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SECTION II
(Modeling for Control)
II.1 Consider a continuous blending process where the water is mixed with slurry to give
slurry the desired consistency (Figure II.1). The streams are mixed in a constant volume
(V) blending tank, and the mass fraction of the solids in the inlet slurry stream is given as
xs, with a volumetric flow rate of qs. Since xs and qs vary, the water make-up mass flow
rate w is adjusted to compensate for these variations. Develop a model for this blender
that can be used to predict the dynamic behavior of the mass fraction of solids in the exit
stream xe for changes in xs, qs, or w. What is the number of degrees of freedom for this
process?

Figure II.1: Schematic of the blending process

Solution:

Let us assume that we have perfect mixing and no volume changes due to mixing. Water
stream is considered to be pure water and t is the density of solid. The mass flow rates of
each stream are designated by w and the volumetric rates are by q. Then, by definition,
we have the following,

w s = sq s
ws 1
s = =
 x s w s (1 −x s ) w s   x s (1 −x s )
+
   + 
 t    t  

1
e =
 x e (1 −x e )
+
 
 t  

The total mass balance yields the following equation,


d(e V)
= w s + w − we
dt

And since the volume is constant, we have,

d( e )
V = ws + w − w e
dt

A component balance on the solids will give,

d(x e  e V)
= w x −w x
s s e e
dt
Or,

d(x ) d( )
= −V + w x − w x = −x (w + w − w ) + w x − w x
e e
V
s s e e e s e s s e e
dt dt

This equation along with the definitions of the densities, forms the model of this process
to help predict the variations in the mass fraction of solids in the exit slurry as a function
of other process variables.

For a degree of freedom analysis, we have,

• Constants: V, , t
• Number of Equations: 4 (one mass balance + one component balance + two
algebraic relations)
• Number of variables: s, e, w, we, ws, xe, xs

The number of degrees of freedom is 3. Note that one usually needs to specify the
upstream solids content (density or solids fraction) and the flow rate as well as the water
flow rate to fully define the system.

II.2. A binary mixture at its saturation point is fed to a single-stage flash unit (Figure
II.2), where the mixture is heated at an unknown rate (Q). The feed flow rate and feed mole
fractions are known and may vary with time. Assume that x represents the mole fraction of
the more volatile component (e.g., xf is the mole fraction of the more volatile component in
the feed stream) and the molar heat of vaporization is the same for both components. Flow
rate is given in moles per unit time. H represents the molar liquid holdup.
Figure II.2: Schematic of a flash unit.

1. Derive the modeling equations for this system. State your assumptions clearly
and explicitly.
2. Derive the transfer function between the overhead mole fraction of the more
volatile component and its feed mole fraction. (Hint: Assume constant molar
holdup.)

Solution:

The control volume is the flash tank. We make the following assumptions:

• Negligible vapor holdup in the unit


• Constant stage temperature and pressure
• No heat loss to surroundings
• Negligible heat transfer resistance for transfer of Q.

The equilibrium relationship is given by:

x D = K (T , P)x B

where is K the equilibrium constant

For the energy balance, the quantity of interest is:

Total Energy = U + K + P
Here, U, K, P represent the internal, kinetic and potential energies of the system,
respectively. Assuming thermal equilibrium between the vapor and the liquid streams, we
can also neglect the energy balance on the vapor phase.

Since the liquid in the tank can be considered stationary


dK dP dE dU
 = = 0 and =

dt dt dt dt

For liquid systems, one can assume that

dU dH

dt dt
H denotes the total enthalpy of the liquid in the tank (vapor holdup neglected).
Furthermore,
H = Hc p,B,av (T − Tref )
Where:
cp,B,av : average molar heat capacity of the liquid in the tank
Tref : reference temperature where the specific enthalpy of the liquid is assumed to
be zero.
The average molar heat capacities of the liquid streams can be expressed as:
c p,F ,av = x F c p, A + (1 − x F ) c p,C
c p,B,av = x B c p, A + (1 − x B ) c p,C

Total energy balance can be formulated as:

Accumulation of total energy 


=
Input of total energy  Output of total energy 

time time time

+
Energy supplied by steam
time
Or


d Hc p , B ,av (T −Tref ) 
= Fc p,F ,av (Tin − Tref ) − Bc p,B,av (T − Tref ) − D[c p,D,av (T − Tref ) +  ] + Q
dt

where  is the molar heat of vaporization, and Tin = T . At steady-state, this reduces to,

Q = D
Overall material balance yields,

d (H M )
= MF − MD − MB
dt
where HM is the mass holdup of the unit and Mi are the mass flow rates. We can express
the mass flow rate as, for example:

M F = MW A Fx F + MWC F (1 − x F ) = F MWC + x F (MW A − MWC )

This results in the following material balance (molar balance) expression:


d ( H MWC +x B (MW A −MWC ))
= F MW + x (MW − MW )
C F A C
dt
− BMWC + x B (MW A − MWC )
− DMWC + x D (MW A − MWC )

The component balance for component A yields,


d ( Hx B MW A )
= FxF MW A − Bx B MW A − Dx D MW A
dt

d ( Hx B )
= FxF − Bx B − Dx D
dt

II.3. An oil stream is heated as it passes through two well-mixed tanks in series (Exercise
I.11). Assuming constant physical properties, develop the nonlinear state-space model for
this process to predict the time evolution of the temperatures in both tanks. State your
assumptions clearly and explicitly.

