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15 Oct 12 Model of Stirred Tank Heater. CBE 491 /433. Goal: set up models to simulate and see effect of tuning parameters 1 st principles (Chaps 3 – 6); transfer functions (just looked at this a bit) process simulators ( AspenPlus Dynamics; CBE 450/550 class).

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slide1

15 Oct 12

Model of Stirred Tank Heater

CBE 491 /433

  • Goal: set up models to simulate and see effect of tuning parameters
  • 1st principles (Chaps 3 – 6);
  • transfer functions (just looked at this a bit)
  • process simulators (AspenPlus Dynamics; CBE 450/550 class)
slide2

Stirred Tank Heater (w/ PI Controller)

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energy balance on tank w/o control

PI controller equation

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ODE Solver (POLYMATH; MATLAB; MATHCAD; etc)

Polymath code:

step= if (t<1) then (0) else (1)

Ti = 0 + step * 10

slide5

ODE Solver: POLYMATH

Polymath code (stirred tank heater):

d(C) / d(t) = -1/tau*C + KT/tau*Ti + K1KT/tau*M

C(0) = 0

d(errsum) / d(t) = R – C

errsum(0) = 0

tau = 5 # min

KT = 0.5 # %TO/degC

K1KT = 0.8 # %TO/%CO

R = 0 # set point stays same

M = Kc*(R-C) + Kc/tauI*errsum

step = if (t<1) then (0) else (1)

Ti = 0 + step * 10 # step change disturbance

Kc = 1.3 # %CO/%TO

tauI = 10 # min

t(0) = 0

t(f) = 100 # min

  • In Class Demo / Exercise:
  • Polymath Demonstration
  • Build model in Polymath (ODE solver)
  • Solve; graph C vs t
  • Explore:
    • Try P-only controller
    • Adjust Kc and tauI to get QAD
    • Try different Kc/tauI sets
    • Can you get underdamped response?
    • What is response to step change in R(t); holding Ti at the SS value?
slide6

Model of Stirred Tank Heater

CBE 491 / 433

  • Goal: set up models to simulate and see effect of tuning parameters
  • 1st principles (Chaps 3 – 6);
  • transfer functions (just looked at this a bit)
  • process simulators (AspenPlus Dynamics; CBE 450/550 class)
slide7

Stirred Tank Heater (transfer function simulator)

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Transfer function simulator: Loop Pro Developer (Control Station)

  • In Class Demo / Exercise:
  • Build model in Loop Pro Developer (Custom Process)
  • Turn on PI Controller and set Kc and tauI
  • Explore:
    • Change load (Ti) up by 10 to 60%; observe system response
    • Change back to 50%; observe response
    • Try P-only controller
    • Adjust Kc and tauI to get QAD
    • Try different Kc/tauI settings
    • Can you get underdamped response?
    • What is response to step change in R(t) to 60%?
slide8

Model of Stirred Tank Heater

CBE 491 / 433

  • Goal: set up models to simulate and see effect of tuning parameters
  • 1st principles (Chaps 3 – 6);
  • transfer functions (just looked at this a bit)
  • process simulators (AspenPlus Dynamics; CBE 450/550 class)
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