Chapter 2

Dynamic Modeling
Process Dynamics
Chemical Engineering courses are generally
taught from a steady-state point-of-view.
Dynamics is the time varying behavior of
processes.
Chemical processes are dynamically
changing continuously.
Steady-state change indicates where the
process is going and the dynamic
characteristics of a system indicates what
dynamic path it will take.
Uses of Dynamic Process Models
Evaluation of process control configurations
For analysis of difficult control systems for
both existing facilities and new projects
Process design of batch processes
Operator Training
Start-up/shut-down strategy development
Classification of Models
Lumped parameter models- assume that
the dependent variable does not change with
spatial location within the process, e.g., a
perfectly well mixed vessel.
Distributed parameter models- consider
that the dependent variable changes with
spatial location within the process.
Example of a Lumped Parameter
Process
F
1
T
1
T
TT
F
2
T
2
FT
FC
(F
1
)
spec
Example of a Distributed
Parameter Process
TT
PT
PC
Condensate
Steam
Feed
T
outlet
Modeling Approaches
Lumped parameter processes- Macroscopic
balances are typically applied for
conservation of mass, moles, or energy and
result in ODEs.
Distributed parameter processes-
Microscopic balances are typically applied
yielding differential equations for
conservation of mass, moles, or energy for a
single point in the process which result in
PDEs.
Conservation Equations:
Mass, Moles, or Energy Balances
(

+
(

=
(

System the within Reaction

by Generation of Rate
System the
Leaving Rate
System the
Entering Rate
on Accumulati
of Rate
Mass Balance Equation
(
(
(

(
(
(

=
(

system
the leaving
mass of Rate
_
system
the entering
mass of Rate
system the in mass of
on accumulati of Rate
Mole Balance Equation
(

+
(
(
(

(
(
(

=
(

reaction by moles of
n consumptio of Rate
reaction by moles of
generation of Rate
system
the leaving
moles of Rate
_
system
the entering
moles of Rate
system the in moles of
on accumulati of Rate
Thermal Energy Balance
Equation
(
(
(

+
(
(
(

+
(
(
(

(
(
(

=
(

system the of
boundaries the through
transfer heat of rate Net
reaction by
generation heat
of rate Net
system the leaving
transfer heat
convective of Rate
system the entering
transfer heat
convective of Rate
energy thermal of
on accumulati of Rate
Constitutive Relationships
Usually in the form of algebraic equations.
Used with the balance equations to model
chemical engineering processes.
Examples include:
Reaction kinetic expressions
Equations of state
Heat transfer correlation functions
Vapor/liquid equilibrium relationships
Degree of Freedom Analysis
e v f
N N N =
The number of degrees of freedom (DOF) is equal
to the number of unknowns minus the number of
equations.
When DOF is zero, the equations are exactly
specified.
When DOF is negative, the system is
overspecified.
When DOF is positive, it is underspecified.
Different Types of Modeling
Terms
Dependent variables are calculated from
the solution of the model equations.
Independent variables require
specification by the user or by an
optimization algorithm and represent extra
degrees of freedom.
Parameters, such as densities or rate
constants, are constants used in the model
equations.
Dynamic Models of Control
Systems
Control systems affect the process through the
actuator system which has its own dynamics.
The process responds dynamically to the
change in the manipulated variable.
The response of the process is measured by
sensor system which has its own dynamics.
There are many control systems for which the
dynamics of the actuator and sensor systems
are important.
Dynamic Modeling Approach for
Process Control Systems
Actuator Process Sensor
c
y y
s
u
Dynamic Model for Actuators
| | F F
dt
dF
spec
v
=
t
1
| | Q Q
dt
dQ
spec
H
=
t
1
These equations
assume that the
actuator behaves as a
first order process.
The dynamic behavior
of the actuator is
described by the time
constant since the gain
is unity
Heat addition as a Manipulated
Variable
Consider a steam heated reboiler as an example.
A flow control loop makes an increase in the
flow rate of steam to the reboiler.
The temperature of the metal tubes in the
reboiler increases in a lagged manner.
The flow rate of vapor leaving the reboiler
begins to increase.
The entire process is lumped together into one
first order dynamic model.
Dynamic Response of an
Actuator (First Order Process)
0 2 4 6 8 10
Time (seconds)
F
spec
F
Dynamic Model for Sensors
These equations
assume that the
sensors behave as a
first order process.
The dynamic behavior
of the sensor is
described by the time
constant since the gain
is unity
T and L are the actual
temperature and level.
| |
s
Ts
s
T T
dt
dT
=
t
1
| |
s
Ls
s
L L
dt
dL
=
t
1
Dynamic Model for an Analyzer
This equation assumes
that the analyzer
behaves as a pure
deadtime element.
The dynamic behavior
of the sensor is
described by the
analyzer deadtime
since the gain is unity

) ( ) (
A s
t C t C u =
Dynamic Comparison of the
Actual and Measured
Composition
Time
C
meas
(t)
C(t)
uA
Dynamic Model of a Level in a
Tank
F
out
F
in
L
LT
out in c
F F
dt
dL
A =
Model equation is
based on dynamic
conservation of mass,
i.e., accumulation of
mass in the tank is
equal to the mass flow
rate into the tank
minus the mass flow
rate out.
Dynamic Model for Tank Level
Actuator on flow out
of the tank.

Process model


Level sensor since the
level sensor is much
faster than the process
and the actuator
out in c
F F
dt
dL
A =
| |
out spec out
v
out
F F
dt
dF
=
,
1
t
L L
s
=
Model for Product Composition
for CSTR with a Series Reaction
| |
2
1 0 A r A A
A
r
C k V C C
F
dt
dC
V =

B r A r
B B
r
C k V C k V
FC
dt
dC
V
2
2
1
+ =

Feed
Product
AT
FT
FC
B A
r r
C k r C k r
C B A
2 2
2
1 1
2 1
= =

| | F F
dt
dF
spec
v
=
t
1
) ( ) (
A B Bs
t C t C u =
Sensor Noise
Noise is the variation in a measurement of a
process variable that does not reflect real
changes in the process variable.
Noise is caused by electrical interference,
mechanical vibrations, or fluctuations
within the process.
Noise affects the measured value of the
controlled variable; therefore, it should be
included when modeling process dynamics.
Modeling Sensor Noise
Select standard deviation (o) of noise. o is
equal to 50% of repeatability.
Generate random number.
Use random number in a correlation for the
Gaussian distribution which uses o. This
result is the noise on the measurement.
Add the noise to the noise free measurement
of the controlled variable.
Numerical Integration of ODEs
Accuracy and stability are key issues.
Reducing integration step size improves
accuracy and stability of explicit integrators
The ODEs that represent the dynamic
behavior of control systems in the CPI are
not usually very stiff.
As a result, a Euler integrator is usually the
easiest and most effective integrator to use.
Development of Dynamic
Process Models for Process
Control Analysis
It is expensive, time consuming, and
requires a specific expertise.
It is typically only used in special cases for
particularly difficult and important
processes.
Overview
Dynamic modeling for process control
analysis should consider the dynamics of
the actuator, the process, and the sensor as
well as sensor noise.