Optimisation of Marine Boilers using Model-based Multivariable ...

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References 63 Paper A: Modelling and Control of a Turbocharged Burner Unit 75 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 2 System Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 3 Controller Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 4 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 Paper B: Model-based Control of a Bottom Fired Marine Boiler 105 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 2 Boiler Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 3 Controller Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 4 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 5 Discussion and Future Work . . . . . . . . . . . . . . . . . . . . . . . 119 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 Paper C: Control Properties of Bottom Fired Marine Boilers 121 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 2 Boiler Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 3 Model Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 4 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145 Paper D: Advanced Water Level Control in a One-pass Smoke Tube Marine Boiler 147 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149 2 Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151 3 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155 4 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164 5 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167 6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 Paper E: The One-pass Smoke Tube Marine Boiler - Limits of Performance 175 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177 2 Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179 3 Limits of Performance . . . . . . . . . . . . . . . . . . . . . . . . . . 183 4 Controller Design Guidelines . . . . . . . . . . . . . . . . . . . . . . . 197 5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201 viii
Paper F: Hybrid Model Predictive Control Applied to Switching Control of Burner Load for a Compact Marine Boiler Design 205 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207 2 System Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209 3 Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215 4 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220 5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223 Paper G: Optimal Switching Control of Burner Setting for a Compact Marine Boiler Design 225 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227 2 System Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228 3 Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235 4 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246 5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249 Paper H: Optimal Switching Strategy for Systems with Discrete Inputs using a Discontinuous Cost Functional 253 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255 2 Formulation of the Problem . . . . . . . . . . . . . . . . . . . . . . . . 256 3 Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261 4 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270 5 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274 6 Conclusions and Future Works . . . . . . . . . . . . . . . . . . . . . . 275 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276 ix
Page 1 and 2: Optimisation of Marine Boilers usin
Page 3: Preface and Acknowledgements The wo
Page 6 and 7: presented. In the following paper (
Page 8 and 9: marinekedler. I den efterfølgende
Page 13 and 14: 1. Introduction This thesis is conc
Page 15 and 16: 1.2 THE MARINE BOILER 3 The reasons
Page 17 and 18: 1.3 STATE OF THE ART AND RELATED WO
Page 25 and 26: 1.4 VISION FOR THE MARINE BOILER CO
Page 27 and 28: 1.4 VISION FOR THE MARINE BOILER CO
Page 29 and 30: 1.5 OUTLINE OF THE THESIS 17 H [Sol
Page 31 and 32: 2. The Marine Boiler Plant The purp
Page 33 and 34: 2.2 WATER-STEAM CIRCUIT 21 Steam fr
Page 35 and 36: 2.3 THE WATER LEVEL 23 - Swell: The
Page 37 and 38: 2.5 CONTROL SYSTEM REQUIREMENTS 25
Page 39 and 40: 2.6 CONTROL CHALLENGES 27 line. Thi
Page 41 and 42: 2.7 TEST PLANT 29 expected that to
Page 43 and 44: 3. Summary of Contributions This ch
Page 45 and 46: 3.1 SUPPLY SYSTEM MODELLING AND CON
Page 51 and 52: 3.2 MARINE BOILER MODELLING AND CON
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3.3 HYBRID SYSTEMS CONTROL 49 Figur
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3.3 HYBRID SYSTEMS CONTROL 51 Examp
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3.3 HYBRID SYSTEMS CONTROL 53 Cost
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3.4 SOLVED CONTROL CHALLENGES 55
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4. Conclusion In this thesis variou
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4.1 PERSPECTIVES 59 that MPC is app
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4.1 PERSPECTIVES 61 gies. This is i
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REFERENCES 63 References K. J. Åst
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REFERENCES 65 M. Egerstedt, Y. Ward
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REFERENCES 67 J. M. Lee. Introducti
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REFERENCES 69 J. E. Rijnsdorp. Inte
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REFERENCES 71 Spirax. Spirax sarco,
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Papers Title page A Modelling and C
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Copyright c○ 2008 ECOS The layout
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78 PAPER A important when the burne
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80 PAPER A loop keeping the pressur
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82 PAPER A Equations (1) and (2) ca
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84 PAPER A Usually the flow and spe
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86 PAPER A [Jensen et al., 1991] us
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88 PAPER A where hc, hfu1 and hcb,g
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90 PAPER A where Tfn is the furnace
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92 PAPER A Hence the mole flow of o
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94 PAPER A Turbocharger shaft speed
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96 PAPER A Oxygen percentage [%] 14
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98 PAPER A design of the gas turbin
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100 PAPER A Total fuel flow [%] Fue
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102 PAPER A feedforward from the ca
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104 PAPER A
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Copyright c○ 2005 IFAC The layout
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108 PAPER B 2 Boiler Model The boil
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110 PAPER B be found. The density c
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112 PAPER B given as: d dt (ρs(Vt
