Nonlinear Model Predictive Control for Disturbance Rejection in Isoenergetic-isochoric Flash Processes

摘要

We present a nonlinear model predictive control (NMPC) algorithm for semi-explicit index-1 stochastic differential-algebraic equations. It is natural to model isoenergetic-isochoric (constant energy-constant volume) flash processes with such equations. The algorithm uses the continuous-discrete extended Kalman filter (EKF) for state estimation, and it uses a single-shooting method to solve the involved optimal control problems. It computes the gradients with an adjoint method. The isoenergetic-isochoric flash is also called the UV flash, and it is important to rigorous models of phase equilibrium processes because it is a mathematical statement of the second law of thermodynamics. NMPC algorithms for UV flash processes are therefore relevant to both safe and economical operation of phase equilibrium processes such as flash separation, distillation, two-phase flow in pipes, and oil production. We design the NMPC algorithm for disturbance rejection, and we therefore augment the state vector with the unknown disturbance variables in the continuous-discrete EKF. We present a numerical example of economical NMPC of a UV flash separation process. It involves output constraints and the estimation of an unknown and unmeasured disturbance. The computation time of the NMPC algorithm does not exceed 3.14 s in any of the 5 min control intervals. This indicates that real-time NMPC of UV flash separation processes is computationally feasible.