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

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presented. In the following paper (D) a model predictive control strategy for controlling pressure and water level in the boiler is presented along with simulation results. This paper introduces an extra complexity to the control problem by considering cooperation with a waste heat recovery boiler. In the fifth paper (E) results gathered from Papers B, C and D and experience gained over the project period are collected into a statement of limits of performance for the marine boiler along with simple control design guidelines. In the sixth paper (F) finite horizon model predictive control is applied to control of marine boilers when the load situations require on/off burner control. In the seventh paper (G) one of the new strategies suggested in Paper (H) based on a generalised hysteresis control approach is applied to the marine boiler and delivers more appropriate performance than the finite receding horizon strategy presented in paper F. The final paper (H) discusses problems with finite receding horizon control for systems with discrete input and states converging to a limit cycle. Further, new methods handling these problems are introduced derived from infinite horizon aspects. iv
Synopsis Marinekedler har traditionelt været styret af klassiske enkelt sløjfe regulatorer. For at optimere ydeevnen af marinekedlerne, reducere installationstiden samt minimere de fysiske dimensioner af disse store stålkonstruktioner er der brug for en mere omfattende og sammenhængende reguleringsstrategi. Dette projekt omhandler avanceret regulering af en specifik klasse af marinekedler ved at kombinere kendte designmetoder for flervariable systemer. I afhandlingen præsenteres bidrag inden for modellering og regulering af et-træks røgrørs marinekedler såvel som inden for regulering af hybride systemer. Der er specielt fokuseret på vandstandsregulering, hvilket er kompliceret af karakteren af de forstyrrelser, der påvirker systemet samt af lavfrekvent målestøj. Dette fokus var motiveret af et estimeret stort potentiale for at reducere kedlernes dimensioner ved at minimere fluktuationer i vandstanden. Reguleringsstrategier, baseret på model prædiktiv regulering, fremsættes for at nå målet, mens trykreguleringen er håndteret ved at anvende et flervariabel reguleringssetup. Afhandlingen retter derudover fokus mod regulering af kedler i last situationer, som kræver tænd/sluk skift af brænderen. En ny strategi, baseret på et generaliseret hysterese reguleringsprincip, til at håndtere sådanne situationer er præsenteret. Løsningen er optimal i forhold til et bestemt ydeevne kriterium, og den viser lovende resultater sammenlignet med traditionelle metoder og eksisterende optimeringsbaserede metoder (endelig horisont model prædiktiv regulering). I afhandlingen baseres trykreguleringen på denne nye metode, når tænd/sluk skift af brænderen kræves, mens vandstandsreguleringen er håndteret med en model prædiktiv regulator. Afhandlingen består af en samling af otte artikler indledt med en kort introduktion til marinekedler, motivation, baggrund, sammendrag samt konklusion. Den første artikel (A) diskuterer modellering og regulering af en ny turboladet brænder enhed. Den udledte model bliver sammelignet med måle data, og der udvikles en reguleringsstrategi til brænderen. I den anden artikel (B) opstilles en model af marinekedlen samt en regulator baseret på lineær kvadratisk regulering til regulering af tryk og vandstand i en test kedel. I den tredje artikel (C) præsenteres en grundig analyse af reguleringsegenskaberne for v
Page 1 and 2: Optimisation of Marine Boilers usin
Page 3: Preface and Acknowledgements The wo
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
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
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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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3.2 MARINE BOILER MODELLING AND CON
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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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