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follows.
1. Drum level controller : regulates boiler feedwa-
ter flow to maintain drum level at setpoint. LP turbine HPturbine -.. ....
PID control system for Jones Unit #2 thermal power Description Range
plant are presented by Peiia [15] and Hill [6]. u1 : Feedpump scoop position, ( X j p ) 0 1 I
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functions f(.)? g ( . ) ? and h ( - )are smooth functions of The system input can be considered to be the sum
z. The derivative of the ith output yi is represented of the performance input up and the stabilizing input
as (sliding mode) us. The sliding mode gain matrix K
is defined as
yi c .Cfhi(z)+.Cg( :i)hi(z)ui +Ed,(.j)hi(z)uj (3) IC = -[$]-'q (12)
j#i
where V is an appropriate approximation of V ( x ) .
where C f h i ( z )represents the Lie derivative of hi(z) Assuming that $ is diagonally dominant, K is ap-
with respect to vector field f and 9( : j ) represents a proximated as a diagonal matrix. In the absence of
vector field corresponding to the j t h column of matrix accurate models the control system design involves se-
g(z). Equation 3 is written in matrix form as lecting the diagonal elements kid of matrix K ?the size
of the boundary layer p i , and the integration error
y = C(z) + V(z)u (4) weights Xi. The bandwidth of the controller within
the boundary layer is represented by k i i l p i . Since
where C(x) is a vector with ith element ,Cfhi(z)and
tanh(s) can take values of f 1 . 0 , the quantity l k i i / p i l ,
D ( z ) is a matrix with ijth element d,( :qhi(z).The
( p i = ith actuator range) determines the maximum
diagonal terms of matrix D ( z ) are not zero, since the
fraction of the stabilizing input.
boiler turbine model developed by Peiia [15] indicates
that the outputs yi are of relative order 1with respect
to the input ui.
Define a sliding surface
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the number of operational boiler feed pumps changes
from 1 to 2. The plots of the curve fits and the data
points are shown in Figs. 3 - 7.
150 160 170 180 190 200 210 220 230 240
Power output (Mw)
$ . . . .
U
150 160 170 180 190 200 210 220 230 240
power output
Figure 4: Fuel valve cross-section area curve fit
0.8
Figure 7: Burner tilt angle curve fit
0.7
41 2
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Table 4: Sliding mode controller parameters
1- 0.1 ....i.......
..
...
.
i.......i....... !.......?........ i
. .. .. .. .......
....
. .. .. ..
, , . .. ,
i........i.?!V::.:.
.
I Control ~ O O D I h l f l I A l
B
B
170 t..,;. ..
.
~
.
... ...
$
..
I
.........j ...... +.j ......!.......................
I i
+ 1 1
...............i>.... {
160 ....... i.......4 .......i.......;
.__.;
:. ....... .... .... ......
I I
.. I I
.. .. .. ' '
110
9x0 low0 IMW 2MM 2Mw3MM 35000 400004WmWmO
tiam (0
6. Conclusion
7. Acknowledgments
References
Figure 10: Deviations using the PID controller (contd.) [l] Amin, M., Masada, G.Y., and Womak, B.F.,
"Application of a Multivariable Self-Tuning Con-
41 3
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troller to a Power plant Boiler”, Proceedzngs of the 1141 Peltomaa, A. and Koivo H.N., “Tuning of a
1984 American Control Conference, pp. 339-347, San Multivariable Discrete Time PI Controller for Un-
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[3] Fernindez, B. Control of Multivariable Nonlan- Studies”, Ph.D. Dissertation, Department of Electri-
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[4] Ferntindez, B. and Hedrick, J.K., “Generalized
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[ll] Nakamura, H., Toyota, Y., KushoHashi, M.,
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41 4
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