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Mathematical Modeling of Pump System

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 INTER
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Electronic International Interdisciplinary Conference

IPLIN CONF
EIIC

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ENCE September, 2. - 6. 2013

Mathematical Modeling of Pump System

Gordana Janevska
Faculty of Technical Sciences
University “St. Kliment Ohridski”
Bitola, R. Macedonia
[email protected]

Abstract—A linear mathematical model of pump installation, II. MATHEMATICAL MODEL OF CENTRIFUGAL PUMP
which consists of centrifugal pump powered by asynchronous
three-phase electric motor and pumping out from a constant level The counterpart of Newton's law of force says that the
water-tank, is derived in this paper. The mathematical model is angular acceleration is proportional to the torque on the axis.
developed by analyzing the dynamics of the system and it is based Hence, the equation of motion for the motor-pump set can be
on the basic laws of physics and fluid mechanics. The linearized written as:
mathematical model obtained on the basis of realistically adopted
and critically studied assumptions is manipulated into state space d
form. This way obtained mathematical model, as a representative
 J  M a  M p  M MT  (M P  M  )  
dt
of system dynamics, gives a possibility for further analyses.

Keywords- mahematical modeling; dynamic systems; pump

where: J is the moment of inertia (in specific case it is the
system constant of proportionality, J = const.), MMT – active torque
from the asynchronous motor; MP – passive/resistive torque of
I. INTRODUCTION the pump; and Mζ is the viscous torque.
The explored pump system consists of centrifugal pump Assuming that the number of stator’s poll pairs is one, and
powered by asynchronous three-phase electric motor and the network frequency is f, the asynchronous motor torque is
pumping out from a constant level water-tank. The tank described by the following equation:
constantly receives liquid with input flow qv1. The output flow
through the control-valve is qv2. Fig. 1 shows the functional  M MT  k MTU 2 (2 f   )  
scheme (Fig. 1a) and the block diagram (Fig. 1b) of this pump
system.
Viscous torque Mζ and passive torque of the pump MP are
given respectively by:
Y
U p p2
ω
 M   k   
EM qv2
p1
hgv
  g qv2H  
qv1 MP 
h  P
pb

From equation (4) it can be concluded that the basic

hr
parameters of centrifugal pump are: pump flow qv, pump head
a) H and angular velocity ω. Pump flow can be expressed by
peripheral cross section of the impeller channels and meridian
component of velocity. Thus, the flow is proportional to the
angular velocity. Hence, for different modes of operation it is:
U qv1 p2 pb

 H   2  

hgv H 
Y
O
ω It should be noted that the last equation is obtained assuming
b) that the pump efficiency coefficient is constant. Basically it is
Figure 1. Pump system: a) Functional scheme; b) Block diagram. slightly changed in different modes, which to some extent
reflects to the parameters.
Mathematical model is developed by analyzing the Equation (5) is valid for any two modes, so if it is written
dynamics of the plant and it is based on fundamental laws of for arbitrary and nominal mode and replaced into (4) it is
physics and fluid mechanics. Determining the mathematical obtained:
model of the plant includes determining mathematical models
of centrifugal pump and tank.

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  g HN k vY
MP  qv2  k P qv2    q v2   k  2   ghgv  pb  p2  
 P N2 1  k c k v2Y 2

i.e. resistive torque of the centrifugal pump is proportional to Based on the foregoing, the resistive torque of the
the flow qv2 and angular velocity ω. centrifugal pump can be described with sufficient accuracy by
Pump suppliers set the pump characteristics (qv-H and qv-η the equation:
curves) for a nominal speed n. Due to the complexity of
centrifugal pump dynamics, the assumption that qv-H curve  k P k vY
MP   k  2   ghgv  pb  p2  
with sufficient accuracy describe the behavior of the pump in 1 k k Y 2 2
c v
transitional regimes is accepted into analysis of their work, i.e.
static characteristic of the pump is used. The characteristic
curve of a centrifugal pump can be described by the equation: By replacing the obtained expression for each torque into
(1), it gets the following form:
 H  A 2  B qv  Cqv2  
d
J  (314k MTU 2  k MTU 2 ) 
dt
where A, B and C are characteristic constants for each pump.   
That is a parabola family with parameter ω, i.e. this expression k P k vY
(  k    ghgv  p b  p 2  k  )
2

