Economic model predictive control of wastewater treatment plants based on BSM1 using linear prediction models

Comunicación presentada en IEEE 15th International Conference on Control and Automation (ICCA), 16-19 July 2019, Edinburgh, United Kingdom,.In this paper, we have developed an Economical Model Predictive Control (EMPC) for a Wastewater Treatment Plant (WWTP) with the use of a standard semidefinite programming solver. In this case, the objective has been to keep the ammonium concentration in the effluent under limits manipulating the air insufflation pumps at the biological reactor and an internal recycle valve. The minimized cost function consists of the product of the energy consumed by the air insufflator and the cost of the electricity, taking into account the variations of the tariffs over the day. We have simulated the behaviour of the WWTP using the Benchmark Model Simulation n° 1 (BSMI), and we have developed a linear prediction model in order to apply the EMPC method

Integration of set point optimization techniques into nonlinear MPC for Improving the operation of WWTPs

[EN] Optimization and control strategies are necessary to keep wastewater treatment plants (WWTPs) operating in the best possible conditions, maximizing effluent quality with the minimum consumption of energy. In this work, a benchmarking of different hierarchical control structures for WWTPs that combines static and dynamic Real Time Optimization (RTO) and non linear model predictive control (NMPC) is presented. The objective is to evaluate the enhancement of the operation in terms of economics and effluent quality that can be achieved when introducing NMPC technologies in the distinct levels of the multilayer structure. Three multilayer hierarchical structures are evaluated and compared for the N-Removal process considering the short term and long term operation in a rain weather scenario. A reduction in the operation costs of approximately 20% with a satisfactory compromise to Effluent Quality is achieved with the application of these control scheme.[ES] Las estrategias de optimización y control son necesarias para que las plantas de tratamiento de aguas residuales funcionen en las mejores condiciones posibles, maximizando la calidad de los efluentes con el mínimo consumo de energía. En este trabajo, se presenta un benchmarking de diferentes estructuras de control jerárquico para WWTP que combina Optimización en tiempo real estática y dinámica (RTO) y control predictivo modelo no lineal (NMPC). El objetivo es evaluar la mejora de la operación en términos de economía y calidad del efluente que se puede lograr al introducir las tecnologías NMPC en los distintos niveles de la estructura multicapa. Se evalúan y comparan tres estructuras jerárquicas multicapa para el proceso considerando la operación a corto y largo plazo en un escenario de lluvia. Con la aplicación de este esquema de control se logra una reducción de los costos de operación de aproximadamente el 20% con un compromiso satisfactorio a la calidad del efluente

Model predictive control for the self-optimized operation in wastewater treatment plant : analysis of dynamic issues

[EN] This paper describes a procedure to find the best controlled variables in an economic sense for the activated sludge process in a wastewater treatment plant, despite the large load disturbances. A novel dynamic analysis of the closed loop control of these variables has been performed, considering a nonlinear model predictive controller (NMPC) and a particular distributed NMPC-PI control structure where the PI is devoted to control the process active constraints and the NMPC the self-optimizing variables. The well-known self-optimizing control methodology has been applied, considering the most important measurements of the process. This methodology provides the optimum combination of measurements to keep constant with minimum economic loss. In order to avoid non feasible dynamic operation, a preselection of the measurements has been performed, based on the nonlinear model of the process and evaluating the possibility of keeping their values constant in the presence of typical disturbances.[ES] Este trabajo describe un procedimiento eficiente para encontrar las mejores variables para el proceso de lodos activados en una planta de tratamiento de aguas residuales, a pesar de las grandes perturbaciones de carga. Se ha realizado un nuevo análisis dinámico del control en bucle cerrado de estas variables, considerando un controlador predictivo de modelo no lineal (NMPC) y una estructura de control NMPC-PI distribuida. Se ha aplicado la conocida metodología de control de auto-optimización, considerando las mediciones más importantes del proceso. Esta metodología proporciona la combinación óptima de mediciones para mantener constante con pérdidas económicas mínimas. Para evitar un funcionamiento dinámico no factible, se ha realizado una preselección de las mediciones, basándose en el modelo no lineal del proceso y evaluando la posibilidad de mantener constantes sus valores en presencia de perturbaciones típicas

