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PO SS2011 05.1 DynamicOptimization p11
PO SS2011 05.1 DynamicOptimization p11
Sebastian Engell
Process Dynamics and Operations Group
5. Dynamic Optimization
5.1 Example: Operation of a Batch Distillation Column
Tank assignment:
T(t) {1, 2, 3}
Q out
Column
reflux
ratio r(t)
multicomponent
mixture:
m(t)
Boiler
Process Optimization
Q (t )
Product Tanks:
Volumes: V1, V2, V3
Concentrations: c1, c2, c3
Task:
For a given amount m(t) of mixture,
operate the system optimally !
2011 5.1
Degrees of Freedom
Heat input:
Q (t )
Reflux ratio:
r (t ) =
L(t )
L(t ) + D(t )
(real)
(real)
(integer)
Restrictions:
Dynamic model: x = f (x,u ) from balancing
(if discontinuous behavior: heating f1, boiling f2, ...)
equality
constraints
T (t ) {1, 2, 3}
Process Optimization
inequality
constraints
integer
declaration
2011 5.2
Cost function
Objective: optimal profit
cost of raw material - cost of energy - labor cost - equipment cost ...
tf
i (t ) v i
mathematically: = m
t 0 i =1
cM
Q (t ) cE dt
manufacturing
energy cost
cost per time
(raw material, labor, ...)
Optimization problem:
max
min
( )
2011 5.3
5.2
subject to:
cost function:
contains an integral
x = f (x, u,v , p )
0 = g (x, u,v , p )
equality constraints
0 h(x, x , u,v , p )
inequality constraints
equality constraints
inequality constraints
2011 5.4
2011 5.5
Process Optimization
2011 5.6
simple form
Q(t)
Q2
heat input
Q3
Q1
t0
t1
t2
tf
Degrees of freedom:
Q , r , T
i
...
Process Optimization
2011 5.7
(# degrees of freedom + 1 ) N
new variables: q
determines Q (t ), r (t ), T (t )
Each choice of q :
i (t ), ci (t ),...
system is simulated for q : m
Sequential approach:
Simulation delivers x,
Optimization: min
q
( )
simulation
x,
q
optimization
2011 5.8
Discretization of time
x(t)
Approximation by:
finite differences
Orthogonal collocation
x(t)
x (t )
t0
t1
t2
tf
dx
dt
x (t k +1 ) = F (x (t k ), u (t k ), f (t k ),...)
Process Optimization
2011 5.9
min
x (tk )
( ( ) ( ) ( ))
u (tk )= Q tk , r tk , T tk
k =1, , N
subject to:
x (t1 ), , x (t f ), u (t1 ), , u (t N )
2011 5.10
Multiple shooting
Similar to control vector parameterization, but:
- Horizon is divided into a number of stages
- Dynamics on the stages are solved individually
- Continuity between the stages in enforced by additional
constraints
+
+
-
Process Optimization
2011 5.11