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Thermal Systems
• Pressurized fluids (liquids and gases) are used by mechanical engineers in the
design of devices that deliver forces and torques to mechanical loads
– Hydraulic systems use a liquid as the working fluid
– Pneumatic systems use air or other gases
• Like electromechanical systems (Chapter 3), fluid systems convert energy from a
power source (pressurized fluid) to mechanical energy
• Thermal systems involve the transfer of heat energy, and temperature is typically the
dynamic variable of interest
4.2 Hydraulic Systems
• A hydraulic fluid system is composed of a pump that provides high-pressure fluid, a fluid capacitance
(reservoir) that stores energy due to pressure, and hoses/valves that connect the various elements
• The fundamental variables are pressure P (N/m2 or Pa), mass-flow rate w (kg/s), and volumetric
flow rate Q (m3/s).
Therefore, for large fluid pressures (dP = 20 MPa) fluid density only changes by about 2% (hydraulic fluids
are very “stiff”)
Fluid Resistance: Laminar Flow
• A fluid resistance element >> component that resists flow and dissipate energy >> electrical resistors
• For laminar pipe flow, the pipe flow is “smooth” and “streamlined” >> Large diameter, low velocity
• Consider a long capillary flow tube with low volumetric flow rate (Q) or low pressure drop (P1 – P2) so
that the flow is dominated by viscous forces
• Laminar flow: linear relationship between the pressure drop DP = P1 – P2 and the volumetric flow rate Q
• This relation is analogous to Ohm’s law (e = RI) where e (voltage) is “pressure”, and I (current) is “flow.”
• Laminar flow exists when the Reynolds number Re < 2300; [Re is nondimensional and is the ratio of
inertial to viscosity forces in the fluid]
Fluid Resistance: Laminar Flow
• For laminar pipe flow where the pipe length is L is significantly larger than the diameter d, the laminar
fluid resistance can be computed from Hagen-Poiseuille Law
• For turbulent flow (rule of thumb: Re > 2300), the flow is “rough” and no longer smooth but “swirls”
or,
• In most cases, turbulent fluid resistance RT (or KT) must be determined experimentally.
Fluid Resistance: Orifice Flow
• An orifice is an opening through which fluid can flow (e.g., hole in a tank, a valve opening, etc).
The figure below shows fluid flow through a sharp-edged orifice
• The classical orifice flow equation can be derived using Bernoulli’s equation
Bernoulli’s Equation
Valve position y
alters orifice area Av
and hence meters
flows Q1 and Q2
• The generic symbol for fluid resistance (lumped fluid resistance) is shown below:
Fluid Capacitance
• Fluid capacitance C is ability to store energy due to pressure
Fluid mass:
units: m /Pa
3
Hydrostatic
pressure:
units: Pa-s2/m3
• Fluid inertia effects are usually insignificant and can be ignored in modeling fluid systems.
Conservation of Mass
• Fluid system models are obtained by applying the conservation of mass to a control volume (CV)
• If we consider a fixed control volume (CV) as shown below, fluid mass may be entering the CV, leaving the
CV, or accumulating in the CV
Control
volume Mass leaves CV
(CV)
Mass enters CV
• From the conservation of mass, we can compute the net or accumulated mass flow rate by assigning a sign
convention dm/dt > 0 for mass entering CV, and dm/dt < 0 for mass for mass leaving CV
• Therefore, conservation of mass yields:
• If mass does not accumulate in the CV (i.e., steady flow through CV), then the net mass-flow rate in the CV
is zero, or
Modeling a Hydraulic Tank: Example 4.1
Figure shows a single hydraulic tank with input volumetric-flow rate Q in.
(a) Derive the mathematical model of the hydraulic system assuming laminar flow through the valve.
(b) Derive the mathematical model of the hydraulic system assuming turbulent flow through the valve.
(c) Repeat problems (a) and (b) with the model expressed in terms of liquid height h.
Modeling a Hydraulic Tank:
Example 4.1a (Laminar Flow)
• Consider a storage tank containing a liquid, with in-flow Qin and laminar out-flow through the valve
Divide by ρg
• Hydraulic tank systems require a first-order ODE for each fluid capacitance
(reservoir)
• ODE can be expressed with either pressure P or liquid height h as the
dynamic variable
• For two interconnected tanks, the complete mathematical model will involve
two first-order ODEs.
Modeling a Hydraulic Tank:
Practice Problems
Fluid mass:
• Fluid volumetric flow-rate Q is entering the CV from the left, and no flow is leaving the CV. The
piston moves (due to pressure), and therefore the size of the CV is not fixed but rather varies with
time
• Applying conservation of mass to the CV:
0
Modeling Hydromechanical Systems (2)
Fluid mass:
Bulk modulus
• Substituting this expression into the previous mass-continuity (CV) equation and rearranging we
obtain
Instantaneous CV,
(linear)
Hydromechanical Actuator:
Example 4.2 (3)
System model
Fluid ODE:
3rd-order nonlinear
system
Mechanical ODE:
Hydraulic accumulator
4.3 Pneumatic Systems
• Pneumatic systems involve compressible fluids (gas) such as air, where density is not constant
• Analysis of pneumatic systems is complex due to thermodynamic effects and the fact that gas flow is more
complicated that liquid flow
– Compressibility effects may cause oscillations in the system response
– Flow can become “choked” at the throat (sonic conditions, or Mach 1) of a valve or orifice, resulting in highly a
nonlinear relationship between pressure and flow rate
• For compressible fluids, mass-flow rate (w) and volume-flow rate (Q) are not readily interchangeable since
density can change significantly
• Pneumatic systems exhibit a functional relationship between pressure, density, and temperature:
R = gas constant
T = absolute temperature in kelvin (K)
Resistance of Pneumatic Systems
• In these rare cases we may model resistance using either the laminar or turbulent models and
obtain the corresponding coefficients RL or RT via experimental data, such as mass-flow rate w
vs ΔP
Laminar flow (linear)
• Note that resistance coefficients RL and RT have different units for pneumatic systems since we are using
mass-flow rate (w) instead of Q
Resistance of Pneumatic Systems (2)
• For most pneumatic applications, flow through valves or orifices is turbulent, compressible, and
complex
– We need to consider “choked” vs. “unchoked” flow at the minimum area (throat), where “choked” flow
involves sonic conditions, or Mach = 1
Mass-flow rate:
nonlinear function
for unchoked flow
P1 > P2
w
upstream downstream
pressure, P1 pressure, P2
throat area, A
upstream temperature, T
Resistance of Pneumatic Systems (3)
• Mass-flow rate w for pneumatic systems:
P1 P2 (air)
throat area, A
temperature, T
Resistance of Pneumatic Systems (3)
P1 =6 *105 Pa
A0 =4 mm2
T1 =298 K,
Cd =0.8
P1 > P2 w
P1 P2
throat area, A
temperature, T
Mass-Flow Rate for Pneumatic Systems
3
• Since mass is m = ρV, for gases filling a constant-volume (rigid) vessel we have
?
= constant, or
• Substitute for a using and substitute for P using the perfect gas law P = ρRT to obtain
• Compute the time-rate of density ρ by taking the time derivative of the polytropic expansion process
• Because we want a dynamic equation for gas pressure, we solve the above expression for dP/dt
Fundamental modeling
equation for a pneumatic
capacitance with pressure P
0
Basic ODE: or
if (unchoked)
if (choked)
Chapter 4: Summary
• We introduced a systematic approach for developing the mathematical model of fluid systems
• First, we presented the physical laws for resistance elements and energy-storage (capacitance)
elements
• Fluid-system models are derived by applying the conservation of mass to a control volume
– Each control volume (or fluid capacitance) in a fluid system will require a 1st-order ODE with pressure
as the dynamic variable
– Fluid models are typically nonlinear due to turbulent flow
4.4 Thermal Systems
• Conservation of energy is used to model thermal systems;
thermal systems involve the storage and flow of heat energy
• Convection:
For example, H for water is 50-100x greater than H for air (air is a
much better insulator than water)
Thermal Capacitance
• Thermal capacitance C is a measure of a body’s ability to
store heat due to its mass and thermal properties
Thermal capacitance
J/deg K
where
Divide by dt and
write as an ODE:
Basic thermal modeling Eq.
Modeling Thermal Systems: Example 4.8
Double-pipe heat exchanger: transfer heat from “hot” fluid in tube to “cold” shell
COLD
flow
HOT
flow
Steady flow: in and out mass-flow rates are equal for both tube and shell
Thermal
boundaries:
Plus, we have two heat-flow rates: q1 from “hot” tube to “cold” shell
and q2 from shell to ambient surroundings
Tube:
Shell:
Tube:
Shell:
We may need two distinct values of cp if a chemical solution flows thru the tube
and water flows thru the shell
We can move all dynamic variables (T1 and T2) to the left-hand sides and
all input variables (Tin,1 , Tin,2 , and Ta ) to the right-hand sides (see textbook)