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
A COMPUTER BASED TOOL FOR THE SIMULATION, INTEGRATED DESIGN, AND CONTROL OF WASTEWATER TREAMENT PROCESSES
Motivation and Objective
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
A COMPUTER BASED TOOL FOR THE SIMULATION, INTEGRATED DESIGN, AND CONTROL OF WASTEWATER TREAMENT PROCESSES
Motivation and Objective
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
A COMPUTER BASED TOOL FOR THE SIMULATION, INTEGRATED DESIGN, AND CONTROL OF WASTEWATER TREAMENT PROCESSES
Motivation and Objective
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
A COMPUTER BASED TOOL FOR THE SIMULATION, INTEGRATED DESIGN, AND CONTROL OF WASTEWATER TREAMENT PROCESSES
Motivation and Objective
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)
A COMPUTER BASED TOOL FOR THE SIMULATION, INTEGRATED DESIGN, AND CONTROL OF WASTEWATER TREAMENT PROCESSES
Motivation and Objective
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
A COMPUTER BASED TOOL FOR THE SIMULATION, INTEGRATED DESIGN, AND CONTROL OF WASTEWATER TREAMENT PROCESSES
Motivation and Objective
Integrated Design
Software Package
Conclusion
• Influent
• Tanks Operation Point
• Clarifier Operating Point
• Model Parameters
• Dimension
Plant Selection
Control System Selection
Modify Default Plant
Fault Selection
Simulation Parameters
Results
Simulate
SoftwareSoftware PackagePackage >>>> SimulationSimulation ModuleModule
A COMPUTER BASED TOOL FOR THE SIMULATION, INTEGRATED DESIGN, AND CONTROL OF WASTEWATER TREAMENT PROCESSES
Motivation and Objective
Integrated Design
Software Package
Conclusion
SoftwareSoftware PackagePackage >>>> SimulationSimulation ModuleModule
A COMPUTER BASED TOOL FOR THE SIMULATION, INTEGRATED DESIGN, AND CONTROL OF WASTEWATER TREAMENT PROCESSES
Motivation and Objective
Integrated Design
Software Package
Conclusion
Controller
SoftwareSoftware PackagePackage >>>> SimulationSimulation ModuleModule
A COMPUTER BASED TOOL FOR THE SIMULATION, INTEGRATED DESIGN, AND CONTROL OF WASTEWATER TREAMENT PROCESSES
Motivation and Objective
Integrated Design
Software Package
Conclusion
Set faults type, fault time, and its magnitude (Toxicity Shock, Inhabitation, Bulking and Sensor faults
SoftwareSoftware PackagePackage >>>> SimulationSimulation ModuleModule
Plant Selection
Control System Selection
Modify Default Plant
Fault Selection
Simulation Parameters
Results
Simulate
A COMPUTER BASED TOOL FOR THE SIMULATION, INTEGRATED DESIGN, AND CONTROL OF WASTEWATER TREAMENT PROCESSES
Motivation and Objective
Integrated Design
Software Package
Conclusion
SoftwareSoftware PackagePackage >>>> SimulationSimulation ModuleModule
Plant Selection
Control System Selection
Modify the Default Plant
Faults Selection
Simulation Parameters
Results
Simulate
A COMPUTER BASED TOOL FOR THE SIMULATION, INTEGRATED DESIGN, AND CONTROL OF WASTEWATER TREAMENT PROCESSES
Motivation and Objective
Integrated Design
Software Package
Conclusion
Plot and save the obtained results
SoftwareSoftware PackagePackage >>>> SimulationSimulation ModuleModule
Plant Selection
Control System Selection
Modify the Default Plant
Faults Selection
Simulation Parameters
Results
Simulate
A COMPUTER BASED TOOL FOR THE SIMULATION, INTEGRATED DESIGN, AND CONTROL OF WASTEWATER TREAMENT PROCESSES
Motivation and Objective
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
A COMPUTER BASED TOOL FOR THE SIMULATION, INTEGRATED DESIGN, AND CONTROL OF WASTEWATER TREAMENT PROCESSES
Motivation and Objective
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.
SoftwareSoftware PackagePackage >>>> IntegratedIntegrated DesignDesign ModuleModule
Plant Configuration
Control Structure and Type
Optimization Algorithm
Optimization Parameters
Optimization Problem Modification
Run the Algorithm
Verification
Results
A COMPUTER BASED TOOL FOR THE SIMULATION, INTEGRATED DESIGN, AND CONTROL OF WASTEWATER TREAMENT PROCESSES
Motivation and Objective
Integrated Design
Software Package
Conclusion
SoftwareSoftware PackagePackage >>>> IntegratedIntegrated DesignDesign ModuleModule
Plant Configuration
Control Structure and Type
Optimization Algorithm
Optimization Parameters
Optimization Problem Modification
Run the Algorithm
Verification
Results
A COMPUTER BASED TOOL FOR THE SIMULATION, INTEGRATED DESIGN, AND CONTROL OF WASTEWATER TREAMENT PROCESSES
Motivation and Objective
Integrated Design
Software Package
Conclusion
SoftwareSoftware PackagePackage >>>> IntegratedIntegrated DesignDesign ModuleModule
Plant Configuration
Control Structure and Type
Optimization Algorithm
Optimization Parameters
Optimization Problem Modification
Run the Algorithm
Verification
Results
A COMPUTER BASED TOOL FOR THE SIMULATION, INTEGRATED DESIGN, AND CONTROL OF WASTEWATER TREAMENT PROCESSES
Motivation and Objective
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
SoftwareSoftware PackagePackage >>>> IntegratedIntegrated DesignDesign ModuleModule
A COMPUTER BASED TOOL FOR THE SIMULATION, INTEGRATED DESIGN, AND CONTROL OF WASTEWATER TREAMENT PROCESSES
Motivation and Objective
Integrated Design
Software Package
Conclusion
Save Results
SoftwareSoftware PackagePackage >>>> IntegratedIntegrated DesignDesign ModuleModule
A COMPUTER BASED TOOL FOR THE SIMULATION, INTEGRATED DESIGN, AND CONTROL OF WASTEWATER TREAMENT PROCESSES
Motivation and Objective
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
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