This study reviews design and implementation of a model predictive controller algorithm to a gasoline hydrodesulphurization unit in Izmit Refinery, Turkish Petroleum Refineries Corporation which produce gasoline within Euro V specifications. The unit has a splitter column in which high octane low sulphur part of the feed is separated and a reactor part where hydrodesulphurization occurs. The main disadvantage of the process is to lose octane during hydrodesulphurization. A control scheme to optimize operation in both parts is proposed. The main objective is to control product sulphur concentration strictly while minimizing octane loss. In order to obtain an empirical model of the unit, dynamic tests are performed. The model derived is used in controller design. Benefit analysis is performed with six months of data collected before and after MPC implementation. According to the results, standard deviation in product sulphur concentration is decreased and close to high limit operation is achieved for this specification as well as octane loss due to over desulphurization is minimized.
{"title":"Model predictive control of an industrial gasoline hydrodesulphurization unit","authors":"Berna Haktanir, M. Aygun, Dila Gokce Kuzu","doi":"10.1109/PC.2013.6581432","DOIUrl":"https://doi.org/10.1109/PC.2013.6581432","url":null,"abstract":"This study reviews design and implementation of a model predictive controller algorithm to a gasoline hydrodesulphurization unit in Izmit Refinery, Turkish Petroleum Refineries Corporation which produce gasoline within Euro V specifications. The unit has a splitter column in which high octane low sulphur part of the feed is separated and a reactor part where hydrodesulphurization occurs. The main disadvantage of the process is to lose octane during hydrodesulphurization. A control scheme to optimize operation in both parts is proposed. The main objective is to control product sulphur concentration strictly while minimizing octane loss. In order to obtain an empirical model of the unit, dynamic tests are performed. The model derived is used in controller design. Benefit analysis is performed with six months of data collected before and after MPC implementation. According to the results, standard deviation in product sulphur concentration is decreased and close to high limit operation is achieved for this specification as well as octane loss due to over desulphurization is minimized.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"257 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117350063","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This papers studies the problem of dynamic optimization of a fed-batch polymerization reactor for emulsion copolymerization reactor of styrene and butyl acrylate in the presence of a chain transfer agent (CTA). We employ a tendency mathematical model of the process in order to predict the glass transition temperature of produced polymer, the global monomer conversion, the number and weight average molecular weights, the particle size distribution, and the amount of residual monomers. This model is implemented within gPROMS environment for modeling and optimization. A control vector parametrization method is applied as part of the optimization framework. It is desired to compute an optimal profile of feed rate of pre-emulsioned monomers and CTA such that the key quality attributes (both process and product) are met under process and operational constraints.
{"title":"Optimal feeding of emulsion polymerization reactor for styrene and butyl acrylate copolymerization","authors":"R. Paulen, B. Benyahia, M. A. Latifi, M. Fikar","doi":"10.1109/PC.2013.6581448","DOIUrl":"https://doi.org/10.1109/PC.2013.6581448","url":null,"abstract":"This papers studies the problem of dynamic optimization of a fed-batch polymerization reactor for emulsion copolymerization reactor of styrene and butyl acrylate in the presence of a chain transfer agent (CTA). We employ a tendency mathematical model of the process in order to predict the glass transition temperature of produced polymer, the global monomer conversion, the number and weight average molecular weights, the particle size distribution, and the amount of residual monomers. This model is implemented within gPROMS environment for modeling and optimization. A control vector parametrization method is applied as part of the optimization framework. It is desired to compute an optimal profile of feed rate of pre-emulsioned monomers and CTA such that the key quality attributes (both process and product) are met under process and operational constraints.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123572532","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The paper presents a robust command following position control of a three-DOF leg in the joint space. Due to specific features of both the robust control and the motion control system in general, a simplification of the control via the system decomposition to a double integrator plant for each degree of freedom is provided. It is shown, that the desired accuracy of the command tracking is assured despite the presence of signal disturbances and the parameter uncertainty, the limitation of the joint velocities and accelerations as well as the driving torque boundary. Matlab simulation illustrates the expected performance of the control algorithm.
