Professional Documents
Culture Documents
Leo Huisman
Abstract: In this paper the application of observers for glass melting furnaces is discussed.
In glass melting furnaces only few variables, of those that are important for the glass quality,
can be measured. Here it is demonstrated how low complexity mathematical furnace models
can be used to estimate the other variables that cannot be measured.
E f ;i + v g (T T ) d 1 1
T2 2 + T2 1 2 VT 2 B2 VB 2
8i |V {z } fR = 60 W15 2H2 V pull R + 60W 2 H 2 Vpull (R + 1)
T T B B
8b hvz igz (Tb T )Vb
This equation describes the acceleration of the recir-
Now if one makes the assumption that the kinetic culating glass, due to a change in the temperature dif-
energy of the recirculating flow is only influenced by ferences in the melt. The acceleration is counteracted
the size of the buoyancy forces in the melt, then the by the friction forces. Combination of equations (1),
following form of this equation can be written: (2), (3), (4) and (8) gives:
2 3 2 3
E f i + hvz i gz
C D
TUB fUB + fUB + Se;UB
Krc = Tb T Vb (5)
;
6 f + f CB + Se;B 7
8i 8b 6 T 7 6
6 B 7 6 CB
D
7
6 T 7 D 7
The friction terms can be derived from the laminar 6 NT 7 = 6 6
fNT + fNT + Se;NT 7
7
4 T Top 5 4 f D + f C + S 5
flow patterns that
R
are assumed by calculating the in- Top Top e;Top
R
Vi ( : v) d. In this paper it is as-
tegral E f ;i = B F
fR + fR = fR
sumed that the friction losses occur in the top and These equations can briefly be written as:
bottom regions indicated by T and B in the physical
topology given in figure 2 and that the flow can be x (t ) = f (x (t ) ; u (t ) ; )
modeled as one dimensional laminar flow between If we define x = x xss then we can write a linear
horizontal plates. approximation near the steady state:
x (t ) = Ax (t ) + Bu (t )
iVi
6 i 2 H 2
1 2
v1 = where
W Hi3
f f
A= B=
Two cases can be considered: x x=xss ;u=uss u x=xss ;u=uss
One dimensional flow (in 1-direction) over one
A step response of the model that was derived here
plate: i = 3
One dimensional flow between two plates: i = 6 was compared with simulation results of a detailed
CFD-model. Some results are shown in figure 3. Ma-
With these velocity profiles the accumulation term can jor differences occur in the steady state behavior.
be written as:
Z Z Z
2 v d + dt 2 v d + dt 2 v d
d 1 2 d 1 2 d 1 2
Krc = dt 3. LINEAR OBSERVERS
VT 1 VT 2 VB
"
1 2 1 2 1 Suppose that in the neighborhood of a certain operat-
60 T 2 + 15 T 1 2 VT Vpull
2 B2 VBV pull
2
=
WT2 HT2
R + 60W 2 H 2 (R + 1) dR
dt ing point the behavior of the glass melting furnace can
B B
be described by a linear state space model of the form:
1
6 T
P = APA T CPC
APC T + Rv T
CPA
T
5 + Gw Qw Gw (9)
2 of x:
lim P (t ) = lim E x (t ) x (t )T
1 t ! t !
0
The Kalman gain matrix L is then given by:
1
1
0 2 4 6 8 10 12
T CPC
L = APC T + Rv
t[s] x 10
4
L F
- z
D
x x Fig. 5. Filter problem in standard form: Find a filter
B 1
C y
F such that the norm of the closed loop transfer
from w to e is minimized
A
xv Av 0 0 B v 0 0 B x
B wC
C 0.04
B xw C B 0 A w 0 0 B w 0C B x C
B C B CB C
0.035
@ x A = @ 0 Cw A 0 Dw B AB C
B w 1 C
0.03
y Cv 0 C Dv 0 D @ w 2 A 0.025
x [K]
u 0.02
0.015
The filter that is designed for this extended system
has dimension n v + nw + n. The filter can be extended 0.01
integrating coloring filters for the output disturbance Fig. 6. The estimation error x = x x of a variable that
v: is not measured: the temperature in the region
0 1
0 1 0 1 xv under the batch blanket (disturbance: first a step
xv Av 0 B v 0 0 B B x C
C and then also a ramp).
@ x A = @ 0 A 0 Q1=2 B A B w C
w B 1C filter states xv that were added to the observer. If we
y Cv C Dv 0 D @ w 2 A
consider the case we only have an input disturbance
u
filter we get:
where h i 0 1
Rv1;=12 0 0 1 0 xv 1
Av = I B v =
xw Aw 0 0 Bw 0 B B x C
C
h i @ x A = @ Cw A 0 Dw B A B w
B 1C
C
Cv = I Dv = 0 Rv1;=22 y 0 C Rv1=2 0 D @ w 2 A
If we consider the evolution of the filter states, x E , we u
get: The evolution in discrete time of the observer state
xE (t ) is then given by:
xv (t + 1) I L1 L1C xv (t )
=
x (t + 1) L2 A L2C x (t ) xw (t + 1) Aw L1C xw (t )
=
0 L x (t + 1) Cw A L2C x (t )
+ u (t ) + 1 (Cx (t ) + v (t ))
B L2 0
+ u (t ) + LCx (t ) + LRv1=2w 1 (t )
Now we assume the following: B
6
noise (e.g. offsets because of sensor aging) can be
4 dealt with in the Kalman filter by extending the as-
sumed process model with coloring filters.
2
2
5. REFERENCES
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
t [s] x 10
5
0.01
and filtering theory. Academic press.
Ljung, L. (1987). System Identification: Theory for the
0.005
User. Prentice Hall.
0
Muske, Kenneth R. and James B. Rawlings (1993).
Temperature under batch (no extension)
Model predictive control with linear models.
Temperature under batch (input disturbance integrator)
0.005
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
AIChE Journal 39(2), 262287.
t [s] x 10
5
0.06
tem temperature of a glass furnace. Automatica
0.04
23(2), 215220.
Wertz, V., M. Gevers and J.F. Simon (1992). Adap-
0.02
tive control of the temperature of a glass furnace.
0
IFAC Adaptive systems in control and signal pro-
cessing pp. 311316.
0.02
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
t [s] x 10
5
4. CONCLUSIONS