BOOK
Instrumentation, Control and Automation in Wastewater Systems
Gustaf Olsson | M. Nielsen | Zhiguo Yuan | Anders Lynggaard-Jensen | J.-P. Steyer
(2005)
Additional Information
Book Details
Abstract
Instrumentation, control and automation (ICA) in wastewater treatment systems is now an established and recognised area of technology in the profession. There are obvious incentives for ICA, not the least from an economic point of view. Plants are also becoming increasingly complex which necessitates automation and control. Instrumentation, Control and Automation in Wastewater Systems summarizes the state-of-the-art of ICA and its application in wastewater treatment systems and focuses on how leading-edge technology is used for better operation. The book is written for: The practising process engineer and the operator, who wishes to get an updated picture of what is possible to implement in terms of ICA; The process designer, who needs to consider the couplings between design and operation; The researcher or the student, who wishes to get the latest technological overview of an increasingly complex field. There is a clear aim to present a practical ICA approach, based on a technical and economic platform. The economic benefit of different control and operation possibilities is quantified. The more qualitative benefits, such as better process understanding and more challenging work for the operator are also described. Several full-scale experiences of how ICA has improved economy, ease of operation and robustness of plant operation are presented. The book emphasizes both unit process control and plant wide operation. Scientific & Technical Report No. 15
Table of Contents
| Section Title | Page | Action | Price |
|---|---|---|---|
| Contents | v | ||
| Preface | ix | ||
| Abbreviations and acronyms | xi | ||
| Index | cclii | ||
| 1.0 Introduction | xiv | ||
| 1.1 MOTIVATION | xiv | ||
| Why control a wastewater plant? Mine has been running fine! | xv | ||
| 1.2 ICA TODAY | xv | ||
| 1.3 DRIVING FORCES FOR ICA | xvi | ||
| Effluent quality standards | xvi | ||
| Economy | xvi | ||
| Plant complexity | xvii | ||
| Improved tools | xvii | ||
| 1.4 CONSTRAINTS FOR ICA | xvii | ||
| Legislation | xvii | ||
| Education, training and understanding | xviii | ||
| Economy | xviii | ||
| Measuring devices | xviii | ||
| Plant constraints | xviii | ||
| Software | xviii | ||
| Education | xviii | ||
| 1.5 DISTURBANCES | xix | ||
| 1.6 SETTING THE PRIORITIES | xix | ||
| New possibilities | xx | ||
| 1.7 OVERVIEW OF THIS SCIENTIFIC AND TECHNICAL REPORT | xx | ||
| 1.8 CHAPTER REFERENCES | xxi | ||
| 2.0 A short history of ICA | xxii | ||
| 2.1\tCONFERENCES ON ICA IN WASTEWATER TREATMENT SYSTEMS | xxii | ||
| London/Paris 1973 | xxii | ||
| Clemson 1974 | xxiv | ||
| London/Stockholm 1977 | xxv | ||
| Munich/Rome 1981, Houston/Denver 1985 and \x0BKyoto/Yokohama 1990 | xxvi | ||
| Hamilton/Banff 1993, Copenhagen 1995 and Brighton 1997 | xxvii | ||
| The AutMoNet conferences 2002 and 2004 | xxviii | ||
| 2.2\tNEW CHALLENGES | xxix | ||
| 2.3\tCHAPTER REFERENCES | xxix | ||
| 3.0 Current status of ICA in some countries | xxxi | ||
| 3.1 PENETRATION OF ICA INTO WASTEWATER TREATMENT | xxxi | ||