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114 PAPER B 3 Controller Design 3.1
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116 PAPER B In the estimator design
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118 PAPER B u(k) - Σ - - Γ Γ Σ
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120 PAPER B L w [m] P s [bar] 1.3 1
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Copyright c○ 2006 Elsevier Ltd. T
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124 PAPER C 1 Introduction Traditio
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126 PAPER C constraints or maximal
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128 PAPER C To: Ps, Magnitude [dB]
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130 PAPER C disturbance is the chan
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132 PAPER C Magnitude 8 7 6 5 4 3 2
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134 PAPER C In most cases, for stab
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136 PAPER C r2 − K22 3.2 Load Dep
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138 PAPER C Scaled output Scaled in
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140 PAPER C u1 u2 − G21 G22 − G
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142 PAPER C To: Ps, Magnitude [dB]
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144 PAPER C Scaled output Scaled in
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146 PAPER C J. E. Rijnsdorp. Intera
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The layout has been revised.
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150 PAPER D WHR boiler Exhaust gas
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152 PAPER D for the WHR boiler as w
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154 PAPER D where the downstream pr
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156 PAPER D following specification
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158 PAPER D the gain associated wit
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160 PAPER D Singular value [dB] 10
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162 PAPER D lution to the algebraic
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164 PAPER D 4 Simulation Results Th
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166 PAPER D ps [bar] ˙mfu [ kg h ]
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168 PAPER D ps [bar] ˙mfu [ kg h ]
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170 PAPER D subj. to Lw(t) = Pcl(t,
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172 PAPER D be acceptable if more s
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174 PAPER D G. Pannocchia and J. B.
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Copyright c○ 2008 ECOS The layout
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178 PAPER E Steam flow Exhaust gas
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180 PAPER E swell phenomenon due to
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182 PAPER E The linearised version
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184 PAPER E Magnitude (dB) ; Phase
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186 PAPER E that of the flow sensor
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188 PAPER E ˙mfw [ kg h ] ˙mfw [
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190 PAPER E shown. From the plot it
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192 PAPER E 3.5 Neglected Dynamics
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194 PAPER E Magnitude (dB) To: ˙mf
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196 PAPER E disturbance at current
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198 PAPER E For these reasons it wi
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200 PAPER E 4.3 Controller Tuning I
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202 PAPER E T. D. Eastop and A. McC
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204 PAPER E
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Copyright c○ 2008 IFAC The layout
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208 PAPER F power gaps. This means
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210 PAPER F n0 n1,0 ˙t = 1 n0,1 ˙
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212 PAPER F The two equations above
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214 PAPER F following performance i
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216 PAPER F Pseudo code for state u
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218 PAPER F There is a lower bound
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220 PAPER F One way to apply blocki
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222 PAPER F Pressure error[bar] Wat
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224 PAPER F W. P. M. H. Heemels, B.
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228 PAPER G stantly, which in turn
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230 PAPER G n0 n1,0 ˙t = 1 n0,1 ˙
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232 PAPER G tubes) and the metal se
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234 PAPER G 2.2 Control Properties
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236 PAPER G 3.1 Method A: Finite Ho
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238 PAPER G tecture is especially g
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240 PAPER G setpoint, the model of
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242 PAPER G x0 = x(0),i0 = i(0) (23
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244 PAPER G infinity. This is a har
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246 PAPER G Filtered input [ kg h ]
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248 PAPER G a switch to Mode 2 requ
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250 PAPER G References K. J. Åstr
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252 PAPER G
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256 PAPER H optimisation-based meth
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258 PAPER H Cost 60 55 50 45 40 35
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260 PAPER H The advantages of this
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262 PAPER H where J ∗ lc is the c
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264 PAPER H function is still optim
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266 PAPER H There are many ways to
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268 PAPER H Complex eigenvalues In
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270 PAPER H 4 Examples Example 4.1.
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272 PAPER H Acceleration x3 4 3 2 1
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274 PAPER H 5 Discussion In the exa
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276 PAPER H has been presented usin
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278 PAPER H C. Seatzu, D. Corona, A
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