Documente Academic
Documente Profesional
Documente Cultură
129-140
Dr.Khalid.M.Mousa
Chemical engineering Department
Nahrain University
Abstract
2
Experimental investigation was conducted to
study the dynamics of double-pipe heat exchanger
using step change in flow rate of hot water and
[Burn ,1981] used lead / lag approximation in
observe its effect on the temperature of cold water
modeling a double pipe heat exchanger system.
and it was found that the transfer function can be
The analysis involved extraction of successive
represented by first order system plus dead time
real poles and zeros of the system transfer
(FOPDT).
functions for temperature or flow forcing. [
Shinsky,1967] formulated a model describing
dimensionless temperature as function of flow
rates.[Stephanopouls,1967] shown that the heat
exchanger can be represented by a partial
MATLAB 7.4 simulation and programming was
differential equation i. e distributed parameter
used to show the response of close-loop system
system.[Timothy,2004] studied a double pipe
using P, PI, PID and fuzzy logic control.
helical heat exchanger numerically and
The Smith predictor was used to remove the
experimentally for both heat transfer and
effect of transport delay on the process and it was
hydrodynamic characteristics. Simulation were
found that this method greatly improve the
performed using various flow rates, his study
response of the system. The stability of the overall
involved the determination of uniformity of the
closed loop system was proved by using Bod plot
residence time and temperature distribution as
diagram.
well as the heating-cooling uniformity.[Sudhir et
Introduction al.,2006] used neural network for controlling
temperature of double pipe heat exchanger .The
Simple double pipe heat exchanger consist of results indicated that the feedback control system
concentric pipes. It is commonly used in is suitable when the process detail are known
applications involving relatively low flow rates completely. whereas neural network control is
and high temperature or pressure, for which they useful for the process with nonlinear and less
are well suited. other advantage include low knowledge about the process.[ Anton et al.,2009]
installation cost, ease of maintenance, and indicated that some parameters ,for example fluid
flexibility [Robert ,2007 ] density and heat capacity are not constant in
[Gerard ,1974] formulated a model for a counter operating temperature rang and this introduced
flow heat exchanger, which has taken into anon-negligible nonlinearities in heat exchangers
account variation of the heat transfer coefficient modeling.
with respect to fluid flow rates and temperature. The aim of this work is to find the transfer
The approach used in this study to solve four function of the double pipe heat exchanger
nonlinear partial differential equations by experimentally and then using a MATLAB
linearization method . Experimental investigation simulink to study the closed loop system via
using various test such as step function and sine applying both conventional and advanced control
wave was conducted. The results showed that the methods.
transfer function with variation of temperature in
both stream could be approximated by the
following forms:
Process Identification
Experimental identification of process
dynamics has been an active area of search for
many years by workers in several area of
1 engineering.
A time domain fitting of step test data is the most
direct way to obtaining an empirical linear
dynamics model of process in order to find the
parameter (dead time, time constant and process
= DQ 5
It is very robust and can be used when we do not
know the plant model very accurately. The design
Where Q=U( -T), substitute in Eq. (5) , yields: process involves finding values of Kc, i and D
such that the design specifications are satisfied.
The PID gain search process is sometimes
6 referred to as tuning. For certain plant type, The
= DU( -T) Ziegler-Nicolas method provides a structure
tuning procedure, however not all plants are
amenable to that type of tuning. One method
Where relies on interactive computer simulation and
Q=amount of heat transferred from hot fluid to analysis. Initial nominal gain values are choose ,
other per unit of time and unit of heat transfer and then tune the controller parameters by
area. simulating the response and verifying that the
A=cross-sectional area of the inner tube. performance is acceptable. If the performance is
V=average velocity of the inner liquid . not acceptable, update the gains and iterate the
D=external diameter of the inner tube process. Naturally MATLAB is very helpful in
U=overall heat transfer coefficient. this process. [Bishop,1977]
Smith predictor
PID controller A Smith predictor was used to design a
The PID controller is widely used in industry. controller to remove the effect of transport delay .
The transfer function is expressed as follows:- The first step to design the controller Gc(s) is to
design a suitable controller cs (s) when the
system has no dead time. J.M. Smith designed an
10
8
R + + V G(s) e-DS C
c
- -
-e-DS G(s)
+
c G(s) e-DS
R - C
3.10 Fuzzy Logic Control (FLC) Fuzzy mathematics is attractive not only
because it is based on the very intuitive idea of
Fuzzy logic is a super set of traditional logic, Fuzzy sets, but because it is capable of generating
according to [Zadeh,1989], who invented this many structures that provide today's scientists and
concept in 1965. He said it is the logic of engineers with new insights into interesting,
approximate reasoning and it is unlike other significant and often-debated problems in both
branches of artificial intelligence (AI) that use science and engineering. [ Zadeh L.A , 1989]
conventional logic. Since then, the theory of The theory of Fuzzy sets has one of its aims,
mathematics has gained more recognition from the development of a methodology for the
many researches in a wide range of scientific formulation and solution of problems that are too
fields. complex or too ill-defined to be analyzed by
conventional techniques.
