Objectives:
To study the dynamic response of single and multi capacity processes when connected in
interacting and non- interacting mode.
Block Diagram:
Specifications:
Rota meter :Make Eureka, Model MG 11, Range 10-100 lph, Connection
1
Supply tank :SS304
Pump : Make U.P. National Mfrs.Ltd., Model THS 3000, Type submersible,
Head 3 m, 1200 lph discharge, Watts 35, Volts 240 AC, 50Hz Fractional
Theory:
Non-interacting system:
In non-interacting system, we assume that the tanks have uniform cross sectional area and the
flow resistance is linear. Writing a mass balance around the tanks gives the transfer function of
the system that relates h2 to q.
The flow head relationships for the two linear resistances in non-interacting system are given
by the expressions
………………………………………………………………………..(5)
2
…………………………………………………………………………(6)
Where
H2 = h2 - h2s and 2 = A2 R2
……………………………………………………………..(7)
Q(s) = A / s
………………………………………………………...(8)
H2 at time t is given by
{ }) …………………….(9)
……………………………………………………………..(10)
……………………………………………………….(11)
R2 = 2 dH2 /dQ
Where dH2 is change in level of tank2 and dQ is change of flow from initial to final state.
Put the values in equation (11) to find out H (t) Predicted and plot the graph of H (t) Predicted
and H (t) Observed Vs time.
3
Interacting system:
Assuming the tanks of uniform cross sectional area and valves with linear flow
resistance the transfer function of interacting system can be written as:
…………………………………….…(12)
Let
……………………………………………………………………..(13)
√ ………………………………………………………………(14)
……………………………………………………….(15)
In terms of transient response the interacting system is more sluggish than the non-interacting
system.
…………………………………………………..(16)
………………………………………………………(17)
Considering non- linear valve resistance, the resistance at outlet of tanks can be calculated as
R1 = 2 ……………………………………………………………………………………(18)
R2 = 2 ……………………………………………………………………………………(19)
4
Experiment - 1
Aim:
To study the step response of two first order systems arranged in non-interacting mode.
Procedure:
Observations:
Diameter of tanks ID : 92mm
Initial flow rate (LPH):
Initial steady state level of Tank 1 (mm):
Initial steady state level of Tank 2 (mm):
Final flow rate (LPH):
Final steady state level of Tank 1 (mm):
5
Final steady state level of Tank 2 (mm):
Take readings till the steady state reached in level of tank 2, fill up columns H(t) observed and
H(t) predicted after calculations.
Calculations:
H 2(t) observed = (Level at time t - level at time 0) x 10-3
H 2(t) Predicted = { })
Where
H 2(t) Predicted is level in Tank 2 predicted at time t in mm.
A = magnitude of step change
= Flow after step input - Initial flow rate in m3/sec.
According to Harriot’s plot method:
From the graph, find the time taken to reach 73% of maximum observed height
t73/( 1+ 2) =1.3
Calculate 0.5( 1+ 2) , find the height corresponding for the same time from graph
find H/km ,where km is the maximum observed height
From Harriot’s chart shown below estimate 1, 2
Where 1 is time constant of tank1, A1 is area of tank1 and R1 is resistance of outlet valve of
tank1. 2 is time constant of tank2, A2 is area of tank2 and R2 is resistance of outlet valve of
tank2
Area of tank 1 = /4 (d12) in m2
Area of tank 2 = /4 (d22) in m2
6
Considering non-linear resistance at outlet valve of both tanks, it can be calculated
as R1 = 2
R2 = 2
Where dH1 is change in level of tank1 and dQ is change flow of from initial to final state and dH2
is change in level of tank2 at initial and final state. Put the values in the above equation to find
out H2 (t) Predicted and plot the graph of H2 (t) Predicted and H2 (t) Observed Vs time.
Model Graph:
7
Summary and Conclusions:
1. The step responses of two first order systems arranged in non-interacting mode is
studied and a graph is plotted between Time versus H2 (both observed and calculated).
2. It is noted that the theoretical value of height matches with the experimental values and
the response is found to be over damped.
8
Experiment-2
Aim:
To study the step response of two first order systems arranged in Interacting mode.
Procedure:
Observations:
9
S. No. Time Level of tank 2 H(t) observed H(t) predicted
(sec) (mm) (mm) (mm)
1 ()
2
3
4 --
Take readings till the steady state reached in level of tank 2, fill up columns H(t) observed and
H(t) predicted after calculations.
Calculations:
H2(t) Predicted =
Where
Where 1 is time constant of tank1, A1 is area of tank1 and R1 is resistance of outlet valve of
tank1. 2 is time constant of tank2, A2 is area of tank2 and R2 is resistance of outlet valve of
tank2 . Considering non-linear resistance at outlet valve of both tanks, it can calculated as
Where dH is change in tank height for change in flow dQ. Calculate values of b, and from
equations given in theory part. Put the values in the above equation to find out H (t) Predicted
and plot the graph of H (t) Predicted and H (t) Observed Vs time.
10
Model Graph:
1. The step responses of two first order systems arranged in interacting mode is studied
and a graph is plotted between Time versus H2 (both observed and calculated).
2. It is noted that the theoretical value of height matches with the experimental values and
the response is found to be over damped.
11
Experiment-3
Aim:
To study the impulse response of two first order systems arranged in Non-Interacting mode.
Procedure:
Observations:
12
Final steady state tank 3 level (mm):
Take readings till the steady state reached in level of tank 2, fill up columns H(t) observed and
H(t) predicted after calculations.
Calculations:
Put the values in above equation to find out H (t) Predicted and plot the graph of H (t)
13
Model Graph:
1. The impulse response of two first order systems arranged in non- interacting mode is
studied and a graph is plotted between Time versus H2 (both observed and calculated).
2. It is noted that the theoretical value of height matches with the experimental values.
14
Experiment-4
Aim:
To study the impulse response of two first order systems arranged in Interacting mode.
Procedure:
Observations:
15
Final steady state tank 2 level (mm):
Take readings till the steady state is reached in level of tank 2, fill up columns H(t) observed and
H(t) predicted after calculations.
Calculations:
Put the values in above equation to find out H (t) Predicted and plot the graph of H (t)
16
Model Graph:
1. The impulse response of two first order systems arranged in interacting mode is studied
and a graph is plotted between Time versus H2 (both observed and calculated).
2. It is noted that the theoretical value of height matches with the experimental values.
17