UDESC

Engenharia de Petroleo
Sistemas de Controle e Automao

Lista de Exerccios

Aluno(a): Rogrio Tadeu Santana Junior

Professor: Alexandre Campos

Balnerio Cambori
2016

Exercise 1.8

Part a)

Figura 1: The pool diagram

The figure 1 shows the pool diagram. I added a variable that may be or may be not important, the
Tc that is the temperature of water that comes from the charcoal filter

Part b)
I would measure the temperatures Tw , Ta and Tg . Making it this way would make the feedforward
control easier, because these ones are the main disturbance variables. All these variables may vary during
the day because of the sunlight. When the sun gets high in the sky, the ground, city system get warmer
and when the sun sets the temperatures drop down. I added a temperature in the sketch Tc that is the
temperature of water that comes from the charcoal filter, but, if this system is quite small I consider this
heat transfer negligible.

Part c)
Steady-State energy equation.
(Tp Tg )
+ w cp Vp (Tp Tw ) + Q = 0
(1)
x
where Asurf ace is the surface area of the, Alateral is the lateral area of the pool,w is the water specific
weight, cp is the specific heat and Vp is the specific heat. The most important variables must be chosen
depending on the actual values of the temperatures, water proprieties and heat transfer coefficients. These
values would make the terms of Eq. 1 bigger or smaller compared to the others.
Asurf ace U (Tp Ta ) + (Asurf ace + Alateral )kg

Part d)
First recommendation: Feedforward control needs a accurate measurement of the disturbance variables, so these system have to be quite good equipement. Second recommendation: The model must be
well adjusted to reality, if these equations are not good enough for describe the phenomena Feedforward
control would not work. Third recommendation: All the major causes of heat losing must have be listened.
If any unknown source of disturbance contributes in a significant way the Feedforward system would not
detect making the temperature control harder.

Exercise 2.3
Part a)

Part a)
For tank 1, the mass conservation:


d V1
= w1 w3 w2 ,
dt

(2)

d V2
= w2 .
dt

(3)

and for Tank 2:

The fluid density is constant, thus:

A1

dh1
= q1 q3 q2 ,
dt
dh2
A2
= q2 .
dt

(4)
(5)

Using the linear approach for valves q =

h
Rv ,

h1
,
R3

(6)

h1 h2
.
R2

(7)

q3 =
and
q2 =

Substituing Eqs. 6 and7 into Eqs. 4 and 5 yields,

A1

dh1
h1
h1 h2
= q1

,
dt
R3
R2

(8)

h1 h2
dh2
=
.
dt
R2

(9)

A2

Substituing Eqs. 6 and7 may be multiplied by in right-hand and left-hand sides. This way they are
expressed in function of w2 and w3 .
h1
w3 =
,
(10)
R3
and
w2 =

h1 h2
.
R2

(11)

This way the differential Eqs. 8 and 9 are used to find h1 and h2 and the algebraic e equations 10 and
11 are used to find w2 and w3 .

Part b)
Considering that w1 is a manipulated variable, , R2 , R3 , A1 and A2 are known parameters. I have
4 equations and 4 unknowns and 0 degrees of freedom.

Exercise 2.4

I start with mass conservation:

d Vf
= (qi q).
(12)
dt
where Vf is the fluid volume, is the fluid specific weight, qi is the upstream flow rate and q is the
downstream flow rate.

The valve model is:

s
q=

Cv

Pbottom Pa

(13)

where Cv is the valve constant, Pbottom is the pressure in the tank bottom and Pa is the atmosphere
pressure. The bottom pressure may be written as:
Pbottom = Pg + P f = Pg + gh,

(14)

where Pg , g is the gravitational acceleration and h is the water column height.

The ideal gas law:
Pg V g =
and
Pq =

mg
M RT

Vg

mg
RT,
M

mg RT
,
M A(H h)

(15)

(16)

where mg is the mass of gas,A is the tank Area, R is the universal gas constant, M is the molar mass, T
and is the gas temperature. Substituing these ones into Eq. 18, yields:
s


mg RT
d Vf
M A(Hh) + gh Pa
= qi Cv
.
(17)
dt

If the tank is opened Pg = Pa and

p
d Vf
= qi Cv gh.
dt

(18)

Exercise 2.5

The mass conservation in tanks 1 and 2:

and

d V1
= wa wb ,
dt

(19)

d V2
= wb wc .
dt

(20)

P = RT,

(21)

Ideal gas law:

5
is the gas constant, and T is the gas temperature. Substituing it and the
where P is the gas pressure, R
valves equations showed above into Eqs. 19 and 20:

and

V1 dP1
Pd P1
P1 P2
=

,
dt
Ra
Rb
RT

(22)

V2 dP2
P 1 P2
P2 Pf
=

Rb
Rc
RT dt

(23)

Part b)
For an adiabatic process:
P
= C.
(24)
k
And this equation would be used instead of equation 21; If the gas was real, the gas compressibility factor
Z should be included into Eq. 21.

