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NEW PROCESS CONTROL REQUIREMENTS AND SOLUTIONS FOR...

14th World Congress of IFAC

Copyright~) 1999 IFAC N-7a-09-4


14th Triennial \Vorld Congress~ Beijing, P.R. China

NE\\-' PROCESS CONTROL REQUIREMENTS AND SOLUTIONS FOR PAPER


MACHINE WITH DILUTION HE~4-DBOX

Nissinen, A . *, Rantala, T.
H
, Huhtelin, T.**, Lautala, P.*, Nokclaineu, J . t

'!'Auto/nation and CQntrollnL\'titute~ Talnpere L/niversif..V of Technology, P.O. Box 692,


F f/V-3310 J TA lIltPEREr Fin.land. Enlail: antti. nis sinen @ ad. fur ji, pentt i.lautaia @) ad. tut.fi
Fax: +358-3-365 2340.

«*Valrnet Autornation [nc., P.O. BOX 237, FII\/-33101 TA~MPERE~ Finland.


Etnai/: timo. rantala@' valrnet. COin, taisto. huhtelin @valTnet.com

t Valinet Autofnation Kajaani Inc" P.O. BOX 177, FL"'r'-8710J K4J.4.t11\ll, Finland.
Ernail.jukka. nokelainen @ lla!rnef. COrn

Abstract~ .Because of tightened quality requirements of the control of CD (Cross


Direction) profiles dilution control headboxes are getting more con11non. Dilution control
utilizing white water makes the short circulation Inore complicated compared to the
traditional short circulation. This paper discusses control problems related la the short
circulation of the paper machine having a dilution headbox. A list of the most common
disturbance sources is given based on the experience gained from production Inachines.
Consistency control applications based on Kajaani RI\1i consistency analyzer are
presented with results. Control applications are dilution water consistency control, break
tirue headbox ash consistency control and thick stock ash content fecdfor\vard control.
These applications are used to improve the stability of the machine during normal
operation and to recover faster from \veb breaks. Copyright © 1999 Jr~C

Keywords: paper industry~ automatic process control, stabilization Inethods, control


application~ consistency~ product quality, ilnp]ementation.

1. INTRODUCTION 1995; Shakespeare, 1997). Achieved control of the


basis weight profile is significantly better than the
'J'raditjonally basis weight profile of paper \veb has onc \·vith the slice lip control. Easier shape of the
been controlled with a slice lip. However, actuator response makes fast and accurate control
requirements of basis -wreight and orientation profiles possible. Dilution technology and dilution headboxes
have been tightened aB the time. The target of the have been described in I\.1alashenko (1995) and
standard deviation of the basis \veight profile will be Pantalco et al. (1994).
2
0.1 g/m and the fiber orientation and the basis
v/eight profiles should be controlled independently. However, the process environlnent of the dilution
headbox differs from the traditional short circulation .
..l\ modern ,"'ay to control the basis \veight profile is The behavior of the nevv short circulation process and
the dilution control. The dilution control makes it the effect of the short circulation to the operation of
possible to optimize basis \veight and fiber the dilution headbox have not been studied much.
orientation profiles simultaneously (Kniivila et al., The usage of white \vater as dilution v\"ater, v.;hich is

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Copyright 1999 IFAC ISBN: 0 08 043248 4
NEW PROCESS CONTROL REQUIREMENTS AND SOLUTIONS FOR... 14th World Congress of IFAC

