1 | #*------------------------------------------------------------------- |
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2 | * EMSO Model Library (EML) Copyright (C) 2004 - 2007 ALSOC. |
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3 | * |
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4 | * This LIBRARY is free software; you can distribute it and/or modify |
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5 | * it under the therms of the ALSOC FREE LICENSE as available at |
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6 | * http://www.enq.ufrgs.br/alsoc. |
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7 | * |
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8 | * EMSO Copyright (C) 2004 - 2007 ALSOC, original code |
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9 | * from http://www.rps.eng.br Copyright (C) 2002-2004. |
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10 | * All rights reserved. |
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11 | * |
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12 | * EMSO is distributed under the therms of the ALSOC LICENSE as |
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13 | * available at http://www.enq.ufrgs.br/alsoc. |
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14 | * |
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15 | *-------------------------------------------------------------------- |
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16 | * Sample file for PID MIMO application |
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17 | * (dual control of a distillation column) |
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18 | *-------------------------------------------------------------------- |
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19 | * |
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20 | * This sample file needs VRTherm (www.vrtech.com.br) to run |
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21 | * the distillation column flowsheet. |
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22 | * |
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23 | *---------------------------------------------------------------------- |
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24 | * Author: Argimiro R. Secchi |
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25 | * $Id: sample_PID_MIMO.mso 313 2007-07-14 16:45:55Z arge $ |
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26 | *--------------------------------------------------------------------# |
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27 | |
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28 | using "stage_separators/column"; |
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29 | using "controllers/PIDIncr"; |
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30 | using "controllers/PIDs"; |
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31 | |
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32 | FlowSheet Column_MPID |
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33 | PARAMETERS |
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34 | PP as Plugin(Brief="Physical Properties", |
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35 | Type="PP", |
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36 | Components = [ "isobutane", "n-pentane", "propylene", |
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37 | "benzene", "isobutene" ], |
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38 | LiquidModel = "PR", |
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39 | VapourModel = "PR" |
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40 | ); |
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41 | NComp as Integer; |
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42 | |
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43 | Qcmin as heat_rate (Brief="Minimum Condenser Heat supplied"); |
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44 | Qcmax as heat_rate (Brief="Maximum Condenser Heat supplied"); |
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45 | Qrmin as heat_rate (Brief="Minimum Reboiler Heat supplied"); |
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46 | Qrmax as heat_rate (Brief="Maximum Reboiler Heat supplied"); |
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47 | Frmin as flow_mol (Brief="Minimum bottom flow rate"); |
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48 | Frmax as flow_mol (Brief="Maximum bottom flow rate"); |
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49 | Fcmin as flow_mol (Brief="Minimum reflux flow rate"); |
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50 | Fcmax as flow_mol (Brief="Maximum reflux flow rate"); |
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51 | Hmint as length (Brief="Minimum liquid level in top tank"); |
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52 | Hmaxt as length (Brief="Maximum liquid level in top tank"); |
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53 | Hminb as length (Brief="Minimum liquid level in reboiler"); |
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54 | Hmaxb as length (Brief="Maximum liquid level in reboiler"); |
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55 | Pmax as pressure (Brief="Maximum column pressure"); |
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56 | Pmin as pressure (Brief="Minimum column pressure"); |
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57 | Tmax as temperature (Brief="Maximum column temperature"); |
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58 | Tmin as temperature (Brief="Minimum column temperature"); |
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59 | RRmax as positive (Brief="Maximum reflux ratio"); |
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60 | RRmin as positive (Brief="Minimum reflux ratio"); |
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61 | |
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62 | VARIABLES |
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63 | Qc as energy_source (Brief="Heat rate removed from condenser"); |
