.
- '-ndfJRE 14-9
Oil
cool~i1;1"tared
in Example 14.4.
~
c= ,4.19 kJJ1cgel(
kg/s
MI.
. 344
flow
of water
. wh~ to
. .
Ww
, " '"':'~~~"".'
e.
. . .. . . . I .
.
..
. ....
:~;p,~:' ."~" ~ ~'. '. :. . . . ;. ~~. '_SDlu1ion~ ~jn~!"SoJuti~n is 'to .' . 62~ 70C ~a:D.9. ww ' .' ,0."8095 k!is u~der: whIch ."
."
J.l
(14.5).' .
./2
/3
. (14.6)
(14.7)
A -simulation attempt. ~ith the trial vaJues S~ow'fl"ln Table '14.5 fails." One
approach to circumventing the problem of me negative logarithm is to express
"Eq. (14.6) in terms of an exponent' of e which~has no' limitation on lts
argumeryt. Tpe executjon may be able to pass temporarily through the physi..:
cally impossible siruation that terminated the execution in Table 14.5. Revlse
Eq. (14.6) by taking rhe antilog,
j, =
-
(f~ ~ 3Srl]
. [2.1(3.2)(80 - lo)J
(J4.8)
and use in combination with Egs. (14.5) and (14.7). As Table 14.6 shows,
the simulatjon is successful.
Lest it be concluded that the exponential form of the rate equation is a
pan'acea choose trial values as shoWn in Tabl~ 14. 7 .
. The form converges. bur
incorrect vaJue~. The simulation has driven
the water flow rate to a vaJue such that WCwal.cT = weal}. with the consequence
t
'.to
to
TABLE 14.5
5.000
-0.667
l.B07
ExccutJ on
t.
70.00
57.18
66.02
~mtina1.ed I
t..
48.00
56.82
82.26
nesative Jog
1:~BLE
14.6
345
. 0.8095
69_21
62_70
. I.
TABLE 14.7 .
Trial values
Ireration 1 .
Iteration 2
5.000
1.184
Ite'ration 5
1.577 .
61.00
63.95
65,25
51.00
53.31
,49_ 18
1.604
65.35
49.60
that the rise in water temperature equals the drop' in oil temperature (this
situation' was first explored in Sec. 5.4). The mean temperatu.re difference
is 80 - 49,6 :::; 30.4C = 65.4 -' 35. Thus the rate of heat transfer =
(2.1)(3.2)(80 - 65.35) = 98.45 kW. The required VA value is 98.45n0.4
= 3.24 kWIK which does not agree with the specified value of 6.5 kWfK.
The source of the difficulty lies in Eq. (14.8), where the numerator of
the argl.!ment of the exponent drives to zero, so that the control e;r:erted by
the VA value in the numerator is wiped our.
.Incidentally. the use of the logarirhmic form of rhe rate equat'io~ is
successfut' wi th the trial values of Table 14.7.
A third form of the rate equation is availabte-that of Eq. (5.6), which,
along with Eq. (14.5), provides (\.Vo independent equations for 'w and 10 ,
Unfortunately, withehher sea of trial values used so far, (5 kg/so 61C) and
(5 kg/s, 70C) the simulation converges to impossible values of Ww = 3.:24
kgJs and 10 =' 49. 14C.
'
Example 14.4 showed some difficulties that can arise when simulating
systems that contajn heat exchangers, and most thermal systems incorporate
heat exchangers. To place the situation in perspective. it shouJd be pointed
out that "the trial values cho~en jn Example 14.4 were rather far from the
346
',-,
'correct solution. When the trial values are close to the final solution, any of
the formulations should work. The occuirenCei of any.of.the problems cited
in Example ,14.4, is'
but can be tr011~lesome, so i~ is beneficial!o he
, ,alert to this possibility.
."
':
~.I
,i.
1 _
,'".
' "
-J ' ,
' : '
....
~'.~".~' .:~..
,'.
',j"
, "
" , "_ ' :, :,
.!~:.;~~~~~::~: :/.~: ~"
A
a.Fr~~i}:;: ~;~~~~,. ~ .
+ b' 2 = 7
(14.9)
1 2
2 0
[
o 3
(14.10)
or
AX =B
(14.11)
t-r-~:" f~
~:
~,~,
STEADY~STATE
~~:
~:
~w:
~K
~.
341
...,
! ..)'
'
K
i'
f.j!."
~~i~,
l.f
&',
nGURE 1~10
",' G) .. :.,(0
L. ~':'::"~' _~-"~~,}
"
-. ' .
l ..
= -1,
."
A(S), = 3?' and !\(6)' ="1. Inste~d :of the, A' aIT~y heing:, hvO- ',','
dime~sional as jt is in co~vention~ G.a~ssian elimination, ~r has ,no\v become ~
~ one-dimens ionaI- alTay, of nonze,ro values. The IROW array prov!des, the
designator of ,the' frrst nqnzero' ~lement in,eacb rov~". Thus, IROW(l) ,=' I.
: ~(4)
~OW(~)
= 3
IROW(3) , =', 5.
There are two JeOL arrays: JCO~(lt
I
3Jld
','
I,
,' the
in
"
348
TABLE 14.8
". . .
Revision , M a t r i x
'Oricrinal .'
II
: .Arr.ay
".J ..
3 '.
.4 ' 5
5,
'7
. . ..
.'~:r,: :": . ,~~~:,',--','" ,_..'~3~> ,,- if: :'~~:,,:";~g~f,ii:-F~~:_:~' g.:<f~.: ~-~~;"~b&;+:: :~: ":'(?; .'~~~
. . . . . :.
'"
, 23
0 '. -l~ ,8
-2:! ',: '0' 1
O' 3.5 '.. 16 .. ' 1
Swirch ,.'
rows J
, and 2'
]1
, 7'
" B(n)
1ROW(n)
3.
JCOL(i-;n) . . 1 . ,2
. .1COL(2,n) ) "
.AO.
'1
. A(n)
1 . JB(n)
7
2 0
Add
-QI2)(Row
to Row
n n
-.1~
22 1127
16
0 35
-' 8
3
1:
lROW(n)
. JCOL(l ', n)
JCOL(2',I1)
A(J1)
Swirefl
Rows .2 'and 3
2~
o 35
o '2'2
-]'"
,IRO,\V(J7);... .
JCOL( 1. J1)
JCOL(2, 12)
}6
1127
A(n)
i~o
o
o
~~
-I..!
]6
~ 1/6' 7/3
oJ-.
3
0
'$
5 '
0
0
AI")
Bln)
IRO\V(JJ)
O , ')
2
0 7
0' 2 ..
8
I
.. B(n).
Add
-(1J:1)(Row 2)
to Row 3
, JCOL( J . )1)
Jeot{?.11)
= 5 _ and _'t'( I} =
(J
-2
6
3
.0
0. , ,"
3
0
1
3 '2
0 '2
'0
7
,
B(n)
5
1- . ' 3
4
0
-'J.
2
5
] .
2
1
4
2
-1
6
3
3 . 2
0
6
-:-1 3
3'
1.
3
O
112.
3'
0
1/2
:7
4
:!
7/3
3
0
6
-1' 3
3
0
.3
0
-1/6
- 3
.So'me, elements that wer.e originaJIy nonzero may reduce to zero, and
SODle that were original1y zero may ' take on nonzero val ues. Revision 2 in
the third line of Table 14.8 reduces A( 1) to zer'o at which value it rC1Dains.
Revision 2 also introduced a new nonzero element designated 7_
The economies provided by XGAUSS while not obvious in the sma]]
-example shown in Table 14.8. occur in the following ways:
t
1. In searching down coll\fTIn for the largest element, only the no.nzero.
values indicated by JCOL( 1 t-) are checked.
2. When rows are inrer~hanged, only [he nonzerQ, elements are switched.
3. In [he triangul arion process, of producing zeros in the column below .the
349
was
resp~ctjvejy.
':
;T
,.'
.:
,',
_~
~.
,':,
i.(.
'
' ,,'
,"
,"
.'
A tilLE-corsuming
process in the generalized,Newton-Raphson
simulationI is
,
"
the computation of the partial deriv'atives. which are computed numerically
using Eq_ (14.4). Each equation is corripuied once for 'each "ariabie, thus
11 X n ,equations. Most of the equations 'db not ,contam a'given variable., so
[he result of most of the computations is zero.
'
An approach that saves computer ,time is to ~xecute the foll<)wing
steps:' (1) compute the complete 'set of partial derivatives in' the usual
f~shion, (2) ide'ntify the .no~ero partialderivatives, ,and(3)'wben computing
partial derivatives, for ~ucceeding iterations, compute only those equations
associated with nonzero partial derivatives. Applying the cOIDputed-go- to
command, .is one approach
executing st,ep 3. Application of a fast partial
derivarive routine on an 81-'equation simulation 6 resulted in a 15% increase
in compilation rime, bur in a 40% decrease in execution time.
to
= -H F
(14.11)
where X '= the column vector of the f1x'5 that are additive to
correct the variables. X is rhus the negative of the
LlX ' s used in, Sec. 6.1l.
"
H, = the inverse of the 'partial derivative matrix = J- 1
F = the column vector of the values of the functions fl. 12. etc. '
Furthermore, H is updated for each new iteration not by recomputation
of me, partial derivatives and in~er1ing the matrix, but by an operation'
e~pressed symbolically as
..
(14.12)
350
where Yk == Fk+i - Fk
subscript ,k indicate$ current 'values
. . subscript k' + 1 indicates values for next
.' : '. ' :.... T 'indicates the transpose,.'
.'
iteratio~
..'
.. ' f
fan
= O~06~5 + O.653Q1.8 - P
12 =
0.3 ~
~.
0'.2 Q2 --: ~
" 'Tabte 14.9 ..shows the Newton~Raphson soluti<;lll including' th~ D)a.trix' of .
'partial derivatiyes. and 'the inverse of that matrix' ~t each iteration. The
.'
,
, soIiltion is P = .'0.25 kPa' and Q' = 0.5 m,3/S.
. The quasi-Newton metqod starts' with trial values, and a .temporary
inverse H ~ For this jlhistration we use the same trial values of P =' 0.1 ?lld
Q = 1 ~O~ compute the partial derivative matrix, an'd invert it to obtajn the
initial inverse. With the above assumptions,
Fk =
['fan
ductequatlon'
equ~tjon] =.[O.6J55]
0
and
.
-0.63449
b_15629]
-0.39053
Duc!
0.3
.p
Duel
"'"
0.1
Fan
O'~--~----~----~--~~d_'-'~~
0.2
0.6
004
Aow rate, m) Is
-.
(b)
(tI)
FIGURE 14-11
A f.!,!!-duCl sysltm, and lb) lhe
(0)
-.
p~ssurenow
characteri!tics.
0.8
35'
wkgls
, ' J,:,
'
~.
\' , '
.'
..
.,.
'
"
..
(h)
(0)
FIGURE !4-~5.
.'
"
'
in borderline stability. and (b) determine the valu,e of f3 thn~ provides the
most rapid convergence.
:' 14.4. A counrerflow hea~ ~xchanger having a VA value of 12.3 kWIK and shc,--'lll
in Fig. 14-16 is part of a system being simulated.' Within the: simularion the
heat exchang~r is described by two equations:
.
,
.in = (t
r.i)
,[wl(3.9)(/i - (0)J
1,,+1 = w~(3.6)((:!
- II) - lV)(3.9)(rj - 10 )
b~pending"upoir the trial values chosen for the simulation, one of the
solutions. shown in Table 14.12 results.
(a) Do In 'and/n + I = 0 for both soJutio.n s?
(b) Which of the ' solutions is valid?
CP
= 3-9
k!/(kg K)
0
/ .I
UA
= 12.3 kW/K
C P ::;
3.6 kJ/(kg" K)
F1GURE 14-16
H~nt exchanger in Problem 14.4.
TABLE 14.12
..
'.
'
WI
WI
loY]
J.
to,
'I
t)
2.95
2 ..52
38.60
29.B3
20.39
31.51
--26J
.
2.85
37.15
26.5J
J9.86
30.50
t"
364
)T~bin<
___
BoikT
Au~
.' :;
."
'.- .
gas
'5O"C
' 90I:;!ft: ~
cp ..
Power .. q,
C_=
. -,.
W'''f
."io'oc
l."i"
;'7f~~.~ .
"
,',..'.
15l~ 96HW1!l;~
'
-.'
c , .. 4.19:- '
.-
"'mp
,.--
... . .
::,
::~.:.;.
- --
kg/>
n GURE 14-18
Stf..lUn
PO""~
f~
""
- _(tb +273.
I
+ 273 ,1 -
(280)('11) Ie
)
0 .5 - qt
Enthalpy dungt
."
h ""
1900
I<' -
qt>
Enugy balance
J6 ~ ql+qc-'lb
The solution is Ib ~ tl07 .1"C. Ie'" 38 .69C, W = 10.774] kg/s, 'It> = 20, 471
kW,qc= 15,39Jk W, itndqc -=5078.6kW.
The turbine is enlarged 1.0 percent in the sense thaI the flow rate I<"
iol l is incre ased 1.0 ptrccnr for givc n values of It> and f e . Use Eq. (14.17}
to compulc the . influence coeffi cients and determine the new IV and the
newq,.
Ans.: Fro m a simulation new w = 1O.82t12 kg/s, and the new q, ::z
5089 .02 ),:W.
14.9. A helium liquefier opera.ling: on the now d ialram shown in Fig. 14 19
r~ceives high pressure he hu m vapor, liquefies I frac tion of the vapor, and
returns the remainder to be recycled . The conditions of hel ium v.lpOt entering
lhe' liquefier a t point I arc as (ollows: p .. 1.000 kPa, W ,., 4.6 gis, T ...
18 K, and h .. 101.8 kJ/kg . The ~ep8rator and the entire lo w-pressu re side
operate at J00 kPl. So~ helium propenies are
At 100 ),:,Pi
utuntion lempe.ratUrt
enlhalp), of utunted liquid
enthalpy of salUnt ~d vapor
enthlilpy of su"perhded Vllpor, kJA:&
..
...
4.2 K
9.74 kJlkg
30 .31 Ulkg
2.81 + 6 .79 T - 0.0578 T ~
At 1,000 kf.
- ' 0 - - enthalpy of su~thealed \Qpor. kllka ... - ::!9.67
nlC v~
c:xch~ngcrs
is 70 W/K .
+ 8.79 T - 0 .0826
T~
' 351
TABLE 14.9
Jewiol1~Ranhso:i]
A
_
Her a tion -
_.At ~-iar
'.
Derivatiy~
. ..
.~-::--LO-'~""'\.1:7i59
,-.<',"'.
.~O,,2539 -o.l46~
'.
.~ .-, .:~ .' ":. ": Ilaliies -'. ""., :-~.,. .... ,. . .ft ",~.i, EO{.~.-j5''';. :~ ...b...:!~ ~. r:o"'~ ::"':::'0~-4008-:",,::.:~c.-J:'~:!"';':~:~ O:,,<?.3=4:.5".:.:;~";""':"D':6345~~:I;~.'-~'~::; ;,~~:.~.~.~:,,.
'-
','
.,"
_.,
';",'
"?
...';
.. , "
'.
?'
....' . .
0.508
'-1.0
0.6836' .
-0.2031
0.250
0.500
'':'''1.0
0.6748 ' .
p'= 0.2.50
Q = 0.500
-1.0
-1.0
'2
P = '0.250
=
P =
Q=
Q
'. ,-J.O
~6.2285
-J.O -0.1999
. 1.1432
: o(
V k+I
= [o~_i.].: + [_ 0.156~91
,1.0
-.'
:.....0.2291 -0.77D9
~.1276
-L1276
so
.
'.."
. 0.7QO-.. ,.
.,' -1.0' -0.2435
Q = 0.608 .'
c"~
{.
,-.0:-,.
[0.25629].'
O.39053 J ,
-0.7715
-1.1432
0.60947
F_
= [
k+I
[0.6155]0 . ['-0.5414'8]
-0.03058
- [-0.24630
0.76030
k+ I -
-0.74956]
-0.69190
Iteration
Functions, F
. 0.25629
0.60947
2
, 0.074024
~verse,
-0.030579
-0.24630
0.76030
-0.74956
-0.69190
-0.76370
-0.97139
0.25160
0.020603
-0.23200
0.53203
-0.008211
1.04286
0.25011
0.50257
0.00 1656
-0.000624
-0.22850
0.000042
-0.22744
-0.76.816
-0000016
1.16053
-] .08636
3
4
c=a-
-0.2.5001
0.50004
i.13130
-0.76713
-1.05802
--
352
moti.o.g" .
-'.
.'
,.
. What advantages~ if any, does the quasi-Newton' me.thod' offer .in
comparison to Newton-Raphson'for the large simulations which are th~ foc,:!s
of this chapter? The extrac'tion of the parual derivatives and the solutio.n
of a set of . linear, simultaneous. equations. that are.'integral operations in
Newton-RaphsoI?- ~e eliminated. In their places the quasi-Newton method
substitutes a number of ma~ additions subtractions, and multiplications.
The'poteI!tial benefit of qu~i-NewtoD in large systems app~ars not so" much
.in reducing computation rime -as in allowing greater tolerance in s'electing
the trial values of the var.-:iables. This advantage could be jrnportan t in large
systems where selecting trial value.s close to the solutions may be difficult.
J{en]ey Md Ro~en8 conc]uded that the Ne~ton-Raphson. Il).etbod is rapid
'when convergence does occur. The quasi-Newton technique is reasonably
rapid and may require ,many iterations if the trial values are not' good) but
will converge to a solution in some situations with trial values that do not
permit Newton-Raphson to converg~.
.
J
opt.imizarion. Influence coefficients, therefore, build a bridge between system simulation and oprlrnizarion. The direc~ approach to finding .an influence coefficient is to rerun a simulation program with appropriate changes
-.
;'
:;53
STEADY-STATE
SIMUU_TlON OfL.-LARGE SYSTEMS
.
TABLE 14.11
EL!..rreCt
,"P
It.
if
fOJL-I-D '10
O!.
- .
Inc eases liD
COill pOnent
:;
'rl.,
~:
.. ,. .... ~"
jncre~e'
'J
. .'
condenser
in
. ....
._
. ' .' :--;~.~,. '~" :.- :".:~~ . '6-""' " , ..--.. _.....~':~.>. '... ':; '; ....... ',--:: . :
. .. ....
..,-
10-% . :
I
..
-.
a11
~-
' ",."
.-
-"
..
" _._J
, '" I. ~ '.
10
I
'.
of
= -F
where
afl
all
aXJ.
aXn
ojn
ajn
ax,
aXn
.X J.new
XJ,~ld
, ~=
and! =
X n..ne:w
:c n,old
..
,,'.,
..
:'
'
J- :..' ~
-, ;
t.,:
.~,~.~
~': *
<
I.'
:.
.... :""
.;
-:".
"H,'"
ti
~.
..
"
.-
",
th
0
0
>
row"
+-
Xj,old =
(14.14)
J ij is the cofactor
14) can
C{.
llc;.
(
8; from
. (14.15)
04.14).
a
-a
. Ax)
::::::
ACi
approaches
=-
,or.
(1
__
..
...)..:.J~
its eptering temperature j.s - JOC. ~he steam coil receives saturated
Si;e.am at 230~C, and Lhe enthalpy or' evaporation a.t 230C is [812 kJ/kg.
The 'condensate Leaves the st~arn cO=, ~ at 230C ~ which js a high enou.gh
an
temp erature to preheat 'the ajr, il1 a condensate..cQi~ ,;:hat is ~sumed to operate'
as a COUllteIflOW heat exch~ger. The U-yalif~. and ?Teas of :i1,e c~i'ls are:
~;
.,
.. ',.:
_ 1\' _ , .
I,.
__
; _ ..... _.
'r-~-.' .~
..
-4 ,..
Vni-~
~ ~
....
..
"
-"("",
Condensate '
0. 04
. Steau::i
" 0.'055
'
'0.5
1.21
12.5
22
(a) Simulate 'this system to ,determi2e the st~am flow rate w. and the air
,
temperatures leaving the condensate coil t l and leaving the stearn. coil fl.
(b) If .there is .the possibility 'Of increasjng the area- of either- coil 1;>y a. gi yen
~ount, whicb coil should be increas,e,d in size to provide the greater
incre~e
in
12?
.SOLition_' 'The three. equations that 4escibe the system are as follqws:
Energy balance on the steam coi11
Il = (0.8)(1.0)(t2 - II) - }~(1812) '
Rate equation, steam cOlI,
12
= -'(/2 - rj)
+ (230
- tL)[l -
e-(O.OS.5)(A s )/O.8]
. [ :1
-(I I
( - 5))
+ [230 -
where As = 22 m 2 and Ac
= 12.5 m2
-----iJ>o-
-5C.
0-8 tg/s
CondenSBte
coil
U=O,04
,Ae= 12..5
--t-
tI
~
w kg/s
J9~)
(-5)]
-*" -
Air
.Condensate
Steam 230 C
trap
D
flGURIfl4=12
Series of heat exchaoge~ in Example 14.5 (or heating air.
SallJ.Iilled
steam, 230 0 C
Sleam
coil
U= 0.055
A J, = 22
DESIGN OF
'.
[-J81~
- ~1
yields
.- -I -1812 . -0.8]"
-1 .
69
at"J
_A-
,2
as
det [-"
=-1
]
o -0.8
0.22
2169
to
,0
2
0.309 Clm,
steam coil is ten urnes
SIMULATION-FORM 2
. The
35i
- FIGURE 14-13 , .
L-;-------------~s_.
- in
iililllence. coefficients. What~ then, is the' ~:xpression for 0; it: the functi.on,
. ii is reVised so that variable x k increases by the fractidn p? To revise_Ii so'
'. that x k increases by the .fraction P., divide x k wherever it.app~ars by (1 t p).
An alternate procedure is to multiply x k by (1 - p) wherever-it appears.
The .results. are essentially the same for small values of p, since from 'the
'.
.
geometric series
1
1
) neglect
~ p3 . ..
1 - p +p2
+P
fi long
0;
Express Ji as a series of p,
r----------~
/;.ncw =
~J
j)J;
iJp
/;1 p=O
'.
+ (Jail 1
P
-(p)
p~O
up
a[x k (1
aif
p ::::: p [
up
a[x,t(l-p)]
p=ro
. a[xk~l - p)J
~P
and.
+ ~21
neglect
- p)
J] ,
p=o
-Xk
- ..
oh
oil
:=--
. 358
..1bell
aft
<'
B; -
-PXk - . -
".,
i)Xk .
_.
fu.m.ple 14.6.: In the fan-duct. system shown in Fig.'. 14-11 the fan capac~ty '...'
'is -increased by' l.percent (1 p'ercent greater flow at a-given static pfess~e). .. .
. What is the. increas.e .. in system flow?
'
r
~e.
duct
11 =
0.0625
.'.
,12 = 0.3
fan
+' 0.653
X~8
..")
--:-
-"r'
-.O.2x~ -XI.
= 0.5
-I
J =[
-1
~x')
/1X"l
of1
J . . .,
del J
(0.01)' (0.5)(
-..
-(}.~). ~
0.875
= 0.00] 14 m3Js
-.
~
;~rop~rty
IV' -
rqutine
359
for
ex.?J Dp le" that relates press~re" tern,perature~ q..hd enthalpy ~ The user could
call this subroutine providing: two,of the pi'operties in order to calculate the
third. The user selects from lhe large 2c~sortrne~t of subroutines' the' compo, ,rient pe.rfo~~nce and "pr9P~rty,: fu.j1ctI9I!s needed) organizing ll-te, variables
"ill_an apprppqa.te:,ni~in'ner for the sy,s~eln:'being,si~uI~ted~ .; -, ." ;:> ",-' :,: ,"", ,','.
" ~ ~ "<;;This chapter,h~:--exp16re'd~ sol-fie .technit:[l:l~!f~a(are': ti~~fuL'a~d.'~same~':
. times~even nec~ssaryf' when siinuhi.tihg large ,systemsd . . Thes~ topic~ .might
~iinu1ta-' .
be c6nsld~red 'an extension of techniques of solution of the set
,neoqs ,Poruinear equations a'nd can be very usefuL 'It should be emphasized~'
however~' that describing the sYStem' (setting up, me equations) )JUlY cOhtinue
,to b~ the significant chaJlenge ~n sir:.J1ulating large ,sys.teins.
' .
J
of
PROBLEivIS
14.1. The sy.stem consis~ing of' the two nir-heating coils in ,Example 14.5 i$ to
be simulated using successive subsritu[ion. The three equations are to be
solved for the three unkno\yns t t. fl.. and w.,
'
(a) Construct all the possible information-f]ow diagrams for a successive'
, substjtution solution of the equations (there are three different qiagrams).
(b) Using the partial derivatives from Exampie 14.5 ahd'the test on the
matrix of partial derivatives described in Sec~ 14.2, detenn~e which of
the information-flow diagrams ,of part (a) are convergent. and which are
divergent..
,
(c) Solve by successive subsritu~io~ the flow diagram(s) that are shown.to
be convergent.
1402a One of the methods by which some of the water from the blowdown froIj1 a
boiler can be recovered is ~o throttle ir and condense the steam .that flashes
into vnpor, as shown in Fig. 14-14. The system is to be simulated, prim~ly
to compute the flow rate recovered~ We'
Throttle valve,
Satur.l.ttd vapor
= 11 85 kl/kg
Condenser
Flash tank
VA
70 legis
,() C
Wd
k&l,s
We
Discharged
Ret;overed
condensate
k.g/!
DESlGN OF
TH.EJ'.U...1AL SYS'fE:1v1S
14.6):
'1'"
+
.. ,. '".',: ' ..... ::.
....;
.: ".
'.
';'~'-: ,:.'
~,.,.
,.'
J"
,=
,$.;,"!'
''"
. ,
-", 4,'
~_i
',', .':: :
'.
.~.
~-.~~.~.
. ,.'"
2 CD
-1
1@)'
-5@
0070
-5
3n
~OW(n)
JCOL(lyn)
~3,
-5
14 .. 6. Equations (1
4 5
2
A(n)
-1
B(n)
-3
9/2
5'
(14.2) are to
update . as q,escribed in
/1
= 4.2 +
= 60
+ 8S - 0 .16S 2 - P
= V (1)
.",.,..'''''. . P .= V
= 70,
is
= [ 0.06078 -O~061
-0.4862
078] .
of
~eHvers
energy from .a
a UAa
s
with a P!~uct, .
~~~_._
evaporator as
,..
is
fU'flction
36':)
,________
11
12
__
La _
J----I----.-- - -
\/\N\A
UA ! =70 v..'IK
\!\/W\fvV\,.-
2
"
..
' ..':
.;
....
")
......;
', ...
Work
FIGURE ,_A-19 ,
__ '
'"
-,
T6 ,=4.6
Turbine characteristics:
and
W,
+ O.lT3
"
'
W9,
W6,
g/s;
g/s~ ~V4
W10
W11
gJs~ T~ '=
Wg
g/s;
73 = TJ, K:
Ans.:
W3
"
+ 2.464Q - O.04648Q2
'-
+ 2.107Q -
O.0131Q2
Control valve
>~~~----------------------+--------~~---------~------~H
FI GUR E ) +l2~
366
Section'
, .,;
';:.~;
B-C , ' ,
....'.: '
, ..
:
..... J
,.' ,
.,
r
!
,0.017
,:'"!"' O;O..i4J"IT'."':-'I
E-C
::"~
'
~,'
"
:"
. ':0'.546'
0:089,
0.0359 .
, 0.0302
E-I
C-F
G-H.
H-I"
0:.0089
-J.":"A .'
0-0199
0.162
'H-F,
the
Equations for the enthalpy of sarurated liquid and saturated water vapor are
hI kJ/kg = 4.184 r
where
,.=
water temperature in
Ste.am. 115 0 C
,---
1.68
Cle.
m J Warer vapor
Conden
20s(' NaOH
I :::
20" C
";-
w!::?
Stage'r
.,..----...,
.",-.
Condensate. 115" C
Flow regulated
"
FIGURE 1-4-21
Multi~21poralor
in Prob. ~}4. J I.
Condensale. 'lt
W2
to maintain
h:!.
x:!
l::l
0.38
STEADY-STATE SLvWLATION OF
~-\RGE SYSTEMS
36'i
h .kJ/kQ
- 26.6)
. .
'.
'.
f ::::.
(1
O.05x)r s
58 .3x
s':=
;'600
...,
E~
W 400
___-I-_--I----+-"IC..--+--
L -__
i1GUUE
Enth~lpy
-L--~----~--~--~~--~----~--~
0.2
0.4
0.6
Mas~ (merion of NaOH
atJ n1
of NaOH solutions.
0.8
\.
368
l~ ~--~~---.~---.-----.-----.-----.-----.-----.
.140
.....
o
Q.)
L..
~
ctI
80 \
E
Q.)
'
c
0
. r.i
'-
.::3
C
U') ..
20
o L. ____
40
____~~----L-----L-----~----~----~~__~ ______~____~____
60
50
70
90 .