determines the family of static characteristics of centrifugal 1  k c k v2Y 2

pump. From (7), expressing qv and ω through their nominal
values, the pump head will be: Equation (14) defines a nonlinear mathematical model of
centrifugal pump included into considering plant (Fig. 1).
2
q vN q vN
 p  p1  ( A  B C ) 2  k  2   III. MATHEMATICAL MODEL OF RESERVOIR
N  N2
The dynamics of change in level of liquid in the supply
The pressure at the pump inlet can be determined tank during transitional regime is determined by the principle
considering joint operation of the pump and suction pipeline. of conservation of mass. The change in mass in the reservoir is
For a given pipeline pump will operate in such a mode in equal to the mass that enter the tank minus the mass that leaves
which the energy required to move the fluid through the pipe is the tank.
equal to the energy that the pump imparts to the liquid
(H=Hpotr):  dm(t )
 Qm1  Qm2  
dt
 H potr   g hgv  p  pb  kc qv2
2
 
where Qm is mass flow rate ( Qm   q v ).
Taking into consideration that the head H actually is equal to
If the fluid density ρ is considered constant over time
the difference between the pressures at the inlet and the outlet
(incompressible fluid), for the prismatic tank with constant
flange of the pump in their same diameters, and having in mind
cross section A (the area of the tank, A, does not change with
(9), we get:
time) to the certain mass of liquid in the tank m(t) corresponds
a particular fluid height hr(t) in the reservoir. Taking into
 p  k 2  pb   g hgv  kc qv2
2
  account the made assumptions, it will be:

where qv2 is a flow through the control-valve, and it can be dhr

 A  q v1  q v2  
expressed by the pressure drop in the valve dt

 qv2  A(Y ) vv  k v A(Y ) pv  k v A(Y ) p  p2   where qv2 is coupled variable that has already been determined
by (12). The fluid height hr is also a coupled variable in (16).
In the above equation kv is the valve constant; and the function Considering the plant as an object of control, one of the output
A(Y) expresses the change in the cross-section of the valve with variables is the geodetic suction height hgv. Change in hr
the change of the position of its spindle and it is usually actually means the same change in hgv only in the opposite
nonlinear. This static characteristic is determined on the basis direction, i.e.
of the constructive data for the valve. Here, it is assumed that
dhr dhgv
the static characteristic of the control-valve is linear, which is  h  hr  hgv  const.    
justified when considered only valves with linear part of the dt dt
static characteristic and small changes around the position
corresponds to the nominal operating mode. As a consequence Eliminating the coupled variables in (16), a nonlinear
of this assumption and taking into account (10), (11) gets the mathematical model of the supply tank within the considered
following form: plant is obtained:

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dhgv k vY dxi1 1 k vYN (1  u)

 A   k 2   g hgv  pb  p2  qv1   { 
dt 1  kc k v2Y 2 dt Ahgv N 1  k k 2Y 2 (1  u) 2
c v N

 k  N2 (1  xi2 ) 2   ghgvN(1  xi1 )  p bN (1  z 2 )  p 2N (1  z 3 ) 

IV. LINEAR MATHEMATICAL MODEL OF THE PUMP SYSTEM
k vYN
In the case study, the mathematical models of centrifugal  q v1N(1  z1 )  q v1N  k  N2   ghgvN  p bN  p 2N 
pump and supply tank were determined taking into account the 1  kc k Y 2 2
v N
dynamics of the entire plant. Hence, already obtained equations  f1 ( xi1, xi2 , u, z1 , z 2 , z 3 )
(18) and (14), in which coupled variables have been eliminated,  f 1 (0,0,0,0,0,0)  0  
presents nonlinear mathematical model of the considered plant.
Equations (18) and (14) are valid for any mode of operation of
the plant, and therefore, they can be applied to the nominal dxi2 1
 {314k MTU N2 (1  z 4 ) 2  k MTU N2 (1  z 4 ) 2  N (1  xi2 ) 
mode, in which case they get the form: dt J N
k p k v YN (1  u) N (1  xi2 )
k vYN  
  k  N2   g hgv N  pb N  p2 N  qv1 N  0   1  k c k v2 YN2 (1  u) 2
1 k k Y 2 2
c v N   
 k   N2 (1  xi2 ) 2   ghgvN (1  xi1 )  p bN (1  z 2 )  p 2N (1  z 3 ) 
(314k MTU N2  k MTU N2  N )   k   N (1  xi2 )  [314k MTU N2  k MTU N2  N  k   N 
k k Y   k p k v YN  N
 ( P v N N  k  N2   ghgv N  p b N  p 2 N  k  N )  0  k   N2   ghgvN  p bN  p 2N ]} 
1  k c k v2YN2 1  k c k v2 YN2
   f 2 ( xi1 , xi2 , u, z 2 , z 3 , z 4 )

