H.

𝒙 𝒚
For the system shown in the figure below, find the transfer functions 𝒂𝒏𝒅 .
𝒇 𝒙

f f
𝑲𝟏 (𝒙 − 𝒚)
x
K1
M
M y

𝑲𝟏 (𝒙 − 𝒚) 𝑲𝟐 𝒚 𝑩𝟐 𝒚ሶ y
K2 B
𝑭𝑩𝑫 𝟏 𝑭𝑩𝑫 𝟐
 f
𝑲𝟏 (𝒙 − 𝒚)

𝑲𝟏 (𝒙 − 𝒚) 𝑲𝟐 𝒚 𝑩𝟐 𝒚ሶ

𝑭𝑩𝑫 𝟏 𝑭𝑩𝑫 𝟐
• Fluid system components
• In working with fluid systems. It is necessary to distinguish if the fluid is incompressible (work with volume
rate of flow) or compressible (work with mass rate of flow).
Incompressible fluids: when the pressure difference across a flow restriction is small, the
volume rate of flow Q is proportional to the pressure drop (P1 – P) across the restriction.

𝑃1 −𝑃
Q = f (P1 – P) then….. 𝑄=
𝑅𝑓

• Where: RF is the equivalent fluid resistance.

The rate of flow into a tank, such as that shown if figure (1), is equal to cross sectional area
A of the tank times the rate of change of height.

𝑑𝐻 𝐴
𝑄=𝐴 = 𝐴𝐷𝐻 = 𝐷𝑃 = 𝐶𝑓 D𝑃
𝑑𝑡 𝜌𝑔
Where : (𝜌) is the density of the fluid
(H) is the head (m).
𝐴
(𝐶𝑓 = ) = equivalent of fluid capacitance.
𝜌𝑔

The equation of operation for fluid system of figure (1) is:

𝑃1 − 𝑃
𝑄= = 𝐶𝑓 𝐷𝑃
𝑅𝑓
Solving for (P) gives:
𝑃1
𝑃=
1 + 𝑅𝑓 𝐶𝑓 𝐷
𝑃 1 1
∴ = = , where: (𝜏) is the time constant.
𝑃1 1+ 𝑅𝑓 𝐶𝑓 𝐷 1+𝜏𝐷
Compressible Fluid:
Liquid-Level System with Interaction
If there is more than one tank, then the dynamics of the two (or more) tanks will interact. The transfer function
is NOT the PRODUCT of the two first-order transfer functions. For the two tanks system shown, assume only
small variations of the variables from the steady-state values. Using the symbols
q = liquid flow rate, m3/s
h1 = Liquid level of tank 1, m
h2 = Liquid level of tank 2, m
FOR TANK 1

ℎ1 − ℎ2 1
= 𝑞1 ≫≫≫ 𝑄1 𝑠 = 𝐻1 𝑠 − 𝐻2 𝑠 ∗
𝑅𝑓 𝑅1
 𝑑ℎ1 1
𝐶1 = 𝑞 − 𝑞1 ≫≫≫ 𝐻1 𝑠 = 𝑄 𝑠 − 𝑄1 𝑠 ∗
𝑑𝑡 𝐶1 𝑠

FOR TANK 2
ℎ2 1
= 𝑞2 ≫≫≫ 𝑄2 𝑠 = ∗ ℎ2 𝑠
𝑅2 𝑅2
𝑑ℎ2 1
𝐶2 = 𝑞1 − 𝑞2 ≫≫≫ 𝐻2 𝑠 = 𝑄1 𝑠 − 𝑄2 𝑠 ∗
𝑑𝑡 𝐶1 𝑠
Thermal Components
Thermal resistance: for small temperature difference, the rate of heat transferred into a
body is proportional to the temperature difference across the body.
𝑇1 − 𝑇 𝑇1 − 𝑇
𝑞 = ℎ𝐴 𝑇1 − 𝑇 = =
1 𝑅𝑇
ℎ𝐴
Where: q = Rate of heat flow.
h = Coefficient od heat transfer.
A = Surface Area.
T = The temperature of the body.
T1 = Temperature of the surrounding medium.
RT = Equivalent thermal resistance.
Thermal capacitance: the rate of change of temperature of the body (dT/dt =DT) is related to the rate of heat
transfer in to the body by the expression:

𝑑𝑇
𝑞 = 𝑚𝐶𝑝 = 𝐶𝑇 𝐷𝑇
𝑑𝑡
In this case, the mass (m) and its specific heat (cp) are combined to form the equivalent thermal capacitive effect
such that: 𝐶𝑇 = 𝑚𝑐𝑝.
However, thermal components appear combined in practice like in the following example.
Example: A mass (m) with some (cp) is located in a hot oven of temperature (Ts), assuming that the mass is
𝑇
heated by convection only. Find the transfer function ( ).
𝑇𝑠

Solution:
𝑞 = ℎ𝐴 𝑇1 − 𝑇 … … … … … … . … . . (1)
𝑑𝑇
Also, 𝑞 = 𝑚𝐶𝑝 = m𝐶𝑝 𝐷𝑇 … … . . (2)
𝑑𝑡

By equations (1) and (2), we get:

ℎ𝐴 𝑇1 − 𝑇 = m𝐶𝑝 𝐷𝑇
ℎ𝐴𝑇𝑠 − ℎ𝐴𝑇 = 𝑚𝐶𝑝 𝐷𝑇
ℎ𝐴𝑇𝑠 = 𝑇 ℎ𝐴 + 𝑚𝐶𝑝 𝐷
𝑇 ℎ𝐴 1
= =
𝑇𝑠 ℎ𝐴 + 𝑚𝐶𝑝 𝐷 1 + 𝜏𝐷
Where: (𝜏) is the time constant.
Ts Q 1 𝑇ሶ 1 T
ℎ𝐴 𝐷
+ 𝑚𝐶𝑝
-
hAT T
ℎ𝐴
 Tutorial Sheet No. 1
𝑿 𝑿
Q1. For a single degree of freedom, find: ,
𝒇 𝟏 𝑭 𝟐
, and Draw a functional block diagram.
Solution:
For balance:
𝑎
𝐹𝑎 = 𝑓𝑏 ≫≫≫≫≫ 𝑓 = ∗ 𝐹 … … … … 1
𝑏

෍ 𝐹 = 𝑚𝑥ሷ

𝑓 − 𝑘1 𝑥 − 𝑘2 𝑥 − 𝐵 𝑥ሶ = 𝑚𝑥ሷ
𝑚𝑥ሷ + 𝐵𝑥ሶ + 𝑘1 𝑥 + 𝑘2 𝑥 = 𝑓
𝑋 𝑚𝐷2 + 𝐵𝐷 + 𝑘1 + 𝑘2 𝑋 = 𝑓 ……………… 2
𝑥 1
From equation (2); = … 𝐴𝑛𝑠.
𝑓 𝑚𝐷2 +𝐵𝐷+𝑘1 +𝑘2
 𝑥 𝑎
To find ( ), subs. 𝑓 = 𝐹
𝐹 𝑏

𝑥 𝑎 1
= 2
… . 𝐴𝑛𝑠
𝐹 𝑏 𝑚𝐷 + 𝐵𝐷 + 𝑘1 + 𝑘2
 𝜃 𝑦
Q2. Determine the transfer functions 𝑇. 𝐹 1 = 𝐹 𝑎𝑛𝑑 𝑇. 𝐹 2 = 𝑥 for the system shown in the figure
assuming small angular motion (𝜃) of the rod, (L) is the length and (I) is the mass moment of inertia.
Solution:

𝐹 = 𝐵 𝑥ሶ − 𝑦ሶ … … … … . (1)