| 3.2 ASSESSING PERFORMANCE DUE TO ICA | xxxviii | ||
| Benchmarking | xxxviii | ||
| Key performance indicators | xxxix | ||
| Nitrification efficiency | xxxix | ||
| Nitrogen removal | xl | ||
| Phosphorous removal | xli | ||
| Assessment of ICA utilisation | xli | ||
| Example 1: Chemical precipitation | xli | ||
| Example 2: Dissolved oxygen control | xlii | ||
| Example 3: Increasing plant capacity by control instead of design. | xliii | ||
| Using key performance indicators to evaluate ICA | xlv | ||
| 3.3 THE COST OF ICA IMPLEMENTATIONS | xlv | ||
| 3.4 COST/BENEFIT OF USING ICA | xlvi | ||
| Employment | xlviii | ||
| Soft benefits | xlviii | ||
| 3.5 TRENDS IN ICA | xlix | ||
| 3.6 CHAPTER REFERENCES | l | ||
| 4.0 Unit process control in wastewater treatment | li | ||
| 4.1 FEATURES OF WASTEWATER TREATMENT PROCESS CONTROL | li | ||
| Disturbances | li | ||
| Process complexity | lii | ||
| Operational objectives | liii | ||
| Manipulatable variables | liv | ||
| Sensors | liv | ||
| 4.2 CONTROL DESIGN – A GENERAL PROCEDURE | liv | ||
| Control problem formulation | liv | ||
| Control strategy development – objective function translation | lvi | ||
| Control structure selection and control algorithm design | lvii | ||
| Controller tuning and performance assessment | lx | ||
| 4.3 LEVELS OF AUTOMATION IN WASTEWATER INDUSTRY | lxi | ||
| Level 1 | lx | ||
| Level 2 | lx | ||
| Level 3 | lxi | ||
| Level 4 | lxi | ||
| 4.4 CHAPTER REFERENCES | lxii | ||
| 5.1 INTRODUCTION | lxiii | ||
| 5.2 CONTROLLING DISSOLVED OXYGEN AT A CONSTANT PRE-SELECTED SET-POINT | lxiv | ||
| 5.3 CAUSE-EFFECT ANALYSIS FOR DO SET-POINT SELECTION | lxvi | ||
| 5.4 DO SET-POINT DETERMINATION IN A COMPLETELY-MIXED AEROBIC REACTOR | lxviii | ||
| The slave controllers | lxx | ||
| 5.5 DO SET-POINT DETERMINATION IN A PLUG-FLOW-LIKE REACTOR | lxxi | ||
| Theoretically optimal DO profile along a plug-flow reactor | lxxi | ||
| Some practical DO control strategies for plug-flow like reactors | lxxiii | ||
| Example 1: Aeration control at the Källby plant | lxxiv | ||
| Example 2: Aeration at the Poznan treatment plant | lxxvi | ||
| What can be learnt from the above two examples? | lxxx | ||
| 5.6 AEROBIC PHASE-LENGTH CONTROL FOR INTERMITTENT SYSTEMS | lxxxi | ||
| Aeration phase length control using nutrient sensors | lxxxi | ||
| Example 1: Aerobic phase length control at the Aalborg treatment plant | lxxxiv | ||
| Aeration phase-length control based on ORP and pH measurement | lxxxvi | ||
| Aeration Control Based on Bending Points of ORP and pH | lxxxvii | ||
| Aeration Control Based on Absolute Values of ORP and pH | lxxxviii | ||
| 5.7 SUMMARY | lxxxviii | ||
| 5.8 CHAPTER REFERENCES | lxxxviii | ||
| 6.0 Control strategies for the unit processes - control of sludge | xc | ||
| 6.1 INTRODUCTION | xc | ||
| 6.2 NITRATE RECIRCULATION FLOW CONTROL | xc | ||
| Cause-effect analysis | xci | ||
| A sub-optimal control strategy | xcii | ||
| Control algorithm | xciv | ||
| Example: Nitrate recirculation control at Källby | xciv | ||
| Summary | xciv | ||
| 6.3 EXTERNAL CARBON DOSAGE CONTROL | xcv | ||
| Cause-effect analysis | xcvi | ||
