Application of Model Based Predictive Control with Kalman Filter to Natural Circulation Water Tube Boiler

Transcription

1 CCAS5 Jne -5 KEX Geonggi-Do Koea Alicaion of Model Baed Pedicie Conol ih Kalan File o aal Ciclaion Wae be Boile ae-shin Ki and Oh-K Kon De of Elecical Eng nha Uni 5 Yonghn-dong a-g ncheon -75 Koea el: E-ail: ige@ne De of Elecical Eng nha Uni 5 Yonghn-dong a-g ncheon -75 Koea el: E-ail: oon@inhaac Abac: hi ae deal ih he conol oble of a naal ciclaion ae be boile ih conain condiion Soe lineaized odel fo he ae be boile ae ooed aond oe oeaing oin and he odel baed edicie conol la i adoed o conol he lan acconing fo conain n hi conolle he Kalan file i ed fo he ae eiaion and he conolle i deigned baed on he lineaized odel he conol efoance of he deigned conolle i eelified ia oe nonlinea ilaion aond he oeaion oin hich ho i o ell Keod: Wae be boile lineaizaion dicee Kalan file odel baed edicie conol RODUCO he indial boile ae idel ed in he heal oe lan cenal heaing e ec he boile e i a ind of ical nonlinea liaiable e and o i i non difficl o be conolled Åö and Bell hae ooed lo ode dnaic odel fo d boile-bine-alenao ni [-] and he ae ilized o deign aio conolle fo he boile e Hoee hi odel i eiced o he d boile and no alid fo anohe e of boile he ae be boile A nonlinea dnaic odel fo he ae be boile ha been ooed b Ki and Kon in [] Alhogh he hae ggeed an L eglao deign ing he odel i i no acical o be alied ince i i a ae-feedbac la and ha no acconed fo conain condiion n indial field o lan hae an conain condiion Fo eale becae of hical lii indial boile hae ae and agnide conain of each acao and alo ae conain ch a eeae and ee ec Fheoe fo he ioed abili and efoance ch a eneg efficienc inceae e hold conol indial boile in ecific conain condiion heefoe e need o deign a conolle acconing fo conain he edicie conol la i o conide eaicall conain condiion a conolle deign e and alo o deign oial conol i called a MBPCModel Baed Pedicie Conol RHCReceding Hoizon Conol GPCGenealized Pedicie Conol DMCDnaic Mai Conol SOLOSeenial Oen Loo Oiizing conol ec and ha been eeached a an aiable field [5-8] n hi ae e ill ooe an MBPC deign ih Kalan file o conol he naal ciclaion ae be boile and eelif he efoance of he conolle ia oe nonlinea ilaion ing Malab/Silin and -fncion WAER UBE BOLER MODEL n hi ae a naal ciclaion ae be boile i o be aen a he lan A lan odeling fo he boile i caied o in [] hee he accolihed boile odel i a follo: e e d e d dv d dv d e d d H d f f e e d f H e dvd e e dcah d d d c hee dh d e V H V V d C H e H e H H V d d e V V e e V d e H c a av ah dh a dh d a V V C e e H cv a a f c H d d dh V av Fig A ile cheaic of ie d and doncoe he noenclae fo he odel i aized in Aendi Plan aaee ae aen a follo: V 55 V dn 9 V dc 5 579g 59g

2 CCAS5 he ea able ee aoiaed b aic aoiaion in he ilaion We oe ha he eeae of feee i 77 Fig ho he ilified ae be boile odel conce fo odeling [-] MBPC WH KALMA FLEER FOR HE BOLER MODEL Baic conce of edicie conol he edicie conol i a conol aeg o calclae conol in o iize he co fncion aed eiol ing eceding hoizon echnie n Fig and ae called a he conol hoizon and he edicion hoizon eeciel n he ie le gain conol in a follo: hen e elec he fi conol in and e i ding he [+] ie ineal n he ne ie + each conol hoizon and eceding hoizon i added b each and fo he ie + And alo e gain conol in hogh o ole he oiizaion oble of co fncion and elec he fi in and e i ding he [++] ie ineal n ne ie e alo eea coninol he ae ocede Fig ho he baic conce of edicie conol ocede Jne -5 KEX Geonggi-Do Koea Fig ho he agened e and i able o be eeened b E A B BG C D R hee n E i he bacad hif oeao And E can be alo elaced b E a follo: A B G C R hee A B A B C C D BG G R R Fig Agened e Fig A baic conce of edicie conol MBPC algoih ih Kalan file fo he boile he objecie odel ed b MBPC i aed ha i i eeened b a dicee ie-inaian ae ace odel ih he conollabili hi odel inclde he eaeen noie and he lan noie E eeen he lineaized lan odel inclding noie hon in Fig A B BG C D R Hee i he in eco i he o eco i he ae eco of he e i he zeo ean hie Gaian eaeen noie and i he zeo ean hie Gaian lan noie n E he in ai D ei in geneal B hen deigning MBPC i i ioible o deign he conolle diecl conideing he D e ie he feedfoad e h o conide he D e he odel hold be agened oel ing he diffeence oeao Fig Bloc diaga fo he MBPC he o edicion eco of he j e i eeened b j j CA j i j i CA CA ji ji B i G i 5 R j Le ae he eeced ale of j hen E 5 i o be elaced b E 6 ince E E E j ˆ j E ˆ j ˆ j CA ˆ j i CA ji B i 6

