Abstract:
An automated, real-time control of a waste incineration plant is disclosed for treating waste of variable moisture content. In an exemplary method of and a system for controlling a waste combustion process, time varying process parameters of the waste combustion process, such as a water content of the incoming waste, are estimated via a parameter estimation algorithm for time varying parameters based on Kalman Filters. The estimated process parameters can then used to determine, in a controller for real-time control of the waste incineration plant, control parameters, such as a waste feed rate, corresponding to input variables of a model of the waste combustion process.

Description:
RELATED APPLICATIONS  
       [0001]     This application claims priority under 35 U.S.C. §119 to EP Application 06405101.4 filed in Europe on Mar. 9, 2006, the entire contents of which are hereby incorporated by reference in their entireties.  
       TECHNICAL FIELD  
       [0002]     Waste incineration and a method of controlling a waste combustion process are disclosed.  
       BACKGROUND INFORMATION  
       [0003]     Waste is any type of residual material that remains after any human activity, such as production and consumption of goods or the construction of buildings and traffic ways. The majority of the residual materials are, except for their pure mass and volume, not a potential threat to the environment, nevertheless their correct treatment can help to minimize or avoid associated long-term risks. A sophisticated municipal waste management also helps to reduce the costs of waste treatment and to avoid the destruction of large areas which otherwise would be needed for waste dumping. Hence, the thermal treatment of waste, i.e. the waste incineration or combustion, is an indispensable part of any municipal waste management concept. Incineration is understood as the deliberately initiated, controlled and, in the wider sense, observed, self-sustaining oxidation of any substance. Like in any combustion of solid fuels, flue gases and ashes are the products of such waste incineration processes. Ashes are residual matters of different compositions that contain mainly silicon oxide and other minerals. Due to their chemical inertia they are often used for landfills and for civil engineering.  
         [0004]     Municipal and industrial waste is treated in waste incineration plants in order to reduce the volume of the waste to be deposited and in order to transform environmentally hazardous components of the waste, such as aromatic hydrocarbons or organic solvents, into harmless compounds. The increasing amount of waste to be treated leads to the design of incineration plants with multiple tracks, which are able to incinerate several ten tons of waste per hour. So-called waste-to-energy plants do not just burn the waste to ashes, they also use the combustion energy to generate steam, e.g. for district heating, and/or electricity and thus improve the overall efficiency of the plant.  
         [0005]     The sophisticated installations for flue gas and ash treatment as well as energy conversion increase the complexity of the plants and call for a suitable control technique. However, there are no adequate overall control schemes available so far to supplant an experienced operator, owing basically to the complex chemical processes and the unsteady fuel qualities resulting in fluctuations in combustion temperature and flue gas composition and flow. The variability of the waste composition relates to, in particular, the heating value or the moisture content of the waste, or the amount of sand, gravel or other non-combustible materials, such as metals, in the waste.  
         [0006]     The most significant control parameters which can be used to influence the combustion process in waste incineration plants are the mass flows of primary and secondary combustion air, the air temperature, the amount of returned flue gas, the amount of waste or fuel fed and the transportation speed or the stoking speed of a reciprocating grate. These parameters have to be optimized according to expected and unexpected variations in water content and heating value of the waste, with the objective to maximize the amount of waste that can be treated or the amount of steam that can be generated, and/or to minimize the amount of air pollutant emissions.  
         [0007]     WO-A-2005/103563 discloses a method of controlling a waste incineration plant by generating control signals in response to measured target parameters of the waste combustion process. The generation of the control signals is based on a model of the waste combustion process involving model inputs corresponding to the control signals, model states and model outputs corresponding to the target parameters, state equations linking the model states to the model inputs, and output equations linking the model outputs to the model inputs and model states. The model of the waste combustion process comprises a pile representing a sector of a waste bed on the grate, the pile having a restricted spatial resolution limited to a lower layer and an upper layer, wherein a homogeneously distributed mass and a spatially constant temperature of the lower and the upper layer each form a model state.  
         [0008]     A key value for the combustion process and its control is the water content in the fresh waste when it enters the incineration furnace. Actually there is no technology available to measure the water content of the fresh waste before it enters the furnace. Since the water content is most important for the control of the combustion process calculation methods have been developed to derive it from the water content in the flue gases by evaluating expressions of the following kind: 
 
