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Control and System Design for Energy Market ResponsivenessDonald J. ChmielewskiDepartment of Chemical & Biological Engineering Illinois Institute of TechnologyIllinois Institute of Technology * BOP with more profit BOP with less profit OSSOP EDOR’s due to different controller tunings *Outline• Motivating Example• Pseudo-Constrained Control Department of Chemical and Biological EngineeringDepartment of Chemical and Biological EngineeringIllinois Institute of TechnologyIllinois Institute of Technology• Profit Control • Market Responsive ControlMotivating Example(Non-isothermal Reactor)FFCA, TApinAAAinACTkrrCHVTTFdtdTVVrCCFdtdCV)()/()()(−=∆+−=+−=ρDepartment of Chemical and Biological EngineeringDepartment of Chemical and Biological EngineeringIllinois Institute of TechnologyIllinois Institute of TechnologyFAACTkr)(−=Increase F Increased production rateMotivating Example(Non-isothermal Reactor)FFCA, TApinAAAinACTkrrCHVTTFdtdTVVrCCFdtdCV)()/()()(−=∆+−=+−=ρDepartment of Chemical and Biological EngineeringDepartment of Chemical and Biological EngineeringIllinois Institute of TechnologyIllinois Institute of TechnologyFAACTkr)(−=Increase F Increased production rateDecrease F Increase T Increase reaction rate Increase productionLimited Operating RegionProcess Limitations:(max))( TtT ≤(max)≤- Catalyst protection or onset of side reactions-Pump limit or limit on Department of Chemical and Biological EngineeringDepartment of Chemical and Biological EngineeringIllinois Institute of TechnologyIllinois Institute of Technology(max))( FtF≤-Pump limit or limit on downstream unitLimited Operating RegionProcess Limitations:(max))( TtT ≤(max)≤- Catalyst protection or onset of side reactions-Pump limit or limit on Department of Chemical and Biological EngineeringDepartment of Chemical and Biological EngineeringIllinois Institute of TechnologyIllinois Institute of Technology)()()(spspcFTTKF +−=Possible Controller:(max))( FtF≤-Pump limit or limit on downstream unitPerformance in Time Series T(t) T(sp) time T(max) FDepartment of Chemical and Biological EngineeringDepartment of Chemical and Biological EngineeringIllinois Institute of TechnologyIllinois Institute of Technologytime F(t) F(sp) time F(max) FCA, TPerformance in Phase Plane)(tT*Department of Chemical and Biological EngineeringDepartment of Chemical and Biological EngineeringIllinois Institute of TechnologyIllinois Institute of Technology)(tFExpected Dynamic Operating Region(EDOR))(tT*Department of Chemical and Biological EngineeringDepartment of Chemical and Biological EngineeringIllinois Institute of TechnologyIllinois Institute of Technology)(tF)(tT*Expected Dynamic Operating Region(EDOR)Department of Chemical and Biological EngineeringDepartment of Chemical and Biological EngineeringIllinois Institute of TechnologyIllinois Institute of Technology)(tFSteady-State Relation)()()(spspcFTTKF +−=Controller:Department of Chemical and Biological EngineeringDepartment of Chemical and Biological EngineeringIllinois Institute of TechnologyIllinois Institute of Technology)()()( spspTfF =Steady-State Relation:)(tT*Expected Dynamic Operating Region(EDOR)Department of Chemical and Biological EngineeringDepartment of Chemical and Biological EngineeringIllinois Institute of TechnologyIllinois Institute of Technology)(tFSteady-State Operating Line)(tT*Department of Chemical and Biological EngineeringDepartment of Chemical and Biological EngineeringIllinois Institute of TechnologyIllinois Institute of Technology)(tFOptimal Operating Point)(tT*Decrease F Increase T Increase conversionDepartment of Chemical and Biological EngineeringDepartment of Chemical and Biological EngineeringIllinois Institute of TechnologyIllinois Institute of Technology)(tF Increase productionOptimal Operating Point: Another Possibility)(tT*Increase F Increased Department of Chemical and Biological EngineeringDepartment of Chemical and Biological EngineeringIllinois Institute of TechnologyIllinois Institute of Technology)(tFIncreased production rateOptimal Operating Point: Another Possibility)(tTIncrease F Increased production rateDepartment of Chemical and Biological EngineeringDepartment of Chemical and Biological EngineeringIllinois Institute of TechnologyIllinois Institute of Technology)(tF*Requires Different Controller Tuning)(tTDepartment of Chemical and Biological EngineeringDepartment of Chemical and Biological EngineeringIllinois Institute of TechnologyIllinois Institute of Technology)(tF*Less Aggressive Tuning)(tT* F(t) T(sp) time T(max) T(t) Department of Chemical and Biological EngineeringDepartment of Chemical and Biological EngineeringIllinois Institute of TechnologyIllinois Institute of Technology)(tF*time F(t) F(sp) F(max)Need for Automated Tuning)(tT*Department of Chemical and Biological EngineeringDepartment of Chemical and Biological EngineeringIllinois Institute of TechnologyIllinois Institute of Technology)(tF*Outline• Motivating Example • Pseudo-Constrained Control Department of Chemical and Biological EngineeringDepartment of Chemical and Biological EngineeringIllinois Institute of TechnologyIllinois Institute of Technology• Profit Control • Market Responsive ControlCovariance Analysis(Open-Loop Case)Process Model:PlantDxzwGxAx=+=&)(tw)(tzGaussian white noise with covariance )(twΣDepartment of Chemical and Biological EngineeringDepartment of Chemical and Biological EngineeringIllinois Institute of TechnologyIllinois Institute of TechnologySteady State Covariance:TxzTwTxxDDGGAAΣ=Σ=Σ+Σ+Σ 0Gaussian white noise with covariance )(twwΣExpected Dynamic Operating Region (EDOR)EDOR defined by: 1z=Σ22σσDepartment of Chemical and Biological EngineeringDepartment of Chemical and Biological EngineeringIllinois Institute of TechnologyIllinois Institute of Technology*2z=Σ2222211211σσσσz11σ22σClosed-Loop Covariance Analysis(Full State Information Case))()(tLxtu=uDxDzwGBuAxxux+=++=&Process Model:Controller:Plant)(tw)(txL)(tu)(tzDepartment of Chemical and Biological EngineeringDepartment of Chemical and Biological EngineeringIllinois Institute of TechnologyIllinois Institute of TechnologyTuxxuxzLDDLDD )()( +Σ+=Σ)()(tLxtu=0)()( =Σ++Σ+Σ+TwTxxGGBLABLASteady-State