CONTROL

DEGREES OF
FREEDOM
(CDOF)
TOTOK RUKI BIYANTO, PH.D
PLANTWIDE CONTROL
INTRO COURSE: CONTENTS
Overview of plantwide control (W1)
Plant Model (W2)
Selection of primary controlled variables based on economic : The link
between the optimization (RTO) and the control (MPC; PID) layers
- Degrees of freedom (W3)
- Optimization (W4)
- Self-optimizing control (W5)
- Applications (W5, W6)
- Many examples (W5, W6)
Where to set the production rate and bottleneck (W7)
Design of supervisory control layer
- Decentralized versus centralized (MPC) (W9)
- Design of decentralized controllers: Sequential and independent design (W10)
- Pairing and RGA-analysis (W11)
Case studies (W12-W15)

Book :
Luyben “Plantwide Control Process”
Skogestad “Economic Plantwide Control : Automated controlled variable selection for a
reactor-separator-recycle process”
Gade Pandu “Plantwide Control Recent Developments and Applications”
INTRODUCTION

Control degrees of Freedom (CDOF) refers

to the number of variables that can be manipulated
independently in a given process. It is one of the
first step in the design on plantwide control (PWC)
systems.
To understand CDOF, it is important to
understand the concept of degrees of freedom
(DOF) within the context of mathematical
modeling. In principle, any system can be
represented by a set of mathematical equations
containing a number variables.
DOF
DOF of a system is the number of system
variables, whose values must be specified before the
remaining variables can be calculated.

(Felder and Rousseau, 2005)

𝐷𝑂𝐹 = 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑢𝑛𝑘𝑛𝑜𝑤𝑛 𝑣𝑎𝑟𝑖𝑎𝑏𝑙𝑒𝑠 − 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑖𝑛𝑑𝑒𝑝𝑒𝑛𝑑𝑒𝑛𝑡 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛𝑠

 CDOF EQUATION
(Stephanopoulos, 2003)

𝐶𝐷𝑂𝐹
= 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑢𝑛𝑘𝑛𝑜𝑤𝑛 𝑣𝑎𝑟𝑖𝑎𝑏𝑒𝑙𝑠
− (𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑖𝑛𝑑𝑒𝑝𝑒𝑛𝑑𝑒𝑛𝑡 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛
+𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑒𝑥𝑡𝑒𝑟𝑛𝑎𝑙 𝑣𝑎𝑟𝑖𝑎𝑏𝑒𝑙𝑠, 𝑖. 𝑒. , 𝑑𝑖𝑠𝑡𝑢𝑒𝑏𝑎𝑛𝑐𝑒𝑠)

(Dixon, 1972)

𝐶𝐷𝑂𝐹 = 𝐶𝐷𝑂𝐹𝑠𝑠 + 𝑁0 = 𝑁𝑏𝑣 − 𝑁𝑏𝑒𝑠 + 𝑁0

Dengan :
𝑁𝑏𝑣 = number of boundary variables
𝑁𝑏𝑒𝑠 = number of boundary equations at steady state
𝑁0 = number of independent hold-ups that cannot be determined at steady state
(e.g. liquid level in a tank cannot be determined at steady state as the steady
state models do not usually contain accumulation terms that do not influence
steady state mass and energy balances)
 (Konda et al, 2006)

𝐶𝐷𝑂𝐹 = 𝑁𝑠𝑡𝑟𝑒𝑎𝑚𝑠 − σ𝑎𝑙𝑙

1
𝑡ℎ𝑒 𝑢𝑛𝑖𝑡𝑠
𝑁𝑟𝑒𝑠𝑡𝑟𝑎𝑖𝑛𝑖𝑛𝑔 − 𝑁𝑟𝑒𝑑𝑢𝑛𝑑𝑎𝑛𝑡

𝑁𝑠𝑡𝑟𝑒𝑎𝑚𝑠 = total number of streams

𝑁𝑟𝑒𝑠𝑡𝑟𝑎𝑖𝑛𝑖𝑛𝑔 = number of process streams that cannot be manipulated
𝑁𝑟𝑒𝑑𝑢𝑛𝑑𝑎𝑛𝑡 = total number of process streams that need not be
manipulated/controlled in the process
DOF PADA LPGF

PC
PC PC
LC
TC LC TC LC
TC

TC
TC TC
LC
LC LC
Kesetimbangan pada Kolom

𝐹 =𝐷+𝐵

F= laju aliran umpan

D= laju aliran distilat
B= laju aliran produk bawah

𝐹𝑋𝐹 = 𝐷𝑋𝐷 + 𝐵𝑋𝐵

𝑋𝐹 = fraksi umpan
𝑋𝐷 = fraksi distilat
𝑋𝐵 = fraksi produk bawah
Kesetimbangan Massa Komponen
dan Energi pada Kondenser