{"title":"Simplified robust control of an anthropomorphic leg","authors":"J. Kardoš","doi":"10.1109/PC.2013.6581396","DOIUrl":"https://doi.org/10.1109/PC.2013.6581396","url":null,"abstract":"The paper presents a robust command following position control of a three-DOF leg in the joint space. Due to specific features of both the robust control and the motion control system in general, a simplification of the control via the system decomposition to a double integrator plant for each degree of freedom is provided. It is shown, that the desired accuracy of the command tracking is assured despite the presence of signal disturbances and the parameter uncertainty, the limitation of the joint velocities and accelerations as well as the driving torque boundary. Matlab simulation illustrates the expected performance of the control algorithm.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127964816","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper a complexity reduction method of explicit MPC based on a dominant polytope is proposed. When a partitioning of explicit MPC consists of many small regions and a single big region it is reasonable to expect more frequent call of the control law associated with the big region than another ones during the control performance. Such an organization of the regions favors the online evaluation of explicit MPC. In the paper a problem to find a dominant polytope over the regions that share the same affine control law is studied. The problem of finding maximum volume polytope inscribed in nonconvex area is known as potato peeling problem in the literature. In this paper we focus to find a suboptimal solution by means of stochastic search.
{"title":"Towards a dominant-polytope complexity reduction in explicit MPC","authors":"Juraj Števek, M. Kvasnica, M. Fikar","doi":"10.1109/PC.2013.6581395","DOIUrl":"https://doi.org/10.1109/PC.2013.6581395","url":null,"abstract":"In this paper a complexity reduction method of explicit MPC based on a dominant polytope is proposed. When a partitioning of explicit MPC consists of many small regions and a single big region it is reasonable to expect more frequent call of the control law associated with the big region than another ones during the control performance. Such an organization of the regions favors the online evaluation of explicit MPC. In the paper a problem to find a dominant polytope over the regions that share the same affine control law is studied. The problem of finding maximum volume polytope inscribed in nonconvex area is known as potato peeling problem in the literature. In this paper we focus to find a suboptimal solution by means of stochastic search.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133046519","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The prevention of windup due to a saturation of the input signal can be regarded as a solved problem. The results concerning the prevention of windup in the presence of output constraints are not so numerous and they only solve special aspects. Lately a new solution to the prevention of windup in the presence of output saturation has been presented. It uses a two degrees of freedom control structure to obtain a robust tracking of persistent reference signals and a robust rejection of persistent disturbances also in the case of sensor saturation. The amplitudes of the control signals generated by the new scheme can, however, become quite large so that it is of interest to investigate the prevention of windup in the simultaneous presence of input and output saturations. The results presented here must be regarded as a first engineering approach to the prevention of windup in the joint presence of input and output saturation, because rigorous mathematical proofs for the stability of the new scheme are not available to date. An example demonstrates the application of the new approach and the results achievable.
{"title":"Windup prevention in systems with input and output constraints","authors":"P. Hippe","doi":"10.1109/PC.2013.6581373","DOIUrl":"https://doi.org/10.1109/PC.2013.6581373","url":null,"abstract":"The prevention of windup due to a saturation of the input signal can be regarded as a solved problem. The results concerning the prevention of windup in the presence of output constraints are not so numerous and they only solve special aspects. Lately a new solution to the prevention of windup in the presence of output saturation has been presented. It uses a two degrees of freedom control structure to obtain a robust tracking of persistent reference signals and a robust rejection of persistent disturbances also in the case of sensor saturation. The amplitudes of the control signals generated by the new scheme can, however, become quite large so that it is of interest to investigate the prevention of windup in the simultaneous presence of input and output saturations. The results presented here must be regarded as a first engineering approach to the prevention of windup in the joint presence of input and output saturation, because rigorous mathematical proofs for the stability of the new scheme are not available to date. An example demonstrates the application of the new approach and the results achievable.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132587392","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The paper deals with identification of electromechanical systems with oscillatory dynamics. Swept sine signal is chosen for excitation of the system and time-varying observer is used for estimation of its frequency response. Practical implementation issues for various mechanical configurations typical for industrial applications are analyzed and concept of frequency-separated semi-closed loop identification is proposed. Adaptive algorithm which suppresses nonlinearities of the system due to mechanical friction and estimates actual quality of measurement is derived. The identification method is demonstrated on an example of two-mass oscillatory system with nonlinear load-side friction characteristics.
