Benchmark Simulation Model in Simulink

BENCHMARK SIMULATION MODEL IN
SIMULINK
Micha Barty, Salvador de las Heras
What was done?

What model?
Positioner model
Pneumatic chamber
Valve
End remarks
DAMADICS Workshop
ROBUST METHODS IN FAULT
DIAGNOSIS
HULL
January 25, 2002
Development and Application of Methods for Actuator Diagnosis in Industrial Control Systems, FP5 DAMADICS Project
What was done?

Concise progress report between September and December 2001
Improving friction model with stick slip effect

Tuning control valve model flow coefficient function
Setting structure of handles for DAMADICS BENCHMARK ACTUATOR
LIBRARY
Preparing draft proposal of DAMADICS BENCHMARK ACTUATOR
LIBRARY principles and structure
What model?
Model of actuator consisting of: positioner, pneumatic motor
and control valve
Model based on physical phenomena description
Created with many simplifications
For better use, model general structure reflects hardware of actuator i.e.
consists of : Positioner, Pneumatic Servomotor and Control Valve
submodels
Model does not contain: plant, installation and controller modeles
Integrated with DAMADICS BENCHMARK ACTUATOR LIBRARY as a
core of Actuator (Act) block
Suitable for first phase of testing FDI algorithms prior to testing using
process data and pilot industrial implementation
Upgraded model version introduced in Lisbon Vacation School
What is to be simulated ?
(An assembly of positioner, pneumatic servomotor and control valve)
Actuator structure
CV
F
Positioner
ps
Actuator model
P1
P2
F
V1
V3
V2
Actuator assembly and installation

Actuator
Actuator general block diagram
CV
P1
P2
T
Actuator
Vector of faults f is used in DAMADICS BENCHMARK ACTUATOR LIBRARY

Vector f entries are not further shown in this presentation with some exceptions
Actuator model (3 constituents)

Model was tuned for simulation of power station boiler
Positioner
Pneumatic
servomotor
Is model tuning possible from real data?

Kv function reconstruction
Kv va lue (31 Octobe r 2001)

Ste a m boile r
a ctua tor 3
The valve plug

travel range of
the of control
valve may not
be sufficiently
enough for
proper Kv
function
reconstruction.
160
140
120
Kv
100
80
60
40
20
0
0
20
40
60
80
100
Extrapolation
technique may
be used for
example for Kv
approximation
Valv e c lo s ing rate
Estimating Kv value of valve from actuator 3
Development
and Application of Methods for Actuator Diagnosis in Industrial Control Systems, FP5 DAMADICS Project
.
Actuator model
Power station boiler water supply simulation (results)
Valve travel X
Set point value
Flow F
time [s]
Positioner
Input filter structure and properties
Rejection of mains disturbances

(immunity against EMI)
Positioner
Proportional controller
CV
Classical solution
Booster drives electro-pneumatic transducer
SP
Positioner
Electro-pneumatic transducer
Significant non-linearity and asymmetry

Positioner
Feedback path
Pneumatic diaphragm servo-motor

(Basic equations)
Fpu = Fs + Fd + F f + Fvc Fg
Ae
ps
kd
ks
Fn
Fg
xd
Fpd = Fs + Fd Ff + Fvc Fg
ks - spring constant
kd - diaphragm constant
Ae - effective diaphragm area
ps - air pressure in chamber
Fn - normal packing force
Fp - active force
Fg - gravity force
Fs - spring compression force
Fd - diaphragm compression force
Ffv - viscosity friction force
FfC - Coulomb friction force
Fvc- vena-contracta force
FdA- dAlembert force
x - rod displacement
xo - initial spring compression stroke
m - mass of rod, valve, diaphragm
Servomotor hysteresis <> friction effect
rod down
travel direction
Fs
Fp
Fd
Ff
Fvc
Fg
F
i =1
=0
F pu F pd = 2 F f
Pneumatic chamber model

