A COMPUTER BASED TOOL FOR THE SIMULATION, INTEGRATED DESIGN, AND CONTROL OF WASTEWATER TREAMENT...

A COMPUTER BASED TOOL FOR THE SIMULATION, A COMPUTER BASED TOOL FOR THE SIMULATION, INTEGRATED DESIGN, AND CONTROL OF INTEGRATED DESIGN, AND CONTROL OF WASTEWATER TREAMENT PROCESSESWASTEWATER TREAMENT PROCESSES

ByBy

P. Vega, FP. Vega, F.. Alawneh, Alawneh, L. González, L. González, MM.. Francisco, Francisco, B. PérezB. Pérez

University of SalamancaUniversity of Salamanca (Spain) (Spain)

66th th European Congress of Chemical EngineeringEuropean Congress of Chemical EngineeringCopenhaguen, Copenhaguen, September September 16-21,16-21, 200 20077

A COMPUTER BASED TOOL FOR THE SIMULATION, INTEGRATED DESIGN, AND CONTROL OF WASTEWATER TREAMENT PROCESSES

Motivation and Objective

Integrated Design

Software Package

Conclusion

Motivation and ObjectivesMotivation and Objectives

• The field of integrated process design and control has reached a maturity level that mingles the best from process knowledge and understanding of the control theory on one side, with the best from numerical analysis and optimization on the other

• Simultaneous approach to the design and control leads to significant economic benefits and improved dynamic performance during plant operation

• The Integration of Process Design and Control, bringing together the developments of a variety of design tools for the process design, has immense potential and advantages:

Reduce costs significantly

Reduce the iterations between separate design operations- like synthesis and control system design

Saves design time, and improves design efficiency

• Today's designers need to consider several critical parameters and objectives. Their interrelationships require design tools that can perform concurrent optimization which can only be accomplished when the tools are part of an integrated design-tool suite



Integrated Design

Software Package

Conclusion

1. Plant Structure Selection (Plant & Control)

2. Optimization Model Definition (costs, Controllability index, restrictions, etc...)

3. Optimal Design Parameters Calculations (plants, controller, steady state working point, etc..)

AC

AT

Integrated Design MethodologyIntegrated Design Methodology

Integrated Design Methodology considers that the changes in the process design might make the system more controllable. The methodology allows for the evaluation of the plant parameters and the control system at the same time

The methodology that the support tool use combines the design of the plant, and the controller following a cost optimization procedure, with the desired closed loop dynamic as constraints



Integrated Design

Software Package

Conclusion

The cost functions include the investment, operation costs, and dynamical indexes (like the Integral Square Error (ISE))

The constraints are selected to ensure that the values of some controllability parameters, the H∞ norm performance and many other performance criteria are within specified bounds

The independent variable set includes plant dimensions, an operation point and the controller parameter

This problem is stated mathematically as a NLP /DAE multi-objective optimization problem with non-linear constraints

IntegratedIntegrated Design MethodologyDesign Methodology

Construction CostConstruction Cost Operational CostOperational Cost

Data: qi, si, xi , qsal

To calculate: V1, A, qr1, qp, s1, x1.

,...)q,qr,qr,s,s,x,x,fk,fk,A,V,V(Jmin)x(Jmin p21212121121,..2V,1Vx

Objective FunctionObjective Function

Subject toh(x)=0

g(x) <=0



Integrated Design

Software Package

Conclusion

Physical RestrictionPhysical Restriction V1>0, V2>0V1>0, V2>0

Operation RestrictionOperation Restriction Sludge Age, Mass Load, Waste Flow, Residence Time

IntegratedIntegrated Design MethodologyDesign Methodology

2

2d

d

djwGwDs

Disturbance Sensitivity

max

2

0

T

t

ISE ref y dt

ISE

Controllability RestrictionControllability Restriction

Mathematical Model RestrictionMathematical Model Restriction



Integrated Design

Software Package

Conclusion

Simulation Module Integrated Design Module

User Case

– Plant Design

– Integrated Design

– Different Optimization Algorithm

– Various Cost Function Formulate

– Various types of Controller (PID, MPC....etc)

– Simulation with/without Faults

SoftwareSoftware PackagePackage

The final Tool is an integrated one for optimization system which integrates:

• Programs for the optimization and predictive control of WWTP (Activated Sludge Processes)

• Simulators (SIMULINK)

• Computer Aided Control System Design (Matlab´s toolboxes)

• User Interface (GUIDE toolbox)



Integrated Design

Software Package

Conclusion

The user chooses the configuration to design:

• Plants without Nitrogen Removal (Manresa)

• Plants with Nitrogen Removal (Benchmark)

SoftwareSoftware PackagePackage >>>> SimulationSimulation ModuleModule

Plant Selection

Control System Selection

Modify the Default Plant

Faults Selection

Simulation Parameters

Results

Simulate



Integrated Design

Software Package

Conclusion

• Influent

• Tanks Operation Point

• Clarifier Operating Point

• Model Parameters

• Dimension

Plant Selection


Modify Default Plant

Fault Selection


Results

Simulate




Integrated Design

Software Package

Conclusion




Integrated Design

Software Package

Conclusion

Controller




Integrated Design

Software Package

Conclusion

Set faults type, fault time, and its magnitude (Toxicity Shock, Inhabitation, Bulking and Sensor faults


Plant Selection


Modify Default Plant

Fault Selection


Results

Simulate



Integrated Design

Software Package

Conclusion


Plant Selection



Faults Selection


Results

Simulate



Integrated Design

Software Package

Conclusion

Plot and save the obtained results


Plant Selection



Faults Selection


Results

Simulate



Integrated Design

Software Package

Conclusion

Design of the plants, Integrated Design (design of the plant and its control system), Type of control system to use (PID, MPC, etc…)

SoftwareSoftware PackagePackage >>>> IntegratedIntegrated DesignDesign ModuleModule

Plant Configuration

Control Structure and Type

Optimization Algorithm

Optimization Parameters

Optimization Problem Modification

Run the Algorithm

Verification

Results



Integrated Design

Software Package

Conclusion

The user can modify the optimization problem which load the default problem: Modify initial values, restrictions, simulation parameters,

and optimization algorithm parameters.


Plant Configuration





Run the Algorithm

Verification

Results



Integrated Design

Software Package

Conclusion


Plant Configuration





Run the Algorithm

Verification

Results



Integrated Design

Software Package

Conclusion

Parameters SQP AG AG refined

V (m3) 8570 9664 8611

A (m2) 3084 2405 3026.1

S1 (mg/l) 47.38 59.00 38.63

ISE 79791 75114 79771

Cost 0.1335 0.1355 0.1292

Kp -11.94 -41.10 -7.33

Ti 0.1330 626.7 415.1

Norm H 0.4220 0.1274 0.1080

Simulation of the obtained plant, operation point calculation, dimension calculation, costs and controllability index calculation, compare results, save results




Integrated Design

Software Package

Conclusion

Save Results




Integrated Design

Software Package

Conclusion

• The tool showed its efficiency as a support tool for Integrated Design or for the simulation of the process. It includes the most common optimization methods and suitable control systems for the activated sludge process.

• Using the tool make the Integrated Design process easier and friendly (easy data entry and getting results).

• Work is going on the improvement of this support tool adding more modules for the fault detection and diagnosis, control system design and synthesis calculations.

ConclusionConclusion

A COMPUTER BASED TOOL FOR THE SIMULATION, INTEGRATED DESIGN, AND CONTROL OF WASTEWATER TREAMENT...

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