INTERNATIONAL FEDERATION OF AUTOMATIC CONTROL. WORLD CONGRESS (15.2002.BARCELONA)This paper presents several non-linear models adjusted in order to capture the dynamics of a gypsum kiln. The behavior of this kind of processes is affected by nonlinear effects caused by the existence of disturbances and the coupling among some variables. The use of second order Volterra and Hammerstein models as appropriate solutions to describe the process dynamics is analyzed. A thorough study of the best model order and structure is performed. Coefficients that best fit real data are also selected. This work aims to obtain a good non-linear model in order to implement a non-linear predictive controller, able to improve the performances of those linear controllers already tested on the plant.Comisión Interministerial de Ciencia y Tecnología (CICYT) 1FD97-083

Bordons Alba, Carlos

Dorado Navas, Fernando

English

idUS. Depósito de Investigación Universidad de Sevilla

NON-LINEAR MODELS FOR A GYPSUM KILN. A COMPARATIVE ANALYSIS Carlos Bordons, Fernando Dorado Escuela Superior de Ingenieros. Uniuersidad de Sevilla, Camino  de 10s descubrimientos s/n 41092 Sevilla, Spain e-mail: { bordons, fdorado)  @cartuja.us. es  Abstract: This paper presents several non-linear models adjusted in order to capture the dynamics of a gypsum kiln. The behavior of this kind of processes is affected by non- linear effects caused by the existence of disturbances and the coupling among some variables. The use of second order Volterra and Hammerstein models as appropriate solutions to  describe the process dynamics is analyzed. A thorough study of the best model order and structure is performed. Coefficients that best fit real data are also selected. This work aims to  obtain a good non-linear model in order to  implement a non-linear predictive controller, able to  improve the performances of those linear controllers already tested on the plant. Keywords: Modelling, Control Applications, Nonlinear models, Process Control 1. INTRODUCTION The development of non-linear model for process control is a difficult task. Therefore, although a great deal of processes is non-linear, linear models for control tend to be used because of their simplicity and thanks to  the existence of already tested identification techniques. Moreover, there are many instances in which processes work in the vicinity of a nominal operating point and linear models are able to  perform well. However, there exist many situations in which non-linear effects justify the need of non-linear models, such as in the case of strong non-linear processes subject to big disturbances (pH con- trol, for instance) or setpoint tracking problems where the operating point is continually changing, showing the non-linear process dynamics. This is the case of the plant analyzed in this paper, where continuos changes in operating conditions make it necessary the development of a non-linear description. Linear Model Predictive Control (MPC) (Camacho and Bordons, 1999) is arguably the most popular advanced control technique in industry, due to the intuitive control problem formulation and its abil- ity to  deal with economic objectives and operating constraints. Linear MPC schemes are nowadays the best choice to implement the control strategies in the process industry, with a considerable number of commercial products and applications running (Qin and Badgwell, 1997). Part  of its success is due to the relative simply way of obtaining exper- imental models, mainly step response or low-order transfer function, from process data. However, the building of a non-linear model is something much more difficult to  achieve, either from input/output data or first principles. Lee (Lee, 2000) argues that this inability to  construct a nonlinear model on a reliable and consistent basis is the most important reason that non-linear MPC has had so much less influence on indus- trial control practice than linear MPC has, despite Copyright © 2002 IFACwww.elsevier.com/locate/ifacCopyright © 2002 IFAC15th Triennial World Congress, Barcelona, Spain271nonlinear dynamics are significant in industrial processes. One of the features of non-linear models is the difference in qualitative behaviour between differ- ent model families. In consequence, this work is focused only on a class of models, as described in next section. In this work, different model structures of the same class have been tested in order to obtain the best description that fits process data from a real plant. This is the first step before implementing the MPC controller to improve the current control performance. The control of rotary kilns is a difficult problem due to  the slow dynamics and to  the great noise to  signal ratio. Although there exist several ref- erences of applications of advanced control tech- niques to rotary cement kilns (Martin-Sanchez and Rodellar, 1996), the control of gypsum kilns is scarcely reported in literature. The paper is organized as follows. In section 2 a description of the process is presented. Model attainment is described in section 3, showing the different non-linear models that are used in this work and whose performances are compared in section 4. Finally the major conclusions to be drawn are given. 