economically reasonable solution, brings new flows are composed from several components: fibers,
connections and dynanlics to the short circulation. fines~ filler and retention aid that is used to improve
Because of tightened control requirements more and the retention of components on the ~'ire~ The fiber
more control loops have been added into the process consistency of the dilution water is significantly
and interactions between control loops have lower than the riber consistency of the main flo\v.
increased_ At the same time the process itself is taken The material of the dilution \vater has already once
to its extremes by increasing the production. Custom mixed with retention aid and passed through the \vire,
orientated tlexible operation of papeJ machine leads and therefore~ it is having di fferent retention
to frequent grade changes. These trends have brought properties compared to the material in the main flow.
up interactions between subprocesses causing
runnabi)jty problems. Main and dilution tlO\VS are Inixed in Inixing blocks
that are located 60 nl01 apart frotH each other in CD.
This paper discusses expedences gained from the 1\1ixing valve~ have been designed in such a vvay that
dilution headbox process environment and describes the total tlov/ through the dilution block is nut
possible sources of disturbances and their dependent on the aITIOunt of dilution \-vater mixed
conseq uenccs. Paper also descri bes Kaj aani RIvli with the I11ain flow i.e. dilution t1o\v is displacing the
consisLency analyzer based control applications main fluv/. Flo\vs of different mixing blocks are
applied to the dilution headbox process. These slightly mixed in CD in the stilling chamber and in
cons istency control applications are well proven in the slice channel. The response of one dilution block
the traditional headbox environment and give to basis weight profile is close to the bell shape.
important benefits also in the dilution headbox Anlplitude of the response is dependent on the
environment. consistency difference between nlain and dilution
flows and the relention of individual components on
the wire. The retention mechanlsm is very complex
2. PROCESS DESCIRPTION and difficult to predict accurately beforehand. To
achieve good feedback control performance jn the
In the rnosl of dilution headbox processes 'h'hite v,.'ater
CD profile control the properties of the main and the
is llsed as dilution \vater v/hich is economically
dilution flo\v should be kept as constant as possible
preferred solution concerning fiber and filler losses.
i.c. consistencies of main and dilution flow and
Ho\vever ~ that will make the short circulation more
retention of different components on the \vire have to
cOluplicated to control because the dilution
circulation form~ another paraUel loop \vith the be as stable as possible.
Lraditiona) short circulation (figure 1). The
consistency of the 'vvhite water in the v.rire pit is 3. STABILIZATION OF THE SHORT
dependent on the consistency in the headbox and the CIRCULATION
retention on the "vire section. Dilution \vater is
usuaHy taken from the upper part and Inain f10\v from Today among paper makers the most important
the lov·/er part of the wire pit. Therefore, the time quality requirernent is a flat basis weight profile.
delay from the \-vire section to the inlet of circulations Dilution control headbox is able to produce required
is different and transport delays of circulations also quality level upon condition that the environment of
vary - That will lead to di fferent dynamics between the dilution headbox is stable enough. Stable
circulations. Filler is fed to control the ash content of properties of the main flo\~' and the diJution flo\v are
the paper and retention aid is used to control white prereq uisite for R stable retention on the forn1er
water consistency. Ash content and white water section~ Disturbances in the consistencies will cause
consistency have strong interactions. quality disturbances (basis \\leight~ ash content,
caliper etc_) in machine dircctlon (MD)~ and
In the dilution headbox 1\\'0 streams are mixed inside therefore~ changes e-g. in strength that \vill affect the
the headbox to create consistency profile in CD. Both runnability of the paper machine and printability
Air removal tar.k properties on the printing machine. In case of the

A'{~:~~I.:K;r~~~O:~:~':~~,~~e~~7_
dilution headbox consistency disturbances of the
main and the dilution t10\V will also cause CD
disturbance directly and indirectly. Direct effects can
be seen as unstability of the basis \"'eight profile due
to the varying gain of the dilution control (varying
retention) in the area of each dilution block.
~ i I header
Indirectly MD disturbances v\/ill distort the estinlation
L. __ -r-I-"~_.-- _: 'N1r·p.--"'t'"--~-~---'

1- "---'! pit /" Stocl<. from


of the CD profile and therefore disturb the CD
4l~_~~",,-,":J . .~--·,>--------.---j
I .•

. +-_....----,-._(nnrnacrline control. Profile information is measured \vith


'Centrifugar Mi)(in~-;~~·~·_--_J (§D chest traversing measurement principle, \vhich will alias
clearers RM i TSl\
MD disturbances to CD. The phenomenon has been
Fig. 1. Short circulation \vith a dilution headbox. illustrated in figure 2. In the example case the paper

