functional modeling of control systems
TRANSCRIPT
Functional Modeling of Control systems
Morten Lind, Prof. Emeritus Automation and Control
DTU Electrical Engineering, Technical University of Denmark
Agenda
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• Status of Multilevel Flow Modeling • Control functions: some new challenges • Action theory and functional modeling • Preliminary findings
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circulation of water
production of power
distribution of power
Multilevel Flow Modeling The basic idea
conversion of energy
Functions of systems and subsystems are described in relation to a context of use or purpose
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circulation of water
production of oil and gas
distribution of gas
The idea apply to most engineering domains
conversion of energy
Functions of systems and subsystems are described in relation to a context of use or purpose
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Research in Multilevel Flow Modeling
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Action theory
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Functions are Context Dependent
supply of power
production of power
circulation of water
conversion of energy
A function of the pump impeller in the context of water circulation
A function of the power plant in the context of power supply
A function of the pump in the context of power production
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The Means-End Relation and Functions
The grains are transported and ground by rotation of the runner stone The runner stone is rotated by energy produced by the waterwheel The waterwheel produce energy by filling the buckets with water from the flume
by = ”by means of”
Functions of a Watermill
The concept of function is related to the Means-End relation
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Motivations and Background
• Operator Decision support • Integrating process and automation
design with operation • Intelligent control (autonomy)
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Motivations
Concepts of means and ends, goals and functions play a significant role in human understanding of complex systems (and mundane reality)
– Support of operators decision making in diagnosis and counteraction planning
• Information presentation • Situation assessment and decision making • Knowledge representation and reasoning support
– Analysis of control and safety requirements for complex systems
– Integrated process and automation design – Intelligent Automation (agent systems)
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2014
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Conceptual foundations
• Complexity and concept of function • The means-end relation
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Complex Industrial Systems and Infrastructures
From a Technology View To a Functional View
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Two types of operational complexity
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The complexity of purposes of operation: The objective of a control agent is dependent on the overall operational goals and the objectives of other agents. Goals may change and be conflicting.
The complexity of dynamic nonlinear physical interactions: The contol agent must manage the dynamic interactions with the process and the other agents
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What is a power plant?
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The natural framework The power plant is a natural object Modeling the power plant by the structural relations and the physical and chemical laws that govern its behaviour e.g. by differential equations
The social framework The power plant is a man made object - an artifact The power plant is purposeful i.e. Its functions are directed towards the satisfaction of human and societal needs. The purpose of automation systems is to ensure that design intentions are achieved
The framework for functional modeling (MFM)
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Maintain water level withinsafe limits
Maintain conditionfor energy transport
Keep room temperaturewithin limits
Transport ofwater fromsupply to expansion tank
Circulationof water
Transport ofenergy fromboiler toradiator
Radiator
Pump
Water supply
Boiler Valve
Expansiontank
Maintain comfort
Com
pone
nts
Func
tions
Obj
ectiv
es
ENDS
MEANS
Goa
ls
Ends
Means
Purpose
Function
Behaviour
Structure
The Means-end relation and Functions
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Multilevel Flow Modelling
• Basic principles • Control functions • Safety functions • Operating Modes
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Multilevel Flow Modeling
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• Process functions are represented by elementary flow and control functions interconnected to form function structures representing a particular goal oriented view of the system.
• MFM is founded on fundamental
concepts of action: Each of the elementary flow and control functions can be seen as instances of more generic action types.
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ht
Vcfi
V0
fo
Function structure of a simple tank process
source sink storage
transport
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MFM model of a watermill
The grains are transported and ground by rotation of the runner stone The runner stone is rotated by energy produced by the waterwheel The waterwheel is producing energy by the filling the buckets with water from the flume
Explanation:
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The Watermill
mfs2
so3 bal2st2tr7 tr8 tr9 tr10st3
Filling the buckets with water from the flume
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The Watermill
so2
mfs2
so3 bal2st2tr7 tr8 tr9 tr10st3
Producing energy filling the buckets with water from the flume
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The Watermill
efs2
so2 tr4
mfs2
so3 bal2
st1
st2
tr5
tr6 si4
si3
tr7 tr8 tr9 tr10st3
Rotating the stone by energy produced by the waterwheel
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The Watermill
tr1
efs2
so2 tr4
mfs2
so3 bal2
st1
st2
tr5
tr6 si4
si3
tr7 tr8 tr9 tr10st3
Transporting the grain by rotating the runner stone
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mfs1
tr1
tr2
tr3
so1 bal1
si1
si2
efs2
so2 tr4
mfs2
so3 bal2
st1
st2
tr5
tr6 si4
si3
tr7 tr8 tr9 tr10st3
The Watermill The grains are transported and ground by rotation of the runner stone
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ob1
mfs1
tr1
tr2
tr3
so1 bal1
si1
si2
efs2
so2 tr4
mfs2
so3 bal2
st1
st2
tr5
tr6 si4
si3
tr7 tr8 tr9 tr10st3
The Watermill
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Another example: A heat transfer loop
MFM model without control functions
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Control functions
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Cascade control A Control loop in MFM
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The heat transfer loop extended with controls
MFM model with flow regulator MFM model with flow and
temperature regulator
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Cause - effect reasoning in MFM