3 CCAS5 n E 6 he ae eiaion eco Kalan file [9] e ˆ 7 E 7 define he ae eiaion eo Kalan file i deigned o iize he ae eiaion eo he file i conced a follo: ˆ Aˆ B L Cˆ 8 Hee he Kalan file gain L dicee Riccai eaion a E 9 P A CP A C G G G G Jne -5 KEX Geonggi-Do Koea ˆ can be gien b J H H f H 5 f f i calclaed b he hee AP C G CP C 9 E 5 i a co fncion of he aic fo h if he e ha no conain e can ge an oial olion hogh he lea ae ehod a follo: H H H f 6 hen e e onl he fi conol inceen a MBPC h conol in ed eall i a follo: K f 7 hee K H H H f he e ha conain e can calclae an oial conol inceen conideing conain condiion hogh he aic ogag L P C A G CP C o gain Kalan file gain D and aiance L e aice A B and G hae o be non in ance he edicie conol la i he oble hich find conol in iizing he efoance inde o co fncion a follo: j ˆ j j J j j Hee and ae he edicion hoizon i he conol hoizon i a eighing abo conol inceen and j i he efeence in When j j E can be eeened a follo: J ˆ ˆ n he efoance inde of E 5 f f do no hae an effec on he oial olion becae i i no a fncion of h he oial olion can be eeened a follo: ag ag H H f H H H f H he fo of he aic ogag i 8 ag P bjec o A b 9 hee P oiie definie E 9 i ileened a a P coand b Malab ih he fo of P coand hee ˆ ˆ ˆ P P A b Coaing E 8 ih E 9 e can ge he folloing olion: he o edicion eco ŷ i o be eeened b E P P A b fo E 6: hee P H H H f ˆ Fˆ H CA h h hee he conain condiion of E i eeed a A b F H n Le R and CA h h ji CA B j i h j i j i E i he conain condiion fo he conol inceen E and E ae o ee E a he Le define ai ineali fo of A b Hee i an n n f Fˆ ideni ai and biing E ~ ino E e can ge

4 CCAS5 Jne -5 KEX Geonggi-Do Koea E 5 i he conain condiion fo he conol alide E 6 i o eeen E 5 a an ineali fo he conol inceen 5 6 E 7 and E 8 ae o ee E 6 a he ai ineali fo of b A 7 8 E ~ and E 7~8 can be eeened a once b he ai ineali fo a follo: b A 9 hee i ideni ai n n n R A b R n n R n R n R n R n SMULAO o al he MBPC o he nonlinea boile e he odel hold be lineaized a oe oeaing oin Le ae an oeaing oin of he naal ciclaion ae be boile lan a gien in able he lineaized odel of he objecie boile odel can be deied a he oeaing oin a follo: B A D C able he oeaing oin d V 5 a f able he lineaized odel a he oeaing oin A B C D able ho coefficien aice of he lineaized ae ace odel a he oeaing oin of able n able he in o and ae aiable ae aen a follo: - ae aiable : d a V - in aiable : f - o aiable : l De o he lii conain of acao i i aed ha hee ei in conain a follo: 5 5 / 6 g 9 9 / 6 g / 5 J he folloing ale ae choen a aaee fo he ilaion: ec G R