Exercise 2.6

Part a)
Mass conservation and Energy conservation of first compartment :


d V1
= (q0 q1 )
dt
and V1 are constant, thus
q0 = q1


d V1 cp T1
= cp q0 (Ti T1 ) + Ut At (T2 T1 )
dt
Mass conservation and Energy conservation of second compartment :


d V2
= (q1 q2 )
dt

(25)
(26)
(27)

(28)

and V2 are constant, thus

q0 = q1 = q2


d V1 cp T2
= cp q0 (T1 T2 ) Ut At (T2 T1 ) Uc Ac (T2 Tc )
dt
The system is reduced in 2 equations, the Eqs. 27 and 30

(29)

(30)

Part b)
System known paramenters: , V1 , V2 , Ut , At , Uc , Ac , cp
System unknown variables: T1 , T2 , q0 , Tc , Ti
Using the degrees of freedom analysis:
Nf = Nv N e

(31)

where Nv is the number of variables and Ne is the number of equations. Nf = 5 2 = 3. The q0 upstream
flow rate, the coil temperature Tc and the Ti upstream flow temperature must be measured.

Part c)
The new system would contain 2 more equations that would describe material balance on each compartment, and contain 3 more variables c1 , c2 and ci where ci must be measured and the other 2 are
output variables.

Exercise 2.8

As Additional assumption I consider cp , cpJ and J constant.

Mass conservation into the tank:


d Vtank
= (qF q),
dt
and V1 are constant, thus
qF = q.

(32)
(33)

Energy equation for tank:

V cp

dT
A(TJ T ).
= cp q(TF T ) + U A(TJ T ) = cp q(TF T ) + Kq0.8
J
dt

(34)

Energy equation for jacket:

J VJ cpJ

dTJ
= J cp qJ (Ti TJ ) U A(TJ T ) = J cp qJ (Ti TJ ) KqJ0.8 A(TJ T ).
dt

The equations 34 and 35 describe the system dynamic model.

(35)

Exercise 2.12

Part a)
Schematic diagram is shown below:

The dynamic model is given by mass conservation: Energy equation for jacket:


d Ah
= w1 + w2 w,
dt
. The valve equation is given by:

w = C h,

(36)
(37)

thus,

d Ah
= w1 + w2 C h.
dt

(38)

In steady state:
w1 + w2 = C

(39)

Part b)
Substituting intu Eq. 39 and using the given numeric values for w1 and w2 :

kg
kg
2
+ 1.2
= C 2.25m,
s
s
3.2 kg
kg
C = s = 2.1333
s m
2.25m

(40)
(41)

Part c)
The mathematical relation used in a feedforward controller would be Eq. 39:
q
kg
kg p
w2 = C hsp w1 = 2.1333 . . .
2.25m w1 = 3.2
w1 .
s
s m

(42)

If the measurement is 1.1 times the actual value the system would set w2 this way:
w2 = 3.2

kg
kg
kg
1.1 2.0
=1 .
s
s
s

(43)

and the new fluid height into the tank is:


h=

w1 + w2
C

2


=

2
2+1
m = 1.978m
2.1333333 . . .

(44)

The error in the liquid height would be:

error =

2.25 1.978
100% = 12.1%
2.25

(45)

The error in the manipulated mass flow rate:

error =

1.2 1
100% = 16.7%
1.2

(46)

A feedforward system needs a high accurate measurement equipement, it is known. In this example it can
be seen. The accuracy of the control valve is lesser important than accuracy in measurement, a error of
16.7% led to a 12.1% in the controled variable and the error of 10% in the measurement led to a 12.1%.