80
100
110
. .120
130
1..f0
Solution lempernture, 0 C
. FIGURE 14 23
Relationship of sarunHion temperature
w
[0
Ans.: w
1. 783 kg/so
RE'F ERENCES
1. W, F. Stoecker, "A Generalized Program for SteadyState System Simulation:' ASHRA
Transactions. vol. 77. Part 1. pp. 140-J48, ]971 .
2. B. Carnahan, H. A. Luthe.r. and J. O. 'Wilkes, Applied NIIJllericnl Methods, John Wi.ley .
t:.'''-,
:.
-.t"
...
--- - - - - - - -
' ..
- .:..
~~.
-;.
-... -DlTNAMIC
T.'
. BElr-J-Lt\VIOR
-OF
THERMAL
-_SYSTEMS
./
370
....,'-' A......,.......
by an
a
In some' other cases
case
correction
analyses. are
stUtup
1
occurs,. it is
controller in a . . .
J-j.
.l.l..U.L.-4~""'U
........ LJLU.......
.: . ~
..
. .,:, .cHAPTER -.
that any
one :chapter. It
emphasis of
(3)
.
si.tuatiorts into symbolic or mathematical :representation.
The,underlying objective
this chapter is to app~y the principles of
dynanljc
to physical hardware. Many of the texts on automatic
tro"1s unfqrtunately choose few examples from the thermal
in_stead mechanical or
systems. One objective,
is
more comfortable
dynamic analyses of thefU)o-fluid components
and
S~condly,
the
of automatic controls can
a .highly mathematV{ith the challenge being the development of
somea process or system. While the field
some
in
skills) there is. a far greater
interpreting a somewhat lower level of mathematics into the physical
sjtuation.
of the techniques that
provide this physical interpretation is ~ as
..
of
perfonnance in the time
domain. This
cont-rasts
the practice of many automatic control
specialists who work primarily in the transformed
ical
one'~
The third
contribution of
is to
more
U~~''''''''L.''U''' into a control
diagram. We .
automatlc control highly
r""'1""""~CA""''''''''J"I
as a block
~'U'4'~~. ~~,'H~'&U.~~
[he
first pJ
-namely.
the symbolic fonn.
some
in
--
:---..
chapter
simu1ation
of this chapter the nex t
t
14 to the
a hybrid
371
AMIC ELElVJJ]NT .
U'~r:A ' ~r ~~A.::ij ~~Sl:Al, .'.;.SIritWLATIONU:' ~;.;t~ ,.~.;",~,/.'~~;-.,:::,;::.::~~:
15 ..3
';0
.j.
AO
:'":'::'. : ....
:.'-' ',"'.,'
. '
'.. lj.. ":?1odesf extension frQ m st~dy-state. to dyn'!mic SilTIulation is 'appropriate ..'
for' some syst~ms, where, for ~xainple, the thermal' capacity of all' compo-'
D:eLtS except one car. be neglectedA An example 'will illustrate' the, approach.5 .
TIle refrigeration system shown' .in ,f ig... ,IS-1 is to maintaiDl. a low ternpera'lure in the' chamber. The evaporator that is located In the cbamber removes
the heat from the space that is copducted inJ1u:'Ol1gh the \V~.s.and. also' that
heat.Temoved from the thermal 'capacity ot the' contentS of the chamber,
.' First"coIL~idet the case where the cpnditions have s[abilize9- throughout
the' system such that a steady-state simulation""is appropriate. Th~ controlling'. equations a r e
=f
q~
Compressor power: .
P =
. qc
,Tc)
(15.1)
2(Te1 Tc)
(15.2)
I (Te,
= (~VA)(cpo)(Tc - Tamb)
{I - eUAc/[(WA)(~pa)]}
Evaporator heD:t transfer:
, qe
Tr;
Con.denser
Air
UAr;
11jennal capuci!y. M t:
FIGURE 151
with on~ dynamic element-refrigeration plant serving a cold room_
S'ys~m
--
(15.3)
(15.4)
:=:
The
of the system: '
aJ...II.,UAJ....""..,.,
"
'
"
p.
\'.9
fUDctions
and area of
UA c , proquct
of ~vaporator, kWJK
of U yalue
lfAe7
)1..'Q~.
kg/s
Tarnb'- Ts)
Also assume that
heat
and the objects
good
the space
internal conduction
of
the
-a
temperature Ts
1;ligh so that
balance within
equation.
, (1
= product
mass and
simulation a difficul
(dTJ Idf).
-----..
that two
3"73
equat~ o12 .
To resolve the diUicuhY 9 relllo ve ) ~-~ d.S a variah'e; of the steadystate sim ulation. The initial v(]Iue of 'Ts 'mIls! be ~cno ~lIl just as is usu'a lly required in the' so; ltion of d:"fferential equations. If Ts = 3JoC i~i. tiaJ.iy the ~et of 7 equations ca~ be solve.d for the: 7 variables, :.ncludirig
.. (~Ts I dt) o:~.~RI??.se ~a~. ,,(~r~_!.t:!~~._ ~~T~.s..~l!t. .~~.OO~~.4 .oC/~ . If a ~irll~. ~tep .
ot JOQQ. s l~.arbltranly- ~hoseD. '} tne:value o,f.Ts after. 1000 s "vould be Ju -{~) ~ 6. Of)Q.24. ~C/s)' == ',;29',FI6- .~~:::.Thi~ val tie' ,of 'Ti""worild"~tlien \'be," hsb:r~ ~;,y:, :,
I
_:
d. .
:. c.Tonq (
for the next ::;te~dy-s'tate sjmllf~tiR~~ ". ".''
" . ,'.
.'
.. ' .. ,.:. ,-
in
can
l' {F(r)}
= {" F (t)e
-Jl~t
fCs)
(15.8)
Solutioll
..L'{c} =
.
Joo ce-J1dt
_::e-Jtja: = s
SolutWn
.L{bt}
--
:-.
ll
dt = _bd(lls)
dJ
~ b/s 2
374
..
{ea~
=)1 (s - a) .
= cos)." + i sini-
and .
wherei=R.
so
e ix. + e- ix
cosx = - - - -
and
Slnx
~{
Then
cosh(ix)
sinh( ix)
;"
~1
,1
sin(al)}
a
(sin(at)) =
s2 +a'2
Eq. (15.8),
ax
(I)) = [JI
----..
(~) 1;-
D'
F (t)( - sV" dl
p(t)
J(s)
IF (t)
I
~,'
_ ,j
_~.
1.
..
, '1
~:
~~
...
.:,;~
'
"jt":'
S2
. .... ,
,~
-.
. .-
r.
-. I
... ..... ... ...
,.'
:-
.\(
..
.J.
:.;:.~.
cosh(ar)
r2 :-- aL .
........ '.'V'
/I .. . ... j
- ...'.
"
,' .
',
S ..
'.
';.).
'.;, ~-
a2
S2"+
t~-I
..
..... , ...
..
(s
..
"
'
..
'.
.'
'=o~.(at)
,.~
..
e-.Qrsin(bi)
a)2,+'b?
.','
.'
(n -:- 1) !
s"
-1.'
= 1.2.3.
.........
: ._~:,~'4.'~' "'
, , t .. ~
5 ,-
..
r
fo
..
--
is
...
--
s -a
+a
lll
' (s
,.. af + b
'
e-J( cos(bt)
2
\
i~(l-
teDr
(s - a)l
Q"2)
5(S2
CQS
Q-
al)
."
t""!"'e DI
'(s - a)n
Sl(S~
(n - 1) !
1
, a 2)
1
a
-(01
J
sIn ar)
1, 2,
1
(5
-...!.
'.
s'
+a
52 -
+ (c-a)e hr
(ae
lJI
- .. ..
-.
2a
(.s2
a~)2
20.
- be b ,)
1
sin(Q/)
a
..
1
'
-3(sio at - at cos at)
Q2)2
sin(ar)
(a - b)(b - c)(c - a)
(a - b)
1
0 2
(S1
(a - b)e"']
[(b - c)e nt
(5 - a)(s - b)(s - c)
e1>l)
_J_(e!1( _
a-b
a)(s - b)
(5 + a)(s2 +
1
b~)
a +
/a 2 +
-1 sinh(ar)
a,- ..
where
.~
".
b~ [e-
D1
b2
sin( hI
l ~)b'
I
.tan-
8) ]
D,ESIGN OF
THE.R.M.AL SYSTEMS
l ' {P'(t)}
so
. sf(s) - F (0)
sciwly
F'(f)) - f'CO)
)}
~"
'.
the
.....,L.I...JIII...J.L.LL.. \oJ
'.'
(0): ~ p'{O).
:~.
:.
.~:
; 'f'
~.. :
'
0'
.~ dynami~proce~s' or
The
by determining
(t)
l'-l{j(S)}' =
(15.11)
a)(s
After A an d B are
available from tables .
Example
b)
the inverses
s + b
+ 2).
. Invert s/(s2 -
Solutl'on
A
s-2
--+
B
s-1
A(s - 1)
+ Bes -
2)
two
" 0 =
constants:
and, s:
Then A
1 = A
---.....--
and B
=-
+B
1.
- ~'
A
r'J.
1"
-..
t..
377
1
sp ec2J SltU9.tlOD. .~revm. s \Vnen t!Jere are repeatea ,0 ts_ "J! '.~7. at :,ase tIlE:
'
.'..
'
",
:':",
(s
,~st~nd,
~~
-;- 10
,B
'=---i-'.
1) (s - 2) 2
5 + 1 ' ( s -- 2) 2
s + 10
'. A
B
B'
.
.
.,-=
,
+
") + - - .
(s ' + l)(s -2).s + 1
(5 :-2)-' . s-:-2
.
10 =
constants:
1"'= -4A
s:
0=
(s
+B '+
= -1.
S + 10
] =
+ l)(s - 2)1
B"
B'
Thus,
-I
"21 _ e"11
Ie
Another technique for finding the A., B , and. C C011St-aJlts in the partial
fraction decomposirion of
~. ~
. .'
.~ ~
N(s)
A
B
+--' +
s-a
s-b
D(s)
is~ for lion-repeated roots.
B = N(s)(s -
b)j
lX.s)
If b,' for example, is a repeated root
.....~. NCs)
--"~~"'-:'A ~
D(s)
s - a
Band
-.
J~b
.+
(~ - b)2
N(s){s - b)2~
D(s)
Is-b
':"'d{ N(s)'(s - b) 2]
ds
D(s)
s-b
B=-
B" .
S -
, (15.13a)
(15.13b)
378
.Solution
.)
J.
~
..
~?
;'oi:.oRi)mARv DIFFOONTiAL"
solving .a 'differential.'equ:atiQ.n using Laplace trans-_
; forms are the followIng: (1) invert the' differential equation, (2) sol~e for'f (s) ~ and '(3) 'invert f(s). TJ:le bou:adary. condition(sY may. be substituted, .
. 'into the transformed equation .fol~owing step. 1 ,if,'the' specific .vaiues 'of
'F(D), FI(O) , etc~, arelmoWD. Otherwise cons,tants may b~ wserted for F(O) ~ ,
-. F'(O), etc., after step 1 and the boundary condltion(s),substituted into the
in~erted equatio.n following step 3. . . '
,
Example 15.6. Solve fhe differential eguation
+ k2Y(r) ,= ,0.
Y"(t)
and
== 'R.
Y' (0)
Insert the
~oundary
+'k".2 +
S2
s2
k'2.
(Blk) sin(kr)
.:; .:. ,
"
d " . + )'-= x
-"
dx~
-.
e~u~~i.on,
-O~
and)'
= -0 when x
7f
379
f'(O) = L but :J'(O) is not yet known, so assign it the symbol C . Solving
[ory(s)
)
~s
=. s-(s.- + I) + s~
+ -.-)- +. 1 . s- -+ l
.. ' . 0': f _,~ _/: . . . '.'.!f(~:~..'.
.'\." (s)
"I
-JpC'l inversion
').
-'J
'!
: " . ,-
. . ~e ..final.~ou~a~~~ondi~ion may
.0 =
r:t~~"b~' substitEi:~d~
JT + C(-l)
.so
Then
=x +
1TCOSX
or
lS-3a.
transfer fun'ction = T F
l' { 0 (-t)}
O(s)
=
.(J(t)}
I (s).
outp~t
are zero
lnsrantaneow
-~
'.
",. -[... ~
FIGURE 15.. 2
Symbol~ ~--"""'I-n-b"'roclr:: diagrJ.ITls.
~.
.,.--'
380
I(s)
~I
~-
GIS)
G X<s;G
I(s)
-- ~-
__ G (~~
- - , -'"
- -
H (S)
'
IF =
,
~ , .-
.. .-. '- . ..
:
O(S)
,~(5)
= G(S)
O{S)
'-J' . (S)
"
= G (s)H (.S)
(b)
. -_ (a)
. . :,. - '-"
~
, , -, - ELn
CCS)'
I-----I!""'i ".
Des)
~~
' ,~
; '
'.
~. I ' j~1"" I ~ :~
.. -- +'
G .( s)
I, '
(b) ,
(a)
FIGURE 15-4
(a). Unity feedback loop' (b) nonu~ity feedb~ck
loop.
'
,.(
unity feedback
TF
_G_(_s_)_
1 + G(s)
non-unity feedback.
TF - - - - - - 1 + G(s)H (5)
G(s)
(15.14)
, (15.15)
;--.--
381
} ,D e~' arDple "-viII ill ustrote a proce:'is of thjs cJ~.ss'J the deve",o_ w.en.t Df the
transfer fu ncriqn for the proce,ss1 ~.nd the in~.ersion into the time 'domain .
:',.
as ,f611ows,: .
. "."
'., . "
"
.me
"
The f1rs~ attempt at these three stepswill give an awl;cward transfer functi'ori, ..
.so after seeing tliat result, a revised approach will' be taken. An. energy .
bal~ce pro'vides the differ~ntial equation': .
.
dT
.nzcdt
(Tf - T)hA
.
(;;J
[s1' {T)
..
'
,-
hA)]
1 + T(O)[ (mel
.{ Tj}
TF =.---------------(Jncl hA)s .+ 1
(15.16)
The
Mass.
Fluid
m'
. S~cific hear, c
.Convection coefficient, h
Area, A
T{I)
(b)
(0)
FIGURE 15-5
ResMTlSe of a ~mpcrature-sensing bulb to
func t i on
tf\ is ti me-cons! ant block. ...
(a)
or
382
DESIGN OF THERMALSYSTEMS
eo
me
d(T - To),
'. ,dt.. '
:"~'"
< ....
.. .
-,
'.'
: . . :<~{~.~>~ w1),ic~, after.. tran~fo~atioD ~d, ~y:i~;o~ by'''{ Tf .:{:~;:~ ::'7~f~~t:; ~"',,:T ",. ~,C ," .~ '.~ ~j: To;;,:' i'~,.' 1."
des'ignat-
(T -:- .To)JhA
be
',
. " ' ,.
"
' ;, '
,.
. , .'.-" "', ,.
'h {y'.- ~ T."}~""-,., .'(!Z!f.)'s.'_:+:-~1-'~' :>.:~~,t"."~.~ .:: _:::::.(1,5) 7J.:,~~~-
f,
o
hA.
-.., , '.
.. .
. .Th~ 'definitio~ of th~ tr~sfer ~'cti:o~~ j~ ~ay .be ~~~~(f, 'had fu~stipulati'~~.:'" .
" -
..
.L. .
.~
, that:: all' iJ;lltial conditions were' zero. ,ThiS)5 the frrs~ appearan.ce' of the. ':"
normalizing process which can be accomplisheq.by arbitrarily settlng rcO) ".
to zero in Eq. C15.16) if tbe transfer fun~tion is .never ~o be inverted. 1f the '
,.response in th~ ,ttme dam'ain ~i~l ultim~teiy be deter:mined, the redefin'ition .
.' of variables (T 'to T ~ To, for ex~ple) is necessary ~
,
,'. . The power' of .the transfer ~nction, Eq. (15.17), is th~t the. response
of
to a 'variety
changes in Tf can be' determined. If .Tf experiences.
, a step increase of.!l from To ~. illustrated in Fig. 15-6, the transform of.
'(T - To) is, from Eq. (15.17).
r'
of
{T - To}- -
fi {
Tf - T. }
-1
(~;) s
-.
ml'
,,:s [( M ) S
1]
T - To = !l[ 1-
(15: J 8)
e-.II(mclhA) ]
The group m c/ hA has the units' of time an~ is the- IItim~ constant" T for the
process) from .which th~ name utime-CoDstant block" derives. In response'
to a s'tep change in the inp'ut, 7 lias the geometric .significance shown in .
Fig. 15-6. .
1.
I
I
//
/
-I
/.
Time
FIGURE 15-6
Step increASe in fluid ~mper
sture 1J and response of the
bu! b tempe~ruri!,
-'''"-,_,~ _ _ ....c~__" ,
AlI pressure, P
S
!
Volu. m~
A.rea
,/
LIP}.
1""
. ts+ 1 "
.
'.
.
.I
" , ' "~ '. ,,' . '.
'.
:"':'" .', ~;...;: ..........i:,.: ... ~h; .r. ......
..
'-': "'~ '.. ~.:'.. ' '~"':". ~~ .:" '."
(p).., .. :.". ,:. :;.0 ...
..
"
} . ",
.
.
K ~~--;~'I' L I ~-l
'.
....:
'
. .
, , '
....
".
. ~
'(a)
FIGU".RZ 15-7 ..
Time co~~t block wirh gi~ k.
In
force, N .
pres~~.~
.'
Fa
") =
N/m-
t -
area,-m
15.10
(Tn - Tb)h 1A 1
dTb
dJ me
+ (Tb
)neglect
- T0h2A2
where subscript 1 refers to h and 'A be"tween the air and bulb,' and subscript
2 to h aQd A between the bulb and liquid. Notice that in order for the
be represent~ by the time
heat-tnmsfer process from the air to the bulb
-
-to
.
.. of....'
384 '
OF THERMAL SYSTElvfS
DESIGN
~----t
1-------.,...--- '
Bulb lemperawre.'7:" b
.Air
-l>-
T~
.' 1,'
,
: . : - ',
'-:-iquid .1erhpernture.TL
1,
0, ,. ;::,', '
,;,
. ',-
..... .
,';,~
- .
'; '
.-
'
r--'' ----,
'..1 Th-:--Tul
,J
.. .. : :ITL-Tl)' , .;,
., '
'~uib
Air to bulb
.... .
to l,Iquid '
(h) .',
":<-'. ~
. ',
Response
of
I~quid teJ!iperatu~
TL to a
cbange,'~
'constant, ill~/h'lA :l' 1 the'rate ofh~a(transferred to the liquid from th~ bulb
'must be negligible. When those relative. rates of ,heat transfer do prevail,
the product of the individual transfer functions'js the transfer function of the
cascaded process . .Suppose that. Ta experiences a step increase of magnitude
j, fro~ To- .,Vhat is the response of th~ liqujd temper.arure TL?
(15.19)
The inversion of Eq. (15.19) is
( 15..20)
:::I
"''
g,
:
'~
"
i;
10-
FIGURE 159
Response of single and
Tfi
-- .
Time
'. :
...
., ._...;......-~-_
;", '
"
CBS,
10
1. TL - To
2 . d ( TL . 3,. ,P:1.S one
=:
385
0 at t = O.
:'"'0) /d t = 0
at t . J.
I
'f becomes very short relnt,ive' to the other"
TL -: To
7'2 ~ T J
for exa:tL~.Jle~
'.1.( 1. -. ~ -:-(17"1)
\~{b'~~t !l. . ,T2, Eq. (.~?/ ~ 9) ,. P1!lst ~e,r~il~"e'rte0 '(se~ pr,ob~' J5D'1.3) ~~ ~bi~n ,"' "
.~::
~, 'A'~ Tr; .. ..... ,:.: ["; '.c-.. i~e~I/' ' , . , ' : . , ' ...' ( 15,2 1) ." :
, , , 'I.t
,"...
.,
D~GRArvI
'm the
Laplace' transforms.'~
Frequency response, which -is the idea on which the Bode <Hagiam is ' '
based, is the examination of the output of an element when subjected to a
sinusoidal input, as illustrated in Fig. !~-lO. The output of a time-constant
block when a sinusoidal -input of .1 sin(2 7Tf r) is applied (see Prob. 15.9).
IS
-J 1 + (2nj T) 2
so the amp1,ifieation ratio, output
to'
input, is
1 '
Jd
+(27rjT)2
and the phase lag is tan -1 ( 21Tj T). The amp 1i fi cati on ratio decrea ses and the
, ,phase la.g increases as the frequency of the input sine wave increases.
The principle that Jeads to the Bode criterion for stability is based on
transmission of sine wnves throughout the 1~.9P !,he sum of the phase lags
around the loop and' die 'prochict of the' amplification ratios are computed.
Consi~ .dle eJtampJe of the ..ai r heater in Fjg. 15-1 J in which an electric
386
-,
~ .~j
,.
.-::
,
,.
",
'.'
- .. .
",
':J'.. ~.
_, I
~. '
:.
:
"
.
:. "
;'
"
"~;;":'
":
.. .
~~~~"'~:~
, ,-
. ,,'
, '.
...... ' .
" .
.",
~. :.~~:;
'".
J'-
':"
~
'0
:'
' }
...! '
. :
-"i', _ ..
::I .
.'
"
.l .
.
J,
..
1:
..
"
-,
"
, '
6>"
.. _', , : .
I'
c". ' ..
:',
"
Time
. he~ter is controlled by 'a loop that senses the outlet air ~einperature Ta and'
converts this sensed temperature'Tb to a ' {:ontrol voltage Ve The elec~c
,'power provided. to.the air stream is proportion~ to .the differeDc~ _V set - Ve.
The block diagram 'is shown .in .F~g_ l~-llb, .a nd it i~ assumed that ,both ~
, tempera,ture s~ns~r and 'the heater possess themal capacity that introduce,
phase lags at those t~JO elements.
The visuaJ lzat'ion suggested, i?Y the principle OJ the Bode diagram is,
that for SOD1C reason Ta experien~es a disturbance that .js the top half of
a sine. 'Nav.e , as shown ,in Fig. 15-12. The sensed temperature Tb lags the
variation in Ta by an, 'angle .l and also varies with a smaller ampJitude.
The variation jn Tb translates to a half sine wave of Vset - V CI but reversed
in sign, as shown by the 'd ashed line. This reversal is needeg because as Tb
increases the power input should decrease. This reversal is equivalent to a
phase lag of 18Ct. Because of the thermal capacity in the heater a phase lag
of 4>2 exists, provid.ing a variation of T.a, that is' a continuation of the half
Controller
\ 'SCI
and
healer'
Transducer
(b)
F1GURE J5-11 '
Air'healer (b) control block diaBram.
(0)
-.
~.,,:.
~,
. 5:.
\ ''''''r
:<.
".
337
.~
I'
"J .'.'
{ ' .....
.;1......
.j
&
' ...
.,\.-:.
'
' - - - - - - - - - - - - - - - - - - - . , - - - - - - - - - 0..'-
. F~GUi:E 1.5-12
Perpetuation of-:sinusoidal disturbances throughout the control loop. of :th'e air heater in Fig.~
,IS-Ii.'
.
0
.- "Yo
'
sine wave that started the oscll1ation. From the position marked'x a bottom-
~ half sine w~ve hegi.Ils ano"ther sequerice, and 'the'oscillations ~ohtinue.
.
, The Bode diagram prQposes th~t a ~rucial frequency is that. whi.ch
causes the sum of the phaSe lags. to be 1-80 . as ilh.~stra[ed in Fig.
15-13a. In combinati6n wi th the buil t-1D 180 reyersaI, a 360 0 displacement
i~ .provided which continues the oscillation.. and begins to appear unstable' .
.Another element is invol ved, ho~ever.J "because if the oscillation' continues
but at progressively lower amplitude ratios, the loop would b~ stable. The
amplitude ratios of the elements in the loop which are additive on the'logarithmic scale of Fig. 15-13b. If this product js greater than 1.0. then the
new amplitUde 'is' greater tha~ the 'pa$t one. The above visllaljzation leads
. to the 'following .c.rite~~D for s~abjlity from the Bode diagram:
.
If at the frequency where the sum of {he phase lags in the loop is ] 80 the
product of the ampJirude ratios is greater than 1.0, then the loop is unstable.
388
... .
~.
,.
:~.
',.';'
.. ... :..,:.
o '-'--=--"
O.QI
,.;
_~-,-Lc---~-'----,----...J
0.1
10
.100
,.
(0)
Ratio
~ombined
10.i-=--.,--:"''''''',....,.-''I.J--- - t - - Ratio ,2
---'
10
100
Frequency, lIs
(b )
FIGURE )513
Sum of the phase Jags in [he Bode
diagram (b ) product of the amplifica(0)
tion ralios.
TF
-.
_
loop -
cs 1
as + b
+ ds 2 + es
+f
. ..
:~
F (t )
il
3::9
F (t)
F(E)
F (t) == ~+Ol
r< 0
r>.o
, (a)
(b)
(c)
,\
r). t~.
"
----'-A....,....-- + :. -'B.~
- r
C
+,,,--
S --:- r2
:, S -
T3 .
and
'
t.......----ti20-e-
-.
Roou indicate
instabi Ji ty
FIGURE 1~ .. 15
Location of roots of the loop tranSfer function in di cate stab j1icy or
instability .
390
,C..,
"
. ans
+ an-IS n -1 +
an -2 S
-2
+ ' ... +
..
als
+ aO .= 0 .'
(l5.23)
:-:~~~-::-. :<~~~-~-j}1 .~ ~ c~efficie.~~ ..are -'ammged in the form ~hOWD l.~ Fig. ' is-J6>
.~ '::.~ ;.i'~' :~~, .'_~;,.'ihe :ROU~1-HunYi~ c~qq.J;l._..:state~ tha~. the .nurnber of.~oC?~ .With 'positiv~ - ~'
;'.;:--~? :, :~~re'4~-~~fi '~i eqJ~.tP. :.rp.~D:u~be~- :~f ~ ~P..~g~~~i!~~\.~~~~~ -i.~ft- coh.i.~ o("~ '
.' .,".' ~ :' ':'-'.th,e.,arr~y. .
. .
'
-.
~ ~
...
'
Example 15.8 .. How' many 'roots with positive: real paru ;ue there ' 'of' the .
. .
..- .
= ].
Q3 '
'
.. ' .. ,
=. 7. a~' = -10, a J ==
= -:-80.
-1
bJ
1 - 10
=7
,
'
-1 1 ~ 80
b n - 3 = hi:::::
7 , . 0 = -8l3
'7
:-17
-116
'.
30 8
6.5) 6.57 - 80 -.- .'
c = -----".
3 ..
so [he array is
1
-10
7'
-116
-80
6.57
-30.8
-80
The one sign change down the left column indicates one root with a positive
real part. (The roots are 4; -5, -3 2i).
,--,
1011
J 0,,_1 :
Array
o I~:"~
0
/1 _)
(JII~ .
(J n-~
I'
I h /._ t I h /l _}
r
I
I en.' I
bn _,
C JI-.\
('n .. ,
Where
b 1 1_- 1- -I-
L __
--
- .
-I }"
/0"
.' ,
O"_~I
"lJ-IO,I_1 O".J
.. ' .
'- .~
1.
_
"n
,- .... I
-.
lJ II.,
tJ 11 . 0
all_I
H-41
lJ n-!>
FlGURE 1516
The RO\JLhHur'-"iu array
S j~me
techniaues
are
.,
8_'.'9 i lable
391
for deteIDl.i.ning
the. ..SC"2cific
v2.Iue of ,d"J.e
),
t '
roots sho uld that be required. H ere 'we 'will dilly discuss'second and third
~eg,~ee
. . cl::li:..ser--,"."
:-
'::'_
.'
',~
.. - .~..,,,,,,,,,,,""_~. .
r.JJ-,
~.,.
".
.,
~~
..
."
1. o~e real root and, ~o roots ~ri.a:t .ar~a conjugate 'pair :'.,. ' .
.", 2. .three :re.al root~ ,tWo' of \vhich 'are equ~l'"
. 3~' thre~ ~e~l r~ot~ ~ aIr different
I'
'to
The next several sections address the ch.allenge of trans[a~ing the characteristics .of the physicaJ equipment into the symb~Is of t0e control blqck d.jagram ()JC?ng with the specification of th~ transfer functions: WheIl 'the loop
transfer function must be inverted to determine the response of one or more
x, mm = K(Psct - P, kPa)
The flow rate admined
valve stem:
[0
Win'
kgls
Lx
The block- diagram of the loop with PSl:( as the reference value and the
reservoir pressLlre p as the controt1ed variable is shown in Fig. 15-17b.
If the ~ly analysis planned is that of determining stability based on
tl,le loop transfer function. some short cuts can be taken. If Ws is constant,
thnt summing point can be ignored, and the loop transfer function TF is
written directly as
-.
TF _
"V
K LG{s)
1 + K LG(s)
392
Pressure
~_p_~_r____~~,_.
.;:- ,
]!.
~ass,M kg
.' ~
, p
4, -
, (b) .
0"
"
'
'
' .
