Lecture 4

Kamarul Asri bin Ibrahim, PhD

Modeling for Control

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 Input-Output Model
The control model always utilize a black box concept
Output = f(input variables)
yi = f(m1,m2,,mk; d1, d2,,dl) for i = 1, 2,,m

disturbances
d1 d2 dl

m y1
Manipulated m12 y2
variables Process output
m k ym

Modeling for Control

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 Heated Tank Modeling
Ti, Fi

State Equations

Thermocouple Level Measurement

h F, T - h
Setpoint -T hsp

Tsp + e + Setpoint
e

Controller Controller
condensate

State variables : h and T Fst

Output Variables : h and T (measured) Steam

Input variables
Disturbances: Ti and Fi
Manipulated Variables : Q and F (feedback)
Parameters : A, r, cp

Modeling for Control

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 Heated Tank System
If Fi = F then dV/dt = 0
Only energy balance left to take care of:

Modeling for Control

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 At Steady State condition
There is no accumulation of temperature at steady state

Minus the steady state condition with the current situation

Solution for this deviation yields:

Modeling for Control

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 Input and Output Model for Heated Tank

At steady state t = 0, T = 0, c1 = 0

Ti(t) + (1/tTi(t)+ KTst(t))

1/t
1/tTi(t) + output
input
Tst(t)
K
KTst(t)

Modeling for Control

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 Degrees of Freedom
#f = (number of variables) - (number of equations)

Case 1 (exactly determined exactly specified)

If f = 0, Solution is unique
Process is exactly specified

Case 2 (underdetermined underspecified)

If f > 0, There are a lot of solutions.
Process is underspecified by f equation

Case 3 (overdetermined overspecified)

If f < 0, No solution for this system.
Process is overspecified by f equation

Modeling for Control

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 Degrees of Freedom in a CSTR
Define as the number of independent variables that must be
specified in order to define the process completely
Mathematical Model for a CSTR:
Ti, Fi

and

Let us ask through the following two questions:

Is solution of the equations possible? h F, T

If solution is possible, how many solutions exist?

Solution condensate
Number of equations = 2 Fst
Number of variables = 6 h,T, Fi , F, Ti and Q
Steam

Assumptions : A, p and cp are parameters

Modeling for Control
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 Degree of Freedom - CSTR
Number degree of Freedom = #f = 6 - 2 = 4
If f > 0 how do you reduce it to zero?
(1) Using external world
(2) Installing Control System on the process
Fi and Ti are the two main disturbances for the CSTR (external world)
Thus we have #f = 4 - 2 = 2 remaining degrees of freedom
By installing two controllers to fulfill the objectives of the process
Level and Temperature
We will have two additional equations, thus reducing the degrees of
freedom by two to zero.

Modeling for Control

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 Feedback Loop of a CSTR
Ti, Fi

Thermocouple Level Measurement

h F, T - h hsp
Setpoint -T
Loop 2
Tsp + Loop 1 +
e e

Controller condensate Controller

Fst
Steam

Modeling for Control

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 Working Session Binary Distillation Column

Cooling Water
N
MRD
Ff, cf f
Feed To Product, FD, xD
2
1
MB
Steam

Bottom Product, FB, xB

Modeling for Control

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 Number of Equations - Distillation Column

Model for an ideal binary distillation column

Number of Equations Origin
N+1 Equilibrium Relationship
N Hydraulic relationship Li = f(Mi)
2 Balances on top tray
2 Balances on feed tray
2 Balances on bottom tray
2(N-3) Balances around i th; i is not 1,N, f
2 Balances on reflux drum
2 Balances around column base
Total = 4N+5
Modeling for Control
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 Number of Variables- Distillation Column

Number of Variables Type

N+2 xi i = 1, 2, , f,, N, D, B liquid composition
N+1 yi i = 1, 2, , f,, N, B vapor composition
N+2 Mi i = 1, 2, , f,, N, RD, B liquid level
N Li i = 1, 2, , f,, N liquid flowrate
7 Ff, cf, FD, FB, FR, V (vapor), P
Total 4N + 12

Degree of freedom = f = (4N + 12) - (4N + 5) = 7

Modeling for Control

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 Distillation Column
Specification of the Disturbances (External World) :
Feed flowrate Ff and feed composition cf
Specification of the Controller
We can have up to 5 control objectives since there are five remaining degrees
of freedom. Acceptable operation requires the following to be controlled:
Composition of distillate stream, xD
Composition of bottom stream xB
Liquid holdup in reflux drum, MRD
Liquid holdup at the base of the column, MB
Pressure in the column, P
Alternative control configurations (different strategy)
Control the top product flowrate FD and composition of xD and MRD , MB, and P
Control the bottom product flowrate FB and composition xB and MRD , MB, and P

Modeling for Control

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 Binary Column Control Configuration
Controller
Cooling water
loop 5
P N MD
Controller
MRD
loop 3
Ff, cf f
Feed xD Top Product,
2 loop 1
1 Controller FD, xD
Controller MB
loop 4 Steam
xB loop 2
Bottom Product, FB, xB Controller

Modeling for Control

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