CHAPTER Tt RESPONSE OF FIRST-ORDER SYSTEMS IN SERIES Introductory Remarks asronse or mastonoen vsTEMS Dsenes 81 Ho, tt : cite ea a) ( evel system: () noninteracting (8) interacting ) and produce the desired transfer function. ‘A balance on tank I gives hs aoa ‘A balance on tank 2 gives aha ag GP 2) Ww-head relationships for the two linear resistances are given by the are 7.3) ae 4) Combining Eqs. 6 and introducing 1 ns¥t where Q1 = gi ~ gi, = q~ gs. and 7) = RiAy In the same manner, we can combine Eqs. (7.2) and (7.4) to obtain the transfer function for tank 2; thus where Hz = hy — ha, and 72 = Rada,82 _Lavean orm to0e sysress overall transfer (0 eliminate Q (5): Having the transfer f function Ha(syvQ(s) by mi for each tank, we can fing Eqs. (7.5) and (7. Asa) eee Qs) ~ astins ti Notice that the overall transfer function of Eq. (7.7) is the product of two the transfer function of a case of the interacting system of Fig. 7.16, the overall transfer function cannot be found by simply multiplying together the separate transfer functions; this will become apparent acting system is analyzed later an ‘The transfer function for this system is found di i as) Geta D FIGURE 7.2 “Transient response of my i ovel system (Example RESPONSE OF FASTOROER SyeTINS W sees 83 FIGURE 7-3, onimtrctng fs onder systems Generalization for Several Noninteracting Systems in Series Having observed that the overall transfer function for two no systems connected in seties is simply the product of thei tions, we may now generalize by considering m noninteracting first-order systems 4s represented by the block diagram of Fig. 7.3. The block diagram is equivalent to the relationships ‘To obtain the overall transfer function, we simply multiply together the individual transfer functions; thus ats) ols) From Example 7.1, notice that the step response of a system cons {wo firstonder systems is S-shaped and that the response changes very just after introduction of the step input. This sluggishness or delay is sometimes called transfer lag and is always present when two or more first-order systems are connected in series. For a single first-order system, there is no transfer lag; i.e-, the response begins immediately after the step c ‘change of the response (slope of response In order to show how the transfer lag is increased as the number of stages increases, Fig. 7.4 gives the unit-step response curves for several systems con. taining one or more first-order stages in series. Interacting System ‘To illustrate an interacting system, we system shown in Fig, 7.1b. The analy the tanks as was done for the nonintr derive the transfer function for the started by writing mass balances on case. The balances on tanks 1 and84 uvean ores 1008 srstess 0 ‘ [—] ae af > 0 * oa 4 - os suey berw a ° thr ricune 14 ‘Step response of noniatercting fist oer systems. 2 are the same as before and are given by Eqs. (7-1) and (7.2). However, the flov-head relationship for tank 1 is now a= doh a3) The flow-head relationship for Ris the same as before and is expressed by Eq, (7.4). A simple way to combine Eqs. (7.1), (7-2), (7.4), and (7.13) is to first express them in terms of deviation variables, transform the resulting equations, and then combine the transformed equations to eliminate the unwanted variable ‘At steady state, Egs. (7.1) and (7.2) can be written aay = 0 7.14) 41,7 4, = 0 15) Subtracting Eq. (7.14) from Eq. (7.1) and Eq. (7.15) from Eq. (7.2) and introducing deviation variables give amy o-o at 16) = afte 1-02 = Ge ay Expressing Eqs. (7.13) and (7.4) in terms of deviation variables gives a 7.18) RESPONSE OF FRST-ORDERSYSHEIS SERS BS a= 2 @.19 Eas. (7.16) through (7.19) gives 068) ~ O18) = Ass) 2 O16) ~ 0445) = AasHtxs) 2 His) — Has) 72) Qs) = thio) 7.23) The analysis has produced four algebraic equations (@,.0).Q2, Hi, and M12). These equations may be c0 and Hj and arrive at the desired transfer function Ane) te R 6) ~ ams? FF Notice that the product ofthe transfer fun ining five unknowns: inate Q 1,02. 1g. The second tank of Fig, Toad the first ‘To understand the effect of interaction on the transient response of a sy consider a two-tank system for wh we constants are eq If the tanks are noninteracting, the transfer fu fow is us) ft Q(s) > \rs+ ‘The unit-step response for this transfer fun procedure to give (7.28) be obtained by the usual xt) = 1 - Le (7.26) Ifthe tanks zre interacting, the ov is (assuming further that Ay = 3) 2x3) 20) By application of the quadeatie form luansfer function, acconding to Eq. (7.24), Oats) 1 O05) ~ 0.385 Give +1)For this example, we see that the effect of interaction has been to change the in the noninteracting system. The for the interacting case (Eq. (7. nse of Q2(t) to a unitstep change in Q() Qs(t) = 1+ 0.17e 1% — 1,171 29) ccan be seen ‘on physical introduced into the be reduced by the luction of the step in sluggish than the : This chapter concludes our specific discussion of first-order systems. We shall make continued use of the material developed here in the succeeding chap- ters. sasronse or msronoex sysrins sexes 87 PROBLEMS 7-1. Determine the trae function H(0/Q(s) for he auivel system shown in Fig istanees Ry and Rp ar linear The flow rate from tank 3 is maintained the flow rate from tank 3 is independent of FIGURE Pr-1 sistance inthe mercury. A more analysis would consider both the convective resistance surounding the bulb between the bulb and mercury. In addition, the capacitance of the glass bul included. Let coefficient between bulb and mercury coefficient between bulb and surrounding fuid T= temperature of mercury Ty = temperature of glass bul Ty = temperature of surrou Determine the transfer function between Ty and T. What bulb resistance and capacitance on ‘of the bull resus in a pai of interacting syste function somewhat different fromthe three-tank system shown in cables. Tenk 1 and Tank 2 re and sketch Tank Fig. P7 isan impulse function of magnitude 2, determine (a) An expression for (0) Sketch the esponse H ‘where i the deviation in level inthe third tank. a FIGURE P75 FIGURE P7-6 1. Starting derive the transfer fan stem shown in Fig. P7.7. The amis are Aowing fi Parameters in the transfer fanctons.