CONTROL DE

PROCESOS

Docente: MsC. IQ. Camilo Monroy

2022-1

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Dynamic Behavior

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LAPLACE

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 FIRST-ORDEN
Two Case

𝑞1 , 𝑇1 , 𝑤1 𝑞2 , 𝑇2 1. 𝑞1 = 𝑞2
2. 𝑞1 ≠ 𝑞2

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 FIRST-ORDEN – Case 1
𝐸−𝐺 =𝑆+𝐴
𝑑𝑚
MB 𝑞1 𝜌1 − 0 = 𝑞2 𝜌2 +
𝑑𝑡
𝑞1 , 𝑇1 𝑞2 , 𝑇2
𝑑𝑉𝜌2 𝐶𝑝2 𝑇2
HB 𝑞1 𝜌1 𝐶𝑝1 𝑇1 − 0 = 𝑞2 𝜌2 𝐶𝑝2 𝑇2 +
𝑑𝑡

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 FIRST-ORDEN – Case 1
𝑑𝑇2 𝑡
𝑞1 𝜌1 𝐶𝑃1 𝑇1 𝑡 − 𝑞2 𝜌2 𝐶𝑃2 𝑇2 𝑡 = 𝑉𝜌2 𝐶𝑃2
𝑑𝑡
𝑞1 , 𝑇1 𝑞2 , 𝑇2
Assuming:
𝑞1 = 𝑞2
𝜌1 = 𝜌2
𝐶𝑃1 = 𝐶𝑃1

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 FIRST-ORDEN – Case 1
𝑑𝑇2 𝑡
𝑞1 𝜌1 𝐶𝑃1 𝑇1 𝑡 − 𝑞2 𝜌2 𝐶𝑃2 𝑇2 𝑡 = 𝑉𝜌2 𝐶𝑃2
𝑑𝑡

𝑞1 , 𝑇1 𝑞2 , 𝑇2
𝑞1 = 𝑞2
𝑉
Assuming: 𝜌1 = 𝜌2 𝜏=
𝐶𝑃1 = 𝐶𝑃1 q
𝑇ഥ1 = 50°𝐶 𝑇2 = 50°𝐶

defining deviation variables

𝑻𝟐 𝑡 = 𝑇2 𝑡 − 𝑇2

𝑻𝟏 𝑡 = 𝑇1 𝑡 − 𝑇ഥ1

𝑻𝟐 𝑡
𝑑𝑻𝟐 𝑡
𝑻𝟏 𝒕 − 𝑻𝟐 𝒕 = 𝜏
𝑑𝑡
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 FIRST-ORDEN – Case 1
𝑑𝑻𝟐 𝑡
𝜏 + 𝑻𝟐 𝒕 = 𝑻𝟏 𝒕
𝑑𝑡

Using Laplace
𝑞1 , 𝑇1 𝑞2 , 𝑇2
𝜏 𝑠𝑻𝟐 𝑠 − 𝑻𝟐 0 + 𝑻𝟐 𝒔 = 𝑻𝟏 𝒔

𝜏 𝑠𝑻𝟐 𝑠 + 𝑻𝟐 𝒔 = 𝑻𝟏 𝒔

𝑻𝟐 𝒔 𝟏
𝑇1 𝑠 = 𝑇2 𝑠 (1 + 𝜏𝑠) =
𝑻𝟏 𝒔 𝜏𝑠 + 1

1 𝑇2 𝑠
=
(1 + 𝜏𝑠) 𝑇1 𝑠

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 FIRST-ORDEN – Case 1
𝑑𝑻𝟐 𝑡
𝜏 + 𝑻𝟐 𝒕 = 𝑻𝟏 𝒕
𝑑𝑡

Using Laplace
𝑞1 , 𝑇1 𝑞2 , 𝑇2
𝜏 𝑠𝑻𝟐 𝑠 − 𝑻𝟐 0 + 𝑻𝟐 𝒔 = 𝑻𝟏 𝒔

𝜏 𝑠𝑻𝟐 𝑠 + 𝑻𝟐 𝒔 = 𝑻𝟏 𝒔
Gain

𝑻𝟐 𝒔 𝟏
= Transfer function
𝑻𝟏 𝒔 𝜏𝑠 + 1
𝑉
𝜏=
q

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 FIRST-ORDEN – Case 1
𝑻𝟐 𝒔 𝟏
= Transfer function
𝑻𝟏 𝒔 𝜏𝑠 + 1

