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PROBLEMS
10.1. In the process shown in Fig. P10.1, the concentration of salt leaving the second tank
is controlled using a proportional controller by adding concentrated solution through
a control valve. The following data apply:
a) The controlled concentration is to be 0.1 lb salt/ft 3 solution. The inlet
concentration ci is always less than 0.1 lb/ft 3 .
b) The concentration of concentrated salt solution is 30 lb salt/ft 3 solution.
c) Transducer: the output of the transducer varies linearly from 3 to 15 psig as the
concentration varies from 0.05 to 0.15 lb/ft 3 .
d) Controller: the controller is a pneumatic, direct-acting, proportional controller.
e) Control valve: as valve-top pressure varies from 3 to 15 psig, the flow through
the control valve varies linearly from 0 to 0.005 cfm.
f) It takes 30 sec for the solution leaving the second tank to reach the transducer at
the end of the pipe.
Draw a block diagram of the control system. Place in each block the appropriate transfer
function. Calculate all the constants and give the units.
Figure P10.1
Solution 10.1
(5.23)
Use the process shown in Figs. 10.3 and 10.4 for Problems 10.2-10.5
Figure 10.4 Equivalent block diagram for a chemical-reactor control system ( CR is now
in concentration units).
10.2 Verify the values of τ 1 and τ 2
Solution 10.2
V
τ = residence time for each tank = , (time)
F
V τ
τ 1 = effective time constant for tank 1 = = , (time)
F + k1V 1 + k1τ
τ 3 3
τ1 = = = = 2 min
1 + k1τ 1 + *3 1.5
1
6
τ 3 3
τ2 = = = = 1min
1 + k2τ 1 + 2 *3 3
3
10.3 Determine the steady state value of the controller output, ps in mA.
From Eq(10.10), the steady state pressure signal to the control valve is 10.5psig:
( 20mA − 4mA) = 14mA is the signal to the transducer from the controller.
(10.5 psig )
(15 psig − 3 psig )
10.4 Use Simulink to determine simulate the open loop response of the two chemical
reactors to a step change in the feed concentration, C0, from 0.1 lbmole A/ft3 to 0.25
lbmole A/ft3.
0.67 0.333
2s+1 s+1
Step Transfer Fcn Transfer Fcn 1
Add Scope
0.0244
C2 steady state
10.5 The open loop process has an upset such that the flow rate to the process
instantaneously rises to 120CFM (from the original 100CFM). How does the open
loop block diagram change? Plot the outlet concentration of A both reactors as a
function of time.
Solution
Assuming the temperatures all stay the same, the increased flow rate changes the time
constants in the two reactors. The reduced residence time means less conversion, hence
the concentration of A exiting the 2 reactors will increase.
dC1 1 1 Fnew
τ 1new + C1 = C0 + M (1)
dt (1+ k1τ new ) (1+ k1τ new )
dC2 ⎡ 1 ⎤
τ 2 new + C2 = ⎢ ⎥ C1 (2)
dt ⎣1+ k2τ new ⎦
V 300 ft 3
τ new = = = 2.5 min
Fnew 120CFM
V τ new 2.5
τ 1new = = = = 1.765 min (was 2min)
Fnew + k1V 1 + k1τ new ⎛1⎞
1 + ⎜ ⎟ 2.5
⎝6⎠
V τ new 2.5
τ 2 new = = = = 0.9375 min (was 1min)
Fnew + k2V 1 + k2τ new ⎛2⎞
1 + ⎜ ⎟ (2.5)
⎝3⎠
Block diagram is essentially the same, except time constants are decreased
and the initial steady states are different... they are they steady state concentrations
from the previous conditions: C1 (0) = 0.0733 and C2 (0) = 0.0244.
