Document Type
Article
Publication Date
11-18-2025
Department
Department of Mechanical and Aerospace Engineering
Abstract
Pipeline transportation of petroleum products remains one of the safest and most efficient methods of bulk energy delivery, yet overpressure events continue to pose serious operational and regulatory challenges. Traditional fixed-gain PI controllers, commonly used with centrifugal pump drives, cannot adapt to varying product densities or transient disturbances such as valve closures that generate water hammer. This paper proposes a self-tuning adaptive controller based on Recursive Least Squares (RLS) parameter estimation to improve safety and efficiency in pipeline pump operations. A nonlinear simulation model of a centrifugal pump driven by an induction motor is developed, incorporating pipeline friction losses via the Darcy–Weisbach relation and pressure transients induced by rapid valve closures. The RLS algorithm continuously estimates effective loop dynamics, enabling online adjustment of proportional and integral gains under changing fluid and operating conditions. Simulation results demonstrate that the proposed RLS-based adaptive controller maintains discharge pressure within ±2% of the target setpoint under density variations from 710 to 900 kg/m3 and during severe transient events. Compared to a fixed-gain PI controller, the adaptive strategy reduced pressure overshoot by approximately 31.9% and settling time by 6%. Model validation using SCADA field data yielded an (Formula presented.) = 0.957, RMSE = 3.95 m3/h, and normalized NRMSE of 12.6% (by range), confirming strong agreement with measured system behavior. The findings indicate that RLS-based self-tuning provides a practical enhancement to existing pipeline control architectures, offering both improved robustness to abnormal transients and greater efficiency during steady-state operation. This work establishes a foundation for higher-level supervisory and game-theoretic coordination strategies to be explored in subsequent studies.
Publication Title
Machines
Recommended Citation
Brattley, D.,
&
Weaver, W.
(2025).
Adaptive PI Control Using Recursive Least Squares for Centrifugal Pump Pipeline Systems.
Machines,
13(11).
http://doi.org/10.3390/machines13111064
Retrieved from: https://digitalcommons.mtu.edu/michigantech-p2/2155
Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 International License.
Version
Publisher's PDF
Publisher's Statement
Copyright: © 2025 by the authors. Licensee MDPI, Basel, Switzerland. Publisher’s version of record: https://doi.org/10.3390/machines13111064