A simple and efficient feedback control strategy for wastewater denitrification

Join, Cédric; Bernier, Jean; Mottelet, Stéphane; Fliesś, Michel; Rechdaoui-Guérin, Sabrina; Azimi, Sam; Rocher, Vincent

doi:10.1016/j.ifacol.2017.08.1167

Cited by 21 publications

(12 citation statements)

References 29 publications

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“…The literature presents some particular control algorithms that do not rely on modeling. For instance, the model-free control (MFC) approach proposed by Fliess and Join 29 has been successfully illustrated in different concrete case-studies varying from wastewater denitrification, 30 nanopositioning of piezoelectric systems 31 up to inflammation resolution in biomedical applications, 32 see also its references for additional case-study examples and supplementary information. Some research works based on MFC techniques have led to patents, such as Join et al 33 and Abouaı¨ssa et al 34 This control approach has been applied in the aerospace field 35,36 and, except for our previous work, it has never been applied on hybrid MAVs which is an additional motivation for the development of our research project.…”

Section: Literature Reviewmentioning

confidence: 99%

“…Based on such estimator, it is possible to design a robust controller that estimates the system dynamics on-line by a piece-wise functionF y ðtÞ periodically updated for each measure of y m ðtÞ and u(t). According to Figure 5, (30) where n y ðtÞ ¼ y m ðtÞ À y sp ðtÞ represents the tracking error and uðtÞ is the closed-loop command of a feedback controller Kðn y ðtÞÞ, usually defined as a proportional (P), proportional-derivative (PD) or even so as proportional-integral-derivative (PID) gains. In this paper, the feedback controller was composed of proportional K p and derivative K d gains.…”

Section: Mfc Principlesmentioning

confidence: 99%

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Model-free control algorithms for micro air vehicles with transitioning flight capabilities

Barth

Condomines

Bronz

et al. 2020

International Journal of Micro Air Vehicles

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Micro air vehicles with transitioning flight capabilities, or simply hybrid micro air vehicles, combine the beneficial features of fixed-wing configurations, in terms of endurance, with vertical takeoff and landing capabilities of rotorcrafts to perform five different flight phases during typical missions, such as vertical takeoff, transitioning flight, forward flight, hovering and vertical landing. This promising micro air vehicle class has a wider flight envelope than conventional micro air vehicles, which implies new challenges for both control community and aerodynamic designers. One of the major challenges of hybrid micro air vehicles is the fast variation of aerodynamic forces and moments during the transition flight phase which is difficult to model accurately. To overcome this problem, we propose a flight control architecture that estimates and counteracts in real-time these fast dynamics with an intelligent feedback controller. The proposed flight controller is designed to stabilize the hybrid micro air vehicle attitude as well as its velocity and position during all flight phases. By using model-free control algorithms, the proposed flight control architecture bypasses the need for a precise hybrid micro air vehicle model that is costly and time consuming to obtain. A comprehensive set of flight simulations covering the entire flight envelope of tailsitter micro air vehicles is presented. Finally, real-world flight tests were conducted to compare the model-free control performance to that of the Incremental Nonlinear Dynamic Inversion controller, which has been applied to a variety of aircraft providing effective flight performances.

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Section: Literature Reviewmentioning

confidence: 99%

Section: Mfc Principlesmentioning

confidence: 99%

Model-free control algorithms for micro air vehicles with transitioning flight capabilities

Barth

Condomines

Bronz

et al. 2020

International Journal of Micro Air Vehicles

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“…À titre d'exemple, on peut citer : les commandes de barrages hydroélectriques (JOIN et al, 2010), d'alliages à mémoire de forme (GEDOUIN et al, 2011), de manipulateurs flexibles (AGEE et al, 2015), de serres agricoles (LAFONT et al, 2015), et de certains convertisseurs (CAO et al, 2016). Mentionnons enfin la facilité et le coût faible de la mise en oeuvre matérielle (JOIN et al, 2013;JOIN et al, 2017). Le lecteur intéressé par la CSM trouvera en FLIESS et JOIN (2013) tous les développements nécessaires à une meilleure compréhension.…”

Section: Evolution Of No 2 Concentrations In the Seine River From Merunclassified

