System Modeling Coursework

Class 13: Modeling of Thermal systems

P.R. VENKATESWARAN
Faculty, Instrumentation and Control Engineering,
Manipal Institute of Technology, Manipal
Karnataka 576 104 INDIA
Ph: 0820 2925154, 2925152
Fax: 0820 2571071
Email: pr.venkat@manipal.edu, prv_i@yahoo.com
Web address: http://www.esnips.com/web/SystemModelingClassNotes
 WARNING!

• I claim no originality in all these notes. These are the

compilation from various sources for the purpose of
delivering lectures. I humbly acknowledge the wonderful
help provided by the original sources in this compilation.
• For best results, it is always suggested you read the source
material.
• Of late, this has becoming supplement to what is taught in
the class. So BEWARE! You are on two tracks!

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 Contents

• Description of a Thermal system

• Model of the Thermal system

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 Introduction

• Thermal systems are those that involve the transfer

of heat from one substance to another.
• Thermal system may be analyzed in terms of
thermal resistance and thermal capacitance although
they may not be represented as lumped parameters.
• But by making some assumptions, they can be
represented as distributed parameters, which make
the analysis simple.

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 A Thermal System

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 Assumptions for the system

• Fluid in the tank is perfectly mixed so that it is at

uniform temperature
• The tank is insulated to eliminate heat loss to the
surrounding air.
• There is no heat storage in the insulation.

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 Definitions for variables of the system

• θi = Steady state temperature of inflowing liquid,

• θ = Steady state temperature of out-flowing liquid,
• H = Steady state heat input rate from heater.

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 What happens when you move from steady state?

• Let ∆H be a small change in the heat input rate

from its steady state value. This change in H will
result in the following changes.
– Change in heat output rate by an amount ∆H1.
– Change in heat storage rate of liquid in the tank by an
amount ∆H2.
– Change in temperature of out-flowing liquid by an
amount ∆θ.

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 Thermal Resistance

• Change in outflow heat rate is given by

∆H1 = Q Cs ∆θ
• Where
Q = Steady state liquid flow rate
Cs = Specific heat of liquid
• ∆H1 = ∆θ/R
– If R = 1/QCs which is defined as the Thermal
Resistance

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 Thermal Capacitance

• Change in heat storage rate is given by

∆H2 = MCs d∆θ/dt
• Where
– M = mass of the liquid in the tank
– ∆dθ/dt = rate of rise of temperature in the tank
• ∆H2 = C d∆θ/dt
– Where C = MCs which is defined as Thermal
Capacitance.

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 Transfer function for the system

∆H= ∆H1 + ∆H2

• The mathematical model of a thermal system shown
in figure is
Δθ d Δθ
ΔH= +C
R dt
• Applying Laplace transform
Δθ ( s )
ΔH(s)= + CsΔθ ( s )
R
⎡1 ⎤
= ⎢ + Cs ⎥ Δθ ( s )
⎣R ⎦
⎡1 + RCs ⎤
= ⎢ ⎥ Δθ ( s )
⎣ R ⎦
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 Transfer function of the system

Δθ ( s ) ⎡ R ⎤
= ⎢ ⎥
ΔH(s) ⎣1 + RCs ⎦

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 Summary

• Thermal systems are simple systems like level and

do not yield to complexities like pneumatic or
hydraulic systems.
• Hence, it is easy and possible to associate analogous
situations and derive the transfer function.

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 References

1. Advanced Control Systems Engineering, Ronald

Burns
2. Modern Control Engineering, Ogata
3. Control Systems, Nagoor Kani
4. A course in Electrical, Electronic Measurements
and Instrumentation, A.K. Sawhney
…amongst others

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 And, before we break…

• Love has the patience to endure the fault we

cannot cure.

Thanks for listening…

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