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 | Qrmin as heat_rate (Brief="Minimum Reboiler Heat supplied"); |
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44 | Qrmax as heat_rate (Brief="Maximum Reboiler Heat supplied"); |
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45 | RRmax as positive (Brief="Maximum reflux ratio"); |
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46 | RRmin as positive (Brief="Minimum reflux ratio"); |
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47 | |
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48 | VARIABLES |
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49 | Qc as energy_source (Brief="Heat rate removed from condenser"); |
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50 | Qr as energy_source (Brief="Heat rate supplied to reboiler"); |
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51 | P_sp as pressure (Brief="Pressure setpoint"); |
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52 | T_sp as temperature (Brief="Condenser temperature setpoint"); |
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53 | RR as positive (Brief="Reflux ratio"); |
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54 | LC_sp as fraction (Brief="Condenser level setpoint"); |
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55 | LR_sp as fraction (Brief="Reboiler level setpoint"); |
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56 | out xtop as fraction (Brief="Controlled top composition"); |
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57 | out xbot as fraction (Brief="Controlled bottom composition"); |
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58 | xtop_sp as fraction (Brief="Controlled top composition setpoint"); |
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59 | xbot_sp as fraction (Brief="Controlled bottom composition setpoint"); |
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60 | |
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61 | SET |
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62 | NComp = PP.NumberOfComponents; |
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63 | |
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64 | DEVICES |
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65 | col as Section_Column; |
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66 | cond as condenser; |
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67 | reb as reboiler; |
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68 | sptop as splitter_column; |
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69 | pump1 as pump; |
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70 | # Valve_Distillate as valve_flow; |
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71 | # Valve_Bottom as valve_flow; |
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72 | feed as source; |
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73 | TCcond as PIDIncr; |
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74 | LCtop as PIDIncr; |
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75 | LCbot as PIDIncr; |
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76 | PC as PIDIncr; |
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77 | PID11 as PID; |
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78 | PID22 as PID; |
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79 | PID12 as PID; |
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80 | PID21 as PID; |
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81 | |
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82 | CONNECTIONS |
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83 | feed.Outlet to col.FeedTray; |
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84 | Qc.OutletQ to cond.InletQ; |
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85 | Qr.OutletQ to reb.InletQ; |
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86 | # sptop.Distillate to Valve_Distillate.Inlet; |
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87 | sptop.Reflux to pump1.Inlet; |
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88 | pump1.Outlet to col.LiquidInlet; |
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89 | col.VapourOutlet to cond.InletVapour; |
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90 | cond.OutletLiquid to sptop.Inlet; |
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91 | col.LiquidOutlet to reb.InletLiquid; |
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92 | reb.OutletVapour to col.VapourInlet; |
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93 | # reb.OutletLiquid to Valve_Bottom.Inlet; |
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94 | cond.TI to TCcond.Input; |
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95 | cond.PI to PC.Input; |
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96 | cond.LI to LCtop.Input; |
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97 | reb.LI to LCbot.Input; |
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98 | xtop to PID11.Input; |
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99 | xbot to PID12.Input; |
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100 | xtop to PID21.Input; |
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101 | xbot to PID22.Input; |
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102 | |
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103 | EQUATIONS |
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104 | |
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105 | TCcond.SetPoint * 'K' = T_sp; |
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106 | Qc.OutletQ = TCcond.Output * 'kJ/h'; |
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107 | |
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108 | PC.SetPoint * 'bar' = P_sp; |
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109 | cond.OutletVapour.F = PC.Output * 'kmol/h'; |
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110 | |
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111 | LCtop.SetPoint = LC_sp; |
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112 | sptop.Distillate.F = LCtop.Output * 'kmol/h'; |
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113 | |
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114 | LCbot.SetPoint = LR_sp; |
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115 | reb.OutletLiquid.F = LCbot.Output * 'kmol/h'; |
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116 | |
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117 | "MIMO PID Controller" |
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118 | PID11.SetPoint = xtop_sp; |
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119 | PID12.SetPoint = xbot_sp; |
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120 | |
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121 | RR = RRmin + (RRmax-RRmin) * (PID11.Output + PID12.Output); |
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122 | |
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123 | PID21.SetPoint = xtop_sp; |
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124 | PID22.SetPoint = xbot_sp; |
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125 | |
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126 | Qr.OutletQ = Qrmin + (Qrmax-Qrmin) * (PID21.Output + PID22.Output); |
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127 | |
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128 | RR * (cond.OutletVapour.F + sptop.Distillate.F) = sptop.Reflux.F; |
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129 | xtop = cond.OutletLiquid.z(4); # benzene |
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130 | xbot = reb.OutletLiquid.z(3); # propylene |
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131 | |
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132 | if time < 1 * 'h' then |
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133 | feed.F = 113.4 * 'kmol/h'; |
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134 | else |
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135 | feed.F = 120 * 'kmol/h'; |
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136 | end |
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137 | |
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138 | SPECIFY |
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139 | feed.T = 291 * 'K'; |
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140 | feed.P = 568.3 * 'kPa'; |
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141 | feed.Composition = 1/NComp; |
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142 | |
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143 | # Qr.OutletQ = 3e6 * 'kJ/h'; |
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144 | pump1.Pincrease = 16 * 'kPa'; |
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145 | # sptop.Reflux.F = 75 * 'kmol/h'; # reflux |
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146 | col.VapourDrawOffFlow = 0 * 'kmol/h' ; |
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147 | col.LiquidDrawOffFlow = 0 * 'kmol/h' ; |
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148 | |
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149 | xtop_sp = 1e-3; # benzene |
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150 | xbot_sp = 1e-5; # propylene |
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151 | P_sp = 4.0*'bar'; |
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152 | T_sp = (15+273.15) * 'K'; |
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153 | LC_sp = 0.5; |
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154 | LR_sp = 0.5; |
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155 | |
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156 | SET |
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157 | col.FeedTrayLocation(1) = 5; |
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158 | col.NumberOfTrays = 8; |
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159 | col.LiquidSideStreamLocation = 2; |
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160 | col.VapourSideStreamLocation = 2; |
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161 | col.WeirLength = 20.94 * 'in'; |
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162 | col.WeirHeight = 0.125 * 'ft'; |
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163 | col.TrayLiquidPasses = 1; |
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164 | col.HeatSupply = 0 * 'kW' ; |
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165 | col.AerationFraction = 0.6; |
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166 | col.DryPdropCoeff = 4; |
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167 | col.MurphreeEff = 1; |
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168 | |
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169 | cond.Geometry.Lenght = 1 * 'm'; |
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170 | cond.Geometry.Diameter = 1 * 'm'; |
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171 | reb.Geometry.Lenght = 2 * 'm'; |
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172 | reb.Geometry.Diameter = 1 * 'm'; |
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173 | |
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174 | # Controllers type |
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175 | TCcond.PID_Select = "Ideal_AW"; |
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176 | PC.PID_Select = "Ideal_AW"; |
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177 | LCtop.PID_Select = "Ideal_AW"; |
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178 | LCbot.PID_Select = "Ideal_AW"; |
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179 | PID11.PID_Select = "Ideal_AW"; |
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180 | PID12.PID_Select = "Ideal_AW"; |
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181 | PID21.PID_Select = "Ideal_AW"; |
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182 | PID22.PID_Select = "Ideal_AW"; |
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183 | |
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184 | # Temperature Controller |
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185 | TCcond.tau = 1*'s'; |
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186 | TCcond.tauSet = 1*'s'; |
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187 | TCcond.alpha = 0.1; |
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188 | TCcond.bias = 0.5; |
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189 | TCcond.gamma = 1; |
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190 | TCcond.beta = 1; |
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191 | TCcond.Action = "Reverse"; |
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192 | TCcond.Clip = "Clipped"; |
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193 | TCcond.Mode = "Automatic"; |
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194 | TCcond.intTime = 60*'s'; |
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195 | TCcond.gain = 0.6; |
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196 | TCcond.derivTime = 1*'s'; |
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197 | |
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198 | # Pressure Controller |
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199 | PC.tau = 1*'s'; |
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200 | PC.tauSet = 1*'s'; |
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201 | PC.alpha = 0.1; |
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202 | PC.bias = 0; |
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203 | PC.gamma = 1; |
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204 | PC.beta = 1; |
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205 | PC.Action = "Direct"; |
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206 | PC.Clip = "Clipped"; |
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207 | PC.Mode = "Automatic"; |
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208 | PC.intTime = 50*'s'; |
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209 | PC.gain = 0.5; |
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210 | PC.derivTime = 1*'s'; |
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211 | |
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212 | # Ttop Level Controller |
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213 | LCtop.tau = 1*'s'; |
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214 | LCtop.tauSet = 1*'s'; |
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215 | LCtop.alpha = 0.1; |
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216 | LCtop.bias = 0.5; |
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217 | LCtop.gamma = 1; |
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218 | LCtop.beta = 1; |
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219 | LCtop.Action = "Direct"; |
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220 | LCtop.Clip = "Clipped"; |
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221 | LCtop.Mode = "Automatic"; |
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222 | LCtop.intTime = 20*'s'; |
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223 | LCtop.gain = 1; |
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224 | LCtop.derivTime = 0*'s'; |
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225 | |
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226 | # Tbottom Level Controller |
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227 | LCbot.tau = 1*'s'; |
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228 | LCbot.tauSet = 1*'s'; |
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229 | LCbot.alpha = 0.1; |
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230 | LCbot.bias = 0.5; |
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231 | LCbot.gamma = 1; |
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232 | LCbot.beta = 1; |
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233 | LCbot.Action = "Direct"; |
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234 | LCbot.Clip = "Clipped"; |
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235 | LCbot.Mode = "Automatic"; |
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236 | LCbot.intTime = 100*'s'; |
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237 | LCbot.gain = 1.5; |
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238 | LCbot.derivTime = 0*'s'; |
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239 | |
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240 | # MIMO PID Controller |
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241 | PID11.tau = 1*'s'; |
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242 | PID11.tauSet = 1*'s'; |
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243 | PID11.alpha = 0.1; |
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244 | PID11.bias = 0.1; |
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245 | PID11.gamma = 1; |