" . If, 'eli the other h~d, the respons~ 9f varjables is to be' deterrined
through an inversion, the variables must be normalized. Suppose' -~at the
equatiop of th'e control] ed pressur~ p is sought in response to step change
, in Pset while Ws remains cOI1stant. The n~ed' for the 'n ormalization becomes
. apparent when developing the transfer function of tl?e .process iI1corporatin,g
the reservoir. ,T,h e difference -of flow rates in and o-qt:of the 're~eIVoir) .L\w =
d!vf / dt. Use the ideal gas equation, M = p YIRT, with constant values of
teinperature T, gas constaJ1t R, and vol,1;.lme V.
'V J dp
Llw:= ( RT dt' .
1'1 Awl
=r
p(O)j
To avoid the dangling term of the pressure at time := zero, p(O). or Po, the
variable must be redefmed as was fust, done in Sec. 15.9. In this case when
the pressufe variable is revised to p - Po,
RT
G(s) = CVs)
" .
393
.
..
-=--
~:.
.'.
J .
~:
..... :... , J
(a J~~""
.'
I'
.:
J.."
."
.J.'~
: .
..:
,Psr:I-:-P .,
..
P-Po:
(b)
F1GuRE.15~lB '
(~) .Norrnnlized .v~~bles in' pre:s5~re c~ntrol loop (b) w'ith ~V summipg ,point ()m.it~ed.
~cti<?n,
.
as .in Fig.' .
..
Solution
(tl) Ws.D =
'180 lr...Pa. .
(b) G(s)
win,O
Ws.o
= J.2, Po =
= (O.3)(O.2}(O.287)(300)/(3s) = 1.722Js
p
Po
.-e- 1[
P = 180
25[
1. 722/s l}
s 1 + 1. 722/s .
25( 1 - e -110.3807)
The new steadystate pressure is ~05 kPa. so the same pressure difference,
PSI!t - p, is restored because the same steady-state flow rate of 1.2 kgls once
agaiii prevail~.
.
is
394
, Ws
-r'
P-PCJ
~ Vii.S' O~_'.~------------\---.-.
~.in - Ws
fa' ,:
~ l4r-!I------------------~-
-(Wjn.o-
~s.,t:I
. .' ,I psel . .
,~ .. - .
~)
r:"
-,
'.'
"
- '-t':J, '-"
...
.
\"
.~ >'4
~~.
'
"
;-:: .. ~ . )':'::.
,.
.'
Ps.et, 0
IV +
. ,
. ,.' .
,'--.----:-:-.-.-'-.--:-------:---1
IV.\)\:~~;:;
Pset-P
"'in""" ,Win.o
--
..
~.
. : . :'-.'
. . .:.'
..
t.J'-,.
'.'
. .'
W S,
..
::;'
' . '1
~(po -Psel.O)
. (b) '.
FIGURE 15-19
the reference value rransla.ted to (a) the ,preliminary block
. Pressure controller with w,
dl~g~am '(b) with- sign revisj.ons to provide the stapdar~ fo~. .
.
as
the
abide by
.physical requir~ments, but eliminate the :two above-m,entiqned
problems. The transfer function of this loop .is ~ ..
RT
.
"J,
(Vs)
TF == ----=-----=...~[ RT J
l+KL-.-,
.
(Vs)
_
p
.=
Po
/,-1 [
-O.2[ 28. 7
s
s + 1.722
1]
15.14. RESTRUCTURING
DIAGRAM
THE }3LOCK
In' the attempt to develop a trans~er .f!-!nc.tion of a loop. the task may be
facilitated by converting a complex brock diagram into a unity or nonunity
feedback loop. Some of the elementary restructuring operations that' may be
useful in..sjmuHfying the loop are:
.
:.~.
e"
.'
P-Psel
-'
,"
)
."
. .
' , ' r----"-.....
P.-Po~ "."',
1-:-----------....,...---:--:------:-,------.-, .. :. _
.',f,!Sd -;SCL~ ..
.~,.
"
".
and
- '.
TIlERi~1AL SYS/b'vlS
DYNAMIC BEHA'/lOR OF
3.7 5
FIGiJI~. 1~w20
-" . '.. Combining. two tfa.l1Sfer; fuOCtlDDSin ~e:ries; -
;. -
. . ." .
4
.,
;..".....
~ C(s)
'.1
_ ..
. ....... .~ .
A(s)
.~'f Bt~).; :
. I
FIGURE 15-21 .
E~cruinglng two adja.Cent si.uriming points.,: .
. '
In
feedback loop.
So,lution. First move the summing' point and combine it with the surnming
point for the referen~e variable, and move the r.a.k:eoff .of the lower reverse
path, as in Fig. 15-25a. Finally, combine the upper and lower reverse paths
. to obtain the nonunity feedback loop shown in Fig. -15-25b.
B (s)
A (s) +
FlGURE~
".
C(J)
,,'
396
B(s)
: .;.. '
R(s)
C(.r)
FIG1JRE 15-24
. COl!ITol ~lock d~agnUTl in Example 15.10.
R(s) +
~
'-------------11-
H, / GJ
(0)
C{s)
~
GI G1 G .1,
. H2-.."
.!:!J. .+
GI
r
..
.-
Gl i
(b)
FlCURE 15-25
Modifications of Joop in Example JS.l0.
. '.,
-.
...'
. W.(~"
'.
~ Ti)
F9f convenience, let H'e = W, and the effectiveness of the heat exchanger is
rep.re~ented by "E. The initial block d.iagram of the control sys~em is sho\vn
in Fig. 15-27 where the two dynamic el,~merits .are. those associated wirh
the thermal capacity of t~e, heater M M.d the 'time' constant of the seQsor
. 'Ts. The structure chooses T set as the reference vaiiable and anticlpates ,an
analysis in whic~ the entering' air te.m.ee.rature. remains constant. Table 15.2
sho\vs variables corresponding to the numbered positions in F~g. 15-27. Also
shown in Table 15.2 is a column of variabl.es non:ruilized by subtracting
steady-state values from each. A next, minor revision of a small se9tion
is shown in Fig. 15-28 in which, to avoid two positive values entering the.
~umming point, the input (variable 10) is changed to !ita - Tj.
.
Heater
Air
Ti
we::;
~mc;;:::M
-=!---hA
W
~Th
Tt.et
F1GURE 15-26
Sensor
Te
398
~
" "
.,'
-' ,
..-
. .
.'
'
",
,3-
'
..
.:
, J:,'
,.,.'
, -, '
'.
. Ms .' .
.+
,".
:.
..
.
.',
.1. '"
.
.~
I
, 1: s S+
.'~
-. '::
',_.
_W.'
;.
~,
J -."
.'
1
:.
'"
.".
..,.~.
i ...' .
:.
TABLE l S A l .
D~igi:lations
.
of variables in .
'block'.
diagram of ,Fig.; 15-27.
N6nn orm ali zed
Position
NonuaJized
Ts,d
1
....
T!.d -:-
t}h .
q,h - qa
Th
5
6
7
8
9
10
1J
Ti
Th - T;
ql
T~
- TI
(Tc -
T,
Td -
(Tc 0
0)
7i. 0)
Ti - Ti O
Te - Te.o
.,T, - T"o
Tc
T,
]2
Tsl!'I... 0
T1.e,- T s,
....
_+7}o-Tr, '.
( Tc - T, )
L . . . . . - _ - - I - ...:.. (
FlGURE 15-28
i!.ineu.!..,to summing point.
Ch8n~e
-.
' 1
Tt.. 0- TI. oJ
1c. - Tc: 0
399
.1
Tr:-Tc.n
KE/UvIs)
t
I + ~VE/(A'/5r
. 1.
:rs5 +
FI G URE 15-30
value and T h' - Th,o' as the output_ When that loop transfer function. -:is
. substituted, the final diagram in the form of a nonunity feedback Ioop:-is
that spown, in Fig. 15-30. The expression for Tc - Tc,o in the time domain
can be obtained by inverting the product of the loop transfer function and'
the transform of the Tset - Tse"Q disturbance.
is
be a function
400
Psct
Pset"
---------------------
~----------------~---
; ~ '.
:/'-/
Controlled F
'.'~
-,., . .
,"
,-
. ..:.
.!;.'..
: 1"
..
.. ~ .... ~~ .. ';." . :
~------------~----~--~~
.. Time
. -,.'. ,
....
~,
',' TI~~'~
'.--
'(~,)
""
..... '
:.
..
(0) : : ,
F1GURE
'
. ,.
~J"~,
.".
"."
"
'~'
.'
.'1:":~'. ~r
._.
II
15~31
Pressure controller (a) with low gain (b) Ylith -high, gain.. .
15.17
PROPORTIONAL~INTEGRAL
(PI)
CONTROL
The purpose of the iptegral mode is to eliminate 't11e offset associated with
the proportional mode. The contribution to the control signal is ,
KJ
J (error)dr
(15.24)
1F . KI(j,)/s2
=="
jjs
K 1-
=-s-,
- (15.25)
In the control block diagram t.he combination of the" P- and I-modes are as
'shown in Fig. 1.?-33.' Each combination of system characteristics, K P. and K I exhibits a unique response, but to show the behavior of a PI control,
consider the example of the air heater shown in' Fig. 15-26. The block
diagram of this control loop. sho\vn in Fig. 15 ..30. must, be revised by
..
~.
",.
......
"
.. .
401
A) .
J"
~:.
' . ..
.---~
,-'.~ ~~:'-":
..
"" . "
_~"-
.. !
I -
--L-i_____~
. '," .. '"
__
D"
0.
Time
.
t,-" ...
'"
-, ' , :
'
- ,
..
....:
-.
'
.- . . -.
..
Transformed
~omain
I ,
"
..
flGURE 15-32
Transfer ~ric~ton of.tpe)-m. od~. :
cl1angi~g K ,in the forwprd' path to (K p ' + K I Is). Intrqduce :the following ,
'numerical values:, E == 0.7, '/1,11 , 50 kJ/K, W '=, 0.6 kWjK, -7 == 4 s, and ,
,..th~ entering temperatur~ .of the air,. Ti == 22,C. The loop tran~fer function ' '
then becomes'
TF ' '
-=-
~ooP , -
'
53
1) .
,.
(0.0021+ .Q.0035Kp)s + O.0035KI
O.0035(K p s + 'KI)(4s
O.258s 2
(15.2~)
The response of the controlled temperature to a step change in Tset ' from 42
to 47C ,will be examined for four different combinations of K p andKI:::' ' ~
Case 1.
Kp == 2.4,
Case ll.
K"p == 2.4, K I
Kp=2.4, KJ==O.l
Case N.
'KI ' ~
= 0.02
The transfonn of the input, ..{ Tset - Tset .o } = SIs, so the transform of the
output, L{Te - Tc o } is the product of Eq. (15.26) and SIs. This transform
Erro~
Error
(0)
FIGURE 1533
Block dia~ esYtirbols of the PI conir&'
K,,_
Kp+T , ,------
(b)
Time ". ~ .
OW
~ ',
~.
402
is the one to' invert for all four cases: " '
.
's[s3
.'
O.258s 2. .+ (0.0021
. (15.27} ,: -:,.'
+ O.0035Kp)s + 0.0035[(1]'
' :
"
"
.-: ..
.:~ :::.
~~
'.: .,..
..... .'
'
'
:, ~'".7:c;.!-:-:-;~rc,p.
-, '
, ', . :, '
'-'
.'
.-
.:-
S,: ',
t .-
:.
"
,
: ... ',
+,..o.258s 2:. j-
..'OrQ-.10~s y..Jl '.. '. ..
;
',
.~
, "
. . ....:
~"
,-
~~.I';
... ,.
. . . . ... t
-~':.
.....
.' . :. .--',.
I.,~. " ~s
"~
" . from' the 'steady-state .calcuhlt10n. Tc.o. . .: ' ~8~C;,-'~d lrorli'.theinverSiolf' of~ ' =-':, "" ,:.' ':~
"
"
' : . ",'.
,.'-
'
Kp == 2.4, KI
= 0.02.
48
,-----------------------
u -:46
I
I
r T~,
44
:J
g.E 4"').~ 40
38~,- - - - '
36
L -_ _ _ _~______~~_ _ _ _~~----~------~~
Time,
',S
FIGURE 15-34
Response of the air heating system wirh the proponional-<>nJy contro.t. K JI Ii:a: 204
(0 a slep chnnge in setpoi,nt.
. ,
-.
~nd
XJ ~ 0
40'3
'1
,FIGURE 15-3$
J:<~spons~ of the air hearing sysrem ,wh~n ~sing PI modes with various values of K / .
Caselli:
, With the increased value of KI the correction of the offset't*es: plaee
rapidly' andTc experiences a slight oscillation around the final'steady state
of 47C with the excursions 'q uickly "dying out.
CaseN:
](p
= 2.4, KJ = 1.0
This case shows that when Kr is set -too high the response is,,,unstable.
The illustrations in Fig. 15-35 apply to only one value of K p, ?TId
it is clear that the two constants must be selected in conjunction with one
another (tuning the controller) to give the" desired control characteristics for
the particular process being regulated. An active field of 'd evelopment is [he
application of an on-llne computer program to self-tune the control.
the actuator position more if the deviation of the controlled variable from
the setpoint is increasing rapidly. In a similar manner, jf the controlled
variable is currently deviating from the setpoint but approaching the setpoint
404
rapidly, the operator will back off on the co~ection in an&effort to home the
,controlled variable in on the setpoIDL In the above situations the operator
)s ~aking an adjustment baseq.
the rate of change of the CO~,tr~l1ed
. v~able, or .more precisely on the' derivatiy~ of the .error "with respect to
: ; :.' '.'.~. ~time. The differentiation 'process , in the time .doma,m and, jn the'.s . domain '
': , ': ,' . . ::'>:;:are 'shown,in Fig. 15~36a .and 15-3.6b., respecqv~.ly. Dividing the . ollq)~t-6f . . . . ,',
on
....":. : .:~:',. : .,::;:~:~,~:~t4.e{~bldckjn.~Elg~., j~:~.3.pp.;.by_.ih~..:iiJp.~;,. spows .t1;lat '.tb.~ trails(er function of ':. ; .:',
. ':".;' ~. ~: : :,: tfie~"diff~rentiationj)JC)cess,:: .i~>s~>f(.di( ~1.'6c~-:'~rept~~:~P:!:inR)~~;J~I. ~o~.tro~le~r. , '.--:.:'"
.. .. : .)n 'Fig~ t5-~3 ' is extended. to incorporate .deijyative cOP"tror\iili~~:'~c6nsbuitr..,~;,;~~::,;.
' . " ; .. r K D "': the ' transfer.function of the ]~:>.Ib controller 'b~cor.nes- .. "
. ,., ".',. ,. :..t :..:: .
- . ... .
. .. .
---:
' ,'
..
,K p +'.+ Kn s
" S
-
..
"
(1.5 .29).
'.
"
"
. .
.
. ,'. .' To illustrate the i~uenc~ . of the D-mode of cODtrQl, apply PID control' .
. ' to the pressure regulator of Fig. 15-17. Examine the case where p ~- p.o'
is to be determined in respons'e to a ,change in th~ outlet airflow rate Ws ",:-ws,o
, as represented by the block 'diagnim in Fig. 15-19. The same parameters as . _. '.
in .Example 15.. 9.will be used, namely, V = 3 m 3 , T == 300 K, R ~ 0.287 ,
kl/(kg ". K), and L ' = 0.3 (kg/s)/rnm. The pressure setting Ps~t is 200 kPa'
\vhich remains unchanged. Replacing the proport'i onal constant K~ by :Eq.
(15.29) yields the 'loop transfer fun'c tion .'
"
.
"TFloo~ =
86.1s
(3
25.83K n )s2
.(15.30)
+ 25 .83K p s + 25.83K J
If steady state has be.en pennitted to develop~ the I-mode \vill be assumed to
drive the controller 'pressure to the set ,value of 200 kPa. For a step increase
, of l~'s from 1.2 to 1.4 kg/s the transform to. invert 'is
p
~ 200 =
("-l{ '
(3
.' -17.22
+ 2~.83KD)s2 + 2S.83Kps +
]
25.83K J
,(15'.31)
Figure 15-37 shows the response of the pressure with and without the
D-mode for values of K p = 0.2 and KI = 0.05. Following the step increase in
'1'5- the pressure drops rapidly and sinks to 2.7 kPa below the set value when
Fen
,
dF(I)
F'( I)
J(S). [
TF .'" f
(1/
.....-=0
sj( $) + F(
~)
, diffdu:ntialion
differenlialion
(b)
(0 )
F1GURE J536
(0)
:: ..
~
, . ~ ,: J99 ~
0... ,
.!<:~
.. .!
<05
",
'
' . ',' .
- 0
" 'Kp=O.2
L-.
' ;J
~
:,I]
a..""',
198
.; 197
, ..! \
'-______l'-___'__---L..._---L-_--I----!....--I-_~_....l__.l......_______l'_____'__
Q'
10
__L....i>_
'
12
, Time. s
FIGURE J!5-37
Influence b'r the D-m,ode on the response 'of pressure controller of Fig. 15-17 to a step ~Crease
In the outlet flow rate,
"
, '-no, D-mode is appEed~ Using PID control with KD == 0.08 t~e maximum
deviation is , 2~46 kPa. In, this case the 'PID control experiences a short
interval wh~re the deviation is greater than for the PI control. This difference'
is attributable to the,I-mode, which was accumulating a greater corree'tion'
during 'the 'penod of high deviat'ion occuning \vith the PI control. '
15~.19
FEEDFORWARD CONTR:OL
the
.... . \".
"
406
stack e.as
. .02
'J
. .
. . sel15or '.
-
y! - _.
J:J
.. "':' . ~ ...
- .
. .
-.
conrroJier
._'
' .' ,
:~ ~.~ ,
. Feed water
~:_:. ',
~urne~
Combustion. air
Fuel
FIGURE -15-38
Controller. of fuel ~nd air Dow rate to a furnace using a combination of feedforward and PI
modes.
"of
combination
feedfor:ward and PI control pennits a rapid response of the
w rate of combustLon air in the proper range,
air coritroller to keep the .flo_
and still pennits the PI controller to constantly refine th~ .setting.
.
Example 15.11. An electric hearer. shown in Fjg. 15-39. raJses the lemper~
ature of a stream of water having a flow rate of 1.2 kgls from T j to TJet which
is 6SoC. The temperoture of water in the tank. which js the some as the outlet
. temperature Too has reached a steady value of 65C with the in]et .temperature
Ti of ~OC when at I = 0 Tj changes to J5C. Determine responses' of Ta as
-.
.'
. .... .
Air flow
... . .,. ..
,-
. :.> ... . .
- -PI
comroller
regu~a.tor .
,"": '
\'
407
r-
>t-==~~
FIGURE, ~5~39
_'~lectric water heater an~ storage '.tank
"
in Example',15 ~ 1L
funct;ions of time if the modes 'of control are, -(a) PI control 'aion~ ';'i'th K p ~ i5'
" 'kWtC an:d Kr = -O~02 kW/(oC . s), and '{b) if the"'PI,controller of part (a) is '
combined with a feedforWard control keyed to Ii such that its -c ontribution is
q ff ,= .{ .1.0) ( Tset _-, Tj) .
,
'$olution. (a) The block di,agram incorporatlng both the, PI and feedfonvard
control modes is shown 'in 'Fig . .15-40. For PI control ~lone the ' loop transfer
function is
,: .. (1:2)(4.19)s
:. {To -:- 65}
(15.32)
..L'{Ti - 6S}, - (750)(4.19)S2 + [K p + (1.2)(4~19)]s + Kr
which when multiplied by - 51 s and inverted yields the results labeled PI in
Fig. 15-41.
'
(b) If rhe feedforward control had been set for 1.2 kg/s, its contri,bution would
have be,e n
'
qff
Ti)
and this open-loop control would keep the ou~et temperature at precise'l y 65C
I T!.et =65
------------------------------------,
I
Fecdforward section
,
, +
/ " ...., . ,
, - - - - - , qrr
+
1.0(4.19) 1-----1>
I
J
r----~
+-
------
TI
FlGURE 15-40
Block diagram of outiet water temperature in Example 15, II .
."..
408
~ r---~~----~----~~----~------~-----~----~r---~
,"
""
'i'
- - I
:':::~-: J;~. ;~=2~,::',:' '~/~f/:"~: ~:~);,; ~.:<t ~:"::F>":.i.:' ;', ~::.:~;f,:/:~: :-;: - ._:.,: " <:i~" .>~
. .. . . ..
400
,800
600
1000
1200
1400
.. _.
]600
. Time~s
, FIGURE 15-41
R:espon,s e. of the outlet 'te~perature of the water heat~r in Ex~~l~ 15. j 1 to PI and PI-plus-'
, f~forward
con~L ,
'
' "
..
"
is "
without' the 'need of the PI modes" The flow ' rate for this particular peater
, ~ormally 1.0 kg/s whlch 'explains the setting', and at this moment the flow , '
rate is different than expected. The loop transfer function of the complete "
'loop shown in Fig. 15-40 that includes th.e feedforward control is precisdy :
, 1./6 , of that express~ in Eq.' (15.32). Proble"m 15:23 asks for the execution ,
of this 59] ution .
15.20 NbNL~ARI~IES
'The analyses presented so far in this chapter have "been based bn ideal
-- performance of components and systems. Actual equipment often functions
with losses, friction, and delays. Most valves and othe:r"mechanicaI actuators
suffer from hysteresis so that a rev~rsal in the direction that . the control
signal is changing does not immediately reverse the direction, of motion of
the actua.t()r. In thermal processes there may be some heat transfer to from
unaccounted, 'extraneous sources. When fluid flows through pipes there is a
finite time required for a gjven mass of fluid to move from one location to
another. Th.~ existence of noniinearities does not repudiate the linear control
analysis, becal.lse the solutions for the linear cases indicate the dire~tions
or
erarure is located some distance downstream from the coil. If the, temperature at the coil is a function of time X (I), the sensor receives that function
-.
......
,~;
..
409
.-:---------'r::";=~l7l'
.
C~-fi
,
,~ I
. ',--___
-~=~o-----'-----
.. -
I . ) _. , . : .-
- .~
..
'
<, :<._,;:::' ':. '._.:'~: _'.: - -. ~ .' ~ .:__ ::~ . . ,.....,..:. ::; ~. :~;-..,;~.: i.:\.J ;_-.: - ,'~ / ;:... .': - Vel6~i ~)f-t4'l';;\:':~':~"':~s~:~ .--::', ~~""" .>_~ :':: l::: .r-!,>~-.._ ..~", ~<.'.~':~;1'
- _Ai!'JJo\}~>.-,{
'.'." Coil
,; .." -XC)'
'.
__::-_
. f '.- '.' ..--.- ,:;.--;.;,.'_:u':\~ ".
-.-~ .. '....
-- . ' ,,:.!y.(r)7' ".' ---': S~n"..~cir-. '. ....
..
.- _ ',.-.
-TrJ1l.."porru[ion ;ag~ T. s
..
.
J.
}
FIGURE 15-42
'
'Transportation lag' due to the distance 'b~tween the coil outl~t a~4 .the tempei-atur.:e - ~ensor in
- a~ air-tempe'rature coo,trOller. . ,_
.
.
-
. . - ,
Jo
The -integrand is
ze~o
for
.a < t <
. 'y{s)
--'
~T)e
-sf
, .. '
dr
T, so
J'" X (t T
T)e~SI dt '
o.
(15.33)
Multipfication of the transfonn of a function by e- sT is equivalent- to
imposing a delay of T seconds on the original function.
Some physical ~.oIPponents can be modeled, at least roughly, by
combining .a time delay with a time ,constant. -In a heat exchanger ~here
air is' cooled or heated by water flowing wough the tubes t there will
be a transportation lag attributableto -the- time required for' the water to
pass thr9ugh the water circuit. ~~.lThus, the aGtual response of the outlet air
temperature to a step change in water flow rate or water temperature can be
approximated by [he combination of a de1ay and a time constant, as shown
-'in Fig. 15-43.
The transfer function of this coil is
-----.
ke- T1
:'.-:
(15.34)
410
')
---------------~~------~-
Il.)
l-.
-~
.: -.
"... , ' -.
,I
Time.con-stant,
'. .. .
.'
-,
<,
J-----.:~___,_.J_-----!--'--_ _-
_ _-----:-___:__~......
- .....
~ -,
0,
.~
il '
Ie e~TS
Time ,.
.'
1,
~I
~~
TF]oop
==
1)
1) (TsS
k(TSS
Ts
,e ('res
1)
k .
(15.35)
I'
\
j
Ts
'
Ts
as a series. "
(TS)2
+ ...
nclusion of the frrst two or even the first three tenus of the series gives
1sfer function that can 'still"be inverted conveniently. Also, if the value
is small, the resulting inverse is reasonably accurate.
'm now from somewhat mathematical considerations to issues of pracardw~e. although 'a point that will be made in this section flows naturom analytical insight. Suppose that a control valve is to be selected to
pipe 'size is often specified 'to match that of the pipe to and from the
~. aJ though sometimes the pipe size of the valve is smaller in order '
d uce the cost of the va] ve.
' --
t~11
~~~~ 'Ii i
~"__
_ _"
..
! .
Valve
_.~;. -,-",
.
"
. Coil
",
.
') ~
. (
---
:,t.,.
j', '
. T~~
. ., ,
. ,' .
.>t
,"
~r-'- - - - : - - - - ' - - -
fj,p:::;
80 ~cPa
.~.- .. ------l~~
.
'.
..
'.
.-
, ~' , "
_. :_~
. ' : "
"
:~:~.l~~
I .
-.. '
.' .
. ... -.
"
FIGURE '15-4-1
Valve and coil combination.'
. '''.. : (15.36)'
where' !1p IS the pressure drop in kilopasGals across the .v.a.rve ~hen th~
valye is 'in its wide open posi tio~.
' .
3 .. The three different valve characteristics c4?~QJ11y availabl~ are -shown
, .in Fig. ~5-45.,
. The valve manufacturer provides a certain characteri.stlc by means of
the design.cbQsen for the seat and the plug. The influences of the' choice of
valve characteristic and C..., value are demonstrat~d by two ,9ifferent choic:es
of C v ~ designated case I and case n. Suppose that the coil has a pressure drop
LlPcoil'
where Q =' flow rate in LIs' and the available 'pressure difference across
both the coil and valve is constant at 80 kPa, as shown in Fig. 15-44. A
valve with linear characteristics is used in both cases, but the ell in case I
is 0.6 and in case.11 is 1.2 .
. For the valve with linear characteristics,
Q=
or
100 Q
,
Cv -Jflp
(15.371
For a given flow rate say. 2 Us, the percent stem stroke can be computed
for the valve. The pressure drop through the coil would' be 2.5(2.0 2) =
10 kPd, requiring 80 - 10 = 70 kPa to be dissipated in the valve. In case
I, with C." = 0.6, Eg. (15.37) indicates the percent stem stroke to be
I
.
---
-.
"412
lOol
.
o j
,': :.', .
I
. r::: .
;,.-{:;:: , "
.. . . .:'
t', ,-':
,"
" .. .
100
;,:'.~
'~.::1 '
: :..:-.:
t..-.
'
~.
c ::"
",
.,,'....
, ' l ',, ;
"
/:,:~' : ::>'::]-X:L
."
... .
~:
, -:
.'
"
....
:-.
.- .: 0,
- " _ . -,
. . -."
.0.
" .0
' ioa
, COpen)
, I
O.~J76
.The" relationshIp of the percent stem stroke to the flow :rate through
the coil-valve combinati9n for the nvo cases is shown in Fig. 15-46. from
which .two '.obse.r vations can be made: (l) even though the flow-stem stroke
ffi21---f--k---+---7"---t--t------1I---+--t-----I
20
40
60
80
100
(Open)
FIGURE 15-46
Flow-sl~-stTo~e
~
:~
L}13
relationships of the valves are Ijnea[~ the flo-w-stem, stroke relation of the
cornbination is not Iinear~ (2) the cOlnbination 'If/ith the valve of the high C'v
yields the. characteristic 'with less linea~ity. I.
. 'i te c urves D.~ Fig. 15-46 .are significant, because the' slopes of the
.,
curves .rep.!,"esent gt p.ortiol1 of the gain of the control loop., The curvatu~e .9f
, , ' ,the 'C v . 1.2 cHrve.-in Fi-g':: ~5-4~ '~s ~e~s_~esir3.t'lf: th~,n that of the valve \vhose .',: ',:, .'
.. :~ ..,;," :~C~., == o'.~,6~ Wirli:.qle':(~,:_y,aVl.e;".9(,{~2.-..the g~.ip-j$JQ;o/>~~,:J;le.n.thfkYaIy.e)~:near~~~L",~::.
~lly~ .opecied~ v!h.i~11 w'ou-ld' c-ause: high~;-throttlin-g~.' ~ange; .if:-.th:e:.Goritr{;ner:;.is ,:::,:;>::~'
. onlY ' pr~poriionaL Wheh the ,valve is iiearIy closed the .gaiI{is hign:. and,:the:,:::':'\<,
loop !pay b.~ yn$.~a.ble. This behavior may explain $orn~ syst~ms being-stable '
ar moderate land' heavy loads and un'stable':~t Iovj' loads. Another mean's of
approaching.. a .linear flo\v-stem stroke relation .''is. 20 choose a valve WiLh
~qual-percentage c~aracteristics' as. -is don.e in .Prah.',J ? .~5.
!'.
.or
is
k
at
aT
at
=--
and
Originally To then
Constant
at
70
Wall
.. ;.. :.--- ~.