NUCEJ Vol.13 No.2 Mousa 131
Hence the theory of Fuzzy sets is likely to be configuration single pass. The specification of
recognized as a natural development in the double pipe are 37 mm outer diameter, 12 mm
evaluation of scientific thinking inner diameter and 1 m length was used.
[McCusker,1990]. Hot and cold water were employed as circulating
The Fuzzy logic can be considered as a tool of fluid. steady state values of cold and hot water
promise for control. It can AL's sector, which flow rates are 300 and 600 l/min respectively.
ensures to enhance tomorrow's industrial control After reach the desired temperature of hot water
system [ Zadeh ,1989]. tank (341K), and steady-state of cold water
stream temperature (103K),a step change in hot
Experimental work:- water flow rate was introduced and record the
outlet temperature of exit cold water each two
The process involved a pilot plant of double pipe second until a steady stat was reached and noting
heat exchanger consisted mainly of two the apparent dead time.
concentric pipes assembled in counter-current
Temp.
Glass wool (insulation) recorder
valve
flow meter
pum Heating
coil
Cold
water
tank
Valv
pum
1.2
0.8
Temp. ( K )
0.6
0.4
0.2
0
0 10 20 30 40 50 60
Time (sec )
Figure 4. Temperature response for step change in hot water flow rate
If the system is first order, then the output (Ziegler-Nicolas) ,and attest for closed loop
response curve has anon-zero slope at the initial control system and fine-tuning was conducted
time. The response of the system with a relative using a MATLAB simulik . Figures (5,6,7,8 and
order greater than one has zero slope at initial 9) show the block diagram of P, PI , PID, fuzzy
time. [wayne Bequette ,1998] logic control and Smith predictor, while figures
(10,11,12,13 and 14) show the response of these
Closed loop block diagram respectively. The results indicate
For simplicity we assume that the transfer that the smith predictor is greatly improved the
function of close-loop system involved only the response or controlled variable. A PI and PID
transfer function of process and controller due to removed the offset but the settling time response
small time constant of valve and transmitter is large compared with that in using smith
compared with process and controller. predictor which only ten second. From figures (11
A servo problem was considered using and 12) one can see that the time required for
MATLAB simulink via unit step change in set response curve to reach and stay within rang
point of controlled variable which is the outlet about the final value of specified by absolute
percentage of the final value usually 2% or 5% ( a
temperature of cold water stream .The initial settling time) equal 50 second when using PI
tuning constants(proportional gain (Kc), time controller and 40 second when using PID
integral ( I) and time derivative ( D ))for P, PI and controller while only 5 second in using Smith
PID controller were found using empirical model predictor .The controlled variable in P ,PI ,and
NUCEJ Vol.13 No.2 Mousa 133
PID control methods overshoots its set point approximation via Bode diagram. Figure (15)
while dos not in using Smith predictor and fuzzy indicate that the system is stable because gain and
logic control phase margin are positive.
A stability of open loop and closed loop using
smith predictor was stated using first order pade
.6
7.5
20 s+1
Step Gain Transfer Fcn Transport Scope
Delay
12 .5s+1 .6
-K -
12 .5s 20 s+1
Step Gain Transfer Fcn 1 Transfer Fcn Transport Scope
Delay
14 s2 +9.3s+1 .6
-K - s2 +7.5s 20 s+1
Gain Transfer Fcn 1 Transfer Fcn Transport
Step Scope
Delay
1.4
1.2
0.8
Temp. (K)
0.6
0.4
0.2
0
0 10 20 30 40 50 60 70 80 90 100
Time (sec)
1
temp. (K)
0.5
0
0 10 20 30 40 50 60 70 80 90 100
time (sec)
1.8
1.6
1.4
1.2
Temp. (K)
0.8
0.6
0.4
0.2
0
0 10 20 30 40 50 60 70 80 90 100
time (sec)
1
Temp. (K)
0.5
0
0 10 20 30 40 50 60 70 80 90 100
Time (sec)
10
-5
M agnitude (dB)
-10
-15
-20
-25
-30
-35
-40
360
270
Phas e (deg)
180
90
-2 -1 0 1 2
10 10 Frequency10(rad/sec) 10 10
Figure 15. Bode diagram for open loop system without time delay
Bode Diagram
-10
Magnitude (dB)
-20
-30
-40
360
Phase (deg)
270
180
90
-2 -1 0 1 2
10 10 Frequency10(rad/sec) 10 10
Figure 16. Bode diagram for close loop system using smith predictor
Smith predictor