Mathematical Modelling

LIQUID
Systems

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 Elements of Liquid Level System

qi

h c q0

Resistance R
Resistance of Liquid level system:
Consider the flow through a short pipe connection two tanks.
The resistance R from liquid flow in such a pipe or restriction is defined as the change in
level difference (the difference of the liquid levels of two tanks necessary to cause a unit
change in flow rate; that is

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 Elements of Liquid Level System

qi

h q0
c
Resistance R
Capacitance of Liquid level system:
The capacitance C of a tank is defined the change in quantity of stored liquid necessary to
cause a unit change in potential (head). (the potential is quantity that indicates the energy
level of the system)

 
C  
⟹ 𝐶=
𝑞𝑖 − 𝑞 0   𝑞𝑖 −𝑞 0
𝑑h ⟹ 𝐶= 𝑑𝑡 (𝑚 2)
(
𝑑𝑡
) 𝑑h

It should be noted that capacity (m3) and the capacitance (m2) are different.
The capacitance of the tank is equal to its cross-sectional area. If this is constant, the
Capacitance is constant for any head 3
 Liquid Level System
qi

h
Capacitance C q0
Resistance R
The equations of resistance and capacitancedescribing this system are

  h
𝑞 0= ⋯ (1)
𝑅
 𝐶 𝑑h = 𝑞 − 𝑞 ⋯ (2)
𝑖 0
𝑑𝑡
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 Differential Equations (Modeling) of
Liquid Level system

qi

h c q0

Resistance R
For a laminar flow the inflow minus outflow during the small time interval dt
amount stored in the tank is equal to additional

 𝐶 𝑑h = 𝑞 − 𝑞 ⋯ (2)   h
𝑑𝑡 𝑖 0 𝑞 0= ⋯ (1)
𝑅
Substituting q0 from equation (1) in equation (2) we get

  𝑅𝐶 𝑑h +h=𝑅 𝑞 … … …(3)
⟹ 𝑖
𝑑𝑡
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 Transfer function of Liquid Level system
Case1: By taking
Input: inflow of liquid ‘qi ‘ Output: Liquid Level ‘h’

𝑑h
 
𝑅𝐶
𝑑𝑡
+h= 𝑅 𝑞𝑖 … … …(3) qi
h c q0
Resistance R
Taking the Laplace Transform of the above equation ignoring the
initial conditions.

𝑅𝐶𝑠
  h(𝑠)+h (𝑠)=𝑅 𝑞 𝑖 (𝑠)

BLOCK DIAGRAM

 h( 𝑠) = 𝑅 ⋯ (4) h
𝑞𝑖 ( 𝑠) 𝑅𝐶𝑠+1 qi   𝑅
𝑅𝐶𝑠 +1
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 Transfer function of Liquid Level system
Case2: By taking
Input: inflow of liquid ‘qi ‘ Output: outflow of liquid ‘qo ‘

 
𝑅𝐶
𝑑h
+h=𝑅 𝑞𝑖 … … …(3) qi
𝑑𝑡
h c q0
Resistance R
Taking the Laplace Transform of the above equation ignoring the initial conditions.

  h  h( 𝑠) = 𝑅
𝑞 0= ⋯ (1) ⋯ (4)
𝑅 𝑞𝑖 ( 𝑠) 𝑅𝐶𝑠+1 BLOCK DIAGRAM
Taking the Laplace of equation (1) Putting the value of h(s) in eq (4)
qi 1 qo
 
  h(𝑠) 𝑅  𝑞 𝑜 (𝑠) 𝑅 𝑅𝐶𝑠 +1
=
𝑞 0 (𝑠)= 𝑞 (𝑠) 𝑅𝐶𝑠+1
𝑅
h
    …….(6)
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 Two tank Liquid Level System
qi

C2
C1 h1 h2
q0
R1 q R2
  𝑑 h1 h 1− h 2
Tank 1: 𝐶1 =𝑞 𝑖 − 𝑞 … .(1) Pipe 1:
 
𝑞= ⋯(2)
𝑑𝑡 𝑅1

  𝑑h2   h2
Tank 2: 𝐶2 =𝑞− 𝑞 0. …… …(3) Pipe 2: 𝑞 0= ⋯ (4)
𝑑𝑡 𝑅2

Rearranging the equations for Tank1 and tank2:

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 Two tank Liquid Level System
qi

C2
C1 h1 h2
q0
R1 q R2
  𝑑 h1 h 1− h 2
Tank 1: 𝐶1 =𝑞 𝑖 − 𝑞 … .(1) Pipe 1:
 
𝑞= ⋯(2)
𝑑𝑡 𝑅1

  𝑑h2   h2
Tank 2: 𝐶2 =𝑞− 𝑞 0. …… …(3) Pipe 2: 𝑞 0= ⋯ (4)
𝑑𝑡 𝑅2

qi qo
Transfer function

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HOME WORK TO BE SUBMITTED ON COMING MONDAY
 Two tank Liquid Level System

  h 1− h 2
  𝑑 h1 𝑞= ⋯(2)
𝐶1 =𝑞 𝑖 − 𝑞 … .(1) 𝑅1
𝑑𝑡
𝑑h2 h2
𝐶  2 =𝑞− 𝑞 0. …… …(3)  
𝑞 0= ⋯ (4)
𝑑𝑡 𝑅2
Putting the value of q from eq:2 in eq1
 …..(4)

Putting the value of q and qo from eq:2 and 4 in eq1

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 Two tank Liquid Level System

  h 1− h 2
  𝑑 h1 𝑞= ⋯(2)
𝐶1 =𝑞 𝑖 − 𝑞 … .(1) 𝑅1
𝑑𝑡
𝑑h2 h2
𝐶  2 =𝑞− 𝑞 0. …… …(3)  
𝑞 0= ⋯ (4)
𝑑𝑡 𝑅2
Putting the value of q from eq:2 in eq1
 …..(4)  + …..(5)

Putting the value of q and qo from eq:2 and 4 in eq1

𝑑h 2 h1 − h2 h 2  h1 − h2 = h2 +𝐶 𝑑h 2
𝐶  2 = − 𝑅1 𝑅2 2
𝑑𝑡
𝑑𝑡 𝑅1 𝑅2

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• Thermal systmes are those that involve the
transfer of heat from one substance to another.
• The elements of theraml system are thermal
resistance and thermal capacitance.
• There are three different ways heat can flow
from one substance to another.
• Conduction convection and radiation.
• Here we consider only Conduction convection

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Thermal resistance
:all material offers resistance to heat flow.
It has been found that the rate of heat transfer qo
between two surfaces of area A is proportional to the
temperature gradient dT/dx.
  =𝐴 𝑑𝑇
𝑞 𝑜 −− −−−(2.101)
𝑑h

Kc =Thermal conductivity
Negative sign shows that heat flow from direction of decreasing temperature

Applying eq((2.101) to fig 2.44 gives

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