two-stage adaptive feed-forward predictive controltwo-stage adaptive feed-forward predictive...
TRANSCRIPT
Two-Stage Adaptive Feed-forward
Predictive Control: with Applications to Algal Growth Systemswith Applications to Algal Growth Systems
Michael Buehner
Ph.D. Preliminary Exam
June 26th, 2008
11:00 am
Biofuels From Microalgae
Use CO2, sun energy, nutrients to produce microalgae biomass
Create storage lipids for biofuel Create storage lipids for biofuel production via “stressing”
DOE’s Aquadic Species Program
NREL (1978-1996)
Solix Biofuels
Issues with Current TechnologyWhat are the desired operating conditions?
What are the theoretical limits and how What are the theoretical limits and how do we achieve them?
What is a cost effective solution?
What microalgae strain should be used?
What method should be used for growing and stressing the microalgae?
Topics
Adaptive Feed-forward (FF) Predictive Control
Algal Growth System (AGS) ModelingAlgal Growth System (AGS) Modeling
Understand and improve process
Address control objectives
AGS Control
Reduce cost
Improve performance
Adaptive FF Predictive Control
Motivation
Architecture
LTI MethodsLTI Methods
Examples
Future Work
Neuralmuscular Actuation Systems
Calculate desired path (FF calculation)
Balistic response (FF Control)Balistic response (FF Control)
Dynamic corrections to ballistic response (FB control on small error signals)
Architecture
G = GnoiGi
Desired Closed Loop: GnoiPdes
FF 1: DC Gain = 1
FF 1 and FF 2: Open-loop Stable
LTI Method 1
GK
GKT
+=
142
GK
GT
+=
143 desidesnoi PGTPGTT
1
434241
−+=
LTI Method 1 Cont.
desidesnoi PGTPGTT +=−1
434241
GK
GKT
+=
142
GK
GT
+=
143
desnoi
desnoi
desnoidesnoi
desiinoi
desnoi
desidesnoi
PG
PGGK
GK
PGGK
PGGK
GK
PGGK
GGPG
GK
GK
=
+
+=
++
+=
++
+=
−
1
1
1
1
1
1
)(
1
1
434241
LTI Method 2 (Smith Predictor)
desides PGTPTT1
434241
−+=
KG
GKT
i+=
142
KG
GT
i+=
143
LTI Method 2 Cont.
desides
GGKGG
PGTPTT +=−
)(
1
434241
KG
GKT
i+=
142
KG
GT
i+=
143
desnoi
desnoi
i
i
desnoi
i
desnoi
i
i
desi
i
inoides
i
inoi
PG
PGKG
KG
PGKG
PGKG
KG
PGKG
GGP
KG
KGG
=
+
+=
++
+=
++
+=
−
1
1
1
1
1
11
)( 1
LTI Example Using Standard FB
dse
s
ssG
τ−
+
+=
1
5)(
PI Controller
Kp = 0.1111
Ki = 0.1005
Disturbance
d(t) = 0.1 u(t-20)
Plant
1=τ
e(t) u(t)
r(t)
y(t)
plant output
disturbance
d(t)
Step
s+5
s+1
Plant TF (G_i) Plant Delay (G_noi)
FB error FB control
PID
FB Controller
Add1
1=dτ
LTI Example with FB Only Plots
0.5
1
1.5
Inputs
/ O
utp
ut
Stable Minimum-Phase FOPTD System with τd = 1
r(t)
y(t)
d(t)
0 5 10 15 20 25 30 35 400
time (sec)
0 5 10 15 20 25 30 35 40-0.5
0
0.5
1
time (sec)
FB
err
or
/ C
ontr
olle
r O
utp
ut e(t)
ufb
(t)
LTI Example Using Method 1
ds
noi esGτ−
=)(
1
5)(
+
+=
s
ssGi
dse
s
ssG
τ−
+
+=
1
5)(
Plant
1=dτ
Feed-forward Terms
1
1)(
+=
ssPdes
τ
0≥τ
r_ff(t)
r_ti lde_ff(t)
e(t) u_fb(t) u(t)
r(t)
y(t)
plant output
disturbance
Step
s+5
s+1
Plant TF (G_i) Plant Delay (G_noi)
FF+FB control
s+1
s+5
FF 2 (G_i^{-1})
FF 2
1
tau.s+1
FF 1 TF (P_des)
FF 1 (G_noi)
FF 1
FB error FB control
PID
FB Controller
Disturbance
Add1
Add
Method 1 Plots
0.5
1
1.5
Inputs
/ O
utp
ut
Stable Minimum-Phase FOPTD System with τ = 0.5 and τd = 1
r(t)
rtildef f
(t)
y(t)
0 5 10 15 20 25 300
time (sec)
Inputs
/ O
utp
ut
y(t)
d(t)
0 5 10 15 20 25 30
0
0.2
0.4
0.6
0.8
1
time (sec)
FB
err
or
/ C
ontr
olle
r O
utp