𝑞1 , 𝑇1 𝑞2 , 𝑇2
Unit step with magnitud 𝐴

𝑇1 𝑡 = 𝐴𝑢 𝑡 Unit step

𝐴
𝑇1 𝑠 =
𝑠
𝑨 1
𝑻𝟐 𝒔 =
𝑻𝟐 𝒔 𝑨 𝜏𝑠 + 1 𝑠
=
1 𝜏𝑠 + 1 𝒕
𝑠 𝑻𝟐 𝒕 = 𝑨 𝟏 − 𝒆−𝜏
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https://controlautomaticoeducacion.com/analisis-de-sistemas/6-transformada-de-laplace-en-analisis-de-sistemas/
 FIRST-ORDEN
𝑻𝟐 𝒔 𝟏
= Transfer function
𝑻𝟏 𝒔 𝜏𝑠 + 1

𝑞1 , 𝑇1 𝑞2 , 𝑇2
Ramp
𝑻𝟏 𝑡 = 𝑢𝑅 𝑡

𝑎
𝑻𝟐 𝒔 =
𝑠 2 𝜏𝑠 + 1
Inverse transform
𝑡
𝑇2 𝑡 = 𝑎𝑡 + 𝑎𝜏𝑒 −𝜏 + 𝑇2 0
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https://controlautomaticoeducacion.com/analisis-de-sistemas/6-transformada-de-laplace-en-analisis-de-sistemas/
 FIRST-ORDEN
Differential method

𝑑𝑇2 𝑇1 𝑡 − 𝑇2 𝑡 𝑑𝑇2
𝑇1 (𝑡) = 𝑇2 (𝑡) + 𝜏 =
𝑑𝑡 𝜏 𝑑𝑡

𝑑𝑇2 𝑇2 𝑖 + 1 − 𝑇2 𝑖 𝑇2 𝑖 + 1 − 𝑇2 𝑖
Euler = =
𝑑𝑡 𝑡 𝑖 + 1 − 𝑡(𝑖) ∆𝑡

𝑑𝑇2 𝑇2 1 − 𝑇2 0 𝑑𝑇2
For t=1 (0) = 𝑇2 1 = ∗ ∆𝑡 + 𝑇2 0
𝑑𝑡 ∆𝑡 𝑑𝑡

𝑑𝑇2 (𝑛 − 1) 𝑇2 𝑛 − 𝑇2 𝑛 − 1 𝑑𝑇2 (𝑛 − 1)
= 𝑇2 𝑛 = ∗ ∆𝑡 + 𝑇2 𝑛 − 1
For t=n 𝑑𝑡 ∆𝑡 𝑑𝑡

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 FIRST-ORDEN
MATLAB

Use ilaplace command to find the inverse Laplace transform for:

𝑎
𝑻𝟐 𝒔 =
𝑠 2 𝜏𝑠 + 1

CODE:

syms a tao s
ilaplace (a/(s^2*(tao*s+1)))
𝑡
𝑇2 𝑡 = 𝑎𝑡 + 𝑎𝜏𝑒 −𝜏 + 𝑇2 0

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 FIRST-ORDEN – CASE 2
𝐸−𝑆 =𝐺+𝐴
𝑑𝑚
𝐵𝑀: 𝑤1 − 𝑤2 = 0 +
𝑑𝑡
𝑞1 , 𝑇1 , 𝑤1 𝑞2 , 𝑇2 𝑑𝑚
𝐵𝑀: 𝑤1 − 𝑤2 =
𝑑𝑡
𝐿𝑜ℎ→𝑚
𝑚
𝜌= 𝑉 = 𝜋𝑟 2 𝐿
𝑉
𝑚 𝜌𝜋𝑟 2 𝐿 = 𝑚
𝜌= 2
𝜋𝑟 𝐿

𝑑𝐿
𝑞1 − 𝑞2 = 𝜋𝑟 2
𝑑𝑡

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 𝑞1 , 𝑇1 , 𝑤1
FIRST-ORDEN – CASE 2
𝐸−𝑆 =𝐺+𝐴