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64 | Qr as energy_source (Brief="Heat rate supplied to reboiler"); |
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65 | Had_top as Real (Brief="Dimensionless condenser level"); |
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66 | Had_bot as Real (Brief="Dimensionless reboiler level"); |
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67 | Pad as Real (Brief="Dimensionless pressure"); |
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68 | P_sp as pressure (Brief="Pressure setpoint"); |
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69 | Tad as Real (Brief="Dimensionless temperature"); |
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70 | T_sp as temperature (Brief="Condenser temperature setpoint"); |
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71 | RR as positive (Brief="Reflux ratio"); |
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72 | LC_sp as length (Brief="Condenser level setpoint"); |
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73 | LR_sp as length (Brief="Reboiler level setpoint"); |
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74 | xtop as fraction (Brief="Controlled top composition"); |
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75 | xbot as fraction (Brief="Controlled bottom composition"); |
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76 | xtop_sp as fraction (Brief="Controlled top composition setpoint"); |
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77 | xbot_sp as fraction (Brief="Controlled bottom composition setpoint"); |
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78 | |
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79 | SET |
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80 | NComp = PP.NumberOfComponents; |
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81 | |
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82 | DEVICES |
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83 | col as Distillation_kettle_cond; |
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84 | feed as source; |
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85 | zero as stream; |
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86 | TCcond as PIDIncr; |
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87 | LCtop as PIDIncr; |
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88 | LCbot as PIDIncr; |
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89 | PC as PIDIncr; |
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90 | PID11 as PID; |
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91 | PID22 as PID; |
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92 | PID12 as PID; |
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93 | PID21 as PID; |
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94 | |
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95 | CONNECTIONS |
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96 | feed.Outlet to col.trays(5).Inlet; |
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97 | zero to col.reb.Inlet; |
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98 | zero to col.trays([1:4]).Inlet; |
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99 | zero to col.trays([6:col.NTrays]).Inlet; |
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100 | Qc.OutletQ to col.cond.InletQ; |
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101 | Qr.OutletQ to col.reb.InletQ; |
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102 | |
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103 | EQUATIONS |
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104 | "Temperature Controller" |
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105 | TCcond.Parameters.tau = 0*'s'; |
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106 | TCcond.Parameters.tauSet = 0*'s'; |
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107 | TCcond.Parameters.alpha = 0.3; |
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108 | TCcond.Parameters.bias = 0.5; |
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109 | TCcond.Parameters.gamma = 1; |
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110 | TCcond.Parameters.beta = 1; |
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111 | TCcond.Options.action = 1; |
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112 | TCcond.Options.clip = 1; |
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113 | TCcond.Options.autoMan = 0; |
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114 | TCcond.Parameters.intTime = 60*'s'; |
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115 | TCcond.Parameters.gain = 0.6; |
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116 | TCcond.Parameters.derivTime = 1*'s'; |
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117 | TCcond.Ports.setPoint = (T_sp - Tmin)/(Tmax-Tmin); |
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118 | TCcond.Ports.input = Tad; |
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119 | Tad = (col.cond.OutletL.T-Tmin)/(Tmax-Tmin); |
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120 | Qc.OutletQ.Q = Qcmin+(Qcmax-Qcmin)*TCcond.Ports.output; |
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121 | |
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122 | "Pressure Controller" |
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123 | PC.Parameters.tau = 0*'s'; |
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124 | PC.Parameters.tauSet = 0*'s'; |
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125 | PC.Parameters.alpha = 0.3; |
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126 | PC.Parameters.bias = 0; |
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127 | PC.Parameters.gamma = 1; |
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128 | PC.Parameters.beta = 1; |
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129 | PC.Options.action = -1; |
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130 | PC.Options.clip = 1; |
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131 | PC.Options.autoMan = 0; |
