1 Development of Empirical Dynamic Models from Step Response Data Black box models • step response easiest to use but may upset the plant manager (size of input change? move to new steady-state?) • other methods Chapter 7 impulse - dye injection, tracer random - PRBS (pseudo random binary sequences) sinusoidal - theoretical approach frequency response - modest usage (incl. pulse testing) on-line (under FB control)
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Development of Empirical Dynamic Models from Step Response Data Black box models
Development of Empirical Dynamic Models from Step Response Data Black box models step response easiest to use but may upset the plant manager (size of input change? move to new steady-state?) other methods. Chapter 7. impulse - dye injection, tracer - PowerPoint PPT Presentation
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Development of Empirical Dynamic Models from Step Response DataBlack box models
• step response easiest to use but may upset the plant manager (size of input change? move to new steady-state?)
Example 1: distillation columnExample 1: distillation column50 plates
•For a 50 plate column, dynamic models have many ODEs that require model simplification; and
physical properties must be known; e.g., HYSYS
•black box models (only good for fixed operating conditions) but requires operating plant (actual data)
•theoretical models must be used prior to plant construction or for new process chemistry
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•Need to minimize disturbances during a plant test
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1st order system with gain K, dead time and time constant ; 3 parameters to be fitted.
1+sKe=G(s)
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s
Simple Process ModelsC
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er 7 Step response:
ttyteKMty t 0)()1()( /)(
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7For a 1st order model, we note the followingcharacteristics (step response)
(1) The response attains 63.2% of its final response at one time constant (t = ).
(2) The line drawn tangent to the response at maximum slope (t = ) intersects the 100% line at (t = ). [see Fig. 7.2]
There are 4 generally accepted graphical techniquesfor determining first order system parameters , :1. 63.2% response2. point of inflection3. S&K method4. semilog plot
K is found from the steady state response for an input change magnitude M.
ln(1 / ) .i iy KM vs t
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(θ = 0)
speed of response
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Inflection point hard to find with noisy data.
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S & K Method for Fitting FOPTD Model
• Normalize step response(t = 0, y = 0; t →∞, y = 1)
• Use 35 and 85% response times (t1 and t2) = 1.3 t1 – 0.29 t2
= 0.67 (t2 – t1)(based on analyzing many step responses)K found from steady state response
• Alternatively, use Excel Solver to fit and using y (t) = K [1 – e –(t-)/τ] and data of y vs. t
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7Fitting an Integrator Model
to Step Response Data
In Chapter 5 we considered the response of a first-order process to a step change in input of magnitude M:
/ τ1 M 1 (5-18)ty t K e
For short times, t < , the exponential term can be approximated by / τ 1
τt te
so that the approximate response is:
1MM 1 1 (7-22)
τ τt Ky t K t
(straight line with slope of y1(t=0))
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7is virtually indistinguishable from the step response of the integrating element
22 ( ) (7-23)K MG s U s
s s
In the time domain, the step response of an integrator is
2 2 (7-24)y t K Mt
2 (7-25)τKK
matches the early ramp-like response to a step change in input.
Comparing with (7-22),
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Figure 7.10. Comparison of step responses for a FOPTD model (solid line) and the approximate integrator plus time delay model (dashed line).