𝑑𝑀𝐷
= 𝑉𝑇 − 𝐿 − 𝐷
𝑑𝑡

= laju aliran uap keluaran kolom atas

𝑉𝑇
L = laju aliran refluks

𝑋
= fraksi dari uap keluaran
𝑉𝑇
kolom distilasi

ℎ
= entalpi pada uap keluaran kolom atas
𝑉𝑇

ℎ𝐷
= entalpi pada distilat
𝑑 (𝑀𝐷 ℎ𝐷 )
= 𝑉𝑇 ℎ − 𝐿ℎ𝐿 − 𝐷 ℎ𝐷 + 𝑄𝐶 = entalpi pada refluks
𝑑𝑡 𝑉𝑇 ℎ𝐿
𝑄𝑐 = laju aliran panas kondensor
Kesetimbangan Massa Komponen
dan Energi pada Reboiler

𝑑𝑀𝐵
= 𝐿1 − 𝑉𝑅𝐵 − 𝐵
𝑑𝑡

𝐿1
= laju aliran keluaran kolom bawah
𝑉
= laju aliran steam reboiler
𝑅𝐵

𝑑 (𝑀𝐵 𝑋𝐵 )
= 𝐿1 𝑋1 − 𝑉𝑅𝐵 𝑋 − 𝐵𝑋 𝐵
𝑑𝑡 𝑉𝑅𝐵

𝑋1
= fraksi keluaran bottom stage kolom
𝑋
= fraksi steam reboiler
𝑉𝑅𝐵

ℎ1
= entalpi keluaran kolom bawah
ℎ𝑅𝐵
= entalpi steam reboiler
𝑑 (𝑀𝐵 ℎ𝐵 )
= 𝐿1 ℎ1 − 𝑉𝑅𝐵 ℎ
𝑉𝑅𝐵
− 𝐵ℎ𝐵 + 𝑄𝐵
ℎ𝐵
= entalpi produk bawah
𝑑𝑡
𝑄
= laju aliran panas pada reboiler.
𝐵
 Variabel Jumlah
VARIABLES PADA
LPGF
Komposisi Tray kolom deethanizer 22 Nse
Umpan kolom deethanizer 44
Refluks akumulator kolom 22
deethanizer
Tray kolom depropanizer 22 Nsp
Umpan kolom depropanizer 22
Kondensor kolom depropanizer 22 Variabel Jumlah
Aliran Vapour reboiler kolom debutanizer 1
Tray kolom debutanizer 22 Nsb
Umpan kolom debutanizer 22 Bottom kolom debutanizer 1
Kondenser kolom debutanizer 22 Energi Qreb kolom deethanizer 1
Aliran Umpan kolom deethanizer 2 Heat exchanger 1
Tray (cairan dan gas) kolom 2 Nse Qreb kolom depropanizer 1
deethanizer Qcon kolom depropanizer 1
Overhead kolom deethanizer 1 Qreb kolom debutanizer 1
Liquid draw kolom deethanizer 1 Qcon kolom debutanizer 1
Liquid draw refluks akumulator 1 Tekanan Tray kolom deethanizer 1
Tray kolom depropanizer 1
Distilat kolom deethanizer 1
Tray kolom debutanizer 1
Vapour reboiler kolom deethanizer 1
Jumlah tray Kolom deethanizer 1
Bottom kolom deethanizer 1 Kolom depropanizer 1
Umpan kolom depropanizer 1 Kolom debutanizer 1
Tray (cairan dan gas) kolom 2 Nsp Temperature Tray kolom deethanizer Nse
depropanizer Heat exchanger 1
Refluks kolom depropanizer 1 Reboiler kolom deethanizer 1
Distilat kolom depropanizer 1 Tray kolom depropanizer Nsp
Vapour reboiler kolom depropanizer 1 Kondenser kolom depropanizer 1
Reboiler kolom depropanizer 1
Bottom kolom depropanizer 1 Tray kolom debutanizer Nsb
Umpan kolom debutanizer 1 Kondenser kolom debutanizer 1
Tray (cairan dan gas) kolom 2 Nsb Reboiler kolom debutanizer 1
debutanizer Jumlah variabel = 25 Nse + 25 Nsp + 25 Nsb + 192
Refluks kolom debutanizer 1
 Persamaan Jumlah
Kesetimbangan
komponen
Tray kolom deethanizer
Refluks akumulator kolom deethanizer
11 Nse
11 PERSAMAAN
PADA LPGF
Kesetimbangan
keseluruhan
Reboiler kolom deethanizer 11
Tray kolom depropanizer 11 Nsp
Kondenser kolom depropanizer 11
Persamaan Jumlah
Reboiler kolom depropanizer 11
Tray kolom debutanizer 11 Nsb Kesetimbangan Kondenser kolom debutanizer 12
fasa
Kondenser kolom debutanizer 11
Reboiler kolom debutanizer 11 Reboiler kolom debutanizer 12
Kolom deethanizer Nse Kesetimbangan Tray kolom deethanizer Nse
energi Reboiler kolom deethanizer 1
Refluks akumulator kolom deethanizer 1
Heat exchanger 3
Reboiler kolom deethanizer 1 Tray kolom depropanizer Nsp
Heat exchanger 3 Kondenser kolom depropanizer 1
Kolom depropanizer Nsp
Kondenser kolom depropanizer 1 Reboiler kolom depropanizer 1
Reboiler kolom depropanizer 1
Kolom debutanizer Nsb Tray kolom debutanizer Nsb
Kondenser kolom debutanizer 1 Kondenser kolom debutanizer 1
Reboiler kolom debutanizer 1
Kesetimbangan fasa Kolom deethanizer 12 Nse Reboiler kolom debutanizer 1
Refluks akumulator kolom deethanizer 12 Pemisahan Kolom deethanizer 1
komponen Kolom depropanizer 1
Reboiler kolom deethanizer 12 Kolom debutanizer 1
Heat exchanger 12 Penurunan Kolom deethanizer 1
Kolom depropanizer 12 Nsp tekanan Kolom depropanizer 1
Kondenser kolom depropanizer 12 Kolom debutanizer 1
Reboiler kolom depropanizer 12 Jumlah persamaan = 25 Nse + 25 Nsp + 25 Nsb + 177
Kolom debutanizer 12 Nsb
DOF PADA LPGF
𝐷𝑂𝐹 = 𝑉𝑎𝑟𝑖𝑎𝑏𝑒𝑙 − 𝐸𝑞𝑢𝑎𝑡𝑖𝑜𝑛
𝐷𝑂𝐹 = (25 Nse + 25 Nsp + 25 Nsb + 192) – (25 Nse + 25 Nsp + 25 Nsb + 177)
𝐷𝑂𝐹 = 15

