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TEAM ASSIGNMENT
GROUP 12
1.0 Summary
6.0 Conclusion
7.0 References
Appendix
1.0 Summary
The title of the journal that selected for this assignment is “Concentration Control of CSTR
through Fractional Order PID Controller by Using Soft Techniques” written by Abhishek Singh
In this team assignment, mathematical modelling for this process was developed based on mass
balance. Through the mathematical model, all main variables were identified. The manipulated
variable is flow rate while the disturbance variables are concentration of Benzaldehyde and
degree of freedom analysis has been done. It is found that the number of degrees of freedom is
3.
Linearization has been done before develop transfer function since the equation is non-linear
equations. After linearization, Laplace transform was implemented in order to obtain transfer
function. 3 transfer function is obtained. Lastly, the transfer functions were simulated using
MATLAB, to study the dynamic behaviour of the process. Three types of input signal (step,
ramp, and sinusoidal) were used to analyse how the input variables affect the output response.
1
2.0 Introduction and Process Description
2.1 Introduction
CSTR is very common reactor that used in industrial processing. In a CSTR process model,
one or more fluid reactants are introduced into a tank reactor equipped with an impeller to make
sure the reactant well mixed. Through CSTR, the reactor effluent is removed from the system
as well. Residence time is describing the average time, in which a particular quantity of reagent
spends inside the tank. Chemical kinetics concept is used to determine the behaviour of reaction
in tank reactor.
It is because PID’s simplicity and number of parameters that needed to tune is less. The
standard feedback control algorithms of PID controller consist of three separate parameters
which are the proportional, the integral and derivative values. Proper settings of fractional-I
and fractional–D actions can further improve the performance of PID controller. To get optimal
result, many soft techniques have been employed to enhance the performance of controller.
PID control is often combined with logic, sequential functions, selectors, and simple function
blocks to build the complicated automation systems used for energy production, transportation,
and manufacturing.
2
2.2 Process Description
A+B→X
Figure 1 show the schematic diagram for an isothermal irreversible synthesis process of
Benzaldehyde and acetophenone are colourless liquid, having melting point of -26°C and 20°C
respectively. The reaction mixture is heated inside reactor at 80°C, and then after stirring
process, the product mixture is cooled to room temperature. Finally, yellow colour substance
can be obtained. The yellow colour substance is Chalcone, which is used to make life saving
drugs. The mathematical model of this reactor based on mass balance inside the reactor.
3
3.0 Mathematical Model of the Process
3.1 Assumption:
Few assumptions have been made when develop the mathematical model.
1) Isothermal irreversible reaction take place in the CSTR. Isothermal process means the
4) Density of each component is constant. Thus, the fluids are assumed that incompressible.
The theoretical mathematical model is formed based conversation law. In this case study,
𝑑𝐶𝐴 𝐹
1. Species A: = (𝐶𝐴𝑜 − 𝐶𝐴 ) − 𝐾𝑜 𝐶𝐴 𝐶𝐵 equation 1
𝑑𝑡 𝑉
𝑑𝐶𝐵 𝐹
2. Species B: = (𝐶𝐵𝑜 − 𝐶𝐵 ) − 𝐾𝑜 𝐶𝐴 𝐶𝐵 equation 2
𝑑𝑡 𝑉
𝑑𝐶𝑥 𝐹
3. Species X: =− 𝐶𝑥 + 𝐾𝑜 𝐶𝐴 𝐶𝐵 equation 3
𝑑𝑡 𝑉
4
3.3 Degree of Freedom Analysis
1 Parameter: Ko
Nv = 6
NE = 3
NF = Nv – NE
=6–3
=3
Must identify three input variables in order for the equation to have a unique solution.
Controlled variables: Cx
5
3.4 List of Parameter and Variable of Reaction
6
4.0 Development of Transfer Function
Three mass balance differential equations that involved in this case study are non-linear due to
the product between two variables. For example, CA×CB in equation 1, 2 and 3, therefore the
equation is needed to be linearized by using Taylor series before undergo Laplace transform.