| Where to add the carbon sources | xcvi | ||
| The choice of carbon source | xcviii | ||
| Control of external carbon addition in a pre-denitrification system | xcix | ||
| Control of carbon addition in the case that nitrate recirculation flow is not controlled dynamically | xcix | ||
| Integrated control of external carbon addition and nitrate recirculation | xcix | ||
| Control of external carbon addition in a post-denitrification system | cii | ||
| Control of External Carbon Dosage to Alternating Systems | cii | ||
| Control of external carbon addition to an EBPR system | ciii | ||
| Summary | civ | ||
| 6.4 SRT OR SLUDGE WASTAGE CONTROL | civ | ||
| Cause-effect analysis | civ | ||
| A SRT-minimising control system | cvi | ||
| Summary | cvii | ||
| 6.5 SLUDGE RECYCLING FLOW CONTROL | cvii | ||
| Feedback controller constrained by the sludge retention time in settler (SRTiS) | cxi | ||
| Summary | cxii | ||
| Cause-effect analysis | cviii | ||
| Control system structure and algorithms | cx | ||
| 6.6 STEP FEED CONTROL | cxii | ||
| Diminishing solids loading to the settler during hydraulic peak loads | cxiii | ||
| Nitrogen removal without internal recirculation | cxiii | ||
| Cause-effect analysis for step feed control | cxiv | ||
| Control of step feed to reduce the settler load | cxv | ||
| Control of step ratio in a nitrogen removal plant | cxvi | ||
| Summary | cxviii | ||
| 6.7 WASTEWATER EQUALISATION TANK CONTROL | cxviii | ||
| The low-level controller | cxix | ||
| Modelling and control design | cxix | ||
| 6.8 AERATION SETTLING TANK OPERATION | cxx | ||
| 6.9 CHAPTER REFERENCES | cxxii | ||
| 7.0 Control of anaerobic digestion processes | cxxiii | ||
| 7.1 INTRODUCTION | cxxiii | ||
| 7.2 CONTROL OBJECTIVES | cxxviii | ||
| 7.3 EXAMPLE OF CONTROL APPROACHES | cxxx | ||
| 7.4 EXPERIMENTAL SETUP FOR COMPARISON OF CONTROL LAWS | cxxxi | ||
| The wastewater used for comparison of the control approaches | cxxxi | ||
| The AD processes used for comparison of the control approaches | cxxxi | ||
| 7.5 CONTROL OF THE BIOGAS FLOW RATE | cxxxv | ||
| Artificial Neural Networks | cxxxvi | ||
| Fuzzy control | cxli | ||
| Linear control approaches | cxliv | ||
| Parametric identification of the anaerobic digester | cxliv | ||
| Disturbance accommodating control | cxlvi | ||
| Non parametric adaptive control | cli | ||
| Nonparametric estimation | cli | ||
| Adaptive nonparametric regulation law | clii | ||
| Experimental results | clii | ||
| Non linear robust control taking explicitly into account constraints on actuators | cliv | ||
| Summary of control laws | clv | ||
| The \"disturbance monitoring\" control | clvii | ||
| 7.6 CONTROL OF COD, VFA AND MORE | clix | ||
| On the model complexity needed for model based control | clix | ||
| Adaptive Control | clx | ||
| Robust control using advanced sensors | clxiii | ||
| Robust control using simple sensors | clxvi | ||
| 7.7 CONCLUSION | clxviii | ||
| 7.8 CHAPTER REFERENCES | clxviii | ||
| 8.0 Control strategies for the unit processes - chemical precipitation | clxxi | ||
| 8.1 INTRODUCTION | clxxi | ||
| 8.2 CHEMICAL PRECIPITATION | clxxii | ||
| General control principles | clxxiii | ||
