Dynaamisten mallien puoliautomaattinen parametrisointi käyttäen laitosdataa

The aim of this thesis was to develop a new methodology for estimating parameters of NAPCON ProsDS dynamic simulator models to better represent data containing several operating points. Before this thesis, no known methodology had existed for combining operating point identification with parameter estimation of NAPCON ProsDS simulator models. The methodology was designed by assessing and selecting suitable methods for operating space partitioning, parameter estimation and parameter scheduling. Previously implemented clustering algorithms were utilized for the operating space partition. Parameter estimation was implemented as a new tool in the NAPCON ProsDS dynamic simulator and iterative parameter estimation methods were applied. Finally, lookup tables were applied for tuning the model parameters according to the state. The methodology was tested by tuning a heat exchanger model to several operating points based on plant process data. The results indicated that the developed methodology was able to tune the simulator model to better represent several operating states. However, more testing with different models is required to verify general applicability of the methodology.Tämän diplomityön tarkoitus oli kehittää uusi parametrien estimointimenetelmä NAPCON ProsDS -simulaattorin dynaamisille malleille, jotta ne vastaisivat paremmin dataa useista prosessitiloista. Ennen tätä diplomityötä NAPCON ProsDS -simulaattorin malleille ei ollut olemassa olevaa viritysmenetelmää, joka yhdistäisi operointitilojen tunnistuksen parametrien estimointiin. Menetelmän kehitystä varten tutkittiin ja valittiin sopivat menetelmät operointiavaruuden jakamiselle, parametrien estimoinnille ja parametrien virittämiseen prosessitilan mukaisesti. Aikaisemmin ohjelmoituja klusterointialgoritmeja hyödynnettiin operointiavaruuden jakamisessa. Parametrien estimointi toteutettiin uutena työkaluna NAPCON ProsDS -simulaattoriin ja estimoinnissa käytettiin iteratiivisia optimointimenetelmiä. Lopulta hakutaulukoita sovellettiin mallin parametrien hienosäätöön prosessitilojen mukaisesti. Menetelmää testattiin virittämällä lämmönvaihtimen malli kahteen eri prosessitilaan käyttäen laitokselta kerättyä prosessidataa. Tulokset osoittavat että kehitetty menetelmä pystyi virittämään simulaattorin mallin vastaamaan paremmin dataa useista prosessitiloista. Kuitenkin tarvitaan lisää testausta erityyppisten mallien kanssa, jotta voidaan varmistaa menetelmän yleinen soveltuvuus

Comprehensive summary of solid oxide fuel cell control : a state-of-the-art review

Hydrogen energy is a promising renewable resource for the sustainable development of society. As a key member of the fuel cell (FC) family, the solid oxide fuel cell (SOFC) has attracted a lot of attention because of characteristics such as having various sources as fuel and high energy conversion efficiency, and being pollution-free. SOFC is a highly coupled, nonlinear, and multivariable complex system, and thus it is very important to design an appropriate control strategy for an SOFC system to ensure its safe, reliable, and efficient operation. This paper undertakes a comprehensive review and detailed summary of the state-of-the-art control approaches of SOFC. These approaches are divided into eight categories of control: proportional integral differential (PID), adaptive (APC), robust, model predictive (MPC), fuzzy logic (FLC), fault-tolerant (FTC), intelligent and observer-based. The SOFC control approaches are carefully evaluated in terms of objective, design, application/scenario, robustness, complexity, and accuracy. Finally, five perspectives are proposed for future research directions

Integrated design and control of chemical processes : part I : revision and clasification

