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6.Dynamics-of-Low-Order-Processes-Second-Order-Processes

The document discusses the response characteristics of second-order processes, particularly those formed by connecting two first-order systems in series. It covers various aspects such as the dynamics of underdamped, critically damped, and overdamped systems, including terms like rise time, overshoot, and settling time. Additionally, it presents problems and solutions related to stirred-tank reactors and their temperature responses to changes in feed flow rate.

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Malik Alhumidi
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8 views18 pages

6.Dynamics-of-Low-Order-Processes-Second-Order-Processes

The document discusses the response characteristics of second-order processes, particularly those formed by connecting two first-order systems in series. It covers various aspects such as the dynamics of underdamped, critically damped, and overdamped systems, including terms like rise time, overshoot, and settling time. Additionally, it presents problems and solutions related to stirred-tank reactors and their temperature responses to changes in feed flow rate.

Uploaded by

Malik Alhumidi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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RESPONSE OF

SECOND-ORDER
PROCESSES

“a second order transfer function can arise physically whenever two


first order processes are connected in series.”
Response of Second Order Processes

Problem 1

Two stirred-tank blending processes,


each with a first-order transfer
function relating inlet to outlet mass
fraction, might be physically
connected so that the outflow stream
of the first tank is used as the inflow
stream of the second tank.
Response of Second Order Processes

where K = K1K2. Alternatively, a second-order process


transfer function will arise upon transforming either a
second-order differential equation process model such as
the two coupled first-order differential equations, for the
CSTR
Response of Second Order Processes

Two first order systems in series yield an


overall second order system.

Consider second order transfer functions


in the standard form
Response of Second Order Process

The Three Classes of Second-Order


Transfer Functions
Response of Second Order Processes

Problem 2

An overdamped system consists of two


first-order processes operating in series
(τ1 = 4, τ2 = 1). Find the equivalent
values of τ and ζ for this system.
Solution:
Response of Second Order Processes

Step response of underdamped second-


order processes.
Response of Second Order Processes

Step response of critically damped and


overdamped second-order processes.
Response of Second Order Processes

The following terms are used to describe the dynamics


of underdamped processes:

1. Rise Time. tr is the time the process output takes to first


reach the new steady-state value.

2. Time to First Peak. tp is the time required for the output


to reach its first maximum value.

3. Settling Time. ts is the time required for the process


output to reach and remain inside a band whose width is
equal to ±5% of the total change in y (±1% is also used for
some applications).
Response of Second Order Processes

The following terms are used to describe the dynamics


of underdamped processes:

4. Overshoot. OS = a/b (% overshoot is 100 a/b).

5. Decay Ratio. DR = c/a (where c is the height of the second


peak).

6. Period of Oscillation. P is the time between two successive


peaks or two successive valleys of the response.
Response of Second Order Process

Dynamic Behavior of First Order and


Second Order Processes
Response of Second Order Processes

Performance characteristics for the step


response of an underdamped process.
Response of Second Order Processes

Problem 3

A stirred-tank reactor has an internal cooling coil to remove heat liberated in the
reaction. A proportional controller is used to regulate coolant flow rate so as to
keep the reactor temperature essentially constant. The controller has been
designed so that the controlled reactor exhibits typical underdamped second-
order temperature response characteristics when it is disturbed, either by feed
flow rate or by coolant temperature changes.

(a) The feed flow rate to the reactor changes suddenly from 0.4 to 0.5 kg/s, and
the temperature of the reactor contents, initially at 100 C, changes
eventually to 102 C. What is the gain of the transfer function (under
feedback control) that relates changes in reactor temperature to changes in
feed flow rate? (Be sure to specify the units.)
(b) (b) The operator notes that the resulting response is slightly oscillatory with
maxima estimated to be 102.5 and 102.0 C occurring at times 1000 and
3060 s after the change is initiated. What is the complete process transfer
function?
(c) (c) The operator failed to note the rise time. Predict tr based on the results in
(a) and (b)
Response of Second Order Processes

SOLUTION

(a) The gain is obtained by dividing the steady-state change in


temperature by the feed flow rate (disturbance) change.
Response of Second Order Processes

(b) The oscillatory characteristics of the response can be used to find


the dynamic elements in the transfer function relating temperature to
feed flow rate. Assuming the step response is due to an underdamped
second-order process, Figs. 5.7 and 5.10 can be used to obtain
estimates of ζ and τ. Alternatively, analytical expressions can be used,
which is the approach taken here. Either Eq. 5-51 or 5-52 can be
employed to find ζ independently of τ. Because the second peak value
of temperature (102.0 C) is essentially the final value (102 C), the
calculated value of peak height c will be subject to appreciable
measurement error. Instead, we use the relation for overshoot (rather
than decay ratio) to take advantage of the greater precision of the first
peak measurement.
Response of Second Order Processes

(c) The rise time tr can be calculated from Eq. 5-49. When t = tr, y(t)
is equal to its final steady-state value, KM. In other words, the
bracketed quantity is identically zero at t = tr:
Response of Second Order Processes

Sinusoidal response amplitude of a second-order system after


exponential terms have become negligible.
Response of Second Order Processes

Sinusoidal Response

When a linear second-order system is forced by a sinusoidal input A


sin ωt, the output for large values of time (after exponential terms
have become negligible) is also a sinusoidal signal given by:

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