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Adaptive Temperature Control in A Tubular Chemical Reactor: P. Dostál, V. Bobál, and J. Vojtěšek
Adaptive Temperature Control in A Tubular Chemical Reactor: P. Dostál, V. Bobál, and J. Vojtěšek
Adaptive Temperature Control in A Tubular Chemical Reactor: P. Dostál, V. Bobál, and J. Vojtěšek
Abstract—The paper deals with adaptive control of a tubular same structure as the CT model can be used. The basics of
chemical reactor. As a part of the control design, preliminary delta models have been described in e.g. [8], [9]. Although
steady-state and dynamic analysis of the process is incorporated. delta models belong into discrete models, they do not have
A nonlinear model of the process is approximated by a such disadvantageous properties connected with shortening of
continuous-time external linear model with parameters estimated
a sampling period as discrete z-models. In addition,
using a corresponding delta model. The controller design is based
on the polynomial approach. The adaptive control is tested on the parameters of delta models can directly be estimated from
nonlinear model of the tubular chemical reactor with a sampled signals. Moreover, it can be easily proved that these
consecutive exothermic reaction. parameters converge to parameters of CT models for a
sufficiently small sampling period (compared to the dynamics
I. INTRODUCTION of the controlled process), as shown in [10].
Manuscript received January 15, 2009. This work was supported by the Heat losses and heat conduction along the metal walls of
Ministry of Education of the Czech Republic under the grant MSM tubes are assumed to be negligible, but dynamics of the metal
7088352101. walls of tubes are significant. All densities, heat capacities,
Petr Dostál, Vladimír Bobál and Jiří Vojtěšek are with the Tomas Bata
University in Zlin, Faculty of Applied Informatics, Nad Stranemi 4511, 760 and heat transfer coefficients are assumed to be constant.
05 Zlín 5, Czech Republic (phone: +420 57 6035195; fax: +420 57 6035279; Under above assumptions, the reactor model can be described
e-mail: {dostalp, bobal, vojtesek}@ fai.utb.cz).
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⎛ −E j ⎞ 3.0 s
cA
k j (i ) = k j 0 exp ⎜
s
⎜ RT (i ) ⎟⎟
, j = 1, 2 (15) 1 - qc = 0.2
Concentrations (kmol/m )
2.5
s
3
⎝ r ⎠ 1 2
2 - qc = 0.25
s
3 - qc = 0.3
Q r (i ) = (−ΔH r1 ) k 1 (i ) c A (i ) + (−ΔH r 2 ) k 2 (i ) c B (i ) (16) 2.0 3
for i = 1, … , n. 1.5
The parameters b in Eqs. (10) – (14) are calculated as 1.0
v 1 4U 1 3
b 0 = r , b1 = , b2 =
s
, 0.5 cB
1 2
h (ρc p ) r d 1 (ρc p ) r
0.0
4 d 1U 1 4d 2 U 2
b3 = 2 2
, b4 = 2 2
, (17) 0 1 2 3 4 5 6 7 8
(d 2 − d 1 ) (ρc p ) w (d 2 − d 1 ) (ρc p ) w z (m)
vc 4 n1 d 2 U 2 Fig. 2. Concentration profiles for various coolant flow rates.
b5 = , b6 =
h (d 32 − n1 d 22 ) (ρc p ) c
s
1 - qc = 0.2
and, the expression (9) is rewriten to the discrete form 360 1
comparison with the output component B concentration Fig. 5. Dependence of the reactant mean temperature on the coolant flow
having in this regard very unfavourable properties. rates.
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0.4 where t ′ is the discrete time.
0.2 When the sampling period is shortened, the delta operator
3
0.0 approaches the derivative operator, and, the estimated
ΔcB out (kmol/m )
-0.2 4
-0.4 2
(20) as shown in [10].
-0.6
-0.8 1 1 - Δqc = -0.04 3 - Δqc = 0.02 VI. DELTA MODEL PARAMETER ESTIMATION
-1.0 2 - Δqc = -0.02 4 - Δqc = 0.04
-1.2 Substituting t ′ = k − 2 , equation (5) may be rewriten to the
-1.4 form
0 25 50 75 100 125 150 175 200 δ 2 y (k − 2) + a1′ δ y (k − 2) + a′0 y (k − 2) =
Time (s) (24)
= b1′ δu (k − 2) + b′0 u (k − 2)
Fig. 6. Component B output concentration step responses.
In the paper, the recursive identification method with
exponential and directional forgetting according to [13] was
6 used.
4 1 Establishing the regression vector
Φ δ (k − 1) = ( −δ y (k − 2) − y (k − 2) δu (k − 2) u (k − 2) )
T
2 2
0 where
ΔTm (K)
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b( s ) q( s )
G(s) = , Q( s) = (28)
a( s) p( s) Computation of b, a
Parameter estimation
where q and p are polynomials in s, and, deg q ≤ deg p . controller parameters
⎛1 b1 0 0 ⎞ ⎛ p0 ⎞ ⎛ d3 − a1 ⎞ 2
⎜ ⎟ ⎜ ⎟ ⎜ ⎟
⎜ a1 b0 b1 0 ⎟ ⎜ q2 ⎟ ⎜ d 2 − a0 ⎟ 0
Ω = (36) w
y (K)
⎜ a0 0 b0 b1 ⎟ ⎜ q1 ⎟ ⎜ d1 ⎟
⎜ ⎟ ⎜ ⎟ ⎜ ⎟ -2
⎝0 0 0 b0 ⎠ ⎝ q0 ⎠ ⎝ d 0 ⎠
where -4
α = 0.05
α = 0.075
d3 = n1 + 2α, d 2 = 2α n1 + n0 + α 2 -6 α = 0.1
(37)
d1 = 2α n0 + α 2 n1 , d0 = α 2 n0 0 100 200 300 400 500 600 700 800
Evidently, the controller parameters can be adjusted by Time (s)
selectable parameter α. Fig. 10. Controlled output responses for various closed-loop poles.
The adaptive control system is shown in Fig. 9.
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1.5 IX. CONCLUSIONS
1.0 In this paper, one approach to the continuous-time adaptive
control of the mean reactant temperature in a tubular chemical
0.5
reactor was proposed. The control strategy is based on a
u (1)
0.02
tubular chemical reactor with a consecutive exothermic
0.00
reaction. Results demonstrate an applicability of the presented
-0.02
control strategy. It can be remarked that similar results have
-0.04 been obtained using the output temperature as the controlled
4
output.
2
REFERENCES
0
y (K)
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