Exercise 3.1

Applying Laplace:
d2 y
dy
L
+5
+ 3y
dt
dt


= L 2u(t)

(47)

s2 Y (s) sy 0 (0) y(0) + 5[sY (s) y(0)] + 3Y (s) = s2 Y (s) + 5sY (s) + 3Y (s) = 2U (s),

(48)

Y (s)[s2 + 5s + 3] = 2U (s)

(49)

1
[s2 + 5s + 3]

(50)

1
(s + a)(s + b)

(51)

and
Y (s) = 2U (s)
It can be written as:
Y (s) = 2U (s)

Part a)
1
If u(t) = be2t ,U (s) = b s+2
, thus the Eq. 53 is:

Y (s) = 2

1
1
2
3
=
+
+
(s + 2)(s + a)(s + b)
(s + 2) (s + a) (s + b)

(52)

and the funtions of time into y(t) are e2t , eat and ebt type, with a and b C.

Part b)
If u(t) = ct,U (s) = b s12 , thus the Eq. 53 is:
Y (s) = 2

1
1
0
2
3
= 2 +
+
+
s2 (s + a)(s + b)
s
s
(s + a) (s + b)

(53)

and the funtions of time into y(t) are t(ramp), S(t)(Constant Step), eat and ebt type, with a and b
C.

10

Exercise 3.4

Part a)
The first graphic may be written as

0,

5,
f (t) =
1,

0,

if
if
if
if

t<0
0t2
2<t6
t>6

(54)

As step functions:
f (t) = 5S(t) 4S(t 2) S(t 6),

(55)

and applying Laplace transforms:

L{f (t)} = L{5S(t) 4S(t 2) S(t 6)} =

5 e2s
e6s

.
s
s
s

(56)

Part a)
The the graphic may be written as

0,

at,
f (t) =
atr ,

3att at,

if
if
if
if

t<0
0 t tr
tr < t 2tr
t < 3tr

(57)

As step functions:
f (t) = at[S(t) S(t tr )] + atr [S(t tr ) S(t 2tr )] + (3atr atr)[S(t 2tr ) S(t 3tr )].

(58)

Rearranging:
f (t) = at a(t tr )S(t tr ) a(t 2tr )S(t 2tr ) + a(t tr )S(t 3tr ),

(59)

and applying Laplace transforms:

L{f (t)} = L{at a(t tr )S(t tr ) a(t 2tr )S(t 2tr ) + a(t tr )S(t 3tr )}
=

a
etr s
e2tr s
e3tr s
2
+
.
2
2
s
s
s
s2

(60)

11

Exercise 3.17
Applying Laplace transform in the dynamic model:
L{V

dc
} + L{qc} = L{q ci },
dt

V sC(s) c(0) + qC(s) = qCi (s),

C(s) = Ci (S)

1
.
[V s/q + 1]

(61)
(62)
(63)

ci is an Step function, so, Ci (s) = /s:

C(s) =

ci
.
s[V s/q + 1]

(64)

Applying inverse Laplace transform and the given values yields,

c(t) = ci [1 etq/V ] = 50kg/m3 [1 e5t/min) ]

(65)

12

Exercise 3.21
Part a)

The model equations may be written by:

dV
= wi w,
dt

(66)

and

dV
dcA
+ V
= wi cAt wcA V kcA .
dt
dt
Substituting Eq. 66 into Eq. 67 yields
cA

cA wi wcA + V

dcA
= wi cAt wcA V kcA ,
dt

dcA
= wi cAt (V k + wi )cA ,
dt
V
dcA
wi
+ cA =
cAt
(V k + wi ) dt
(V k + wi )
V

(67)

(68)
(69)
(70)

The Laplace transform cannot be applied, because while wi is not constant, the model is described by
non-linear differential equation.

Part b)
When t = 0 cAi = cA = cA1
V
dcA1
wi
+ cA1 =
cA1 .
(V k + wi ) dt
(V k + wi )

(71)

Subtracting Eq. 71 from Eq. 70:

V
d(cA cA1 )
wi
+ (cA cA1 ) =
(cA cA1 ).
(V k + wi )
dt
(V k + wi )
Defining c0A = cA cA1

V
dc0A
wi
+ c0A =
c0 .
(V k + wi ) dt
(V k + wi ) A

(72)

(73)

13
Now, when t = 0, c0A = 0 and the laplace transform can be applied easily. This is a first order system
and its the transfer function is quite known:
0
CA
(s)
wi
=
0
CAi (s)
(V k + wi )

