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Nasir M. Mirza
These systems have capacitance, resistance to flow and inertia. Let us consider some simple hydraulic systems through examples.
Example 1: Modeling of Flow of Salt in a Water Tank A tank contains M (liter) of water in which are dissolved Q (kg) of salt. About P (liters) of Brine (salted water) is dissolved into the tank per minute . Each liter contains S kg of dissolved salt. The mixture is kept uniform by stirring and it runs out at the same rate. Model this system to find the amount of salt in the water tank.
Then the time rate of change of y(t) is equal to inflow of salt minus the out flow.
We know that the tank contains M (liter) of water in which are dissolved Q (kg) of salt. Then P (liters) of Brian and each liter containing S kg of dissolved salt runs into the tank per minute. The P liters of water leaves the tank. Let us write down both outflow and in-flows:
dy( t ) PS dt
P y( t ) M
This is a linear first order ordinary differential equation with non-homogeneous term. We can simulate the amount of salt in the tank at any time t using this model. The constraints are that the inflow rate and outflow rates are fixed and y( t = 0 ) is equal to a given value Q. The fixed parameters in the system are P, S and M respectively. Let us do the example using some numerical values.
Example 1: Modeling of Flow of Salt in a Water Tank Inflow rate = 5 x 2 kg per min = 10 kg/min One liter contains y(t)/200 of salt, then 5 liters outgoing will have = 5y(t)/200 = 0.025y(t) ;
dy 10.0 0.025 y (t ) dt
y(0) = 40, It is an initial value problem Its Standard form is given below:
dy 0.025 y (t ) 10.0; dt
y (0) 40
dy 0.025 dt y 400
ln | y 400 | 0.025t C
y 400 C exp(0.025t )
y(0) = 40
dy 0.025 y (t ) 10.0; dt
y (0) 40
You can see the equilibrium value is 400 from graph and from above equation when dy/dt = 0.
y(0) = 40
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500
Time(sec)
One liter contains y(t)/1000 kg of salt, then 50 liter outgoing salt will have = 50y(t)/1000;
Salt outflow rate = 0.05y(t) Time rate of change of y = Inflow rate outflow rate
Mathematical Model
Standard form
y(0) = 200,
y(t ) exp(0.05t )
50 Gain1 50 Constant
y(0) = 200
Example 3:
A cylindrical tank 150 cm high stands on its circular base of diameter 100 cm and it is initially filled with water. At the bottom of the tank, there is a hole of diameter one cm, which is opened at some instant, so that the water starts draining under the influence of gravity. GIVEN: According to the Bernoullis law, water flows out of the hole with velocity proportional to the square root of the height at that time. Take proportionality constant as 5 for this system. The velocity increases when height decreases. Assume height of water in the tank at any instant of time t is h(t). Develop the mathematical model.
Example 3:
System: A cylindrical tank with maximum water height of 150 cm and diameter of 100 cm. Fixed Parameters: Acceleration due to gravity g = 980 cm/sec2 , and area of the hole in the tank are fixed parameters. Variable: Water level in the tank at any instant is h(t). Conditions: The initial height of the water in the tank is 150 cm (i.e. h(t) = 150 cm at time t = 0). The volume of the tank is fixed and the diameter of the hole does not change with the passage of time. There is no internal source.
Example 3:
dh(t ) dt
h(t )
Here we must keep in view that final velocity is high as compared to initial velocity. Then equation reduced to following first order differential equation:
dh(t ) dt
k h(t )
The negative sign indicates that high decreases the velocity increases.
h
Example 3:
Model in MATLAB/SIMULINK :
dh(t ) dt
k h(t )
h
k = 5; h(0) = 200 m.
h(0) = 200
Scope 1/s Integrator sqrt Math Function simout To Workspace -5 Gain
dh(t ) dt
k h(t )
200
k = 5; h(0) = 200 m. You can see the equilibrium value is 400 from graph and from above equation when dy/dt = 0.
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time(min)