6873
Copyright 1999 IFAC ISBN: 0 08 043248 4
NEW PROCESS CONTROL REQUIREMENTS AND SOLUTIONS FOR... 14th World Congress ofIFAC

vveb has only MD disturbance having same period


tiole as the traversing time of the scanner. The actual
CD profile is exactly flat t but measured profiles are
all sine \\.'aves.
- Levei cor.t:ol
3. J. Disturbance sources I \ ot hl!,~'r;(i:nQ c tle~1
Setpdnt for the Flow ratjo (K)
In a research project se paper machines having dillJtion flow betwc(?r': ~o~a! fiow
and dilutior, tlow
di 1uti on headbox \vere examined to find out the most Fig. 4. Traditional and advanced control stratt:gy for
common sources of disturbances having an effect on the consistency control.
the stability of the short circulation. Observations are
based on the large-scale data coHection and analysis. Broke contains varying amount of filler and that wiJJ
The follo\ving list could be obtained based on have an effect on the ash content of thick stock.
findings: Retention properties of the broke cOIllponents differ
1. Usage of broke on the Inachine from the fresh furnish causing disturbances to the
2. The operation of the diskfiltcr retention (figure 3). Ash changes are also affecting to
3. Process connection bet\veen subprocesses i.e. the CD control of the basis weight due to the changes
interactions in the retention of different components in the tnain
4_ C~ontrol strategies of consistency and level controls and dilution flows. 'fhe total consistency of dilution
5. Dosing of addi ti ves close to the headbox \vater is a good indicator of the stability of the- short
circulation due to the sensjtivity to ash content
Following are examples from the list. dis turbanees.

3.2. Usage of broke 3.3. Cor,trol strategy of consistency control


The amount of broke used in a furnish is dependent The left part of the figure 4 shows 1he traditional \vay
on many things. 1~he major reasoning for the broke to control the consist.ency of stock in a dilution point.
tlo\-v changes is the level of the broke tower that is A single PI controller is controlling the dilution valve
used to store broke from web breaks. Defective rolls based on the consistency 01easurenlent. Ho 'Ne ver, the
arc also reused by breaking them in a pulper and gain of the dilution process is increasing rapidly \vhcn
pumping the stock to the broke to\ver. The the total flow Qrm is decreasing. If the flow range is
coordination of the inputs and outputs of the broke \vide, like in the case of the broke t1ow, the
tower is usually missing and that is leading to the consistency controller has to be tuned very loose to
rapid changes in the portion of broke in furnish. avoid unstability in low now rates. Traditional
consistency controller is also sensitive to the pressure
Scan time 50, distlJrbance 50
changes of the dilution \-vater. The total l1o~" rate and
process gain can be decouplcd by dosing the dilution
~, \-vater in a ratio \A/ith total tlovl (figure 4, right side)_
-2,
30 The consistency controller is adjusting the tlow ratio
to compensate changes in the incoming consistency.
]'he How· controller of the dilution water I:=;
CD 0 • ~OO T~me ~10 10 CD 20 30
compensating disturbances caused by changes in the
dilution V'later pressure. Consistency control solutions
Fig. 2. MD disturbances are aJiased to the CD
are discussed more in Dumdie ( 1997).
through the traversing measurement principle.
Flo·....., at broke Total consistenc)! of dilution wat~r
4. CONSISTENCY CONTROL SOLUTIONS
400Cri\:'
~- ~
~ 2000~
£3000- .. . !j ~4421~,,~!\;:~_
"', ,..
L~ ~ _ Dilution \vatcr consistency control is used to stabilize
the operation of the short circulation during normal
o 2 460 2 4 6 operation and it is also a tool for the operator to

2Bf---'-------;1 03~-'
Ash conten1 01 paper 2 sigma Y::llue of basis weight profile
adjust operation point according to different paper
{~ -- grades. Break time headbox ash consistency control
~v'\ ,""",1~"""; 1 ~~ ~
0'27, 025 I ,,' .' '. is used to stahilize the short circulation during a ·web
26-
o
~)
2
-
4
-
6
O.2~
0 2 4 6 break when no ash content information from paper
Flow 01 fresh filler Conditioned ba.sis weight {MD)
\veb is available. "fhick stock ash content control is
used to compensate ash disturbances entering from
the stock preparation to the short circulation which
are not seen in the total consistency measurement of
Hours Hours machine stock. Kajaanl RMi sensors :ue llsed to
Fig. 3. Broke flov,,' changes are causing ash measure the total and ash consistencies and level of
disturbances to the paper and short circulation. flocculation of stock on-line fronl a continuous
salnple tlo\\l.

6874
Copyright 1999 IFAC ISBN: 0 08 043248 4
NEW PROCESS CONTROL REQUIREMENTS AND SOLUTIONS FOR... 14th World Congress ofIFAC

Total CO'1siste.'1C}' of dilution wa1er

J)ILlITlON WATE]{ COf'SISTENCY 6i---r


...(,; ~'O~~ROLLE'~/ 5.5
Sp A.'·
i :"'~LAR\1
i ./~'-'-_.