| Feedback control of simultaneous precipitation | clxxiii | ||
| 8.3 POST PRECIPITATION | clxxiv | ||
| Control practice at the Källby treatment plant | clxxiv | ||
| Flow proportional feed forward control | clxxv | ||
| Load proportional feed forward control | clxxvi | ||
| Feedback control based on in situ P measurement | clxxvii | ||
| 8.4 PRE-PRECIPITATION | clxxx | ||
| 8.5 CONCLUSIONS | clxxxii | ||
| 8.6 CHAPTER REFERENCES | clxxxiii | ||
| 9.0 Online sensors/analysers at wastewater treatment plants | clxxxiv | ||
| 9.1 INTRODUCTION | clxxxiv | ||
| 9.2 NUTRIENT SENSORS/ANALYSERS | clxxxvi | ||
| 9.3 CHARACTERISTICS OF ONLINE SENSORS | cxc | ||
| 9.4 SUMMARY | cxciv | ||
| 9.5 CHAPTER REFERENCES | cxcv | ||
| 10.0 Signal analysis and fault detection | cxcvi | ||
| 10.1 INFORMATION IN WASTEWATER TREATMENT PLANTS | cxcvi | ||
| 10.2 DATA SCREENING | cxcvii | ||
| Introduction | cxcvii | ||
| Single Data Validation | cxcvii | ||
| Checking for long-term drift | cci | ||
| Cross Validation Methods | cciii | ||
| Example: A Software Nitrate Sensor Based on Ammonium and Redox Signals | cciv | ||
| Filtering Data | ccvii | ||
| 10.3 DETECTION | ccx | ||
| Detection – Direct Measurements | ccx | ||
| Example: Detection of bulking sludge | ccxi | ||
| Detection – Multivariate Analysis | ccxi | ||
| 10.4 SUMMARY | ccxiii | ||
| 10.5 CHAPTER REFERENCES | ccxiv | ||
| 11.0 Plant-wide control | ccxv | ||
| 11.1 THE PLANT-WIDE PERSPECTIVE | ccxv | ||
| Interactions | ccxvi | ||
| Hydraulic interactions | ccxvi | ||
| Recycles within the plant | ccxvii | ||
| Interactions along the train of unit processes | ccxvii | ||
| Resource allocation | ccxviii | ||
| 11.2 OBJECTIVES OF INTEGRATED CONTROL | ccxviii | ||
| Defining system boundaries | ccxviii | ||
| Operational objective | ccxix | ||
| 11.3 PREDICTION OF PLANT INFLUENT FLOW RATE | ccxx | ||
| 11.4 CONTROL BY BYPASSING | ccxxiv | ||
| 11.5 EXTENSION OF PLANT CAPACITY BY CONTROL | ccxxvi | ||
| Example 11.1: Application of pre-precipitation. | ccxxvi | ||
| Example 11.2: Co-operating processes in parallel plant operation. | ccxxvii | ||
| Flow distribution between the two parallel plants | ccxxvii | ||
| Control of excess hydraulic flow | ccxxvii | ||
| Example 11.3: Operating serially connected unit operations | ccxxviii | ||
| 11.6 EXTENSION OF SEWER SYSTEM CAPACITY BY CONTROL | ccxxx | ||
| Example 11.4: Integration of sewer and WWTP | ccxxx | ||
| Example 11.5: Exploitation of sewer system capacity | ccxxxi | ||
| Example 11.6: Increase certainty on CSO calculations | ccxxxi | ||
| Example 11.7: Gain system knowledge from online data | ccxxxi | ||
| 11.7 COMPUTER CONTROL SYSTEMS | ccxxxii | ||
| Information structures | ccxxxiii | ||
| Process databases | ccxxxiv | ||
| The human aspect | ccxxxvii | ||
| 11.8 SUMMARY | ccxxxvii | ||
| 11.9 CHAPTER REFERENCES | ccxxxviii | ||
| 12.0 Conclusions | ccxxxix | ||
| Bibliography | ccxli | ||
| TEXTBOOKS ON CONTROL AND AUTOMATION | ccxli | ||
| TEXTBOOKS ON ICA APPLIED TO WASTEWATER TREATMENT SYSTEMS | ccxlii | ||
| BOOKS ON WASTEWATER TREATMENT PROCESSES | ccxlii | ||
| CONFERENCES ON ICA AND ON AUTOMATION IN WATER QUALITY MONITORING | ccxlii | ||
| References | ccxliv |