𝑑ℎ2 𝑚
𝐵𝐸: ℎ1 𝑤1 − ℎ2 𝑤2 = 0 +
𝑑𝑡
𝑑ℎ2 𝐿
𝐵𝐸: ℎ1 𝑤1 − ℎ2 𝑤2 = 0 + 𝜌𝜋𝑟 2
𝑑𝑡
𝑑ℎ𝐿 𝑑𝐿 𝑑ℎ
=ℎ +𝐿
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑞2 , 𝑇2
𝑑𝐿 𝑑ℎ
𝐵𝐸: ℎ1 𝑤1 − ℎ2 𝑤2 = 0 + 𝜌𝜋𝑟 2 (ℎ +𝐿 )
𝑑𝑡 𝑑𝑡
𝑞1 − 𝑞2 𝑑𝐿
= 𝑞1 −𝑞2 𝑑ℎ
𝜋𝑟 2 𝑑𝑡 𝐵𝐸: ℎ1 𝑤1 − ℎ2 𝑤2 = (𝜌𝜋𝑟 2 ℎ + 𝜌𝜋𝑟 2 𝐿 )
𝜋𝑟 2 𝑑𝑡

𝑑𝐶𝑃 𝑇2
2
𝑑ℎ2 𝐶𝑃 𝑇1 𝑞1 − 𝐶𝑃 𝑇2 𝑞1 = 𝜋𝑟 2 𝐿
ℎ1 𝑞1 − ℎ2 𝑞1 = 𝜋𝑟 𝐿 ℎ = 𝐶𝑝 𝑇 𝑑𝑡
𝑑𝑡
𝑑𝐿
𝑞1 − 𝑞2 = 𝜋𝑟 2 15
𝑑𝑡
𝑞1 , 𝑇1 , 𝑤1
FIRST-ORDEN – CASE 2
𝑑𝐶𝑃 𝑇2
𝐶𝑃 𝑇1 𝑞1 − 𝐶𝑃 𝑇2 𝑞1 = 𝜋𝑟 2 𝐿
𝑑𝑡
A 𝑑𝐿
𝑞1 − 𝜋𝑟𝐵2 2𝑔𝐿 0.5
= 𝜋𝑟 2
𝑑𝑡
0 0
𝜌𝑣𝐴2 𝜌𝑣𝐵2
𝑃𝐴 + + 𝜌𝑔ℎ𝐴 = 𝑃𝐵 + + 𝜌𝑔ℎ𝐵 − ℎ𝐿
2 2
𝑞2 , 𝑇2 𝑣𝐵2
B 𝑔ℎ𝐴 =
2
𝑞2 = 𝑣𝐵 𝐴 𝐴 = 𝜋𝑟𝐵2

2
𝑞2
𝑞2
= 𝑣𝐵 𝜋𝑟𝐵2 𝜋𝑟𝐵2 2𝑔𝐿 0.5
= 𝑞2
𝜋𝑟𝐵2 𝑔𝐿 =
2
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 𝑞1 , 𝑇1 , 𝑤1
FIRST-ORDEN – CASE 2
𝑑𝐶𝑃 𝑇2
𝐶𝑃 𝑇1 𝑞1 − 𝐶𝑃 𝑇2 𝑞1 = 𝜋𝑟 2 𝐿
𝑑𝑡
A 𝑑𝐿
𝑞1 − 𝜋𝑟𝐵2 2𝑔𝐿 0.5
= 𝜋𝑟 2
𝑑𝑡

𝑞1 𝑞1 𝑑𝑇2 𝑞1
𝑇1 − 𝑇2 = = 𝜏1
𝜋𝑟 2 𝐿 𝜋𝑟 2 𝐿 𝑑𝑡 𝜋𝑟 2 𝐿
𝑑𝑇2 (𝑡)
𝑞2 , 𝑇2 𝜏1 𝑇1 (𝑡) − 𝜏1 𝑇2 (𝑡) =
B 𝑑𝑡

defining deviation variables 𝜏1 𝑻𝟏 (𝑠) − 𝜏1 𝑻𝟐 (𝑠) = 𝑠𝑻𝟐 𝒔

𝑻𝟐 0 = 𝑇2 0 − T2 (0)
𝜏1 𝑻𝟏 𝑠 = 𝑠𝑻𝟐 𝒔 + 𝜏1 𝑻𝟐 (𝑠) 𝜏1 𝑻𝟏 𝑠 = 𝑻𝟐 𝒔 (𝑠 + 𝜏1 )
ℒ 𝑇1 𝑡 = 𝑻𝟏 𝒔
𝜏1 𝑻𝟐 𝒔
𝑑𝑇2 (𝑡) Transfer function =
ℒ = 𝑠𝑻𝟐 𝒔 (𝑠 + 𝜏1 ) 𝑻𝟏 𝑠
𝑑𝑡 17
𝑞1 , 𝑇1 , 𝑤1
FIRST-ORDEN – CASE 2
𝜏1 𝑻𝟐 𝒔
Transfer function =
(𝑠 + 𝜏1 ) 𝑻𝟏 𝑠
A