Using (1) and (2) above:
dC
1.765 1 + C1 = 0.706(0.1) + 0.00588(1) C0 = 0.1 and M=1
dt
dC
0.9375 2 + C2 = 0.375C1
dt
Solving using MATLAB, using an m-file:
function CPRIME=prob10_5(t,C)
CPRIME(1,1)=((0.0706+0.00588)-C(1))/1.765;
CPRIME(2,1)=(0.375*C(1)-C(2))/0.9375;
[t,C]=ode45('prob10_5',[0,10],[0.0733 0.0244]);
plot(t,C)
0.08
0.07
0.06
Conc A
0.05
0.04
0.03
0.02
0 1 2 3 4 5 6 7 8 9 10
Tim e
C =
0.0733 0.0244
0.0737 0.0251
0.0741 0.0257
0.0744 0.0262
0.0747 0.0266
0.0749 0.0270
0.0751 0.0272
0.0753 0.0275
… …..
0.0765 0.0287
0.0765 0.0287
0.0765 0.0287
0.0765 0.0287
0.0765 0.0287
0.0765 0.0287
0.0765 0.0287
0.0765 0.0287
Using Simulink:
dC1/dt 1 C1
s C1
IC=0.0733
Scope
0.375
Gain 1
1 1/0.9375
s C2 C2
Add 1
IC=0.0244 Gain 2
Same
solution.
10.6 Two isothermal stirred tank reactors are connected by a long pipe that acts as a pure
time delay between the two tanks (no reaction takes place in the pipe). CSTR #1 is
at a higher temperature than CSTR #2, but both temperatures remain constant.
Assume constant throughputs and holdups (volumes) and a first order, irreversible
reaction taking place in each CSTR (AÆ B). The flow rate through the system is 4
ft3/min and the delay time in the pipe is 30 seconds. The inlet concentration to
CSTR #1 is initially at steady state at 1 lbmole/ft3 and is increased at time zero
through a step change to 2 lbmole/ft3.
a) Draw the block diagram for the process, be sure to include all necessary constants.
b) Use Simulink to plot the exit concentration of A from each of the reactors.
c) Use Simulink to plot the exit concentration of B from each of the reactors.
DATA
CSTR #1 CSTR #2
Rate Constant (min-1) 0.3 0.15
Volume (ft3) 25 15
Reactor
Reactor Dead Time = 30 sec #2
#1
0.348 Ca1' 0.64
2.17 s+1 2.4s+1 Ca2'
Step CSTR #1 Transport CSTR #2
Ca1' Delay
0.223
0.348 Initial Ca 2
Ca1 Ca2
Inital Ca 1
Cb1
Scope
1 1
6.25 s+1 3.75 s+1
Step 1 CSTR #3 Transport CSTR #4
Delay 1
Rearranging (2):
dC A 2 F ⎛F ⎞
= C A0 − ⎜ + k2 ⎟ C A 2 (1')
dt V2 ⎝ V2 ⎠
dC A 2 4 ⎛ 4 ⎞
= C A0 − ⎜ + 0.15 ⎟ C A 2 (2')
dt 15
N ⎝
15 ⎠
0.267 0.417
Programming on Simulink:
dCa 1/dt
1 Ca1
s 0.46
Integrator
Gain
4/25
Constant
Transport
Delay
0.348
Ca1o
Scope 2
dCa 1/dt
1 Cb1
s 4/25
Integrator 1
Gain 1
Cb1 0.3
Gain 2
0.267
Gain 3
Transport
Delay 1
0.652
1 Ca2 Cb 10
s 0.417
Integrator 2 0.223
Gain 4
Ca2 initial
0.267
Cb2 Gain 5
Cb2
1
s
0.777
Integrator 3 0.15
CURIOUS COINCIDENCES.
It is a suggestive fact that several nations in different parts of the
world possess an ancient tradition, according to which some harp-
like instrument was originally derived from the water.
The Scandinavian god Odin, the originator of magic songs, is
mentioned as the ruler of the sea; and as such he had the name of
Nikarr. In the depth of the sea he played the harp with his
subordinate spirits, who occasionally came up to the surface of the
water to teach some favoured human being their wonderful
instrument.
