System Dynamics,
KOM5107
Modeling and Simulation
Modeling & Simulation of Dynamic
Systems (MSDS)
Asst. Prof. Claudia F. YAŞAR
[email protected] Blending Tank
1
Week Subjects Related
Preparation
1 Introduction to Mathematical Modeling Lecture Notes
2 Mathematical Model of Physical Systems (Mechanics) Lecture Notes
3 Analogies Electrical and Mechanical Models. Lecture Notes
Electromechanical models
4 Lecture Notes
Fluid System Modeling: Blending Tank
5 Blending Tank Lecture Notes
Fluid System Modeling: Blending Tank
Recommended Or Required Reading
A Systematical Approach for Modeling
1. State the modeling objectives and the end use of the model.
2. Determine the required levels of model detail and model accuracy.
3. Draw a schematic diagram of the process and label all process
variables.
4. List all of the assumptions involved in developing the model. The
model should not be no more complicated than necessary to meet
the modeling objectives.
5. Determine if spatial variations are important. If so, a partial
differential equation model will be required.
6. Write appropriate conservation equations (mass, component, energy,
etc.)
7. Introduce constitutive equations, which are equilibrium relations and
other algebraic equations.
8. Perform a degrees of freedom analysis to ensure that the model
equations can be solved.
9. Simplify the model output = f (inputs)
10. Is this model form is convenient for computer simulation and
subsequent analysis.
11. Classify inputs as disturbance variables or as manipulated variables.
The input variables can be further classified as:
1. Manipulated (or adjustable) variables, if their values can be
adjusted freely by the human operator or a control
mechanism.
2. Disturbances, if their values are not the result of adjustment
by an operator or a control system.
The output variables are also classified as:
1. Measured output variables, if their values are known by
directly measuring them.
2. Unmeasured output variables, if they are not or cannot be
measured directly.
A unsteady state mass balance gives;
rate of rate of
rate of accumulation of
mass in the tank mass in mass out
The mass of liquid in the tank can be expressed as product of
the volume of the liquid and its density.
System: liquid in the tank
assumptions:
1. tank is well mixed
2. density of liquid is not changing with composition change
Process Modeling: Blending Tank
Consider a continuous stirred tank blending system where two input systems are
blended to produce an outlet stream F3 that has desired composition CA and CB.
Stream 1 is a mass fraction composition CA1 and CB1 and its mass flow rate F1
Stream 2 consists of CA2 and CB2. The mass flow rate of stream 2 is F2
CA1, CB1 ,F1 CA2, CB2, F2
The objective here is to develop a model that
relates the input to outputs CA and CB that we
wish to regulate
CA, CB, F3
Process Modeling: Blending Tank
Consider a continuous stirred tank blending system where two input systems are
blended to produce an outlet stream F3 that has desired composition CA and CB.
Stream 1 is a mass fraction composition CA1 and CB1 and its mass flow rate F1
Stream 2 consists of CA2 and CB2. The mass flow rate of stream 2 is F2
CA1, CB1 ,F1 CA2, CB2, F2
The objective here is to develop a model that
relates the inputs to outputs CA and CB that we holdup
wish to regulate
Do it yourself!
What happen with a
constant Volume ???
CA, CB, F3
• Obtain the system
dynamics
Blending Tank
Consider a continuous stirred tank blending system where two input systems are
blended to produce an outlet stream F that has desired composition CA.
Stream 1 is a mass fraction composition CA1 and its mass flow rate F1
Stream 2 consists of CA2. The mass flow rate of stream 2 is F2
CA1,F1 CA2, F2
The objective here is to develop a
model that relates the inputs to
outputs CA that we wish to regulate
CA, F
Total material balance: {rate of accumulation of mass}= {rate of mass in} - {rate of mass out}
d (V)
= F1 + F2 − F
dt
Component balance:
𝑑(𝐶𝐴ሻ 𝐹1 𝐹2
= 𝐶𝐴1 − 𝐶𝐴 + 𝐶𝐴2 − 𝐶𝐴
𝑑𝑡 𝑉 𝑉
With these two equations system behavior is mathematically defined.