𝑇1 𝑡 = 𝐴𝑢 𝑡

𝐴
𝑇1 𝑠 =
𝑠
𝑞2 , 𝑇2
𝜏1 𝑻𝟐 𝒔 𝜏1 𝐴
= = 𝑻𝟐 𝒔
(𝑠 + 𝜏1 ) 𝐴 𝑠(𝑠 + 𝜏1 )
𝑠
𝐴
= 𝑻𝟐 𝒔 1
𝑠 𝜏=
𝑠( + 1) 𝜏1
𝜏1
𝐴 𝐴 1 − 𝑒 −𝑡/𝜏 + 𝑇2 (0) = 𝑇2 𝑡
= 𝑻𝟐 𝒔
𝑠(𝜏𝑠 + 1)
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 FIRST-ORDEN – CASE 2
Time’s domain Laplace’s domain

𝑑𝐶𝑃 𝑇2 Transfer function

𝐶𝑃 𝑇1 𝑞1 − 𝐶𝑃 𝑇2 𝑞1 = 𝜋𝑟 2 𝐿 ℒ
𝑑𝑡 𝜏1 𝑻𝟐 𝒔
𝑑𝐿 =
𝑞1 − 𝜋𝑟𝐵2 2𝑔𝐿 0.5
= 𝜋𝑟 2 (𝑠 + 𝜏1 ) 𝑻𝟏 𝑠
𝑑𝑡

𝑇1 𝑡 = 𝐴𝑢 𝑡

−𝑡/𝜏
ℒ1 𝐴
𝐴 1−𝑒 + 𝑇2 (0) = 𝑇2 𝑡 = 𝑻𝟐 𝒔
𝑠(𝜏𝑠 + 1)

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𝑞1 , 𝑇1 , 𝑤1
FIRST-ORDEN – CASE 2
𝑑𝐶𝑃 𝑇2
𝐶𝑃 𝑇1 𝑞1 − 𝐶𝑃 𝑇2 𝑞1 = 𝜋𝑟 2 𝐿
𝑑𝑡
A
τ1 𝑻𝟐 𝒔
Transfer function =
(𝑠 + τ1 ) 𝑻𝟏 𝒔

a
Ramp a 𝑻𝟏 𝒔 =
s2
𝑞2 , 𝑇2
B 𝜏1 1
τ1 𝑻𝟐 𝒔
= a a = 𝑻𝟐 𝒔
(𝑠 + τ1 ) 𝜏1 s 2 ( 𝑠 + 𝜏1 )
s2 𝜏1 𝜏1

1
a = 𝑻𝟐 𝒔
s 2 (𝑠𝜏 + 1)

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 BLOCK DIAGRAM CONTROL
u: manipulated variable
d: disturbance variable
y: output variable
w: input variable

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 BLOCK DIAGRAM CONTROL
𝑑 𝑡 𝑤 𝑡
𝐷 𝑠 𝑊 𝑠

𝑦 𝑡
𝑢 𝑡 𝑌 𝑠
𝑈 𝑠

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 BLOCK DIAGRAM CONTROL
𝑑 𝑡 𝑤 𝑡
𝐷 𝑠 𝑊 𝑠