Integrating dynamic economic optimization and nonlinear closed-loop GPC: Application to a WWTP

Producción CientíficaIn this paper, a technique that integrates methods of dynamic economic optimization and real-time control by including economic model predictive control and closed-loop predictive control has been developed, using a two-layer structure. The upper layer, which consists of an economic nonlinear MPC (NMPC), makes use of the updated state information to optimize some economic cost indices and calculates in real time the economically optimal trajectories for the process states. The lower layer uses a closed-loop nonlinear GPC (NCLGPC) to calculate the control actions that allow for the outputs of the process to follow the trajectories received from the upper layer. This paper also includes the theoretical demonstration proving that the deviation between the state of the closed-loop system and the economically time varying trajectory provided by the upper layer is bounded, thus guaranteeing stability. The proposed approach is based on the use of nonlinear models to describe all the relevant process dynamics and cover a wide operating range, providing accurate predictions and guaranteeing the performance of the control systems. In particular, the methodology is implemented in the N-Removal process of a WWTP and the results demonstrate that the method is effective and can be used profitably in practical cases such as the chemical, refinery and petrochemical process industries.Ministerio de Economía y Competitividad - (project DPI2015- 67341C21R)Junta de Castilla y Leon y Fondo Europeo de Desarrollo Regional (FEDER) - (grants CLU 2017-09 and UIC 233

Economic linear parameter varying model predictive control of the aeration system of a wastewater treatment plant

This work proposes an economic model predictive control (EMPC) strategy in the linear parameter varying (LPV) framework for the control of dissolved oxygen concentrations in the aerated reactors of a wastewater treatment plant (WWTP). A reduced model of the complex nonlinear plant is represented in a quasi-linear parameter varying (qLPV) form to reduce computational burden, enabling the real-time operation. To facilitate the formulation of the time-varying parameters which are functions of system states, as well as for feedback control purposes, a moving horizon estimator (MHE) that uses the qLPV WWTP model is proposed. The control strategy is investigated and evaluated based on the ASM1 simulation benchmark for performance assessment. The obtained results applying the EMPC strategy for the control of the aeration system in the WWTP of Girona (Spain) show its effectiveness.This work has been co-financed by the Spanish State Research Agency (AEI) and the European Regional Development Fund (ERFD) through the project SaCoAV (ref. MINECO PID2020- 114244RB-I00), by the European Regional Development Fund of the European Union in the framework of the ERDF Operational Program of Catalonia 2014–2020 (ref. 001-P-001643 Looming Factory), and by the DGR of Generalitat de Catalunya (SAC group ref. 2017/SGR/482).Peer ReviewedPostprint (author's final draft

LSTM networks for the implementation of an internal model control strategy in WWTPs