Degrees of Freedom Analysis: CA1, F1 CA2, F2
Parameter(s): ρ
variables: V, CA1, F1, CA2, F2, CA, F
equations: (dV/dt and dCA/dt)
D.O.F = 7-2 = 5
CA, F
outputs: V, CA
inputs: CA1, F1, CA2, F2, F d (V)
= F1 + F2 − F
manipulated variables: F2, F dt
disturbances: CA1, F1, CA2
𝑑(𝐶𝐴ሻ 𝐹1 𝐹2
= 𝐶𝐴1 − 𝐶𝐴 + 𝐶𝐴2 − 𝐶𝐴
𝑑𝑡 𝑉 𝑉
Example
Consider a continuous stirred tank blending system where two input systems
F1 and F2 are blended to produce an outlet stream F that has the desired
composition CAsp.
Stream 1 is a mass fraction composition CA1. We assume that its mass flow
rate (F1) is constant but the mass fraction of CA1 varies with time.
Stream 2 consists of pure CA2 and thus CA2=1. The mass flow rate (F2) of
stream 2 can be manipulated using a control valve.
The mass fraction in the exit stream is denoted by CA and the desired value
by CAsp.
CA2, F2
CA1, F1
CAsp, F
Assume that the process has been operating for a long period of time
• Design Question: If the nominal value of CA1 is CA1,s what
nominal flow rate F2 is required to produce the desired outlet
concentration CAsp.
With a st-st material balance,
F1+ F2 –F = 0 ( overall balance)
F1CA1 + F2CA2 – FCAsp = 0 (component A balance)
F1CA1+F2(1.0)-(F1+F2)CAsp=0
𝐶𝐴1 − 𝐶𝐴−𝑠𝑝
𝐹2 = 𝐹1
𝐶𝐴−𝑠𝑝 − 1
• Method 1
Measure CA1 and adjust F2. 𝐹1 is a constant
AT
CA2, F2
CA1, F1
CAsp, F
(Feed forward Control)
𝐶𝐴1 − 𝐶𝐴−𝑠𝑝
𝐹2 = 𝐹1
𝐶𝐴−𝑠𝑝 − 1
• Method 2.
Measure CA and adjust F2.
𝐶𝐴1 − 𝐶𝐴−𝑠𝑝
𝐹2 = 𝐹1
• if CA is high, F2 should be reduced 𝐶𝐴−𝑠𝑝 − 1
• if CA is low, F2 should be increased
CA2, F2
CA1, F1
AT
(Analyzer-Transmitter)
CA, F
(Feedback Control)
Do it yourself!
CA1, F1 CA2, F2
• Consider a more general
version of the blending system
where stream 2 is not pure
and volume of the tank may
vary with time.
CA, F (Not an overflow system any
more but a draining system!)
Objective is again to keep CA at the desired value CAsp
CA1, F1 CA2, F2
Example
holdup
A stirred-tank blending process with a constant liquid
holdup of 2 m3 is used to blend two streams whose
densities are both approximately 900 kg/m3. The density
does not change during mixing. CA, F
a) Assume that the process has been operating for a long
period of time
with flow rates of F1 = 500 kg/min and F2 = 200 kg/min,
and feed compositions (mass fractions) of CA1 = 0.4 and
CA2 = 0.75.
What is the steady-state value of CA?
(500 kg/min)(0.4) + (200kg/min)(0.75)
CA = = 0.5
700kg/min
CA1, F1 CA2, F2
b) Suppose that F1 changes suddenly from 500 to 400 holdup
kg/min and remains at the new value. Determine an
expression for CA(t)
CA, F
CA(t)
* (400 kg/min)(0.4) + (200 kg/min)(0.75)
C = = 0.517
600 kg/min
(500 kg/min)(0.4) + (200kg/min)(0.75)
CA = = 0.5
700kg/min