T(b, t)
= Ts
. .
FI G URE 15-47
, Transient temperature distribution in a
waH, '
414
To~ so~at :
--.- .~.
---,-
,a
:-.' ~ :
,at
'.'
.'.
-'-'
.,;
- '
- ,-
. X .
.-
-.,
. T- To = x + :2
(_l)n e-Cl:I,2r,1,tib'sin(n?l.,) . .... (i5~40r
, Ts - ! 0 ',b ' 7f n =:= 1 n
b
I
,Th~' in~ersion -techniqu'~ is', a general' state~en( of 'one of th~ IP~thods :cited '
In 'Se'.,
15. S:
- I[
s2 + 2s
l'=
0 + 1 01
e
2(0) + 2
2 + 1 _., ,-1
' - 21
+ 2(
' --2)
e - = - 1 +e
+ 2
2(
)
I
-.
. Step
~.
Transforrn
to.S:
,l ' .
.
'.
'Ino(.l:, s)= ,( ![s 'a(x, s) ~ U(x, 0) ]
. One of
...'; . ::;'-:'.ISO"" . ...~.. ,~ '~ ... :.:.:.~~."I_ :~, :":'...:. :::'/:'>::;;"l. l:.~f,
:::!..
... '.
'
;'
"
~-
. . .. ~ .
.... "
...
.
','
.'
"
'.
. (1~.4~) ",
Step 2. ~ .
. The ordinary differential. equa.tion, Eq.: (15.42),. is . a .familiar. one ~vhose '
solution 'is'
' .
0 and u(b~.s) =
(Ts - .To)/ s. Application of. the fIrst of these two boundary conditiC?DS yields
..
sU.bject
".
"
Ts - To
-.
(15.44)
s(sinhj ;b)
\vhich is the function that will be inverted using the form ofEq. (15.41).
Step 3
slnh y
= y + 3! Y
cosh Y
and
+...
', .
If s
= 0 is
D'(s)
sinh.jfJC
.~-
Ne s) I
.-
.',
= I + ,),2
+
2.
..a
2;,fU:
/"
hJfh- s~o
a
... (15.45)
,416
If the SiWl and ,cosh functions are 'e xpressed in the seri-t;s of Eqs. (15.45)
and ' .JsJ a canceled, the result is ".'
I
'.
. .' ' .--,' .'
'
.',
..
'
p O.
.....
":'.' .
'.
.- ) ,S
3.
, -' ."
Now
N (s) 0/
'e
DI(s) .
- .
=,-
0'
n 21T2 Ct
b2
for n == 0, 1, 2, ...
but the 11 = 0 poTe has already been accqunted for, so the n values of .
interest are 1, 2, 3, etc. Applying Eq. (15.41) to perfornl' the inversion,
Substituting sla
r- 1f }
l
In '!fIb
_ .~
lranSlent -
'.,
11=)
'
sinh( in7T t)
s~nh(in7f)
(~)cosh(iJ21T)
-Jl
cc
p_ J{
-
- .
Iranslent
=~
i s j n(12 1T X I b)
+'J
(. n 1T12) cos (n 'l1' ) e
liD }
L
-/1
217 1at / bl
2 7T\XJlb'1"
,.
l...
1 -
l'
."
.,..--
/::"(J1..' _
f ~ ~
Q i..J
-1 C\
':-1"0].
I'
.417
21ves
[nc
7
""-
"\"qlr,ectIy. from'Jhe
'z~r6s' .g~'teiniine'CfihJ-rn ttlgnornetric fUEc,tiOriS~' - "-.. ,";' ",": ",:
.
..
,
'.
.
.
.
-
...
~.
' .
.'
'..
'.
;'"
"
15~24
.~
.:' .
- SUIVIIVIAR.Y
to,
to
s'ysren1s.
PROBLEIVlS
lS.L Compute the time necessary to raise the pressure of air in the storage vessel
,
from 200 kPa to'900 kPa 'with the two-stage compre~siori system sho\vn in
Fig. 15-48. Data and conditions in addition to those shown in Fig. 15--1-8
are as follows:
Adiabatic compres.sion efficiency of both compressors
7]c
isentropic work
,
(100) = 75%
actual work
- ..
cp
= 1.00 kl/(kg
CV
= 0.7J2 kJ/(kg . k)
. K)
418
VA =052kW/K.
0.15 kgJ$
Water
2 .
3 .
" InterCooler. ' ,
:. / "
. 5
-
HIgh stage
. .. .
'
, ~- Storage
' . .' ,
FIGURE 15-4$ .
=900 kPa
..
."
AssmD.'e no heat transfer between the environrrlertt and the compressor, ' '
, intercooler and storage vesseL
,
The principles of fillmg processes applY "to air entering the, tank~
namely, the temperature of air after entering is 'greater than before entering,
',the 'tank. '
The air at point 1 is drj enough' that no moisture condense's at either
heat exchanger.
' Use a time ' st~p of 4 s.
A.ns.: Some values whe.n the tank pressure 'has reached 900 kPa:
T~ == 130.90'C, 13 ~ 27.4C, T t.a.nX = ] 44.,4C, P2 = 21& kPa.
15.2. A recompr~ssion unit servjcing a liquid amnlonia stoql,ge vessel, Fig.
15-49 consists of a compressor, condenser, and expan~ion valve. The
purpose of the recqrnpressiop unit is to draw off vapor and thereby cool ' ,
the stored liquid. The vapor is condensed and passed through a thr.o'ttling
val ve back to the tank.
1
UA=12kW/K
Water.30 D e
Flow ratc:
AmmoniJ Liquid
15.150 kg
T rrn&, = 35C
T (in;IJ = 10C
=5.6 kgls
Condenser
Power
Compressor ~ ,-.
Throttling
Saturated 'liquid
valve
FIGURE 15-49
unit for reducing the temperature of Jiquid ammonia in a storage vesser. '
Re,Cl)mpres~jon
- .
.::i';.9
,'",;' :; " .!
. './", ,.- . Co m pres.()r,,~cte~~~';;' ":'''.''_ ".' , .. ,..~;" ,~~,~,,~' ';,.',: ~~,':',:;~,;,~:,' ....~... .; ".''-
',"
0';"
';":.".'
.' . , "
:",
,
' [('
) 1.2
O_OI8':"O_003;~
. - I]
V/ork required
compressIon:
'
by
'
"
h of saturated
liquid, kl/kg
In
= 6 1_
pl.
+ O.0000776t~
p is In kJ!l:
2740
(t
+ 273.15)
= 200 s .
.,' Ans.: Two variables for checking at final state: TJ = 37. 7C. mass
flow rate through the compressor, 0.0596 kg/so
.
t'S.3. Substitute the following functions of time into the definition of the Laplace
transfonn, Eq. (15.8), and in\egrate to verify the transforms shown for these
functions on Table 15.1: (a) ~/, (b) cosh(at), and (c) cos(at), making ~se
of coshUat).
15.4. Use trigonometric identities and transforms from Table 15.1 where possible
(4 . C~sin I + 2 cos I}
1 + 2.r
+ J
- ~2
420
"
1
(b)- ...c{sin(t) COS(t)} -="
4
' s- +
s2 +,~2
J: {co,s '\at)} ~ s~
(c),
+.4sa 1 '
; '::: ."F.', 1~ ...5~ U.se p~rtia1 fractions rujd Table i5.~'llwhere possible' to sQow 'th~t:~.:':- ':',
~;; ~ '
'p~i.[ js~ ~ 4;;t~~~::;.;~~J: : .,~:t;.:t;:;;e~:' ::f~:~~;~:~',]. ~':-~; ' " ':" <~ .
.
,.-
. s3
2s-
5s
' . '-~-
" ,
'
15.6. S~lve the following diff~rential ' equations using Laplace tr~siormations:. ' .
(a) Y'\t)
2kY~(t)
: (l?)
+ C3 t )
= sint with
Ans.:
I '
"
(1l6)sin(2t)
Y( 1) =2 '
'.
Ans.: Y(r)
(b) Y"(X)
sinh
Ans.: Y(x)
(c) fll(r)
= 2t! +
= 21' +
+,Y(t) =
Ans.: Y (I) = I
2 - 2e- x
=2
(2 - rr/2) sin I
. '
t
----.
C7'"'
K = 1.5 W1m K
. p = lO-'snm,
11 = 12 Wjm2K
Ambient temperature = ;Wo C
T= 20C
FIGURE 1550
Semiconductor element in Prob.
15.8.
421
111m
current, J =:: 12 A
, eleci!ical fe~,i_s~yi.o/.' .p.
':>-::.-.\/ ./":':,:,. :""\
I,
-. '
= }lQ-s ,Q-I!l .
conve~.iiQZl
-'cyllndel<to
"
2.mbi~nt
.:
....
.ofthe
'
The electrical Tesistance 'of a ,length
d-irection of flow)/( c~oss..:.s~ctional area).
,
'
(0) What is the' differential' equation. (including numeri<:-al coeffiienrS) and ' .
boundary conditions relating the teJl1pera~ure
to the distance x .along .
the element?: ,'
",
"
.
(b)
Laplace tran'sfor~s, solve th'e differe~tiai e.qllati~n to develop the
expression for T as a function of x., .
.
Ans.: At the ffiidlength, T = 40.2C .
. '15g9. The temper~ture-sensing bulb i~: Fig. IS-Sa is s~.bjected to ~ fluid tempe~
ature: Tf that varies sinusoidally according tq the equation
Using
Tf - Tm = !1 sin(21Tft) ,
where Tm is constant.
11 .. = amplitude'
frequency
'.,
T - Tm
.!l
)1 +
sin[27rft -
tan-l(21Tf~)J
(27Tfr)2
Ans.: T - T. =
8[
-'(~)f1 - e-'/CmclMlJ}
15.11. A room heated by warm air as shown in Fig. 15~51 has a volume of
..:n:s
ttrl and is supplied wjth 0.36 kgls of air. The air in the system is at
,"
,:. " . ,: . . :
-422
Fan
.
3.8~W -
"
O,r.
Ii.
,~,~? _~~in~~~a!r~' r
.--.. ....
--
'
, ' -/- -
. '
.'
"
'-'
. '. a pre~sure of 101 kPa its cp = 1.0 kll(kg . K), ,~d R, -:- 0.287 kJJ(kg K). " The heat is supplied in an on/off maimer in that'a thermostat switches OD. an ' .
electrlc h~8:ter w~eri the _room temp'e rature "drbps to '24C wher~upon 3SoC'
. '. air immediately b~gins entering the room .. When ,the room temp'eratun! rises "
, to 26C tpe thennostat turns. off the heater and the temperature of the supply
. 'air drops immediately 'to .th~t of the re~rn air~' ,1qe ~eat loss from the room
is constant at 3:8 k\V. '
(a) How long 'a period the 'heater on?
(b) How long a period is the h~ater off?
15.12. For purposesof dynamic analysls, a steam coil that heat~ air is considered to
be a mass of metal that is at a uniforID temperature throughout at any given
time, as shown in Fig. 15-52. The magnitudes of some of the parameters
are as follows:
-
is
Tc = Coil temperature
Air
To
=Outlet air'temperalure
FIGURE 1552
Steam coil in Prob. loS.l:!.
-.
423
0 ,"
t..
fl,5D13g Inven the transfer fU?f.rio~. fOf the. cascaded ti.n~~.~ CO:JS!:arit blocks . Eq_
(!? ..19.), subJ~~t;lQ \~ .~?~P.j,i)P.':lt .t.o .:de\f~,loR. .Eq 'J>J;i,5.:.2J)~:fo.t.tb.e.ca.se...\v.htre,,4""
':"'.'
t
;TI ~7i.".~ . .. ...:.. .
::. . . . ,..... :.. . .. , : . ' .. ':: ... . .; ". ,,::,
;.:._.'
: ' , :
:.
"
: , _
."
...J
by '
. adding water vapor as needed~ In the .syst(;m shown in Fig. ,1..5-53. [he
humidity sensor in the 'exh:..lusr air measures the humidit}, rario.H . which is
J:he kg o(\vJter 'lap'of Liss.ociated with a kg ' of dry air.' The humidity sensor.
has a time constant of 30 s. The controller regulates the power suppl.icd to
the electric heater iri the humidifier and th'us the Tate of water vaporiz~d inw '
'
me air stream.
w~w .. according
h\",\.
[0
kgls =
.
.'
- ' Hsensed)
'-Due to the themlaI capacity of the heater and the ' \vater reservoir. the
." res'p onse
the "humidifier is nor instantaneous, bu[ has ' a time,qJnstnnt of
of
'4. min. 'Assun1e ~h;i the e~ fering .outdo01: a!i contains neiiigibie::~~;~te.~ ~i.lpor.
'"\ .
and [hat ('he mixing of v,:ater .vapor throughout the laboratoI)p is: unifom1.
Use .trequ.ency response and the principles of the Bode diagrJm (Q
detem1ine- (a) the frequency resulting in the loop phase lag of 180, and (bJ
the combined loop gain when the loop phase lag is 180. (c) Is the control
stable or unstable?"
.
-Ans.: (b) 1.2 .
15.15. The expansion valve regulating the flow rate of refrigerant to an eVLlpo~ator
in a refrigeration system is the type that controls the number of degrees of
superheat at the outlet of the evaporator~ The control loop is represented
~y a combination of time-constant blocks. as shown in. Fig. 15-54. The
Laboratory
Hour
Outdoor air_--'L..-..........
negligible
humidity
. Hsen!led
FIGURE!
1~-S3
J5.1 . t
:lSSOCial~d w~ler
vJpor
Flow r.lte
7.5 kg/s
=:
of nir plus
__-H-i....
n------ lCisociated
I'..J'-"-~rl-J'o-~""""'" Humidifier
water vapor
424
Superheat, 0 C
setting
Superheat,OC
.--,>
"+
1:"1
differepce
) Bulb .
= 3.s
sppem~at, DC
k2 kg/s perce
12 s . ~.:
1:2 ::::;
Flow, kg/s
r---:t
.. L Bulb ofv~ve
. _" $tem~seat
of valve -'.
.. / .
. " Block
.
'..
'
"'.
..
15.15.
. .
. characteristics o f the evaporator and certain characteristics of the valve' a{e> "
fixed and
:designated"in Fig". IS~54. .
.
'..
, "U se frequency response and the . principles of the Bode diagram to
determine the maximum permissible gain of the valve, k 2 , jn orqer to make
" trusloop .stable. This gain kg/s
c is pred()~nant1y dependent on th~
are
in
per
S3
14s 2 - 2s + 3 .
.+ 6s 2 - 59s + 156 .
(a) Use th~ . R6uth-Hurwitz criterion to determine the n~ber of roots of the
15.17. The control loop shown in fi'g. 15-55 consists of three time-constant bl~ks.
(a) If '1"} = 72 = 7"3, use the Routh-Hurwitz critedon to detennine the product
. klk2k3 resulting in the loop being on the borderline between stabHity
and .instability ~ .
(b) Choose any arbhrary combination of nonequal values of the 'j's and
compute the k Ik2k3 for b<?rderline stability. Commenr. the least stable
. FIGURE 1555
Control loop of three timeconstant blocks in Prob. ) 5. J 7.
"-
ca,~
425
of
of
1'
....
'~
'
'. . '
where T'J. = _a~bient [emperature~ . The temperature of. -{he' sensor is T's
. and
ti~e ,c~nstant is Ts. The ~h~acteri,stic of (he controller is tJh
B (Tset .:.... Ts)
.
(a), (~ons~ruct the block diagram of th~ ' cont~o1.
inse~g appropriate
transfer functions and. using the ambient teinperatJ-lre Ta as the input and
.
th'e chamber temperature Tc
the output. .
' ,
(b) Normalize the variables associated wi[h the block diagram in anticipation
of determining the response ~f -T;: to a c~ange in T:l while T renlains
irs
toop,
as
Sf:.(
constant.
(c) Simplify the loop to a unity or nonunity feedback loop.
(d) 'Some numerical va,Iues are: A1 = 300 kllK. B = 5 kWJK~ H = 0.5
kW/I(~ and- Ts ,= 10 s. If Ta = 30C. and Tsc' = 60C~' what are stead\'state values of Ts and T/!- "
.
(e) If the am9ient temperature T'J. changes abruptly to 20C~ what is the
equation for .the response of Tc with respect to time?
Ans.: Tc = 56.36 -' O.085e-D.078:4r + O.9ge- D.02344t
15 .. 19. The pressure in the evaporator of Fig. J5-57 is regulated by controlling the
rate of vapor pumped by the compressor. We_ The purpose of the evaporator
is to cool a fluid that flows through tubes immersed inlhe liquid. The control,
is of the proportional type following the equation '
We
= K(p - P~t)
Controller
Chamber
FIGURE 15 ..56
Environmenral chamber in Prob. 15.1 B.
T~!
'1
426
. Mass of vapor
.
..:
.. . .. . .
' . ".
' .
' S~t~
._ "
FIGURE 15-57
,!hermal, cap~ci(y
Dr Jiq:uid,' J1 ~
.. ,
Dlass
evaporation rate,
W ev
C(Pf - P!
=M
the state of liquid entering the evaporator is e,s sentially saturated liquid
at
ternper~ture
T{
(0) ,Construct the block diagram of the cOhtrolloop with the tube temperature
T, ,as the ,reference variable and the pressure p as the controlled variable.
~ndicate the ' variables (nonnonnalized) and the transfer fupctlons of the
components.
(b) Nonnalize the variables.
(c) Restructure the block diagram into a unity or nonunhy feedbac~. loop,
and specify the transfer ~unctjon of the loop.
Ans.: (c)
'co "
BMs2
+ (BhA +
D,C ~A "
BCDh{g + KM +.CM)s + KhA
+ KCDh[g + ChA
15.20. The air-heating system of Fi~. 15-26 is subjected to a step change in TJ.e! from
42 to 47C which yi~lds the loop tran~'~,r function shown in Eq. (15.27) .,
The 'control chosen is integral only. with Kp ': : 0 and XJ = 0.02.
(a) Develop the equation for the response of the controlled temperature T,
as a function of time,
(b) PJot T, in the 0-400 s time interval.
.
Ans.: (b) to check r~sults, T, first reaches 47C in 113.2 s.
~.
.#-0 . ,
, 427
of
15.:2..1~
, 3.~7 s.- :
I5~~3o (a) D,erive the loop ,transfer function~ Eq: .(15.32), for the PI-only cO.ntrol
~.:....c.Q_
= AX where
=-
Fig. 15-46.)
. Ans.: 2.21 Us.
...,
15.26. An underground electric cable, as in Fig. 15-58. that is 5,000 m long is
cooled by pumping oil through a pipe that surrounds the cable. Tbe oil has
a density of 800 kg/m 3-. a sp~cific heat of 2.0 kl/kg . K. its flow rote is
8 kg/s or 0.01 m 3ls. and it enters the pipe with a tempenlture of 15C. The .
cross-sectional area for oil flow is 0.02 m 2 A It the oil in the pipe is initially
at ] 5C when at time zero an electricaJ load of 50 W/m is imposed on the
,f ibre wl1ich must be absorbed by the oiL
"'!!.r .::;
O<t<
t>k
1 on a
T - x
iJ
: (l/) -
q=
au
dl
------~---------
20
".
() i ..:Trt1lt"trnm I ube i n
=0
U=T-
i12J
1.
-~
.~ :" ~
."T,
.
. ,,:,,;/~;,;"h~ering>J"y'o1-:"'B9~; ne';: rt" PIN"l-1.7~:f21'::"Ma:f31: 'I'982:'~"":, ':",:':' ~. ;,; ;..:,:,.::~........,',.:",., ,,'
,""
.,: ~:" .... 4~ ' F:.G.: Shins~~y' ~ 'Pjo(:,ess-r:~litfdi~ Sj/sretns, '24~' e~:';' Mc.dra\v':1:fill'~ N~~;';-yoj-k. 197'~~'" .: .~. , ','
.. ,' :5. P. O. Danig nncfB. Teislev, <&A Generalized 'P rogram for Dynainic Analysis ofI\fon-line;:lI~
. S ystms," RepQrt ' F29-77.0 I. Refrigeration Laboratory, Danish .Techni~al University.
',1977.
6. 1-( ~'yqursr, '"Regenerari,on ' Theory." . Bell' S~\'~tem Technical Journal, JanuillY 193;~
pp:' ~2&-147: als'o ,in AatomaticCcntrol: Classical Lhlear Theory, G.l. ThaIe~9 .ed .
,.' pp, l05-~26.D,owden, Hutch~nson and Ross, Stroudsburg, PA, 1974. ,
7. E. 1. Routh, Dynamics'of a System 0/ Rigid Bodies, IVlacrnillan. New 'York. 1892'.
8. H. L: Harris~n and J.G. Bollinger~ /nlToduction to Automatic Controls, Inte~ationai,
, Textbook Co., Scranton, Penn.~ 1969.
_
"
,.9. G. &. Sapienza. "Using Fixed and Dynamic Performance Curves to Optimize' HVAC
EqlJ.ip'ment Operation," paper from seminar: '-'Using Your nDC for More Than P1D
Control, ". American Society of Heating. l3-efrigefLlting~ and Air-Conditioning Engine:ers,
.
' .
.
.
. New Yo~k, January (9?7.
10. D. L. Auslander. Y. 'Takahashi, and 1-.1.1., Rabins. IntrodLlcing Sypems ,alld ,Control.
McGraw-Hili, New York, 1974.
, 11. C. G. Nesler, "Direct t~igitarControI of Discharge Air Ter:nperature 'Using a PrOportionul~,/ 'Integral Controller," M,S. Thesis in Mec.h::lOical, Engineering~ University. of ll1inois' at
Urbana-Champaign, 1983.
..'
'.
0.0 . \ I
:..
'.
.'
0. .
"
~ " ;:
."
: .....
."
""
:.
" .
'.,
~ ~l
"""
. I'
(16.2)
. (J 6.3)
-.
.......,
430
baa
':',":
:"
",."
"l .
."~.
Th~
12
43 1
J;f the
.
ill
'
'1y - /
.
.
"';.'
_.
0" .
._(. ~~
..
Ai" i
=0
:
"( 16.4) .
,-
, :-~
/.
'
'
-.
( 16~ 7)
(1
, r
Vy = 0
vectors are
to one
........................... at
.. +
----.. ---
(1
(h)
- (0)
-
433
'
, FIGURE 16-1
_:~' Ma.x:i~~rp.. chnn~e in y ~:he~ moving a di,stance r in (a)
hvO
om
ax. ",'
so
1 t3v
dx-;=--"" ,
, 2"\' ax;
dx li 1
+ dX2i2 +
or
1 [ -a-y1
2A ax} 1
ay .
--1">
aX2 -.
+ ... +
1
By J == -Vy
2;\
t3xn II
--I
(16.11)
.-.:..
y "" +
(I
a
2
1
)- (
----.
( 16.1
435
e-
and nest alv/3.)'s be posit ive if y* is a)JJjni:cnu.m, or alvvays negative if]?=;: :is:a. :
mmcimum. Section 8.9. shov:;ed the conditi61J,S ne,cessa.ry for a 2 x 2 I-Iessian .
fnatrix to provide a positive s tun .in Eq: (16.14). A Inor~ general description
.of the condition is that' the Hessiar~ matrix QJ.ust ,be positive. definite.
. ,Eq.
(16.-14) to be. uniformly
positive', or negath'e' .deji'nile for Lh~ Slim, to);;e
.
.
.. .
. .,!
.
" . :. D.eg~tiv~. ....
. .... ,.... .
.
\' . .
<. ....... '
. ,
' .. _.~ '"
'for
"
'" .
'
Gorid.itio~
"
,;:
of a syIn;metP9. matrix")' .
.[
-~ ],
i~
. .-1 ,2
4.
are
.' ; ~
....
J2l
I: ; I
and
-I
2,
4
is
and since all of the determinantsare positive, the matrix positive definite .
. ' The test for .a neg~~ive-definite matrix is to reverse the' signs of all the
elements and test whether the revised matrix is positive definite.
E'Xample 16.1. For positive values of the xs, determine whether the optimum
of the function
2 ]
0'
1.414
whjch is a positive 'defU1ite matrix, since 011 of the diagonnl elem~nts are positive, and ' th~ leading principal diagonal delerrrunants are 11.31, 3.0, and
.2.831-all positive. Because the m'atri;t: of the second derivarives js positive
~e optimum is ~minimum.
.
436
'0
of
,<,
:, ;':~, .. ,,:;::,;'-', of'p~acticai constrained gptiqrizaupn -p'ioblems'.:::~~,::~~:. ::< :'.: .~, ;~:::{~::: ':'~;~;; :~:',~,~:'~":;',-::' :':'(~~:'(~Y'.~>' ,~ :
,Proof~ of 'the v~lidity '.of ~e,tagcinge mult:iplier.equ~tlqns,~ppear_ori.ly ~....~'- "
. 'rarely in the l1terarure& The next several sections .present',not a proof in the
math.e matical sense but a de:r:nonstiation of lhe.,legit!illacy . the equations.
," The tru-get proof is that ca:ll~d the Jacobian method developed~ by Wi'ld.e ,and '
.' Beightler.l Rather than prese:nting the veritlcatioIl-,iri full generality whiGh'
risks bogging down ilJ d~tails, the next several sections.procee'd 'Step-by-~tep ,
to progressively more complex situations-each time sh'o wing the soundness
, of the, Lagrange mUltiplier equations. 'There are 'at least two reasons for
establishing the truth of the ' Lagrange multiplier equations. Fjjst, they are -',
such classjcaJ relations that ':lnderstanding their background is a broadening
experience. Second, these demonstrations offer the means of sqlving certain
Pf:.?S.ticaJ. problems related to optimization.
,
, The sequence 'will be to show that the Lagrange muItip~ier 'equat.io.o:s
apply.' to . the following cases: t\\'O variables with o~e cons'trairit, three
variables with one constraint, and three variables with two constraints.' By
that point the direction to\vard full generality will have been established.
.. :,"
of
(16.15)
The base point about which the expansion takes place is on the constraint
and is the presumed optima] p6int. In this cons't rained problem I1x J and
Ax 2 are nor free to change independenrly \ but must change jn such a way
. that the new position conrinues to satisfy the constraint. Thus,
--.
439
and
.J
"(1 6~25)
,
'
..,~,.,
. ':-
-:~ .~- ~
"
1 '.
Defin~ .'
."_
,','
""
.: .,. . '
,
,"
-. "
.~
. .
'
~y
,, ' .J4J
aX1
or
Then
fr.9ID Eq. , (16-.24)
.'.
.
.
"
aX3
Lagrang~ multipl~er
'
Vy -AV=O
fhe Lagrange multiplier relatiop, 'therefore, holds for the case of three
case continues the patterns set by the previQUs two cases, but introduces
new situation as ,well. The assignn;ent is, to optimize y. where
Jbj~ct
to
y = y (x ltX2,X3)
( 16.26)
=0
( 16.27)
2. X3) = 0
( 16.28)
l(x J
.:.
If a point (xT.xj,xj) has been located which lies on the two coo'raints and-=". Ul .be tested 'at the ~optimumt the first~degree terms in the
\pansion of y around that -point are
"
(1
' . ; .]
(1
"
2 -
-----=-
-----...
'
(1
CALCULUS METHODS
df
441
OP'P}.1lZ.ATION
The ~xp;:-essions for LlX 1 and LlX2 c.an pe sdqstitut~d into the Sllm mLl:i:iop' o f
firs>degree . terms, Eg. , (16#29), and regrouped. Then, D.Xj .~s factored ou t:.
api
'.
. -:
I,.
'
'
.'
'.
. '. .
' .'
"." ' \.,, ' ..
f:.. Xf3\~ ,.; ::....~ .,:.:;. (J.6~.zy!5' Qlv.".' ).. ..:
: .;, L , ..... , '" ~'(~ 1.', --riY ; ,;:~::<: . ': .: ',-a (x 1, X 2 ) '
"
'.
l~ -.ay.
J'
a.(y d '
q(x1,.xd ~a2.
-. a( ";t.:..: ... ;-I:... )/......~'Y ,:J' ,,'
. a (y <P2)
J(Xr,X2)
- . a(.+. .) -
'.
. ' .. , ..
. ,
~..
. ,
Defm-e tht:: co~fficients ,of a 1/aX3~and a'>2 i.a X 3 as (L i and>A.2;. 'r espectively_
The'x3:variable,is free:'to move" so:
only \~ay,in which.~X3 ca~ change
the
either negatively ocpositi'vely, and ' yet prevent t~e entire expr~ssion frorrL ,
.. chlli~giIig y in ~ favorab~.e .rn.;inner.is fo[. the tenns enc;loseQ in,the bracfcets
to be 'zero ~ ,.th1..is
'
oy "
-" -
~l
A ,! '-'-"P._
,
IT XI
a '/"2-' "
ax}'
( 16.36)
ax,} ,
X2
,"
"
, ' ",
av
_J_ =
.. ax I
is, the
"
,
, c"
'
'~Xi-<P, '=:= 0
"-,
" J ".I..
A i-''f/_l
..
ax I . ,
-;I.. J
A~-'fJ--
aXl'
= o
(16.37)
decisionvari~ible.