 {dot over (m)}   H     2     O     —     waste   ={dot over (m)}   H     2     O     —     flue   −{dot over (m)}   H     2     O     —     formation   −{dot over (m)}   H     2     O     —     combustion  
 
 where the indices H 2 0_waste, _flue, _formation and _combustion refer to the waste, the flue gas, the formation water (i.e. the water that is formed during combustion), and the humidity in the combustion air, respectively. Nevertheless, the accuracy of these calculations is more qualitative than quantitative and suffers from a time delay of several minutes. This makes it difficult to assess and use this information for the control of the combustion process. 
 
         [0009]     In the European Patent Application EP-A 1406136, a value of a vector of variables  p  in a mathematical model for a physical process is estimated. The variables  p  represent process properties or parameters such as a mass flow rate or efficiency of a turbo machine, which properties are a function of a state vector  x  of the mathematical model. The vector of variables  p  is incorporated into the state vector  x  as an augmented state, and the complete state (comprising the state vector  x  and the augmented state  p ) is conventionally estimated by a State Augmented Extended Kalman Filter (SAEKF) algorithm, based on previously measured values of input variables  u . In other words, the process properties themselves are estimated at the same time as the states, contrary to a more classical estimation of a set of polynomial coefficients for computing said process properties from the state.  
       SUMMARY  
       [0010]     An automated, real-time control of a waste incineration plant is disclosed for treating waste of variable moisture content. Exemplary methods and systems for controlling a waste combustion process are disclosed.  
         [0011]     According to an exemplary embodiment, time varying process parameters of the waste combustion process, such as a water content of the incoming waste, are estimated via a parameter estimation algorithm for time varying parameters based on Kalman Filters. The estimated process parameters can then be used to determine, in a controller for real-time control of the waste incineration plant, control parameters, such as a waste feed rate, corresponding to input variables of a model of the waste combustion process.  
         [0012]     In an exemplary embodiment, the time varying process parameters form a vector of variables in a mathematical model for the waste incineration process, and can be incorporated into a state vector of the model as an augmented state. The complete state comprising the state vector and the augmented state can then be estimated by a State Augmented Extended Kalman Filter (SAEKF) algorithm.  
         [0013]     The Kalman Filter can involve a state-space model of the waste combustion process with a restricted spatial resolution. In particular, a spatial resolution of a pile representing a sector of a waste bed on the grate can be limited to a lower layer and an upper layer. Such a model with limited complexity as compared to a time consuming computational fluid dynamics further contributes to a real-time implementation of an exemplary method of controlling a waste combustion process.  
         [0014]     The individual steps or functional modules of an exemplary method can be implemented as programmed software modules or procedures. The computer program code of the software modules can be stored in a computer program product for controlling one or more processors of a waste incineration control system, particularly, in a computer program product including a computer readable medium containing therein the computer program code means.  
     
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
       [0015]     The subject matter of the invention will be explained in more detail in the following text with reference to various exemplary embodiments which are illustrated in the attached drawings, in which:  
         [0016]      FIG. 1  schematically shows an exemplary waste incineration plant,  
         [0017]      FIG. 2  depicts an exemplary diagram of feed forward controller. 
     
