IWA Task Group on Benchmarking of Control Strategies for Wastewater Treatment Plants IWA2006 Workshop, 13 September 2006, Beijing,

PR China

IWA TG on Benchmarking of Control Strategies for WWTPs

Simulation of control strategies dynamic modelling of sensor and actuator behaviour

13 September 2006 Beijing, PR China

Dr Marie-Nolle Pons LSGC-CNRS-INPL, Nancy France

Dr Jens Alex ifak e.V. Magdeburg Germany

Dr MN Pons & Dr J. Alex

Dynamic modelling of sensor and actuator behaviour

IWA Task Group on Benchmarking of Control Strategies for Wastewater Treatment Plants IWA2006 Workshop, 13 September 2006, Beijing, PR China

Introduction
Sensors and actuators necessary for monitoring and
control They are themselves complex systems and have their own dynamics
Biological reactor
W astewater To river

Clarifier
Unit 5
kL a PI

Q e , Ze
m = 10 m=6

Q 0, Z 0

Unit 1

Unit 2

Unit 3

Unit 4

Dissolved oxygen Anoxic section Nitrate PI Aerated section Internal recycle

Q f , Zf Q u, Z u Q r , Zr
m=1

Q a , Za

Qw , Zw
W astage

kL a = oxygen transfer coefficient

External recycle

Dr MN Pons & Dr J. Alex

Dynamic modelling of sensor and actuator behaviour

IWA Task Group on Benchmarking of Control Strategies for Wastewater Treatment Plants IWA2006 Workshop, 13 September 2006, Beijing, PR China

Sensors
According to ISO 2003 norm
110% 90%

10% Delay time (T10) Rise time Time

Response time (T90)

Measuring range Noise : random noise, standard deviation = 1, x noise level (2.5% of range)
Dr MN Pons & Dr J. Alex Dynamic modelling of sensor and actuator behaviour 3

IWA Task Group on Benchmarking of Control Strategies for Wastewater Treatment Plants IWA2006 Workshop, 13 September 2006, Beijing, PR China

Sensor classes
Sensor classes Response time (T90) [min] Measuring interval (T0) [min] Examples

Class A Class B0 Class B1 Class C0 Class C1 Class D

1 10 10 20 20 30

0 0 5 0 5 30

Ion sensitive, filtration

optical

without

Gas sensitive + fast filtration Photometric + fast filtration Gas-sensitive + slow filtration Photometric + slow filtration or sedimentation Photometric or titrimetric for total components
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Dr MN Pons & Dr J. Alex

Dynamic modelling of sensor and actuator behaviour

IWA Task Group on Benchmarking of Control Strategies for Wastewater Treatment Plants IWA2006 Workshop, 13 September 2006, Beijing, PR China

Programming a simple sensor

For Matlab/Simulink

d x1 (t ) 1 1 = u (t ) x1 (t ) dt T T
1 Saturation y

u 1

1 filtden(typ,T)(s) Transfer Fcn

u2

d u 2 (t ) 1 1 = x1 (t ) u 2 (t ) dt T T

senoise(1) From Workspace

ymax*nl Gain

y1 (t ) = u 2 (t ) + y max nl n(t )
y1 (t ) > y max : y max y (t ) = y min < y1 (t ) < y max : y1 (t ) y1 (t ) < y min : y min
Dynamic modelling of sensor and actuator behaviour 5

Dr MN Pons & Dr J. Alex

IWA Task Group on Benchmarking of Control Strategies for Wastewater Treatment Plants IWA2006 Workshop, 13 September 2006, Beijing, PR China

Recommended BSM1 sensor parameters

Measured variable
Flow rate (m3/d) high range Water level (m) Temperature (C) pH SO (mg O2/l) Sludge blanket level (m) SNO (mg N/l) SNH (mg N/l) low range SNH (mg N/l) high range SALK (mol HCO3/m3) Mixed-liquor suspended solids (mg/l) Effluent total suspended solids (mg/l) Total COD (mg COD/l) OUR (mg/(ld))
Dr MN Pons & Dr J. Alex