Water resources are one of the most important environmental issues due to the vulnerability of water to contamination and its direct effect on human health. Improving their management depends largely on the treatment of wastewater. For that reason, there are strict pollution limits set for the effluent of wastewater treatment plants (WWTPs), which is discharged into streams or other receiving waters. In order to improve the treatment quality, meet the standards imposed by authorities and to maintain low cost of operations, control strategies are implemented in these plants. This project presents a control system based on internal model controllers (IMCs) adopting artificial neural networks (ANNs), as an alternative to the default control strategy of the Benchmark Simulation Model no. 1 (BSM1), a framework emulating the behavior of a general purpose WWTP that uses proportional integral (PI) controllers. With the proposed control approach, the real plant behavior is modeled with only influent and effluent data to take under control the dissolved oxygen and nitrate and nitrite nitrogen concentrations, also offering a better performance in terms of integral absolute error (IAE) and integral square error (ISE) with respect to the default controllers.Els recursos hídrics són un dels assumptes ambientals més importants degut a la vulnerabilitat de l'aigua a ser contaminada i el seu efecte directe en la salut humana. La millora de la seva gestió depèn en gran mesura del tractament d'aigües residuals. Per aquest motiu, hi ha estrictes límits de contaminació establerts per l'efluent de les estacions depuradores d'aigües residuals (EDAR), el qual ́es abocat en rierols o altres aigües receptores. Amb la finalitat de millorar la qualitat del tractament, complir les normes imposades per les autoritats i mantenir un baix cost de les operacions, s'apliquen estratègies de control en aquestes estacions. Aquest projecte presenta un sistema de control basat en controladors per model intern(IMC) que empren xarxes neuronals artificials (ANN), com alternativa a l'estratègia de control per defecte del Benchmark Simulation Model no. 1 (BSM1), un marc que emula el comportament d'una EDAR de propòsit general que utilitza controladors proporcionals integrals (PI). Amb el mètode de control proposat, el comportament real de l'estació es modela amb només les dades de l'influent i de l'efluent per tenir sota control les concentracions d'oxigen dissolt i de nitrat i nitrit de nitrogen, oferint també un millor rendiment en termes de la integral de l'error absolut (IAE) i de la integral de l'error quadràtic (ISE) respecte als controladors per defecte.Los recursos hídricos son uno de los asuntos ambientales más importantes debido a la vulnerabilidad del agua a ser contaminada y su efecto directo en la salud humana. La mejora de su gestión depende en gran medida del tratamiento de aguas residuales. Por este motivo, hay estrictos límites de contaminación establecidos para el efluente de las estaciones depuradoras de aguas residuales (EDAR), el cual es vertido en arroyos u otras aguas receptoras. Con elfin de mejorar la calidad del tratamiento, cumplir las normas impuestas por las autoridades y mantener un bajo costo de las operaciones, se aplican estrategias de control en estas estaciones. Este proyecto presenta un sistema de control basado en controladores por modelo interno (IMC) que emplean redes neuronales artificiales (ANN), como alternativa a la estrategia de control por defecto del Benchmark Simulation Model no. 1 (BSM1), un marco que emula el comportamiento de una EDAR de propósito general que utiliza controladores proporcionales integrales (PI). Con el método de control propuesto, el comportamiento real de la estación se modela con sólo los datos del influente y del efluente para tener bajo control las concentraciones de oxígeno disuelto y de nitrato y nitrito de nitrógeno, ofreciendo también un mejor rendimiento en términos de la integral del error absoluto (IAE) y de la integral del error cuadrático (ISE) con respecto a los controladores por defecto

Control and soft sensing strategies for a wastewater treatment plant using a neuro-genetic approach

During the last years, machine learning-based control and optimization systems are playing an important role in the operation of wastewater treatment plants in terms of reduced operational costs and improved effluent quality. In this paper, a machine learning-based control strategy is proposed for optimizing both the consumption and the number of regulation violations of a biological wastewater treatment plant. The methodology proposed in this study uses neural networks as a soft-sensor for on-line prediction of the effluent quality and as an identification model of the plant dynamics, all under a neuro-genetic optimum model-based control approach. The complete scheme was tested on a simulation model of the activated sludge process of a large-scale municipal wastewater treatment plant running under the GPS-X simulation frame and validated with operational gathered data, showing optimal control performance by minimizing operational costs while satisfying the effluent requirements, thus reducing the investment in expensive sensor devices.info:eu-repo/semantics/publishedVersio

Innovative Surveillance and Process Control in Water Resource Recovery Facilities

