Sysen 533 Penn Exam 1 Page 1 Of 4 Sysen 533 Deterministic Mo
Sysen 533 Penn Exam 1 Page 1 of 4sysen 533 Deterministic Modeling
Obtain a dynamic model for the liquid heights in the spherical and cylindrical tanks, analyze the steady-state values for given constant flow rates, simulate the system over a specified period, and plot the tank heights versus time.
Paper For Above instruction
The problem involves modeling the dynamics of a compound tank system composed of a spherical tank and a cylindrical tank, interconnected via a pipe with flow rates dependent on liquid heights. The primary goal is to derive a differential equation model describing how the liquid heights in both tanks evolve over time, analyze their steady states under constant inflows, simulate the system behavior, and visualize the results.
Dynamic Model Derivation
The system consists of a spherical tank of radius R₁ and a cylindrical tank with diameter D₂, with inflows F₁in and F₂in, respectively. The outflows from each tank depend linearly on the liquid height, with flow rates F_out1, F_out2, and F_out3, governed by coefficients k₁ and k₂.
For the spherical tank, the volumetric change is given by:
\[
\frac{dV_1}{dt} = F_{1in} - F_{out1}
\]
where the volume V₁ for a sphere is:
\[
V_1 = \frac{4}{3}\pi R_1^3
\]
Since the spherical tank has a fixed radius, the height h₁ relates as:
\[
V_1 = \frac{4}{3}\pi R_1^3 \cdot \frac{h_1}{h_{max1}}
\]
but given the radial symmetry, the volume in terms of height can be expressed as:
\[
V_1 = \pi R_1^2 h_1
\]
assuming h₁ is less than or equal to the tank's maximum height.
Similarly, for the cylindrical tank, the volume V₂ is:
\[
V_2 = \frac{\pi D_2^2}{4} h_2
\]
Differentiating volume with respect to time gives:
\[
\frac{dV_1}{dt} = \pi R_1^2 \frac{dh_1}{dt}
\]
and:
\[
\frac{dV_2}{dt} = \frac{\pi D_2^2}{4} \frac{dh_2}{dt}
\]
Thus, the dynamic equations for heights are:
\[
\pi R_1^2 \frac{dh_1}{dt} = F_{1in} - k_1 h_1
\]
and:
\[
\frac{\pi D_2^2}{4} \frac{dh_2}{dt} = F_{2in} - k_2 h_2 - k_2 h_2
\]
Note that the flow out of the cylindrical tank includes the drain, which depends on h₂, and the flow into the connecting pipe, which depends on both heights.
The system can be summarized as:
\[
\frac{dh_1}{dt} = \frac{1}{\pi R_1^2} \left( F_{1in} - k_1 h_1 \right)
\]
\[
\frac{dh_2}{dt} = \frac{4}{\pi D_2^2} \left( F_{2in} - k_2 h_2 - k_2 h_2 \right)
\]
Linearity of the Model
The derived differential equations are linear in the tank heights h₁ and h₂ since the flow rates F_out1, F_out2, and F_out3 are proportional to these heights with constant coefficients. No nonlinear terms (e.g., products of states or nonlinear functions other than linear proportions) are present. Therefore, the model is linear.
Steady-State Analysis
At steady state, the derivatives are zero:
\[
0 = \frac{1}{\pi R_1^2} (F_{1in} - k_1 h_{1,ss})
\]
which yields:
\[
h_{1,ss} = \frac{F_{1in} \pi R_1^2}{k_1}
\]
Similarly, for the cylindrical tank:
\[
0 = \frac{4}{\pi D_2^2} (F_{2in} - 2 k_2 h_{2,ss})
\]
leading to:
\[
h_{2,ss} = \frac{F_{2in} \pi D_2^2}{8 k_2}
\]
The steady-state heights depend only on input flow rates, tank dimensions, and valve coefficients. The shape and size of the tanks explicitly influence these steady states.
Simulation and Numerical Verification
Using the provided parameters:
- F1in = 2.0 ft³/s
- F2in = 1.0 ft³/s
- R₁ = 10 ft
- D₂ = 20 ft
- k₁ = 2.0 ft5/2/s
- k₂ = 3.0 ft5/2/s
- Initial heights h₁(0) = 4 ft, h₂(0) = 4 ft
- Calculate steady-state heights:
\[
h_{1,ss} = \frac{2.0 \times \pi \times (10)^2}{2.0} = \pi \times 100 = 314.16\, \text{ft}
\]
\[
h_{2,ss} = \frac{1.0 \times \pi \times (20)^2}{8 \times 3.0} = \frac{\pi \times 400}{24} \approx 52.36\, \text{ft}
\]
- Numerically simulate the differential equations over 2000 seconds, plotting h₁ and h₂ against time to observe transient responses towards steady states.
This comprehensive analysis involves solving the coupled linear differential equations with initial conditions matching the given heights, validating the model, and extracting insights on the influence of tank geometry and flow parameters on system behavior.
Conclusion
The derived model effectively captures the dynamic behavior of the interconnected tanks with linear flow dependencies. The steady-state analysis reveals that tank heights are directly proportional to input flow rates and tank cross-sectional areas, confirming the influence of geometry. Simulation results will visualize the exponential approach of heights to their steady states, and such models are instrumental in designing control systems for fluid level regulation in industrial processes.
References
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