𝑇2 𝑡
𝑇1 𝑡 𝑻𝟐 𝑠
𝑻𝟏 𝑠

𝑑𝑇2 𝑡 Time domain

𝑞1 𝜌1 𝐶𝑃1 𝑇1 𝑡 − 𝑞2 𝜌2 𝐶𝑃2 𝑇2 𝑡 = 𝑉𝜌2 𝐶𝑃2
𝑑𝑡

𝑻𝟐 𝒔 𝑲
= Laplace’s domain
𝑻𝟏 𝒔 𝜏𝑠 − 1

23
 SECOND-ORDEN
Isothermal process -> No Heat
balance
Open Tank

Valve equation

∆𝑃(𝑝𝑠𝑖)
𝑞(𝑔𝑝𝑚) = 𝐶𝑉
𝑆

24
 SECOND-ORDEN
Tank 1 𝐸−𝑠 =𝐺+𝐴

𝑑𝑚
𝜌𝑞𝑖 − 𝜌𝑞1 − 𝜌𝑞0 =
a b 𝑑𝑡

𝜌𝜋𝑟 2 ℎ1 = 𝑚

𝑑ℎ1
𝑞𝑖 − 𝑞1 − 𝑞0 = 𝜋𝑟 2
𝑑𝑡
Valve equation
∆𝑃𝑉1
∆𝑃(𝑝𝑠𝑖) 𝑞1 = 𝐶𝑉
𝑞(𝑔𝑝𝑚) = 𝐶𝑉 𝑆
𝑆
1 1
𝑃𝑎 𝑡 + 𝜌𝑔ℎ𝑎 + 𝜌𝑣𝑎2 𝑡 = 𝑃𝑏 𝑡 + 𝜌𝑔ℎ𝑏 + 𝜌𝑣𝑏2 𝑡 + ∆𝑃𝑣
2 2

𝑃𝑎 𝑡 − 𝑃𝑏 𝑡 = ∆𝑃𝑣 𝜌𝑔ℎ1
𝑃𝑎𝑡𝑚 + 𝜌𝑔ℎ1 − 𝑃𝑎𝑡𝑚 = ∆𝑃𝑣 𝜌𝑔ℎ1 = ∆𝑃𝑣 𝑞1 = 𝐶𝑉
𝑆 25
 SECOND-ORDEN
Tank 1 𝜌𝑔ℎ1 (𝑡) 𝑑ℎ1
𝑞𝑖 − 𝐶𝑉1 − 𝑞0 = 𝜋𝑟12
𝑆 𝑑𝑡

Tank 2 𝜌𝑔ℎ1 (𝑡) 𝜌𝑔ℎ2 (𝑡) 𝑑ℎ2

𝐶𝑉1 − 𝐶𝑉2 = 𝜋𝑟22
𝑆 𝑆 𝑑𝑡

Linear constant a b

1 𝜌𝑔 −0.5 𝑑ℎ1
C1 = 𝐶𝑉1 ℎ 𝑞𝑖 − 𝐶1 ℎ1 − 𝑞0 = 𝜋𝑟12 𝑄𝑖 𝑠 − 𝐶1 𝐻1 𝑠 − 𝑄0 𝑠 = 𝜋𝑟12 𝑠𝐻1 (𝑠)
2 𝑆 1 𝑑𝑡

1 𝜌𝑔 −0.5 𝑑ℎ2
C2 = 𝐶𝑉2 ℎ 𝐶1 ℎ1 − 𝐶2 ℎ2 = 𝜋𝑟22 𝐶1 𝐻1 𝑠 − 𝐶2 𝐻2 𝑠 = 𝜋𝑟22 𝑠𝐻2 (𝑠)
2 𝑆 2 𝑑𝑡

𝜋𝑟12 𝜋𝑟22 1 C1
= 𝜏1 = 𝜏2 𝐾1 = 𝐾2 =
𝐶1 𝐶2 C1 C2 26
 SECOND-ORDEN
𝑄𝑖 𝑠 − 𝐶1 𝐻1 𝑠 − 𝑄0 𝑠 = 𝜋𝑟12 𝑠𝐻1 (𝑠) 𝜋𝑟12 𝜋𝑟22 1 C1
= 𝜏1 = 𝜏2 𝐾1 = 𝐾2 =
𝐶1 𝐶2 C1 C2
𝐶1 𝐻1 𝑠 − 𝐶2 𝐻2 𝑠 = 𝜋𝑟22 𝑠𝐻2 (𝑠)