Water Resource Recovery Facilities (WRRF), previously known as Wastewater Treatment Plants (WWTP), are getting increasingly complex, with the incorporation of sludge processing and resource recovery technologies. Along with maintaining a stringent effluent water quality standard, the focus is gradually shifting towards energy-efficient operations and recovery of resources. The new objectives of the WRRF demand an economically optimal operation of processes that are subjected to extreme variations in flowrate and composition at the influent. The application of online monitoring, process control, and automation in WRRF has already shown a steady increase in the past decade. However, the advanced model-based optimal control strategies, implemented in most process industries, are less common in WRRF. The complex nature of biological processes, the unavailability of simplified process models, and a lack of cost-effective surveillance infrastructure have often hindered the implementation of advanced control strategies in WRRF. The ambition of this research is to implement and validate cost-efficient monitoring alternatives and advanced control strategies for WRRF by fully utilizing the powerful Internet of Things (IoT) and data science tools. The first step towards implementing an advanced control strategy is to ensure the availability of surveillance infrastructure for monitoring nutrient compositions in WRRF processes. In Paper A, a soft sensor, based on Extended Kalman Filter, is developed for estimating water-quality parameters in a Sequential Batch MBBR process using reliable and inexpensive online sensors. The model used in the soft sensor combines the mechanistic understanding of the nutrient removal process with a statistical correlation between nutrient composition and easy-to-measure parameters. Paper B demonstrates the universality of the soft sensor through validation tests conducted in a Continuous Multistage MBBR pilot plant. The drift in soft-sensor estimation caused by a mismatch between the mathematical model and process behavior is studied in Paper B. The robustness of the soft sensor is assessed by observing estimated nutrient composition values for a period of three months. A systematic method to calibrate the measurement model and update model parameters using data from periodic lab measurements are discussed in Paper B. The term SCADA has been ubiquitous while mentioning online monitoring and control strategy deployment in WRRFs. The present digital world of affordable communication hardware, compact single board processors, and high computational power presents several options for remote monitoring and deployment of soft sensors. In Paper C, a cost-effective IoT strategy is developed by using an open-source programming language and inexpensive hardware. The functionalities of the IoT infrastructure are demonstrated by using it to deploy a soft sensor script in the ContinuousMultistage MBBR pilot plant. A cost-comparison between the commercially available alternatives presented in Paper A and the open-source IoT strategy in Paper B and Paper C highlights the benefits of the new monitoring infrastructure. Lack of reliable control models have often been the cause for the poor performance of advanced control strategies, such as Model Predictive Controls (MPC) when implemented to complex biological nutrient removal processes. Paper D attempts to overcome the inadequacies of the linear prediction model by combining a recursive model parameter estimator with the linear MPC. The new MPC variant, called the adaptive MPC (AMPC), reduces the dependency of MPC on the accuracy of its prediction model. The performance of the AMPC is compared with that of a linear MPC, nonlinear MPC, and the traditional proportional-integral cascade control through simulator-based evaluations conducted on the Benchmark Simulator platform(BSM2). The advantages of AMPC compared to its counterparts, in terms of reducing the aeration energy, curtailing the number of effluent ammonia violations, and the use of computational resources, are highlighted in Paper D. The complex interdependencies between different processes in a WRRF pose a significant challenge in defining constant reference points for WRRFs operations. A strategy that decides control outputs based on economic parameters rather than maintaining a fixed reference set-point is introduced in Paper E. The model-based control strategy presented in Paper D is further improved by including economic parameters in the MPC’s objective function. The control strategy known as Economic MPC (EMPC) is implemented for optimal dosage of magnesium hydroxide in a struvite recovery unit installed in a WRRF. A comparative study performed on the BSM2 platform demonstrates a significant improvement in overall profitability for the EMPC when compared to a constant or a feed-forward flow proportional control strategy. The resilience of the EMPC strategy to variations in the market price of struvite is also presented in Paper E. A combination of cost-effective monitoring infrastructure and advanced control strategies using advanced IoTs and data science tools have been documented to overcome some of the critical problems encountered in WRRFs. The overall improvement in process efficiency, reduction in operating costs, an increase in resource recovery, and a substantial reduction in the price of online monitoring infrastructure contribute to the overall aim of transitioning WRRFs to a self-sustaining facility capable of generating value-added products.Water Resource Recovery Facilities (WRRF), tidligere