La production de nitrites lors de la dénitrification des eaux usées par biofiltration - stratégie de contrôle et de réduction des concentrations résiduelles

Rocher¹,

Join

Mottelet

et al. 2018

rseau

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Le développement des unités de post-dénitrification dans les stations d’épuration de l’agglomération parisienne a fait réémerger la problématique du nitrite dans les eaux de Seine en aval de Paris. Le contrôle de l’apparition des nitrites au cours de l’étape de post-dénitrification est donc devenu un enjeu technique majeur. Des études visant à mieux appréhender les mécanismes d’apparition du nitrite lors de la dénitrification des eaux usées et à étudier des évolutions techniques (métrologie et boucles de contrôle-commande des procédés) à mettre en oeuvre sur les usines pour contrôler et limiter sa production ont été engagées dans le cadre du programme Mocopée (www.mocopee.com). De précédents travaux ont montré que les modes usuels d’injection du méthanol ne permettent pas de s’assurer de la stabilité du rapport C/N dans le réacteur biologique et conduisent à une production erratique et incontrôlée de nitrites. La possibilité d’ajouter une « commande sans modèle » à la commande classique a donc été testée à l’aide du modèle mathématique SimBio, modèle permettant de simuler le fonctionnement des unités de biofiltration. La commande sans modèle placée « en fin de traitement », et basée sur la concentration en nitrites mesurée en sortie de procédé, se greffe à la méthode de contrôle classique en y apportant des corrections seulement au besoin. Les résultats des simulations montrent qu’une régulation des injections de méthanol basée sur la « commande sans modèle » permet de stabiliser et maîtriser le nitrite dans le rejet, sans induire d’augmentation des quantités de méthanol injectées.

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“…The absence of nitrite/nitrate/oxygen, however, if large quantities of organic matter exist, causes the production of sulfides (such as hydrogen sulfide) which are also extremely toxic [9]. Although nitrate control has been addressed many times regarding municipal wastewater treatment, its application in the context of RAS is not widespread [7,[10][11][12]. A multivariable PID control, manipulating recirculation flowrates and aeration to control nitrate levels is proposed in [12] while an online control strategy/algorithm optimizing a denitrification biofilter through carbon dosage and backwash is shown in [7].…”

Section: Introductionmentioning

confidence: 99%

Denitrification Control in a Recirculating Aquaculture System—A Simulation Study

2020

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The recirculating aquaculture system (RAS) is a land-based water treatment technology, which allows for farming aquatic organisms, such as fish, by reusing the water in the production (often less than 5%). This technology is based on the use of filters, either mechanical or biological, and can, in principle, be used for any species grown in aquaculture. Due to the low recirculation rate, ammonia accumulates in the system and must be converted into nitrate using nitrification reactors. Although less toxic for fish, nitrate can also be further reduced into nitrogen gas by the use of denitrification biofilters which may create several issues, such as incomplete denitrification, resulting in toxic substances, such as nitrite and nitric oxide, or a waste of carbon source in excess. Control of the added quantity of carbon source in the denitrification biofilter is then mandatory to keep nitrate/nitrite concentrations under toxic levels for fish and in accordance with local effluent regulations, and to reduce costs related to wasted organic carbon sources. This study therefore investigates the application of different control methodologies to a denitrification reactor in a RAS. To this end, a numerical simulator is built to predict the RAS behavior and to allow for the comparison of different control approaches, in the presence of changes in the operating conditions, such as fish density and biofilter removal efficiency. First, a classical proportional-integral-derivative (PID) controller was designed, based on an SIMC tuning method depending on the amount of ammonia excreted by fish. Then, linearizing and cascade controllers were considered as possible alternatives.

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A simple and efficient feedback control strategy for wastewater denitrification

Cited by 21 publications

References 29 publications

Model-free control algorithms for micro air vehicles with transitioning flight capabilities

Model-free control algorithms for micro air vehicles with transitioning flight capabilities

La production de nitrites lors de la dénitrification des eaux usées par biofiltration - stratégie de contrôle et de réduction des concentrations résiduelles

Denitrification Control in a Recirculating Aquaculture System—A Simulation Study

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