'
aX2
a~. - 0
(16.38)
8X 2
= .A i = A iI' . and
( 16.39)
AI
=:;
Ai
In }lJ;
by
8(y,4>2) '
a (y , 2)
O(Xt,X2)
a(lt2)
a(Xl,X2) ,
a(X2,X3)
a(4)1. 4>2)
a(X2,X3)
For two functions F(x,y,z) and G(x.y,z), a theorem from advanced calculus
~tates
that
dz
- ' "=
dx
.-
rJ(F .-G)
a(x,y)
a(F G)
a(y ,z)
t
",
DESIGN OF
.(l.L:.J.'UVAru...
SYSTEMS
:'
.~
':; ,"
J~
t'--.-/ t
': ,::
--------~
an
manner..
1, x
(1
=b
(1
as an
can
1,X
j,X
=
...
(1
= 0-
(1
.occurs
--
- A[
t1,:.:~3
.1
.(
ana
(16.45) ..
'!long' w:i.dJ.conforinity
.,
<.:
, " /:." ';~c'~.'-"';_:_ .~ : -.~'.> ~. . '.:--" ...;(x l:~~(~Y . :::.;"13". . "'. .' ...:'0"....<. . ,':. . ..,.::.:.' ~.
-
. , ;.,,- ; -.. ..
",
,,,).'
... :.- ., . . .. . . .
"::(.16'.46)-,: . :..... ~ . . . ~
-' "
:.'
.'~ ~
. . :'
. but the fonn of the probfem as expressed in. Eg .. (16.43) ~/ili b~ convenient. .
in. develop~ng' tests for ~.axlma and minima as .welL as
developing the
.
. KUhn-.TuFker con,ditions in .Chapter i7. c .
..
.
in
. .'
'. '
'of
(16.4.7)
Also,.
cJ = a oXt..+
ab ' ax 1. .QJ;
tJ JX2 _ 1 ~ 0
ax 2 ab
A = (a y */a x i)
(a 4>18xf)
..'
"
Then
By ax,+ oy aX2 ~ A = 0
ax) ab
aX2 ab .
'.vruch when compared to Eq. (16.47) shows that
SC = A
( 16.48)
(1
a" ' a
- - ' -A
a~r i
, and
......
--
~!-L~-5
SYSTlElVl
has 'been -adc;lressed by several a~thorsl.,J.~ _fqT
, _\vhich L agrange intiltipliers seerh~ to be a npiuraI :hok:e 'is, the selection
, , -_of dU,~i diaIT1et~rs for a muitibJ;aIlch I'air"supply ' :system:: In' ::~":'Sys.t~ni ,s,L1;h~ ,~ ,
::: :,.-,.as,';o:s'ho:p.Yll: ' iIi." }?ig :_:~:t6-:.2 y!,/the,~" .gep,me.tric,--,Jay()llt;';~itp.e~' re'qqife-a": flb~' "ia'te~" .a:t ;.',"',;'~
-:each quaet~ a~dithe static -pres'sure','at'the Jatl '.p,utlet,'afe':sp~cli}ed. , 'The taSk
is; to -,s~1.ect the duct diameters ,ot'
(0-:-1,- ,'.1:"'2; 1-3~' ~-4; " ~d
, 3-~) s'uch that the total' first c'o st is' a minimum~ Afirst app~oximation is that
'-t~e cost :of a section '- of du'ct is proportional t<?,' the l~ngth and th~ diameter.
Thus, the rotaJ cost C of the duct- n,etv.:ork is
... ..
~
'each se<;tion
C = k O-
1 DO-l
+ k l - 2 D [-2 -'
, ", : ' -t-'k 1- J D l - 3 +
k3-J,'D3~4
k 3-
(16.50),'
5 D3'-5
, \vhere the k"s embodY ,the"length of theg~ven s'ectiofl. 'The constraints must
_ sOrl).eholv ,i~sure that th-e required f1o~ rates, QA, QB, and-'Qc are suppliecL
The underlying philpsopJ"iY-'of the se.t of constraint, equations, listed a.s Eq-s.
,(16.51) iis ,that al(ofthe available stati~ pre~sure, SP,,-is used to overcQme
friction in the straight duct. an~ fittings:
" ,
'
,
I1PO-l
+ ~p 1-'1
== S p, ,'.
+ Dp 1-3 + -IlP3-4 "=, S P
D.PO-l
+ bPl-3 +
tlpo:- '1
, (16.5~)
The physical implication of Eqs. (16.51) is that even though dampers would
certainly be installed in the section leading,..w each outlet, the intent is
tha,t these dampers could be left wide open. A collateral advantage of this
optimjzed d~ct network is, then, that it should be perfectly b.a1anced and
not need final damper adjustment.
Atmospheric
pressure
SP
'It:ric
FIGURE 16-2
Optimizatiau at a- InuJeibranch air ..supply system.
can
-115
-115
11.5
are
==
- ..
~
Oi-j
....... 11
",.
.447
1,-r./m3 .. Q - I =
2.Lc
."
. 3 1. f,r- ev ::;mY)
t .1~., '\}Jhe"1
1.... 'L"he ""p
C . ' p-O""-1
5.
values are' substituted? the staterI?-ent of the ~p1irrrization problem is as follows: . ,
Th~ 0._1
"1j.L.
"
. _
den
_ t . <;"1" -hV
,J tn) -
.Cost
. J
;.j ?
1 ""-
J'\.5.~
_O~
G . ..
'J
J .1V_
...... .... . .
~-
. 1.
j \I
J.
_.,.
}~.i
j.-
I. ,
ro:..
.... -.
....,r. . ....
':. '='500':
J ....:
,these ;.',
'-,
is
/'
Present wonh of
,,----- lifetime
energy costs
dUCl
-------~-===>
Static pres5u~ at fan outler'
FIGURE 16-3
TOIaj owni~~
dUCl
;.
system.
system
-'
y l - A1
,I -, . -
Am
t/
( 16.
( 16.
---..
..
&I
449
t~
...
,',
', '
"
..JY
.,h"
,"a
.. .;. ;
, ;::.{
! ,
, 'A-.'
O/i,.j ~
'a ' ,
+,~,,~ , ax
1~
,
,'.
- : ... .
, ' ~.
..
. . . .. .
"
a2,'Pi
l
I.
'J"
(y 1! - AI'+'
'I
"P
'"
7
"", '
Am, 'r:n
,/.,' ,I'.) L\, x 1
+,' . .
result is
. . .,J. ;': ~
. -.
'
'Am':n i )D.xn
"
+-'(
(16.56)
)L\A 1 .
aA[ ,
+-(
aAm "
xj c
and
I1Ak
= Akc
Since both the x's .and the A s are variables the differentiation of a A;'',.-k
teon ,m ust be treated as differentiation of a product. The Taylor series
expansion of any of Eqs. (16.S5b) is
( 16.57)
Since
and
--
: .,
. ) 1 .-
" II
I
"\
~l
--,.
1 -
1\ 1
'1 .n
.:'
1.
11
n Xm
11
.. I1Al
-.
X 1'l.
11Z
X rn
'.
1.
Ak r/>k:ij.
m
k
i -:- row I to n
j I
11
IS
[-
.1
1'''- ,'1]
.n
... - m.n
is
,I
,II
.n
.1
)=
are
I,X:h
"it
.i}
....- ' .,
......
. xn) - y
45 ~~
whef.e
y -; = y (x 1 7 X 2. , . X i -I-
."
1: lZ;
nlu'st
"".'''.
of
x's
are
PROBLEMS
16.1~ The equation f~r the two-di~ensional temperature distribution in the metal
plate. shown in Fig. 16-4 is
'
' 2
T, o C = 4.x}
-
ill
+ 6Xt X. 2 +. X22 -
4X2
25
OL-____J -_ _ _ _- L_ _ _ _
______
FlGURE IG4 ..
Two-dimensional ternperarure distribution.
____
~-----
.s
+
to
(b)
y'
~.s3
CALCULUS
METIlODS 0or OPTIMIZATION
.
].6J L SpaCe is 11D:U.ted in the region tlEough which duct ~eclion 1-3 in Ex. 16.4.
passes, such that D 1-3 can be no :gre;3.ter than 0.4 T']. D'etennine the new
~ptimaI. diameters for a minimum-cost duct system . . '
'
.' AnsG~ for checking results~ total cost ==$1 C52L
;
w,.
,.
---..
"""
~.
.....
CHAPTER
""1'7
..
.: .-
-.
. - ~ .I.': -_. .-
. '., :
~ -,
".
'.
-"0 .
" .
"
.'.t
'.
I .
.:
-:
-.-'
455
,'. .' This.chapter limits its etIbrts in solvjr.zg constrained optiin~zatiori prob-'"
}ems [0' , thre~ oJerhods: (1) -pen~lty functions', (2Y. vec[o~ algebra, nlethods~
and (3) the gen~ralized 'reduced gradient D1ethod. ,Converting a constrained
optimiza~ion process to ,an uDc.onstrained one through th~ use of penalry
functions . was ' introduced in '-Sec. 9.16., The .concept- is .simple,, but 'for ', ,:,. ,',
, .the method to b~ effective, the mag.nitude Qf the' p'e naity multiplying con- '.
'stanrs must be adjusted 'throughout the op'timizatiou'. process. Secti9n ,i 7.1
. : address~s t~!~Jask. Vector al.ge~~a reiations provide extremely useful nle~.ns
of deteITnfni~g"s'earch di~ect-jons, i.1t least for tne limited class of two-, threeand, four-variable problems. No surveys are available' tD indicate which
,method is nlost \videly llsed for constrained optimization problen1s ~ but .one
of the front runn.ers sur:e1y is, [he generalized reduced gradient, technique.
, ,which \vill, be explained. The Kuhn- T~cker conditions will be presente'd
b~cause.of their classical importance and also their o~casional usefulness.in
the ' solution of problems.
'"
V =y(x), x2, .. x 17 )
subject to
-7>
maXImum
cPl(X I, Xi .. xu) =0
m(XI, X2, . . Xn) ==0
/:."
+X
,
y.
tP
a.,
.. /
to
10
JOO
1000
.x
(1
/,-1-57
.3
4rur+--T----~-----r_----lr----4
=i
P = 100
T.rue minimum .
I+------"ri..------:::o-+---+------'----i-----i
'
t o ."
Y::::30
o~--~-~~---~--~---~
o~--~--~~~--~--~----~
, ,5
4"
,0
(b)
, . (a)
FIGURE ]7-1 .
.,Contour
lines
.
.3 .-
In the penalized
fu~ctjon
qfExampl~
', '
.
-
.'
1703
ALGEBRA
For two- and three-variable constrained problems vector algebra' using dot
products and cross products provides straightfof\N~d means of specifying ,
search directions. The basic operations are alternately moving towar'd the ,.
consu-aint(s) in a favorable direction with re'specr to y . Thus the three classes
of moyes for 'a three-vari~bl~ constrained problem are as follows:
1.. Moving freely in the ' direction, of greatest fate of change of cp. 'Ibis
operation occurs when mOVing from the trial point to a constraint plane,
or whe'n moving back to a constraint after a move tangent to a -surface.
2.' Moving tangent to one -surface, in the most favorable ' direction with
respect to. another >-surface or with respect to y.
3. Moving tangent to two cp...surfaces simultaneously in the direction of
impro~nlf ~
~'
458
The. first class' of moves is s~p-~y ,in the] direction of V cP' or - V 4;,
depending 9ll whether 4> is negative or pos.itive, ;respectively.
' '.
',
, ' .. ' 'T he s~cond class of inoves coyers. 'the gdneral' situation of moving:
. tangent to Olle 4rsurface in ~e most {~vorable diJ;ection ,with 'r~spect to the
. objective, function y or wirp' 'respect to,the other c.o:r;tstrairi.! ,<h. Propose that
.. ' the ,current point i s on the 4>->surfae, ~.ajVing reac;hed that surface tlrrou gh a .
,,'Chiss''1}nov6. Next ' deteIniine '\7 4>.and V y "at"' the"point- 6n the co~~ttaint,.
. ':': ~ a$.,.~!1: fig'~~..J.7 ~ 2,~ ~ Th~ cr~~s, pT.oduct. of .v:. and :Yy ';, G.alled.fl.,
.:
'" ,-
,... .
..
~:
..
~ ~ .
.~
.... .. . .1
t ,:' ,_
..
f!.: "
: :,.~
~:_ .
'
"':-
~-
,is ."
',:
' { ',-"
. " , ...
, --?>'" ' :. ,":~: ;. ,," ":", . , .. . ,.'" .' :. 'I-!' , , ,'. :-- <. '" '.-".-i. 2~ >.,' ':, ..: '.:i3' ...:-..... -'. ":,::,,;.,',,.-::.': ". " '. ' ,
. . . : .
- -
',. . .
is
'v.
.I
,-:-:::.: -;
. : .. ,- .: .
B . is
is
A X
.\1 cJ> .
(17.3)'
to
S-o' B is ' the ges~red vector that poin.t s. in the direction tangent
the _surface, yet also moving in the di.r:ectjon of maximum 't ate of change of y .
The other necessary inJonnation is whether B points in the direction '
, of an increase or a decrease of y. Because Vy points in the direction of'
"increasing y, as was. shown in Sec. 16.2, .B when computed :from the
, seque~ces 'i n Eqs. (17.2)' and (17.3) will also point in the direction Qf
. in-c'reasing y 't and should be used for a maximization process. If y is being
minimized, the direction should be .opposite. to B
The third class of moves for which vector' algebra gives. ~ simple'
indication of direction is that .where the curreptpO.lPt H~,s on bqth. th,~ :.!P.-1rand 4>2- surfaces and a move tangent to both constraints is desired. ' As
.~'
.'
FIGURE 17-2
Vector that is tangent to a constraint and points in the most favorabJe direction wjth respecr
to y.
--.--.
-'
That vector
~ .~.~.
.. -
4-59
.:,.....
-"
.FIGURE 17-3
- -The cross product of V <PJ and V ~ is tang~n[ ' ~o bOoth constrain[s. '
.
'- -.. . . . '
.
.'
sho,wn in
.Fig~
c= V l-X ._ V 4>2
( 17.4)
-is norrilat -to both V <PI ?TId'V 2 -so is tangent ' to both planes~ Whe~her , to
move in the 'c or ,.:- C direc.tion must be oetermined fron1 the treI?d of the
y. va~u~s in the c direction. Since ~ y poin t,s. toward an _increase of :r, a
positive dot product c -V y indicates an' incre4se , of y in the .c direc.tion;_
" conversely if c V y is iIegp.tive, c poin~s to.ward a decrease in y .
Th~ cross ' and dot products ?re applicable to 'twO-. and three-variable
spaces, but an intriguing "question is whether any of the concepts extend
to higher-dimensional' space. One , speci'al situation) where 8imllar formulations hold is the four-variable .optimization when there are two equality
constraints, <PI and 4>2. From a point that satisfies the two constraints. the
vector is sought that indicates the most favorable change of y while f:lIso
remainingtahgent to the two co9straints. The procedure is first to compute
a vector '[) by crossing V y with V 4>1 and V ch. as follows:
'
il
i2
i3
ay
ay
oy
ay
ax,
JX2
aX3
ax~
'04;1
,tJl
. ~X2
aX3
UX4
ach
ath.
a~
cJX2
aX3
aXil"
'0= iJl
"aXt
or2
ax!
a 1>1.
-----'-
( 17.5)
i3
to
.2
.'
. , .0
=0
2=
1.
"
,(61
the cO::-lstraints by adjusti'ng, llLl of the variables through appli, cation of Newton-R,aphson to the JJZsirquItaneolis equations provided by
the cons traints.
'
5. If in the process ofretuming to the co~stt3_in,ts the value of y is degraded
:relative to 'its 'value.?-t th~ s-tartil!g\point;' r.etun1 to Step.3 with a srp2111eT' : ':,.-.: ,.-,.:st~p:,~'siz'~,~,,~:~:~. :,:',~,,';;,::~;,:' ,::'~:'~~,~~'~";"..::,;:'.'~;,':'>:'~': ',\' ~, ',' :0::':>: :,;<,;~~; 1:~<~;",~' , ': " , , :: ~.; .~,_ : ,I, .. .:, ' ' .....,'" ,..'-~~:. " ; :
/'" RetUlTl to
',' "',
'~
'.~
.,
-
-",
'_th.~ centTal'feat~re ,of the' GRG ,meth~d is. $tep, 3 ~Jlihich d~termiries
9
the direction tIiat is ' tangent to th,e constraints' and at the same time, jndicates .
a favorable direction -for y. Consider an exampl~ ' of optinllzi~g t]. tltree-,
. vadable fu~ction sllbje~'t ,to . two ',co~straints~ .a case' also eonside'red'in Sec ..
16.7 usJng calculus methods. 'The GRG 'development parallels the calculus
method of Chapter
.'
Ay = (ay1r3xl)Ax, +
(oylaX2)llx2
(a}'laX])i1xl
(17.11)
.\Vhen the constr~ints are applied to Eg, (17.11) ily equrus the grouping
.s hownJp... Eq. (16.35). That grouping reappears in' the GRG meiliocr-with
two modifications. The first difference is that in the calculus method D.)j is
equated to zero to give the conditions for the optiinum~ whil~ in the GRG
search the process ,is one of continually improving y. The sec9nd difference
"is in the form that tJ:1e grouping appears. The typical conventions used in
, the GRG method for the example in question are ,
.
---
Ynew
(17.12)
.~
wh~re .</;/j
x)
) =[~:
The solu(ion for LlxJ and
fiX2
~~l
and
Ynew=Yold+{-[Y'
=[~J
LlX I] ' ,
[ LlX2 = -)
Of.
(17.14)
== acPi I a~t'j
Arbitrarily choose
so
(17.13)
--1 K
!J.
x)
Y2)]-1J( +Y3}!l:c)
( 17.15) - .
(17.16)
Yold
+ {_[Vy]T }
-11<.
+ 'V'y} Ilx)
( 17.1 7)
..,
~.
,x)
+ X3
, Xl~'-2X3
8 '
"
=($
iJ
a
X3
an
as
) -:1).,:
==
.,
-J ~
== -
so
'.1"
:..
4.::53
" -- " 2' " , ,: 0.5<> 1:614~: :"O:8828~';':-'4.U~:" 6.0060' ":'1':721 '" 0.'8716' .. ..4.0 ,, -6~'O678'\ - ,' .' .' ". '"
' 3-" '. Q.5~;~ .. C679 O.784! \4.5::' .. 5~5J6{J :-. .l.742 .'.O:7656. 4.:f:~ ':' ~'~57b2: '
. , '" ~ .. ' 'r
5 ' - . . oj.
0.02
.- 6
.7
_0.02
g
. 0.02'
L803 .
1.871
1-.922
. J.955 2.006 -_
fo.':
'r ~ -.:.'
: ..... .
0.7069
0.6666
0.6475
0.6340
0.6152
-,.....
. .
"
'\yhjle holding x3 c~nstant at 3.5 .yields the 'p oint (1.'8106,. O.94~81 3.5)
fo.f .w Nch Y ==.6-.64565.: Table 17.2 shows t~e progression.
.
X2
Equations (17.1.:5).. to' (17.'17) and ExampI.e . 1'7.2 address ' ,a "thieevariable, two-constraint prob,l em ill \vhich t~e reduced gradient indicates a
'. specific vector, and the. only decision is which .of the two directions offered
by the vector should be chosen., In problems ~here n - m is' greater than
I, ' there are more degrees of freedom of the resulting ' reduced gradient.
For example, in a. four-variable .problem with two constrajnts, the equation
comparable to Eg. (17.17) with X3 and x 4 arbitrarily chosen
the deci~.lon
yanables. would be
as
(17.18)
The gradient vector principle now applies such that in de-tenllJnIng the
relative values ,of ~X3
~x 4 -
and
L\ X 3
GRG3
L\X4
GRG4
--=
1705
the
of calculus methods. The Kuhri-Thcker Conditions (KTC) apply to problemswhere. there may be both equality and inequality constraints; they also
express some fundamental insight into optimization problems.
. If a function
y = y (x 1.
. .. , X n )
TIIERMAL SYSTEMS
to
to
a
k
1,
K.
= O
Y =
J-
+
-2>0
to
---..
g=xJ+X,2-4>O
4 f.5
, (a)From tt~c diagram. i ~l F ig. J7-4 it c9n be seen .th3.t rhe :D.V.:'~li.GU.It1!. 'IS tbe
, unconstrv.ined minimum occurring at (1,2)). The scalar equations conespond=Dg to Ec::. (17.19) are
".
.
. ,,2'( 1 - 2
:8.f~:d
. I
'
.. . ... -, >..
~'
..
: ~.:
-}l
\vhi<?h
.may
.
- ,
-.
.:
,.!",
.. '
,~
..
;(2
~. 2
.and
~
.."
... ':"
. '.L,,'. _
=0
Il
'
' .
'
'
_" .
'.
, . ,
>'.0'
>. 0 : :
'
"
: ' '-Knowing that the Ct= 1~ ~t 2) solution is (1,2) 'leads .to g = 1 and u -:- 0', (b) With th~ 2"(2 ~ 4 - u =:0 con~trai~t, the' constraint is itcti';e so g = .1:- 1 +
X2 - 4 = O. The other variables at [he optimum
x I = 1.5~ X2 = 2.5, .and
, - Ii = 1.' So in this-case Ii > 0 and g = '0.
.
. Suppose that in' part (d) ilieconstraint had been assl:tmed [0' be active ..
Then' g = a and the optimunl would occur at x 1= 0.5 ~ 'X2 " 1 ~5, 'and u .= -1.
~e ~. ~~a.t~.~~~~alue of LL violates Eq. (17.23), indicating that the assumption
of the' ~onstrai~t being active was .il1,v~lid.
are
A possible .approach to using Lagrange multiplier? to solve . an optimization problem where 'one or more constraints are inequalities was to
assume that
inequalities were not active. After determining the solution,
substitute into the inequalities to see if any are violated. Those that are
Yiolated _a~e then reinserted into the problem as equality constramts. An
alternative approach using KTC is to assum~ that the inequalities are ,active.
If the u value associated with the ineqvality is negative, that constraint is .
inactive and can be omitted jn a recalculation.'
the
..
FlGURE 11-4
-.
L-_----lL--_~
-&
_ _--L_ _
_ _ _ _..p.
.r I
Example 17.3.
' ..
DESIGN OF
'~J....L'--'YLru...,
SYSTEMS
16
y =y +
=
X3
..r2X,3
= 0
4 67
.. .
".'
.',
.
:.Jl.:.
..'
'.~"':'
:,
' : ' t.
....
- .... : ....
..... , ...
.J
FIGURE 17-5"
,Engine cooling system .in ~~ob. J 7.4,_
' .
'
pump power
= o-.02lV~
and
la)/2J
= 300 kW
(a) Develop the objective ,function and constraint in terms of Ww and wa'
(b) Convert this' consu-ained problem into an l!J.1constrained ~oDe ~sing
penalty functions, and solve by a steepest descent search. (Suggest first
P = 10 and "the final P = 1000):'
Ans.: constraint in (a), 3S.8/ww + lS0/wa =7= 40.
17.5.. An objective function to be maximized is .
y = 3x 1
+ X 2 + .."C 3 2
20x 12
and
5xz 2
+ 3X32
= 127
= 12
IXZX3
The current point is (1,4.3) which satisfies both constraints. The next move
in the search is to be tangerft to the two conS traints with a change of x 1
of 0.1' such that 'the objective function increases. Use vector methods to
determine the values of the x ts at the new point.
ADs.: new value of y = .17.8.
17.6. The function
.
-.
Y = (1I3)x,
+2x2 +2..t 3
OF ~RMAL SYSTEMS
is
to
1.5
./."..
Steam
in
469
fl}-
(c) If the p;:oLJleITl wc.:ce insleJ.li_to be:, so!ve:d v,sing the GE.G sea..rch I.'ilethod ~
. make one complete GRG ope:ratio:..111 starting on the constraints \-vhere
A = 120 rn 2. Choose a s~ep size of A = 5 m2 and return to the cO"iSLraints
after the stepv bolding 'A constant. Vi,/lj,at ~e the
values 'of A:' t17
i)., ana y?
, , '
.
new
. '3.75)0 Section 17.4 p,l1d.E.xfunp1.e J.1.'. 2jIlusu~ated the application of the generalized ' ,
':>""; ',~'red u~eq _graciienr " '('Q~9").t,. p.1~,thocL., tQ,:~ a. _.~~~:v.ari~~I~:~ pi09 ~~t9-!,:,yvilth:[w.o.,.,;: ,:. ~,
I
' .'
' ,'
'. " 'constraints', De,,:,~lop .tl:;t.e_.~x'p~~ssions .tQ~..the .GROs. ~\yhe.rr,-..optimizing . ~.: .>
.
"
'.
'
/ .
.' , _
" ::
". . . ' ,
,~
,I
.subjeet to
..I:b.
<::
5 (a.
+ k) '.
.and another restriCtion is that t.he building can occupy no ,m ore than 509'0
. of ' the lor area. The owner wishes to c.o nstruct a building with maximum
, volume.
(a) Detennjne the optimum diIl!ensioris of the building by assuming that both
,constraints are aC,ti4l~,(b) use the Kuhn-Tucker conditions to detennine
whether either of ~he constraints is nonbinding, and (c) guided by the
l~ values in part (b) reoptimize psing the active co.n straint(s) as equ~ity
constraints.
Ans.: optimum volume = 94,836 m 3
_~I
Street
-r ~~-~----------t
a
E
o
Building
L.-_ _ _ _ _ _
:
I
b:
-=-_~
__'-,:_---if--
Jt-4e- - - - 30 m ------..j'"I.
FlGURE 17'
Setback requirement3 for construction of the buildipg in Prob. 17.10.
-.
---.,
;,.a
.~
. .'
:---..- ...
-- ---_._-------.----- - - - - -
.. j
. ! ~'- ,::.:- ..:.. . . ... ..<.
"
...
.--
.-CALCULU,S
. '.
' ..:'OP
VARIATIONS
ANl)
DYNAMIC,
PROGRAMMING
as a series
471
/'
(1
1)
473
,
, . .
1,.aF '].
'.J1:; d
. . - - - - . - - - , ==0
" ... ay . :'. dx \ ay , /' .~ ,
'.. '-::,,'" .:
.- , _( 1~L2) " .
"
_"
to
y (x) . y (x)
ETJ(X)
. I(E) =
.'
(2
C:x, Y ,y') dx
(18.4)
of
........, ..
_-----~
- - _ . . . . . . :.......
. .-g,
Y(x)
~----~----------------~~----~~x
FIGURE 18-2
Function tbJir gi itS the optimal value o! the integral and a function Y that devi!tes slightly
from y.
E+
I(
=0
"Y ..
0,
can
are constants,
( 18.
BE
iJY
=0
aE
( 18.
not a
yJ = Y
can
E.
( 18 .
. (1
to
(1
=0
'.
Y.
two terms
:=
-0
(1 1
,r
"
rJ F
-J-
O}'
xI
in Eq.
YJ dx
+'
1"X~'
J X1
aF
1 '
-,"-, TJ/jdx
oy ,
= 0
oy'parts,
'~:,;_.'-.;':~'~E' '-~;~7~th:~~:;:.j --~; - : :-'='::i~ -:,;L;~ ':Jf,.,~~~~j/J:2_, d:~. -."." ;"., :,:,,"';' '" ',
J]
. . - "t ..
: '
.
,
(18~
'.;--
'.'
12)
Both 1](x 2) 'and ,1J(X ,} .== 0, so subst,i~tii1g Eg" (18: 12) back i,uto Eq. (18.fJ)
restih~
"
r-~2'f,aF
J.r I.
av
,"
y' )]
_ d(aF la,'T}(
.,'
x) dx
. 'dx
'
"
- 0
, The li~e of reason~ng' used now is t~at since Tj(x) , can be arbitrary, '
, the, o~~y ,w ay to' assure that the integr?l is ,always ,zero' is for the term in the'
,brac~ets to be zero,
,
'..,
~; -~ (~;) =
(- 18.2)
This ,is the Euler-Lagrange equation which is d. basic, tool in the calcull}s
of 'vari~tions. It is applicable where no ~onstraint
x) y, and y'. The
function F will be known, and the task will be to determine}" which is
a function, not a specific value. Since the E-L equation is a differential
equation, it will be necessary to solve this differential equation to determlne y.
,
The E-L equation can be restructured into an alternate general form)
and also into siinplified fonns for special' cases. The chain rule may
applied to the second term in Eq, (18.2) to yield
re'lates
be
aF
a(aF lay') dx
ax
ay
dx
Fy
L aF lay,
F,
y
= oFla}"
'
..
....
Fy - F xy '
Fy'y'Y" - Fyy'Y' = 0
(18.14)
can
=0
.= 0
so
'.
~ ~l
(
.(1
a
can
(1
(18.
to
are
.x
(1
1.;:77
---------_.
Back fe3.~c~ge
.
=0.2 (p I ~
100)" kg/s
III
P2=
!OO+O~m
__.__ ?lr__ ~_ .
~71 kg
'.
.'