𝑄𝑖 𝑠 − 𝑄0 𝑠 = 𝜋𝑟12 𝑠𝐻1 𝑠 + 𝐶1 𝐻1 𝑠 𝑄𝑖 𝑠 𝑄0 𝑠 𝜋𝑟12 𝐶1

− = 𝐻1 𝑠 𝑠+
𝐶1 𝐶1 𝐶1 𝐶1
𝐾1 𝐾1
𝑄𝑖 𝑠 − 𝑄 𝑠 = 𝐻1 𝑠
𝜏1 𝑠 + 1 𝜏1 𝑠 + 1 0
𝐶1 𝜋𝑟22 𝑠 𝐶2
𝐶1 𝐻1 𝑠 = 𝜋𝑟22 𝑠𝐻2 𝑠 + 𝐶2 𝐻2 𝑠 𝐻 𝑠 = 𝐻2 𝑠 +
𝐶2 1 𝐶2 𝐶2
𝐾2 𝐾2 𝐾1 𝐾1
𝐻 𝑠 = 𝐻2 𝑠 𝑄𝑖 𝑠 − 𝑄 𝑠 = 𝐻2 𝑠
𝜏2 𝑠 + 1 1 𝜏2 𝑠 + 1 𝜏1 𝑠 + 1 𝜏1 𝑠 + 1 0

𝐾1 𝐾2 𝐾1 𝐾2
𝑄𝑖 𝑠 − 𝑄 𝑠 = 𝐻2 𝑠
𝜏1 𝑠 + 1 𝜏2 𝑠 + 1 𝜏1 𝑠 + 1 𝜏2 𝑠 + 1 0 27
 SECOND-ORDEN
𝐴
𝐾1 𝐾1 Step 𝑄𝑖 𝑠 =
𝑄𝑖 𝑠 − 𝑄 𝑠 = 𝐻1 𝑠 𝑠
𝜏1 𝑠 + 1 𝜏1 𝑠 + 1 0

𝐾1 𝐾2 𝐾1 𝐾2
𝑄𝑖 𝑠 − 𝑄 𝑠 = 𝐻2 𝑠
𝜏1 𝑠 + 1 𝜏2 𝑠 + 1 𝜏1 𝑠 + 1 𝜏2 𝑠 + 1 0

𝐾1 𝐴
= 𝐻1 𝑠
𝜏1 𝑠 + 1 𝑠
𝐾1 𝐾2 𝐴
= 𝐻2 𝑠 Second orden
𝜏1 𝑠 + 1 𝜏2 𝑠 + 1 𝑠

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 SECOND-ORDEN
𝐴
4.04 4.04 Step 𝑄𝑖 𝑠 =
𝑄𝑖 𝑠 − 𝑄 𝑠 = 𝐻1 𝑠 𝑠
4.04𝑠 + 1 4.04𝑠 + 1 0

4.04 1 4.04 1
𝑄𝑖 𝑠 − 𝑄 𝑠 = 𝐻2 𝑠
4.04𝑠 + 1 4.04𝑠 + 1 4.04𝑠 + 1 4.04𝑠 + 1 0

4.04
𝑄 𝑠 = 𝐻2 𝑠 Second orden
16.32𝑠 2 + 8.08𝑠 + 1 𝑖

29
 SECOND-ORDEN
𝐾1 𝐾2 𝐾 = 𝐾1 𝐾2 Gain
𝐻2 𝑠 = 𝑄𝑖 𝑠
(𝜏1 𝑠 + 1) 𝜏2 𝑠 + 1

𝜏1 𝑠 + 1 𝜏2 𝑠 + 1 = 𝜏 2 𝑠 2 + 2𝜉𝜏𝑠 + 1 = 𝜏1 𝜏2 𝑠 2 + 𝜏1 + 𝜏2 𝑠 + 1

Time constant Damping Coefficient

Calcular Tao o constante de tiempo 𝜏

Calcular el coeficiente de amortiguación 𝜉

0.5
𝜏 = 𝜏1 𝜏2

𝜏1 + 𝜏2 𝜏1 + 𝜏2
𝜉= =
2𝜏 2 𝜏1 𝜏2 0.5
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 SECOND-ORDER
𝐾1 𝐾2 𝐾 = 𝐾1 𝐾2 Gain
𝐻2 𝑠 = 𝑄𝑖 𝑠
(𝜏1 𝑠 + 1) 𝜏2 𝑠 + 1

𝜏1 𝑠 + 1 𝜏2 𝑠 + 1 = 𝜏 2 𝑠 2 + 2𝜉𝜏𝑠 + 1 = 𝜏1 𝜏2 𝑠 2 + 𝜏1 + 𝜏2 𝑠 + 1

Time constant Damping Coefficient

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 Problem
Objetivo de control
• Concentración en B del soluto
• Temperatura
• Nivel
• Flujo alimentación
• Presión