2. PROCESS DESCRIPTION Gypsum is a soft white chalk-like substance that is employed in bulding work. When gypsum mineral (CaS04 2H20) is heated, it loses part of the water, turning into another product which, when mixed with water, produces a quick-drying whitish mix- ture used for plaster casts, in decorative building work, etc. There exist different industrial processes for gyp- sum production, that can be continuous or batch systems. In this work, gypsum is produced in a three-step rotary kiln, where the raw material coming from the mills enters the drum, where it is exposed a t  high temperatures until the fi- nal product is obtained (see figure 1). Heating is produced by means of a fuel-fired furnace, which generates a hot air current that is in contact with the raw material along the drum. The material is continually transported by the rotation of the drum and a series of blades inside, so that while turning the drum, these blades take the material and throw it in waterfall within the air current. Generally, the drum turns to a speed between 3 to  7 rpm, and the speed of the air varies between 1.5 to  4 m/s. Since it is a three-step kiln, the drum is composed of three concentric cylinders. The raw material enters into the middle one, where it is pre-heated with the outlet air; then i t  passes to the inner cylinder where it reaches the highest temperature and calcination is produced. At the end, the product temperature is reduced during its travel through the outer cylinder and it falls down to the conveyer belt that carries the final product to storage. The process can be controlled acting on fuel and product feeds. Air Final Product Fig. 1. Gypsum kiln The state of the process is not depicted by a single variable but by several variables that are measured in the plant. Outlet product temper- ature can be considered as the process output, although it is highly influenced by other tem- peratures, mainly by the calcination temperature. Plant operators know that a relationship between these variables exist, since the behaviour of the calcination temperature anticipates to  outlet tem- perature evolution. Therefore, in order to better control the plant, a good model of this part of the process has to be obtained. The first approach to  control was done with a low order linear model and a predictive control structure, as shown in (Dorado et al., 2000), although several problems appeared due to non- linear dynamics. This work intends to  obtain a good non-linear model in order to implement a non-linear predictive controller in the future. 3. MODEL ATTAINMENT In spite of the advantages associated to funda- mental modeling, the difficulties associated with obtaining such a relationship for this case, as it has been previously shown through the process description, lead to the alternative of achieving a model through input/output analysis. Among all the possibilities lying in the field of empirical modeling applied to  non-linear systems (NMAXs, NARXs, NARMAXs ...)( Lee, 2000) two particular combinations have been chosen for this study: quadratic Hammerstein and second-order Volterra models. This kind of models have already been used in Nonlinear Predictive Control and some of its advantages outlined (Haber et al., 2000)(Maner et al., 1996). 272The quadratic Hammerstein model has been cho- sen as follows: N y(k + d)  = ho + c hliU(k - i) i=O N i=O while the second-order Volterra model with trun- cation of order N is given by the expression: N y ( k  + d )  = ho + c h*iU(k - i) i=O N N  The triangular form is used without any loss of generality, since the second-order parameters are symmetric for the Volterra model. In both cases the term ho is a bias. The hli terms are the impulse response coefficients and the h2i and h2ij terms are the second-order Hammerstein and Volterra terms respectively. Once the model type has been decided, there are some issues to be treated, such as the number of lagged data to be considered (truncation of the models) and determining what delay best describes the process when a particular model is being studied. Real data from a gypsum kiln has been studied. This data represents the last step of the process, in which the