L.O.·. !\T_R.OL. Y_.., "§,4.5


r.TMITr:R'" .-:

rCALC~LArE 4

UF.n·:Yl101\i
COl\TROL
Pe-rcent
c·nl~.\llC/~L
--..: Fl.R.2'Y.~SI.
I _. -,!t.,.)
~~
:.:.:._~I
,.,.,~
I~__
.
. 3.5
• . ......j
! ....., . Y, .
To Heaclbox ~ ~' . i I ~o dilution
,watel
3L...-~---'---....L-....:::%..-....I-.-._-----'-------'-----
2 4 6 8 10 "12 14

I'I"'C~~:tW!'~I:;e!~atal~~"'ig~n:~~.t~~~±J'_:~-~---~
Hours
Fig. 6. Operator can freely adjust the operation pojnt
of the short circulation by setting the setpoint of
che dilution \vater consistency controller in a
desired level.
Fig. 5. Configuration of the consistency control of the Total c::>nsistency of dil.JLoll '....aler

dllution \vater. . .... I-.


V1ANUAL/ \
"'§,~5 )\
\
4. J_ [)ilution water cOllsistency control \
---'----'--
.5 10 j 5 :w 25 3e
Ash consisle ....c)' in headtcx
Consistency variations of \vhite water have an effect
on the dilution of the thick stock in the mixing cone
of the wire pit and also to the dilution process in the
headbox. 1vlain sources of consistency disturbances
~~.~ 5 lO 15 2D 25 30 3:::

are changes in the properties of furnish entering the


\vire pit (thick ~tock ash cont.ent~ charge~ pII, ,) I Ih~r","n, pn~r
.. 1 rn .

freeness, temperature etc.)~ because furnish properties


ha ve an effect on the total retention on the "'-'ire.
,.~~~
. . _.'. 1····4J;·~-,.t-vyJ
5 l e :5 <'0 25 30
Hours

COTJ.I.,js(~ncy djsturbances can be attenuated


Fig. 7. The dilution \vater con.sis(ency c{)nLroI
effectively \vith the dilution \vater consistency control
stabilizes the operation of the short circulation.
uti lizi ng the dosing of retention aid. The dil ution
\Vater consistency control gives a setpoint to total to the current level in the beginning of the vveb break.
tlO\V of retention aid. The user can further adjust the In long web breaks the level of the broke to\ver
ratio of the retention aid now~ between the main and jncrcases rapidly, and therefore~ the portion of broke
the dilut.l0n streams (figure 5). Retention aid has a in furnish has to be lncreased. That will increase the
certain effective range i.e. after some level the ash content of paper significantly and lllakes the
increnlent of the dosing \viII not improve the retention threading more difficult. The target is to be inside the
but decreases the paper quality. Therefore, the product specifications immediately after the break.
controller has user-defined 1jmits for the amount of Ho\vever, it is difficult to estimate ho\v much filler
dosing of retention aid. In large grade changes the flow should be decreased manually during the break.
sctpoi ot has to be changed to correspond the nevv Furthermore~ the scanning sensors need SOlne tin1e
operation point. The determination of the suitable after the break to ,~!armup to the nonnal operation
setpoint for the consistency of dilution water can also ten1perature after \vhich the measuremcnls are
be autolnated. Suitable setpoint values can be reliable.
obtained from the past production data.
The taro-et of the breaktime headbox ash consistency
It is sho\vn in figure 6 how operator can vary the total control is to keep the ash consistency of the headbox
consistency of dilution water in a \vidc range and (the TIlain flow) constant during the break (figure 8).
adjust consistency in a desired level according to The setpoint for the ash consistency is determined
produc.ed paper grade. In figure 7 is shown from ."trongly flJtered measurement .and the setpoint is
comparison periods in manual and automatic mode of frozen in the beginning of the break. The controller is
dilution water consistency control. Control stabilizes kept on after the break for a certain time defined by
main consistencies of the short circulation. In Table I the operator to give tilne for traversing sensors to
several calculated variables are compared bet\veen vlarn1up to normal operation temperature. /\.fter the
trial periods. holding period the setpoint of the filler flo\v
controller is switched to follo\\' the normal paper ash
4.2. Breaktilne headbox ash consistency control content controller. Figure 9 sho\vs an example from a
long web break. In the beginning of the break (1 st
During the web break scanning paper quality vertical line) the setpoint of the headhox ash
measurements are not gi.ving any information from consistency is frozen. During t.he break the speed of
the paper web. Normally~ the dosing of filler is frozen the di~kfiltcr has varied causing ash disturbances in