.,... .
liqL~id
~ ..;. 'lOO-kP.:t : ...;. .. 'P..'i::.';/:..,~ ,;:'::':~'~~:":;.: ;,~:~,,~:~~:: ,-,::,,:,"--m~={) when~~~~~D._,-____----,..;._'""""---....<!(;:<.,~ .._:2:::~-. : .t.,
.
..~.
..
.'
_to, laminar flo~ ~b(the hydfaulic fluid, 'PI ~ j;2 : ~ 15 m'~ .wh~re rll.' .=,f;tow......:~- .
. rate ... kg/so The vessel ,pressure P"2' 7= :I(lq' '0.5111. The pumpIng .pow.er: is
mp'(PI .- 100), whe~e nIp' isthe. ideal pump flow rate .. There is back Ie.akage
in the pump such that
.
'.
.
.
.
.in' =. mp~ - 0.2(p 1 -:- ' 100)
.. Determine the eq uation for ]}'z' a.s a function of. time 't such that minimum
pumping energy is ~equire~ ' dui-t...ng the process.
f120
120
+ P2
PI - 100 = 15m'
.
[m'
O.2(p 1
- 100
lOO)](p.f - lOO)dt
15m'
O.5m
~ Jor
120
[3.5mm'
11 -
O.0008333m = 0
= 0 requires that
C2
= 0,
m J: C. sinh(O.02887t) .
The second boundary condition, m(120)
IBOgives
CJ = 18Q!(sinh'3.464)
so
an..Q...____
= 11.28
. m = 11.28 sinh(O.02887t)
. m'
= 0.3257 cosh(O.02887/)
so
,DESIGN OF
UiERMAL SYSTEMS
o
J.
6
',5, '
ot
." 1
OL~~~~--~~~~~--~~~~~~--~~~
s
,
::,
rate to buildup
in
J:,xalffiPle
( .1
1 to
,Y ,
=J
(1
(18
- ..
IIIIiIIIIUIMpr
twa
..
....'
47"'5:
' .
r
,0
dfu
o.eVCloprncnt or [D.e J~. -L eqU3..o.o:n .lOL~ a conSCCd"tne
J .i. 1DCllon is a
short extension of that for the :J~constraiDed fUTIctiorl that \vas' described
Sec. 1 8~2. Th~ c~ncept to be, us~d l.s sixIular t6 that used in Chapter 16 in.
optllTlizing a function by calc'r},us methods to. find an optimal point subject '
. .
,
, 'to constraints.'
:':. " PrQPos~ a.test ftln~tion y, (:i.) as tb.e,"one thatminirrlizes,:]. iri,.~,q. (18. 18) , '
. .b~t'~a.rso : .~~iti~fie~';:J:.- 'ill;" E(D~'~-(f8'] 9J: 'J~'t';',f" "'b~":~-'ri'~'arby ~ s~i ut~6~;'.?'-~~h{~ie\'>'~'::' ~', ~;.,~':" "
'"T1
J.[~C
I~'
-;
-..,
"
(.'
1."
in '
"
and
"
.....
',
are
. ' . '"
D!. _
f3 are c.onstants. These functions
show:q ,in~ig. 18-5 ~ III
order to keep th~-,terminal' point~
fixed positions '
, where,
in
7](X 1) ~
7](X2) , ~ 0 '
! .
, 'and
, The deviati'on functions 'T}Ct) and l'(x) ~e arbitrary, but if ,7] is selected,
, Y ,must ~e cho~en spch' tha~ $e integ~al i~ Eq. (t"8.19) continues' to equal
J. The 'revised ' function
Y, and its derivative will r~place
y and y"~
the
.
..
.
integrals to determine if.,411 improvement of! is possible.
'
(18.~2)
.2
CUt (x),
~y(x)
.xl
FlGURE 18-5
Graph 'of the fUnction y ",that' gives minimum value of 1 subject to constraint J. and functions
arl.,.t j
f3 j'(x) that are deviations from y.
and--.-...-
..
' ..
. (18
=0,-
. ,.. )
".
. == 0
(18.
8
(18
to a constant
--.......,..=A
..
'":'"
can
- it
-A
aa
a
aa
=0
,y ,
=0
o
A.
(18.
(18
"'~.
!~ 31
Pump ,
:
. , ' . l
' .
, ;
'." ":'. _:
~~--"
- ",",,. ,. ,
"
_ ,
"
, '"
'
pressure d}fference developed by the pUInp~ I1p ,l(Pa, iI?-creases wi~ 'time due , _
, to the progressi,ve inc.re~se -in ,-r esistance: in~ ,the filter'
the thick,ening at the '
oiL Tbe pressur~ difference ,is represented by the equation
and
ow
'
Solntion. Since pump power, kW= !1p V' the ,integral representing the
J
pumping-energy that
IS
(1200
.
-, )0' (3600 + 6/)(V/)2 dt
(J2OO
subject to
+ 6t) V'
dt
= 252,000
Therefore
F = (3600
61) (y,)2
and
(18.28)
(3600
( 18.29)
V, rh)
= 36.41
In(6J
+ 3600)
= 218.46 kPa
+ 3600)
= 8738 kJ.
- 298.15
rate so
"
';-'.,
v:.-..
'=
...
433
1804
denvatives:'
:'optfrriizes "an .
pllmp
.y
Oprimize
L 0 (y. y', x)
, .. I
(b)
(a)
. flGURE 18-7
(a) ~ra.mnUng (b)
f;
Oplimize
calculus of variations.
484
:. '. :"
18 .. 5- , STAGED.OP~RATIONSWITH~RECYCLE
.
. ..
.'
" ..
"
..~
'
. .
when ' the inlet. cOI)centz~gi.on S, the entering flow rate Q. and. the recycle
rate:':R are known. A complication oecuning -in Pig. '18-8
that 'SN and
S '] are not lnj't.ially kno\vn. The values 'of Sn and S' 1 can. be -as$umed~
however, ' and DP applied to the serie.s of .s tages. With the vi{ues of SN and
S'I detennined from the first DP solution, more.accurate values
SN and
S l] can be us~d in the pext iterati,on.
is
of
ldN
Q. S
SN
SN
------
rN
FlGURE 18-8
Recycle
&.1re ar;n
in a staged process.
5,.
dJ
S'n
lt
..-..---
5J
Sj
Sj
r,
c:t85
0-
enCOl2:J.tered, ho\vever just as has been the lease in CO:'Vo j\ dilen1T.oa 3.xlsesin m,aking the 1ecision of Vlhich is 't he optimal choice within one block of a
table., l\To longer is it possible to select the lTlinimum, (or m.a"Xin1um) of the
summation beirig optimized, but,:a sacrifice n;1ust be rnade jr,t- order 'to ke'ep
control the c0l1straint which in DP is a Sll1Th-natiori~ _ . -,
' -- ,
;:,: ~<:-': '-', ''the qu~s-do~Cl~: ho-'v!:,,,m~ctit~to,:,&~de:,off JJ-~.t~~~~~n-,;tl].e.,,~J1p)i:n0~i9p.',.-he.::ng,<, '
-optir~zed~d -'-tbe ~ohstraint"surpmatiolf. )It'is here -,that iris-1-ght-.~fr~ni:\=,6_y~~;U'f:'
-providesthe answer. The value of A has proven to b~ the s~ns,itivity coef-,_ '
.ficient~ ~d the DP'process ' wil1 ,be 'conducted ,with interpal choices
~o ':
hold a constant value'.'of A tlu;"ough the s~ccessive tables~:,
'
9
,under
:/
made
,
"
)0
"
~i
Volume at end
Volum~
at sturt
IS.B
16.2
16.6
17.0
n.4
'!'
,
15.8
16.2
16.6
3694.1
'3&83.5
4077.7
17.0
l7.4
26.4
26.8
2343,4
2523.6 2710.5
2343.4 252~.6
2169.9
2003.0, 2169.9
4480.2
2109.9
2003.0
1842.9
2904.0
27105
2169.9' 2343.4
21,."1
1412.
1'. It
21.2
n.6
28.0"
Bn.S
tl1L
34.2
)5.0
1033
"
TABLE 18.2
Ap Contribution
:1
~t
,c'nel '
Volume
15.8
16.2
16.6 ,
17.0
17.4
70142
71911
73693
7,5.469
77245
26.8
27.2
68826
16.6
66323
. '63R21
61318 '
17,.0
58815
" 613'18
71329
688_2.6
663'23
6382}
ot'start
0.0
15.8
16.2
17,4
26.4
26.8'
27.2
21.6
28.0
. 33.8
34:2
34.6
3!kO
26.4
66323
63821
27~6
'
7633
'7383
68826 - . -7-13
,66323 ' 6882
73831
' 71319
- 6632
63821
"
' ,'
3SA
. i!
1~
' 28.0,
:;~
....
~ .........r ......~
18.3
. Cumulative
, Cumulative
=:: ?-737.4 . I
1472.4
33~8
'1265~O
.
1107.0'
35.0.' .
35.4
822.7
,33.8
17.6
34.6 ,"
35.0
35.4
959.6
822.7
1808.0
+.
~171.3 ,=
+ 1472.4
+ '1
+ ] 808.0
~~. 2630.7
]
0.0043
] '-0.022
+ 62919 ~ 11 .1 -0.049 .
:+
~ 1]5,509 ]
+ 1472.4 =
,+ 1635~9 =
34.2 .
'.' 34_6
27.2
~
57261
.45414
2436.3
'+
- ,+.
.-
:=.2424.5
61211
57261
= 243'2.0
53312
33.8
.:?4.2
34.6
35.0
35.4 .
61211
1265,.0 + 1033.6 = 2298.6
1107.0 + 1171.3 = 2278.,3 . 57261
959.6 -r 1317.5 = 2277.1
53312
822.7 j- 1472.4 = 2295.1
49363
= 2332.2
45414
693.3 + 1
+
+
33.8
34.2
1265.0 T
1107.0 + 1033.6
+ 1171.3
822.7 + 1317.5
693.6 + J472.4
35.0
35.4
~/
= 2504.3
= 2169.5
= 21.40.8
2130.9
= 2140.2
= 2168.7
45414
28.0
.A
,~ 114~450 ]
0.0163.
'
.
J -0.010
= 113. 005 -0.037
~29.19 = 1
, ] -0.063
~6~46:;:: 111;560
= 1
50013 = 111,224
0.0281
0.0017
564"66 = 109,778 J -,0.025
= 10.9,056.f -0.051
9 =
612] 1 +
'57261 +
53312 +
49363 +
45414 +
46786 ,= 107.997 j .
0.040
50013 = 107,274 ]
0.0134
=
1 J -0.013
56466 =: IO~,8291
-0.039
59693 =
]07.
+
+
53239
11 0,500
t~-69
k>
.. :-'
...
: . w.! ;.::".:...:~ .;
D P solution :Jso st.'i \red to use the"sarfle lvaJuc of ;\ in malaDg the decisions at
" each stage. A less-tha.T1-optima! result ),vould .ha.ve occurred had a high value
of i bee1} chosen ' i~" .t he early stages and'a -low one later a;3 nece~sary to Ineet
t.h e constraint.
.
. .
'r !l solving Example 13.3 F/e had ad1f~-,ce".infQrrna"tion L1at A SflOUld be ' "
.:... ~O . Q2616 5 btlt if the problerit h~d.ilot b~n ' solv~drrrst-~by ;COV; 'this infor: '
. .' "Kil."ati6n - vJould p'of h~veb.~en-:. av8:ila-bIe:r"Wh~ii"startingrfieslto-n:; ~i u"s:ttaiiie:d >.,Oi:
, j)P p~obI~m~ it is'l:iece~sary ;to': eSrimat.~: a -v~u~ '! qfX ',aiid"talc,ll1)iie 'a"p"re~i;n- .,
)J.ary solution; The arbi~--iJy chosen :valll~ of A wplJld prqbably .r~~tilt.in Lhe . .
co'nstraint either being exceeded or undetused. B~ed on the results ~/i thoLhe
trial A; ~ new A would ber chosen ~ ' "
.
.
.
to
. PROBLEMS
"~18~1~ The equation for the path through air 'is tob~ found such that-minimum work
."
.results in tra versing betwee~ points 1 and 2 . in. Fig. 18-~ ~ The work js "' the
. ". product of the resistance and the distance, R ds, where R i~ dependent on
the air density. The equatio.n fOf: R. is
'
R = 15001(y
10)
, (a)
Ans.: . (a). (y
50
JO
DistAnce, kIn.
FIGURE 18-9
Path through air resulting in minimum work.
--
'.:-,
.'
evaporator
""'Y"H"''f''"C'l'''U
is
-------------------- -
$==
as a rH...... '......,...
- ..
.........
..... ...
4::.~ 1
18JL i\ rocket sta.rLs with zero velocity. and travels on a horizcrszl path. ag2,inst
ilegligible i-esistance, The mass of th:e mdtal of the rocket is w which 2$ very
,
"
'
~. ,
'A"~"
.'
. .',,:':' '
.'.~ . ",~"'"
. '.
t~st" ~I;'~:~~Ajd::-"-":'
. ,' . dM:
.
.
' .
.: "'where '~dt = fuel burnmg rate
'
..
Also deteI1l1ine' the di$tance trave:led in time when follo'wing' 'rlIe' oprim.um
.,plan. .
..
' .
I .
" ,,'
Ans
a "
d'l'stan'" ce
,0&
:AJ
'.
8 M
3 ' ".
,1845,. 'rhe distance betweeq two pumping stations of a natural ' gas (me~hane) .
.pipeline is 20b km. The pipeline cani~s 30 kg/s and the pressure entering the
pip~line is 4200 kPa and the leaving pressure is ,7000 kPa.
Instead ,of ,cboosin'g a pip~ of constant diameter, ' the diamet~r can be '
,changed every 40 kIn. because of the expectation that t~e optimum diarn'eier
may change 'as the pressure decreases, as shown in Fig. 18-.11" "
(a) Compute the d'iameter that re~ults in 'a press~e' drop from 3000 kPa to
2200 kPa jn a' 40 kill 'length, and 'th}js' fill in the gap in Tabl~ 18.5, The
basis for the calculation of the pressure drop in 'compressible, isotherm~1
flow in' a long gas pipeline comes from the combination of the following
equations:
momentum
rel4tionship 9f ~g to the pressure ~o'p equation
, continuity
D.
40km
200km
FIGURE 18-11
Pipeline i!!,.Poob. 18.5 where diameter can be changed every 40 km,
-=-
IS
(b)
493
length is 800 m._ The evaporating temperature is held constant du ri.ng each of
the five two-hour periods during the bl!ildup_ Dynamic progro.rnlill~lg is to be .
used to determine each of these evaporati.ng rernperatures such that m.inimuD1
refrigeration cc~npresso[ energ)' .is reg uired 'during the IO-hour btl ildup tirhe.
A_simple nlode! that yields real-i~tic results is tqat the ice freezes at. the
o0~tSide. -Surface at OC- and t~e :.atent neat of fusion .must paSs by conduction .
... ,,:... :..;- . .,- ... ' .tb,rouglt ~he ice tothf; r~fngerant.I,..as iHv>strfli~d:)n .. FIg.~J ~.:-12~'The o~llY.:. ~~.,:
~'/_~. :.:
.::;, ..
~ . :
>'
f;~' ".~ res~tance to'hear: tr~nsfer' that :ne~e(rDe;'cbilsid~r~d lS thai: ' of'theTce~'s:in~~ the--: :~
.. resistanc,es' of the .tube apd the' qoiling c6effiCj~n.t are relp.tivf,::Ij(~maIL .l1ie>: :., ,:..
. <;on~llction r~lations fot" a ~hlck .cyllnder must beu~ed.
.,
.
'.. ,
Jrr .
Ice properties
~,
is
AIlS.: 8231 M1
18.7. The constrained optimization for the startup of the turbine in Problem 18.3 is
250, 500
to be"solved by dynamic programming. The rotative speeds w
at
.,,------
...........
ict surface
0 C
/=
rt = 15 mm
~ RndiU! to ice surface
T, = Refrigerant tempemrure
finnl thickness I
:;;50mm
rj
"
\
\
\
\.
""
......
'
.........
------."",.-
./
F1GURE 18-12
Frcezin~be
in an ice buildtr.
Tube
. '
.b.
\0
A.
TAnLE 18.6
Energy'in
:.
.
',
for freezing ice in hvo-hour periods .fronl initial to 'final icc thickl)esses' shown
~I
mm
0
10
12.5
IS
17.5
20 '
22.5
2.5
27.5
30
31.5
35
37.5'
40
42.S
45
47.5
,IIlnn t til
'
lnltlnl
thlcknt!S,
Ick~e."",
.
,~
mOl
-..t
to
12.5
68.0 '
'92.2
15
:.120.4
17.5 .
153.0
20
22.5
191.0
23'5.3
111.0
150.9
t 23.1
25
27."5
t97.S
167.7
252.0
220,0
2B I."
IJ~.8
185.5
244.(j.
,
102.3
149.1
. 11 1.5
35
JI'.
3'12.9
204:~ .
269.5
[6J ..~
"' 346
~4.1 . .~96.
121.a . 1"77.6' '245
130,9 . "-1'92
}"~..
!-'::
::,:\.:.
'.~?
~~,:~ ~
"f" \
~ 141
TADLE 13.7
:j
Speed ut end
or stngc
1t rp9
Speed at
stllri., rp
lQ.O
19.5
175.2
184.0
37.0
147.1
ISS.D
164.3
173 ..3'
147.2
\39.1.
21.0
, 116.5
[23.~
155.6_
147.2
139.1
I J 1.5
164.3
155.7'
2O.S
139.0
. '[31.2
f ''23.7
0.0
10.0
1~3.0
20.5
21.0
202,4
212.0.-
, 37.$ "
3fi.S
19.0
19.5
20.0
131.3
36.5
37.0
37.5
3g~O
3&.S
49.5
~.O
5O.S
51.0
51.5
~:,
\0
011
38.0
'
'38
' 1-47:.4
l
\
-\
1
1'~39A
a
"
stnl1,
:(
0.0
19.0
19.5
20.0
20.5
21.0
37.0
37.S
~
38.0
~49.S
50.0
SO.S
Sl.0
Sl.S
170Dlcm
.,
~. ~
till
rp!J
19.0
19.5
10.0
20.5
21.0
2521
2563
2604
2646
2688
37.0
37_5
7021
7073
7156
7240
-38.5
--
6969
7104
7135
7l8R
7271
7354
732J.
7406
. 7125
7208
7292 .
7375 '
7343
7421
--
and 7.50 s from the start {;I.re to be dete.ffi1ined such that the sU.mrnation
4-
COSI,
:=
.2:
_Costj
i.=== 1 .-
-~
..
".is a minimUlTI.; where._Costi 'js the integral of 120 {u/f~ :in a pille stage~ The
- consu-aintrequiies ~he. total n~mbf!r
revotuti~Ds it"1 fiae LOOO.s startup 'to be
_. '.'" ':. :35))qO~.~.<...:' ~ ..,,:-:;.-,-.-.:;.'~.. ~:.;,:,.<,.:_. ~: -:",'.--: :".' '. _~:
:~".'.'
of
,< ,-
. , , / ' ,:-",:,.;:-
,., -.-
, .......
'
--
l_ .... -,
4-
Re~i
-= ,35~ 000'
-i= 1
_where Revi i.S the' D.llIDbe:: of revolutions in' a time 'stage~' The- solution': ot-Problem 18.'3 by calculus 'of v~~.tioris de-teimined thaJ A , 0.01,44 ,$/revolution,
-ano. this value may be .used in .the' dynamic programming soJutio'n' tOI gl;!icie.
th~ tradeoff between cost' '~nd number of revolut~ons. Table '18-.7 provid~s
,values' of Costj and Table' 18.8 the number of 'revqlutions Rev'j in a 250 s
.s~age bel~ee~ sele~ted initial ,'and. fip.aCvalues of W~
':{a) -Verify by integration of 120( w,)2dt 'and w dr. ope- entry in each 'of Taqle
18.7 and 18.8, -respectively (for ~xamp~e between the initial w of 20 rev/s
at.t50 s. and the finaJ.l1? of 37._5 .rev/s at 500 s). Use a quadratic function
. for iv, namely r) = At 2 ,+ Bt., where t = time in ~ from the starftip.
(b) Perform th~ dynamic programrr11ng optimization to determine values of
w at the end of each 25"0 s intervaL
Ans.: total cost = -$467.20 with -34,938 revolutions'.
,
----..
CHAPTER
-.
- '
. .,
~ \.
.,.
.-
, I
. .
..
, ,<"
' _:.
'.:. '1.
"
,- '
..
. ,,
,', '.,
"
,,:~
"
:.
;~
..
'."
',
"
.,
', .
~ .
',', : '
'.
. ~
J '-
, ' . ...i..
.
"
~"
'. ',
.... . APPROACHES
." 'TO 'D,ESIGN:',:"
'. ..
,'~
. t'~:~':J;:
",'
... ~ .;'..
...,:.A. : .;,."
.',
','
.,."'-;.-:;'. :'.
. . "",. '
.
,:,"
"
.4
. .
'
. ... .
"
:.
.~ ........
, _ 'T
as
498
--.
. ' ..
. .'; . . . .- .
-. " i
reS~9
'Jne of the c1assificatio::Js, fnto which' Dlany 'of the applications divj.de :3
\ivhether they are dis,tTete ,or, con~lr llD US. The distinctio~ bet~..veeD ,' the two,
"'Gp-tegories l1~ay be ,cnidely e:xpressed as the' riumberor density of events.: As
the ,de'l1sjty i:r.creases :the f~pr,esen1:ation shifts [rpm 9i~Gtet~ 'to ,c'dntirilious
o' ,
",>:'~Tl).e har~cteVz~tibn.'o.f'dis'cr6te' 'eY'epci ~ppe'ars in' i;io bability' texci.' 'in' e,~ain~ ', ::,:
:" ,," ple~' Qf rofiihg 'dIce'" selection of cards fro~ ,:a 'deck, ,an(r.~-aw$.g,l?a:U~',,~f '. "
, ,various cQlors from urns. The~e applications should noi' Suggest ,'that ~;~~1e ,
use:fuIness of the ppncii;les .,o (discreie 'pfo,bability is limited to games .. ~
'\
,"" ", . ~", If a disti.t!ction between the"analvsis
discrete events and contin ubus,.,
of
to
prog;~ss
.. from' th~ discrete':event equations to continuo'us"'o'nes. Indeed,. su'c h devel' opinent will be explained' ~tarting.in Sec. ,19.12. First, ~ow~y~r~ the p~ub-: ,
.ability: of ,several elementarY' situations, involvi~g ratidomevents vlili. ,b e ,
, explored.
....
"
. ~.:.
19. 3
PROBABILITY
No~ ~~ll pla~s fot the future involve"probabilitY. PredIcting 'the ' day o,f the
week on which July 4 'will fall in the year 2004 projects into ,the future,
- but lies o,utside the .realm of probability because we know with certainry
(barring a change in the calendar) on what day' of t.he week July 4, will fall.
We are concerned about the situation where there is both the possibility of
an ,event bappening and Dot happening.
'
'~,;;
The probability is defmed as the number of favorable ways an event
can occur divided by the number of different ways the event occurs .. What
is the probability of drawing the ace of spaces from a 52-card deck? The
probability p is 1/52:
1 -
p = 52 = number of different
way~
Probabilities can vary from zero to unity, with zero probability repre- '
senting the limiting case of. no possibility of a favorable occurren,ce t an',d
th~ probability of 1.0 indicating certainty of the favorable occurrence.
events.'
.-
..
500
th~_ bead-2~combination
. ' ,,'Solution. ,Theprobabjlity P1.ofthe -bead ap,pearing is 1/2 an4 the prol?ability,
, " ::': P').' of,~e 2 appearing o~ ,the 'die is 1!6, so the probability ,of. the combination .. ' . . ;'
"
.. '
~i//"
': "
,'.
..
';
..:-:~~-~,~~.:0g~~gb~s~'E~N!~-<", ;~.:F" ;";-'_C;_~~;."~,./~ -_, .':_;~ :'<:';_ " ~":-;;' _;:"~.' ' ;.
" ' " ,An.::'.~~t~~~io!i' ':~f:', ~he. concept
~f ' fu.d~pe~de~t':~ ~~e~,ts'._'J..s'-: Qlat :' of ' s~cce~~iv~ ' , . , " ,'"
eventS', where ,.the flfS~ ev~nt a~t,~rs ,the prqo~biI~tY of tl).e, ~econd. event,.
' '
-.- .:
.~-- -~
. '
&
'
- '
,~
~.
.'
_.. -. . "
EXample 19.2. ' What.-is Jhe probability ,of dra.wing. two aces._ in succession
'a .52-c~d 'deck'?
'
, '
. , :,
:, :,' , " ', '
'
fI:Q~
of
of
is
,P ,=
(1)(1)(1)
5"
8" 7 6" = 3~!.
1
( 3 !)
-.
C,
50
~~
,', .:
,,"
'-"
."'
',.'
,"
Solution. The number' of ways ,that 4- ~/hiie'- balls' dm be-.chOsen' fro.m .the 10
-. \.Yhite :b~l1s is equal to .the. D.umbe.r:- of ,combinations.-<?f in $ings "taken L~ '~.t ~, '
time, , .
"
c=~
10 4
'.
4( 6!
, The fotal nl1~ber of ways in which' 4' balls can bec hosen from the 1Ta~ailabl~ .
is -.
..
'.
lOC4
' lO! 41 13!
'3
p .= -C
::=::
4'
6
17'
,~
34'
17 4,
. .1 . . ' ,
at
in
the
Example 19.4. The probability' that Paul will solve a problem ,is 112 and
the probability that John ,will solve 'it is 1I3. Whatls the probability that the problem will be '~olved if both work at it i~dependentJy? '
."
Solution
p=
...
= I-Pr';J = 1 -
(~)(~) = ')J3
DESIGN OF
J..o..t:..n..l ...............
SYSTEMS
D
1 ".
....,V'...A ...... V ! J
P =Pl
if p},
were
~.,
. Vi. W'
.
' ,
.'
VI
. ~'~ B}'
. ~~
.~ B
'.
-..
. '.
' .
503
. ' .: .
l' '\,.,-8
"
' "
."
One vJhit.e,
J!1GURE 19.. 2
" Prob~b~litY o(4ravving one wruu~' and 'one blac~ b,?ll. " '
....
the ,probabili,ty of dr~~ing a bl~ck' b,all rust and then ?whlte 'ball, 'whl~h' is,
route ' Y,.is (3/5)(2/4) = 3110 also. These ar~ mlituhlly'exclusive events, so .
, th~,'probability 'of one wbite and one bla~k,baH as the' resUlt-is the sU1J1" C?f th~, .
, in,dep~rident probabiliti1:S~
.
"
'
.3/10
+ 3/10='3/5
;'7".
TRiALs '
.' "
This section deals ' with the ques1;ion of the probability. of an 'event occurring
,exactly once Ii trials when the probability of the occurrence bf that e~e'nt
,in a single trial-is.. k n
own.'
.,
. .
in
Sequences (a) and (b) are mutually exclusive, so the probability of rolling
exactly 'one 1 in-two throws'i~'5136 + 5136 = 5J18.
Three throws: The three mutually exclusive events each have a probability of (1/6)(5/6)(5/6) = 251216, so the probability
of rolling exactly one 1 in three throws is 3(251216) =
25n2
Four throws:
'
p = 4[(.11-6)(516)(516)(516)]
= 250/648
~,
'
504
DES1GN OF
THERMAL SYSTES
TABLE 19.1 .
. Probabilities of Irollmg
One J in"a
..
<.;<" ': .' .giv~~ nuiriber throws .
of
.4 .
, .
..; 5
. .
, 6.
.7 ,
..
.:8 , .
,9
10
1 1
, '0.3721
.'
'
~' -
'
"
0~3489
" 0.3230
r. , _
,.
'
LAw
..The I:Ule appiicable to. the situation in Example 19.7 and to certain more
general probabilities as \yell is, called the' "binomial1aw" and is as follows:. If .
the probability 'of artevent'occumng in a single tpal i~ p;then'4e'~bility , . ,~ ., :,:!c<
' ~at -it will, occur exactly r times in. n ind~pendent trials is
.
'
Pr =n C r
pr
(n~r)
(1 - p),
.'
l'~ " ,
(19.2)
Example 19.8 . . Use the 'binomial law to compute the probability of rolling
exactly one 1 in 8 thIows of a die.,
, SOZutio11
p = 1/6, . n
, "C r ' =
so
p,
= (8)( 116) J
= 8,
r =.]
8!
CJ
= 7!
(1 - 1/6)
l! = 8
(8-J)
0.372J
Example 19.9. What is the probability that a 1 will appear exactly four times
jn the course of 10 throws of a'die?
,
Solution
.p
---.--
so::
=4
50S
are
of
"
'0.077,8
2
-3
4'
5
0.3456
'
, 0.3 , f-
pr -
'
0.2592
n=5
-<:' ~
max
.0.2304 .
0,1
'0.0768
0.0102
f-
--
rL'
O~~~=-----------~~----~-----
012345
0.3
0.0060
0.0403
0.1209
n= 10. 3
0.2150
0.2508
0.2007
4
5
r-
-<1----
max
.....
10
P,
0.0003
0.0012
.,.
..
to
10
fJ2
0.1396
0.1474
0.1360
0,3
.............
.,.