    
       [0018]     The reference symbols used in the drawings, and their meanings, are listed in summary form in the list of reference symbols. In principle, identical parts can be provided with the same reference symbols in the figures.  
       DETAILED DESCRIPTION  
       [0019]      FIG. 1  schematically shows a waste incineration plant with a number of basic components. An input feed mechanism or actuator  10  introduces the municipal or industrial waste, garbage or other debris into a chute at the entrance of a furnace  11  and places the former on a supported movable grate  12  at a particular waste feed rate w 0 , thereby forming a waste bed. The grate  12  generally comprises some oppositely moving grate plates to spread and mix the waste and forward it along the grate  12 . Auxiliary burners  13  may be provided in order to start or support the combustion processes. The combusted flue gases can be collected in a flue gas tract or flue gas channel  14  upstream of the furnace  11  and guided to a boiler or steam generator  15 .  
         [0020]     Without loss of generality, the incineration process can be divided into four zones to be serially traversed by the waste: Drying zone  20 , first combustion zone for pyrolysis and gasification/volatilization  21 , residual zone for char oxidation or solid combustion  22 , and ash treatment/sintering zone  23 . These zones are actually not very well separated in the furnace and can overlap to a certain extent. A second combustion zone or flame zone  24 , where the homogeneous gas phase combustion of the pyrolysis gases takes place, is identified above the waste bed. Primary air  30  can be fed from below the grate in generally different amounts to the four abovementioned zones  20 ,  21 ,  22 ,  23 . Secondary air  31  can be fed above the grate to ensure complete combustion of the gasification and pyrolysis products in the second combustion zone  24 .  
         [0021]     The estimation of the process parameters involves three main modules which can be independent of each other and can be maintained and developed separately.  
         [0000]     a) The parameter estimation module, which consist of the State-Augmented Extended Kalman Filter, the Unscented Kalman Filter and the Adaptive Extended Kalman Filter;  
         [0000]     b) The model library, which consists of a heat exchanger, a grate combustion model plus various building blocks (storage and flow elements);  
         [0000]     c) The solver library, which consists of widely used solvers.  
         [0022]     The parameter estimation module can be called from the product code. The product code can be written in any language, which allows calling functions in a DLL (Visual Basic, Visual C/C++, MATLAB, etc.) The development engineer must supply the estimation module with input and output measurements on files and receives back the parameter estimates and trust indicators also on files.  
         [0023]     Exemplary parameter estimation modules can be based on the Kalman filter in various alternative forms. The original Kalman filter for linear systems has become a mature technology for so-called “white-box” state estimation, meaning that all parameters are known and only the state variables need to be estimated. If, however, the resulting model contains unknown parameters, it is called a gray-box model. The name Extended Kalman Filter (EKF) is used when the filter is applied to nonlinear systems. In this case, the filter can be an approximation and the system equations can be linearized at every time step when computing the filter gain matrix.  
         [0024]     The known Kalman Filter estimates a system state of a dynamic system that can be representable by state-space representation {dot over (x)}=f(x,u) with state vector x and input vector u. In the State Augmented Extended Kalman Filter (SAEKF), the state can be augmented by variables p to be estimated, and the state-space model underlying the SAEKF is  
           [           x   .               p   .           ]     =       [           f   ⁡     (     x   ,   u   ,   p     )               0         ]     +   w       ,       
 
 where {dot over (x)}=f(x, u, p) represents the modelled dynamics of a known dependency of the change {dot over (x)} in system state from the state vector x, the measured values u and the vector of variables p, and w represents a vector of noise disturbances. The combined vector [x, p] is called complete state. The variables p to be estimated correspond to coefficients of a polynomial approximations. The computation of the estimate of the complete state along with associated covariance matrices can be done according to a suitable implementation of the known SAEKF approach, as shown e.g. in Robert Stengel, “ Optimal control and estimation ”, Dover Publications, 1994.; (p386-400). 
 
