GPS-X Technical Reference

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Tools Object 346 Implementation in GPS-X Since the vast majority of PID controllers are now implemented using digital computers, the discrete form of the PID algorithm is used more frequently than its continuous form. Accordingly, all controllers in GPS-X are modelled in discrete form. Bounds on the manipulated variable are frequently used to reflect limitations due to physical equipment or safety. Therefore, the PID algorithms implemented in GPS-X have the following forms, where t represents the controller execution interval. PID in Velocity Form With derivative kick protection OFF: Equation 12.16 With derivative kick protection ON: Equation 12.17 Equation 12.18 GPS-X Technical Reference
347 Tools Object PID in Position Form With derivative kick protection OFF: Equation 12.19 With derivative kick protection ON Equation 12.20 Equation 12.21 Position and Velocity Forms The velocity form is obtained by differencing the position form of the PID controller. When using the velocity form, one calculates the change in the value of the manipulated variable that is to be implemented, as opposed to the absolute value calculated by the position form of the algorithm. The velocity form has certain advantages over the position form; in particular, it is naturally protected against reset or integral windup. This condition occurs when a persistent, nonzero setpoint error results in a large value of the integral mode of the PID, forcing the control action to `saturate' (i.e. to maintain the manipulated variable at its minimum or maximum value). Even when the setpoint error returns to zero, the control action remains saturated when the position form of the PID algorithm is used. When using the velocity form, the control action can return within the control range after one sampling period. GPS-X Technical Reference
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GPS-X Technical Reference GPS-X Ver
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Table of Contents iii Table of Cont
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v Table of Contents Sedimentation M
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vii Table of Contents Real Time Clo
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ix Table of Contents Figure 6-6 - P
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xi Table of Contents Figure 10-8 -
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xiii Table of Contents Figure 15-6
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xv Table of Contents Table 6-2 - Mo
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17 Modelling Fundamentals Experimen
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19 Modelling Fundamentals The proce
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21 Modelling Fundamentals Overview
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23 Modelling Fundamentals Primary a
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25 Modelling Fundamentals Vesilin
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27 GPS-X Objects CHAPTER 2 GPS-X Ob
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29 GPS- X Objects The mass balance
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31 GPS- X Objects Combining Equatio
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33 GPS-X State Variable Libraries S
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35 GPS-X State Variable Libraries C
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37 GPS-X State Variable Libraries C
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39 GPS-X Composite Variable Librari
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41 GPS-X Composite Variable Calcula
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55 Composite Variable Calculations
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61 Influent Models CHAPTER 5 Influe
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63 Influent Models Figure 5-3 - Inf
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65 Influent Models The three influe
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67 Influent Models Total runoff (Q
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69 Influent Models These inputs are
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71 Influent Models CODFractions COD
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73 Influent Models TSSCOD Figure 5-
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75 Influent Models Figure 5-13 - CN
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77 Influent Models CN and CNIP Libr
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83 Influent Models INFLUENT OBJECTS
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85 Influent Models Figure 5-22 - In
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87 Influent Models Chemical Dosage
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89 Influent Models Figure 5-29 - Ac
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91 Influent Models Figure 5-33 - Se
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93 Influent Models Figure 5-36 - Se
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95 Suspended Growth Models where: V
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97 Suspended Growth Models The baro
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99 Suspended Growth Models Oxygen M
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101 Suspended Growth Models In the
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103 Suspended Growth Models The SOT
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105 Suspended Growth Models Standar
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107 Suspended Growth Models The reg
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109 Suspended Growth Models SUMMARY
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111 Suspended Growth Models Figure
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113 Suspended Growth Models General
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115 Suspended Growth Models Number
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117 Suspended Growth Models Elevati
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121 Suspended Growth Models AERATIO
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123 Suspended Growth Models The ent
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125 Suspended Growth Models The org
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127 Suspended Growth Models Process
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129 Suspended Growth Models It i
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131 Suspended Growth Models Nitroge
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133 Suspended Growth Models Include
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135 Suspended Growth Models
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137 Suspended Growth Models Althoug
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139 Suspended Growth Models Particu
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141 Suspended Growth Models 9. Grow
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143 Suspended Growth Models 21. Sto
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145 Suspended Growth Models 33. Gro
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147 Suspended Growth Models To mode
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149 Suspended Growth Models Algebra
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151 Suspended Growth Models The sto
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153 Suspended Growth Models Decay o
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155 Suspended Growth Models SUGGEST
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157 Suspended Growth Models Special