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132 | PC.Parameters.intTime = 50*'s'; |
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133 | PC.Parameters.gain = 0.5; |
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134 | PC.Parameters.derivTime = 1*'s'; |
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135 | PC.Ports.setPoint = (P_sp-Pmin)/(Pmax-Pmin); |
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136 | PC.Ports.input = Pad; |
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137 | Pad = (col.cond.OutletV.P-Pmin)/(Pmax-Pmin); |
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138 | col.cond.OutletV.F = (Fcmin+(Fcmax-Fcmin)*PC.Ports.output); |
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139 | |
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140 | "Ttop Level Controller" |
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141 | LCtop.Parameters.tau = 0*'s'; |
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142 | LCtop.Parameters.tauSet = 0*'s'; |
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143 | LCtop.Parameters.alpha = 0.3; |
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144 | LCtop.Parameters.bias = 0.5; |
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145 | LCtop.Parameters.gamma = 1; |
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146 | LCtop.Parameters.beta = 1; |
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147 | LCtop.Options.action = -1; |
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148 | LCtop.Options.clip = 1; |
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149 | LCtop.Options.autoMan = 0; |
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150 | LCtop.Parameters.intTime = 20*'s'; |
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151 | LCtop.Parameters.gain = 1; |
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152 | LCtop.Parameters.derivTime = 0*'s'; |
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153 | LCtop.Ports.setPoint = (LC_sp - Hmint)/(Hmaxt-Hmint); |
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154 | LCtop.Ports.input = Had_top; |
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155 | Had_top = (col.cond.Level-Hmint)/(Hmaxt-Hmint); |
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156 | col.sptop.Outlet1.F = Fcmin + (Fcmax-Fcmin) * LCtop.Ports.output; |
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157 | |
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158 | "Tbottom Level Controller" |
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159 | LCbot.Parameters.tau = 0*'s'; |
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160 | LCbot.Parameters.tauSet = 0*'s'; |
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161 | LCbot.Parameters.alpha = 0.3; |
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162 | LCbot.Parameters.bias = 0.5; |
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163 | LCbot.Parameters.gamma = 1; |
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164 | LCbot.Parameters.beta = 1; |
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165 | LCbot.Options.action = -1; |
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166 | LCbot.Options.clip = 1; |
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167 | LCbot.Options.autoMan = 0; |
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168 | LCbot.Parameters.intTime = 100*'s'; |
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169 | LCbot.Parameters.gain = 1; |
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170 | LCbot.Parameters.derivTime = 0*'s'; |
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171 | LCbot.Ports.setPoint = (LR_sp - Hminb)/(Hmaxb-Hminb); |
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172 | LCbot.Ports.input = Had_bot; |
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173 | Had_bot = (col.reb.Level-Hminb)/(Hmaxb-Hminb); |
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174 | col.reb.OutletL.F = Frmin + (Frmax-Frmin) * LCbot.Ports.output; |
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175 | |
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176 | "MIMO PID Controller" |
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177 | PID11.Parameters.tau = 0*'s'; |
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178 | PID11.Parameters.tauSet = 0*'s'; |
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179 | PID11.Parameters.alpha = 0.3; |
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180 | PID11.Parameters.bias = 0.1; |
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181 | PID11.Parameters.gamma = 1; |
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182 | PID11.Parameters.beta = 1; |
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183 | PID11.Options.action = -1; |
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184 | PID11.Options.clip = 1; |
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185 | PID11.Options.autoMan = 0; |
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186 | PID11.Parameters.intTime = 60*'s'; |
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187 | PID11.Parameters.gain = 0.6; |
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188 | PID11.Parameters.derivTime = 0*'s'; |
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189 | PID11.Ports.setPoint = xtop_sp; |
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190 | PID11.Ports.input = xtop; |
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191 | |
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192 | PID12.Parameters.tau = 0*'s'; |
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193 | PID12.Parameters.tauSet = 0*'s'; |
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194 | PID12.Parameters.alpha = 0.3; |
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195 | PID12.Parameters.bias = 0.0; |
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196 | PID12.Parameters.gamma = 1; |
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197 | PID12.Parameters.beta = 1; |
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198 | PID12.Options.action = -1; |
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199 | PID12.Options.clip = 1; |