Vainamoinen, the divine player on the Finnish kantele, according to
the Kalewala, the old national æpos of the Finns, constructed the
first instrument of this kind of fish-bones.
Hermes, it will be remembered, made his lyre, the chelys, of a
tortoise-shell.
In Hindu mythology the god Nareda invented the vina, a five-
stringed instrument, considered as the principal national instrument
of the Hindus, which has also the name kach'-hapi, signifying a
tortoise. Moreover nara denotes in Sanskrit "water," and Narada or
Nareda "the Giver of Water."
Like Nareda, so Nereus and his fifty daughters, the Nereides,
mentioned in Greek mythology, were renowned for their musical
accomplishments.
Again, there is an old tradition, preserved in Swedish and Scottish
national ballads, of a skilful harper who constructs his instrument out
of the bones of a young girl drowned by a wicked woman. Her
fingers he uses for the tuning screws, and her golden hair for the
strings. The harper plays, and his music kills the murderess.[8] A
similar story is told in the old Icelandic national songs, and the same
tradition has been found still preserved in the Faroe Islands, as well
as in Norway and Denmark.[9]
May not the agreeable impression produced by the rhythmical flow
of the waves and the soothing murmur of running water have led
various nations, independently of each other, to the widespread
conception that they obtained their favourite instrument of music
originally from the water? Or is this notion traceable to a common
source, dating from a pre-historic age—perhaps from the early
period when the Aryan race is surmised to have diffused its lore
through various countries? Or did it originate in the old belief of the
world with all its charms and delights having arisen from a chaos in
which water constituted the predominant element?
Howbeit, Nareda, the Giver of Water, was evidently also the ruler of
the clouds; and Odin had his throne in the skies. Indeed, many of
the musical water-spirits appear to have been originally considered
as rain-deities. Their music may, therefore, be regarded as derived
from the clouds rather than from the sea. In short, the traditions
respecting spirits and water are not in contradiction to, but rather
confirmatory of the belief that music is of heavenly origin.
HINDU TRADITIONS.
Mia Tonsine, a wonderful musician in the time of the Emperor Akber,
sang one of the night-rags at mid-day. The power of the music was
such that it instantly became night, and the darkness extended in a
circle round the palace as far as the sound of the voice could be
heard. Rags are characteristic songs composed in certain modes or
scales; and each Rag is appropriated to a distinct season, in which
alone it must be sung or played at prescribed hours of the day or
night; for, over each of the six Rags, or kinds of compositions,
presides a certain god, who presides likewise over the six seasons.
The six seasons are: Seesar, the dewy season; Heemat, the cold
season; Vasant, the mild season, or spring; Greesshma, the hot
season; Varsa, the rainy season; and Sarat, the breaking-up, or end
of the rains.[10]
Whoever shall attempt to sing the Rag Dheepuck (or "Cupid the
Inflamer") is to be destroyed by fire. The Emperor Akber ordered
Naik Gopaul, a celebrated musician, to sing that Rag. Naik Gopaul
endeavoured to excuse himself, but in vain; the Emperor insisted on
obedience. The unhappy musician therefore requested permission to
go home, and to bid farewell to his family and friends. It was winter
when he returned, after an absence of six months. Before he began
to sing he placed himself in the waters of the Jumna till they
reached his neck. As soon as he had performed a strain or two the
river gradually became hot; at length it began to boil, and the
agonies of the unhappy musician were nearly insupportable.
Suspending for a moment the melody thus cruelly extorted, he sued
for mercy from the monarch, but sued in vain. Akber wished to
prove more strongly the powers of the Rag Dheepuck. Naik Gopaul
renewed the fatal song: flames burst with violence from his body,
which, though immersed in the waters of the Jumna, was consumed
to ashes.
