Computing Project Problems

CSTR with Exothermic Reaction - I

Consider a CSTR in which the following reaction takes place: A ! B:The reaction is
exothermic and temperature in the reactor is maintained by circulating cooling water in a
jacket on the outer wall of the reactor. The system equations are:
dCA
F (CA
=
dt
V
dT
F (T
T)
=
dt
x4

CA )

Hk
E
exp(
)CA
Cp
RT

dTj
Fj
= (Tj;in
dt
Vj
u=

E
)CA
RT

k exp(

F Fj

Tj ) +
;

U A(T Tj )
V Cp

U A(T Tj )
Vj j Cpj
T Tj

y=

Operating Conditions
Flowrate of the feed: F = 3 10 4 m3 s 1
Concetration of reactant A in the feed: CA = 3900 mol:m 3
Temperature of the feed: T = 295K
Flow rate of the heat-conducting uid: Fj = 5 10 2 m3 :s 1
Temperature of the cold heater exchanger: Tj;in = 280K
Temperature of hot heat exchanger: Tj = 360K
Measurement Noise: N (0; 0:1) in T and N (0; 0:15) in Tj
Unmeasured Disturbance: CA0 , Tj;in , T
Disturbance Noise: N (0; 0:05) in CA0 , N (0; 0:1) in Tj;in , N (0; 0:1) in T
Model Parameters
Volume of reactor: V = 1:5m3
1.

kinetic constant: k = 2

107 s

104 J:mol

Activation Energy: E = 7
Heat of reaction:

H=

Density of reactor contents:

104 J:mol

= 1000kg:m

Heat capacity of reactor contents: Cp = 3000J:kg 1 :K

Volume of jacket: Vj = 0:1m3

Heat transfer coe cient between the jacket and the reactor contents: U =
900W:m 2 :K 1
Heat-exchanger area: A = 20m2
Density of the heat-conducting uid:

= 1000kg:m

Heat capacity of the heat-conducting uid: Cpj = 4200J:kg 1 :K

Table 1: Continuous Fermenter: Nominal Operating Conditions and Model Parameters

Variable Value
Variable Value
YX=S
0:4g=g
2:2g=g
1
0:2h
0:48h 1
m
Pm
50g=L
Km
1:2g=L
Ki
22g=L
Sf
20g=L
1
D
0:202h
X
6:0g=L
S
5:0g=L
P
19:14g=L

Continuous Fermentor
dX
=
dt
dS
= D(Sf
dt
dP
=
dt

DX + (S; P )X

D Sf

YX=S

DP + [

(S; P ) =
u=

S)

;x =

(S; P )X

(S; P ) + ] X
m (1

Km +

P
)S
Pm
S2
S + Ki

X S P

y=

X P

where,
Sf : feed substrate concentration, D : Dilution rate (F/V)
X : biomass, S : substrate, P : product concentration, D : dilation rate
YX=S ; ; : yield parameters, (S; P ) : specic growth rate, m : maximum specic growth
rate, Km ; Ki; Pm : constant model parameters

Measurement Noise and Unmeasured Disturbance

The unknown uctuation in the actuators are assumed to follow the following stochastic
process
1
Iw(k)
(1)
v(k) =
1 0:85q 1
where I represents identity matrix, w(k) is a zero mean white noise sequence with covariance
matrix
4:9 10 5 0
Cov (w(k); w(k)) =
(2)
0
1:21
The sampling interval (T ) for model identication and manipulation of inputs u(k) is chosen
as 0.1 hr. The measurements of X and P are assumed to be corrupted with white noise
sequences of standard deviations 0.075 and 0.225, respectively.