[EN] This work presents a comprehensive classification of the different methods and procedures for integrated synthesis, design and control of chemical processes, based on a wide revision of recent literature. This classification fundamentally differentiates between “projecting methods”, where controllability is monitored during the process design to predict the trade-offs between design and control, and the “integrated-optimization methods” which solve the process design and the control-systems design at once within an optimization framework. The latter are revised categorizing them according to the methods to evaluate controllability and other related properties, the scope of the design problem, the treatment of uncertainties and perturbations, and finally, the type the optimization problem formulation and the methods for its resolution.[ES] Este trabajo presenta una clasificación integral de los diferentes métodos y procedimientos para la síntesis integrada, diseño y control de procesos químicos. Esta clasificación distingue fundamentalmente entre los "métodos de proyección", donde se controla la controlabilidad durante el diseño del proceso para predecir los compromisos entre diseño y control, y los "métodos de optimización integrada" que resuelven el diseño del proceso y el diseño de los sistemas de control a la vez dentro de un marco de optimización. Estos últimos se revisan clasificándolos según los métodos para evaluar la controlabilidad y otras propiedades relacionadas, el alcance del problema de diseño, el tratamiento de las incertidumbres y las perturbaciones y, finalmente, el tipo de la formulación del problema de optimización y los métodos para su resolución

Temperature profile control of a multiple hearth furnace for kaolin calcination

The main aim of this thesis is to develop a new temperature profile control strategy for kaolin calcination in the multiple hearth furnace (MHF) in order to improve the quality of the product. The overall control strategy for the MHF is developed as a three level control hierarchy: optimizing level, stabilizing level, and basic level. In the literature part of the thesis, first, the kaolin and its formation process is discussed. Next, the general information about calcination process is provided and the calcination of kaolin is discussed. Finally, few past researches having similar objective to this study are reviewed to study the various different control approaches developed so far and the possibility to implement them in our study. In the experimental part, analysis of the process is carried using the experimental data. During the data analysis, activation/ deactivation of the exothermic reaction in the hearth 4 is seen, which is crucial in determining the temperature profile of the furnace. Hence, the soft sensor based on the energy balance to estimate the intensity of the exothermic reaction, which plays a key role in developing the control strategy for the MHF, is developed. Both the static and dynamic energy balance equations are presented, calculated and compared in order to study the dynamic behaviour in the process. It is seen that the dynamic energy balance provides more accurate results than the static energy balance due to the consideration of the transition period

Proceedings of the 1st Annual WASM: MECE HDR Conference

1st Annual WA School of Mines: Minerals, Energy and Chemical Engineering HDR conference program and conference abstracts

Detailed model for robust feedback design of main steam temperatures in coal fired boilers

Main steam temperatures play a significant role in large coal fired power plant operation. Ideally, main steam temperatures should be accurately controlled to protect the thick wall components against long term overheating and thermal stress while meeting the design conditions at the steam turbine inlet. Although high steam temperatures are beneficial for thermal efficiency, it accelerates creep damage in high temperature components which is detrimental to the life of components. Alternatively, low steam temperatures increase the moisture content at the last stage blades of the turbine, causing the blades to deteriorate and fail. Control of the outlet steam temperature according to design conditions at variable loads is maintained via a balance between heat input (flue gas temperature and mass flow rate), evaporator outlet steam mass flow and spray water. The present control philosophy accuracy of main steam temperatures at an Eskom coal fired power plant was evaluated and compared to the latest technology and control strategies. Improving and optimizing steam temperature controls ensures design efficiency while maintaining long term plant health. The level of spatial discretization applied in simplifying the real boiler for modelling purposes was approached at a relatively high level. The intention was to model normal operating conditions and certain transients such as variable heat input and load changes to see its effect on steam temperatures and to be able to evaluate the performance of different temperature control techniques. The main outcome of this project was to design a robust control system for a dynamic model of the boiler using sets of low order linear models to account for uncertainty. The main concepts, models and theories used in the development of this dissertation include: 1) A detailed thermo-fluid model developed using Flownex to have high fidelity models of the process under varying operating conditions. This model was used to test and evaluate the robust controller design. 2) System Identification in Matlab to construct mathematical models of dynamic systems from measured inputoutput data and identify linear continuous time transfer functions under all operating conditions [1]. 3) Quantitative Feedback Theory (QFT) to design controllers for an attemperator control system at various onload operating conditions. This design was used understand the engineering requirements and seeks to design fixed gain controllers that will give desired performance under all operating conditions. 4) The design of a valve position controller to increase the heat uptake in a convective pass, thereby improving efficiency: Excessive attemperation in the superheater passes is generally associated with high flue gas temperatures which decrease thermal efficiency. Therefore, robust control of the attemperation system leads to an increase in heat uptake between the flue gas and steam in the boiler, resulting in a reduction in the flue gas temperature leaving the boiler, thus improving efficiency. The robust QFT controllers were set up using the valve position control technique and were used to confirm the improvement of control performance. The theories mentioned above were used to understand the control performance under varying plant conditions using a standard cascaded arrangement. It incorporated robust control design and engineering requirements such as bandwidth, plant life, spray water and thermodynamic efficiency. The control effort allocated to each superheaterattemperator subsystem in the convective pass was designed as a multi-loop problem