dy
= f(y, u) equation 4
dt
∂f ∂f
f(y, u) ≅ f(y̅, u̅) + | (y − y̅) + | (u − u̅) equation 5
∂y y
̅,u
̅ ∂Q y
̅,u
̅
Since 𝑓(𝑦̅, 𝑢̅) represent steady state condition, hence 𝑓(𝑦̅, 𝑢̅)=0. Hence equation 5 can be
simplify to
d𝑦 ′ ∂f ∂f
= ∂y| y ′ + ∂u| u′ equation 6
dt s s
𝐹 𝐹
Let 𝑉 = 𝑄 to simplify the variable of . Using Taylor series expansion to linearize equation
𝑉
7
4.1 Species A
𝑑𝐶𝐴
= 𝑓(𝐶𝐴 , 𝐶𝐵 , 𝐶𝑋 , 𝑄)
𝑑𝑡
dCA ′ ∂𝑓 ∂𝑓 ∂𝑓 ∂𝑓
= (𝑄 − Q̅ ) + ∂𝐶 (𝐶𝐴 − 𝐶𝐴̅ ) + ∂𝐶 (𝐶𝐵 − 𝐶𝐵̅ ) + ∂𝐶 (𝐶𝐴𝑂 − 𝐶𝐴𝑂
̅ )
dt ∂𝑄 𝐴 𝐵 𝑋
equation 7
∂f
(∂Q) = ̅̅̅̅̅ ̅̅̅A̅
CA0 − C
s
∂f
̅ − K 0 ̅̅̅
(∂C ) = −Q CB
A s
∂f
(∂C ) = −K 0 ̅C̅̅A̅
B s
∂f
̅
(∂C ) = Q
A0 s
dCA ′
̅̅̅̅̅
= (C ̅̅̅̅ ̅ ̅̅̅ ′ ̅̅̅̅ ′ ̅
A0 − CA )𝑄′ + (−Q − K 0 CB )CA + (−K 0 CA )CB + Q(CA0 ′)
dt
equation 8
𝑠𝐶𝐴 ′ (𝑠) = (𝐶
̅̅̅̅̅ ̅̅̅ ′ ̅ ̅̅̅ ′ ̅̅̅ ′ ̅ ′
𝐴𝑂 − 𝐶𝐴 )𝑄 (𝑠) + (−𝑄 − 𝐾𝑂 𝐶𝐵 )𝐶𝐴 (𝑠) + (−𝐾𝑂 𝐶𝐴 )𝐶𝐵 (𝑠) + (𝑄 )𝐶𝐴𝑂 (𝑠)
equation 9
8
Rearrange the equation (9)
𝐶𝐵 )𝐶𝐴 ′ (𝑠) = (𝐶
(𝑠 + 𝑄̅ + 𝐾𝑂 ̅̅̅ ̅̅̅̅̅ ̅̅̅ ′ ̅̅̅ ′ ̅ ′
𝐴𝑂 − 𝐶𝐴 )𝑄 (𝑠) + (−𝐾𝑂 𝐶𝐴 )𝐶𝐵 (𝑠) + (𝑄 )𝐶𝐴𝑂 (𝑠)
̅̅̅̅̅̅
(𝐶 𝐴 −𝐶 ̅̅̅̅
𝐴) (−𝐾 ̅̅̅̅
𝐶 ) (𝑄̅ )
𝐶𝐴 ′ (𝑠) = (𝑠+𝑄̅𝑂+𝐾 𝑄 ′ (𝑠) + (𝑠+𝑄̅+𝐾
𝑂 𝐴
𝐶 ′ (𝑠) + (𝑠+𝑄̅+𝐾 𝐶𝐴𝑂 ′ (𝑠)
𝑂 ̅̅̅̅
𝐶𝐵 ) 𝐶 ) 𝐵
̅̅̅̅
𝑂 𝐵 𝑂 ̅̅̅̅
𝐶𝐵 )
̅̅̅̅̅̅
(𝐶 𝐴𝑂 −𝐶̅̅̅̅ ̅ +𝐾𝑂 ̅̅̅̅
𝐴 )/(𝑄 𝐶𝐵 ) (−𝐾𝑂̅̅̅̅
𝐶𝐴 )/(𝑄̅ +𝐾𝑂 ̅̅̅̅
𝐶𝐵 ) (𝑄̅ )/ (𝑄̅+𝐾𝑂 ̅̅̅̅
𝐶𝐵 )
𝐶𝐴 ′ (𝑠) = 1
𝑄 ′ (𝑠) + 1
𝐶𝐵 ′ (𝑠) + 1
𝐶𝐴𝑂 ′ (𝑠)