Pada plant terdapat enam elemen level cairan yang harus

dikendalikan (refluks akumulator dan reboiler pada masing-masing
kolom distilasi), satu temperatur yang harus dijaga (pada heat
exchanger kolom deethanizer), dua pressure yang harus dijaga
(bagian atas pada kolom depropanizer dan debutanizer), maka hanya
tersisa dua DOF untuk masing-masing kolom.
DOF PADA WHRPG
KESETIMBANGAN MASSA DAN ENERGI
WHRPG
 Variabel Proses WHRPG
No Unit operasi Variable simbol Jumlah
VARIABEL PROSES
DAN VARIABEL YANG
DIGUNAKAN PADA
1 Steam Drum Liquid fraction Xl 1

WHRPG
Vapor fraction Xv 1
Flow liquid Fl 1
Flow vapor Fv 1
tekanan steam drum P 1
Variabel yang digunakan pada WHRPG
2 Economizer Mass balance flowrate in ṁin 1
No Nama variable Unit operasi Jumlah
Mass balance flowrate ṁout 1 1 Component Steam drum 1
out balance
Energi balance - 1
2 Mass balance Superheater 2
Komponen - 1 Evaporator 2
3 Evaporator Mass balance flowrate in ṁin 2 Economizer 1
Steam Drum 2
Mass balance flowrate ṁout 2
out Turbine 1
Energi balance - 2 3 Vapor Liquid 4
Komponen - 1
equilibrium
4 Superheater Mass balance flowrate in ṁin 2 4 Energi balance Superheater 2
Evaporator 2
Mass balance flowrate ṁout 2 Economizer 1
out Total 18
Energi balance - 2
Komponen - 1
5 Turbine Energi balance - 1 𝐷𝑂𝐹 = 25 − 18 = 7
Mass balance - 1
Total 25
DOF PADA GAS SWEETENING
VARIABEL
PADA GAS
SWEETENING
PERSAMAAN
PADA GAS
SWEETENING

DOF PADA GAS

SWEETENING
𝑫𝑶𝑭 = 𝑽𝒂𝒓𝒊𝒂𝒃𝒆𝒍 − 𝑷𝒆𝒓𝒔𝒂𝒎𝒂𝒂𝒏
= 𝟑𝟏𝑵𝒔 + 𝟑𝟏𝑵𝒔𝒂 + 𝟏𝟎𝟓 −
𝟑𝟏𝑵𝒔 + 𝟑𝟏𝑵𝒔𝒂 + 𝟗𝟓 = 𝟏𝟎
THANK
YOU 
Any Questions ?