final properties of the product are defined. This is a process in which there exists a non negligible delay due to mass transport along the rotary kiln. Both the input and output temperatures have been properly scaled according to their normal span, in order to avoid numerical trouble while calculating the models. To calculate the parameters for the models, ad hoc Matlab functions have been developed. They get as an input the sampled data and the model structure (Volterra, Hammerstein, and truncation order). Coefficients are calculated according to least-squares method. In figure 2 ,  original work-data is presented. Tem- peratures values have already been scaled to work- ing values for identification and estimation. The sample period for the data was 2 minutes. One important issue not always well treated is the delay determination for processes. In this work, a thorough search for the best combina- tion delay/model-order has been done for the three models studied: Linear, Hammerstein and Fig. 2.  Sampled data Volterra. They are firstly presented and later on compared. 4. COMPARISON A linear model to fit the data has been considered, so that a clear reference of the advancement non- linear models represent can be compared. The Linear model has been chosen according to the following structure: A(q-')y(k + d )  = bo + B(q-')u(k - i) (3) where 4-l is the backward shift operator, y ( k + d )  is the delayed output, u ( k  - i) is the input and bo is a bias. Estimation error has been considered as the mean quadratic error, according to expression (4) , and it has been used as a reference to compare the performance for the models studied. I n  ci is the model estimation, while yi is the original data. The number of samples is n. In figure 3 the outcome of the search for the best possible combination model-order/delay is presented. Vertical axis shows the estimation error for each model. Ny is the order for A(q- ' )  polyno- mial. Best approximation was obtained when only one lagged input was considered, regardless the value of Ny. Thus Nu=l is fixed throughout the search of the other parameters. It can be seen that optimal delay for the process is independent of the order selection in this linear model. However, and as it was predictable, a slight improvement of the model is achieved while increasing the model order. Hammerstein model as described in equation (1) was adjusted to the data, modifying both the 2730024- 0 022 0 02 oota 0016 0014 0012 oot 20 4 6  Fig. 3. Linear Models delay and the model truncation order, in the same way as it  has been done for the linear case. The error fitting this sample is presented in figure 4. As well as in the linear case, the optimal delay for Hammerstein models remains stable centered in one value (16 samples), presenting no variations even when the truncation order increased. Accu- racy of the model is accomplished through higher order models. However, this accuracy was not significantly improved after the 5th order model. Fig. 4. Hammerstein Models Volterra model as shown in equation (2) has proven to be the best choice to  get an accurate description of the data. However, the most signif- icant difference with the other two cases already presented lays in the fact that optimal delay for identification shifts to lower values as order-model increases. This is caused by the fact that  crossed product between lagged inputs offers a richer in- formation about the system than in the other models. The result is given in figure 5. Optimal delay is placed for low order systems close to 16 samples, but it comes to be about 3 or 4 samples when Volterra model is truncated in higher values, like in the 15th term. Once more, accuracy is improved while increasing the model order, and in this case "information saturation" is not achieved as quickly as in Hammerstein models. Em, br VdDm Modem 0 02 0010 0016 0014 0012 oot O W  O W  O W  O W  0 20 Fig. 5. Volterra Models In figure 6, plots for the minimun values of the previous surfaces (figures 3, 4 and 5) are pre- sented. For the linear case, order is related to  A(q-')  polynomial (and thus the lagged outputs considered), while for the non-linear models this means the truncation order N. For the two first cases, very high order models do not necessarily means significant improvement in model error, while Volterra models always achieves the best correlation, and increasing its order makes per- formance improve further away than in the other cases. One of Volterra model drawbacks is the need for a large number of parameters t o  be calculated. For the 5th order Hammerstein model, only 5 coefficients are needed to describe the quadratic part, while 15 are required for Volterra model. When it comes to  