෍ 𝑇0 = 𝐼 𝜃ሷ

𝐹 ∗ 𝐿 − 𝑘 ∗ 𝑦 ∗ 𝐿 = 𝐼𝐷 2 𝜃, 𝑏𝑢𝑡 𝑦 = 𝐿𝜃
∴ 𝐹 ∗ 𝐿 − 𝑘𝐿2 𝜃 = 𝐼𝐷 2 𝜃

𝜃 𝐿
𝐼𝐷 2 + 𝐾𝐿2 𝜃 =𝐹∗𝐿 ≫≫≫≫ = … … … . . (2)
𝐹 𝐼𝐷 2 + 𝐾𝐿2
From equation (2); subs. 𝐹 = 𝐵𝐷 𝑥 − 𝑦 𝑎𝑛𝑑 𝜃 = 𝑦Τ𝐿 , 𝑤𝑒 𝑔𝑒𝑡;

𝜃 𝐿
=
𝐵𝐷 𝑥 − 𝑦 𝐼𝐷 2 + 𝐾𝐿2
 𝑦 𝐿2
=
𝐵𝐷 𝑥 − 𝑦 𝐼𝐷2 + 𝐾𝐿2

𝑦 𝐼𝐷2 + 𝑘𝐿2 = 𝐵𝐷𝑥𝐿2 − 𝐵𝐷𝑦 ∗ 𝐿2

𝑦 𝐼𝐷2 + 𝑘𝐿2 + 𝐵𝐷𝑦 ∗ 𝐿2 = 𝐵𝐷𝐿2 𝑥

𝑦 𝐵𝐷𝐿2
∴ = … . 𝐴𝑛𝑠.
𝑥 𝐼𝐷2 + 𝑘𝐿2 + 𝐵𝐷𝑦 ∗ 𝐿2
Q3. Consider a double tank system, as shown in the figure, where h1 and h2 representing two tank height, and
𝑞
R1and R2 representing the two valves resistances. Find the transfer function 0 .
𝑞

Solution:

𝑞𝑖 − 𝑞 = 𝐶1 𝐷ℎ1 … … … … … 1

ℎ1 − ℎ2
𝑞= …………..…. 2
𝑅1
𝑞 − 𝑞0 = 𝐶2 𝐷ℎ2 ………… 3

ℎ2
𝑞0 = …………………… 4
𝑅2
From equation (4); ℎ2 = 𝑞0 𝑅2 , 𝑠𝑢𝑏𝑠. 𝑖𝑛 3
𝑞 − 𝑞0 = 𝐶2 𝐷 ∗ 𝑞0 𝑅2

𝑞0 1
𝑞 = 𝑞0 1 + 𝐶2 𝐷𝑅2 ≫≫≫≫≫ = … 𝐴𝑛𝑠.
𝑞 1 + 𝐶2 𝐷𝑅2
Q4. Consider a thermometer placed in a water bath having temperature (𝜃𝑖 ), as shown, and (𝜃𝑜 ) is the
temperature indicated by the thermometer. Calculate the transfer function of (𝜃𝑜 /𝜃𝑖 ).
Solution:

𝜃𝑖 − 𝜃𝑜
𝑞= … … … … … … (1)
𝑅𝑇
Where: (𝑅𝑇 ) is the thermal resistance of thermometer wall,
1
Which is equal to (𝑅𝑡 = )
ℎ𝐴
𝑑𝜃𝑜
𝑞 = 𝑚𝐶𝑝 = 𝐶𝑇 ∗ 𝐷𝜃𝑜 … … … … … … … … … … . 2
𝑑𝑡
Where: (CT) is the thermal capacity of the thermometer.
By equating equations (1) and (2), we get:

𝜃𝑖 − 𝜃𝑜
= 𝐶𝑇 ∗ 𝐷𝜃𝑜
𝑅𝑇
𝜃𝑖 − 𝜃𝑜 = 𝑅𝑇 𝐶𝑇 𝐷𝜃𝑜
𝜃𝑜 1
𝜃𝑖 = 𝜃𝑜 1 + 𝑅𝑇 𝐶𝑇 𝐷 ≫≫≫≫≫≫ =
𝜃𝑖 1 + 𝑅𝑇 𝐶𝑇