Solution:
In this problem the state variables are T1 ,T2 . Possible time-varying inputs are the heat
input and the oil flow rate.

Since the volumes are assumed constant we only need to perform an energy balance
around each tank

Total energy balance can be formulated as:


Accumulation of total energy  Input of total energy  Output of total energy 
= −
time time

+
Energy supplied by the coil  time
time

E = U + KE + PE ,

where U is the internal energy, KE is the kinetic energy and PE is the potential energy.
Since the tank is not moving,
dKE dPE
= =0.
dt dt
Thus

dE dU
= ,
dt dt
and for liquid systems,
dU dH T
=
dt dt

where, HT is the total enthalpy of material in the tank. H may be written as,
AhC p (T − Tref )

where Tref : is the reference temperature. The energy balance for Tank 1 may be written
as:
d (V1C p (T1 −Tref )) = FC (T − T ) − FC (T − T ) + Q
p in ref p 1 ref
dt

Assuming Tref = 0, we will have:


d (T1 ) Q
V1 = FTin − FT1 +
dt C
p

= (Tin − T1 ) +
dT1 F Q
dt V1 C pV1

Similarly for Tank 2 we have


dT2 F
dt
= (T − T )
V2 1 2

Thus the set of Equation representing the dynamic of the temperatures in the tanks is
given by
d (T1 ) F Q
= Tin − FT1 +

dt V1 C pV1
d (T2 )
=
F
(T1 − T2 )
dt V2
The equations are ‘slightly’ nonlinear due to the multiplication between the flow rate and
the temperatures. Rearranging and taking the Taylor series expansion,
dT1 F Q
= (Tin − T1 ) + = f 1 (F ,T1 ,Q)
dt V1 c pV1

F Q 
  (Tin − T1 ) +  + a1 (F − Fs ) + a 2 (T1 − T1s ) + a 3 (Q − Q s )
V c V
1 p 1 ss

dT F
2
= (T1 − T2 ) = f 2 (F,T1 ,T2 )
dt V2
F 
  (T1 − T2 ) + b1 (F − Fs ) + b2 (T1 − T1s ) + b3 (T2 − T2s )
V 2  ss

We can see that the constant coefficients are given as:


f 1 (Tin −T1s ) f −F s f 1
a1 = = ;a 2 = 1 = ; a3 = 1 =
F V1 T1 V1 Q ss c pV1
ss ss
f 2 (T1s −T2 s ) f 2 Fs f 2 −Fs
V2 T
b1 = = ; b2 = = ; b3 = =
F ss V2 T1 ss
 2 ss V2

By subtracting the steady-state equation and defining deviation variables (like


F = F − Fs ), we obtain the following equations:
dT1
= a1 F + a 2 T1 + a 3Q
dt
dT2
= b1 F + b2 T1 + b3T2
dt

II.4. Consider the stirred-tank heater shown in Figure II.3. The steam is injected directly
in the liquid. A1 is the cross sectional area of the tank. Assume that the effluent flow rate

is proportional to the liquid static pressure that causes its flow.

1. Identify the state variables of the system.


2. Determine what balances you should perform.
3. Develop the state model that describes the dynamic behavior of the system.
Figure II.3: Stirred tank heater

Solution:

a) State Variables: h , T2
b) Total mass and energy balance.
Total mass balance
accumulation input output
= −
time time time

d ( Ah )
= F1 − F2 + Q
dt
At constant density:

dh Q
A =F −F + Equation 1

1 2
dt
Total energy balance

accumulation input output


= −
time time time

E = U + KE + PE ,

where U is the internal energy, KE is the kinetic energy and PE is the potential energy.
Since the tank is not moving,
dKE dPE
= =0.
dt dt
Thus

dE dU
= ,
dt dt
and for liquid systems,
dU dH T
=
dt dt

where, HT is the total enthalpy of material in the tank. Total mass in the tank is

V = Ah .
H may be written as,

AhC p (T − Tref )

where Tref : is the reference temperature. The input of total energy into the tank is:

F1 H 1 + H
where, H is the heat supplied by 40 psi steam per unit volume. The output of total

energy from the tank is: F2 H 2 . The energy balance may be written as:

d (VC p (T2 −Tref ))


= F C (T − T ) − F C (T −T ) + H
1 p 1 ref 2 p 2 ref
dt

Substituting for V = Ah , we get

d (AhC p (T2 −Tref )) = F C (T −T ) − F C (T −T ) + H


1 p 1 ref 2 p 2 ref
dt

Assuming Tref = 0, we will have:

d (hT2 ) H
A = F1T1 − F2T2 +
dt C p
Using the product rule:

d (hT2 ) dT dh
A = Ah 2 + AT2
dt dt dt
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