ut e(t)
ufb
(t)
u(t)
LTI Example Using Method 2
ds
noi esGτ−
=)(
1
5)(
+
+=
s
ssGi
dse
s
ssG
τ−
+
+=
1
5)(
Plant
1=dτ
Feed-forward Terms
1
1)(
+=
ssPdes
τ
0≥τ
r_ff(t)r(t) s+11 r_ff(t)
r_ti lde_ff(t)
e(t) u_fb(t) u(t)
r(t)
y(t) plant output
disturbance
Step
Plant Delay (G_noi)
u(t) y (t)
Plant
s+5
s+1
G_i
u(t) y (t)
G
FF+FB control
s+1
s+5
FF 2 (G_i^{-1})
FF 2
1
tau.s+1
FF 1 TF (P_des)
FF 1
FB error FB control
PID
FB Controller
Disturbance
Add4
Add3
Add2
Add
Method 2 Plots
0.5
1
1.5
Inputs
/ O
utp
ut
Stable Minimum-Phase FOPTD System with τ = 0.3 and τd = 1
r(t)
rtildef f
(t)
y(t)
d(t)
0 5 10 15 20 25 300
time (sec)
d(t)
0 5 10 15 20 25 30
0
0.2
0.4
0.6
0.8
1
time (sec)
FB
err
or
/ C
ontr
olle
r O
utp
ut e(t)
ufb
(t)
u(t)
Method 2 Plots (Kp = 2, Ki =1)
0.5
1
1.5
Inputs
/ O
utp
ut
Stable Minimum-Phase FOPTD System with τ = 0.3 and τd = 1
r(t)
rtildef f
(t)
y(t)
0 5 10 15 20 25 300
time (sec)
Inputs
/ O
utp
ut
d(t)
0 5 10 15 20 25 30
0
0.2
0.4
0.6
0.8
1
time (sec)
FB
err
or
/ C
ontr
olle
r O
utp
ut e(t)
ufb
(t)
u(t)
Future Work – LTI Methods
Optimized designs
Closed-loop GnoiPdes
Feedback controller KFeedback controller K
Robustness analysis and design
Smith predictor
Model uncertainty
Future Work – NLTV Methods
Nonlinear Time-varying (NLTV) Methods
Nonlinear models
Reinforcement learningReinforcement learning
Echo state networks
Gi-1 : well studied
Pdes : research required
AGS Modeling
Motivation
Types of Models
Prior WorkPrior Work
Overall Model
Future Work
Motivation
Understand Process
Feedback Controller SynthesisFeedback Controller Synthesis
FF Control
Prior Work
Reactors
Open Ponds
Airlift ReactorsAirlift Reactors
Flat Panel Reactors
Modeling Techniques
Curve Fits
1st and 2nd order LTI Systems
Monod Kinetics
Types of Models
AGS Testbed at Solix Biofuels
Testbed AGS with 3 PBRs
Each PBR contains 2 panels
Commanded Inputs
media
nutrientsmedia
bubble
Water Chemistry
Subsystem
PBR Volume (L)
PBR Surface Area (m^2)
O2diss
initV_L
Inital Volume (L)
Harvest Rate
intialVolme
mediaRate
harv estRate
v olume
surf aceArea
Dimension
CO2diss
CO2 MFC
Air MFC
Overall Model
Sensor Measurements
Geography
Date and Time
pH
long_deg
longtude
long_std
longitude standard
l ipidFraction
lat_deg
latitude
dayl ight_sav
daylight savings
cellmass
CO2diss
O2diss
CO2vent
O2vent
pH
bubble
pump
CO2in
CO2rate
O2rate
growthRate
sensor_OD
Turbidity Sensor
Temperature
Pump CO2rate
O2rate
growthRate
lipidFraction
harvest
cellDensity
opticalDensity
nutrients
CO2
O2
pH
temp
clight
harvestRate
darkRespiration
ODsensor
Photosynthesis
Subsystem
sensor_PAR
PAR Sensor
OD
O2vent
Air MFC
date_time
geography
sun intesity
cell density
usable PAR
Light Subsystem
Harvested Algae
Growth Rate
date_time_num
Date Number
R
Dark Respiration Rate
CO2vent
Air MFC
Light Subsystem
Physical / Algebraic Model
Photosynthetically Active Radiation (PAR)
43% of incident light energy43% of incident light energy
Number of Available PAR photons
PARalgae = f1(PARsensor, sun position, mixing)
Growth Model Overview
Microalgal growth is function of incident light photons
Exponential for sparse culturesExponential for sparse cultures
Linear for more dense cultures
Microalgae will respirate in the dark (i.e., loss of biomass)
Harvesting
Growth Model Overview Cont’d
Measures of Growth
Biomass produced
CO consumedCO2 consumed
