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Lecture-8 - Introduction To Mathematical Modleing

This document discusses the steps in control system design and the importance of process modeling. It begins by explaining the elements of control system design, including defining control objectives, selecting measurements and manipulated variables, and selecting a control configuration. It then discusses why mathematical models of the process are needed for control system design, even before the physical plant is built. Two common approaches for building models are empirical methods using experimental data and first principles methods using laws of physics and chemistry. Several examples of control problems are provided where models are necessary, such as feedback control, feedforward control, and inferential control where outputs must be estimated. Other uses of models include understanding process behavior, training personnel, and optimizing process operations. The document concludes by introducing state

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Kshitij Soni
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40 views

Lecture-8 - Introduction To Mathematical Modleing

This document discusses the steps in control system design and the importance of process modeling. It begins by explaining the elements of control system design, including defining control objectives, selecting measurements and manipulated variables, and selecting a control configuration. It then discusses why mathematical models of the process are needed for control system design, even before the physical plant is built. Two common approaches for building models are empirical methods using experimental data and first principles methods using laws of physics and chemistry. Several examples of control problems are provided where models are necessary, such as feedback control, feedforward control, and inferential control where outputs must be estimated. Other uses of models include understanding process behavior, training personnel, and optimizing process operations. The document concludes by introducing state

Uploaded by

Kshitij Soni
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Instrumentation

and
Process Control
Lecture – 8
Steps in control system design – Introduction to Process modelling

Dr. Hemanth Kumar Tanneru


Department of Chemical Engineering
IIPE Visakhapatnam
In this lecture
• Block diagram for feedback control configurations
• Elements and steps in control system design
• Mathematical models of chemical processes
• Why we need them for control system design?
• Ways to build mathematical model?
• First principles models
• Empirical methods
• Other uses of mathematical models
• Methodologies for modelling

Lecture 8 : Instrumentation and Process control


From process system to block diagram
• Block diagram
• Effective way of showing the
blocks (elements) of control
system and how are the signals
getting transferred between them
• Consider
• Stirred tank heater
• Temperature control
• This can be represented as
block diagram

Lecture 8 : Instrumentation and Process control


Block diagram

Lecture 8 : Instrumentation and Process control


Design elements of a control system

1 2 3 4 5
Define control Select Select Select control Design the
objectives measurements manipulated configuration controller
variables

Lecture 8 : Instrumentation and Process control


Steps in
control system
design

Lecture 8 : Instrumentation and Process control


Mathematical model

The mathematical
The activity of building
representation of physical Mathematical modelling of
this mathematical models
and chemical phenomenon a chemical process
of process
occurring in the process

Requires knowledge from all


the areas of chemical
engineering
Model Mathematical modelling
• Thermodynamics
• Reaction engineering
• Transport phenomena

Lecture 8 : Instrumentation and Process control


Mathematical modelling approaches

• General process
• To investigate the process
behaviour
• 𝑜𝑢𝑡𝑝𝑢𝑡𝑠 = 𝑓 𝑖𝑛𝑝𝑢𝑡𝑠
• Two approaches
• Empirical approach
• Theoretical approach

Lecture 8 : Instrumentation and Process control


Process

• is physically available with you

To understand the behaviour

Empirical • You can deliberately change the inputs and


measurable disturbances

approach • Measure how the outputs are changing


w.r.t time

Demerits

• Time and effort consuming


• Large number of experiments –costly

Lecture 8 : Instrumentation and Process control


Theoretical approach

Often

• A control engineer needs to design the control system even before the original physical
plant is built
• In those cases
• Experimental approach cannot be relied upon
• Some other representation of a process is needed
• The other representation
• Usually set of differential equations, algebraic equations
• Solution of these ODEs will yield dynamic behaviour of the process

Focus

• Theoretical approach

Lecture 8 : Instrumentation and Process control


Need of mathematical models for control

Goal Why mathematical models for control?

• Keep the process variables at their • Understanding of the process is very


set points (Load control) crucial for control system design
• Ever ending disturbances • We might not have physical process
• Track the setpoint changes, when available with us
needed (Servo control) • Even if available the procedure of
understanding the complete dynamic
behaviour by conducting experiments
• Time and effort consuming
• Examples

Lecture 8 : Instrumentation and Process control


Example 1: Stirred tank heater

• Feedback control of temperature


• Design an Proportional integral
controller to control the
temperature in the tank to mitigate
the disturbances coming in the inlet
temperature 𝑇𝑖

Lecture 8 : Instrumentation and Process control


Example 1: Temperature control

• 𝑇𝑖 is the disturbance
• Assuming the flowrates of
inlet and outlet are constant
the level is maintained at the
desired value
• Goal:
• Maintain the temperature of
the tank (𝑇) at desired
temperature (𝑇𝑠 )
• Feedback

Lecture 8 : Instrumentation and Process control


Stirred tank heater-Temperature control

• Controlled variable
• 𝑇
• Manipulated variable
• 𝐹𝑠𝑡 (𝑄)
• 𝑄 = 𝐹𝑠𝑡 𝜌𝑠𝑡 𝐶𝑝 𝑠𝑡 (𝑇𝑠𝑡 − 𝑇)
• How should 𝑄 change to
keep 𝑇 at desired value?
• Model gives this answer
• How?
• We will look into it in detail
in the upcoming classes.

Lecture 8 : Instrumentation and Process control


Example 2: Feed forward

• Feed forward control configuration


• Disturbance is measured
• It is anticipated that it will effect the process
• To maintain the CV at its setpoint
• We need to change the MV such that it
cancels the effect of disturbance of the CV

Lecture 8 : Instrumentation and Process control


Example 2: Feed forward

• Question
• How much should I change the
manipulated variable?
• To answer this we need the following
relations
• 𝑂𝑢𝑡𝑝𝑢𝑡 = 𝑓1 (𝑑𝑖𝑠𝑡𝑢𝑟𝑏𝑎𝑛𝑐𝑒)
• 𝑂𝑢𝑡𝑝𝑢𝑡 =
𝑓2 (𝑚𝑎𝑛𝑖𝑝𝑢𝑙𝑎𝑡𝑒𝑑 𝑣𝑎𝑟𝑖𝑎𝑏𝑙𝑒)
• Model of the process provide this
information
• If the output remains same, the mv should
take a value that satisfy this relation
• 𝑓1 𝑑𝑖𝑠𝑡𝑢𝑟𝑏𝑎𝑛𝑐𝑒 − 𝑓2 𝑚𝑣 = 0

Lecture 8 : Instrumentation and Process control


Example 3: Inferential control

• Controlled variables
• Unmeasured outputs
• Unmeasured outputs = f (measured outputs)
• Obtaining such information
• Without mathematical models is not possible
• Model provides such information

Lecture 8 : Instrumentation and Process control


Need for mathematical models (control)

Feedback • 𝐶𝑉 = 𝑓(𝑀𝑉)

• 𝐶𝑉 = 𝑓(𝑀𝑉)
Feed forward
• 𝐶𝑉 = 𝑓(𝐷)

Inferential • 𝐶𝑉 = 𝑓(unmeasured outputs)


control • 𝐶𝑉 = 𝑓 (𝑀𝑉)

Lecture 8 : Instrumentation and Process control


Other uses of models
• To understand the process
• To train personnel working in plants
• Develop a control strategy for a new process
• Optimize process operating conditions

Lecture 8 : Instrumentation and Process control


Methodology : State variables and State
equations

Lecture 8 : Instrumentation and Process control

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