(̅ 𝑠+1) (̅ 𝑠+1) (̅ 𝑠+1)
𝑄+𝐾𝑂 ̅̅̅̅̅
𝐶𝐵 𝑄+𝐾𝑂 ̅̅̅̅̅
𝐶𝐵 𝑄+𝐾𝑂 ̅̅̅̅̅
𝐶𝐵
Let
1
τ1 = 𝑄̅+𝐾 ̅̅̅̅̅
k1=(𝐶 ̅̅̅ ̅ ̅̅̅
𝐴𝑂 − 𝐶𝐴 )/(𝑄 + 𝐾𝑂 𝐶𝐵 )
𝑂 ̅̅̅̅
𝐶𝐵
𝑘1 𝑘2 𝑘3
∴ 𝐶𝐴 ′ (𝑠) = 𝑄 ′ (𝑠) + 𝐶𝐵 ′ (𝑠) + 𝐶 ′ (𝑠)
( 𝜏1 𝑠 + 1) (𝜏1 𝑠 + 1) (𝜏1 𝑠 + 1) 𝐴𝑂
equation 10
49 121 2
𝐶𝐴 ′ (𝑠) = 150 𝑄 ′ (𝑠) − 150 𝐶𝐵 ′ (𝑠) + 15 𝐶𝐴𝑂 ′ (𝑠)
2 2 2
𝑠+1 𝑠+1 𝑠+1
15 15 15
equation 11
9
4.2 Species B
𝑑𝐶𝐵
= 𝑓(𝐶𝐴 , 𝐶𝐵 , 𝐶𝐵𝑜 , 𝑄)
𝑑𝑥
∂𝑓 ∂𝑓 ∂𝑓 ∂𝑓
= (𝑄 − Q̅ ) + ∂𝐶 (𝐶𝐴 − 𝐶𝐴̅ ) + ∂𝐶 (𝐶𝐵 − 𝐶𝐵̅ ) + ∂𝐶 (𝐶𝐵𝑜 − 𝐶𝐵𝑜
̅ )
∂𝑄 𝐴 𝐵 𝐵𝑜
equation 12
∂f
( ) = ̅̅̅̅̅
CB0 − ̅̅̅
CB
∂Q s
∂f
( ) = −K 0 ̅̅̅
CB
∂CA s
∂f
( ̅ − K 0 ̅C̅̅A̅
) = −Q
∂CB s
∂f
( ̅
) =Q
∂CBo s
Where:
dCB ′
̅̅̅̅̅
= (C ̅̅̅̅ ̅̅̅ ′ ̅ ̅̅̅̅ ′ ̅
Bo − C𝐵 )𝑄′ + (−K 0 CB )CA + (−Q − K 0 CA )CB + Q(CBo ′)
dt
equation 13
𝑠𝐶𝐵 ′ (𝑠) = (𝐶
̅̅̅̅̅ ̅̅̅ ′ ̅̅̅ ′ ̅ ̅̅̅ ′ ̅ ′
𝐵𝑂 − 𝐶𝐵 )𝑄 (𝑠) + (−𝐾𝑂 𝐶𝐵 )𝐶𝐴 (𝑠) + (−𝑄 − 𝐾𝑂 𝐶𝐴 )𝐶𝐵 (𝑠) + (𝑄 )𝐶𝐵𝑂 (𝑠)
equation 14
10
Rearrange equation (14)
𝐶𝐴 )𝐶𝐵 ′ (𝑠) = (𝐶
(𝑠 + 𝑄̅ + 𝐾𝑂 ̅̅̅ ̅̅̅̅̅ ̅̅̅ ′ ̅̅̅ ′ ̅ ′
𝐵𝑂 − 𝐶𝐵 )𝑄 (𝑠) + (−𝐾𝑂 𝐶𝐵 )𝐶𝐴 (𝑠) + (𝑄 )𝐶𝐵𝑂 (𝑠)
̅̅̅̅̅
(𝐶 ̅̅̅
𝐵𝑂 − 𝐶𝐵 ) (𝐾𝑂 ̅̅̅
𝐶𝐵 ) (𝑄̅ )
𝐶𝐵 ′ (𝑠) = 𝑄 ′ (𝑠) − 𝐶𝐴 ′ (𝑠) + 𝐶𝐵𝑂 ′ (𝑠)
̅ ̅̅̅
(𝑠 + 𝑄 + 𝐾𝑂 𝐶𝐴 ) ̅ ̅̅̅
(𝑠 + 𝑄 + 𝐾𝑂 𝐶𝐴 ) ̅ ̅̅̅
(𝑠 + 𝑄 + 𝐾𝑂 𝐶𝐴 )
̅̅̅̅̅̅
(𝐶 𝐵𝑂 −𝐶̅̅̅̅ ̅ +𝐾𝑂̅̅̅̅
𝐵 )/(𝑄 𝐶𝐴 ) (𝐾𝑂 ̅̅̅̅
𝐶𝐵 )/(𝑄̅ +𝐾𝑂 ̅̅̅̅
𝐶𝐴 ) (𝑄̅ )/(𝑄̅ +𝐾𝑂 ̅̅̅̅̅
𝐶𝐴 )
𝐶𝐵 ′ (𝑠) = 1
𝑄 ′ (𝑠) − 1
𝐶𝐴 ′ (𝑠) + 1
𝐶𝐵𝑂 ′ (𝑠)
(̅ 𝑠+1) (̅ 𝑠+1) (̅ 𝑠+1)
𝑄+𝐾𝑂 ̅̅̅̅̅