Basic equations
Continuity law
The classical polytropic relationship
From (1) and (2)
mD = VD + V D
p1
1n
p =
p2
(1)
2n
1
m V )
(
np
V
n=
pD p
D
(2)
(3)
Assumming isothermal evolution and n=1
1

p=
m Vdt
RT0 0
V
(4)
Pneumatic chamber model

Simulation model
Pneumatic diaphragm servomotor

model
Fp = ps Ae
Fp
Fs = k s ( x + x0 )
Fd
Fs
Ffv
FfC
Fd = kd ( x + x0 )
F fC = sgn( xC ) FN f
i =1
Fi = 0
ks >> kd
F fv = kv xC
FdA = mCxC
FN
Fvc = f ( x, P1, P 2, F , Kv, , )
FdA
Fg
mCxC + kv xC + sign( xC ) FN + (k s + kd ) x + Fvc ( x) + (k s + kd ) x0 mg = ps Ae
Fvc
Force balance equation


(simulation model)

(Model of stick-slip effect)
Hysteresis = 10%
Hysteresis = 20%
200
v
Frictio n
|u|
1
Ff
Ab s
S witch
2
Fe xt
Vapor pressure law
pv[kPa]
Water
a
log pv = + b
T
Approximation of water vapor pressure temperature function
100kPa
T[C]
Water vapor pressure versus temperature
Choked flow
When the fluid pressure in the cross sectional area of flow stream drops below the vapor
pressure, the Bernoullis law is no more valid. The choked flow occurs. Flow is no more
dependent on pressure drop.
Bernoullis flow law
Q = Kv
Choked flow
Q = Kv
p all
where:
p all = K m ( P1 rc p v )
Km - valve recovery coefficient
rc - critical pressure ratio of the fluid
pv - vapour pressure of the liquid
Km curve for typical

high recovery valve
rc critical pressure ratio

for water(pressure in [MPa])
Choked flow simulations model
Choked flow
Q[m3/h]
P[MPa]
Vena contracta pressure estimation

Pvc[MPa]
X[%]
Q[m3/h]
X[%]
Control valve simulation model
End remarks
Presented Simulink actuator simulation model may be used for FDI

requirements, however for common use should be provided with
appropriate user friendly interface
To fulfill this requirement the DAMADICS BENCHMARK ACTUATOR
LIBRARY draft proposal was developed
The model is based on physical laws that are are more convenient for
fault simulation effects compared to abstractive ones
The model may be used in free phase of FDI methods verification and
development

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BENCHMARK SIMULATION MODEL IN

What was done?

What was done?

Improving friction model with stick slip effect

(An assembly of positioner, pneumatic servomotor and control valve)

Actuator assembly and installation

Vector of faults f is used in DAMADICS BENCHMARK ACTUATOR LIBRARY

Actuator model (3 constituents)

Is model tuning possible from real data?

Kv va lue (31 Octobe r 2001)

The valve plug

Valv e c lo s ing rate

Estimating Kv value of valve from actuator 3

Set point value

Rejection of mains disturbances

Significant non-linearity and asymmetry

Pneumatic diaphragm servo-motor

Servomotor hysteresis <> friction effect

Pneumatic chamber model

From (1) and (2)

Assumming isothermal evolution and n=1

Pneumatic chamber model

Pneumatic diaphragm servomotor

Fvc = f ( x, P1, P 2, F , Kv, , )

mCxC + kv xC + sign( xC ) FN + (k s + kd ) x + Fvc ( x) + (k s + kd ) x0 mg = ps Ae

Force balance equation

Pneumatic diaphragm servo-motor

Pneumatic diaphragm servo-motor

Vapor pressure law

Water vapor pressure versus temperature

Km curve for typical

rc critical pressure ratio

Choked flow simulations model

Vena contracta pressure estimation

Control valve simulation model

Presented Simulink actuator simulation model may be used for FDI

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