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200 | PID12.Options.autoMan = 0; |
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201 | PID12.Parameters.intTime = 100*'s'; |
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202 | PID12.Parameters.gain = 0.5; |
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203 | PID12.Parameters.derivTime = 0*'s'; |
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204 | PID12.Ports.setPoint = xbot_sp; |
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205 | PID12.Ports.input = xbot; |
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206 | |
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207 | RR = RRmin + (RRmax-RRmin) * (PID11.Ports.output + PID12.Ports.output); |
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208 | |
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209 | PID21.Parameters.tau = 0*'s'; |
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210 | PID21.Parameters.tauSet = 0*'s'; |
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211 | PID21.Parameters.alpha = 0.3; |
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212 | PID21.Parameters.bias = 0.0; |
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213 | PID21.Parameters.gamma = 1; |
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214 | PID21.Parameters.beta = 1; |
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215 | PID21.Options.action = 1; |
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216 | PID21.Options.clip = 1; |
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217 | PID21.Options.autoMan = 0; |
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218 | PID21.Parameters.intTime = 100*'s'; |
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219 | PID21.Parameters.gain = 0.5; |
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220 | PID21.Parameters.derivTime = 0*'s'; |
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221 | PID21.Ports.setPoint = xtop_sp; |
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222 | PID21.Ports.input = xtop; |
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223 | |
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224 | PID22.Parameters.tau = 0*'s'; |
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225 | PID22.Parameters.tauSet = 0*'s'; |
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226 | PID22.Parameters.alpha = 0.3; |
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227 | PID22.Parameters.bias = 0.5; |
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228 | PID22.Parameters.gamma = 1; |
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229 | PID22.Parameters.beta = 1; |
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230 | PID22.Options.action = -1; |
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231 | PID22.Options.clip = 1; |
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232 | PID22.Options.autoMan = 0; |
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233 | PID22.Parameters.intTime = 60*'s'; |
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234 | PID22.Parameters.gain = 0.6; |
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235 | PID22.Parameters.derivTime = 0*'s'; |
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236 | PID22.Ports.setPoint = xbot_sp; |
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237 | PID22.Ports.input = xbot; |
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238 | |
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239 | Qr.OutletQ.Q = Qrmin + (Qrmax-Qrmin) * (PID21.Ports.output + PID22.Ports.output); |
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240 | |
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241 | RR * (col.cond.OutletV.F + col.sptop.Outlet1.F) = col.sptop.Outlet2.F; |
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242 | xtop = col.cond.OutletL.z(4); # benzene |
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243 | xbot = col.reb.OutletL.z(3); # propylene |
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244 | |
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245 | if time < 1 * 'h' then |
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246 | feed.Outlet.F = 113.4 * 'kmol/h'; |
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247 | else |
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248 | feed.Outlet.F = 120 * 'kmol/h'; |
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249 | end |
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250 | |
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251 | SPECIFY |
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252 | feed.Outlet.T = 291 * 'K'; |
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253 | feed.Outlet.P = 568.3 * 'kPa'; |
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254 | feed.Outlet.z = 1/NComp; |
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255 | |
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256 | zero.F = 0 * 'kmol/h'; |
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257 | zero.T = 300 * 'K'; |
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258 | zero.P = 1 * 'atm'; |
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259 | zero.z = 1/NComp; |
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260 | zero.v = 0; |
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261 | zero.h = 0 * 'J/mol'; |
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262 | |
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263 | # Qr.OutletQ.Q = 3e6 * 'kJ/h'; |
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264 | col.pump1.dP = 16 * 'kPa'; |
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265 | col.trays.Emv = 1; |
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266 | # col.sptop.Outlet2.F = 75 * 'kmol/h'; # reflux |
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267 | col.alfaTopo = 2; |
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268 | |
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269 | xtop_sp = 1e-3; # benzene |
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270 | xbot_sp = 1e-5; # propylene |
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271 | P_sp = 4.0*'bar'; |