𝐶𝐴 𝑄+𝐾𝑂 ̅̅̅̅̅
𝐶𝐴 𝑄+𝐾𝑂 ̅̅̅̅̅
𝐶𝐴
Let
1
𝜏2 = 𝑄̅+𝐾 ̅̅̅̅̅
𝑘4 = (𝐶 ̅̅̅ ̅ ̅̅̅
𝐵𝑂 − 𝐶𝐵 )/(𝑄 + 𝐾𝑂 𝐶𝐴 )
𝑂 ̅̅̅̅
𝐶𝐴
𝑘5 = −(𝐾𝑂 ̅̅̅
𝐶𝐵 )/(𝑄̅ + 𝐾𝑂 ̅̅̅
𝐶𝐴 ) 𝑘6 = (𝑄̅ )/(𝑄̅ + 𝐾𝑂 ̅̅̅̅
𝐶𝐴 )
𝑘4 𝑘5 𝑘6
𝐶𝐵 ′ (𝑠) = 𝑄 ′ (𝑠) + 𝐶𝐴 ′ (𝑠) + 𝐶 ′ (𝑠)
(𝜏2 𝑠 + 1) (𝜏2 𝑠 + 1) (𝜏2 𝑠 + 1) 𝐵𝑂
equation 15
68 130 20
𝐶𝐵 ′ (𝑠) = 141 𝑄 ′ (𝑠) − 141 𝐶𝐴 ′ (𝑠) + 141 𝐶𝐵𝑂 ′ (𝑠)
1 1 1
𝑠+1 𝑠+1 𝑠+1
7.05 7.05 7.05
equation 16
11
4.3 Species X
d𝐶𝑥
= f(CX , CA , CB , Q)
dt
∂f ∂f ∂f ∂f
= ∂C (Cx − ̅̅̅
Cx ) + ∂C (CA − ̅C̅̅A̅) + ∂C (CB − ̅̅̅
CB ) + + ̅)
(Q − Q
x A B ∂Q
equation 17
∂f
( ̅
) = −Q
∂Cx s
∂f
( ) = K 0 ̅̅̅
CB
∂CA s
∂f
( ) = K 0 ̅C̅̅A̅
∂CB s
∂f
̅̅̅x
( ) = −C
∂Q s
Where:
dCx ′
̅ )Cx′ + K 0 C̅B CA′ + K 0 C̅A CB′ − ̅̅̅
= (−Q CX Q′
dt
equation 18
12
Taking Laplace transform for equation (18)
equation 19
𝐾𝑂 ̅̅̅
𝐶𝐵 𝐾𝑂 ̅̅̅
𝐶𝐴 ̅̅̅̅
𝐶𝑥
𝐶𝑥 ′(𝑠) = 𝐶𝐴 ′(𝑠) + 𝐶𝐵 ′ − 𝑄 ′ (𝑠)
(𝑠 + 𝑄̅ ) (𝑠 + 𝑄̅ ) (𝑠 + 𝑄̅ )
𝐾𝑂 ̅̅̅
𝐶𝐵
̅
𝑄 (𝐾𝑂 ̅̅̅
𝐶𝐴 )/𝑄̅ ̅𝐶𝑥
̅̅̅/𝑄̅
𝐶𝑠 ′(𝑠) = 𝐶𝐴 ′(𝑠) + 𝐶𝐵 ′(𝑠) − 𝑄 ′ (𝑠)
1 1 1
( ̅ 𝑠 + 1) ( ̅ 𝑠 + 1) ( ̅ 𝑠 + 1)
𝑄 𝑄 𝑄
Let
1
𝜏3 = 𝑄̅ 𝑘7 = (𝐾𝑂 ̅̅̅
𝐶𝐵 )/𝑄̅
𝑘8 = (𝐾𝑂 ̅̅̅
𝐶𝐴 )/𝑄̅ ̅̅̅̅ /𝑄̅
𝑘9 = −𝐶𝑥
𝑘7 𝑘8 𝑘9
𝐶𝑥 ′(𝑠) = 𝐶𝐴 ′(𝑠) + 𝐶𝐵 ′(𝑠) + 𝑄 ′ (𝑠)
(𝜏3 𝑠 + 1) (𝜏3 𝑠 + 1) (𝜏3 𝑠 + 1)
equation 20
6.5 6.05 1
𝐶𝑥 ′(𝑠) = 𝐶𝐴 ′(𝑠) + 𝐶𝐵 ′(𝑠) − 𝑄 ′ (𝑠)
𝑠+1 𝑠+1 𝑠+1
equation 21
13
4.4 Transfer Function
To form transfer function by relating the output variable with input variable, CA ′(s) and CB ′(s)