Health-aware predictive control schemes based on industrial processes

Aplicat embargament des de la data de defensa fins el dia 30 de desembre de 2021The research is motivated by real applications, such as pasteurization plant, water networks and autonomous system, which each of them require a specific control system to provide proper management able to take into account their particular features and operating limits in presence of uncertainties related to their operation and failures from component breakdowns. According to that most of the real systems have nonlinear behaviors, it can be approximated them by polytopic linear uncertain models such as Linear Parameter Varying (LPV) and Takagi-Sugeno (TS) models. Therefore, a new economic Model Predictive Control (MPC) approach based on LPV/TS models is proposed and the stability of the proposed approach is certified by using a region constraint on the terminal state. Besides, the MPC-LPV strategy is extended based on the system with varying delays affecting states and inputs. The control approach allows the controller to accommodate the scheduling parameters and delay change. By computing the prediction of the state variables and delay along a prediction time horizon, the system model can be modified according to the evaluation of the estimated state and delay at each time instant. To increase the system reliability, anticipate the appearance of faults and reduce the operational costs, actuator health monitoring should be considered. Regarding several types of system failures, different strategies are studied for obtaining system failures. First, the damage is assessed with the rainflow-counting algorithm that allows estimating the component’s fatigue and control objective is modified by adding an extra criterion that takes into account the accumulated damage. Besides, two different health-aware economic predictive control strategies that aim to minimize the damage of components are presented. Then, economic health-aware MPC controller is developed to compute the components and system reliability in the MPC model using an LPV modeling approach and maximizes the availability of the system by estimating system reliability. Additionally, another improvement considers chance-constraint programming to compute an optimal list replenishment policy based on a desired risk acceptability level, managing to dynamically designate safety stocks in flowbased networks to satisfy non-stationary flow demands. Finally, an innovative health-aware control approach for autonomous racing vehicles to simultaneously control it to the driving limits and to follow the desired path based on maximization of the battery RUL. The proposed approach is formulated as an optimal on-line robust LMI based MPC driven from Lyapunov stability and controller gain synthesis solved by LPV-LQR problem in LMI formulation with integral action for tracking the trajectory.Esta tesis pretende proporcionar contribuciones teóricas y prácticas sobre seguridad y control de sistemas industriales, especialmente en la forma maten ática de sistemas inciertos. La investigación está motivada por aplicaciones reales, como la planta de pasteurización, las redes de agua y el sistema autónomo, cada uno de los cuales requiere un sistema de control específico para proporcionar una gestión adecuada capaz de tener en cuenta sus características particulares y limites o de operación en presencia de incertidumbres relacionadas con su operación y fallas de averías de componentes. De acuerdo con que la mayoría de los sistemas reales tienen comportamientos no lineales, puede aproximarse a ellos mediante modelos inciertos lineales politopicos como los modelos de Lineal Variación de Parámetros (LPV) y Takagi-Sugeno (TS). Por lo tanto, se propone un nuevo enfoque de Control Predictivo del Modelo (MPC) económico basado en modelos LPV/TS y la estabilidad del enfoque propuesto se certifica mediante el uso de una restricción de región en el estado terminal. Además, la estrategia MPC-LPV se extiende en función del sistema con diferentes demoras que afectan los estados y las entradas. El enfoque de control permite al controlador acomodar los parámetros de programación y retrasar el cambio. Al calcular la predicción de las variables de estado y el retraso a lo largo de un horizonte de tiempo de predicción, el modelo del sistema se puede modificar de acuerdo con la evaluación del estado estimado y el retraso en cada instante de tiempo. Para aumentar la confiabilidad del sistema, anticipar la aparición de fallas y reducir los costos operativos, se debe considerar el monitoreo del estado del actuador. Con respecto a varios tipos de fallas del sistema, se estudian diferentes estrategias para obtener fallas del sistema. Primero, el daño se evalúa con el algoritmo de conteo de flujo de lluvia que permite estimar la fatiga del componente y el objetivo de control se modifica agregando un criterio adicional que tiene en cuenta el daño acumulado. Además, se presentan dos estrategias diferentes de control predictivo económico que tienen en cuenta la salud y tienen como objetivo minimizar el daño de los componentes. Luego, se desarrolla un controlador MPC económico con conciencia de salud para calcular los componentes y la confiabilidad del sistema en el modelo MPC utilizando un enfoque de modelado LPV y maximiza la disponibilidad del sistema mediante la estimación de la confiabilidad del sistema. Además, otra mejora considera la programación de restricción de posibilidades para calcular una política ´optima de reposición de listas basada en un nivel de aceptabilidad de riesgo deseado, logrando designar dinámicamente existencias de seguridad en redes basadas en flujo para satisfacer demandas de flujo no estacionarias. Finalmente, un enfoque innovador de control consciente de la salud para vehículos de carreras autónomos para controlarlo simultáneamente hasta los límites de conducción y seguir el camino deseado basado en la maximización de la bacteria RUL. El diseño del control se divide en dos capas con diferentes escalas de tiempo, planificador de ruta y controlador. El enfoque propuesto está formulado como un MPC robusto en línea optimo basado en LMI impulsado por la estabilidad de Lyapunov y la síntesis de ganancia del controlador resuelta por el problema LPV-LQR en la formulación de LMI con acción integral para el seguimiento de la trayectoria.Postprint (published version

