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UNIVERSIDAD NACIONAL MAYOR DE SAN MARCOS FACULTAD DE QUIMICA, ING. QUIMICA E ING. AGROINDUSTRIAL
Curso: Control de Procesos Profesor: Ing. Eder Vicua Galindo Alumna: Joyssy Ticona Vilca Lima, 2011

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Title: Temperature control at the bottom of an aquarium by the variation of heat entering, ambient temperature and the partial pressure of water

One aquarium can be modeled by two perfectly mixed pools. Be want derive an equations that represent the response of the temperature in bottom of an aquarium for the changes in heat input, in the surrounding temperature, and in the surrounding water partial pressure.

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The process is defined:

There is a electric heater. There are two perfectly mixed pools. The temperature at the bottom is T1(t),C . The temperature at the top is T2(t),C. The rate of vaporization of water from the tank: w = Ky*A*[p(T)ps(t)] p[T(t)]= e A-B/T+C(Antoanie Equation )

OBJECTIVE:
Variable temperature control since this affects the stability of operation of a tank which aims to maintain the life of the fish that inhabit it.

process scheme
VARIABLES: * Input variable: T1(t) * Disturbance variable: ps(t) * Manipulation variable: I(t) * State variable: T2(t) PARAMETROS: f [m3/s]

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f2 f 1

f1 f2

Assumptions:

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Transfer of heat and mass to the surroundings is only from the free surface of the water . V1 = V2 = v p[T2(t)] The physical properties of water (Cp, Cv, and ) are constant. Cp = Cv 1 = 2 The rate of vaporization is so small that the total mass of water in the tank, M, kg, maybe assumed constant.

MATHEMATICAL MODEL DEVELOPMENT

Mass balance 1*f1 = 2*f2 1=2 f1 = f2

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Energy balance at the top:

1*f1*h1(t)- 2*f2*h2(t) - W(t)* = d[V**U(t)] dt *f*Cp[T1(t)- T2(t)] - W(t)* = V**Cv*d[T2(t)] (1) dt One equation with three unknows, T1, T2 and w

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Energy balance at the bottom 2*f2*h2(t)- 1*f1*h1(t) + Fem = d[V**U(t)] dt *f*Cp[T2(t)- T1(t)] + R*I(t)= V**Cv*d[T1(t)] dt Two equations with four unknows, I

(2)

The rate of vaporization of water w(t)= Ky*A*[p(T2(t))-p(t)] Three equations with five unknows, p(T2) (3)

Antoanie equation P[T2(t)]= e A-B/T2+C (4)

 Establishing steady state equations *f*Cp[T1 T2] W* = 0 (6) Linearizing and subtracting the aquations corresponding to (1) and (2) *f*Cp[T1(t)- T2(t)] - W(t)* = V**Cv*d[T2(t)] (7) dt *f*Cp[T2(t)- T1(t)] + R*I(t)= V**Cv*d[T1(t)] (8) dt Where: T2(t) = T2(t) T2 T1(t) = T1(t) T1 I(t) = I(t) - I W(t)= w(t) w = Ky*A*[p(T2(t))-ps(t)] *f*Cp[T2 - T1] + Fem*I =0 (5)

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*Replacing (9) in (7) *f*Cp[T1(t)- T2(t)] - Ky*A*[a(T2(t))-ps(t)] * = v**cv*d[T2(t)] (10) dt Using Laplace Transform and rearranging for equation (8) and (10) T1 (s) = 1 T2(s) + K1 I(s) (11) s1+1 s1+1 T2(s) = K2 (12) s2+1 Then: T1s) + s2+1 K3 Ps(s)

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where 1= *V*Cv, = 20 segundos = 0.98 K *f*Cp 2= * V * Cv, = 60 segundos K2 = *f*Cp = 0.08 ,adimensional Ky*A**a+fCp Ky*A**a+fCp K1 = Fem *f*Cp