II
n = 30 12
13
max
0.1
. . . . . . ...
22
,
k ,
"
0,0016
0.0001
r-
0.1
.. - ......... ...
9
1-
r-
. 0.2 -
0.0002
....
30
ill
I."
..
0.0000
10
IS
20
25
FlGtmE-19-3Probability of selecting Brand A hear pumps if the probability of a single event is 0.40.
DESIGN. OF
1
2
3
4
0.201
5
6
0.0264/0.0189
7
8
9
10
0.4
SYSTEMS
n = 10 .
0~2
TI:iERM~
5
6
7
8
9
JO
II
12
13
110.0904
1
0.000810.0001
n = 20
30
40
507
Pr '=
,1 "
'
e "-(..r -
t'
)'2/J,....'2.
'0
, (-,1.-9.4)
_'-'
When .Eq. (19.4) is , graphed; as in Fig'. 19-4,- the . curve takes 011 the'
, characteJ;istiG' bell 's hape 'with the peak value'of Pr = 11 a.j2Tf' when x '.= x o.
The cUrve is .h r9ad for large values of (J ~~ is ~ltttow '"vith a high- peak '
'when u'is small.
"
,
'It sh'o uld 'be P9'i.nted out that the ordi:p.ate of Fig'. 19;.4 is no.t probabiiity,
, but ptoba.bility density. In ,other.words,- the oIdinat~ ,alone does nat g~n~rally
.provide practi~al inforrpation. The area unde~ the Pr . ,,~yrYe indica~es ,t he,
probability; for example, the area between x I and X '2 In Fig. 19~4 represents'
the probability of the event occurring between these x values. Even ':~for'
the 'discr~te probabilities._shown ih Fig. 19-3, areas were :impIied became
..
..
0.2
L_~ ___ _
?;>
.:;;;
t::
4)
'0
.q
:g
0.1
.D
o
~
-10
F1GURS-I~ 1
20
...
-f)ESJGN OF THERMAL
~ySTEMS
- 1
- <. 0" to x 0
Z u.
a ...
""'A, ...........
T/li5lli
:;1.).3
, _ .: Z
-f
-_. z
.p
-.-., ,, .~ .. q-oO. ,; ~.~~ : O~QQqO:,J)~~ ~J:,99:i!:':': -:;u9..&9"-$.i7.~,~.:" , ."t oO:') ..'. "_.: Op9~4'~: .;'
'.
. . '-0;05" . '.0.0399'- .:. .... -k~(JS'~ ..... 0.7063 .. 2.'05-- :" ""-"0:9396-' :'" F' '.
.
. . 0.10
:'0:0797' ':'. Lfo '-": ' "O~'72'g7 ~ . -::: 2JO" '. ' '0.9643 ' '. ,: . .. .' ."-:- -':" , '-,'. 0.15 -: -' .0:1192 - .' L 'IS
0.7499 '- '2.15 '.',-' 0.9684 ' , '
-,
. " .: ,
, . .- -'" 0.20 . ,0 .:1585
1020, ' ' 0.7699
2.20' '.: 0.9722 , .- 0.25 .' . 0.1974
,1.25 ' - - -O.7~3'87 -'-2.25
O'~9756 '. '
0.30
. 0.2358
_rt .30
0.806..1 ' , 2.30 ' 0.9786 .
- 035
. O.i737
1.35
- 0.8230
2.35
0.9812
p.40 .- O~3108 . IA.Q
OJ~_385 ' . 2~40
0.9836
0.45
'0.3473 '. - ' 1.45
' 0.8529 .
2.45 : '-. 0.9857 '
0.50
0.3829' .
t~~ : , '0 .8664 '
2.50 0 ..9876
, - .0'.55
0.41i(
1.55
ri.fn89. :2~55 '., 0.9892
O~.60
0.4515
1.60
0.8904
2.60 . 0.9907
. 0.65
0.48:43
. 1.6.5 :', -- o.90~i .
2.65
0.9920 '" .
0.70
0.5161
1.70
0.9109
. 2~70
"0.9931 ' .:. -. 0.75
0.5467
I. 75 ' - . '0:9 ~99.
2.75. '. 0.9940
0.80
0.57.63
- 1.80
0..9281
2.80 .
0.9,949
. 0.6047
1 ~85
Q:_9357
2.90
'0.9963
' .0.85
0.99
0.6319 '
1.90
0.9426
3.00
. 0.9973
0.95 0.6579
1.95
0.9488
. 4.00
'0.99994 .
1.00
:0.6827
2.00
0.9545 '
5.00
. 0.9999994 '
0.06
- 0.04
0.02
o~----~--~~~~--~~~~--~--------
20
24
22
. 28
30
32
Temperature. 0 c
FIGURE 19-5
---.
509
~ ~~~~~~~~~~~~~~~rr~~hrt+~~rrTi~Hrr++i~HrrrtTTi~Hrr+Ti~rr++~~t+~~~t+~~~~~
;~----------------
-~ ~ ~~++~~~~~++~~+f~H-h+~~tf~r'~++~rt~-r~~-rrtt;~rtf1~rttti1Hrrt~~tt~Hrt7~rt.~~rt++~~~~~ ~.
l
-.
.,
I
~ ~~Hh~~~HhHHHHhH~44~~~~~4H~~~~~~~~++++++++rrrr~~rr~~~~~~~HH~~
~~r+~-r~~~~~+;-rr+~-r+;-r++~~~~+;-r~~~~-rr+;-r+~Hr~~rr~;-~~~~;-r+~rr~-rr+;-rr~~r++4~ ' ~
C(.
>, j
, I
=
510
'r
\ ._- - - - , ,.,
).
. . . .. .. '.: : 7
~ . ~. ' ~.
-".
,'.
'
B '"
'
'
1__
..
-- '.
;.-
.
.
.> ,,,~
;. I ~
,"..
:..
: .. '.: ' :'. .
"~":'il '
"
:-
#-'"
.'"
. '
". ...
A. ~
I
I
511
"
i5.87%
"
':
:. 1
',A- :,'
. ' ,' ..
yafor B
' _ .. '
. ... . ,
84~J4~
. .-'
50
, C:~~la~ye percenr
.-
FIGURE 19~7 - .
T\\~o differ~nt normal disuibutions sho\\:n on the arithrneric probabl1ity chan.
FlG~
512
,.
A.
the
. .,. .
- ' simulation. We frrst consider the -:mo~t fundan;:H~ntal and simples(case where
,, :two probabilistic functlon:s are _combmed through ,addi~iort or s,ubtractio~.
, Even though thi~ case falls short 6fansw'enng the -chailenge' o~ a sy~'tem
,simulation, -the '-results indlc~te some characteristios ',of ' combinations ofprobabi1i'ties, The objective ,will be, to detel1l1ln~z in the equation '
z
-'-Y'-'w
(19.6)
y' 'a nd
where
pw (Tw
.,
')
e -(w-w.,0 )-/2a;
\4'
"
.J211'
~d
Py CTy
or in general "
'so
e -l\--". 0 )2/2u..'r
2'
.J2'TT
H'
w. y.::
(~ame
513
units)
-. .. ..
-.~
"1
';'wUy
w ~
fa
. -~-;!' ': .
V21t
Wo-
d14'
= dW , and 11 '==
Yo ,-
Wo-
dW
-co .
Next .perform. the following steps: (1) combine . the ' exponents of' e .. (2)
complete the square for W, and (3) move the nonvanable tenns outside the
. integral sign to ot?tain,
-
P: =
exp
(z 2
1l)2]
[ 2(o:v +
U,.)
co
. 2O'y
-co exp
uwO:v .J27r
(0-. 2 +2
y
a w 2)
')
Tw -
(W +B)-
dW
'
( 19.9)
Let
(z - 6)uw 2
.B = - 2- - - 2
Uy
+ Uw
'
.">:
" -
which~hen
.. .....,
-.
: ...
ue
----..
Yl't.'
occurs
515
'ot
19.1. Two sou'fees of natural ga? shown as A and B in Fig. 1 .9-9~' each have
adequate eapq.city to supply the citj. Sources A and B are each outfitted
with , a compressor, .1 and 2, re.s pectively. In addition~ compressor 3 is
located 'at the junction, and this compr~ssor must operate along. with either
both ~o~p!essors 1 and 2. The probab,ilides of the compressors' faillTI'g are:
. 'compressor (," '0.008; c~mpressor 2. 0.0012; and compressor 3, ..0.,00002 .
.What js~ the probability of the city bejng witho1ut 'ga'S'?
," ',.' '. ; .,. ~ ,:'
or
19.2. A ~hain measuring 30 lengths is composed of 10 sjngle links and some links
that are not as strong, so they will be doubled in each length, as in Fig .. ,
19-10. During an, unu.suaIly heavy 'load the probability. of any of the slngle
links failing is 0.0002, and the probabHity of a weaker link failing if it were
used as a single element is 0.012. The ' double link doeSD't divide the load? .
but one link either sustains the load or breaks and transfers the load to its
partner. What is the probability of the chain breaking during the heavy load?
00
Q)
'-_lkllto-------./\
Ciry
FIGURE 19-9
Gas-suppJrs-y-,rte-m-ln Prob. 19.1.
~ ~, -
' S
'x\!' '
.
516
] 0 SjngJe links
20 Double links
"
"J,.'
~. -
,:
.:
'
,.
~ :':-
-'i
::~,.j ~ .
. _.
.,. '
."
- \,
j'
~."
::
'" . :
;'.
~. -
:"
..
'
"
; ,. -'."
:.
~~.
"
. . , - : .\
,",.',",'
:.
:-. :. . ! . . -.'-
~~
";.
,_
~'!.:
.. ':' '.
,::":. . :.:;.
.
, ..
'
...
,"..
19'.3 .. 'A condens~te "iine,' Fig. 19-11a. ~~ty~s lU',steam ~oils whlch at'design" " .. '
, ~onditiop~ have' a ~te~ flow rat~ 'of (L03 ki/s 'each. 'The' condensate ~ps', ' . . .
on each ofth,esecoiIs can 'dI+IDp'at th~'iate of 0.15 kg/s; so tPat the flow rate "
"
from one trap has th~ fonn shown 'in ,Fig. ,19-1 lb'.' What are ,the probabilities'
'of the simultaneous d.llmpi~g 0(0 "tr~p" i ,tI?1P9 2 traps,' ....... 10 traps? {FUrther
refeJ;"ence: "Sizing a 'Condensate Return System ,by ,Monte Carlo S~mulation,"
by"\V~ C."Huang and Y. K. Lee, H~atl1?gJ Piping a:rd"Air Condition.lng, voL,
, 45, no. 7, pp'- 44--46-," July 19~3'., ,"-", : :"":"':'~,~:,",'~<i.,::",,'~~~'::'~~":~~~~'1'?:.L:":'.. \;,~\{...'.,,77.~fA~~~,-
19..4~ In l~boratory buildings equipped with ftIme hoo'ds, the air conditioning system'
must be designed to treat the mak~up air ,entering the building when th~
fume,hoods operate. In a ce~n Iab0I11:tory building there are)O hoods" and
experience sh~"Ys, that any hood is in operation approximately' ,113 of the time
"and in a ran90m pattern. What' is' the probability ~at 15 or mor~ bo'6'ds' win
be operating at a given time? ."
Ans.:,D.0435
19.5. A refrigerated warehouse has 12 large doors through which prod U. ct is
transported. It is h:npo~nt when designing the refrigeration plant ,t-o know'
how
doors ;;ire open at a time in order to provide adequate refrigeration
capacity. The operating pattern at this w.arehouse is that any given door is
opened on the average every 10 minutes. When opened, there is a 0.4 probability of it staying open 15 s and a 0.6 probability of it being opened for
20, s. What is the probabili~y of '2 or more doors bein~, open at a t~me?
many
.- ~ '.
Coil
~~
'.
Coil
'Coil
Coil
f - - - - - r - - - - - - - __- r -
Condens~te
(0)
FIGl!RE 19-11
Steam traps (b)
(0)
-t-,
f10w
Time
(b)
l"'ABLE 19<-4
517
'NUf"ilber of
f./lonth1y t~lll~
dollars
N urnber of
customers
custom ers
(i8-72
72-76
- 76-80-
:1
92-96.
. ' ,96-100
2
3
3.
4-
~D9-104
4 ..
. 104-108
3
2.
. i i'2~t 16
) l&.l~O. '.,_ .
120-124
124-128
I :I ..
1
I .
Over 1 ~8
. 7
J,.~.
5 ,
10E-ll2'
5 .'
5
5
6
. " .. :7 "".'.... ,
-y
19a6.. The':D'umber' of cu~[omers i.~ each .bf the ranges o{ monthly electric bills is '
~ .shown in Table 19.4. Plot the cumulative distribution
arithmetic nonnai
paper and (a) determine whether th.e distribution is normal. and (b). if normal.:
determine' x 0 and the stanc.Iard deviation.
19~ 7 At-a certain tim~ of the day there is a 30% probability tha~ the electric kitchen
range in any of the apartments in an 80-unit building will. be turned on. (a)
Denve the continuous distribu,tion equation
the pro.l?ability density ~ a
"functio'J1' of the total number of rane:es turned on at one time. (b) What is '~the
prob.ability of more than 35 ranges
at anyone time?
'on
of
........
J~ , . .
operatin
is
REFERENCES
L E. B. Haugen. Probabilistic Approaches to Design, John Wiley, New York.
1968.
2. D. F. Rudd and C. C. Watson, Strategy of Process Engineering. John Wiley, New York ..
. 1968 . .
3. A. H-S. AQg and W. H. Tang. ProbabilitY Concepts In Engineering Planning and Design.
John Wiley, New York, 1915.
4. W. H. King, Probability for Managcrrunt Decisjon.!, lohn Wiley, New York. 1968.
~.
'/.' ..
',,"",,>
~~:: ' I
..~
-.!
. .
.',
'
~'.' ..c
r, "
:,
This "section 'o f the" appendix "presents some 'sample Projects whi~h apply
principles studied in the text, ~. g., economics, equation fitting, simulation,
a combination of them. These problems m'ay b~ used as
optimization,
projects accompanying the study of the text material and running as a parttime effort all term, Many instructors devise the~ own similar groblems
based on their own engineering experiences'. Some of the problems 'may
carry over from one teIm 'to the next,. with one team of students picking up
the work where the precedipg group left off.
Engineering students become proficient in solving short problems such
as homework problems which require 45 min I but most professional engineering probl~p?s ~e long-tew, requiring weeks or mon~s'for cqrnpletion.
It is therefore appropriate for ' senior-level or graduate-student engineers to
gain some experience with comprehen~ive problems which require discipline
to maintain' progress over a longer period of time., Also, 'at .the beginning of
, aay long-term project there is the pefiod of deliberation ' on how to start the
or
problem-how to find the handle. Inexperienced engineers spend considerable- time spinning their wheels and making false starts before focusing on a
valid solution. Experience with comprehensive projects is the best means of
deveJoping proficiency in thought and' work habits. Written or oral reports
mak~ good targets for completion and have their own benefit 8S welJ.
518
-.
5~i~9
COMPREHENSIVE -PROBLEMS
"i~ .'
".
J _ .... _
'- .
;1.'......
"
' - : .~:'"
'
') .
.:..L.I.-Y
"'-
.,.~..
s:.
-,
')
~\'
_'oJ ,.
':'"
#.
_:
J' ! .
. ; - ,'.. ; -
.~'
:-
.,
.'
'
".A-So
'
Valve some of the hot brine vaPOrizes, and this water vapor condenses on
the tubes of the condenser and drops to the freshwater collection pan. From
the fu-st stage the brine and the fresh water flow through pressure-reducing
valves into the next stage.
Figure A-I shows a two-stage plant, but conunerciaJ plants have many
more stages .. A"Poster-Wheelet-plant in San Diego, for example, has-rune
stages.'
----
-=-
..
Condenser
,valve
same as
\vatef'.
----..
COMPREHEN,S' ~ VE PROBLEMS
.JD~IS5~f~lrh;;;;;li~~t}~
'
I,
Introduction
-, M9st large bUIldings ,have ventilating requirements whic~ bring .in olltdo.or'
air and exhaust an equal amount. \Vhen the outdoor temperat~re is low,
the cost of heating the outdoor air before introducing it' irito, the bt}.ilcllng "is
appreciable. This heating'cost can be reduced by recovering sOn;te,.heat from
the exhaust aiJ., , One method ofrecovering heat is to place a fifuled-,coil heat
exchanger in the exhaust airstream, another in the outdoor aiistream and to
pump a fluid between the' coils, as shown in Fig. A-2. Water would be the
fIrst choice for a heat-transfer fluid, but to guard against freezeup at low
outdoor temperature, an antifreeze such as ethylene glycol Diust be added.
,
If the system"serves "any purpose .at'a?l, 'it must s.a~e ,more ,money ~
he~ting costs than it requires for its own amortization 'and operation. The
first costs that are to be amortized ' include the ' costs of the coils, pump,
piping, wiring, additional ductwork or revisions thereof, and additio'nal cost
~f, l.arger f.~~< 9r . Plqt9rs, if needed .. The operating costs include the ,power
for the 'pump and addi~ional fan p<?wer.
The potential savings should be evaluated for an optimum heatrecovery system. This optimum system consists of the most favorable combination of the fol1Q~lng variables:
1.
522
~doorrur
- :,-
- '"
.. 1
.
. :,' 1
~ .
- ' I ::
,' ,
'.
~-.
'~.,
>~
'. '
"
" ', ,
'. ;'';
'-P
.. .'
-~
"
:.. ..
' . p :
. .
'-
. -
- -" ,
,',
' . ..
-. .~:
,' .... :
" A: _~.
','
..
"'t\'~:f~:-,: . ,
"
",
- .'
. ..
.:.
~:
'
-.
'.-' ..
"
":.
.. "...
,
"r
'
.. .
, -, -. :
........ : 1- .
J.
F1GuREA-2 ..
Heat-recovery ~ystem.
4. Fin spacing
5. Gly~ol flow rate
': '."
are
i.,1
,',
COly1PREHEt'tS1VE PROBLEMS
-Further sp-e-cHkations
. '-". -
.'
..'. . >-
523
16
vertically lnd.horiz6n~ny b
The aver~ge outdoor-t~rrjperaturf .is 'jOC" fc:~' 250 ' days .ot. 24~hr, ~}J~P- "
tllbe.spacl (rg is 41
'tiOIL:i-~""/'''''--
..,;:,i ......;:. ~.
-m.ITl
.,,~. - . I .. - .
, ,
, . ".:.-.;. ..:' . ~. The.'iif~' :is: I 0' .yeai~~' .~n~t th~' ,i~~ere:st . ~.te s. 8 pe~cent '.
.'
.
":'-
,. .:,' ..', . .
. . ' - The- '-ne t sa'v ing to be. maxuPized .is .the diff~rence'. between .the: .red ucition .
.'. :-~. in .h~atit1g COst' and the' .ahn:ual cost '(ainq~zed, ' fuSt
plus . QP~r~ting
.
.'cost) of the recoyery'.system . ~t? b.uildin,g "is.'h~ted .electrically, 'so as far " ",,'
.. '.' -as the ventilation aIr is ' coric'emed~ electric-reststance heat must \v.ann :the
.
._ '. ':, j-n~omirigou~d6or air to t~e'b~-H~i~g tem:p'e~~re of 24C. The fi~st'6os r:t:b be -, .
: 'a.mortited i.nclud~-s that bf the coils, rhe.purnp ' ~d mo~or (3:s'stimed constant' _
. .' at. $400)., 'and ~e .iIlterconrte.cting piping (assumed cOQ.srant 3,( $150). No
:alIQwa..nGe ,faJ c;apital c.ost for the fan' is ,provided' because fans already ex-~~t ..
in. the system, and' it,is a,ssuined ,that thy wo\lId no.~,h.ave . ,to be enlarged to
. " ovet~ome .the additional pre'
ssu're
drop of rbe"'heat-rec,Qvery coils.
'.
.
.
..
'cost
-"-.'
,+ (0.024)(NF +
500)~V] [L(NR
+ l)J
. dollars ..
1 . 0;0226
='
+ 0.0032
'U
-.
V
0",,8 , '
o
.
a "
.. ,
'area is
O.OO88NF + 0.185
+ . .' .. . . -'
.
"
. 524
DESIGN OF
THERMAL Sy~
+ O;0875(W
DPEO' = 5,2[O.15W L
.'
,V +0.3](V!r
75
'd:r~p :of fh~ ~thylene. glycol' 'through the ~oil~ ... '/,."
"~ .i." -::; .;:;:~s~me: alIow~ce .,~bould be iQade for:the intercoImecting piping:.' .is kPa~ .for : .->',.
'~::;~r ~.i.~:.>;r.~:~~ampIe. .'
'.... ,.' .'.'
. ,..' . ... " ,
.' . ,,; ::.:
\~,:.:.
"
. . . . . , ..
~""
i>;:"<'.:~~ri~bI~"
'. '.:..~..':-::~ The.fiv~
: '
;' , .
0:;.... . . '
"
';
.... , . :,.',
-:
,',
:; J ;
...
:'~:::"""
ire',. "
'~a1~e~-:~,~~~r:, ~d.ili~~'~g~S ~f
', ' ' . . ' . . ' , "-"'.' '.::,,\,' ",' '
'.
'.
of
"
," .A..ssi
OnIn en t .. ' ,
" . b,
, Dete.rrnin~ rhe"comb~,atioi1 of the above 'variables rl).atresul~ ~'U1e 'o ptimum .
. econoII).ic solution.'
.
"
.
.J .A.3
.~
F ire Control
,
Refineries and other cbemicaJ plants that process f1amm~ble substances rpust
provide elaborate measures to prevent .and fight fires. 1 Almost ail such plants
must be eguippe~' 'with a fi~-Ylater distI)butioil system that.is generally
constructed underground to supply hydrants throughout, the plant. Typically, '
the plant is su1?divided into vanous areas, r'emote from,'each ' other so at if "
a fire breaks out in one area.it can be contained in that area.
serve the '
entir:e plant, the 'fire-wat~r grid should be capable of providing a specified
rate of water fl9w to anyone', area at a time.
' Two challenges fa~e the designer. For a given pressure at the outlet
of
PU,fI!P ,".
.,
To
the
".' 1. Select the pipe sizes"'sO' th~t th~ flow' through the gnd 'Yilf supply fue
. hydnin~s that surr~und a plant afea w'ith the 'required rate of water flow
2. Select the 'minimul11 flfst-cost 'combination of pipe sizes that meets the
above requiremen,t
I
'
-----.
".
' ."
. "
2,
' ',' ; 4
'
I.
Area A
Area .fi
_. ,E
',:"a:8rr? Is"
: "'! ~
~.:'\o:
_ ;;~:
'_,
'Hyd,~;l~,'
.
',~"
'
g'
.~.
." , '
I'
."
~.".
". .
.~.
, .
'
nGu:RE,A-3
'Fi.re-water grid.':
.
.'
'
'
, ' spec,iaHy con$~cted e:1ect;rical' ana19gs', i~, cOfnbin'atlQll ' with a cut-and-~" "
'" . .'IDethdd of.ent~giI9.g: pipe sizes until '~ach ate'a-iru.1ividuaJlY c,all'. be 'hlanketed '
, wjth specified 'w~tei flow. lhe analog must" be :'a ~special 9ne, beca~se "the "
" fluid-flow conductor does 'not
'Ohm's law. ' "
,
. follow,
.
'
'
,'
,. .
, TPe "goal of this p~oje~r ,is 'to select, pjp~' ~I~es ':for a fi~e:':y;~ater grid to' achieye
1-minirnuro. '[ust cost .. whe~ 'the 'following conditio~s are 'sp~cified:
.
of
Th~ suppiy' press~ the P4mp is 800, kPa. The grid ~USt suppJy a minimum of 0.7 ,m3/s to area A and 0.8 m 3/s to area B', but pot sImultaneously,,'
Area A is served by hydrants 1 r , 2, and 3, while area B is served by hydrants
" 2, 3~ 4, and 5. The flow characteristics of the, hydrants , ~_ ',; ~."--':f"'-".--'<,,,
~:o:\l"'1
,.~
..L~ 'O.ol
"r'"
'.
". "
of
independent of the pipe size, it is a constant and dOes'not affect the optimum
pipe-size selection. NegleCt o~rating cost, because one hopes the number
of hours of pump .operation, will be negligible.
.
.
--
_-
-- .
......
5,27
COJ\IPREHS'-lSi VE PROBL:YIS
(,md., 12.5-,mr[l
,r'o
\VO
'
~;"".',
", '
,~. "
'"
"
",
', '
" , ,, ':'
vi/em
K) ,
" ,ne ,expected 'life 'of tbe, plant is' IS, 'years:
" ,percent,; , and for tax purposes [he facility may be "written, :~ff iIi .10 years
(sugges,t ,straightline ,depreciatlO~). Federal ' i~come tax 50 percent. ' "
, D~reImi~e ,the ,optimum thic~ness .. '
is
.It'
To, det~rmine tbe-: jnflueric~ ' of the po\ver cost and th~ ~verage' ,outdoor ' t~~m~
pe~ature
the optimum thickness . .it i~ suggested that the optimizati~~ be
perroITIled for several values in'the complete, range of outdoor tempe'r arures
and ,power costs. The cost associated with the application of an additional
. layer of insulation is likely to inhibit the optiI1)al thj~kness from exceeding'
250 ri1m~ or two full-size layers of insulation.
on'
114
Inp
p=
T=
---..
...
==
+ 13.8
:"
Propano
290 l<
5
330 K
.... \
, 170K .
HC:ll
c.xchungc:r I.
.
\, '.
1.1
'o
0..
;;:I
;>. .
...
"0
t..J
'tL
a '.
::J
121
14
. He-at
cxchnlYge~ 2.
til
\0
~ '.
."
F1GURE:A-4
LNG pla~(.
'.
DESIGN OF TIiERMAL SYSTEMS
530
,'. "
. ' '-;:", -,
. '.:""
.. ,' .. Pdisch
,'" . ,
~ I
'-,
~'~'
.-
'
, Objective
Design for mininlun1 'first cost an air-coo1ed' condenser that rejects 140 kW
. of heat. Sp~cifically, select the heighf h the dimensions' of 'the square coir
nnd stack b.- 'a'nd the numbe~ of rows of tubes high in the heat-.exchanger
section. '
t
, Performance'data
-.
--,
baa
: ~\ .'
"
FIGUREA-5
\. '
FlOURE A-6
Condenser coil.
532
.
I
'
.
,
. ~fectlve .heat--transfer area-.on the a~r sIde. of. fPe heat exchanger per
y, :i< . ' ';sq:uaremet~r' of .fa~e are~ per row of tubes ~igh, '12.5 rri 2 . t.
~:.A',::C>.:~ '.':; .,~'; . ; : .:Neglect.the resistance to heat :trimsfer tbro~gh the tube.:.' " ..',::.. ;. :,: . . :' .~''<'<>. ~:.'
;;'/'::.i:';:!::';<\ .?>',: :~' : Hea~~transfer coefficient.of' condehsing fluid,..2.0 k W/(m 2 K)'. :.'." " ':\;" '::~>:""~">~~:
;:.~',:~'.:",.'.",..~~:.~>:-( .~.~.Heat-trarisfer coefficient on a'ir side,. O.042V 0.4 kW/(Iri 2 .. K),~,,whej~':/:<:J~::'::~: ,~
:>'.,01.
, . : . ,. ....
. ' ..... .'.'V is~~Jace: vd~city'of a:ir~<in.~~~rs: ~~t:~e;cond".,::;- ~: . -;., -.' -!'~"~"i;"':" ": '>~.:, i '.
Pressure dr0P',WQugh the 'cod, IIp;~= 2~. 2V . '. (1 :5 '"!,(J.7n-):,~.:'.wp~re. ';.:.. ::" :.
number <of -rows 6f tUbes ~ .'...
'
.
..
the~
,n is
-.
. Pressure drop due to friction orthe' air flo'wing thr9ugb "the stack'must
be consIdered; s~gge~t a fricrlOh ',factor of 0.02. '
,
c .
. 'Costs
;Discussio.n
An increase in' ~ height h iIp.proves: th~' ~tack -effect and thus increa~es the
,}
airflow rate but adds to the cost. 'lin increas'e j'n the' tOll 'and stack :dimen$ion
b reduces the press~re drop through the coil q.nd stack bur increases' the cost.
An increase in ,the number of rows of tuhes jncreases the heat-transfer area
and .outlet temperature
air t () but increases rh-e pressure drop. An .incre~se
in air v~lotity over th~ COlI, incre~ses the h~at-transfer coefficient on the air
. side' .but reduces t (>.
.
'
Not all comb,ipations of h. and ',i may be .w orkable.
The stack effect due to [he difference in densities -of the anJbjent air
and the air jn the stack !s responsible for airflow and com'pensates for the
,aiJ;"-pressure drop through the coil and iIi
stack itself. .
of
the
of
1 The acrual surface area is' greater thJfi indicated. but the effective arelt, accounts {or the fin
efficiency_ .
-.
I I
-I5-.0no,
.Q
"g-
,t
t::
......
. :8.000
. t .
~.
eI
~"
7.000 .
9.000
,/' ,-~
~
.~ ' 5.,aoo--
~
o
Cl'
, f '
'. J
-' ~ .
