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System Dynamics and
Control - MCT 3423
Lecture #4: Mathematical Model of
Systems
Fluid and Thermal Systems Part 2
Assoc. Prof. Dr. Salmiah Ahmad
Department of Mechatronics Engineering
International Islamic University Malaysia,
E-mail: salmiah@iium.edu.my
 Last Lecture Review

Modelling of fluid systems

Analogous to electrical circuits
Conservation of mass
Fluid capacitance
Fluid resistance
Hydraulic systems
 Content This lecture
Modelling of fluid systems
Pneumatic systems
Modelling of thermal systems
Thermal capacitance
Thermal resistance
 Fluid systems
Basic equations
Force = pressure x area
Hydrostatic pressure: the pressure that exists
in a fluid at rest : p = gh , h is the height of
fluid, and is the mass density.
Mass flow rate: qm = qv, where qv is the volume
flow rate.
Important concept: conservation of
mass
Rate of change of mass = mass inflow
rate mass outflow rate
 Pneumatic systems
Working medium: compressible fluid
mostly air
Advantage with air: no need for return
lines
Disadvantage: slower and more oscillatory
(compared to hydraulic systems)
pV mRgT
Fluid capacitance and resistance the
basis
, p: absolute pressure of gas,
V: volume, m: mass, T: absolute
temperature, Rg: gas constant = 287 N
 Types of process
models
Assumption: mass is constant
Constant pressure process (p1 =p2)
V2/V1 = T2/T1
Constant volume process (V1=V2)
p2/p1= T2/T1
Constant temperature (isothermal process)
(V1=V2)
p1V1 p2V2 , c p / c v
p2/p1= V2/V1
Reversible adiabatic (isentropic process)
Adiabatic: no heat is transferred to and from the gas.
W cv (T1 T2 )
Reversible: the gas and its surroundings can return to
the original thermodynamics condition
 Types of process
models
Polytropic
n
V
p constant
m
 Pneumatic capacitance
Previous eq. on fluid capacitance: C=
dm/dp
Since m = V, then C = V d/dp
Define the type of the process
Check whether the gas is a perfect gas
Example: if qmi=f(p)
C?
 Thermal systems
Thermal capacitance: the change of
the amount of heat energy stored
over the rate of temperature change.
C= dE/dT
E=mcp(T-Tr)
Interpretation: the amount of heat
energy required to raise the
temperature by 1o.
 Thermal Resistance
Temperature difference voltage
difference
Flow of heat: heat transfer.
Heat transfer is caused by temperature
difference
Heat transfer can occur by 3 modes
Conduction
Convection
Radiation
 Newtons law of
cooling
A linear model of heat flow rate as a
function of temperature difference
1
qh T
R
Conduction: difussion of heat through a
substance.
Diffusion vibrating molecules transferring
kinetic energy to slower molecules
Convection: due to fluid transport
Radiation through infrared waves
 Thermal resistance
(cont.)
Conduction
R=L/(kA), k: thermal conductivity, L:
thickness of the material, A: surface
area.
Convection
R=1/(hA), h: film or convection
coefficient qh (T14 T24 )
Radiation
Stefan-boltzmann law:
R = 1/(dqh/dT)
 Heat transfer to a plate
The plate material is homogenous
Fouriers law of heat conduction: the heat transfer
rate per unit area is directly proportional to the
negative temperature gradient.
L/2
R1
kA

C mc p

T1 > T2
dT 1 1
mc p q1 q2 (T1 T ) (T T2 )
dt R1 R2
 Series and parallel
thermal resistances

Similar to those in electrical circuits

In series the same heat flow rate
In parallel temperature difference
 Dynamics model
If solid bodies immersed in a fluid
To determine whether the validity of
uniform temperature assumption
Biot number, NB = hL/k =
q(convection)/q(conduction)
If NB < 0.1 assumption is valid
 summary
Fluid and thermal dynamics
electrical circuit dynamics
Fluid/thermal capacitance
Fluid/thermal resistance
Fluid the dynamics of the level
Thermal temperature change