have to be in term of CAo ′(s) and CBo ′(s). Therefore, equation (10) and (15) are solved
simultaneously.
𝑘1 (𝜏2 𝑠 + 1) + 𝑘4 𝑘2 𝑘6 𝑘2
∴ 𝐶𝐴 ′(𝑠) = 𝑄 ′ (𝑠) + 𝐶 ′(𝑠)
(𝜏2 𝑠 + 1)(𝜏1 𝑠 + 1) − 𝑘2 𝑘5 (𝜏2 𝑠 + 1)(𝜏1 𝑠 + 1) − 𝑘2 𝑘5 𝐵𝑜
𝑘3 (𝜏2 𝑠 + 1)
+ 𝐶 ′(𝑠)
(𝜏2 𝑠 + 1)(𝜏1 𝑠 + 1) − 𝑘2 𝑘5 𝐴𝑜
Equation 22
𝑘4 (𝜏1 𝑠 + 1) + 𝑘1 𝑘5 𝑘3 𝑘5
∴ 𝐶𝐵 ′(𝑠) = 𝑄 ′ (𝑠) + 𝐶 ′(𝑠)
(𝜏2 𝑠 + 1)(𝜏1 𝑠 + 1) − 𝑘2 𝑘5 (𝜏2 𝑠 + 1)(𝜏1 𝑠 + 1) − 𝑘2 𝑘5 𝐴𝑜
𝑘6 (𝜏1 𝑠 + 1)
+ 𝐶 ′ (𝑠)
(𝜏2 𝑠 + 1)(𝜏1 𝑠 + 1) − 𝑘2 𝑘5 𝐵𝑜
Equation 23
14
Substitute equation (22) and (23) into equation (20)
𝑘7 𝑘1 (𝜏2 𝑠 + 1) + 𝑘7 𝑘4 𝑘2
𝐶𝑥 ′(𝑠) = 𝑄 ′ (𝑠)
(𝜏3 𝑠 + 1)(𝜏2 𝑠 + 1)(𝜏1 𝑠 + 1) − (𝜏3 𝑠 + 1)(𝑘2 𝑘5 )
𝑘2 𝑘6 𝑘7
+ 𝐶 ′(𝑠)
(𝜏3 𝑠 + 1)(𝜏2 𝑠 + 1)(𝜏1 𝑠 + 1) − (𝜏3 𝑠 + 1)(𝑘2 𝑘5 ) 𝐵𝑜
𝑘7 𝑘3 (𝜏2 𝑠 + 1)
+ 𝐶 ′ (𝑠)
(𝜏3 𝑠 + 1)(𝜏2 𝑠 + 1)(𝜏1 𝑠 + 1) − (𝜏3 𝑠 + 1)(𝑘2 𝑘5 ) 𝐴𝑜
𝑘8 𝑘4 (𝜏1 𝑠 + 1) + 𝑘8 𝑘5 𝑘1
+ 𝑄 ′ (𝑠)
(𝜏3 𝑠 + 1)(𝜏2 𝑠 + 1)(𝜏1 𝑠 + 1) − (𝜏3 𝑠 + 1)(𝑘2 𝑘5 )
𝑘3 𝑘5 𝑘8
+ 𝐶 ′ (𝑠)
(𝜏3 𝑠 + 1)(𝜏2 𝑠 + 1)(𝜏1 𝑠 + 1) − (𝜏3 𝑠 + 1)(𝑘2 𝑘5 ) 𝐴𝑜
𝑘8 𝑘6 (𝜏1 𝑠 + 1)
+ 𝐶 ′ (𝑠)
(𝜏3 𝑠 + 1)(𝜏2 𝑠 + 1)(𝜏1 𝑠 + 1) − (𝜏3 𝑠 + 1)(𝑘2 𝑘5 ) 𝐵𝑜
Simply it into
𝐶𝑥 ′(𝑠)
𝑘2 𝑘6 𝑘7 + 𝑘8 𝑘6 (𝜏1 𝑠 + 1)
+ 𝐶 ′(𝑠)
(𝜏3 𝑠 + 1)(𝜏2 𝑠 + 1)(𝜏1 𝑠 + 1) − (𝜏3 𝑠 + 1)(𝑘2 𝑘5 ) 𝐵𝑜
𝑘3 𝑘5 𝑘8 + 𝑘7 𝑘3 (𝜏2 𝑠 + 1)
+ 𝐶 ′ (𝑠)
(𝜏3 𝑠 + 1)(𝜏2 𝑠 + 1)(𝜏1 𝑠 + 1) − (𝜏3 𝑠 + 1)(𝑘2 𝑘5 ) 𝐴𝑜
𝐶𝑥 ′(𝑠)
𝑄 ′ (𝑠)
15
