Chemical Process
Control
ECH 3121
The Transfer Function
The Transfer Function
• Convenient representation of a linear, dynamic model.
• A transfer function (TF) relates one input and one output:
u (t ) y(t )
system
U ( s) Y ( s)
• The following terminology is used:
u y
input output
forcing function response
“cause” “effect”
The Transfer Function
Definition of the transfer function:
• Let G(s) denote the transfer function between an
input, u, and an output, y. Then, by definition
Y ( s)
G( s)
U ( s)
where
Y ( s) L y (t )
U ( s) L u (t )
The Transfer Function
Transfer function
Is an expression for differential equation in
Laplace space
Independent of initial condition
Independent of forcing function
Encapsulates dynamic relationship between input
and output of the process model
Enables identification of fundamental dynamic
properties of model
Simplifies analysis and design of control system
The Transfer Function
Development of Transfer Functions
• Steps
1. Linearize differential equation if nonlinear
2. Subtract steady state
3. Laplace transform
𝑜𝑢𝑡𝑝𝑢𝑡
4. Write as ≡ transfer function
𝑖𝑛𝑝𝑢𝑡
The Transfer Function
• Example : Stirred tank heater
Assume initially at steady state
Subtract from differential equation
The Transfer Function
• Example : Stirred tank heater
Define deviation variables
T T T , Ti Ti Ti , Q Q Q
Deviation variables satisfy differential equation
𝑉𝜌 𝑑𝑇′ ′ ′
1
= 𝑇𝑖 − 𝑇 + 𝑄′
𝑤 𝑑𝑡 𝑤𝐶
Define
𝑉𝜌 𝜏 : system time constant;
𝜏= large 𝜏 slow response, small 𝜏 fast response
𝑤
1 𝐾 : steady state gain, since at initial steady state 𝑇 ′ =
𝐾= 𝑇𝑖′ + 𝐾𝑄′ so change in 𝑄′ leads to change in 𝑇′ which
𝑤𝐶 is 𝐾 times as large
The Transfer Function
• Example : Stirred tank heater
𝑑𝑇′
τ = 𝑇𝑖′ − 𝑇 ′ + 𝐾𝑄′
𝑑𝑡
Laplace transform equation
τ𝑠𝑇 ′ 𝑠 = 𝑇𝑖′ 𝑠 − 𝑇′(𝑠) + 𝐾𝑄′(s)
τ𝑠 + 1 𝑇 ′ 𝑠 = 𝐾𝑄 ′ s + 𝑇𝑖′ 𝑠
𝐾 1
𝑇′ 𝑠 = 𝑄′(s)+ 𝑇𝑖′ 𝑠
τ𝑠+1 τ𝑠+1
𝑇 ′ 𝑠 = 𝐺1 (𝑠)𝑄′(s)+ 𝐺2 (𝑠)𝑇𝑖′ 𝑠
Transfer function
The Transfer Function
𝑇 ′ 𝑠 = 𝐺1 (𝑠)𝑄′(s)+ 𝐺2 (𝑠)𝑇𝑖′ 𝑠
• G1 and G2 are transfer functions and independent of
the inputs, Q′ and Ti′.
• Note G1 (process) has gain K and time constant t.
• G2 (disturbance) has gain=1 and time constant t.
• Both are first order processes.
• If there is no change in inlet temperature (Ti′= 0), then
Ti′(s) = 0.
• System can be forced by a change in either Ti or Q
The Transfer Function
Conclusions about Transfer functions
1. Note that the effects of changes in both Q and 𝜏 are
additive. This always occurs for linear, dynamic models
(like Transfer functions) because the Principle of
Superposition is valid.
2. The Transfer functions model enables us to determine the
output response to any change in an input.
3. Use deviation variables to eliminate initial conditions for
Transfer functions models.
The Transfer Function
• Example: Stirred Tank Heater
0.05
K 0.05 t 2.0 T Q No change in Ti′
2s 1
Step change in Q(t): 1500 cal/sec to 2000 cal/sec
500
Q
s
0.05 500 25
T
2s 1 s s(2s 1)
What is T′(t)?
25
T (t ) 25[1 et /t ]
T ( s)
s(t s 1)
The Transfer Function
Properties of Transfer Functions
• Steady state gain
• Order of polynomial in denominator of G(s) equal to the
order of differential equation characterizing output
• General case:
• 𝑛≥𝑚
• 𝑚 > 0 yields
numerator (or
input) dynamics
The Transfer Function
Properties of Transfer Functions
• Additive for different input variables
• Sequential process elements
The Transfer Function
Example : Place sensor for temperature downstream from heated
tank (transport lag)
Distance L for plug flow,
L
Dead time
V
V = fluid velocity
Tank: G = T(s) = K1
U(s) 1+t 1s
1
Ts (s) K 2 e - s
Sensor: G2 = = K 2 1, t2
T(s) 1 + t 2s
Overall transfer function: Ts Ts T K1K 2 e s
G 2 G1
U T U 1 t1s
The Transfer Function
Linearization of Nonlinear Models
• Required to derive transfer function.
• Good approximation near a given operating point.
• Gain, time constants may change with operating point.
• Use 1st order Taylor series.
• Subtract steady-state equation from dynamic equation
dy f f
y u
dt y s u s
The Transfer Function
• Example : Stirred tank heater again
Assume 𝑤 = 𝑤𝑖 but 𝑤, 𝑤𝑖 are functions of t
Now is a nonlinear situation
