1 Sammenligning av lineære og ulineære metoder for robust Anti-slug regulering Slug (liquid) buildup Two-phase pipe flow (liquid and vapor) Sigurd Skogestad.

Presentation on theme: "1 Sammenligning av lineære og ulineære metoder for robust Anti-slug regulering Slug (liquid) buildup Two-phase pipe flow (liquid and vapor) Sigurd Skogestad."— Presentation transcript:

1 1 Sammenligning av lineære og ulineære metoder for robust Anti-slug regulering Slug (liquid) buildup Two-phase pipe flow (liquid and vapor) Sigurd Skogestad og Essmaeil Jahanshahi Institutt for kjemisk prosessteknologi, NTNU SERVOMØTET, OKTOBER 2013

2 2 Slug cycle (stable limit cycle) Experiments performed by the Multiphase Laboratory, NTNU

3 3 Experimental mini-loop (2003) Ingvald Bårdsen, Espen Storkaas, Heidi Sivertsen

4 4 p1p1 p2p2 z Experimental mini-loop Valve opening (z) = 100% SLUGGING

5 5 p1p1 p2p2 z Experimental mini-loop Valve opening (z) = 25% SLUGGING

6 6 p1p1 p2p2 z Experimental mini-loop Valve opening (z) = 15% NO SLUG

7 7 p1p1 p2p2 z Experimental mini-loop: Bifurcation diagram Valve opening z % No slug Slugging

8 8 How to avoid slugging?

9 9 p1p1 p2p2 z Avoid slugging: 1. Close valve (but increases pressure) Valve opening z % No slugging when valve is closed Design change

10 10 Avoid slugging: 2. Design change to avoid slugging p1p1 p2p2 z Design change

11 11 Minimize effect of slugging: 3. Build large slug-catcher Most common strategy in practice p1p1 p2p2 z Design change

12 12 Avoid slugging: 4. ”Active” feedback control PT PC ref Simple PI-controller p1p1 z

13 13 Anti slug control: Mini-loop experiments Controller ONController OFF p 1 [bar] z [%]

14 14 Anti slug control: Full-scale offshore experiments at Hod-Vallhall field (Havre,1999)

15 15 Avoid slugging: 5. ”Active” feedback control with topside measurement? PC ref Control is difficult (Inverse reponse = Unstable zero dynamics) p2p2 z

16 16 Summary anti slug control (2008)* Stabilization of desired non-slug flow regime = $$$$! Stabilization using downhole pressure simple Stabilization using topside measurements difficult Control can make a difference! “Only” problem: Not sufficiently robust *Thanks to: Espen Storkaas + Heidi Sivertsen + Håkon Dahl-Olsen + Ingvald Bårdsen

17 17 2009-2013: Esmaeil Jahanshahi, PhD-work supported by Siemens New Experimental mini-rig 3m

18 18 1 st step: Developed new simple 4-state model*. State equations (mass conservations law): θ h L2L2 hchc w mix,out x 1, P 1,V G1, ρ G1, H L1 x 3, P 2,V G2, ρ G2, H LT P0P0 Choke valve with opening Z x4x4 h>h c w G,lp =0 w L,lp L3L3 w L,in w G,in w x2x2 L1L1 *Based on Storkaas model

19 19 New 4-state model. Comparison with experiments: Top pressure Subsea pressure Experiment

20 20 Linear Control Solutions

21 21 Experiment Solution 1: H ∞ control based on linearizing new model Experiment, mixed-sensitivity design

22 22 Experimental linear model (new approach) Fourth-order mechanistic model: Hankel Singular Values: Model reduction: 4 parameters need to be estimated Closed-loop step-response with P-control

23 23 Solution 2: IMC based on identified model IMC design Block diagram for Internal Model Control system IMC for unstable systems: y u e r + _ Plant Model: IMC controller:

24 24 Experiment Solution 2: IMC based on identified model Experiment

25 25 Experiment Solution 3: «Robustified» IMC using H ∞ loop shaping

26 26 Comparing linear controllers (subsea pressure) *Controllers tuned at 30% valve opening *

27 27 Fundamental limitation – top pressure Z = 20%Z = 40% M s,min 2.17.0 Measuring topside pressure we can stabilize the system only in a limited range Unstable (RHP) zero dynamics of top pressure

28 28 Nonlinear Control Solutions

29 29 PT Nonlinear observer K State variables uc uc uc uc PtPt Solution 1: observer & state feedback

30 30 High-Gain Observer

31 31 State Feedback K c : linear optimal gain calculated by solving Riccati equation K i : small integral gain (e.g. K i = 10 −3 )

32 32 High-gain observer – top pressure measurement: topside pressure valve opening: 20 % Experiment

33 33 High-gain observer – subsea pressure measurement: subsea pressure valve opening: 20 % Experiment Not working ??!

34 34 Chain of Integrators Fast nonlinear observer using subsea pressure: Not Working??! Fast nonlinear observer (High-gain) acts like a differentiator Pipeline-riser system is a chain of integrator Measuring top pressure and estimating subsea pressure is differentiating Measuring subsea pressure and estimating top pressure is integrating

35 35 Anti-slug control with top-pressure is possible using fast nonlinear observers The operating range of top pressure is still less than subsea pressure Surprisingly, nonlinear observer is not working with subsea pressure, but a (simpler) linear observer works very fine. Subsea pressureTop Pressure Nonlinear ObserverNot Working !?Working* Linear ObserverWorkingNot Working PI ControlWorkingNot Working Max. Valve60%20% Nonlinear observer and state feedback Summary *but only for small valve openings

36 36 Solution 2: feedback linearization PT Nonlinear controller uc uc P rt Jahanshahi, Skogestad and Grøtli, NOLCOS, 2013

37 37 Solution 2: feedback linearization Cascade system

38 38 Output-linearizing controller Stabilizing controller for riser subsystem System in normal form: Linearizing controller: Control signal to valve: dynamics bounded : riser-base pressure : top pressure

39 39 Experiment Gain: CV: riser-base pressure (y 1 ), Z=60%

40 40 Solution 3: Adaptive PI Tuning Static gain: Linear valve: PI Tuning: slope = gain is small for large valve openings

41 41 Experiment Solution 3: Adaptive PI Tuning Experiment Large valve opening: - Large controller gain - Large integral time

42 42 Solution 4: Gain-Scheduling IMC Three identified model from step tests: Z=20%: Z=30%: Z=40%: Three IMC controllers:

43 43 Solution 4: Gain-Scheduling IMC Experiment Experiment

44 44 Comparison of Nonlinear Controllers Gain-scheduling IMC is the most robust solution Adaptive PI controller is the second-best Controllability remarks: –Fundamental limitation control: gain of the system goes to zero for fully open valve –Additional limitation top-side pressure: Inverse response (non-minimum-phase)

45 45 Conclusions A new simplified model verified by OLGA simulations and experiments Best: Anti-slug control using a subsea valve close to riser-base New robust controllers have been developed Main point: Increase controller gain for large valve openings Acknowledgements Financial support from SIEMENS Master students: Elisabeth Hyllestad, Anette Helgesen, Knut Åge Meland, Mats Lieungh, Henrik Hansen, Terese Syre, Mahnaz Esmaeilpour and Anne Sofie Nilsen.