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Dynamics Model Simulation 5 2020

The document discusses modeling and simulation of dynamic systems, specifically process modeling of stirred-tank heating processes and hydraulic systems over 6 weeks. Week 6 focuses on developing models for a stirred-tank heating process and hydraulic systems, discussing concepts like the energy balance, Newton's law of cooling, and first-order ODE modeling of fluid systems. Key steps include determining system goals, assumptions, and relating inputs like flow rates to outputs like temperature.

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Kerem Yaman
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97 views

Dynamics Model Simulation 5 2020

The document discusses modeling and simulation of dynamic systems, specifically process modeling of stirred-tank heating processes and hydraulic systems over 6 weeks. Week 6 focuses on developing models for a stirred-tank heating process and hydraulic systems, discussing concepts like the energy balance, Newton's law of cooling, and first-order ODE modeling of fluid systems. Key steps include determining system goals, assumptions, and relating inputs like flow rates to outputs like temperature.

Uploaded by

Kerem Yaman
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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System Dynamics,

KOM5107
Modeling and Simulation

Modeling & Simulation of Dynamic


Systems (MSDS)
Asst. Prof. Claudia F. YAŞAR
[email protected]

Process Modeling: Stirred-Tank Heating Process, Hydraulic Systems

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
6 Process Modeling: Stirred-Tank Heating Process, Hydraulic Systems Lecture Notes
Stirred-Tank Heating Process:
Constant Holdup
• Consider a perfectly mixed stirred-tank heater, with a single feed
stream and a single product stream, as shown below.
• Assuming that the flow rate and temperature of the inlet stream can
vary, that the tank is perfectly insulated, and that the rate of heat
added per unit time (Q) can vary, develop a model to find the tank
liquid temperature as a function of time.
Stirred-Tank Heating Process: Constant Holdup
Goal: The dynamic response of temperature of the liquid
Fi, Ti in the tank is to be determined.
System: The liquid in the tank.
Assumptions:
1. Perfect mixing; thus, the exit temperature T is also
the temperature of the tank contents.
2. The inlet and outlet flow rates are equal; thus,
Fi = F and the liquid holdup V is constant.
F, T
3. The density ρ and heat capacity Cp of the liquid are
assumed to be constant. Thus, their temperature
dependence is neglected.
4. Heat losses are negligible.
Review of Thermodynamic
Concepts for conservation
Equations
Stirred-Tank
Heating Process

Energy Balance
Here we neglect the kinetic and potential energy contributions. We write the total
work done on the system as a combination of the shaft work (WS) and the energy
added to the system to get the fluid into the tank and the energy that the system
performs on the surroundings to force the fluid out.
Newton's law of cooling
The statement of Newton's law used in the heat transfer literature puts into
mathematics the idea that the rate of heat loss of a body is proportional to the
difference in temperatures between the body and its surroundings. For a temperature-
independent heat transfer coefficient, the statement is:

𝑄 = 𝜇. 𝐴. 𝑇𝑗 𝑡 − 𝑇 = 𝜇. 𝐴.ΔT(t)

Q is the rate of heat transfer (SI unit: watt),


µ is the heat transfer coefficient (SI unit: W/m2-K),
A is the heat transfer surface area (SI unit: m2),
𝑇𝑗 𝑡 is the temperature of the object's surface (SI unit: K),
T is the temperature of the liquid (SI unit: K),
is the time-dependent temperature difference between jacket and liquid (SI unit: K)
Newton's law of cooling

𝑄 = 𝜇. 𝐴. 𝑇𝑗 𝑡 − 𝑇 = 𝜇. 𝐴.ΔT(t)

Q is the rate of heat transfer out of the body (SI unit: watt),
µ is the heat transfer coefficient (SI unit: W/m2-K),
A is the heat transfer surface area (SI unit: m2),
𝑇𝑗 𝑡 is the temperature of the object's surface (SI unit: K),
T is the temperature of the liquid (SI unit: K),
is the time-dependent temperature difference between jacket and liquid (SI unit: K)
JACKETED HEATER
Consider the jacketed stirred tank heater shown in the figure. A hot fluid circulates
through the jacket (which is assumed to be perfectly mixed), and heat flow between the
jacket and vessel increases the energy content of the vessel fluid. The rate of heat
transfer from the jacket fluid to the vessel fluid is:

𝑄 = 𝜇. 𝐴. 𝑇𝑗 𝑡 − 𝑇 = 𝜇. 𝐴.ΔT(t)

Energy balances on the vessel and jacket fluids.


Fi = F

Here the outputs are the vessel and jacket temperatures, the inputs
are the jacket flow rate, feed flow rate, feed temperature, and
jacket inlet temperature
Hydraulic Systems
Modelling fluid systems

First order ODE


modelling fluid systems
Example
Consider the typical liquid
𝐹1
storage process shown in the
figure, where 𝐹1 and 𝐹2 are
volumetric flow rates.
h
Assuming constant density and
cross sectional area A, a mass
𝐹2 balance gives:

𝑑ℎ
𝐴 = 𝐹1 − 𝐹2
𝑑𝑡
There are three important variations in the liquid storage processes:
1. The inlet or outlet flow rates might be constant. In that case the exit flow
rate is independent of the liquid level over a wide range of conditions.
Consequently 𝐹1 = 𝐹2 at the steady state conditions.

2. The tank exit line may function simply as a resistance to flow from the
tank or it may contain a valve that provides significant resistance to flow
at a single point. In the simplest case, the flow may be assumed to be
linearly related to the driving force, the liquid level.
1
𝐹2 = ℎ
𝑅
𝑑ℎ 1
𝐴 = 𝐹1 − ℎ
𝑑𝑡 𝑅
3. A more realistic expression for flow rate 𝐹2 can
be obtained when a fixed valve has been 𝐹 = 𝐶 ∗ ∆𝑃
placed in the exit line and turbulent flow can 2 𝑣
𝜌
be assumed. The driving force for flow through
the valve is the pressure drop ΔP, ΔP=P-Pa
where P is pressure at the bottom of the tank Cv is the valve
and Pa is pressure at the end of the exit line. constant
Introduction
Fluid systems
• Comprising tanks and pipes
• Liquid systems with interaction and the system transfer function

We ignore the changes in momentum due to changes in flow rate


𝐹𝑖𝑛

P
𝐹𝑜𝑢𝑡
F

• Kp is a hydraulic resistance
• F is the fluid flow
𝐹𝑖𝑛

h
𝐾𝑝
x
𝐹𝑜𝑢𝑡

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