Lecture04过程控制讲义4.pptVIP

Transfer Functions * Chapter 4 Convenient representation of a linear, dynamic model. A transfer function (TF) relates one input and one output: The following terminology is used: x input forcing function “cause” y output response “effect” Definition of the transfer function: Let G(s) denote the transfer function between an input, x, and an output, y. Then, by definition where: Development of Transfer Functions Example: Stirred Tank Heating System Figure 2.3 Stirred-tank heating process with constant holdup, V. Recall the previous dynamic model, assuming constant liquid holdup and flow rates: Suppose the process is initially at steady state: where steady-state value of T, etc. For steady-state conditions: Subtract (3) from (1): But, Thus we can substitute into (4-2) to get, where we have introduced the following “deviation variables”, also called “perturbation variables”: Take L of (6): Evaluate By definition, Thus at time, t = 0, But since our assumed initial condition was that the process was initially at steady state, i.e., it follows from (9) that Note: The advantage of using deviation variables is that the initial condition term becomes zero. This simplifies the later analysis. Rearrange (8) to solve for where two new symbols are defined: Transfer Function Between and Suppose is constant at the steady-state value. Then, Then we can substitute into (10) and rearrange to get the desired TF: Thus, rearranging Transfer Function Between and Suppose that Q is constant at its steady-state value: Comments: The TFs in (12) and (13) show the individual effects of Q and on T. What about simultaneous changes in both Q and ? Answer: See (10). The same TFs are valid for simultaneous changes. Note that (10) shows that the effects of changes in both Q and are additive. This always occurs for linear, dynamic models (like TFs) because the Principle of Superposition is valid