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272 | T_sp = (15+273.15) * 'K'; |
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273 | LC_sp = 1.0 * 'm'; |
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274 | LR_sp = 1.0 * 'm'; |
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275 | |
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276 | SET |
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277 | col.NTrays = 8; |
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278 | col.cond.V = 2 * 'm^3'; |
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279 | col.cond.Across = 1 * 'm^2'; |
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280 | col.trays.V = 4 * 'ft^3'; |
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281 | col.trays.Ah = 0.394 * 'ft^2'; |
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282 | col.trays.lw = 20.94 * 'in'; |
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283 | col.trays.hw = 0.125 * 'ft'; |
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284 | col.trays.Q = 0 * 'kW'; |
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285 | col.trays.beta = 0.6; |
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286 | col.trays.alfa = 4; |
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287 | col.trays.Ap = 3.94 * 'ft^2'; |
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288 | col.reb.V = 2 * 'm^3'; |
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289 | col.reb.Across = 1 * 'm^2'; |
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290 | |
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291 | # Controllers type |
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292 | TCcond.PID_Select = "Ideal_AW"; |
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293 | PC.PID_Select = "Ideal_AW"; |
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294 | LCtop.PID_Select = "Ideal_AW"; |
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295 | LCbot.PID_Select = "Ideal_AW"; |
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296 | PID11.PID_Select = "Ideal_AW"; |
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297 | PID12.PID_Select = "Ideal_AW"; |
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298 | PID21.PID_Select = "Ideal_AW"; |
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299 | PID22.PID_Select = "Ideal_AW"; |
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300 | |
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301 | Qrmax = 5e6 * 'kJ/h'; |
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302 | Qrmin = 1e6 * 'kJ/h'; |
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303 | Frmin = 0 * 'kmol/h'; |
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304 | Frmax = 60 * 'kmol/h'; |
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305 | Fcmin = 0 * 'kmol/h'; |
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306 | Fcmax = 120 * 'kmol/h'; |
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307 | Hmint = 0 * 'm'; |
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308 | Hmaxt = 2 * 'm'; |
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309 | Hminb = 0 * 'm'; |
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310 | Hmaxb = 2 * 'm'; |
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311 | Pmin = 0.5 * 'bar'; |
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312 | Pmax = 10 * 'bar'; |
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313 | Qcmax = -5e5 * 'kJ/h'; |
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314 | Qcmin = -5e6 * 'kJ/h'; |
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315 | Tmax = (30+273.15) * 'K'; |
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316 | Tmin = (-20+273.15) * 'K'; |
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317 | RRmax = 5; |
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318 | RRmin = 0.1; |
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319 | |
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320 | INITIAL |
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321 | # condenser |
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322 | col.cond.OutletL.T = 260 *'K'; |
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323 | col.cond.Level = 1 * 'm'; |
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324 | col.cond.OutletL.z([1:4]) = [0.2, 0.2, 0.4, 0.05]; |
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325 | |
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326 | # reboiler |
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327 | col.reb.OutletL.T = 350 *'K'; |
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328 | col.reb.Level = 1 * 'm'; |
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329 | col.reb.OutletL.z([1:4]) = [0.1, 0.4, 0.1, 0.3]; |
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330 | |
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331 | # column trays |
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332 | col.trays.OutletL.T = [290:(330-290)/(col.NTrays-1):330] * 'K'; |
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333 | col.trays.Level = 1.2 * col.trays.hw; |
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334 | col.trays.OutletL.z([1:4]) = [0.15, 0.3, 0.25, 0.2]; |
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335 | |
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336 | OPTIONS |
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337 | TimeStep = 0.1; |
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338 | TimeEnd = 5; |
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339 | TimeUnit = 'h'; |
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340 | InitialFile = "Column_ctrl.rlt"; |
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341 | DAESolver(File="dassl"); |
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342 | #GuessFile = "Column_ctrl.rlt"; |
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343 | #Dynamic = false; |
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344 | end |
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345 | |
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