         [0025]     The name Augmented Kalman Filter comes from the augmentation of the (linear or nonlinear) system states {dot over (x)}=f(x,u) with dynamics {dot over (p)} for the unknown parameters p. For example, for constant parameters with some possible unknown external influence, the dynamics of p can often be set to a “random walk” {dot over (p)}=w, where w is a stochastic noise process. What makes the augmented filter work, is the connection of the parameter estimates p and the system states x through the covariances of the noise processes. The unscented Kalman filter was developed by and differs from the standard Kalman Filter in the way the covariance matrices can be computed. The matrices can be computed numerically by propagating three different so-called ‘sigma points’ through the model and estimating the covariances from the three resulting output vectors. The advantage of doing this, is a significant simplification of the simulations required (the Riccati equations disappear.) The Adaptive Kalman Filter is a further extension, which overcomes the difficulty in tuning the EKF and the UKF by adapting the tuning matrices Q and R (noise covariances).  
         [0026]     Gray-box identification has some advantages over black-box identification methods, such as ARMAX models or Neural Networks. Black-box models usually do not utilize prior knowledge of the system and often a large set of parameters needs to be estimated. In gray-box identification, only the unknown parameters are estimated. Furthermore, if only one physical parameter changes due to a modification of the system, only that specific parameter has to be re-estimated, whereas in a black-box model, the whole set of parameters would have to be re-determined.  
         [0027]     If the moisture content of the waste in the chute is assessed through the parameter estimation procedure above, it is possible to introduce a feed forward controller element that should be able to some extent compensate for variations in the waste composition.  
         [0028]     An exemplary basic feed forward control configuration is shown in  FIG. 2 . The idea is as follows. An exemplary controller is configured assuming a nominal waste composition. Accordingly, the exemplary controller thus generates a waste mass flow signal (U) on the assumption that a constant percentage (W f ) of the waste is moisture. However, because of random variations (dF wi ) of the waste composition, the actual moisture content (Y w ) can be different from the assumed one. The feed forward controller (FF) uses the difference between expected moisture content and actual moisture content (Y w ) to adjust U to give the actual waste mass flow (F wi ). Note that in  FIG. 2  dF wi  and the output of W f  are vector signals with elements that represent the various components of the waste.  
         [0029]     Referring to  FIG. 2 , a design of the feed forward controller is exemplified as follows. 
 
 Y   w   =K   w   ·dF   wi   +K   w   ·W   f   ·*F   wi  
 
but 
 
 F   wi   =U+FF·Y   w   −FF·K   w   ·W   f   ·F   wi  
 
         ∴     F   wi       =       U   +     FF   ·     Y   w           1   +     FF   ·     K   w     ·     W   f               
 
 substituting the value for F wi  into the Y w  equation and rearranging gives 
 
 Y   w   =K   w   ·W   f   ·U +(1+ FF·K   w   ·W   f )· K   w   ·dF   wi  
 
         [0030]     Hence, if (1+FF·K w ·W f )&lt;&lt;1 the effect of dF wi  on Y w  will be minimal. In the following choose a dynamic FF such that near DC the gain of (1+FF·K w ·W f ) is zero or very small, in other words let  
         (     1   +     FF   ·     K   w     ·     W   f         )     =     s     s   +   K           
 
 Where s is the Laplace operator and K a suitable constant. Rearranging gives  
       FF   =         -   K       s   +   K       ·     1       K   w     ·     W   f               
 
         [0031]     Note that for this exemplary application dF wi  can be expected to have a bandwidth of less than 1 Hz, implying that a K value of 2*π*10 will give a rejection of better than 1/11 for frequencies less than 1 Hz. In practice although a bigger value of K would improve the disturbance rejection a value that is too large will cause implementation difficulties (because of the required sampling interval) and may adversely interfere with the feedback control. For this application the indicated value is acceptable.  
         [0032]     It will be appreciated by those skilled in the art that the present invention can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The presently disclosed embodiments are therefore considered in all respects to be illustrative and not restricted. The scope of the invention is indicated by the appended claims rather than the foregoing description and all changes that come within the meaning and range and equivalence thereof are intended to be embraced therein.  
       LIST OF DESIGNATIONS  
       [0000]    
       
           10  actuator  
           11  furnace  
           12  grate  
           13  auxiliary burner  
           14  flue gas tract  
           15  boiler  
           20  drying zone  
           21  first combustion zone  
           22  residual zone  
           23  ash treatment zone  
           24  second combustion zone  
           30  primary air  
           31  secondary air