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

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Solberg, Brian Optimisation of Marine Boilers using Model-based Multivariable Control ISBN 978-87-90664-42-8 First Edition, August, 2008 Copyright c○2008 Brian Solberg, except where otherwise stated. All rights reserved. Aalborg Industries A/S Gasværksvej 24 9100 Aalborg Denmark Department of Electronic Systems Aalborg University Fredrik Bajers Vej 7C 9220 Aalborg Ø Denmark
Preface and Acknowledgements The work presented in this thesis has been carried out under the Industrial Ph.D. programme supported by the Danish Ministry of Science, Technology and Innovation. The thesis is submitted in partial fulfilment of the requirements for the degree of Doctor of Philosophy in Control Engineering at Automation and Control, Department of Electronic Systems, Aalborg University, Denmark. The work has been carried out at the Engineering Department, Aalborg Industries A/S and at the section of Automation and Control, Aalborg University in the period August 2004 to August 2007 under supervision of Professor Jakob Stoustrup, Associate Professor Palle Andersen and R&D Project Manager Claus M. S. Karstensen. I would like to thank all my supervisors for great support and guidance throughout the project period. A special thank you to Palle Andersen and Jakob Stoustrup for the many hours they have invested in discussions on project relevant matters and for their eagerness to share their high level of expertise with me. I would also like to thank my colleagues at Aalborg Industries A/S for contributing to a pleasant working environment. Thank you to Professor Jan M. Maciejowski for letting me visit his control group at Cambridge University, helping me find accommodation at Pembroke College and otherwise being a kind host. It has been a privilege to visit the Cambridge control group hosting many dominant figures in the field of systems and control. The high scientific level was very motivating, and participating in MPC group meetings and Friday seminars was very inspiring. Also I would like to thank the Ph.D. students at the Cambridge control group for providing a pleasant social atmosphere. Brian Solberg Aalborg, August 2008 i
Page 1: Optimisation of Marine Boilers usin
Page 6 and 7: presented. In the following paper (
Page 8 and 9: marinekedler. I den efterfølgende
Page 10 and 11: References 63 Paper A: Modelling an
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
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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
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Page 39 and 40: 2.6 CONTROL CHALLENGES 27 line. Thi
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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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