Identification Of Industrial Boiler Furnace Using Linear

Parameter Varying Model

S. Vijayalakshmi 1, D. Manamalli2 and T. Narayani3

Department of Instrumentation Engineering, Madras Institute of Technology, Chennai, India
E-mail: Is.viji@yahoo.co.in;2manamalli_m@yahoo.com;marsarasu@gmail.com

Abstract: System or process identification is a mathematical
modeling of systems (processes) from test or experimental
data. Process models obtained from identification process can
be used for operator training simulator, analysis and design of
safety systems, and design of process and control systems.
This paper presents the Linear Parameter Varying (LPV)
model identification for Industrial boiler furnace. LPV model
is the development of linear time invariant models of different
operating conditions along the overall operating trajectory and
interpolation of linear models. The LPV model is adopted by
considering the fact that boiler furnace in the thermal power
plant has several operating conditions. By assuming that on
every operating condition there are parameters changes, the
LPV model is suitable for covering all operating conditions.
The boiler furnace is modeled as LPV systems with Linear
transfer function model structure. Identification algorithm
used in the identification process is Prediction error method.
Data needed for identification is taken from first principle
model of the process with sampling time of 1 second. The
identification result is simulated and validated with
measured data. The simulation result shows better accuracy
for Linear Parameter Varying model.
control[18]. Other nonlinear models like AR(MA)X models,
neural-networks models are often used but it has numerical
complexity. Block-oriented nonlinear models such as
Hammerstein models and Wiener models are simpler, but they
can only model nonlinearity in static gains which is often too
limiting in process control applications[6]. Linear Parameter
Varying Model is used in Identification and control for the
following merits (i)Easy identification of process (ii)Accurate
capturability of process dynamics along the operating
trajectory (iii)Low cost and less time consumption (iv)Suitable
for both continuous and batch process. The terminology of
LPV was first introduced by Shamma and Athans [11], in the
study of gain scheduling control. Applications of LPV (or gain
scheduling) control have been reported in the control of
electro-mechanical systems [11], The work on LPV model
identification is understood from Identification for linear
parameter varying models[3,9]. Method of interpolation is
studied in the paper presented in [5]. LPV modeling based on
first principle modeling is reported for SISO CSTR and
the MIMO polymerization in [19]. The LPV modeling using
subspace state space identification technique was adopted in
[14].

Keywords: Furnace, Mathematical model, Linear model, LPV In this work, mathematical model using first principle
model equations of industrial Boiler Furnace process is developed. In
order to generate input and output data sets, local approach of
I. INTRODUCTION
identification test is conducted with various operating regions
In India, the major contribution to electricity production is over an operating trajectory. With the help of data sets
provided by Thermal power plant in which the Boilers play generated, linear transfer function models at different
major role in steam generation[2]. Furnace is the one where operating regions are identified. By interpolating the linear
combustion process takes place. The enormous amount of heat models, Linear parameter varying (LPV) models of furnace
generated is processed further for the generation of steam are developed and the performance of LPV model is
which is utilized for the production of electricity. Modeling compared with the first principle model.
the dynamical features of a process is an important step to
understand the process in a better way. It is difficult to identify II. BOILER FURNACE
accurate models of nonlinear system, approximate linear
An industrial Boiler furnace or direct fired heater is an
models are used in most of the industrial controllers, which
equipment used to provide heat for a process or can serve
may lead to lower control performance. It is important to
as reactor which provides heats of reaction. Fuel flows into
develop simple and practical method for nonlinear process
the burner and is burnt with air provided from an air blower.
modeling and identification for the control of nonlinear
There can be more than one burner in a particular furnace
processes. Developing a first principle model of a given
which can be arranged in cells which heat a particular set of
industrial process costs a lot of manpower, the accuracy of
tubes. Burners can also be floor mounted, wall mounted or
first principle models is often not high enough for dynamic
roof mounted depending on design. The flames heat up the
tubes, which in turn heat the fluid inside in the first part of the