The effect produced by the Rag called Maig Mullaar is immediate
rain. It is told that a singing girl once, by exerting the powers of her
voice in this Rag, drew from the clouds timely and refreshing
showers on the parched rice-crops of Bengal, and thereby averted
the horrors of famine from the "Paradise of Regions," as the
province of Bengal is sometimes called.
Sir William Ouseley, who obtained these traditions, it would appear,
from oral communication, states that they are related by many of
the Hindus, and implicitly believed by some. However, on inquiring of
the people whether there are still musical performers among them
who can produce effects similar to those recorded, one is gravely
told that the art is now almost lost, but that there are still musicians
possessed of miraculous powers in the west of Hindustan; and if one
inquires in the west, they say that should any such musicians
remain, they must be found in Bengal.[11]
A reliable collection of Hindu traditions relating to music might,
probably, be suggestive and valuable to the musical historian,
especially if he examined them with reference to the myths of the
ancient Egyptians and Greeks.
CELESTIAL QUARRELS.
There appears to be a notion universally prevailing among uncivilised
people that, during an eclipse of the sun or moon, the two
luminaries are quarrelling with each other, or that their conjugal
happiness is being disturbed by some intruding monster.
The natives of the Polynesian Islands have an old tradition,
according to which the moon (called marama) is the wife of the sun
(called ra), and, during an eclipse, the moon is supposed to be
bitten or pinched by some angry spirit.[12]
The Javanese, and the natives of the Indian Archipelago in general,
when an eclipse takes place, shout and beat gongs to prevent the
sun or moon from being devoured by the great dragon (called
nága), which they suppose to be attacking the luminary.[13] This
notion appears to have been adopted by the Malays from the
Hindus, in whose mythology a god called Rahu—who is recorded to
have been originally a giant, and who is painted black—at the time
of an eclipse swallows up the sun and moon, and vomits them up
again.
Of the Chinese we are told: "As soon as they perceive that the sun
or moon begins to be darkened, they throw themselves on their
knees and knock their foreheads against the earth. A noise of drums
and cymbals is immediately heard throughout the whole city. This is
the remains of an ancient opinion entertained in China, that by such
a horrid din they assist the suffering luminary, and prevent it from
being devoured by the celestial dragon."[14]
The Greenlanders have, according to Crantz, a somewhat similar
tradition; but, instead of musical instruments, the men carry kettles
and boxes to the top of the house, and rattle and beat them, and
the women pinch the dogs by the ears, to frighten away the moon,
who, they suppose, is insulting his wife, the sun.[15] In Greenland,
the moon is the man, and the sun is the wife, as in Germany.
Again, the Negroes in Western Africa appear to have much the same
notion. The traveller Lander, during his stay at Boussa in Soudan,
witnessed the wild behaviour of the Negroes at the occurrence of an
eclipse of the moon. Their principal exertions to avert the supposed
impending calamity consisted in blowing trumpets, beating drums,
singing and shouting.[16]
The Japanese legend of the sun-goddess, who, after having hidden
herself in a cavern, is enticed from her dark abode by the power of
music, is apparently likewise a poetical conception of an eclipse.
Titsingh, in reciting the same tradition, says that Fensio-Daysin, the
sun-goddess, fled to the cavern in consequence of a dispute she had
with her brother, Sasanno-Ono-Mikotto, the god of the moon.[17]
From these examples it seems that musical performances, or, at
least, the sounds of loud instruments, are considered the most
effective agent for appeasing the anger of the quarrelling celestial
bodies. But there is no reason to assume that this peculiar notion
originally emanated from one people. Like several other popular
traditions, it most likely owes its origin to impressions produced on
the mind by a certain natural phenomenon; and it may, therefore,
have suggested itself to different nations quite independently,
instead of having been transmitted from one nation to another.
AL-FARABI.
Most of the popular legends and fairy tales which have been
traditionally preserved are of high origin. Many of those which
appear to have originated during the Christian era are only
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