kjent som avløpsrenseanlegg (WWTP), blir stadig mer komplekse ettersom flere prosess steg tillegges anleggene i form av slambehandling og ressursgjenvinningsteknologi. Foruten hovedmålet om å imøtekomme strenge avløpsvannskvalitetskrav, har anleggenes fokus gradvis skiftet mot energieffektiv drift og gjenvinning av ressurser. Slike nye mål krever økonomisk optimal drift av prosesser som er utsatt for ekstreme variasjoner i volum og sammensetning av tilløp. Bruk av online overvåking, prosesskontroll og automatisering i WRRF har jevnt økt det siste tiåret. Likevel er avanserte modellbaserte kontrollstrategier for optimalisering ikke vanlig i WRRF, i motsetning til de fleste prosessindustrier. Komplekse forhold i biologiske prosesser, mangel på tilgang til pålitelige prosessmodeller og mangel på kostnadseffektiv overvåkingsinfrastruktur har ofte hindret implementeringen av avanserte kontrollstrategier i WRRF. Ambisjonen med denne avhandlingen er å implementere og validere kostnadseffektive overvåkingsalternativer og avanserte kontrollstrategier somutnytter kraftige Internet of Things (IoT) og datavitenskapelige verktøy i WRRF sammenheng. Det første steget mot implementering av en avansert kontrollstrategi er å sørge for tilgjengelighet av overvåkingsinfrastruktur for måling av næringsstoffer i WRRF-prosesser. Paper A demonstrerer en virtuell sensor basert på et utvidet Kalman filter, utviklet for å estimere vannkvalitetsparametere i en sekvensiell batch MBBR prosess ved hjelp av pålitelige og rimelige online sensorer. Modellen som brukes i den virtuelle sensoren kombinerer en mekanistisk forståelse av prosessen for fjerning av næringsstoffer fra avløpsvann med et statistisk sammenheng mellom næringsstoffsammensetning i avløpsvann og parametere som er enkle å måle. Paper B demonstrerer det universale bruksaspektet til den virtuelle sensoren gjennom valideringstester utført i et kontinuerlig flertrinns MBBR pilotanlegg. Feilene i sensorens estimering forårsaket av uoverensstemmelse mellom den matematiske modellen og prosesseatferden er undersøkt i Paper B. Robustheten til den virtuelle sensoren ble vurdert ved å observere estimerte næringssammensetningsverdier i en periode på tre måneder. En systematisk metode for å kalibrere målemodellen og oppdatere modellparametere ved hjelp av data fra periodiske laboratoriemålinger er diskutert i Paper B. Begrepet SCADA har alltid vært til stede når online overvåking og kontrollstrategi innen WRRF er nevnt. Den nåværende digitale verdenen med god tilgjengelighet av rimelig kommunikasjonsmaskinvare, kompakte enkeltkortprosessorer og høy beregningskraft presenterer flere muligheter for fjernovervåking og implementering av virtuelle sensorer. Paper C viser til utvikling av en kostnadseffektiv IoT-strategi ved hjelp av et programmeringsspråk med åpen kildekode og rimelig maskinvare. Funksjonalitetene i IoT-infrastruktur demonstreres gjennom implementering av et virtuelt sensorprogram i et kontinuerlig flertrinns MBBR pilotanlegg. En kostnadssammenligning mellom de kommersielt tilgjengelige alternativene som presenteres i Paper A og åpen kildekode-IoT-strategi i Paper B og Paper C fremhever fordelene med den nye overvåkingsinfrastrukturen. Mangel på pålitelige kontrollmodeller har ofte vært årsaken til svake resultater i avanserte kontrollstrategier, som for eksempel Model Predictive Control (MPC) når de implementeres i komplekse biologiske prosesser for fjerning av næringsstoffer. Paper D prøver å løse manglene i MPC ved å kombinere en rekursiv modellparameterestimator med lineær MPC. Den nye MPC-varianten, kalt Adaptiv MPC (AMPC), reduserer MPCs avhengighet av nøyaktigheten i prediksjonsmodellen. Ytelsen til AMPC sammenlignes med ytelsen til en lineær MPC, ikke-lineær MPC og tradisjonell proportionalintegral kaskadekontroll gjennom simulatorbaserte evalueringer utført på Benchmark Simulator plattformen (BSM2). Fordelene med AMPC sammenlignet med de andre kontrollstrategiene er fremhevet i Paper D og demonstreres i sammenheng redusering av energibruk ved lufting i luftebasseng, samt redusering i antall brudd på utslippskrav for ammoniakk og bruk av beregningsressurser. De komplekse avhengighetene mellom forskjellige prosesser i en WRRF utgjør en betydelig utfordring når man skal definere konstante referansepunkter for WRRF under drift. En strategi som bestemmer kontrollsignaler basert på økonomiske parametere i stedet for å opprettholde et fast referansesettpunkt introduseres i Paper E. Den modellbaserte kontrollstrategien fra PaperDforbedres ytterligere ved å inkludere økonomiske parametere iMPCs objektiv funksjon. Denne kontrollstrategien kalles Economic MPC (EMPC) og er implementert for optimal dosering av magnesiumhydroksid i en struvit utvinningsenhet installert i en WRRF. En sammenligningsstudie utført på BSM2 plattformen viste en betydelig forbedring i den totale lønnsomheten ved bruk av EMPC sammenlignet med en konstant eller en flow proportional kontrollstrategi. Robustheten til EMPC-strategien for variasjoner i markedsprisen på struvit er også demonstrert i Paper E. En kombinasjon av kostnadseffektiv overvåkingsinfrastruktur og avanserte kontrollstrategier ved hjelp av avansert IoT og datavitenskapelige verktøy er brukt for å løse flere kritiske utfordringer i WRRF. Den samlede forbedringen i prosesseffektivitet, reduksjon i operasjonskostnader, økt ressursgjenvinning og en betydelig reduksjon i pris for online overvåkningsinfrastruktur bidrar til det overordnede målet om å gå over til bærekraftige WRRF som er i stand til å generere verdiskapende produkter.DOSCON A