978-1-4673-4601-6113/$25.00 2013 IEEE

 206 Proceedings of 7th International Conference on Intelligent Systems and Control (ISCO 2013)

furnace known as the radiant section or firebox. In this

chamber where combustion takes place, the heat is transferred
mainly by radiation to tubes around the fire in the chamber.
The heating fluid passes through the tubes and is thus heated
to the desired temperature. dheg 1
(3)
_

dt Vb/Peg
III. DEVELOPMENT OF FIRST PRINCIPLE MODEL

The first principle model of Industrial boiler furnace is

developed using the mass and energy balance equations
referred by Astrom K.J[l].The behaviour of the boiler furnace (4)
is captured by the following mass and energy balance
equations.
The mass balance for combustion is given by
Rate of change of furnace gas flow = Fuel flow +Air flow + qr and qs are modeled using Stefan - Boltzmann law for

Recirculation gas flow Gas flow radiation

through boiler. qr = 1]{) a r a (T

T: ) g4 - (5 )
(1 () )a (T T: )
This equation(1) is mathematically represented as
qs = 1] I - r a g4 - (6 )

where,
F / + Fa + Fr - F eg (1) e - Burner tilt angle
Y) - Attenuation coefficient for riser
Y)' - Attenuation coefficient for super heater
Tg is compared using the relation
Ff - Fuel flow, Fa - Air flow, Fr - Recirculation gas flow, Feg
a r . Heat transfer surface area for furnace
- Mass flow of furnace gas through the boiler
Tw - Water wall temperature
The energy balance for combustion is given by
() - Stefan-Boltzmann constant
Rate of change of energy of hot gas =Energy from fuel input +
h eg
Energy from air input + Energy from recirculation gas - Heat T (7)
g
= --

energy transferred to riser - Heat energy transferred to SSH - C pg

Heat energy carried by gas. And is described by the Where
differential equation(2), Tg - Ternperature of furnace gas
Cpg - Specific heat of exhaust gas at constant pressure
The ideal gas constant for the combustion gases and the
furnace suction coefficient 1] g are used for the calculation of

the furnace gas pressure, Pg'

P g = 1]IlP eg T g (8 )

Where Where
Vbf - Combustion chamber volume of boiler furnace Y)g - Furnace suction coefficient
heg - Specific enthalpy of furnace gas f.! - ideal gas constant for combustion gases
Cf - Calorific value of coal If Oa denotes the content of fresh air in the recirculation, the
ha - Specific enthalpy of air percentage of excess air in the furnace gas ,, can be
hr - Specific enthalpy of Recirculation gas
qr - Heat transferred by radiation to riser computed as given below
qs - Heat transferred to SSH 1_
- Stochiometric air/fuel volume ratio ex 100 (Fa
= + 0 aF r - Fie )_ (9)
ex - percentage excess air level
FIG
Equation (1) and (2) are written as given below
Further, the gas flow through the boiler is governed by the
equation:
1]
F eg =
I Pg (10 )
Y)f - Chimney friction coefficient
 Identification ofIndustrial Boiler Furnace Using Linear Parameter Varying Model 207

The heat energy carried by the hot gas after the SSH is given
by,
qg = C fFf +haFa + hrFr - qr - qs
The above equations are used develop the first principle model
this work, Heat transferred to the riser is considered as the working
point variable. Fuel flow, Air flow are taken as inputs. furnace
temperature and heat transferred by radiation to the riser are taken as
(1 1 ) Outputs. At three different operating regions of heat transferred to the
riser, nonnal identification tests are perfonned for the collection of
input and output datum.

of the furnace using MATLAB/SIMULINK .For 5% step

For individual regions Linear transfer function models are developed
increase in the fuel flow and air flow, the open loop response of
using linear model identification method. Several linear identification
furnace temperature and heat transferred by radiation to the riser are
methods are prediction error method class, subspace method
shown in the Fig3.I,Fig3.2.
(Ljung, 1999) and ASYM (Zhu, 200 I). Among these prediction error

[ : ] [ : ][ ]
method is used. The linear models for three operating regions are
1200 denoted in the equation(13)as follows

1180
Gl G2
Cil

::l

Q) 1160 1] (t) = Ui(t)

Y2 (t) G21 G22
u

C, 1140 Ui(t)
Q)
Q)

., 1120
Q)
"0

"
rn 1100
Q;
"'-
E 1080
where i represents operating regions, y(t) is output, u(t) is input, w(t)
'" 1060
Q)
u
is the working point variable(scheduling variable) and G is the linear
"
c:

LL 1040 transfer function.

