Learn about state estimation using Kalman filter in process control, where a state estimator acts as a real-time process simulator running in parallel with the physical process. Explore examples and applications in biogas reactors and anaerobic digestion systems.
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Presentation Transcript
Course PEF3006 Process Control Fall 2017 State estimation (Kalman filter) Av Finn Aakre Haugen (finn.haugen@usn.no) USN. PEF3006 Process Control. Haugen. 2017 1
A prosess with a state estimator: Real process A state estimator (or observer) is in principle a real-time process simulator that runs on a computer, in parallel with the physical process. The states of the simulator (estimator) are updated by the error or deviation between of the real measurement and the simulated (predicted) measurement. State estimator or observer Literature for further reading. USN. PEF3006 Process Control. Haugen. 2017 2
Example: Kalman-filter for estimation of the states of a biogas reactor Article: State Estimation and Model-Based Control of a Pilot Anaerobic Digestion Reactor (https://www.hindawi.com/journals/jcse/2014/572621/) USN. PEF3006 Process Control. Haugen. 2017 3
Foss Biolab Skien, Norway Cow manure (diluted) Filled batch- wise Biogas PC PC PC PC LC1 LT1 TT2 1 Room temp. CO2 % CH4 % PC TT4 Reser- voir 2500 L Buffer tank 400 L 3 PC CT2 TT3 FT2 CT1 4 P1 Gutter Biogas Liquid effluent 2 Fixed liquid level due to weir P2 Nitrified foam Feed Separator (sieve) FT1 Nitrification reactor AD reactor (UASB) Filtered manure Solid manure for aerobic composting Pellets ferti- lizer ~200 L PC 250 L PC Nitrified sludge (AD feed) Liquid nitrified fertilizer Isolation Vermi- composting PC TT1 Electrical heater H1 PC = Personal Computer with LabVIEW for monitoring and control FT = Flow Transmitter (sensor) TT = Temperature Transmitter CT = Concentration Transmitter DOT = Dissolved Oxygen Transmitter pHT = pH Transmitter TC = Temperature Controller LC = Level Controller P = Pump March 14, 2014. F. Haugen and K. Vasdal TC 1 PC P3 PC DOT Temp. setpoint PC P4 PC pHT PC Air 5 USN. PEF3006 Process Control. Haugen. 2017
Example: Kalman-filter for estimation of the outflow of a simulated water tank http://techteach.no/simview/kalmanfilter USN. PEF3006 Process Control. Haugen. 2017 9