Nuclear Power Plants

This book covers various topics, from thermal-hydraulic analysis to the safety analysis of nuclear power plant. It does not focus only on current power plant issues. Instead, it aims to address the challenging ideas that can be implemented in and used for the development of future nuclear power plants. This book will take the readers into the world of innovative research and development of future plants. Find your interests inside this book

A novel modeling of molten-salt heat storage systems in thermal solar power plants

Many thermal solar power plants use thermal oil as heat transfer fluid, and molten salts as thermal energy storage. Oil absorbs energy from sun light, and transfers it to a water-steam cycle across heat exchangers, to be converted into electric energy by means of a turbogenerator, or to be stored in a thermal energy storage system so that it can be later transferred to the water-steam cycle. The complexity of these thermal solar plants is rather high, as they combine traditional engineering used in power stations (water-steam cycle) or petrochemical (oil piping), with the new solar (parabolic trough collector) and heat storage (molten salts) technologies. With the engineering of these plants being relatively new, regulation of the thermal energy storage system is currently achieved in manual or semiautomatic ways, controlling its variables with proportional-integral-derivative (PID) regulators. This makes the overall performance of these plants non optimal. This work focuses on energy storage systems based on molten salt, and defines a complete model of the process. By defining such a model, the ground for future research into optimal control methods will be established. The accuracy of the model will be determined by comparing the results it provides and those measured in the molten-salt heat storage system of an actual power plant

Smart Hydraulic Controller

Neste projecto é apresentado uma modelação de um aquecedor de água a gás com sistema bypass. Na modelação, é feita com base na realidade, para o modelo ser mais perfeito possível, tendo em conta também a hidráulica, perdas de carga nas tubagens, e o controlo da válvula bypass através do caudal de entrada, pressão e temperatura