1020
0 10 20 30 40 50
Iime(secl V. LINEAR PARAMETER VARYING MODELING

For many processes in chemical process industry, it is necessary to

Fig3.1: Open loop response of furnace temperature operate at various working points (scheduling variable). Such
processes often show smooth, non-chaotic and non-linear behavior as

105
a function of certain scheduling parameters. Often an approximation
in the fonn of Linear Parameter Varying (LPV) systems is sufficient
u X
1.8 r- ---,---r-- to describe such systems, where the system canonical variables are
'" modeled as nonlinear functions of the scheduling parameters. It is
u
desired that the identified LPV model is able to represent the non

Q)
UI
1.6 linear process behavior at and during the transition between the
c operating regimes. LPV Model is the interpolation of Linear Models

1.4
using weighting functions.
.2 General LPV model is as follows in equation(12)
.-c
i
y(t) al(w)y'(t) + a2(w)y (t) + a3(w)y'(t)
!!'!
1.2
=

>-
..c (12)
-c


Where y'(t) is the linear model output as i represents operating
UI regions which varies from 1 to 3. UI (w), U2 (w), U3 (w) are weights
C
which are functions of scheduling point variable. These weights can
m 0.8 0---
10 20 30 40 50-----
be determined using Triangular Weighting function which is Pre
I assigned and need no estimation.
Time(sec) For determining the weights of each operating point, Triangular
weighting function method is used. This method is pre-assigned and
needs no estimation so data sets which contain both working point
Fig3.2: Open loop response of heat transferred by radiation to the riser
tests and transition tests are needed to estimate the parameters. The
weights associated with each and every operating points of
IV. DEVELOPMENT OF LINEAR MODEL scheduling variable is shown in Fig4.1

The LPV model using the triangular weighting functions is expressed

Linear models are used to capture the dynamics of different operating
in equation(13)
region of the process. Therefore, the idea is to only test and identify
process models along their operating trajectories. The variable w(t)
will be called working-point variable which detennines the working
point of the process operation. It is a measured variable from the
process or can be calculated from measurable process variables. For
 208 Proceedings of 7th international Conference on intelligent Systems and Control (iSCO 2013)

5
2 10
u
'" X
/(t)
'"
u
w2 -wet) yl(t) w(t)-wl y2(t)
+
w(t)WI
?'"
1.8
W WI <w(t)W2 '"
y(t)= w2 - I w2 -WI
E 1.6 J
c
W3 -wet) 2 (t) et) <W3
y (t) + w -w2 let) W2 <w c 1--- LPV modal
W3 -W2 W3 -W2 W3 w(t) . 1.
0
4 --- fint principle modal
l(t) 'U
(13)
>.
1.2
..c
'0
1 .---------------------.
.e'"
c 0.8
0_8
c
0
0;'" 0.6 0 10 20 30 40 50 60
I
13 Time(sec)
c 0_6

'+-

OJ
c
Fig4.3: Model response of heat transferred by radiation to the riser
E 0.4
OJ

02
VI. CONCLUSION

First principle model of industrial boiler furnace which is non linear

in nature is developed using mass and energy balance equations. It is
O L-----------------J difficult to develop an accurate model which captures non linearity,
o 200 400 600 800 so it is necessary to have a simple and practical method of
Time(sec} identification. Linear parameter varying (LPV) model is proposed for
its merit of tracking both static and dynamic non linearities. LPV
model is the interpolation of individual linear models of a non linear
Fig 4.1: Weighting Functions of LPV model, blue line-first region weights; process using weighting functions. It can be applicable for continuous
green line-second Region weights; red line-Third Region weights. and Batch processes. The simulation results show the comparative
performance analysis of First principle, and LPV model, and prove
Where heat transferred by radiation to the riser is the scheduling that the LPV model is fitting accurately with the first principle model.
point variable w(t), the various working points are
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