CV-2

Recycle Flow (FR)

Cold Water
In-Flow (F2)

TT-4

3-15 psi
Input (u1)

3-15 psi
Input (u2)

CV-1

Tank1
TT-1

STH
Thyrister
Power
Controller

4-20 mA
Input Signal (u4)

LT

(Tank 2)
Heating
Coil

TT-2

E-1

Thyrister
Power
Controller
Hot Water
Out-Flow

4-20 mA
Input Signal (u3)

TT-3
4-20 mA
Input Signal (u5)

Figure 1: Schematic of heater-mixer setup

Stirred Tank Heater System

A grey-box model was developed for the STH system at Automation Laboratory, IIT Bombay. The model equations are as follows:
Heat balance on Tank-1
V1

dT1
= F1 (u1 ) (Tc
dt

T1 ) + FR (u3 ) (T2

T1 ) +

Q1 (u4 )
Cp

(A-1)

Heat balance on Tank-2

A2 h2

dT2
= F1 (u1 ) (T1 T2 ) + F2 (u2 ) (Tc
dt
1
+
[Q2 (u5 ) 2 r2 h2 U (T2
Cp

T2 )

FR (u3 ) (T2

T1 )
(A-2)

Ta )]

Material balance on Tank-2

p
dh2
= F1 (u1 ) + F2 (u2 ) k2 Fd (h2 ) 10 3
dt
Fd (h2 ) = 0:4060h32 + 0:80608h22 0:01798h2 + 0:10541

A2

(A-3)
(3)

where Fd is the discharge from tank 2. The owrates are functions of inputs u1 , u2 and u3
as given by the following correlations,
F1 (u1 ) = (8:0368u31

456:85u21 + 42379u1 )
3

10

11

m3 = sec

(A-4)

Table 2: CSTR with Input Muliplicity: Nominal model parameters and steady
state
Parameter Description
Value
k
Discharge coe cient
0:1
V1
Volume of Tank 1
1:75 10 3 m3
A2
Cross Sectional Area of Tank 2
7:854 10 5 m2
r2
Radius of Tank 2
0:05 m
U
Heat Transfer Coe cient
235:1043 W/m0 K
Tc
Cooling Water Temperature
3030 K
Ta
Atmospheric Temperature
298 0 K
u1
Flow F1 (% Input)
50 %
u2
Flow F2 (% Input)
50 %
u3
Flow FR (% Input)
50 %
u4
Heat Input Q1 (% Input)
60 %
u5
Heat Input Q2 (% Input)
50 %
T1
Steady State Temperature (Tank 1) 325:40 K
T2
Steady State Temperature (Tank 2) 320:10 K
h2
Steady State Level
0:46m
F2 (u2 ) = ( 1:2943u42 + 190:64u32

8796:8u22 + 196620u2 )

FR (u3 ) = (1=1800) u3

10

10

m3 = sec

11

m3 = sec

(A-5)
(A-6)

Also, the heat inputs are related to inputs u4 and u5 through the following correlations,
Q1 (u4 ) = 7:9798u4 + 0:9893u24
Q2 (u5 ) = 14:4u5 + 0:96u25

0:0073u34
0:008u35

(A-7)
(A-8)

It may be noted that inputs u1 to u5 are expressed in terms of % values between 0 to 100
%. The model parameters and steady state values of the variables are as given in Table A-3
below.

Measurement Noise and Unmeasured Disturbance

The noise variances for the three measurements T1 ; T2 and h2 are 0:0144, 0:0225 and 2:2500
10 4 respectively. Treat inlet ow-rate to Tank 1 as unmeasured disturbance with N(0,2)
around the nominal steady state value.

CSTR with Input Multiplicity

The CSTR system under consideration consists of a reversible exothermic reaction A *
) B:
The dynamic model for simulating the CSTR system is as follows
dCa
dt
dCb
dt
dT
dt
dh
dt
K1

=
=
=
=
=

Fi
(Cai Ca ) + K1 Ca K2 Cb
h Ac
Fi
Cb + K1 Ca K2 Cb
h Ac
1
Hr
Fi (Ti T ) +
(K1 Ca K2 Cb )
h Ac
Cp
p
1
(Fi k h)
Ac
kf exp( Ef =T ) ; K2 = kb exp( Eb =T )

(4)
(5)
(6)
(7)
(8)

The output temperature (y1 = T ) and reactor level (y2 = h) in the CSTR are the two
measured outputs of the system. The inlet ow rate (u1 = Fi ) and inlet feed temperature
(u2 = Ti ) are used as manipulated variables. The inlet concentration (Cai ) is treated as
unmeasured disturbance and it is further assumed that its dynamics are governed by the
following stochastic process
1
wd (k)
1 0:95q 1
Cai (k) = C ai + d (k)
d (k)

(9)
(10)

where fwd (k)g is a white noise sequence with standard deviation 0.02 (see gure(??)). Sampling interval T is chosen as 0.1 min.