6875
Copyright 1999 IFAC ISBN: 0 08 043248 4
NEW PROCESS CONTROL REQUIREMENTS AND SOLUTIONS FOR... 14th World Congress of IFAC

'fable 1. Change 1n standard deviation, mean value Comparison results of the headbox ash consistency
controJ
and Inin-tnax range bet\veen manual and control
run ut' dilution \-vater consistency control. 1.B

1\.1easurements Change Change 1.6


Change in .s:::
in std in mean min-max 1.4

(c;.~) {in abs. Cl~) J 1.2

g~ 0.8
values) 1
- -- '--. '.'- . . .-
\-\lET END
,S! C.6 i- -----

~: IJll1__ Jt ll_~_. _,"-," -. ~_ . .


D\'V total Cs -49 0.29 -55
1 TB total Cs -46 0.15 -44
I TB floccula tion -47 -0.75 -27 !
Total retention -40 -2.2 -43 Control ON Control OFF
Ash retention -52 -2.3 -37 mean 0.3 mean 1.05

DRY END Fig. 10. Comparison results of the breaktime headbox


Base H\V -36 -0.07 -8_9 ash consistency control. Each bar represents
Paper ash -24 -0.05 -13 individual web break.
Base nloistufe -18 0.06 -1
2-sigrna BW profile -10 -0.01 -27 vertical line) so that the ash sensor will WJtn1Up and
2-sigrna Ash profile -48 -0.02 -61 give reliable results. rrhe performance of this control
has been studied by comparing the paper ash
Pop9rash
measurement deviation from the setpoint \vith and
White water
consistency
without the control. The deviation was read after the
C01tl'ol break when the paper ash content control \vas
s\vitched back on auto mode. The results are sho\\/n
aid
r~etention
---to.............-....~
in figure 10. The control sho\vs clear improvement.
The mean deviation in the 11 studied breaks \vith
Air remova~
tank Filter
control \vas 0.3 % and in the 11 cases \-vithout control
b Setpoint it 'lI-'as 1.05 %_ The control attenuated the paper ash
Centrifugal headDox ash
deviation from setpoint after a break by 70.5 (ItI ,
cleaners

4.3. Thick stock ash content controL

Most paper machines have the thick stock total


consistency control loop after the blending chest. On
the other hand~ thick stock ash content is not usually
measured and j ts variation is not controlled. This is a
clear lack of process instrurnentation. Thick stock ash
Ash content of paper Fillerilow
content varies and that is a serious source of ash
content disturbances entering the short circulation
and having an effect on paper ash content. Major
~:? sources of ash disturbances of thick stock are broke
quality and quantity changes, and variations in
diskfilter operation. The fact usually not noticed lS
o_~ 1 1,5 2 0.5 1 1.5
that over 60 0{) of the furnish ash on the se paper
Asll COl1sistency of neadbox Speed of the diskfilter
machine comes from the diskfilter, so any
malfunction or periodic disturbances of diskfilter \vi)[
be seen in the \-vet end as periodic ash consistency
~1,6' . ~ variation. The damping of consistency disturbances in
the blend chest and the Inachjne che~t js not ~o
1.4 r

'------'~---"---'-~ J
5,4 effective as generally thought. This is especially true
0.5 1 1.5
1. 2
0 0_5 1 15
in older paper machines \vhere production rate, and
Hours Hours therefore, also flow rates through mixing tanks have
Fig. 9. Example of the operation of the hreaktime been increased over the years.
hcadbox ash consistency controller during a long
\veb break. These thick stock ash content disturbances can be
eliminated \vith a feedfor\\'ard control based on an
furnisb. Fresh filler llov~l i.s adjusted accordingly to ash content measurement. Figure 11 sho\\o's the basic
compensate disturbances in the headbox ash principle of this conlrol. Furnish ash content is
conslstency. Paper is back on the reel at the point at measured afte.r the machine chest and fresh filler is
the second vertical line. Headbox ash consistency added to the short circulation. Based on the change in
controller is kept active the holding period (to the 3 n{ the measured ash content a compensation is
calculated and added to paper ash controller's output.

