Dynamic Behavior of First

order Processes
BITS Pilani Pratik N Sheth
Department of Chemical Engineering
Pilani Campus
Lecture Contents

Dynamic Behavior and its importance

Standard Process Inputs

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

Dynamic Behavior

In analyzing process dynamic and process control systems, it

is important to know how the process responds to changes in
the process inputs.
A number of standard types of input changes are widely used
for two reasons
They are representative of the types of changes that occur in plants.
They are easy to analyze mathematically.

dV 1
= ( w1 + w2 w ) (2-17) K1 K2
dt X ( s) = X 1( s ) + W2( s )
(s + 1) (s + 1)
dx w1 w
= ( x1 x ) + 2 ( x2 x ) (2-18) V w 1
dt V V = ; K1 = 1 ; K 2 =
w w w

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

Standard Process Inputs

Step Input
A sudden change in a process variable can be approximated by a step change of
magnitude, M:

0 t<0
Us = (5-4)
M t 0

Special Case: If M = 1, we have a unit step change. We give it the symbol,

S(t).
Example of a step change: A reactor feedstock is suddenly switched from one
supply to another, causing sudden changes in feed concentration, flow, etc.
The heat input to the stirred-tank heating system is suddenly changed from
8000 to 10,000 kcal/hr by changing the electrical signal to the heater. Thus,
Q ( t ) = 8000 + 2000S ( t ) , S (t ) M
and
unit step U ( t ) = M for t 0 U (s) =
s
Q ( t ) = Q Q = 2000 S ( t ) , Q = 8000 kcal/hr

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

Standard Process Inputs

Ramp Input
Industrial processes often experience drifting disturbances, that is, relatively slow
changes up or down for some period of time.
The rate of change is approximately constant.

0 t < 0
U R ( t ) = (5-7)
at t 0

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

Standard Process Inputs

Rectangular Pulse Input

0 for t < 0

U RP ( t ) = h for 0 t < tw (5-9)
0 for t t
w
h

0 Tw Time, t

Examples:

1. Reactor feed is shut off for one hour.

2. The fuel gas supply to a furnace is briefly interrupted.

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

Standard Process Inputs

Rectangular Pulse input

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

Standard Process Inputs

Triangular Pulse Input

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

Standard Process Inputs

Sinusoidal Input
Processes are also subject to periodic, or cyclic, disturbances. They can be approximated
by a sinusoidal disturbance

0 for t < 0
U sin ( t ) = (5-14)
A sin (t ) for t 0
where: A = amplitude, = angular frequency

Examples:
24 hour variations in cooling water temperature.

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

Response of a First Order
Process
The standard form for a first-order TF is:

Y (s) K
= (5-16)
U ( s ) s + 1
where:
K = steady-state gain
= time constant
Consider the response of this system to a step of magnitude, M:
M
U ( t ) = M for t 0 U (s) =
s
Substitute into (5-16) and rearrange,
KM
Y (s) = (5-17)
s ( s + 1)

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

Response of a First Order
Process
(
y ( t ) = KM 1 e t / ) (5-18)
Let y steady-state value of y(t). From (5-18), y = KM .
y
t y
___
0 0
0.632
2 0.865
3 0.950
4 0.982
5 0.993

Note: Large means a slow response.

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus
Response of a First Order
Process
Ramp Response
Y (s) K
= (5-16)
U ( s ) s + 1

0 t < 0
U R (t ) (5-7)
at t 0

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

 Integrating Process
Not all processes have a steady-state gain. For example, an
integrating process or integrator has the transfer function:

Y (s) K
= ( K = constant )
Chapter 5

U (s) s

Consider a step change of magnitude M. Then U(s) = M/s and,

-1
KM L
Y ( s ) = 2 y ( t ) = KMt
s
Thus, y(t) is unbounded and a new steady-state value does not
exist.

13
 Common Physical Example:
Consider a liquid storage tank with a pump on the exit line:
qi
Chapter 5

h
- Assume: q
1. Constant cross-sectional area, A.
2. q f ( h )
dh
- Mass balance: A = qi q (1) 0 = qi q (2)
dt
- Eq. (1) Eq. (2), take L, assume steady state initially,
1
H ( s) = Qi ( s ) Q ( s )
As H ( s ) 1
=
- For Q ( s ) = 0 (constant q), Qi ( s ) As
14
5.2

15
Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus
5.3

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus