EXAMENSARBETE. Pressure and Flow Control of a Pulverized Coal Injection Vessel WOLFGANG BIRK CIVILINGENJÖRSPROGRAMMET

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1 1997:45 CIV EXAMENSARBETE Pressure and Flow Control of a Pulverized Coal Injection Vessel WOLFGANG BIRK CIVILINGENJÖRSPROGRAMMET Institutionen för Systemteknik Avdelningen för Reglerteknik 1997:45 ISSN: ISRN: LTU - EX / SE

2 p p t m m t N 2 Air

10 A B C D E F G

11 Ç6 4?

12 1 pressure/kpa time/s 5 4 mass/kg time/s 1 pressure/kpa A B C D E time/s 5 4 mass/kg A B C D E time/s

16 normalized flow valve opening

17 flexible ring seal low pressure high pressure moving direction of the piston slide pipe hole moving direction of the slide

18 p ref [ kpa] 1 ta t p [ kpa] - PI u N u N,min u N,max

19 ta 8 controller output valve opening/% pressure deviation/kpa time/s 2 2 control result time/s m C [ kg] q 1 - m C kg 4s 9. t h q 1 - PI 1 t u C m C, ref, comp r Cref, g Nm Nm V h blowerair 1 kg t Nm 3 h 1 kg 4s 1 [ kg] α y = a u+ b 9. 1 q 1 m Cref,

20 8 controller output valve opening/% mass flow deviation/(t/h) time/s control result time/s 1 mass deviation/kg time/s

22 p m V N T m C p N u N u C p T Ç Ç Ç TR Ç TÄ Ç 8TR A 8TÄ TR Ç TÄ Ç 8TR A 8TÄ

23 Ç Ç Ç Ç Ç Ç Ç Ç Ç Ç Ç Ç Ç TR Ç TÄ Ç 8TR A 8TÄ A A Ç A TR TÄ 8TR 8TÄ Ç

24 U

25 8 PCV 8 FCV valve opening/v valve opening/v time/s time/s 6 pressure in the vessel 1 mass of the vessel 8 pressure/v mass/v time/s 5 1 time/s

26 T r Å c8 T c8 T c8 T 3 c8 T c8 T T r

27 Ç

28 .1.5 pressure deviation/v time/s.1 Autocorrelation of residuals for pressure Cross correlation for PCV and pressure residuals Samples

29 .5 1 mass/v time/s 3 3

30 1 Autocorrelation of mass residuals Cross correlation of mass residuals and FCV Samples Ç 2 3 3

31 ?@ 3?@ 2 3 2?@ 3?@ 2 3 2?@ 3?@ ?@ 3?@ 3?K 3?K 2 3 2?K 3?K 2 3 2?K 3?K 2 3 2?K 3?K 3 3 A A A A A A 2 2?@ 2 2?K ?@ ?K Ç 3 Ç A ' Ç ' Ç ' 2 U

32 pressure deviation/v time/s

33 .5 1 mass/v time/s U Å Å 2 e

34 e U o o o o o o o o

35 3 3 o o o o

37 1 Autocorrelation of the estimation error in the pressure Autocorrelation of the estimation error in the mass Samples e e e e U

38 o s o s o s o s

39 o s 2 o s o s 3S o_ SÅeK

40 2 Estimated coal mass flow mass flow/(t/h) Error in the integral of the estimate 1 error/kg time/s

41 blast furnace raceway pulverised coal injection lance

42 (a) (b) (c) (d)

43 1 Cross correlation of mass deviation and light intensity Samples Comparison of mass deviation and light intensity time/5s

46 @ 6@ 6@ 6@

47 6e 6e 6S 6S 6S 6S o e o e

48 x(n+1)=ax(n)+bu(n) y(n)=cx(n)+du(n) Controller + Kalman filter for the pressure 1 z-1 Mux x(n+1)=ax(n)+bu(n) y(n)=cx(n)+du(n) Process modell - + Demux x(n+1)=ax(n)+bu(n) y(n)=cx(n)+du(n) Mux Controller + Kalman filter for the mass 1 z-1 1 z Pressure set point -.68 Mass flow set point 1 z-1 Mux o S o S

49 Saturation x(n+1)=ax(n)+bu(n) y(n)=cx(n)+du(n) Process model x(n+1)=ax(n)+bu(n) y(n)=cx(n)+du(n) Mux Controller + Kalman filter mass 1 z-1 1 z Pressure set point -.68 Mass flow set point 1 z-1 Mux o S o S

50 SJ? SJ? SJ? SJ? SJ? SJ? SJ? SJ? SJ? SJ? SJ? SJ? W SJ? SJ? W W SJ? SJ? W 6 W W 2 3

51 x(n+1)=ax(n)+bu(n) y(n)=cx(n)+du(n) 1 z-1 K Feed forward (PCV) K Feed forward (FCV) Mux Controller + Kalman filter for the pressure x(n+1)=ax(n)+bu(n) y(n)=cx(n)+du(n) Process modell - + Demux x(n+1)=ax(n)+bu(n) y(n)=cx(n)+du(n) Mux Controller + Kalman filter for the mass 1 z-1 1 z Pressure set point -.68 Mass flow set point 1 z-1 Mux K Feed forward + + x(n+1)=ax(n)+bu(n) y(n)=cx(n)+du(n) Process model l x(n+1)=ax(n)+bu(n) y(n)=cx(n)+du(n) Mux Controler +Kalman filter mas s 1 z-1 1 z Pressure set -.68 Mass flow set point point 1 z-1 Mux W W 2

52 deviation/v time/s Å

53 .2.2 deviation/v time/s

54 deviation/v time/s.4.2 deviation/v time/s

55 valve opening/v time/s

57 SattCon Pressure Control Start! PC / Normal RegSim p m AlCont Mass flow control PCV FCV

58 5 Old PI controller 5 New PI controller mass deviation /kg -5-1 mass deviation /kg time/s 5 Combined controller time/s 5 Model-based controller mass deviation /kg -5-1 mass deviation /kg time/s time/s Å

59 Old PI controller New PI controller pressure deviation/kpa pressure deviation/kpa time/s Combined controller time/s pressure deviation/kpa pressure deviation/kpa time/s Model-based controller time/s mass flow deviation/( t/h ) mass flow deviation/( t/h ) Old PI controller time/s Combined controller time/s mass flow deviation/( t/h ) mass flow deviation/( t/h ) time/s 5-5 New PI controller Model-based controller time/s

67 & SJ? & SJ? SJ? SJ? 8TcÄ 8TcR TcÄ TcR 3 SÅeK Ç Ç

68 Ç A c8 T Ç W Ç W W Ç

74 1 Autocorrelation of pressure residuals Samples.5 Cross correlation of PCV and pressure residuals Samples.5 Cross correlation of FCV and pressure residuals Samples

75 1 Autocorrelation of mass residuals Samples.5 Cross correlation of FCV and mass residuals Samples.5 Cross correlation of PCV and mass residuals Samples

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