N=15, Hammerstein still needs 15 and Volterra yields 120 coefficients. U0d.l .m lor bu( *.lnata Fig. 6. Error comparison Different models obtained through this search are presented in figure 7. The linear model is a third order model in A(q- ' )  polynomial. For 274Model Linear Hammerstein Volterra Hammerstein model, N=5 has been chosen as the best trade-off between order and accuracy, and for Volterra N=10 was chosen. Order Estimation Error Ny=3 0.0120 N=5 0.0108 N=10 0.0050 go:: 0 08 75 0 20 40 80 80 iw 120 140 180 180 200 079-  t 095, I I lo:: 0 0 8  75 0 20 40 80 80 iw 120 140 I 8 0  180 200 095 I I 0 20 40 80 80 loo 120 140 1BO 180 200 mpl- 0.75' Fig. 7. Model Identification Table 1 shows the estimation error for the models considered. Results are improved with the non- linear models, especially by the use of a Volterra structure, which particularly fits the given data. In order to validate these models, a different set of data was taken to  compare their efficiency. This data is presented in figure 8. oea 0 84 0 82 3 0 8  - 0 78 0 76 0 74 0 50 1w 150 2w 250 3w 350 400 0831 i I 0 50 tw 150 200 250 3w 350 400 .smg.. 078' Fig. 8. Validation Data Estimation using the parameters obtained for the "training" data was carried out. Best results were found using Volterra model, while Hammerstein and Linear models came at a second and third place. The approximations made by all three models are presented in figure 9. valrjatrn 084, I = 0 8  E $082  1 0 8  --I I @OW 0 8  Fig. 9. Models responses for validation data The possibility of using autoregressive Hammer- stein (5) and Volterra (6) models has also been studied. N i=O N i=O i=O However, the use of these models does not provide significant estimation improvements. There is an advantage on this fact, and that is that stabil- ity results for MPC controllers based on Volterra models are easier t o  obtain, because the model only depends on past inputs, versus the depen- dence on both past inputs and outputs for autore- gressive model-based controllers. Stability results for second order Volterra model-based controllers have been already presented (Genceli and Niko- lau, 1995). 5. CONCLUSIONS The work has analyzed the use of different non- linear models t o  capture the dynamics of a gyp- sum kiln. A thorough search of the best param- eters of second order Volterra and Hammerstein models has been performed, obtaining a set of coefficients that fit the real data with satisfactory results. Taking into account the trade-off between com- plexity and accuracy, a loth order Volterra model 275is proposed as the best choice that will allow the use of a non-linear predictive controller in the plant. Acknowledgements The authors would like to acknowledge Juan Marti, from Iberyeso for his support and collab- oration in carrying out all the tests in the plant and EC and CICYT for funding the work under grant 1FD97-0836. 6. REFERENCES Camacho, E.F. and C. Bordons (1999). Model Predictive Control. Springer-Verlag, London. Dorado, F., A. Nuiiez-Reyes, E.F. Camacho and C. Bordons (2000). Modelado y control de un horno de yeso rotativo y continuo (in Spanish). In: XXI Jornadas de Avtoma'tica, Sevilla. Genceli, H. and M. Nikolau (1995). Design of ro- bust constrained model predictive controllers with volterra series. AIChE J. 41, 2098-2107. Haber, R., R. Bars and 0. Lengyel(2000). Nonlin- ear Model Predictive Control. Chapter: Non- linear Model Predictive Control Algorithms with different Input Sequence Parameteriza- tions Applied for the Quadratic Hammerstein and Volterra Models. Birkhauser. Lee, J.H. (2000). Nonlinear Model Predictive Con- trol. Chapter: Modelling and Identification for Non-linear Model Predictive Control: Re- quirementes, Current Status, and Future Re- search Needs. Birkhauser. Maner, B.R., F.J. Doyle, B.A. Ogunnaike and R.K. Pearson (1996). Nonlinear model pre- dictive control of a simulated multivariable polymerization reactor using second order volterra models. Automatica 32, 1285-1301. Martin-Sanchez, J.M. and J. Rodellar (1996). Adaptive Predictive Control. %om the Con- cepts to Plant Optimization. Prentice-Hall In- ternational. &in, S.J. and T.A. Badgwell (1997). An overview of industrial model predictive con- trol technology. In: Chemical Process Con- trol: Assessment and New Directions for Re- search.AIChE Symposium Series 31 6, 93. Jeffrey C. Kantor, Carlos E. Garcia and Brice Carnahan Eds.. pp. 232-256. 276

Non-linear models for a gypsum kiln. A comparative analysis

https://idus.us.es/bitstream/11441/91418/1/1-s2.0-S1474667015394520-main.pdf

Non-linear models for a gypsum kiln. A comparative analysis

Abstract

Similar works

Full text

Available Versions

idUS. Depósito de Investigación Universidad de Sevilla