, = 0.005 K/Pa

K3=

Ky*A*

TRANSFER FUNCTION IN4/17/12 OPEN LOOP

Process transfer function:

Disturbance transfer function:

block diagram for open loop system

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I(s ) Ps(s K3 ) 1s+ 1 T2(s K2 ) 2s+ 1

K1 T1( s)

1 1s+ 1

outline of the process control system

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Tsp(t), K TR Controlle m Cm r (t) A Final control elemen t T2 (t) T1 (t)

TT Sensor transmitter

sensor transmitter: MBT 153

Static characteristics Noise: 0,1mA p.p. Sensor range : -10 50

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Dynamic characteristics

Response Rate: 2 min Precision: 0.1%

- Convert the millivolt output current signal (typically 4-

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Transfer function of the sensortransmitter H(s) = Kt . ts+1 The transmitter can be represented by the following linear relationship. Gain: Kt = 20 4 mA = 0.267 50 (-10) C

Response time: t =2 min

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CONTROLLER

Is Tsp the set point: e(t)= Tsp(t) Tm(t)

Mode of action: Reversible action

m(t)= m+ (Kc)e(t) Mode of controller: Proportional

final control element: Electric actuator

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Accion: fail closed (FC) Linear valve characteristic. Response time : 10 s

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m( t)

Ky mp( Kvp vp t) (t)

Kvq

K=

mA Kv= K*Kvq = 1 * 27.4 16 Transfer function of the Kv= 1.712 controller: Gv (s)= 1.712 10s + 1

1 - 0 20 4

Kvq= 27.4

block diagram
Tsp( Ks s) p E(s Kc M( 1.71 I(t) 2 ) s) 10s +1 Ps( t)

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0.005 (s+0.016) (s+0.051)

+ +

T1(s)

0.98(20s+1) (s+0.016) (s+0.051)

Tm( s)

0.26 7 2s+ 1

characteristic equation

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Stability analysis
1) ROUTH- HURWITZ TEST 20 1.8196 0.0078+4.96Kc 13.34 0.0764+29.7849Kc b1 b2 c1 0 d1 For b1>0 : b1= 1.896 44.65Kc >0 0.04>Kc Kcu= 0.04 For b2>0 : b2 = 0.00078 + 0.496Kc >0 Kc>-1.57*10^(-3) 0

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2) DIRECT SUBSTITUTION TEST Replacing: s = wcui Kc=Kcu Grouping:

Is obtained:

Then:

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controller tuning parameters

According to Ziegler Nichols:
Kc PROPORTIONAL PROPORTIONALINTEGRAL PROPOTIONAL INTEGRAL DERIVATIVO 0.175 I D -

0.159 18.06

0.206 10.83 2.71

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RESPONSE TIME AND STABILITY ANALYSIS

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PROPORTIONAL CONTROLLER
Kc= 0.1749

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Response time

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Kc = 0.175 rlocus(FTCA)

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Kc = 0.175 Bode(FTCA)

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Kc = 0.175 nyquist(FTCA)

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PROPORTIONAL INTEGRAL CONTROLLER

Kc = 0.159 i= 18.06

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RESPONSE TIME

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rlocus(FTCA)

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bode(FT CA)

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nyquist(FTCA)

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PROPORTIONAL INTEGRAL DERIVATIVE CONTROLLER

Kc = 0.206 i = 10.83 D = 2.71

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RESPONSE TIME

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rlocus(FTCA)

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bode(FT CA)

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nyquist( FTCA)

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ANALYSIS IN A CONTROLLER OF PROPORTIONAL INTEGRAL DERIVATIVE

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An increase of Kc in 10%

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A decrease of Kc in 10%

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ANALYSIS
* Shows that the three response time graphs for stability, but at the beginning introduces instability. We conclude a change in the controller (Kc) does not influence the search process stability *The Kc Increase by 10% the amplitude decreases and the same percentage decrease in the amplitude increases, conclude that Kc varies the amplitude and increasing its value the process will be closer to stability