Economic model predictive control of wastewater treatment plants based on BSM1 using linear prediction models

Abstract

In this paper, we have developed an Economical Model Predictive Control (EMPC) for a Wastewater Treatment Plant (WWTP) with the use of a standard semidefinite programming solver. In this case, the objective has been to keep the ammonium concentration in the effluent under limits manipulating the air insufflation pumps at the biological reactor and an internal recycle valve. The minimized cost function consists of the product of the energy consumed by the air insufflator and the cost of the electricity, taking into account the variations of the tariffs over the day. We have simulated the behaviour of the WWTP using the Benchmark Model Simulation n o 1 (BSM1), and we have developed a linear prediction model in order to apply the EMPC method.

On the controllability of activated sludge plants

“…1 (BSM1, [40]) as a reference process representative of a wide class of ASPs. The BSM1 is a well-established platform for simulation and control design [31], [33], [37], [39]. The model and its parameters can be calibrated to represent specific real-world processes.…”

Design of disturbance observers based on their implementability in industrial control systems

“…From that starting point, this paper presents a fault detection strategy to detect slow drift type faults of the ammonium sensor in a WWTP. The plant is assumed to be controlled in closed loop using the ammonium measurement, and using the aeration as the control action, as in [93]. The input flow is also measured, but not the input ammonium concentration since its measurement is difficult due to the dirt of the input water.…”