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Abstract
One of the most recent and most intense efforts in control theory deals with handling systems whose behavior of
interest is determined by interacting continuous and discrete dynamics. This approach can be applied not only to
intrinsic hybrid processes but also to other systems as for example continuous processes with supervisory logic,
multi-model control systems, switching control, etc. In this paper, hybrid systems are briefly introduced and possible
applications to desalination plants are given by means of illustrative examples.
Keywords: Hybrid systems; Hybrid control; Dynamic modeling; Desalination plants
1. Introduction
Presented at the EuroMed 2002 conference on Desalination Strategies in South Mediterranean Countries:
Cooperation between Mediterranean Countries of Europe and the Southern Rim of the Mediterranean.
Sponsored by the European Desalination Society and Alexandria University Desalination Studies and Technology
Center, Sharm El Sheikh, Egypt, May 4-6, 2002.
0011-9164/02/$- See front matter 2002 Elsevier Science B.V. All rights reserved
PII: S 0 0 1 1 - 9 1 6 4 ( 0 2 ) 0 1 0 6 0 - 3
176
F={J],f2,...,f,}
xCt) = Z
u(t))
(2)
(3)
x ( t o) = x o
xE+x_~>0~(x,u)_~
177
dt
(4)
178
1--~-[F~.,(t)[h,,(t)-h,(t)]+ F~,(t)[h~(t)-h~(t)]-Q~(,)]
if m~ > 0
ms
1--L[F~,(t)[h,(t)-h~(t)l-Q,(t)]
dt
if m~ > O a n d P > P ~ x
d~_
dt
if m,=O
1 [F~;(t)-F~(t)]
(8)
PcAo
d~_
dt
if 0 < l c <lm~x
l---!---[F~,(t)[T~,(t)T~
Qw(t)
~,~
(t)]- 1---C
if l~>lm~
peA& L
(9-12)
if /~=0
dC~ = I 0
dt
dt
(5-7)
m s
1---~[Fd.,.Cb(t)-[F~;(t)+ Fd.,.(t)~7"~(t)]
(pcAolc
= & , ( t ) - F~(t)
(13,14)
(15)
if mb > 0
d~_
dt
(0]]
if lc >/max
if m b = 0
(16-18)
(19)
= % (t)Ah, AT,n
AT., =[rb,-
Tl,]/ln/Tsa' - T---b~
(20)
rso,-g,)
Fc(t ) =
[ As2,mpA2i,
P c ~ ' A ~ : 2 i , ~2[glc -(Pp,,,p - Psa,)/ Oc]
(21)
179
Table 1
Possible discrete states to define a hybrid model
Discrete state
Mnemonic Equations
Normal operation
NO
High pressure
HP
No condensate
NC
No brine
NB
No steam
NS
No condensate--no brine N C N B
No brine---no steam
NBNS
Salt in condensate
SC
High condensate level
HCL
1,2,5,6,10,12,13
1,3,5,6,10,12,13
1,2,5,9,10,12,13
1,2,5,6,10,12,15
1,4,5,9,10,12,13
1,2,5,9,10,12,15
1,4,5,9,10,12,15
1,2,5,8,11,12,13
1,2,5,7,10,12,14
Alarm signal:
P~>P~x and
To5
'ondensate
To Salt in Condensa
e is brocken
Fig. 2. Automaton for the treatment of discrete events for the brine heater.
180
.~Ctmtro|lers~
Su~r
H)brld
ContinuousModel~
g e K,,r(t) - y ( t ) + 1 fe('c)dr
"l;g
- Tep(t)
Stateof nonlinearsystem
vj
[&2:l Hybrid
Automaton
V3.1
r,)
&tl
s.p.)
181
Sj2>
_ 0 and $41 > 0
e = 0 and &=
e= 0 and k=0
Oand ~=0
S12< 0 TM
e = 0 and
S41 >and S~
e = 0 and e = 0
e= 0 and e 0
~k~$23< 0 and
~ 534<0
34-<0 and
541 < 0
Sl2> 0 and
\&3_>O
e= 0 and ~=0
$23>-"Oand $34< 0
182
s.p.
pretreatment
chemical
seawat~
, to the
~embrane
unit
LP pump
Fig. 6. Schematic diagram for the pre-treatment stage of a
RO plant.
transition depends on the control signal sent to
the pump. The valve comprises one state for the
normal operation and some states to describe the
malfunctioning. Models for the system components
are shown in Fig. 7.
6. S u m m a r y
2__d <o
IT
\_k
Fig. 7. Models for (a) the tank, (b) the pump and (c) the valve.
Symbols
A
An,
cx,
C
C
F
h
l
m
P
T
t
--------------
--
Cross area, m e
Heat transfer area, m 2
Heat transfer coefficient, W / ( m 2 C )
Salt concentration, g/kg
Heat capacity, kJ/(kg.C)
Mass flow rate, kg/s
Specific enthalpy, kJ/kg
Level, m
Mass, kg
Pressure, MPa
Heat flor rate, W
Temperature, C
Time, s
Density, kg/m 3
Subsripts
b
c
i
s
sat
- - Brine
- - Condensate
- - Input (e.g. Fbj is mass flow rate for brine
input)
- - Steam
- - Saturated steam
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184