Fourth Class Process Control

4-Resistance and capacities

U

a-Resistance element (proportional element)

U

1.Laminar flow:
U

∆𝑝𝑝 𝜋𝜋𝐷𝐷4
𝑄𝑄 = � �
𝐿𝐿 128𝜇𝜇

𝐷𝐷: 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑜𝑜𝑜𝑜 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 (𝑚𝑚)

𝐿𝐿: 𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙ℎ𝑡𝑡 𝑜𝑜𝑜𝑜 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 (𝑚𝑚)

𝜇𝜇: 𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣 𝑜𝑜𝑜𝑜 𝑡𝑡ℎ𝑒𝑒 𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 (𝑘𝑘𝑘𝑘⁄𝑚𝑚 . 𝑠𝑠𝑠𝑠𝑠𝑠)

∆𝑝𝑝: 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑜𝑜𝑜𝑜 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏 𝑡𝑡ℎ𝑒𝑒 𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒 𝑜𝑜𝑜𝑜 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 (𝑘𝑘𝑘𝑘⁄𝑠𝑠𝑠𝑠𝑠𝑠 2 𝑚𝑚)

𝑄𝑄: 𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣 𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 (𝑚𝑚3 ⁄sec⁡

)

∆𝑝𝑝 = 𝜌𝜌𝜌𝜌𝜌𝜌

𝜌𝜌𝜌𝜌𝜌𝜌𝐷𝐷4
𝑄𝑄 = 𝐻𝐻 � �
128𝐿𝐿𝐿𝐿

𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 (𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝)

𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 =
𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟
128𝐿𝐿𝐿𝐿 sec
𝑅𝑅 = � �
𝜌𝜌𝜌𝜌𝜌𝜌𝐷𝐷4 𝑚𝑚2
𝐻𝐻
𝑄𝑄 =
𝑅𝑅
𝑄𝑄(𝑠𝑠) 1
𝐺𝐺(𝑠𝑠) = = = 𝐾𝐾
𝐻𝐻(𝑠𝑠) 𝑅𝑅

2.Turbulent flow:
U

𝑄𝑄 = 𝐶𝐶𝐷𝐷 𝐴𝐴�2𝑔𝑔𝑔𝑔

𝑄𝑄2 = (𝐶𝐶𝐷𝐷 𝐴𝐴)2 2𝑔𝑔𝑔𝑔

𝑑𝑑𝑑𝑑
2𝑄𝑄 = (𝐶𝐶𝐷𝐷 𝐴𝐴)2 2𝑔𝑔
𝑑𝑑𝑑𝑑

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Fourth Class Process Control

𝑑𝑑𝑑𝑑 𝑄𝑄
=
𝑑𝑑𝑑𝑑 (𝐶𝐶𝐷𝐷 𝐴𝐴)2 𝑔𝑔
𝑄𝑄
𝑅𝑅 = 𝑅𝑅 ≠ 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 , 𝑅𝑅 = 𝑓𝑓(𝑄𝑄) 𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣𝑣 𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑐𝑐𝑐𝑐
(𝐶𝐶𝐷𝐷 𝐴𝐴)2 𝑔𝑔

1. Laminar flow:

𝐻𝐻
𝑄𝑄 =
𝑅𝑅
2. Turbulent flow:

√𝐻𝐻 𝐻𝐻𝑛𝑛
𝑄𝑄 = , 𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔 𝑄𝑄 = 𝑛𝑛 = 0.5 ͢ 1
𝑅𝑅 𝑅𝑅
b. Capacitance element
U

If the flows of liquid into tank is independent of the level in the tank.

Assumptions
U

1- The flow is independent of the liquid level

2- No flow resistance
3- At t<0 the tank is empty
4- At t=0 open the valve and the level of liquid increase

Mass balance :

Mass flow rate in –mass flow out =rate of accumulation in the tank

Steady state mass balance :

𝑑𝑑𝐻𝐻𝑜𝑜
𝜌𝜌𝑄𝑄𝑖𝑖𝑜𝑜 − 0 = 𝜌𝜌𝜌𝜌 =0 (1)
𝑑𝑑𝑑𝑑
Transient state mass balance :
𝑑𝑑𝐻𝐻 ′ (𝑡𝑡)
𝜌𝜌𝑄𝑄𝑖𝑖′ (𝑡𝑡) − 0 = 𝜌𝜌𝜌𝜌 (2)
𝑑𝑑𝑑𝑑

subtracting Eq. 1 from Eq.2:

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Fourth Class Process Control

𝑑𝑑𝑑𝑑(𝑡𝑡)
𝑄𝑄(𝑡𝑡) = 𝐴𝐴
𝑑𝑑𝑑𝑑
Laplace transform:

𝑄𝑄(𝑠𝑠) 1
𝐺𝐺(𝑠𝑠) = =
𝐻𝐻(𝑠𝑠) 𝐴𝐴𝐴𝐴

A: cross section area =vessel capacitance

𝑄𝑄 1
𝐻𝐻(𝑡𝑡) = −1
ʆ .
𝑠𝑠 𝐴𝐴𝐴𝐴
𝑄𝑄
𝐻𝐻(𝑡𝑡) = . 𝑡𝑡
𝐴𝐴

34