'-
'-tooo
'.
A-8, extracts vapor at two positions ' and injects it ~Isewhere along the tvbe .
ip order to. mmntain the quality near 0.7 qr 0.8 .apd .thus take advantage of .
.the high heat-transfer coefficient that re~uJts.
Objective
Determin~
~nd
DiscusSion',:
. The analysis is complicated by the fact that the ,heat flux changes along
-.
;,'1
"--":,........~. ilir
1(' .
Motor
ajr
- ..
I,.
J.~~ ,
COMPREHE.:."\!S!I.'E PROBLE?vIS
(:>
that if the heo.t pump does not bring the remperntu:-e. Df the Incoming' air
.... <; C .( I
.
! '~Hr
. t,;.nlpcfJlUre).
,
\ jt!yC tr!c-reSISl~H1
'
. '"" Cc -neat
"
- use d to
up , j"~ O .)..J
L1C suppJ:Y
IS
.
, . O bjective
I'
'.
'~'
- '
..
'
~.
..
'
'
of
~"
fcfrierarion rate kW
. COP =
. . .... .
'
,
.
. electric power to compressor n10tOf, kW
1
+ O. 352t~ -O.096/ c
O.DOSS/etc
Assignm~nt
Discussion
If the heat pump 'can be justified for heating operation alone, it has the, .
possibility of providing additional s?1vings by operating during the summer.
The temperature of the supply air entering the building is specified as
35C, ~g some periods.Df rhe heating season it may be desirable for
frum
. 0.02
Air 10
..
5Z7
CO,'v!PREHEl-JSflJE PROBLEMS
1)- '
'
I I
, A.irflow rate~ iO kg/s "
Rate of addi(on of v!al:e.~'. vapOr? OD02 kgls '
Temperature of wateT : ~nte.ring ,water-coole~ ' heat ,exch.auge[~. 20(:
, Flow rate of water.entering h4':at.exch.anger, 4.0 kg/s
:, . ,
,
(
4" - . ...... ,"~
..
'.VA
--:.
' ... .. -
'i
J..
bf condenser, rs::'3-kWIK.: , .
'
"
.,'
..
, .
...
".
..'
-I
~..
It . ...
_' ,
:,'.
~
~'"
;: . . :,;
-":~,::,,:,,.j.'.:~'-::';~~
..
'.
, .J
or
.... .
and
. p .=
,
. Yth~re
.~5~Q5 -.1.~66te , +
+ O.0299!etc
O. 28~tc
;.
kW
t; ==
evap'orating te1p.perature.,- DC . ..
. le.= c.ondensing temperature, C. "
Evaporator The 'e vaporator is 'a heat exch~ger' \\'pen~ .both sensible 'he~t
',andmass are trans.f erred from the air to the surf~ce of the' heat exchanger~
. which .is wer be~ause of the dehu~idificat1on: The heat then flows throUQh
the metal and thepce to the refrigerant. Data on 'the .evaporator.,are .
0
'
. '
&
- .
4..;...
A;,
"E,efrigenmt-,side .area
~5 m 2 .
.Refrige~ant-.side heat-transfer co~fficient hr.~ .:2.2 kW/(m 1 ..KY
' . ~egJ~ct the heat-transfer'resistance of. the' metal
Air-sid~ ar:~~ A a , 120 m 2
-Air-s1.de convection heat-transfer coefficient, ha == O.09,kW/(m 2 K)
Heat a nd.mass transfer in the evaporator. The processes occuning in the
evaporator coil can be Visualized"a's shown in Fig. A-I1.- The driving force
for the transfer of sensible heat the difference in dry-bulb ~,emperatures of
the air and the wetted surface. If the arithmetic-mean difference is assumed
is
= h A
a
(13 +
14 _
2
Air.
.,1, . . . . . . . . . . , . . . . . . . . . ,
FIGURE A-lI
t, ___
=- ..
Rehiger.mt
coi1.
:'1..)0
rate
----..
...
.r:
HllJ k Pa - .
. "120 km -----I~J
'.J 30 c
. -
.
~-
l OO kPa
50 kg/$
. ~,
~'1.
~~~~
, .. -." " . . ..l-Ao[or -/
f\"
~,
.~''-''
.. . . . ".
..
.. .
"
.~ ' , "
. '. . 11
= 75%
.to 109 kPa. 5 Compression to a high pressure permjrs ..a 'high-PJ"e~s~re 'dr~p
" :throllgh the pipeli.ne 'a nd' also r~.sults in deqse ga~: both reduce the.pipe SIze.
O~ the other hand . .there is additiQual energy require<ffor co.mpression, a.n d
. not aU this energy .is recovered 'a't the tUr'pitie due f9 'ineffic~eneies .of the
~lectric ~otor. compressor~ an.d turbine, as \v~l1 as p.ip~li;ri~ loss~s_
D4;l~
at
Costs
. E~ectric motor and generator 'first cost, $50 per kilowatt output
Compressor first' cost, $125 per kilowatt input (input designated We)
V~u~ . _o t ~leccity at compressor end' of pipeline, 3 cepts per kilowatthour
'
"
Pipe cost in dolJais per meter lengrh 300D 1.6, where D js the pipe.
diameter in meters
'. ~I f
i
...
,.
II,
DESIGN OF
,I'
Data
--
":;--...
'
t 4 :.
5~ 1
CO;ViPREH5'1SrVE PROfH..E?IS
\-Vater
2S:JC
_ H'
= 0.8 kg/s.
. Satu;a[~d
.. l
-., '
. liqui~
S~wr.Jred
i ,
vapor
Hear
c;(ch~til!:!er
J
,1
"'-
Fluid
6
Eyapor.Jtor .-
-15!)C
li' ~ 0.57 k .!!.I:
. .s
(p= 3.5 kJ/lkg .. K)
..-.;-.: .
Thronlin"
.c
v~\lv~
.'
. FIGURE A-I3
.-R.efrigefarion 'system llsing
... -.
'-
:' :'
il
m.ixt~re
: .
b.f refrigerants
.
.
. " The ~on'denser' i~" ' water-cooled; \vater enters at 25C wit;h a flow' 'r~te
of -D.S kg/sa
.
The. evapo~ato.r 'fluid i~. coolecf1rom' ~ 15 to -25~'C_ Its flow ,~ate is
0.57 kg/s~ and its specific h.ea~ 'is 3.5 kl/(kg " K) ..
The refrigerant
'saturated liquid at point 3' and saturated vapor at
pain.! 1.
"
__-The compressor has ,adj~stable capacity. which is regulate~. to provide
the 'spe~ified refrigeration rate in the evaporator..
: .~-
-,'f
' . . ...
is
.R-12:
In p ==
R-114:
In [2.
J4.8~1
- 2498.3/T
15'.407 - 2993.21T
I '.
'J
'
R~12
R-114
effi~iency. Provisions are roade to' ren10ve air cont'i nuously by the use of
su.ch devices 2.S an dir-:ejector sysrern, shPY-JP in Fig. 1-\- . 4Q 1~11e f unction
of the ejection systeol- is to 'extract , (1 sanlp[e of air and warer v aj.fl"Jf out of ,
the nJ.r.lifl condenser and oIrinl;1te:y i:'J reject t~e Qil in the mixture [0, rhe
atmosphere. ,The remova,: of air is to beacconiplished , \v[rh a IQv,f loss of
steam.'
.'
," ", ' "
J' "', ,. ,-, .- ' , ', " " :,
'. ,
"
' . .' ... '- '., ' 'lrru'.yes'Ysterr{S'ho,wn1jn:.:Fig>'A~r4: a'~ r2'r'kgJ~""Crf~Ir~\irip'o?/in;kiur~ ' thaf;'
coritaib's , .5j~ercent nir by,.~i'iss, fs,, '~xtincted from the" !1lain condenser . ,ariq " ..
the mixture that , is vented to atmosphere should contain 50 percenI aiL by
mass. The .main condenser ope~~ltes \vi,rh a toral pressure of 6'.6 kPa and
the aft~rcondenseroperares at .101 kPa. ,C ooling \.vater.\virh a fIO:'lilJ cine of 7
.kg/s 'enters the intercondel}.ser at a ,temperature .of 35C 'and passes in serie~
thiough the intercondenser an,d then the aftercondenser. '
'
q .-
Performance
of ''Condensers
.
~
on
~.
'.
Ejector
"'I
Steam
StC,-a.m_~~~~I ~.:.~.-----,J..
! ./',1
____
....cc=------.~ ~
------t>.-
p == 10 ,1 kPa '
~~2a~g!S
-Afrercondenser
by m~ss
Condensare
- .
6.6 kPa
Main condenser
F1GURE A-14
Two-stag"e aij' ~lOr.
...
Turbine exhaust
Condens~l[e
544
DESIGN
OF TH:I!RMAL SYSTEMS
in
"
.- .'
" .; Assignment
:"
_,->Select
,
,',
, ,'
,.
'
"
',: "
',
'.
" " ,-
'
"
"
"
'-'-!'.'-,_'flow'rates of motive steam WI and ~2, and .tile iritennediate .pre_S~UIe ,pi so .-' ','.
;"'::~;:;~tha~ ~ th~ ',total" pre5erit,VoI~~p(~1l ,costs' .i~;~' ~!limU01;(~'::~': ,, ;.,,~. '< ' " .'~::'
0
,. <.>: '"
' Cond,e nset .cost; ~ $15q per ,square met~i- of ~eat~f!a11sfe'~' ~ea
Cost of motive steam, 60' -cents' per.-megagntm' " , :' Int~'rest"ratey lOpercent. ,
..... .
.
' -'
', '. ( 101 \ 2.2
Ra.tio (kg/s)/(kg/s) = 0.14
) . ,.
lpi
Discussion
.
'
, The opti,mal gesign is likelY', ,to .be one w'he~e ' more heat-transfer area is
placed in the intercondenser tha.n in the afiercondenser, since whatever
steam (both f~onl the main condens~r and "from, the Jow-stage ejector) can
. be cO,nde-nsed
the intercondenser will not have to be pUf!1ped by 'the highstage ejector. Often lTI n1ultisrage compressions rne intermediate pressure is
" the geoinerric mean. of the suction .and disch~ge pr~ssures. The economics
C?f this system wil1 shift the optimum intermedi'ate pressure to a value lower
at
'' ~'A.13
..
~,
, ,
.....
COj-'.~PREHB.fS[,/E
PROBLEMS
.
"
~ . "I er,-:::,.
~
lenOI
545
q""'
hr-. fw.
~ I "1 eLv, anu
....l - .,
<::'F- i r-. ~""T.~
J'J'-':\ r,'_.b
-n~, ce,- .~eOOJ
t1U n
...1.p. crT. t,--0 b-,,'
C ~"... .:. .... ,L~. '- ,.!. JG' ~
the totai present worth of costs fot the eoo.Bpmic rj.fe of the faci lity IS a .
.'l ..11ee
--.-
-"I;
<",
'1- '
t' . ,.
;;:
!; , .... l.
m1fUffiUD1.
Oil d2.i!a
-.;
........... .
: .',',
";' 1
~,
"::
..
.-
'.
Reboucr data
Duty, k\V
Reba irer 1 .
2
3
..
.
1800
'1600
2400
'
vallJl~.?
' J
W-!(m-" K)
Temperature of
fluid-being heated; .oC
'U
200
450
150
175
450
450
. constant.
Co's t of the re:tJoilers is $90 per, square meter of heat-exchanger aretL ., .
gas, fuel
Oil
kg/s
f'h
Flm.,y
regulator
Combusdofi
chamber
200C_~_
Furnace
.
-,
F1uegas
to sUlck '.
Pump
nnd motor
FIGURE A-IS
Hot-oil ':;;p in
petrochemical planl.
data .
1 .. 1
\.
1.8
l:.COne)nllC
data
rate, 10 """"".,..,..."',.,
"
'.
5 7
COlvlPREHENSIVE PROBLE:olS
tD
-systems
'"
-::.
.'.,,: .'-.~e :ess~fitial'~ -reqHirem~n;t~ 'ii( '~i~"'p-as~euiiia1:jorf pro~esS' -ot .nullc' is -to biing
the -temp~raJp.re upJo '73C.. and: hold it for c:tpproximalely20 s-.The .milk
arTIves at the dairy from ' the tErnk truck at .a temperature of 7C and :~s to'
be delivered from the pasteurizing pintH tq -the packaging- operati~rA :J.r a
: temperature of 4C.
..
.
The tniditional pasteurizing cycle uses a _s(ear~ or hot- water h~arer to
. bring the temperature of the milk to 73C; then the milk flows rhrouh a
wate~-co61ed heat exchanger and a r~frigeraDt evaporator. The heat fro;; the
refrigeration 'plant' is r~jected to the atmospbe(e' ~y a cooling tower ' or an
. air-co'oled 'conderiser~ :
In the 'interest of conserving en~rgy., the possjbility of using a heat
. pump is noyv sometimes considered4 8 One possible 'cycle is shown in Fig .
.A.,."l6 _. The incomIng milk flows first through ~_regenef.?1ti.ve heat exch~ger ..
and then.to the heater, which is aLSo .the fore~ondenser of the"heat pump.
Thisforecondehser eleyate$ tpe 't empenlture of the milk to 73C'. Thereafter
-the mills flows through the otner side of the'- regeneratiye heat exc;panger an9 ..
fiI?-ally through the evaporator of the he~t'p?~p.
.
.
. . Compressor .
Forecondenser
I"
Regeneratjve
heJ t ex changer
. Evapor.llor
.~
Codling
wll(er.30C
Expansion
V;]Jvc;
__~______?-~~v-+-~~.~oC
.Refrigerant (
FIGURE A-!t!
Milk pasteurizing system using
~--'L-.._A_fterc...,.on~enser
heat pump.
DESIGN
OF
,
. THERMAL SYSTEMS
.........
water enters
water set to remove
..
:S,:g~
Ii)-
3. P. T. Doyle and G. 'J. ,Benkly, "Use Fanless ~ir Coolers~'o Hydrocarbon Prl?cess,.p July
1)'73 PI? .g 1.-86.
.
~} 4.JHRE Handbook Fundamenfols Volume,' chap.Gl P.<:~ericM Society of Heating. RefTigcrating. apd Air-Conditioning Engineers, AtLant~... '985,
5. CL ::. 7...:a.tll'icki. L. A. Repin . and v, .,A. EIemao dRerrigc',Cltion by U~ijizing Jh~. ?ressure
'JfT<:IaruraI Gas Pumped ~rougt Pipelines:~' Cholod. Tech.~ no. 6 "1'974. pp. 27-29.
6. G. _G . HaseJden and L. Klimek . :hAn EXBenmenta.}.StlJdy of' the Use 'of-lvfix~d Refrigera~rs
{';
~y
T_
h
alR' c..,.
"
"J
r.
t I
I
A
8'7 ' OO 1\ f('
J'
~ on'.(;8' - '
, . ,.,.,_oL
J.-.-..:on-.LS-O;.~ erm : c:rng~,~tlC;Hlo :., .. ., ;'.l,f!J.J..'lK.,,~.9. .. :_.nQ,_.~.,,-PR,.~ .. J,-:-o.:;.' ,~LI~lay- une.;t ;;...,;t., -,\_~ ..
<7".' yo kaireri C.~, Becd~.ievre/ and D~ Gilbo'tirrH~~ ""'lJrriea [femgera,:;.t for Ethy.tene.~~ '.Hydn}~
"carbon P~Dcess.> 'Yo!. 55~
10~ pp.' 129-1jt.octobe(j~76. ~ ' --.
"
8. D. ~_ "Lascelles and R. S. Jebson. "Some Process Applications of H~at Pumps," lilt. .:Tnsr.
Refrig,- Comm. ill/eel.. Melbourne. 1976.
\~ "
0
i,,)
no.
..... .....
'
APPENDIX"
,
'
'II'
"
..
-.
. ' : :'
. t ';
.' .'
I :', )
'
-. '
'.
~'
- ,
.,
) .
Structure,
Main
.I
" . .. .
GAUSSY
~----------------------~~------------------------~
Subrou~e
-,:.,-":"
550
,"
- .
;.~!,~
-,"
PROGRAM
,.-
i!t~
,:
SIMUL.ATION
.:,'
' .'
. :,-.' ..
.',
" : ',,
:s:>: :'OENiRAiiIzED~.
SYSTEM- '"', ~ , '~"~" ,,'" ">~~':~'''.':t",::,,:, : ,
"
.. ".-', ..
$ -',
55 ~'
. : ......
"
I
_
~'." !:- ~ .. ,~ .~.~'.c> f .. ~;~_..J.,Tt:iqJ..'fta1wJ.. ott!!!. t'a.~iahle$........,,~:.~;:,: ,:,!.,;::;,<;;:{~r:: / .. , .':;'
Suggest 10
<0.0.0 ;.:"" Eo . . . .
.. .' -DATA Ds!"TdU'r: . . 'Tj}J ...,..:~~:' \\(14"1 -}:-Cf;qiacJ'er 0(- Less Alphanumerii ~ .:.
..
".: CALL SINHJL:(NYA"t~,.JLRNtE., lTMAX. v~ DES.. R. PD;, VCORR;VU. RD) .
STOP .
END,
Equa!~Qns Subroutine
-.
1
7: , ; ,
'.
..
c
c
WIlli .
c
c
C
C
C
C
INPUT DATA
C
II
=
.21
22
"23
C
C
C
C
C
30
WmALIZrNG
ITER":::: 1
CAll..ING
DERlV A TIYES Al\t1)
VALUES OF ."-L.........
VARIABLES
u..JLJ ...
33 "
PRINTING
- ..
~~---"_
PARTIAL
c
005<:;
. ...... : ~
.~
... -
:-'.-
,..
..
r ==
,:):;:y
r,l'-,fVAR
D053 J == 1. NVAR
} I
~ == ABS(pD(I))
RBI/XQVE THE C fRONt THE NEXT THrtEE CARDS 1F PRINTOUT DESIRED
-,
": ,, ,
-c
,C
,' , C
34
' ,--.''c 36
,, ' C
C
32
FQR1.1A r
.(;
K= 1
8\11)
j'.
"
DESIGN OF THERMAL
.c
C
560
RETURN
c
c
t
BY GAUSS ELl1vlINATION
SL\1ULTANEOUS
c
INTO DlAGO~AL rosmoN
2
lMAX=I
4
CONTI:l\.1lJE
.. "
.~
-- ..
..
_
l~
I3(IQ = B(IMAX)
B(tv1AX) = B7~M?
, ' DO t 8 .. j= K N .. -
.. - :: "ATE.~~1\{KJ)
18~
.<.. :. .
,.
:. ',-
~.
"A(KJ)::: A(J.MAX. J)
A(Ilv1AX,;) = A TEMP :
.
'
SUBTRACTING A (I,IC)i A(K.K) TIlV'(ES TER1vl IN flRST EQ FRO:\l OTHERS,
. KP,LUS = K of: I
'
'I
L=N
32
SUM =0.0
IF(L - N) 34, ,3 8,38
34 LPLUS = L + 1
, D036' J = LPLUS, N
36 'SUM =:= SUM -t A(LJ)*X(l)
: 3.8
'. 40
42
. CONTh'fUE '
" X(L) = (BeL) - SUM)IA (L.L)
. Th'D
'
-.
..
' ,
....
".
" 1
.APPENDIX .
.TI
... .
.;:~':>,. .J""'.",
~.
\~'::'~~..
~, "'" ~.r.."
__
... .
.:," ' .. ..
".~.
:~' ~.
. . . . -:: ~:~ . . ,.
', ': .
:,
'
"
i"
'.. ..
.. ....
'. ~ " .~
" ',
-1:,
, ',;
",.-.'
- ..
~.
.'
','.' . ,',~
, -.
:,:'~"
"
'.
'
'C'
. ".
",
~<
"
,~ ,>;~ :~:~~.: ,~
.: _ . '
.'.
<~
': ,. ,.:
..
' _ .
, .-
,:.: . : ".
'
:. . ... ',". ,-, ..'". :. .,. . :..' . >,.,.. . ~ ''- ' ', : "~- " . _.. v.'..
-
.. . ... . ,.
. . .. '.
.. ;-..
"
':"
'.
,' ,
"
"
~.: ',~
. ....
.-
"
.... . .
,,1',
~ ~
:.,-
..
,'.
~ZERd{I,J,R , , 'JA)
SDBRoUYINE
C
C
c.
..
:- ."
.
TH IS' SUBROUT tNE' 'STORES ' THE .' ~pNZERO ' ~LEMENTS' ~ IN.. ..- . , '. '
THE
PROPER
ORDER TOBE.USEDWITH SUBROUTINE
XGAUSS ' . '
.
.
.
IV
- ."
'.
C
R
. C ,'JA.
'.
SUB~OUTINS
C ..GLOSSARY FOR
C
r
C '",-. ~..)
.-
.-
' .
NZERO'
START O(
'C
CALLIH~ ~UaROUTINE
,C
COMMO~./AREA3lj MA~,MT)N\(AR
COMMON IAREA411 lRDW(3), . .:',
. COMMO~ IAREA421 JCOLC2, 7)",
'COMMON
IAR~A431
A(7)
.. ..
"..
.,.
C
IF (JA ' . NE . ' 0)
GQTO 15
.
~
JAf.)A+ 1
.MT=1 , .
. . pO 5 L = 1 ) NVAR __
,5 1 RO~( L):: 0
. ."
DO '1 0 L c ,- , MAX , :". '. ., .
o.a'
... .'
. t..-
10 ACL)=O
15
556
IF(I~OW(I)
-.
."
;'", ."
.NE. 0) GOTO
"
' :-. :"" ,,'
2~~ '
'
~ ',
--
..
....
': '
.
.
~',;
I .
('
V '
'-.
IN ROW
/"'-.
'oJ ' .
. . ,.', ;' ~:' ~" ~<:~:~ ,.,.-:'. .,: ~ :',: " ~" JC.pL~3::7,~!:~~:-~~;-~.; . ',..;- . '
.,...,. . . .
~",A ('MT) =R
4,'
:"_
.. ," ... :. ,
. MT=jCOL{ 2)~T )
' JCO~(2,I~OW ~ I) } =O
. RETURN
'c '
.
.
- C' SEARCH TO FIND PROPER LOCATION ,OF NEW, ELEMEN
,C '
.C
ROW ' I
' ..
25 rFCJ .LT.
.
GOTO 35
JCOL(1,LC~)
~f(JCOLC2~LCT) .EQ:
: LCTOLD=~CT
0)
'
GOTO 30
ACMT),='R ,
MT=JCOL'( 2,MT)
-RETURN
35 IFCLCTOLD e~EQ .. 0) GOTO 40 '
- JCOL(1,MT)==J
. A(MT)~R
JCOL(2,LCTOLD)=MT
MT=JCOL(2,MT) ' .
.
,
JCOL(2;JCOL(2)LCTOLD)=LCT
RETURN
40 JCOL(1)MT);:J
ACMT)=R
I ROW <I ) == MT . .
MT=JCOL(2,MT)
, '.
END' ,
--
. .
, F mERMAL SYSTEMS
.
'
.: I
- ' ."
:J ION OF SIMULTANEOUS
LINEAR EQUATIONS B~ .
.
.
; \ ';
'
~L 1MI NATION
.: ". '::
"
..
: I
';' -
._
. . :
: '~ ~ : _ .4
.ANYTIME
'.
.
= NUMBER O'F ' F I R5T ." EMPTY LOCATION= tALULATED VALUt OF VA~IABLE~ '"
= LO,CATION'OF'FIRSr NONZERO ELEMENT ' OF
"
JW() ,
EACH ROW
'
,, :
'JL(1)
)=
,
'.')
,. I MENS ION I ROWCN) , JCOL (2; MA"'X), ACMAX) ,B(N), XeN)
e1TMAX=O' .
"00 50 K=1) N
"
'.
AMAX=O
DO -5 1;::~,N
IF ,CJCOL (1 ) I ROW( I ) ) . NE.'." K) GOTO 5
IFCABSCAMAX) .. GE. ABS(A( lRQW( r ) j GDTO 5
,AMA X== ACI ROW ( I ) )
1MAX =I
CONTINUE
.
----.
..:
.,.".' . .
~
c
c
. "
.'
,~'
.~ ..
J'
....
..
.
.
, .,
.
-.s
.....
': . .....
.'
'
. MT=jCOL(2 , MT) . .
~ JCO~(21I~OW~I)=O
". '
RETURN
.C '
\. !' A a
'-b "
C-
. ..c
ROW ' I
.' "
'. .c
20 LCT=IROW(IJ
_.
' LCTO~D~O
, '-LCTOLD=LCT
- LCT=JGOL.:~?. J,-,l.C!)
. GO TO 25
.
~OTO
'
'
" ,ACMT),='R,
MT=JCOl(2,MT) '.
', JCOL(2)JCOL(~)LCT)),,=O:
RETURN
35 IFCLCTOLD O~EQ'D 0) GOTO 40'-
- JCOL(1,MT)=J
, ACMT)=R
JCOL(2)LCTOLD)~Mr
MT=JCOL(2,MT) ,
"
JCOL(2,JCOL(2)LCTDLD))=LCT
RETURN
40 JCOL(1,MT)=J
ACMT)==R
IROW( I )==MT '
MT=JCOl(2,MT)
t '.
'JCOL(2~IRQW(I)=~CT
RETUR~
END ',' ,
35
GOTO 30
c
c
XC)
I
(1
-c
cc
::::
1
)::::
AC)
),
N),X
) -
K= 1 ,N
leI
ITr
I::::~,N
(1 , I
)
I
5
10
-I
lOO
--
..
':;---
APPENDIX ill
55;
c
EXCHANGING ROW IMAX AND
RO~ , K
c
l O ETEf"1P=:,B( K)
BCK ) =B CIMAXJ "
, ~" ' :'
B f I MA X)=BTEfr1P "
'r 'TEf'x1,P':::':i 'ROW ( 1< )
..,.
'.
-I
. ,
._.. .
_..... ,,,":7""
..., . .
,'
.(
.'
, ~':'
'. ",
"
.IROW{K)=IRDW(IMAX)
IROW( IMAX)= I TEMP
c''
c ' SUBrRACTING : A(I,K)JA(K~K) "
C EQ FROM OTHERS
.
TIMES , TERM ,
IN FIRST '
' C
,,', KPLUS~K+1 '
,
tF (K ,.. EQ 'o N) 'GOTO "50 ,
DO '4S' ,I,;;:KPLU5}N,
' ,
IF (JCo.L (1 , 1 ROW( 1)) . NE,,, : K) GOTO 45
Ll=JCOL(2,IROW~I)
' ~"
LK=JCOL(2,lRDW(K)) ,',
' LIOLD= IROW( I)
,-",: ,
:'' , "
B(I)=E(~) - (A~IROW(I))/A(I~DW(~)))*E(K):
,
15 , IFCLK -.EQ'.
0) GDTO' 40
,,
~F(JCOL
(1 ',LI)
, .~Q.
JCOL(1 , ~LK))
IF(JCD~
GDTd 35
LIOLD=LI
LI=JCOL(2~LI) "
'GOTO 20
c
C
CREATE
NE~
NONZERO ELEMENT
25 LCT=MT
'~T=JCOL(2,MT)
-~
.. .
... ..
-.
.'
. '
,200 .FnR~AT(1H, ,,~ALLQCATEP STORAGE EXCEEDED,
1 MAX~") 15/1 H) ., I NCREA'SE MAX ,) THE ARRAYS
- ..
, 560
: _,'
..
'
-: \
:~\> '':,>,I:~~':" .
I'
' .
, '.
, ,
.
:
', "
"
.'
":~.;:. ' .
'
.. :'-.
,."
-\
. . . '' ,~ .
.... ,
.' ,t
..
,"...
'. -'.'
.
;:"
: .
'
"
'~
--
'
:- ":~-
"
.... LI {]LD'~.l~I.
. .'
'. _. - .' . ..
. ... - --
LK=JCQL(2,LJ() :
L I ::: J COL ( 2 , L I) ..-.
.QOTO .1 5'
,
L.DCATION
,TO
40 LT=IROW(I)
.. ~COL( 1 , LCT)=O
A'(LCT)=Q .'
IROW(I);::JCOL(2>~CT)
MT==.LCT
45 CONTINUE
50 CONTINUE
BACK SUBSTITUTION
C
DO . 6'0 I;:: 1 ) N '
,
. PA,R T=B{N.+1-r )/ACIROW(N+1-I)
55 IF
.'
(~CT ~EQ.
b)
~DTO
60
PARTFPA~T-A(LCT)*X(JCOL(1
LqT'?~COL
LeT)' .. /..' .
(2,
. GOTO' 55
, I
~ -.".. , . I . ~
. '
LIST
..
e ..
".
'
..C
. ,C
ELEM:ENT '1 7 K .ISNOW ZERO, ADD
. C . OF. EMPTY SPACES ' . .
. . 6 .0.X(N-t:,1-1 )=PART
" 'RETURN
END ' .
'" ",.
:
" ..
,
...
I.
,LCT)/AC1RDW(N+1-I)
.
\ ~-
' ; ' -.
" ',' :
.:.....
"
.'.~. :;
.. ,_
'.
_:..
: ~.'.
II
.',