Indicator based multi-criteria decision support systems for wastewater treatment plants

Data availability: Data will be made available on request.Wastewater treatment plant decision makers face stricter regulations regarding human health protection, environmental preservation, and emissions reduction, meaning they must improve process sustainability and circularity, whilst maintaining economic performance. This creates complex multi-objective problems when operating and selecting technologies to meet these demands, resulting in the development of many decision support systems for the water sector. European Commission publications highlight their ambition for greater levels of sustainability, circularity, and environmental and human health protection, which decision support system implementation should align with to be successful in this region. Following the review of 57 wastewater treatment plant decision support systems, the main function of multi-criteria decision-making tools are technology selection and the optimisation of process operation. A large contrast regarding their aims is found, as process optimisation tools clearly define their goals and indicators used, whilst technology selection procedures often use vague language making it difficult for decision makers to connect selected indicators and resultant outcomes. Several recommendations are made to improve decision support system usage, such as more rigorous indicator selection protocols including participatory selection approaches and expansion of indicators sets, as well as more structured investigation of results including the use of sensitivity or uncertainty analysis, and error quantification.Horizon 2020 research and innovation programme DEEP PURPLE. The H2020 DEEP PURPLE project has received funding from the Bio-based Industries Joint Undertaking (JU) under the European Union's Horizon 2020 research and innovation programme under grant agreement No 837998. The JU receives support from the European Union's Horizon 2020 research and innovation programme and the Bio-based Industries Consortium