Normalized values based on steady-state operating values  f 2 (0,0,0,0,0,0)  0  

are:
The equations that describe the behavior of the system can
hgv (t )  hgv N be presented in state space form by selecting the appropriate
 xi1 (t )  hgv (t )   
hgv N state variables. In addition, whenever it is possible, it is
necessary to conduct linearization in order to get a simplified
  (t )   N   mathematical description of the system. In the case study,
xi2 (t )   (t ) 
N assuming that the relative deviations of individual variables are
small enough, the linearization of the functions f1 and f2 can be
 Y (t )  Y N   performed. The choice of state variables is made as follows:
u (t )  Y (t ) 
YN
 x1  xi1  
 qv1(t )  qv1N  
z1 (t )   qv1(t )   x2  xi2  
qv1N
p (t )  pb N   x = [ x1 x2 ] T 
 z 2 (t )  pb (t )  b 
pb N  z = [ z1 z2 z3 z4 ] T  

 p2 (t )  p2 N  
z3 (t )  p2 (t )  where x is the state vector and z is the vector of disturbances.
p2 N
As a result of the linearization procedure of the functions f1
U (t )  U N and f2, the following constants are obtained:
 z 4 (t )  U (t )   
UN
 a11   f1  k vYN g  
 
where the subscript N denotes steady-state values in the normal  x1 N 1 k k Y 2 2
2 A k    ghgvN  pbN  p2N
2
operating point, and the prefix Δ denotes small deviations from c v N N

the normal operating point.

a12   f1 k vYN k  2N 
 
If the difference between dynamics equations of the plant  x2 N 1  kc k v2YN2 Ahgv N k  N2   ghgvN  pbN  p2N
for the arbitrary operating point and the corresponding
equations for the normal operating point will be made, and the
k v YN 1  k c k v2 YN2
variables are expressed in per unit form, the nonlinear  b1   f 1   k   N2   ghgvN  p bN  p 2N  
mathematical model of the plant in normalized form will u N
A hgv N
became:
  f1 qv1N  
f11  
 z1 N
A hgv N

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 f1 k vYN pb N  x  A x  B u  F z  
f12   
 z2 N 1  kc k v2YN2 2 Ahgv N k  N2   ghgvN  pbN  p2N  x i  I x  
  
where the particular matrices are:
f k vYN  p2 N
f13  1  
 z3 1  kc k v2YN2 2 Ahgv N k N2   ghgvN  pbN  p2N a a 
N
 A   11 12   
   a21 a22 

  f1 b 
f14   0   B   1  
 z4 N b2 

 g hgv N
 a21   f 2 f f14 
k p k vYN f12 f13
    F   11 
 x1 N 1 k k Y
2 2
2J k    ghgvN  pbN  p2N
2
 f 21 f 22 f 23 f 24 
c v N N

 f2 1 V. CONCLUSION
a 22    {k MTU N2  k  
 x2 J The paper discussed a mathematical modeling of pump
 N
 
k p k v YN 2k  N2   ghgvN  p bN  p 2N system (Fig. 1). In addition, mathematical models of
  centrifugal pump and supply tank are determined taking into
1  k c k v2YN2 k  N2   ghgvN  p bN  p 2N account the dynamics of the entire plant, i.e. the elimination of
coupled variables have been performed. The method of state
k p k vYN
 b2   f 2   k  N2   ghgvN  p bN  p2N  variables is used to describe the dynamics of the system. The
u N J (1  k c k v2YN2 ) 3 advantage of this method is a compact representation of the
mathematical model using matrices, which in this form allows
  f2 computer simulation of system dynamics in relatively easy
f 21   0   way. Thus, by choosing the appropriate state variables and
 z1 N
linearization carried out, the linear mathematical model of the
plant in the state space form has been obtained.
 f 22   f 2
k p k vYN pb N
  
 z2 N 1 k k Y 2 2
2 J k    ghgvN  pbN  p2N
2
REFERENCES
c v N N
[1] R. C. Dorf and R. H. Bishop, Modern Control Systems, 12th ed.,
 f 23   f 2
k p k vYN p2 N
    Prentice Hall, Pearson Education, Inc., 2011.
 z3 N 1  kc k v2YN2 2 J k  N2   ghgvN  pbN  p2N [2] L. Ljung and T. Glad, Modeling of Dynamic Systems. Prentice Hall,
1994.
[3] D. Debeljkovic, Dynamics of Object and Processes. Faculty of
  f2 2
f 24    k MTU N2  ( 314   N )   Mechanical Engineering, University of Belgrade, 1989.
 z4 N
JN [4] J. A. Fox, Hydraulic Analysis of Unsteady Flow in Pipe Networks.
Macmillan Pres Ltd., 1977.
Thus, the linear mathematical model of the plant in state [5] A. R. D. Thorley, Fluid Transients in Pipeline Systems. D.&L. George
Ltd., 1991.
space form has been obtained. It is expressed by the following
equations:

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