1
V
(V k+wi ) s

(74)

+1

0
CAi
(s) is a Step with cA2 cA1 size:
0
CA
(s) =

wi
(V k + wi )

1
V
(V k+wi ) s

+1

cA2 cA1
s

Applying inverse Laplace transform and the given values yields,



wi
cA (t) = cA1 +
(cA2 cA1 ) 1 exp
(V k + wi )

(75)



V
(V k+wi )

(76)

Example 3.7

Part a)
The material balance equations of tank 1 and tank 2 given by the solution are:
4

dc1
+ 2c1 = 2ci
dt

(77)

dc2
+ 2c2 = 2c1
dt

(78)

and the pulse is given by:

and the impulse equivalent have the same area that the equivalent pulse that is given by the example
solution 1.25 kg.mol.min
.
m3

14

Part b) and c)
Into the Xcos, the pulse was simulated with superposition of effects and with initial condition equal
to zero. Apparently the Xcos has some problems with no zero initial conditions and for these ones, the
system must be simulated until steady state before the pulse. I used deviation variables as can be seen
in block diagram bellow. The Xcos does not have a impulse block, so I have simulated an pulse with the
same area, but the base is 104 min, so the height of this pulse is:
kg.mol
kg.mol.min
104 min = 12500
m3
m3
For part B), the block diagram is shown bellow: For Part C):
him = 1.25

(79)

15

Using it, I have obtained the following results:

Figura 2: The horizontal axe shows time in minutes and the horizontal axe shows concentration
The green curve shows the pulse response and the black curve shows the equivalent impulse

kg.mol
m3 ;

16

Figura 3: The horizontal axe shows time in minutes and the horizontal axe shows concentration
The green curve shows the pulse response and the black curve shows the equivalent impulse

kg.mol
m3 ;

These results are very similar to those found in the example solution.

Exercise 4.10

The given equation for heat transferred to atmosphere is:

QL = U A(T Ta )

(80)

+ bv(t)
U (t) = U

(81)

Where U is given by:

Using the energy conservation yields:
V C

dT
+ bv)A(T Ta )
= wC(Ti T ) + Q (U
dt

(82)

17

The equation 82 is non linear and it must be linearized in order to find the transfer function. We must
use the Taylor expansion truncating the model after the first-order term. :
V C

f 
dT
f 
= f (T, v) =
 v0 +
 T0
dt
v SS
T SS

Writing the equation 82 in function of deviation variables produces:

V C

dT
+ b
= wCT 0 (U
v A)T 0 bA(T Ta )v 0
dt

(83)

Using Laplace Transform:

h
i
+ b
V Cs + wC + (U
v )A T 0 (s) = bA(T Ta )v 0 (s)
So, the transfer function is:
T 0 (s)
=
v 0 (s)

bA(T Ta )
+b
wC+(U
v )A
V C
+
+b
wC+(U
v )A

(84)

Exercise 4.12

Part a)
Mass conservation into tank:
A

dh
= qi Cv h
dt

(85)

dh
= f (qi , h) = qi Cv h
(86)
dt
This is a non linear equation. It is needed to linearize the equation using taylor series and truncating
after the first term:
A

p
dh
Cv
+ qi qi 1

= q1 Cv h
(h h)

dt
2 h
The transfer function can be obtained applying the laplace transform:

1
2 hC
H 0 (s)
v

Q0i (s)
2A h
Cv s + 1
A

And the constants are Kest =

2 h
Cv

e=

2A h
Cv

(87)

(88)

18

Part b)
The flow rate is q = Cv h0.5
q0 =
Thus,

Substituing:

1 Cv 0
h

2 h

(89)

1 Cv
Q0 (s)
=
0

Hs
2 h

1
Q0 (s) H 0 (s)
1 Cv 2 hC
v

=
=
2A h
H 0 s Q01 s
2 h
s
+
1
Cv

(90)

2A
Cv

(91)

s+1

Part c)
If the relation is linear the differential equation is
A

dh
= qi Cv h
dt

(92)

Now it can be applied the deviation variables easily

dh0

Ah
h
0
+
h
q
=
dt
i
Cv h
Cv h

(93)

V dh0
h
+ h0 = qi0
qi dt
qi

(94)

This way, this system needs half of the time for reaching the steady state and also its response have
half of the non linear value.