CH3040: Instrumentation & Process Control

Course Project

Instructions
Deadline: The last date for project submission is 3-May-2012 (Thursday), 12 pm. Any submissions received after this date will not be evaluated. You may work in groups of two. The nal submission should be electronic and in PDF format. Mail your reports to: ch3040project@gmail.com on or before the above mentioned deadline. Do not mail your reports to Prof. Raghunathan. Make a comprehensive report but do not exceed 10 pages.

Problem statement

You are given two non-linear MIMO systems: FCC and boiler. The objective is to design and implement controllers for the two systems. FCC Calculate RGA. Recommend the best controller pairing and implement multiple - SISO controllers. Boiler Using a linear approximation of the boiler system, perform: (a) static decoupling, and (b) dynamic decoupling. Implement it on the non-linear system.

3
3.1

Description of the two systems

Fluidized Catalytic Cracker (FCC) - fcc.mdl

A simulink model has been built for the regenerator and riser portions of an FCC process [1]. The non-linear model equations are: dCrc = Fsc (Csc Crc ) kOd Crc W dt dOd n + 2 + (n + 4) Wa = Ra (Oin Od ) kOd Crc W dt 4Mc (1 + ) dTrg HkOd Crc W W cps = Tri (1)Fsc cps + Ta Fa cpa Trg (Fsc cps + Fa cpa ) dt Mc W where,

Crc Od Trg Frc Fa Tri (1)

Weight fraction of coke on regenerated catalyst Oxygen mole fraction in regenarotor dense bed Temperature of catalyst in regenerator dense bed Mass ow rate of regenerated catalyst Mass ow rate of air to generator Temperature of catalyst and gas oil mixture at riser outlet

States Crc , Od , Trg Inputs Fa , Frc Outputs Trg , Tri (1), Od For further details regarding the model and the operating point refer to [1].

3.2

Boiler - boiler.mdl

The non-linear drum boiler model presented by [4] is implemented in Simulink. The equations are given below: x1 (t) = c11 x4 (t)x1 (t) + c12 u1 (t 1 ) c13 u3 (t 3 ) + c14 x2 (t) = c21 x2 (t) + c22 u2 (t 2 ) c23 u1 (t 1 ) c24 u1 (t 1 )x2 (t) c25 u2 (t 2 ) + c26 u1 (t 1 )
9/8

(1) (2) (3) (4) (5) (6)

x3 (t) = c31 x1 (t) c32 x4 (t)x1 (t) + c33 u3 (t 3 ) x4 (t) = c41 x4 (t) + c42 u1 (t 1 ) + c43 y1 (t) = c5 x1 (t 4 ) y2 (t) = c6 x2 (t 5 ) y3 (t) = c70 x1 (t 6 ) + c71 x3 (t 6 ) + c72 x4 (t 6 )x1 (t 6 ) + c73 u3 (t 3 6 ) + c74 u1 (t 1 6 ) + [c75 x1 (t 6 ) + c76 ][1 c77 x3 (t 6 )] + c79 x3 (t 6 )[x1 (t 6 ) + c78 ]

(7) (8)

y4 (t) = [c81 x4 (t 7 ) + c82 ]x1 (t 7 ) Operating point of this boiler is: x0 = [22.5 2.5 621.17 0.6941]T y0 = [320 2.5 0.0 9.3053]T u0 = [0.3227 0.39503 0.37404]T where,

(9) (10) (11)

x1 x2 x3 x4 y1 y2 y3 y4 u1 u2 u3

Drum pressure state (kgf /cm2 ) Excess oxygen level (%) System uid density (kg/m3 ) Exogenous variable related to load disturbance intensity Measured drum pressure (psi) Measured excess oxygen level (%) Drum water level (in) Steam ow rate (kg/s) fuel ow rate Air ow rate Feed water ow rate

A linear approximation (state-space form) of the above model around the operating point is given below. If needed, refer to [4], [3] and [2] for further details regarding the model. 0.0055 0 0 0.1588 0 2.2062 0 0 A= 0.0122 0 0 0.5672 0 0 0 0.0400 14.2100 0 0 0 0 1.0000 0 0 C= 0.3221 0 0.1434 11.1600 0.4133 0 0 19.2800 0.2800 0 76.5800 0 0 0 0 0 0 0.0135 0 (12)

93.7500 B= 0 0.0300 0 0 D= 1.2720 0

0.7317 0

0 0.2080 0 0

(13)

References
[1] J.G. Balchen, D. Ljungquist, and S. Strand. State-space predictive control. Modelling, Identication and Control, 13(2):77112, 1992. [2] C. Fu, J. Liu, and W. Tan. Analysis and control of a benchmark boiler. In International Conference on Control and Automation (ICCA), pages 374378, Budapest, Hungary, June 2005. [3] R. Horalek and L. Imsland. Nonlinear model predictive control of a benchmark nonlinear boiler. In XXII International Symposium on Information, Communication and Automation Technologies (ICAT), volume 20, pages 16, Oct 2011. [4] G. Pellegrinetti and J. Bentsman. Nonlinear control oriented boiler modeling - a benchmark problem for controller design. IEEE Transactions on Control Systems Technology, 4(1):57 64, 1996.