Step-Analysis Method of Finding Time Constant Automatic control of a process has been defined in previous chapters as a technique whereby supply to the process is balanced against demand by the process over time. Dynamic analysis of the process clarifies how this balancing takes place. Knowledge of how the process functions with respect to time is provided by the dime constant, or constants, of each component in the process. These time constants are: useful in creating an analog af the system and in selecting the type of controller and its optimum control settings. Block Diagrams The system usually is represented by a block diagram, a simplified schematic, a mathematical description (mathematical analog), or an electrical analog. If, for example. the process is a tank with water flowing in and out, a simplified sketch of the process might be drawn as in Figure |3-1a, The system alsa can be shown in simple block form with a verbal description (Figure 13-1b), or the black can be labeled with a mathematical description of the component (Figure 13-Ic). Fig- ure 13-Id is an electrical analog of the system, The mathematical de- 304 vt" 1aSTEP-ANALYSIS METHOD OF FINDING TIME CONSTANT 305 Fig. 1-1, Fluid process with single-time eansiant. Flow rate in is represented by A: flow fate out, hy B, In the electrical cireuit, Fy, represents A and 6... 8 B scription is the most concise, For complex systems the mathemati approach is almost imperative because drawings are (oo complicated, and a verbal description is long and involved. To describe « process, a mathematical expression must relate out- pul to input Coutpulinput) and show how one varies with respect to the other with the passing af time. Classically, this expression is a differen- tial equation, differentiated with respect to time. For instance, the sim- ple system shown in Figure [3-la is described by A- B= CidH/dt) (13-1) This expression says that if the volumetric outflow rate (B) is sub= tracted from inflow rate (41, the difference equals the area of the tank bottom (C} times the change in head ff) during a change in time (lt) Or, stated differentially. rate A minus rate B times dé equals the volume change The hydraulic analog of ohm’s law for flow through a linear resis- lance (R} can be used. Here (H). the outflow rate. is the equivalent of an ww306 CONTROL LOUP ADJUSTMENT AND ANALYSIS electrical current produced by a difference of potential (in this case A) across 4 linear resistance (@), This assumes that there is no ““buckpres- sure,” i... the pressure at the outlet is 0 psi, und that & is linear (actually rare in hydraulics). Since E = LR, H= BR (13-2) Substituting the value for A from Equation 13-2 into Equation 13-1, A> B= CHBRIde (1323p Expressing dit as S as is done in operational mathematics), A-— B=CSBR (13-4 Solving fora, A= BICSR +1) This-value for A can be substituted in the basic expression for the process: output B B 1 input! =A AICSR+ 1) CSRS (13-6) As T (the time constant! = RE. 7 can be inserted for RC in Equation 13-6: output c input 75+ 1 (87) This basic equation 13-7 describes one type of first-order system (one with # single capacitance and a single resistance). This expression is often called a transfer function: it is simply the Laplace transform of the differential equation describing the system Any two systems that have the same transfer function have the same response with respect to time, Figure 131d is the electrical equivalent of the same system and would be handled in the same way