32
 Problem
Objetivos de control
• Temperatura salida del hidrocarburo
• Presión
• Flujo de aire
• Flujo fuel
• Flujo hidrocarburo

33
Problem

34
Problem

35
 Others Response
• Step
• Rectangular pulse
• Sinusoidal
• RAMP

36
 Others Response
• Step

• Ramp

37
 Others Response
• Step

𝑻𝟐 𝒔 𝟏
=
𝑻𝟏 𝒔 𝜏𝑠 + 1

𝑀
𝑇1 𝑠 =
𝑠
𝑞1 , 𝑇1 𝑞2 , 𝑇2
𝟏 𝑀
𝑻𝟐 𝒔 =
𝜏𝑠 + 1 𝑠
𝑡
−
𝑻𝟐 𝑡 = 𝑀 1 − 𝑒 𝜏
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 Others Response
• Ramp

a 𝑻𝟐 𝒔 𝟏
𝑻𝟏 𝒔 = 2 =
s 𝑻𝟏 𝒔 𝜏𝑠 − 1

𝑎 𝐴 𝐵
𝑻𝟐 𝒔 = = +
𝑠 2 𝜏𝑠 + 1 𝑠 2 𝜏𝑠 + 1
−𝑡
𝑞1 , 𝑇1 𝑞2 , 𝑇2 𝑻𝟐 𝑡 = 𝜏𝑎𝑒 𝜏 + 𝑎𝑡 − 𝜏𝑎
𝑡
𝑇2 𝑡 = 𝑇2 0 + 𝜏𝑎𝑒 −𝜏 + 𝑎𝑡 − 𝜏𝑎
𝑡
𝑇2 𝑡 = 50°𝐶 + 𝜏𝑎𝑒 −𝜏 + 𝑎𝑡 − 𝜏𝑎
39
 Others Response
• Sinusoidal

1𝐴𝜔
𝑻𝟐 𝒔 =
(𝑠 2 + 𝜔 2 ) 𝜏𝑠 + 1

𝐴 −𝑡
𝑻𝟐 𝑡 = 𝜔𝜏𝑒 𝜏 − 𝜔𝜏 cos 𝜔𝑡 + sin 𝜔𝑡
𝜔2𝜏 2 + 1
𝐴 −𝑡
𝑇2 𝑡 = 𝑇2 0 + 2 2 𝜔𝜏𝑒 𝜏 − 𝜔𝜏 cos 𝜔𝑡 + sin 𝜔𝑡
𝜔 𝜏 +1

40
 Others Response
• Rectangular Pulse

ℎ(1 − 𝑒 −𝑡𝑤 𝑠 )
𝑻𝟐 𝒔 =
𝑠 𝜏𝑠 + 1

41
 PROBLEMS
• For next transfer functions:
𝟐. 𝟓 𝑻𝟏 𝒔 𝟏𝟓 𝑸𝑨 𝒔 𝟏𝟗 𝑸𝑭 𝒔
𝑻𝟐 𝒔 = + +
3𝑠 + 1 3𝑠 + 1 5𝑠 + 1 3𝑠 + 1 2𝑠 + 1
𝟏. 𝟐𝑻𝟏 𝒔 𝟒𝟓 𝑸𝑨 𝒔 𝟖𝟎 𝑸𝑭 𝒔
𝑻𝑮 𝒔 = + +
2𝑠 + 1 2𝑠 + 1 3𝑠 + 1 2𝑠 + 1 3𝑠 + 1
𝑻𝟏 = 𝟏𝟓𝟎°𝑪 𝑻𝟐 = 𝟑𝟎𝟎°𝑪
• Do follow Steps: 1 2
– 20°C for T1
– 15 m3/hr for Qa
𝒎𝟑
– 15 m3/hr for Qf 𝑸𝑨 = 𝟏𝟎𝟎
𝒉𝒓
– 20°C for T1, 15 m3/hr for Qa
𝒎𝟑
– 20°C for T1, 15 m3/hr for Qf 𝑸𝑭 = 𝟏𝟎𝟎
𝒉𝒓
– 20°C for T1, 15 m3/hr for Qa, 15 m3/hr for Qa
42
• Equipment: physical
assembly.
• Plants: set of pieces of
equipment.
• Process: mass, energy and
information interacting inside a
piece of Equipment or a Plant.

• SMART PLANT P&ID

• AUTOCAD PLANT 3D
• NAVISWORK FREEDOM

49