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Introduction
Two automatic control strategies for activated sludge process will be presented Control strategies wil be tested on the wastewater treatment benchmark COST 624
Control strategies
Main time constants of some sub-processes are of different magnitude orders control independently Simple strategy: PI controllers, feedforward control and step-feed procedure Complex strategy: supervisory control,feedbackfeedforward control, PI control
Simple strategy
Tuning of PI controllers
Oxygen and nitrate PI controllers: used the same parameters as set in the benchmark Suspended solids PI controller: IMC tuning rules
Parameters of PI controllers
Parameter Oxygen controller 500 d-1.(g.m-3)-1 0.001 d Nitrate controller 15000 (m3.d-1)(g.m3)-1 0.05 d Suspended solids controller -0.2 d-1. (g.m3)-1 18 d
Kp Ti
Set-points analysis
Tested all possible combinations of set-points
SS5set (mg/l){4000,4250,4500,4750,5000} SNO,2set (mg/l){0.5,1,1.5,2} r {0.5,0.75,1,1.25,1.5} SO,5set (mg/l){0.5,1,1.5,2}
Optimal set-points
SO,5set = 2 mgl-1, SNO,2 set = 2 mgl-1, SS5 set = 4500 mgl-1 r = 1.5
COD,e
Effluent total COD and limit value 5 4.5 Ammonia concentration in effluent (mg N/l) 4 3.5 3 2.5 2 1.5 1 0.5 40 7 8 9 10 11 time (days) 12 13
SNH,e
Effluent total ammonia and limit value
70
60
50
SS,e
BOD,e
14 7 Effluent BOD5 and limit value
10 11 time (days)
12
13
14
Effluent suspended solids and limit value 30 Suspended solids concentration in effluent (mg SS/l) 28 26 24 22 20 18 16 14 12 BOD5 concentration in effluent (mg/l) 7 8 9 10 11 time (days) 12 13 14 10 9 8 7 6 5 4 3 2
10 11 time (days)
12
13
14
COD,e
Effluent total COD and limit value 6 Ammonia concentration in effluent (mg N/l) 5 4
SNH,e
Effluent total ammonia and limit value
70
12
60
10
50
40
10 11 time (days)
12
13
SS,e
14
30
10 11 time (days)
12
13
BOD,e
14 0 7 Effluent BOD5 and limit value
10 11 time (days)
12
13
14
Effluent suspended solids and limit value 30 Suspended solids concentration in effluent (mg SS/l) 28 26 24 22 20 18 16 14 12 BOD5 concentration in effluent (mg/l) 7 8 9 10 11 time (days) 12 13 14 10 9 8 7 6 5 4 3 2
10 11 time (days)
12
13
14
COD,e
Effluent total COD and limit value 5 4.5 Ammonia concentration in effluent (mg N/l) 4 3.5 3 2.5 2 1.5 1 0.5 30 7 8 9 10 11 time (days) 12 13
SNH,e
Effluent total ammonia and limit value
70
12
60
10
50
40
10 11 time (days)
12
13
SS,e
14
BOD,e
14 0 7 Effluent BOD5 and limit value
10 11 time (days)
12
13
14
Effluent suspended solids and limit value 40 Suspended solids concentration in effluent (mg SS/l) 10 9 BOD5 concentration in effluent (mg/l) 7 8 9 10 11 time (days) 12 13 14 8 7 6 5 4 3 2
35
30
25
20
15
10
10 11 time (days)
12
13
14
Parameters of controllers
Taken from Rehnstrm (2000) and manually adjusted
Controller Oxygen master controller Oxygen slave controller External carbon controller Nitrate controller
Kp
-1 100 0 0
Ki
-0.2 1e4 -7e6 -6e4
Set-points
Selected manually with care
SNH,5set = 0.5 mgl-1, SNO,2 set = 1 mgl-1, SNO,5 set = 12 mgl-1, SS5 set = 4000 mgl-1 r = 1.5
COD,e
Effluent total COD and limit value 4 3.5 3 2.5 2 1.5 1 0.5 0 Ammonia concentration in effluent (mg N/l)
SNH,e
Effluent total ammonia and limit value
15
70
14
60
13
50
12
10 11 time (days)
12
13
14
40
Effluent suspended solids and limit value 30 Suspended solids concentration in effluent (mg SS/l) 28 BOD5 concentration in effluent (mg/l) 26 24 22 20 18 16 14 12 10 7 8 9 10 11 time (days) 12 13 14 10 9 8 7 6 5 4 3 2
SS,e
10 11 time (days)
12
13
14
BOD5,e
Effluent BOD5 and limit value
10 11 time (days)
12
13
14
10 11 time (days)
12
13
14
SNH,e
80
14
70
12
60
10
50
40
10 11 time (days)
12
13
14
12
13
14
SS,e
Effluent suspended solids and limit value
BOD5,e
Effluent BOD5 and limit value 10 9 BOD5 concentration in effluent (mg/l) 8 7 6 5 4 3 2
10 11 time (days)
12
13
14
COD,e
Effluent total COD and limit value 4 3.5 3 2.5 2 1.5 1 0.5 0 Ammonia concentration in effluent (mg N/l)
SNH,e
Effluent total ammonia and limit value
12
60
10
50
40
10 11 time (days)
12
13
14
30
10 11 time (days)
12
13
14
10 11 time (days)
12
13
14
SS,e
Effluent suspended solids and limit value 40 Suspended solids concentration in effluent (mg SS/l) 10 9 BOD5 concentration in effluent (mg/l) 8 7 6 5 4 3 2 35 30
BOD5,e
25
20
15
10
10 11 time (days)
12
13
14
10 11 time (days)
12
13
14
Conclusions
Used simple strategy and complex strategy Important: optimally select the set-points Complex strategy: lower number of effluent violations at the same energy consumption Comments on the benchmark: EQ criterion KLa limitation
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