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AbstractOn-line implementation of self-tuning mechanism Laguerre polynomial techniques, and neural networks [7],
based adaptive fuzzy logic control of a pH neutralization [8], [9], [10], [11], [12], [13], [14]. In addition, popular
process which takes care of steady state error and time conventional adaptive techniques such as gain-scheduling,
taken to reach steady state under varying operating model reference adaptive control and self-tuning
conditions has been presented in this paper. The pH regulators are also realized using advanced identification
neutralization system is Armfield pH Sensor Accessory and control techniques [15], [16], [17].
(PCT42) in conjunction with Process Vessel Accessory
(PCT41) and Multifunction Process Control Teaching Dynamic pH model ability to replicate the actual
System (PCT40). The proposed adaptive scheme updates the nonlinear behavior of neutralization processes limited the
normalized universe of discourse of output fuzzy accuracy and ability of the controller. Thus few
membership functions with varying scaling factors based on researchers used concept of model-free intelligent control
error and change of error values. The speed of response of [18], [19], [20]. The fuzzy logic control is based on
the adaptive controller is taken care by use of coarse control intelligent methodology of human thinking and decision
technique whereas amount of deviation under steady state is making mechanisms. Self-organizing based adaptive
accounted with the help of fine control technique. The control has been implemented using fuzzy logic [21], [22].
performance of adaptive scheme is tested for pH control at This paper discusses on-line application of fuzzy logic
equivalence point. LabVIEW software is used for online based self-tuned pH control of strong acid-strong base
communication, control and display.
neutralization process stream.
Keywords-pH neutralization; nonlinear process; fuzzy II. DESCRIPTION OF NEUTRALIZATION PLANT
logic control; self-tuning control; adaptive control; on-line
control The Armfield pH neutralization system is shown in
Figure 1. The pH probe PCT42 calibration against buffer
I. INTRODUCTION pH solutions of 4, 7 and 9.2 results in a linear relationship
Control of pH has vital significance in our daily life. between sensor voltage and equivalent pH. The pH
Modern process industries such as food processing units, neutralization process takes place in PCT41 with perfect
biopharmaceutical manufacturing plants, iron & steel mixing and constant maximum volume (V). The PCT40
industry and thermal power plants run various operations has two peristaltic pumps A and B which regulate flow of
where pH monitoring and controlling are critical. More hydrochloric acid (HCl) and sodium hydroxide (NaOH)
importantly, vast and rapid globalization necessitated having concentrations Ca and Cb respectively. Although
enormous focus on pH control of industrial effluents using speed of pumps A and B, Sa and Sb respectively, can vary
wastewater treatment so that ecological and environmental from 0 to 100% of maximum speed, both pumps do not
balance could be maintained in our Mother Nature. pH start below a minimum value of 18%. During pump
control is often taken as benchmark problem for nonlinear operation within useful range of 18 to 100%, pump
control because of highly nonlinear nature of flowrate varies almost linearly with speed. A brief and
neutralization reaction. Time varying nature of pH important specifications of pH neutralization process is
neutralization process essentially makes pH as a moving given in Table I.
target whose precise control is almost impossible to Using standard universal synchronous bus interface
achieve. Therefore, although pH control is conventional the PCT40 communicates with LabVIEW software
problem but it still fascinates many young researchers. installed on a personal computer having Windows XP
Early works on pH control were based on design of Professional 2003 operating system. The PCT40 interface
adaptive techniques using dynamic process models device driver contains a dynamic link library (DLL) file
developed using first-principle approaches such as laws of which stores various input-output analog and digital
conservation, physical and chemical laws, reaction control signal values. The analog signals between 0 V or
invariants, and strong acid equivalent [1], [2], [3], [4], [5], 0% to 5 V or 100% are stored in 12-bit signed-magnitude
[6]. Rapid advances in modern process control led to representation as 000000000000 to 011111111111 in
development of nonlinear model based predictive control binary or 0 to 2047 in decimal whereas the digital signals
schemes. Many popular model predictive control either 0 V or 5 V are stored in 1-bit representation as 0 or
strategies incorporated nonlinear process models including 1 in binary, respectively. LabVIEW software accesses the
those based on Wiener, Hammerstein, Volterra series, DLL file for following functionality: read analog input,
in the operating conditions. In this paper, we have
designed a self-tuned FLC, shown in Figure 4, whose
output scaling factor K3 are as per entries in Table III. The
input variables e and ce are divided into following seven
identical regions: e1, ce1 [-6,-1); e2, ce2 [-1,-0.5); e3,
ce3 [-0.5,-0.1); e4, ce4 [-0.1,0.1]; e5, ce5 (0.1,0.5];
e6, ce6 (0.5,1]; e7, ce7 (1,6]. As evident from Table III
entries, K3 has been assigned a larger value if pH is away
from pHSP and K3 has been assigned a smaller values as
pH approaches pHSP. Using large K3 when pH is at
distance from pHSP will ensure reduced settling time and
using small K3 when pH is near pHSP will ensure steady-
state response within settling band. Therefore Table III
entries validates use of coarse control and fine control
techniques.
NL NM NS ZE PS PM PL
Figure 1. Armfield pH neutralization system (PCT42 plus 1
PCT41 plus PCT40)
Degree of membership
TABLE I. NEUTRALIZATION PROCESS SPECIFICATIONS
Quantity Specification
Sampling period 1s
7.4
7
pH
6.6
6.2
5.8
1 101 201 301 401 501
Sample number
Sa Sb (M = 1) Sb (M = 2) Sb (M = 3) Sb (M = 4)
65
60
55
50
Pump speed (%)
45
40
35
30
25
20
1 101 201 301 401 501
Sample number
Figure 7. Pump B response for K1 = 10, K2 = 0.5, pHSP (initial) = 6, pHSP (final ) = 7
37 K3' (M = 1) K3' (M = 2) K3' (M = 3) K3' (M = 4)
33
29
25
21
17
K3'
13
1
1 101 201 301 401 501
Sample number
Figure 8. K3' for K1 = 10, K2 = 0.5, pHSP (initial) = 6, pHSP (final ) = 7
8.2 pHSP pH (M = 1) pH (M = 2) pH (M = 3) pH (M = 4)
7.8
7.4
pH
6.6
1 101 201 301 401 501
Sample number
Figure 9. pH response for K1 = 10, K2 = 0.5, pHSP (initial) = 8, pHSP (final ) = 7
50 Sa Sb (M = 1) Sb (M = 2) Sb (M = 3) Sb (M = 4)
45
Pump speed (%)
40
35
30
25
1 101 201 301 401 501
Sample number
Figure 10. Pump B response for K1 = 10, K2 = 0.5, pHSP (initial) = 8, pHSP (final ) = 7
33
29
25
21
K3'
17
13
1
1 101 201 301 401 501
Sample number
Figure 11. K3' for K1 = 10, K2 = 0.5, pHSP (initial) = 8, pHSP (final ) = 7