System Dynamics,

KOM5107
Modeling and Simulation

Modeling & Simulation of Dynamic

Systems (MSDS)
Asst. Prof. Claudia F. YAŞAR
[email protected]

Some Electromechanical Models

Balance Equations and Blending Tank
1
Week Subjects Related
Preparation
1 Introduction to Mathematical Modeling Lecture Notes
2 Mathematical Model of Physical Systems (Mechanics) Lecture Notes
3 Analogies Electrical and Mechanical Models. Lecture Notes
Electromechanical models
4 Lecture Notes
Fluid System Modeling: Blending Tank
The ideal lever
Rotationally coupled gear systems
The ideal transformer
 Example
For the mechanical system in Figure, assume that the lever is ideal and find the differential equation
that relates the displacement of the mass M with the external force p (t)
Fluid System Modeling: Blending Tank
Recommended Or Required Reading
Dynamic Models are also referred as unsteady state models.
These models can be used for:
1. Improve understanding of the process
2. Train plant operating personnel
3. Develop a control strategy for a new process
4. Optimize process operating conditions.
1. Theoretical Models are developed using the principles of chemistry,
physics and biology.
• Advantages:
 they provide physical insight into process behavior.
 they are applicable over a wide range of conditions.
• Disadvantages:
 they tend to be time consuming and expensive to develop.
 theoretical models of complex processes include some model
parameters that are not readily available.
2. Empirical Models are obtained by fitting experimental data.
Advantages:
 easier to develop
Disadvantages:
 do not extrapolate well
 the range of data is usually quite small compared to the full range
of operating conditions.
3. Semi-Empirical Models are a combination of theoretical and
empirical models where the numerical values of parameters in
a theoretical model are calculated from experimental data.
Advantages:
 they incorporate theoretical knowledge
 they can be extrapolated over a large range of conditions
 they require less development of effort than theoretical
models.
A Systematical Approach for Modeling
1. State the modeling objectives and the end use of the model.
2. Determine the required levels of model detail and model accuracy.
3. Draw a schematic diagram of the process and label all process
variables.
4. List all of the assumptions involved in developing the model. The
model should not be no more complicated than necessary to meet
the modeling objectives.
5. Determine if spatial variations are important. If so, a partial
differential equation model will be required.
6. Write appropriate conservation equations (mass, component, energy,
etc.)
7. Introduce constitutive equations, which are equilibrium relations and
other algebraic equations.
8. Perform a degrees of freedom analysis to ensure that the model
equations can be solved.
9. Simplify the model output = f (inputs)
10. Is this model form is convenient for computer simulation and
subsequent analysis.
11. Classify inputs as disturbance variables or as manipulated variables.
The input variables can be further classified as:
1. Manipulated (or adjustable) variables, if their values can be
adjusted freely by the human operator or a control
mechanism.
2. Disturbances, if their values are not the result of adjustment
by an operator or a control system.

The output variables are also classified as:

1. Measured output variables, if their values are known by
directly measuring them.
2. Unmeasured output variables, if they are not or cannot be
measured directly.
Control Objectives?

• Remember: think about process control from the perspective of

Chemical Engineering fundamentals.
• Understand your process, as well as your control objectives:
What needs to be controlled? Which variables effect each other (and how)? Where does
variability hurt you most? Etc.

• Remember there dynamic components.

• Think about control early in design phase.
 Thank heating system A liquid enters the tank with a flow rate Fi (ft3/min)
and a temperature of Ti (0F) where it is heated with
steam having a flow rate of Fst (lb/min). Let F and T
be the flow rate and temperature of the stream
leaving the tank.
F i, T i
The tank is considered to be well stirred, (the
temperature of the effluent is equal to the
temperature of the liquid in the tank).
h

The control objectives of this heater are:

F, T 1. To keep the effluent temperature T at the
desired value Ts.
Fst 2. To keep the volume of the liquid in the tank at a
desired value Vs.

steam Disturbed by external factors such as changes in the

feed flow rate Fi and temperature Ti.
Fundamental Models: Balance Equations
Dynamic balances that have the form

Integral Balances

• An integral balance is developed by viewing a system at two different

"snapshots" in time.
• Consider a finite time interval, Δt, and perform a material balance over
that time interval,
 Integral Balances

• An integral balance on the total mass in the

system is written in the form
Instantaneous Balances

• Here we write the dynamic balance equations directly, based on

an instantaneous rate-of-change
Material Balances: Liquid Surge Vessel Model
• Surge tanks are often used as intermediate storage for fluid streams
being transferred between process units. Consider the process flow
diagram shown in figure, where a fluid stream from process 1 is fed to
the surge tank the effluent from the surge tank is sent to process 2.
 Material Balances
• The objective here is to develop a model that relates the input to output that we
wish to regulate.
For this process, we first assume that the density is constant. The model we
develop should allow us to determine how the volume of liquid in the vessel varies
as a function of the inlet and outlet flow rates.

We will list the state variables,

parameters, and the input and
output variables.
 Process Modeling: Blending Tank
Consider a continuous stirred tank blending system where two input systems are
blended to produce an outlet stream F3 that has desired composition CA and CB.

Stream 1 is a mass fraction composition CA1 and CB1 and its mass flow rate F1

Stream 2 consists of CA2 and CB2=1. The mass flow rate of stream 2 is F2

CA1, CB1 ,F1 CA2, CB2, F2

The objective here is to develop a model that

relates the input to outputs CA and CB that we
wish to regulate

CA, CB, F3