5 CCAS5 he aling ie fo dicee e i aen a ec And he ee efeence in i a e in changed + MPa a 5ec he d leel efeence in ainain a he oeaing oin And he ea a flo ae efeence in i a e in changed + g / a 8ec he folloing fige ho he ilaion el he ilaion el of Fig ~ ho good conol efoance Hoee i can be een ha hee ei a lile offe eo a Fig ~ de o he diffeence beeen he nonlinea odel and he lineaized odel a he ecific oeaing oin Fig ho he eiaion efoance of he dicee Kalan file and i can be een ha i o e ell A hon in Fig 5~7 hee i no diffeence beeen he conol in and he acae o ece fo an effec of he noie hich ean ha he MBPC i deigned coleel acconing fo in conain condiion Jne -5 KEX Geonggi-Do Koea and ˆ and ˆ and ˆ ieec Fig he ae ale eal line he ae eiaion ale ˆ hed line ee in he dmpa ieec ea a flo aeg/ Fig Refeence ineal line and o eonehed line of he ee in he d MPa ieec Fig 5 Conol ineal line and acao ohed line of he ea a flo ae g / d leel ieec feee a flo aeg/ Fig Refeence ineal line and o eonehed line of he d leel ieec Fig 6 Conol ineal line and acao ohed line of he feee a flo ae g / 5 ea a flo aeg/ hea flo ae o he iej/ ieec Fig Refeence ineal line and o eonehed line of he ea a flo ae g / ieec Fig 7 Conol ineal line and acao ohed line of he hea flo ae o he ie J /

6 CCAS5 Jne -5 KEX Geonggi-Do Koea APPEDX: oenclae Fig 8 he ce of MBPC ih Kalan file ileened b Malab/Silin 5 COCLUSOS n hi ae e hae deal a conol oble of a ae be boile fo oe lan he boile odel i ooed in [] and he MBPC ih Kalan file i adoed o conol he boile lan acconing fo conain condiion efficienl We hae ooed a lineaized odel a an oeaing oin and deigned he MBPC he efoance of he conol e i checed ia oe nonlinea ilaion hich eelif he conol la o ell eie fhe d o ge id of o edce offe eo ACKOWLEDGMES hi o i oed b KESRR--B-99- hich i fnded b MOCEMini of Coece nd and Eneg REFERECES [] K J Åö and R B Bell A lo ode nonlinea dnaic odel fo d boile-bine-alenao ni Reo FR-76 Lnd nie of echnolog Seden 979 [] K J Åö and R B Bell Dnaic odel fo boile bine-alenao ni: a log and aaee eiaion fo a 6MW ni Reo FR-9 Lnd nie of echnolog Seden 987 [] K J Ao R D Bell D-boile dnaic Aoaica Vol [] S Ki and O K Kon A d on oe lan odeling fo conol e deign Poc CCAS Ocobe -5 Geongj EMF Hoel Geonj Koea [5] SL De Olieia Model Pedicie Conol fo Conained onlinea Se PhD hei Califonia nie of echnolog Paadena CA Mach 996 [6] W H Kon "Ance in Pedicie Conol: heo and Alicaion" ASCC oo Jaan 99 [7] W H Kon and D G Bn Receding hoizon acing conol a a edicie conol and i abili oeie n J Con ol [8] D W Clae C Mohadi and P ff Genealized edicie conol-pa he baic algoih Aoaica Vol no [9] Mohinde S Geal Ang P Ande Kalan Fileing heo and Pacice Uing MALAB nd Ed A Wile-necience Pblicaion : ee of ea in d MPa : ie : he ecific deni of ea ae and feee g / H H H : he ecific enhal of ea ae and f feee J / g H : he ecific enhal of condenaion = c H H V V : he oal ole of ae and ea in he ie d and doncoe V : he oal ole of he ie d and doncoe= V V : he oal a of he ie d and doncoe g : he a of he ie g C : he ecific hea of he eal J / g C : he eeae of eal C =he eeae of he ea and he ae in he ie d and doncoe : he hea flo ae o he ie J / : he ea a flo ae g / : he feee a flo ae g / f V : he ole of he d d V : he ole of he ie and doncoe V dc V : he ole of ae in he d d a : he aeage ea-ole facion in he flo a he ie a : he ea-a facion in he flo a he ie ole : he a flo ae of he ie g / : he a flo ae of he doncoe dc g / l : he d ae leel A : he e face of he d : he ficion coefficien of he doncoe