Table 3: CSTR with Input Multiplicity: Nominal Operating Conditions and Model Parameters
Cai
1
Inlet concentration of the species A in mol/Lit
Cbss 0.5088 Reactor concentration ofSpecies B in mol/Lit
kf
3x105 Arrhenious Rate constant min 1 (Forward reaction )
kb
6x107 Arrhenious Rate constant min 1 (Backward reaction )
Ef
10000 Activation energy (cal/mol) (Forward reaction )
Eb
15000 Activation energy (cal/mol) (Backward reaction )
R
1.987 Universal gas constant.
Tiss 42
Temperature of the Inlet stream (C)
Tss
42
Steady state reactor temperature (C)
ss
1.0
Steady state Inlet ow rate (lit/min)
Ac
6.25
Cross sectional area (m2 )
Hr
-5000 Heat of reaction (cal / mol)
1
Density of reaction mixture(kg/lit)
Cp
1000
Heat capacity of species A and B in (cal/mol.K)
Cain 0.16
steady state height (m)

CSTR with Exothermic Reaction - II

The reaction A ! B takes place in a continuous stirred-tank reactor (CSTR). The reaction is
exothermic and the temperature is regulated with external cooling. The equations governing
the system are
p
F0 k h
dh
=
dt
r2
F0 (c0 c)
E
dc
=
k0 c exp(
)
2
dt
r h
RT
dT
F0 (T0 T )
H
E
2U h
=
+
k0 c exp(
)+
(Tc
2
dt
r h
Cp
RT
r Cp

T)

where,
x=

cs T

Ts h

hs

, u = Tc

Tc;s F0

Fs

, y= T

Ts h

hs

The steady state operating conditions arehs = 0:659 m, cs = 0:877 mol/L, Ts = 324:5 K,
F0;s = 100 L/min, Tc;s = 300 K
The parameters of the system are as shown in Table 4

Measurement Noise:N (0; 0:15) in T and N (0; 0:1) in h

Unmeasured Disturbance: c0 , Tc , and T0
Noise in unmeasured disturbance: N (0; 0:02) in c0 , N (0; 0:1) in Tc and N (0; 0:12) in T0
6

Paramter
T0
c0
r
k0
E
R

U
Cp
H
k

Table 4: Non-isothermal CSTR: Parameters and their nominal values

Nominal Value Units
350
K
1
mol/L
0:219
m
7:2 1010
min-1
8750
K
915:6
Q/m2 K
1
kg/L
0:239
J/g K
4
5 10
J/mol
123
L m0.5 /min

Figure 2: pH control in two tanks in series

pH Neutralization
Consider the pH neutralization system as shown in Fig.2. Acid and base ow in the two
tanks as shown. Tha aim is to control the pH of the e- uent streams by manipulating the
base ow rates in both the tanks.
The equations governing the system are given as below-

dc1;out
1
=
(c1 c1;out )q1 + (c2 c1;out )q2
dt
V
q1;out = q1 + q2
1
dc2;out
=
(c1;out c2;out )q1;out + (c3 c2;out )q3
dt
V
q
0
1
c1;out + c21;out 4 10 14
A
pH1 =
log10 @
2
q
1
0
c2;out + c22;out 4 10 14
A
pH2 =
log10 @
2

(11)

where,
ci = (ci;H + ci;OH )
ci;H + = concentration of H+ in the ith stream
ci;OH = concentration of OH- in the ith stream
The subscript i denotes the inlet, outlet streams of each tank (i = 1; 2; 3; f1; outg and
f2; outg)
x = c1;out c2;out

u = q2 q3

y = pH1 pH2

q1 can be treated as a disturbance.

The operating conditions are as given below
Parameter
V
c1;H +
c2;OH
c3;OH
q1
q2
q3

Nominal Value Unit

10
m3
5
mol/L
5
mol/L
5
mol/L
0:005
m3 /s
0:005
m3 /s
0:005
m3 /s

Measurement Noise:
Unmeasured Disturbance: q1 , c1;H + , c2;OH and c3;OH
Noise in unmeasured disturbance: