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pH log 10[ H ]
Excess Hydrogen
dco (t ) qa (t )
ca co (t ) qc (t ) cc co (t ) qi (t )qi (t ) qm (t ) ci (t ) co (t )
dt V V Vqm (t )
Rate of Change Excess [H+] due to Excess [H+] due to Excess [H+] due to
of Excess [H+] Acid Addition Rate CausticAddition Rate Influent Addition Rate
where:
ci, co, ca, cc: excess [H+] in the influent, effluent, acid, and
caustic streams respectively
qi, qa, qc: volumetric flow rate of the influent, acid, or caustic
reagent streams respectively
V: tank working volume
qm: volumetric tank mixing flow rate
Tank Model Assumptions
qr (t ) Cv pv
dp
sg
where:
pc, pv: commanded and actual valve position, respectively
qr: reagent flow (either acid or caustic)
t: valve time constant
dp: differential pressure
sg: specific gravity of the liquid
Valve Model
Simulink Implementation
Controller Model
Simulink Implementation
References
• G.C. Goodwin, S.F. Graebe, and M.E. Salgado, Control System Design.
Belmont, CA: Prentice-Hall 2001.
• Product Bulletin 26.1:CR, 26000 Series Corrosion Resistant Control Valve,
Baumann (A division of Emerson Process Management)., Pittsburgh, PA,
November 2001. Available:
http://euedocs.emersonprocess.co.uk/idcplg?IdcService=DOC_INFO&dID=2270
99&dDocName=26.1.CR
• Section 8.32, “pH Control,” in Instrument Engineers’ Handbook, Vol. II Process
Control and Optimization, 4th ed., B. Liptak, Ed. Boca Raton, FL: CRC Press,
2006
• G.K. McMillan and R.A. Cameron, Advanced pH Measurement and Control.
Research Triangle Park, NC: ISA 2005.
• Publication 1756-RM003K-EN-P, Logix5000 Controllers General Instructions,
Rockwell Automation, Milwaukee, WI, July 2008. Available:
http://literature.rockwellautomation.com/idc/groups/literature/documents/rm/1756
-rm003_-en-p.pdf
• B.W. Bequette, Process Control: Modeling, Design, and Simulation. Prentice-
Hall 2003.