Class
A A A A A A B0 B0 B0 B0 A A D D

Measurement Range
0-100 000 m3/d 0-5 m 5-25 C 5-9 0-10 0-5 0-20 0-20 0-50 0-20 0-10 000 0-200 0-1 000 0-2 000

Measurement noise ()
2500 0.125 0.5 0.1 0.25 0.125 0.5 0.5 1.25 0.5 250 5 25 50
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Dynamic modelling of sensor and actuator behaviour

IWA Task Group on Benchmarking of Control Strategies for Wastewater Treatment Plants IWA2006 Workshop, 13 September 2006, Beijing, PR China

You can still program (with care) your own sensors

Purpose: test of the effect of sensor design / operation parameters Respirometer (OUR, toxicity detection) or other batch tests (nitrification potential, ) Settleability Titrimeter

Dr MN Pons & Dr J. Alex

Dynamic modelling of sensor and actuator behaviour

IWA Task Group on Benchmarking of Control Strategies for Wastewater Treatment Plants IWA2006 Workshop, 13 September 2006, Beijing, PR China

Example of a detailed simulation

Titrimetric sensor for digester monitoring (BSM2)
pHmeter HCL 0.1M
7.5 7.0 6.5 6.0 5.5 5.0 4.5 4.0 0 5 10 15 20 Added volume of HCl 0.1N (cm3)

Sample from digester

pH

4.75 4.3

PA IA

Calculation of pH for every drop of HCL added

Algebraic equation (Pons et al., Talanta, 1983) Minimization of |anions - cations| wrt pH Golden Section method
Dr MN Pons & Dr J. Alex Dynamic modelling of sensor and actuator behaviour 8

IWA Task Group on Benchmarking of Control Strategies for Wastewater Treatment Plants IWA2006 Workshop, 13 September 2006, Beijing, PR China

Alkalinity (kg mole/m3)

0.08 0.06 0.04 0.02 0.00 0 20 40 Time (day) 60 80

0.20 0.15 0.10 0.05 0.00

IA/TA = (TA-PA)/TA

Results
Flowrate increase

0.12 0.10

0.30 0.25

PA TA IA/TA

0.12 0.10 Total alkalinity (kg mole/m3) 0.08 0.06 0.04 0.02 0.00 0 50 Time (day)

0.30 0.28 IA/TA 0.26 0.24 0.22 0.20 100 Alk. Titration Alkl. Model IA/TA

Dynamic behavior

Dr MN Pons & Dr J. Alex

Dynamic modelling of sensor and actuator behaviour

IWA Task Group on Benchmarking of Control Strategies for Wastewater Treatment Plants IWA2006 Workshop, 13 September 2006, Beijing, PR China

Actuators control handles

internal flow recirculation rate return sludge flow rate 1st and 2nd order systems wastage flow rate aeration intensity individually external carbon source flow rate anoxic/aerobic volume influent distribution by use of step feed distribution of internal flow recirculation distribution of return sludge flow
Dynamic modelling of sensor and actuator behaviour 10

Dr MN Pons & Dr J. Alex

IWA Task Group on Benchmarking of Control Strategies for Wastewater Treatment Plants IWA2006 Workshop, 13 September 2006, Beijing, PR China

Aeration control could receive more attention

Smooth variations

Blower

diffusers

Off .On Nonlinear relations

Dr MN Pons & Dr J. Alex

Dynamic modelling of sensor and actuator behaviour

11

IWA Task Group on Benchmarking of Control Strategies for Wastewater Treatment Plants IWA2006 Workshop, 13 September 2006, Beijing, PR China

Conclusions
Sensors and actuators important part of the control
strategy Affect the control performance Precise description needed

Dr MN Pons & Dr J. Alex

Dynamic modelling of sensor and actuator behaviour

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