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

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16 1. INTRODUCTION remarkably increased production rates. 1.5 Outline of the Thesis This thesis is based on a collection of publications. The thesis is divided into two parts. The first part is an introduction and summary of the contributions, and the second part presents the related publications. The organisation is as follows: Part 1: Chapter 2 presents a description of the marine boiler plant together with control challenges hereof, and a few specific details of the test boiler are given. Chapter 3 gives a summary of the contributions. In Chapter 4, conclusions and perspectives are presented. Part 2: In this part the eight publications made during the project are presented in the following order: A [Solberg et al., 2008c]. Brian Solberg, Palle Andersen and Jakob Stoustrup. Modelling and control of a turbocharged burner unit. ECOS 2008 Conference, Kraków, Poland, 2008. B [Solberg et al., 2005b]. Brian Solberg, Claus M. S. Karstensen, Palle Andersen, Tom S. Pedersen and Poul U. Hvistendahl. Model-based control of a bottom fired marine boiler. In P. Horacek, editor, 16th IFAC World Congress, Prague, Czech Republic, 2005. C [Solberg et al., 2007b]. Brian Solberg, Claus M. S. Karstensen and Palle Andersen. Control properties of bottom fired marine boilers. Energy, 2007. (Journal version of the conference paper [Solberg et al., 2005a]) D [Solberg et al., 2007a]. Brian Solberg, Palle Andersen and Jakob Stoustrup. Advanced water level control in a one-pass smoke tube marine boiler. Technical report, Department of Electronic Systems, Aalborg University, Aalborg, Denmark, 2007. E [Solberg et al., 2008d]. Brian Solberg, Palle Andersen and Jakob Stoustrup. The one-pass smoke tube marine boiler - limits of performance. ECOS 2008 Conference, Kraków, Poland, 2008. F [Solberg et al., 2008a]. Brian Solberg, Palle Andersen, Jan M. Maciejowski and Jakob Stoustrup. Hybrid model predictive control applied to switching control of burner load for a compact marine boiler design. In D. D. Cho, editor, 17th IFAC World Congress, Seoul, Korea, 2008. G [Solberg et al., 2008b]. Brian Solberg, Palle Andersen, Jan M. Maciejowski and Jakob Stoustrup. Optimal switching control of burner setting for a compact marine boiler design. Submitted March 2008 for journal publication, 2008.
1.5 OUTLINE OF THE THESIS 17 H [Solberg et al., 2008e]. Brian Solberg, Palle Andersen and Jakob Stoustrup. Optimal switching strategy for systems with discrete inputs using a discontinuous cost functional. Submitted March 2008 for publication in International Journal of Control, 2008.
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 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 27: 1.4 VISION FOR THE MARINE BOILER CO
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 51 and 52: 3.2 MARINE BOILER MODELLING AND CON
Page 61 and 62: 3.3 HYBRID SYSTEMS CONTROL 49 Figur
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Page 65 and 66: 3.3 HYBRID SYSTEMS CONTROL 53 Cost
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Page 75 and 76: REFERENCES 63 References K. J. Åst
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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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