Applications •Fault analysis •Alarm filtering •Rasoning about control •Counteraction planning …
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Event propagation in MFM models
Event propagation within a flow structure
Event propagation across flow structures
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The MFM Workbench: An integrated MFM model editor and reasoning platform
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Integrating process, control design and operation
Process design Control design
Ope
ratio
n
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MFM Application Examples
• Nuclear Power • Oil and Gas
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MONJU Nuclear Power Plant
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Control System for MONJU Plant
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T
S F
n
B C
B C
F
T
+ -
+ - + - + - + - + -
+ - +
-
+
-
+ -
T P
F
B C
Δ P
B C
Power demand master
Reactor power
program
Reactor vessel outlet sodium temperature
program
PHTS flow
program
SHTS flow
program
Feed water flow
program
Reactor power
controller
CRDM controller
PHTS flow
controller
PHTS circulation
pump controller
SHTS flow
controller
SHTS Circulation
pump controller
EV outlet steam temperature
setting
Main steam pressure setting
Rector
Control rod
IHX
EV
SH
SHTS circulation pump
PHTS circulation pump
EV outlet steam temperature controller
Feed water flow
controller
SH outlet steam temperature
setting
Main steam temperature controller
Main steam pressure controller
turbine controller
Feed water control valve Feed water pump
Condenser
Steam control valve
Feed water control valve differential
pressure controller
Feed water control valve differential
pressure setting
Moisture separator
(average)
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MFM of Monju Breeder Reactor
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Model developed with Prof. Yoshikawa (HEU) as part of Chinese 111 project on MFM based risk monitoring of NPP. Topics of special interest • Modeling safety barriers
and defense in depth. • Modeling operating
modes
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Water heating functions
Water circulation functions
Feed water pumping and control functions
MFM model of Monju of hot water warming mode
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Mode transitions and MFM models
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?? ??
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Gas Separation Plant
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MFM of three-phase separation process
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Detailled MFM of separation function and reasoning results
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Sto3 lo (pressure is low)
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Research challenges
• Modeling methodology and tools – ”From structure to function”
• Operating modes and transitions • Combining MFM with dynamic simulation models (DSM)
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Modeling the interaction between the process and control agents • Functions in Multilevel Flow Modeling are actions • Control agents act on the process Using Von Wrigth’s theory of action as a common basis for modeling process actions and control actions
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Actions are defined by two situations (Von Wright)
Situation Explanation Illustration
Hypothetical state with no agent
The state of affairs changes from si to sh due to the dynamics of the environment
Actualized with one agent
The agent acts and the state of affairs changes from si to sA instead of sh
si
sh
A
si sA
sh
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The elementary change types
Change schema Description
~pTp p happens
pTp p remains
pT~p p disappear
~pT~p p remains absent
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The elementary interventions
Intervention
Change Action schema Description
~pTp (p happens)
~pT[pI~p] produce p
pTp (p remains)
pT[pI~p] maintain p
pT~p (p disappear)
pT[~pIp] destroy p
~pT~p (p remains absent)
~pT[~pIp] suppress p
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Elementary actions and transitions
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Composite actions and transitions
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Control functions
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General Control function types: 1. Direct control (loops with setpoint control and disturbance rejection) 2. Start-up, shut down and transition between modes 3. Optimizing control
Direct control functions (type 1) are included in the current MFM function library Type 2 and 3 control functions should be included
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There is a control action type (1) corresponding to each of the elementary interventions
Intervention Control action
produce steer
maintain regulate
destroy trip
suppress interlock
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Relations between elementary action types and control functions(type 1)
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Advantages of the action types
• They comprise a complete set • They correspond to control action types known from control
engineering • The existing MFM functions have a logical foundation in the action
types • They are generic – the specific meaning depends on the state of affairs
p
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Control of mode transitions
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Abstract states representing the modes
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Elementary actions and transitions
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Example: translocation of objects Intervention Omission
Move-to(x,y)
The object y is moved to location x(from somewhere)
x
? y? let-move-to(x,y)
The object y move by itself tolocation x x
? y
Keep-at(x,y)
The object y is kept y at location x.x
y
?
let-stay-at(x,y)
The object y stay by itself atlocation x
xy
Move-from(x,y)
The object y y is moved away fromlocation x (to somewhere)
x
?
y
let-move-from(x,y)
The object y move by itself awayfrom location x. x
?
y
Keep-away-from(x,y)
The object y is kept-away-from(x,y)
x
? y
?
let-stay-away-from(x,y)
The object y stay away by itselffrom location x
x
? y
?
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Composite actions and transitions
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The transfer relation
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Reasoning about control
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The control relation
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What does it mean that an agent (system 1) control an object (system 2)?
p is the desired state of system 2
q is the actual state of system 2
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Promoting: transitions
p maintainp~pmaintain
~p
producep
produce~p
let phappen
let ~phappen
let ~premain
let premain
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Opposing: transitions
p suppress~p~psuppress
p
destroy~p
destroyp
let ~pdisappear
let pdisappear
let premainabsent
let ~premainabsent
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Thank you for your attention