O2 produced
Microalgae are 50% Carbon
1.83 g CO2 / g Microalgae
8 Moles Light / Mole O2 Produced
Growth Model
)geometry,mixing,(
),min(
algaedense
densealgaealgae
algaealgaePARPARalgae
mfm
mmm
uRmmIKm D
=
=
−−=&
malgae < mdense - exponential growth (KPARIPAR – R)
malgae ≥ mdense - linear growth, exponetial Decay
)geometry,mixing,( algaedense mfm =
algaeOO
algaeCOCO
22
22
mKm
mKm
&&
&&
=
=
Growth Phases
time
ma
ss
Exponential
Growth
Linear
Growth
Stationary
Growth Model Sim Without Saturation
0.5
1
1.5
2
2.5
3
Norm
aliz
e M
icro
alg
ae M
ass
Actual Mass
0 10 20 30 40 50 60 70 80 900
0.5
hours
Norm
aliz
e M
icro
alg
ae M
ass
Actual Mass
Modeled Mass without Saturation
0 10 20 30 40 50 60 70 80 900
2
4
6
8
10
hours
PA
R (
mol/m
2/h
)
Growth Model Sim With Saturation
0.5
1
1.5
2
Norm
aliz
e M
icro
alg
ae M
ass
Actual Mass
0 10 20 30 40 50 60 70 80 900
hours
Norm
aliz
e M
icro
alg
ae M
ass
Actual Mass
Modeled Mass with Saturation
0 10 20 30 40 50 60 70 80 900
2
4
6
8
10
hours
PA
R (
mol/m
2/h
)
Water Chemistry Model
Dynamic physical and empirical model
Mass balances
Input CO2 and O2Input CO2 and O2Dissolve CO2 and O2Consumed CO2 and O2Vented CO2 and O2Nutrients input
Nutrients consumed
Future Work
Define other interactions through experimentation
MixingMixing
Nutrient availability
Use biological and physical based models when possible
Lipid production model
AGS Control
Completed Work
FF + FB pH control
Observer-based FF controllerObserver-based FF controller
Example with FB only control
Ongoing Research
Two-Stage FF Control
Lipid Production (w/ open Q’s)
pH Control
Observer-Based FF Control
Example pH regulation
05/24 05/25 05/26 05/27 05/28 05/291
1.5
2
Solix Data
Dry
Ma
ss
2000
Incid
en
t R
ad
iatio
n
PAR (µ mol /(m2 sec))
PYRA (W/m2)
05/24 05/25 05/26 05/27 05/28 05/290
1000
2000
Incid
en
t R
ad
iatio
n
05/24 05/25 05/26 05/27 05/28 05/297.1
7.2
7.3
pH
05/24 05/25 05/26 05/27 05/28 05/290
2
4
Fe
ed
ba
ck C
on
tro
l
PYRA (W/m )
setpoint
measured
MFC Flow
Two-Stage FF AGS Control
ufb(t) : CO2 flow rate
r(t) : target culture density
rff(t) : growth trajectory
: pH trajectory for given growth)(~ trff
=
mixing
ratenutrient
flowCO
)(
2
tu ff
)(
0
0
)(
)( tu
tu
tu ff
fb
+
=
=
2
2
CO dissolved
O dissolved
density
pH
)(ty
Lipid Production
Microalgae respond to stress by creating lipids
Stress includes nutrient depletion, COStress includes nutrient depletion, CO2limitation, and intense sun energy
Biphasic approach
Grow to a target density
Deplete nutrients
One-Shot Nutrient Limited Growth
Expected ContributionsTwo-Stage Adaptive FF Predictive Control
Theoretical framework
Robust performance analysis and design
Flat Panel AGS Model
Physically based
AGS Control
Improve Resource Utilization
See Appendix for Other Work
Future Directions – FB Control
Optimized Design
Design Pdes and K
Robust Performance Analysis and DesignRobust Performance Analysis and Design
Model Uncertainty
Smith Predictor
Future Directions – FF Control
Nonlinear Adaptive and Predictive FF Control Methodologies
TechniquesTechniques
Impact on Robustness
NLTV Desired Closed-loop (Pdes) Design
NLTV Gi-1 Design
Future Directions – AGS
Improve Growth Model
Develop Lipid Model
Improve Controller PerformanceImprove Controller Performance
Extend Proposed Architecture to AGS Control
Questions ?Questions ?