Feedback Control Systems (FCS)

Dr. Imtiaz Hussain

email: imtiaz.hussain@faculty.muet.edu.pk
URL :http://imtiazhussainkalwar.weebly.com/
Lecture-13
Mathematical Modelling of Liquid Level Systems
Laminar vs Turbulent Flow
Laminar Flow
Flow dominated by viscosity
forces is called laminar flow and
is characterized by a smooth,
parallel line motion of the fluid

Turbulent Flow
When inertia forces dominate,
the flow is called turbulent flow
and is characterized by an
irregular motion of the fluid.
Resistance of Liquid-Level Systems
Consider the flow through a short pipe connecting two
tanks as shown in Figure.






Where H
1
is the height (or level) of first tank, H
2
is the
height of second tank, R is the resistance in flow of liquid
and Q is the flow rate.
Resistance of Liquid-Level Systems
The resistance for liquid flow in such a pipe is defined as the change
in the level difference necessary to cause a unit change inflow rate.




s m
m
flow rate change in
erence level diff change in
Resistance
/
3
= =
s m
m
Q
H H
R
/
) (
3
2 1
=
A
A
=
Resistance in Laminar Flow
For laminar flow, the relationship between the steady-state flow
rate and steady state height at the restriction is given by:


Where Q = steady-state liquid flow rate in m/s
3

K
l
= constant in m/s
2
and H = steady-state height in m.

The resistance R
l
is
H k Q
l
=
dQ
dH
R
l
=
Capacitance of Liquid-Level Systems
The capacitance of a tank is defined to be the change in quantity of
stored liquid necessary to cause a unity change in the height.










Capacitance (C) is cross sectional area (A) of the tank.
2
3
m or
m
m
height change in
stored liquid change in
e Capacitanc = =
h
Capacitance of Liquid-Level Systems
out flow in flow tank the in volume fluid of change of Rate =
h
o i
q q
dt
dV
=
o i
q q
dt
h A d
=
) (
Capacitance of Liquid-Level Systems
h
o i
q q
dt
dh
A =
o i
q q
dt
dh
C =
Modelling Example#1
Modelling Example#1
The rate of change in liquid stored in the tank is equal to the flow in
minus flow out.



The resistance R may be written as




Rearranging equation (2)
o i
q q
dt
dh
C =
(1)
0
q
h
dQ
dH
R = =
(2)
R
h
q =
0
(3)
Modelling Example#1




Substitute q
o
in equation (3)




After simplifying above equation



Taking Laplace transform considering initial conditions to zero
o i
q q
dt
dh
C =
(1)
R
h
q =
0
(4)
R
h
q
dt
dh
C
i
=
i
Rq h
dt
dh
RC = +
) ( ) ( ) ( s RQ s H s RCsH
i
= +
Modelling Example#1


The transfer function can be obtained as


) ( ) ( ) ( s RQ s H s RCsH
i
= +
) ( ) (
) (
1 +
=
RCs
R
s Q
s H
i
Modelling Example#1
The liquid level system considered here is analogous to the
electrical and mechanical systems shown below.

i
Rq h
dt
dh
RC = +
i o
o
e e
dt
de
RC = +
i o
o
x x
dt
dx
k
b
= +
Modelling Example#2
Consider the liquid level system shown in following Figure. In this
system, two tanks interact. Find transfer function Q
2
(s)/Q(s).
Modelling Example#2

Tank 1 Pipe 1



Tank 2 Pipe 2
1
1
1
q q
dt
dh
C =
1
2 1
1
q
h h
R

=
2 1
2
2
q q
dt
dh
C =
2
2
2
q
h
R =
Modelling Example#2

Tank 1 Pipe 1



Tank 2 Pipe 2
1
2 1 1
1
R
h h
q
dt
dh
C

=
1
2 1
1
R
h h
q

=
2
2
1
2 1 2
2
R
h
R
h h
dt
dh
C

=
2
2
2
R
h
q =
Re-arranging above equation
1
2
1
1 1
1
R
h
q
R
h
dt
dh
C + = +
1
1
2
2
1
2 2
2
R
h
R
h
R
h
dt
dh
C = + +
Modelling Example#2
Taking LT of both equations considering initial conditions to zero
[i.e. h
1
(0)=h
2
(0)=0].
1
2
1
1 1
1
R
h
q
R
h
dt
dh
C + = +
1
1
2
2
1
2 2
2
R
h
R
h
R
h
dt
dh
C = + +
) ( ) ( ) ( s H
R
s Q s H
R
s C
2
1
1
1
1
1 1
+ =
|
|
.
|

\
|
+ (1)
) ( ) ( s H
R
s H
R R
s C
1
1
2
2 1
2
1 1 1
=
|
|
.
|

\
|
+ +
(2)
Modelling Example#2
From Equation (1)



Substitute the expression of H
1
(s) into Equation (2), we get
) ( ) ( ) ( s H
R
s Q s H
R
s C
2
1
1
1
1
1 1
+ =
|
|
.
|

\
|
+
) ( ) ( s H
R
s H
R R
s C
1
1
2
2 1
2
1 1 1
=
|
|
.
|

\
|
+ +
(1)
(2)
1
1 1
2 1
1
+
+
=
s C R
s H s Q R
s H
) ( ) (
) (
|
|
.
|

\
|
+
+
=
|
|
.
|

\
|
+ +
1
1 1 1
1 1
2 1
1
2
2 1
2
s C R
s H s Q R
R
s H
R R
s C
) ( ) (
) (
Modelling Example#2
Using H
2
(s) = R
2
Q
2
(s) in the above equation
|
|
.
|

\
|
+
+
=
|
|
.
|

\
|
+ +
1
1 1 1
1 1
2 1
1
2
2 1
2
s C R
s H s Q R
R
s H
R R
s C
) ( ) (
) (
( )( ) | | ) ( ) ( s Q s Q s C R s C R s C R = + + +
2 1 2 1 1 2 2
1 1
( ) 1
1
1 2 2 2 1 1
2
2 1 1 2
2
+ + + +
=
s C R C R C R s C R C R
s Q
s Q
) (
) (
Modelling Example#3
Write down the system differential equations.
END OF LECTURES-13
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