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Copyright 1999 IFAC ISBN: 0 08 043248 4
NEW PROCESS CONTROL REQUIREMENTS AND SOLUTIONS FOR... 14th World Congress of IFAC

Output of paper ash


cDntroler

Broke 6. CONCLUSION
Requirements for the paper quality and espec.ially for
the CD profile variables have increased and at the
same time the speed of the tuachines have been
increased. Dilution technology and diJutjon
T\I1'lxlng
headhoxcs arc able lo respond to these requlrenlents.
puirlp chest chest
Ho\\rever~ the short circulation process is coming
Fig. 11. Principle of the thick stock ash content
more complicated and offers challenges especially for
feedforward control
the consistency control applications.
Stability of the short circulation is essential
Fresh fi lIer to wet en d, I/s concerning the perforlnance of the dilution headbox.
Stable consistencies are basis for stable retention of
:~f!~Fu rnis hash con lent, '%
different stock components in CD. Stable 1\1D profile
is also required to get fast and accurate estimate of

::IS;:;&~'~
C~D profile with traversing measurement. Sources of
disturbances are fairly common in differe.nt machines
Paper ash, %, and a list of common sources \-vas gi ven.
~~P?'?±tY4~j Three consistency control applications for the
stabiJization of the short circulation were presented.
Headbox filler CS t ~~
o7 J====:::;:===I==~==::::::;:======;======I
Dilution water consistency control stabilizes the
consIstencies in the short circulation and allows the
operator to set desired operation point of the short
Feed-forward control ON
circulation. Break time headhox ash controUer
Fig. 12 Furnish ash feedforward control eliminates minimizes changes in the operation point during the
ash disturbances in the short circulation. \veb break even if the portion of broke is increased in
The sutn is then given to the filler flo"\v control loop furnish. The control \'-'ill also ruinimize the time
as a setpoi Ilt. Pi gurc 12 sho\vs how thick stock ash needed to recover frOITI the web break and achieve
content control improves the stability of the short paper grade specifications. Thick stock fcedfon.vard
circuLation. 'Thick stock ash content variations are ash control Vv'ill attenuate ash variations entering the
decreased and the stability of paper ash content is short circulation from the stock preparation
in1proved significantly. Overflow of the wire pit is led
to a disktilter and the output of diskfilter is taken to 7. REFERENCES
the blending chest. Feedfofward control stabilizes a~h
conslstency of white water In the wire pit? which Dumdie, D.P. (1997). i\daptive methods can achieve
stabilized the operation of the diskfiher. 'Therefore~ maxirnum process efficiency. Part 2: A systenlS
also consistency variations of thick stock are approach using pulp consistency during
decreased. blending as an example. lnTech~ April 1997, p.
32-36.

5. RESULTS Knilvila~ J.~ J. Shakespeare, A. Korpincn, P. Nyberg~


I!. ~1ustonen (1995).
Simultaneolls optimization
Results from the individual consistency control of orientation angle and basis \\'eight profiles.
applications were given in content of the description Proceedings Auto/nation 95, Helsinki, Finland.
of the control strategy. In addition to the
commissioning ne\\' consistency control applications I\1alashenko, A. (1995). SYln-Flo D Dilution control
systematic \vork was done to eliminate sources of Hcadbox. In Technology Days ~95, VaLInet.
disturbances found from the stock preparation and the Pantaleo~ S.G. (1994). A New Headbox Design
short circulation. As a result of ne\v controls and Featuring Con5istency Profiling Dccoupled
\vork for the stabilization of the process the speed of from Fiber Orientation Response. Proc. TAPPl
one machine could be increased 100 m1min from the Engr. J94~ p. 259-264.
level of 800 m/min. Speed increment v..'3S possible
due to improved stabihty of the short circulation and Shakespeare, J. (1997). Quality control \vith dllution
st
decreased quality variable deviations. headboxes. Proc. 1 into C~D SynzpOSiUf1l at XIV
IMEKO, Tampere Finland, v,XD, p. 86-91,
June,

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Copyright 1999 IFAC ISBN: 0 08 043248 4

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