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A plant in general
disturbances
control inputs
outputs to be controlled
measurements
Root Locus 15 0.02 0.032 System: sys_pl Gain: 2.1 Pole: -0.306 + 9.27i Damping: 0.0329 System: sys_pl Overshoot (%): 90.2 Gain: 0.000901 Frequency + 5.26i Pole: -0.306(rad/sec): 9.28 Damping: 0.0579 Overshoot (%): 83.3 Frequency (rad/sec): 5.27 0.0135 0.0095 0.0065 0.0042 0.002 14 12 10 10 8 6 4 2
0.06
Imaginary Axis
2 4
-5
0.06
6 8
-10
0.032 0.02 0.0135 -0.25 -0.2 0.0095 -0.15 0.0065 0.0042 0.002 -0.1 -0.05
10 12
-15 -0.35
14 0
-0.3
Real Axis
Root Locus 6 0.64 0.8 4 System: sys_ol Gain: 0.573 0.94 -5.99 2 Pole: Damping: 1 Overshoot (%): 0 Frequency (rad/sec): 5.99 0 System: sys_ol Gain: 1 Pole: -1.32 + 0.657i Damping: 0.895 Overshoot (%): 0.184 Frequency (rad/sec): 1.47 0.5 0.38 0.28 0.17 0.08
6 5 4 3 2 1
Imaginary Axis
1 -2 0.94 2 3 -4 0.8 0.64 -6 -6 -5 -4 0.5 -3 Real Axis 0.38 -2 0.28 0.17 -1 0.08 4 5 60
Bode Diagram Gm = Inf dB (at Inf rad/sec) , Pm = 9.4 deg (at 7.43 rad/sec) 20
-20
-40
10
10 Frequency (rad/sec)
10
10
10 Frequency (rad/sec)
10
Should track input (zero steady-state error) Should have enough stability robustness: gain and phase margins should be comfortable Robustness to variations of gain: performance robustness Robustness to high frequency noise Good output disturbance rejection
4 4
t
2 3
1 6 5 1
s
6
Load demand control Firing rate control Air and fuel flow control Secondary air-flow control Drum-level control Furnace draft control
PT Boiler
Boiler firing rate demand, Air and fuel demand,
PT
Steam pressure sensed by the transmitter controls pressure at the first stage
Boiler
Boiler firing rate demand, Air and fuel demand,
Demand signal
PT Boiler
Boiler firing rate demand, Air and fuel demand, MW f
f(x)
Co-ordinated Control
PT
FT
MW
Boiler
Boiler firing rate demand, Air and fuel demand,
Control the heat supplied to the boiler by controlling the flow of fuel and air. The ratio of fuel and air is maintained so that incomplete burning due to excess fuel or excessive losses due to excess oxygen do not occur. Problems due to excess fuel: Increased pollution Production of poisonous Carbon Monoxide Dangerous collection of unburnt fuel in the furnace Problems due to excess oxygen:
Total loss Heat losses Chimney loss
Unburnt loss
Excess Oxygen
When demand increases, air-flow must increase first followed by increase in fuel flow. When demand decreases, fuel-flow must decrease first followed by decrease in air-flow
PIC
Controller compares it with steam pressure corresponding to demand Setpoints of fuel flow and air flow controllers altered
If more flow is required, valve opens, else closes if less flow is required
The response of the fuel control loop is much faster than the response of the air-flow control loop. As a result, increase in load shall cause momentary increase in fuel compared to air leading to black smoke and increased CO content. Similarly, decrease in load will lead to an Oxygen rich mixture.
FT
PT
Steam pressure
Air flow
FT
Airflow increases
PIC
+ve
Setpoint raised
<
+ve 0
>
PIC
0, no change in setpoint
+ve signal, setpoint raised, valve opens till FT o/p matches setpoint
PIC
Damper opens till FT o/p matches setpoint
FC
FC
DPT
DPT
Hot air
Coal Feeder
Mill
TT
Tempering air
f(x) FC
PT f(x)
X H/A
Master Demand
Mill diff
PA diff
PA temp
DPT
DPT
TT f(x)
f(x)
Temperature Compensation of PA differential f(x) Pressure signal Coal equivalent of oil burning at this group Oil burning At this group
H/A
<
PID
TT
Minimum PA Flow limit Coal flow demand
PID
Mill H/A
PID
H/A
Feeder speed controller
H/A
Tempering Air damper actuator
H/A
PIC
f(x)
H/A
H/A
Furnace pressure cut-back (Progressively reduces FP set point if pressure approaches safety limit for the furnace design)
CD
CD
FT
FT
FC
CD
CD Fan B
Fan A
FT
FT
FC
CD
CD Fan B
Fan A
LT
LC
Feed-water
FT
2
LT
LC
FC
Feed-water
FT
2
LT
LC
FC FT
Feed-water
Primary super-heater
TT
TT
TC TC
Primary super-heater
TC TT
TC
G2(s)
G1(s)
TT
TC
2
TC
mi m0 ma V
mi hi m0 h0 ma ha Qmf V
Q gm Qmf MCP d (Tm ) dt
d ( 0 h0 ) dt
d (hgo ) dt
Qgm gmca(0.5
hgi C pg
0.5
hgo C pg
Tm )
moss
5
6 7 8
o
g
f Cp
1000
0.67 35.96
kg/m3
kg/m3
0.47 kJ/kg.K
9
10 11
Cpg
1.41 kJ/kg.K
140.0 W/m2.K 30.0 W/m2.K
ms gmc
The typical auxiliary control loops are the following: Closed cycle cooling water system Feedwater heater level control
Usually employs an estimation algorithm for correction of control inputs to tackle uncertainties Can be used for multi-regime operation
Example: Use of a simulator to correct the demand for steam with compensation for bled steam in co-ordinated control
Conclusion
Use of thermal energy is older than civilization itself- mankind mastered lighting a fire much before learning to draw or write. Harnessing thermal energy to produce electricity is as old as old man Faraday himself, but the technology for this is ever evolving and always in a nascent state.
Thank you.