Control variable with disturbance variables:
𝐶𝑥 ′(𝑠) 𝑘2 𝑘6 𝑘7 + 𝑘8 𝑘6 (𝜏1 𝑠 + 1)
=
𝐶𝐵𝑜 ′(𝑠) (𝜏3 𝑠 + 1)(𝜏2 𝑠 + 1)(𝜏1 𝑠 + 1) − (𝜏3 𝑠 + 1)(𝑘2 𝑘5 )
𝐶𝑥 ′(𝑠) 𝑘3 𝑘5 𝑘8 + 𝑘7 𝑘3 (𝜏2 𝑠 + 1)
=
𝐶𝐴𝑜 ′(𝑠) (𝜏3 𝑠 + 1)(𝜏2 𝑠 + 1)(𝜏1 𝑠 + 1) − (𝜏3 𝑠 + 1)(𝑘2 𝑘5 )
From equation 11, 16 and 21, the steady state gain and time constant is obtained and shown as
below.
2 1
𝜏1 = 𝜏2 = 𝜏3 = 1
15 7.05
49 121 2
𝑘1 = 𝑘2 = − 𝑘3 =
150 150 15
68 130 20
𝑘4 = 𝑘5 = − 𝑘6 =
141 141 141
𝑘1 = 6.5 𝑘2 = 6.05 𝑘9 = −1
Equation 23
Equation 24
Equation 25
16
Divide the equation (23), equation (24) and equation (25) by 0.019
Equation 26
𝐶𝑥 ′(𝑠) 6𝑠 + 6
= 3
𝐶𝐵𝑜 ′(𝑠) 𝑠 + 15.47𝑠 2 + 27.95𝑠 + 13.47
Equation 27
Equation 28
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5.0 Dynamic Behavior
Simulink in Matlab is used to study the dynamic behavior of the graph. There are 3 common
types of input changes, which are step input change, ramp input change and sinusoidal input
change. These 3 types of input changes models are stimulated by Simulink so that the
respective response curve can be generated. In the dynamic behavior graph that shown below,
yellow line represents transfer function of manipulated variable, red line represent transfer
function of disturbance variable-CBo and blue line represent transfer function of disturbance
variable-CAo).