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246 | PID11.beta = 1; |
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247 | PID11.Action = "Direct"; |
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248 | PID11.Clip = "Clipped"; |
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249 | PID11.Mode = "Automatic"; |
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250 | PID11.intTime = 60*'s'; |
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251 | PID11.gain = 0.6; |
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252 | PID11.derivTime = 0*'s'; |
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253 | |
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254 | PID12.tau = 1*'s'; |
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255 | PID12.tauSet = 1*'s'; |
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256 | PID12.alpha = 0.1; |
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257 | PID12.bias = 0.0; |
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258 | PID12.gamma = 1; |
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259 | PID12.beta = 1; |
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260 | PID12.Action = "Direct"; |
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261 | PID12.Clip = "Clipped"; |
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262 | PID12.Mode = "Automatic"; |
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263 | PID12.intTime = 100*'s'; |
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264 | PID12.gain = 0.5; |
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265 | PID12.derivTime = 0*'s'; |
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266 | |
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267 | PID21.tau = 1*'s'; |
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268 | PID21.tauSet = 1*'s'; |
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269 | PID21.alpha = 0.1; |
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270 | PID21.bias = 0.0; |
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271 | PID21.gamma = 1; |
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272 | PID21.beta = 1; |
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273 | PID21.Action = "Reverse"; |
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274 | PID21.Clip = "Clipped"; |
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275 | PID21.Mode = "Automatic"; |
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276 | PID21.intTime = 100*'s'; |
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277 | PID21.gain = 0.5; |
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278 | PID21.derivTime = 0*'s'; |
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279 | |
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280 | PID22.tau = 1*'s'; |
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281 | PID22.tauSet = 1*'s'; |
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282 | PID22.alpha = 0.1; |
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283 | PID22.bias = 0.5; |
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284 | PID22.gamma = 1; |
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285 | PID22.beta = 1; |
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286 | PID22.Action = "Direct"; |
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287 | PID22.Clip = "Clipped"; |
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288 | PID22.Mode = "Automatic"; |
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289 | PID22.intTime = 60*'s'; |
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290 | PID22.gain = 0.6; |
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291 | PID22.derivTime = 0*'s'; |
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292 | |
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293 | PC.MinOutput = 0; |
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294 | PC.MaxOutput = 120; |
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295 | PC.MinInput = 0.5; |
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296 | PC.MaxInput = 10; |
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297 | LCtop.MinInput = 0; |
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298 | LCtop.MaxInput = 1; |
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299 | LCtop.MinOutput = 0; |
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300 | LCtop.MaxOutput = 120; |
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301 | LCbot.MinInput = 0; |
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302 | LCbot.MaxInput = 1; |
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303 | LCbot.MinOutput = 0; |
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304 | LCbot.MaxOutput = 60; |
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305 | TCcond.MaxOutput = -5e5; |
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306 | TCcond.MinOutput = -5e6; |
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307 | TCcond.MaxInput = (30+273.15); |
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308 | TCcond.MinInput = (-20+273.15); |
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309 | PID11.MinInput = 0; |
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310 | PID12.MinInput = 0; |
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311 | PID21.MinInput = 0; |
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312 | PID22.MinInput = 0; |
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313 | PID11.MaxInput = 1; |
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314 | PID12.MaxInput = 1; |
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315 | PID21.MaxInput = 1; |
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316 | PID22.MaxInput = 1; |
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317 | RRmax = 5; |
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318 | RRmin = 0.1; |
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319 | Qrmax = 5e6 * 'kJ/h'; |
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320 | Qrmin = 1e6 * 'kJ/h'; |
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321 | |
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322 | # Initial condition |
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323 | # condenser |
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324 | cond.Levelpercent_Initial = 0.5; |
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325 | cond.Initial_Temperature = 260 *'K'; |
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326 | cond.Initial_Composition = [0.2, 0.2, 0.4, 0.05, 0.15]; |
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327 | |
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328 | # reboiler |
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329 | reb.Levelpercent_Initial = 0.5; |
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330 | reb.Initial_Temperature = 350 *'K'; |
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331 | reb.Initial_Composition = [0.1, 0.4, 0.1, 0.3, 0.1]; |
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332 | |
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333 | # column trays |
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334 | col.INITIALIZATION.TopTemperature = 290 * 'K'; |
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335 | col.INITIALIZATION.BottomTemperature = 330 * 'K'; |
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336 | col.INITIALIZATION.LevelFraction = 0.1; |
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337 | col.INITIALIZATION.TopComposition = [0.2, 0.2, 0.4, 0.05, 0.15]; |
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338 | col.INITIALIZATION.BottomComposition = [0.1, 0.4, 0.1, 0.3, 0.1]; |
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339 | |
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340 | OPTIONS |
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341 | TimeStep = 0.1; |
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342 | TimeEnd = 5; |
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343 | TimeUnit = 'h'; |
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344 | InitialFile = "Column_MPID.rlt"; |
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345 | DAESolver(File="dassl"); |
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346 | #GuessFile = "Column_MPID.rlt"; |
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347 | #Dynamic = false; |
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348 | end |
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349 | |
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