{"title":"Robust frequency identification of oscillatory electromechanical systems","authors":"M. Goubej, Alois Krejčí, M. Schlegel","doi":"10.1109/PC.2013.6581387","DOIUrl":"https://doi.org/10.1109/PC.2013.6581387","url":null,"abstract":"The paper deals with identification of electromechanical systems with oscillatory dynamics. Swept sine signal is chosen for excitation of the system and time-varying observer is used for estimation of its frequency response. Practical implementation issues for various mechanical configurations typical for industrial applications are analyzed and concept of frequency-separated semi-closed loop identification is proposed. Adaptive algorithm which suppresses nonlinearities of the system due to mechanical friction and estimates actual quality of measurement is derived. The identification method is demonstrated on an example of two-mass oscillatory system with nonlinear load-side friction characteristics.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115524142","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
J. Belikov, U. Kotta, S. Srinivasan, A. Kaldmae, K. Halturina
In this paper, we discuss the possible applications of algebraic framework, based on the theory of differential one-forms, to analysis of the real-life processes. The possibilities of this approach are illustrated on two common Heating, Ventilating, and Air Conditioning (HVAC) models. Algebraic formalism provides a unified framework to handle various problems for nonlinear control systems. It is briefly explained how to check the common properties in which engineer is usually interested in. The static and dynamic feedback linearization algorithms are discussed. Using algebraic tools it is possible to derive the appropriate change of coordinates in which the transformed system reads as a linear one. In addition, the specific scientific package NLControl based on Mathematica software is discussed.
{"title":"On exact feedback linearization of HVAC systems","authors":"J. Belikov, U. Kotta, S. Srinivasan, A. Kaldmae, K. Halturina","doi":"10.1109/PC.2013.6581436","DOIUrl":"https://doi.org/10.1109/PC.2013.6581436","url":null,"abstract":"In this paper, we discuss the possible applications of algebraic framework, based on the theory of differential one-forms, to analysis of the real-life processes. The possibilities of this approach are illustrated on two common Heating, Ventilating, and Air Conditioning (HVAC) models. Algebraic formalism provides a unified framework to handle various problems for nonlinear control systems. It is briefly explained how to check the common properties in which engineer is usually interested in. The static and dynamic feedback linearization algorithms are discussed. Using algebraic tools it is possible to derive the appropriate change of coordinates in which the transformed system reads as a linear one. In addition, the specific scientific package NLControl based on Mathematica software is discussed.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124155598","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper deals with a substitution of the nonlinear once-through boiler model. The substitution is based on a set of the linearized models which are continuously switched according to the value of the boiler power level. The aim is to obtain a model which sufficiently accurately substitutes the original nonlinear model and whose simulation is faster for more flexible advanced control algorithm testing. In the paper two approaches of linearization are mentioned and compared.
{"title":"Continuously switched linearized models of the nonlinear once-through boiler model","authors":"J. Opalka, T. Náhlovský","doi":"10.1109/PC.2013.6581420","DOIUrl":"https://doi.org/10.1109/PC.2013.6581420","url":null,"abstract":"This paper deals with a substitution of the nonlinear once-through boiler model. The substitution is based on a set of the linearized models which are continuously switched according to the value of the boiler power level. The aim is to obtain a model which sufficiently accurately substitutes the original nonlinear model and whose simulation is faster for more flexible advanced control algorithm testing. In the paper two approaches of linearization are mentioned and compared.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114885338","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Paper deals with a Dynamic Linked Library calling in real time from MATLAB and Simulink. S-function as user Simulink block is created to enable communication with GUNT control units equipped with LabJack U12 data acquisition device and to extend significantly their potential for the purpose of automation subjects teaching, student thesis and research activities.
{"title":"MATLAB/Simulink support for GUNT control units","authors":"Daniel Hone, F. Dušek","doi":"10.1109/PC.2013.6581466","DOIUrl":"https://doi.org/10.1109/PC.2013.6581466","url":null,"abstract":"Paper deals with a Dynamic Linked Library calling in real time from MATLAB and Simulink. S-function as user Simulink block is created to enable communication with GUNT control units equipped with LabJack U12 data acquisition device and to extend significantly their potential for the purpose of automation subjects teaching, student thesis and research activities.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116971967","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper describes a model-based-design technique for a virtual model of the manipulator for vessel integrity inspection. It explains how to interconnect CAD model, mathematical model of the manipulator and the control system. Presented simulation system is directly linked to the 3D visualization in the web browser. It can be used as a part of the development cycle (e.g. for model-in-the-loop and software-in-the-loop simulations), for control system design or as an educational and demonstration tool.
{"title":"Virtual model of manipulator for advanced vessel integrity inspection build on latest W3C standards","authors":"O. Severa, A. Jáger, M. Stetina","doi":"10.1109/PC.2013.6581467","DOIUrl":"https://doi.org/10.1109/PC.2013.6581467","url":null,"abstract":"This paper describes a model-based-design technique for a virtual model of the manipulator for vessel integrity inspection. It explains how to interconnect CAD model, mathematical model of the manipulator and the control system. Presented simulation system is directly linked to the 3D visualization in the web browser. It can be used as a part of the development cycle (e.g. for model-in-the-loop and software-in-the-loop simulations), for control system design or as an educational and demonstration tool.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127228886","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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