Step input is used when the process that subjected to sudden and sustained input changes. For
example, a reactor feedstock is suddenly switched form one supply to another, causing sudden
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Figure 3: Dynamic Behavior of Output when Unit Step Input
From the graphs above, the process started at t = 0 (initial state), while the simulation stopped
at t = 100 minutes. Since the step input was set as 10s, therefore, a sudden increase occurred
after t = 10 minutes. The sudden increase proved that the increase of input which is flow rate
chalcone that produced. All the output achieved steady state around 15 minutes. The maximum
amplitude that shown by yellow line is roughly around 1.7. This maximum amplitude showed
that with sudden change of 1 litre per minute of flow rate, the concentration of chalcone will
increase 1.7 mol per litre. The calculation is shown as below. The graph also showed that the
flow rate has higher influence toward the concentration of chalcone that produced.
𝐶𝑥 ′ = 𝐶𝑥 − ̅̅̅
𝐶𝑥
𝑚𝑜𝑙
𝐶𝑥 ′ = 1.7
𝑙𝑖𝑡𝑟𝑒
𝑚𝑜𝑙
𝐶𝑥 = (1.7 + 1)
𝑙𝑖𝑡𝑟𝑒
𝑚𝑜𝑙
𝐶𝑥 = 2.7
𝑙𝑖𝑡𝑟𝑒
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5.2 Ramp Input
Ramp input change is used when the process subjected which consists of gradually upward or
downward change for some period of time with a roughly constant slope. For example, set
point are sometimes ramped from one value to another rather than making a step change.
From the graphs above, the process started at t =10 minutes (initial state), while the simulation
stops at t = 100 minutes. The graph showed that the increase the flow rate or concentration of
benzaldehyde and acetophenone will cause the product increase as well. The graph showed that
the ramp input gives the unbounded output. It will go to infinity if the duration of ramp input
is not limited.
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5.3 Sinusoidal Input
Sinusoidal input is for the process subjected to inputs that vary periodically. For example, the
drift in cooling water temperature can often be closely tied to diurnal fluctuations in ambient
conditions.
The graph show output response of process from sinusoidal input change. Transfer function for
equation 26 show the highest amplitude compare to another two. The graph showed that
maximum output amplitude for the process is 1.25 for manipulated variable. While 0.33 and
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5.4 Comparison of Different Input for Transfer Function of Manipulated Variable
Process started at t =1s (initial state), while the simulation stops at t = 10s. When unit step input,
the output will be bounded. While the ramp input and sinusoidal input gave unbounded output.
Different process required different input. If the process required to scale up the amount of
product, step input will be the suitable input. It is because the unit step input gave a bounded
output. On the other hand, the output reached steady state at short time as well which shown at
Figure 3. Ramp input is useful during the start-up of a continuous process for the unit operation
to warm up. It is because the magnitude of input is increasing slowly with time. This action
will protect the unit operation being damaged and it should limit the duration of ramp input.
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5.5 Overall Transfer Function
Through previous section 5.4, it is found that step input is most suitable input when process
required to scale up the amount of product. Therefore, this section will discuss how step input
affect the concentration of chalcone produced through dynamic behaviour of overall transfer
function. Assumption that have been made in this section is when volumetric flow rate increase
by 1 litre per minute, the initial concentration of Benzaldehyde and Acetophenone increase 1
mol per litre as well. From Figure 11, it is found that the amplitude of output is roughly 2.5.
Hence it showed that to scale up the amount of product, the best way is to make sure when
increase the amount of flow rate and initial concentration of reactant simultaneously.
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6.0 Conclusion
In a nutshell, to develop transfer function, there are few steps have to follow. Firstly, develop
mathematical model. Next, checking the degree of freedom for the mathematical model. Then,
identify all the input variable and categories it into manipulated variable and disturbance
Simulink in Matlab is used to study the dynamic behaviour of the transfer. To conclude the
dynamic behaviour that obtained in this team assignment, it is found that the different input is
need for different process. Based on our case study, step input is suitable to increase the amount
of product. Ramp input is suitable for during the start-up of a continuous process.
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7.0 Reference
1. Dale E. Seborg, Thomas F. Edgar, Duncan A. Mellichamp, Francis J.Doyle III. Process
2. Pao C. Chau. Process Control: A First Course with MATLAB. Cambridge University Press,
3. Signh,A. and Sharma, V. (2013). Concentration Control of CSTR Through Fractional Order
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Appendix
Date 24/9/2018
Time 9am-10am
Date 3/10/2018
Time 9pm-10pm
26
Venue Café lembaran
Date 16/10/2018
Time 9pm-10pm
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