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159 Suspended Growth Models Table 6
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161 Suspended Growth Models The GPS
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163 Suspended Growth Models where:
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165 Suspended Growth Models The max
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167 Suspended Growth Models If yo
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169 Suspended Growth Models ANAEROB
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171 Suspended Growth Models Simple
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173 Suspended Growth Models With th
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175 Suspended Growth Models Manual
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177 Suspended Growth Models Equatio
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179 Suspended Growth Models The met
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181 Suspended Growth Models Pond Mo
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183 Suspended Growth Models Special
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185 Suspended Growth Models Se
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187 Suspended Growth Models aerated
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193 Suspended Growth Models Calcula
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195 Suspended Growth Models The vap
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197 Suspended Growth Models Oxygen
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199 Suspended Growth Models Estimat
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203 Suspended Growth Models Enterin
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209 Suspended Growth Models MODELLI
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211 Suspended Growth Models TEMPERA
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213 Suspended Growth Models Table 6
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215 Suspended Growth Models The PAC
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217 Suspended Growth Models CHAPTER
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219 Attached-Growth Models Each lay
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221 Attached-Growth Models Equation
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223 Attached-Growth Models The mode
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225 Attached-Growth Models The phys
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227 Attached-Growth Models Liquid F
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229 Attached-Growth Models This con
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231 Attached-Growth Models The next
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233 Attached-Growth Models The SBC
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235 Attached-Growth Models Based on
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237 Attached-Growth Models Operatio
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239 Attached-Growth Models Hydrauli
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241 Attached-Growth Models ADVANCED
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243 Attached-Growth Models Filtrati
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245 Attached-Growth Models Operatio
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247 Attached-Growth Models This for
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249 Attached-Growth Models HYBRID S
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251 Attached-Growth Models Figure 7
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253 Sedimentation and Flotation Mod
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267 Sand Filtration Models Floatati
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269 Sand Filtration Models The back
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271 Sand Filtration Models The mass
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273 Sand Filtration Models Figure 9
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275 Digestion Models Figure 10-1 -
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277 Digestion Models Seven yield co
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279 Digestion Models Based on the a
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281 Digestion Models Combining the
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283 Digestion Models The Operationa
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285 Digestion Models Kinetic and St
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287 Digestion Models The rest of th
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289 Digestion Models Figure 10-12 -
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291 Digestion Models ADM1 State Var
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293 Digestion Models AEROBIC DIGEST
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Page 361 and 362: 361 Operating Cost Models CHAPTER 1
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Page 373 and 374: 373 Optimizer If after the reflecti
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Page 381 and 382: 381 Optimizer SUMMARY OF THE OPTIMI
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397 Optimizer For the maximum likel
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399 Optimizer Percentage Variation
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401 Optimizer GPS-X reports the F-v
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403 Optimizer The sum of squares ra
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405 Optimizer To check for violatio
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407 Optimizer If the sample autocor
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409 Optimizer APPENDIX C: NOMENCLAT
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411 Optimizer APPENDIX D: REFERENCE
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413 Miscellaneous CHAPTER 15 Miscel
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415 Miscellaneous As compared to th
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417 Miscellaneous A typical GPS-X o
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419 Miscellaneous RESIDUAL PLOTS Fo
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421 Miscellaneous Figure 15-6 - Res
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423 Miscellaneous REAL TIME CLOCK T
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425 Miscellaneous Figure 15-9 - Ste
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427 Miscellaneous Figure 15-11 - In
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429 Miscellaneous The smoothing fun
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431 Miscellaneous The Gear's Stiff
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Appendix A - Petersen Matrices A-1
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ASM2d in CNPLIB Appendix A - Peters
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15 Lysis of XBP 16 Lysis of XPP 17
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NewGeneral in CNPLIB Appendix A - P
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NewGeneral in CNPLIB Appendix A - P
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Component i Process Rates Appendix
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2 Appendix A - Prefermenter Peterse
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D-2 Appendix D - References Brockwe
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D-4 Appendix D - References Hur, D.
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D-6 Appendix D - References Reilly,
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D-8 Appendix D - References Wuhrman
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