Control and Estimation in Solar Parabolic Concentrators

Control and Estimation in Solar Parabolic
Concentrators
D. Sbarbaro
Department of Electrical Engineering, Universidad de Concepción, Concepción, Chile
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Outline
Introduction
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D. Sbarbaro (Department of Electrical
Control
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and Estimation
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Parabolic Concentrators
Concepción, Chile) 2 / 27
Outline
Introduction
Estimation and control problems
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Outline
Introduction
Solar collector model
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Outline
Introduction
Feedback control
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Control
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Outline
Introduction
Feedback control
Estimation
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Outline
Introduction
Feedback control
Estimation
Some simulation examples
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Outline
Introduction
Feedback control
Estimation
Final remarks and further work
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Introduction
America do Sol
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Introduction
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Introduction
. 200MW
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. . Hectars
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Control problem
Control the outlet temperature by manipulating the heating fluid flowrate
to compensate the effect of changing solar radiation.
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Control problem
Control the outlet temperature by manipulating the heating fluid flowrate
to compensate the effect of changing solar radiation.
Estimation problem
Estimate the degradation of the system performance due to the
accumulation of dust on the mirror’s surface.
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Soiling represents one of the most important factors influencing the

operation of solar concentrator fields.
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Soiling represents one of the most important factors influencing the

operation of solar concentrator fields.
The loss in specular reflectivity be as high as 14% or even 26% after a

few months.
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These losses can be reduced by cleaning. However, cleaning increases
maintenance costs and water use.
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A cost effective strategy is to consider the calculation of a reflectivity
threshold value at which such the cleaning effort is profitable.
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In the market can be found several sensors; such as, TraCS (Tracking
Cleanliness Sensor) and AVUS, for measuring soling level of solar
mirror.
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In the market can be found several sensors; such as, TraCS (Tracking
Cleanliness Sensor) and AVUS, for measuring soling level of solar
mirror.
The wide area covered by the collector field and the harsh
atmospheric conditions make the use of optical instruments too
expensive and impractical. . . . . . . . . . . . . . . . . . . . .
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The solar collectors can be modeled by the following first order hyperbolic
equation:
∂T ∂T
+ q(t) = θ(t)I(t), x ∈ [0, 1], t ≥ 0 (1)
∂t ∂x
where T (x, t) is the fluid temperature, q(t) is the fluid volumetric flow-rate
and I(t) is the solar radiation.
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equation:
∂T ∂T
+ q(t) = θ(t)I(t), x ∈ [0, 1], t ≥ 0 (1)
∂t ∂x
and I(t) is the solar radiation. The time-varying parameter θ(t) is defined
as:
G
θ(t) = vo (t) (2)
ρcf A
where ρ is the fluid density (kgm−3 ), cf the fluid specific heat capacity
(JC −1 kg −1 ), A the tube cross-sectional area (m2 ), G mirrors optical
aperture (m) and vo (t) is the time variant optical efficiency of the mirrors.
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equation:
∂T ∂T
+ q(t) = θ(t)I(t), x ∈ [0, 1], t ≥ 0 (1)
∂t ∂x
and I(t) is the solar radiation. The time-varying parameter θ(t) is defined
as:
G
θ(t) = vo (t) (2)
ρcf A
where ρ is the fluid density (kgm−3 ), cf the fluid specific heat capacity
(JC −1 kg −1 ), A the tube cross-sectional area (m2 ), G mirrors optical
aperture (m) and vo (t) is the time variant optical efficiency of the mirrors.
The boundary and initial conditions are defined as follows:
T (0, t) = Tin T (x, 0) = T0 , x ∈ [0, 1] (3)

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Assumption 1:
q ∈ Qq = {q ∈ C 1 (0, t) : 0 ≤ ql ≤ q(t) ≤ qh , ∀t ≥ 0} (4)
Assumption 2:
f = θ(t)I(t) ∈ Qf = {f ∈ L2 (0, t) : f (t) > 0, ∀t ≥ 0} (5)
Assumption 3:
T0 ∈ H 1 (0, 1) (6)
These assumptions are physcally motivated and also ensure the
well-posedness of the PDE model.
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Feedback control
Let T r (x, t) the desired temperature profile and e(t) the average tracking
error ∫ 1
e(t) = T r (x, t) − T (x, t)dx, t≥0 (7)
0
Control problem
Find a control input q(t) so that it drives the tracking error to zero.
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Feedback control
Let T r (x, t) the desired temperature profile and e(t) the average tracking
error ∫ 1
e(t) = T r (x, t) − T (x, t)dx, t≥0 (7)
0
Control problem
Find a control input q(t) so that it drives the tracking error to zero.
Proposition 1
The tracking error e(t) is positive if
T r (x, t = 0) ≥ T (x, t = 0) (8)
where T r (x, t = 0) is the initial conditions of the target system generating

the desired Temperature profile.
Proof: S. Mechhoud and T. Laleg-Kirati 2015, IEEECDC

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Feedback control
The internal energy is an extensive variable and therefore their evolution
can be described by a simple ODE. Let U (t) the internal energy
∫ 1
U (t) = T (x, t)dx (9)
0
By integrating (1)
dU
+ q(t)(T (1, t) − T (0, t)) = θ(t)I(t) (10)
dt
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Feedback control
The internal energy is an extensive variable and therefore their evolution
can be described by a simple ODE. Let U (t) the internal energy
∫ 1
U (t) = T (x, t)dx (9)
0
By integrating (1)
dU
+ q(t)(T (1, t) − T (0, t)) = θ(t)I(t) (10)
dt
Proposition 2
Consider the PDE (1) and assumptions 1,2 and 3. Let the control input
q(t)
[ ∫ t ]
1
q(t) = θ(t)I(t) + ki e(τ )dτ + kp e(t) (11)
(T (1, t) − T (0, t)) 0
with kp > 0 and ki > 0, then the average tracking. error e(t) converges
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exponentially to zero.
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Feedback control
Proof: Reeplazing (11) in (10) and considering that dU

dt = − de
dt
∫ t
de
+ ki e(τ )dτ + kp e(t) = 0 (12)
dt 0
∫t
Letting z1 = e and z2 = 0 e(τ )dτ
[ ] [ ][ ]
dz1
dt −kp −ki z1
dz2 = (13)
dt
1 0 z2
Since the matrix is Hurwitz, the averaged tracking error converge globally
and exponentially to zero. From proposition 1, the outlet temperature
converges exponentially to T r (1, t).
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Estimation
Problem
Devise an observer to estimate θ(t) and T (x, t) based on the available
measurements; i.e. q(t), I(t), Tin and T (1, t).
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Estimation
Problem
Devise an observer to estimate θ(t) and T (x, t) based on the available
measurements; i.e. q(t), I(t), Tin and T (1, t).
Assumption 4: There exist positive constants δ, β1 , β2 such that ∀t the

source term I(t) satisfies the following
∫ t+δ
β1 ≤ I 2 (τ )dτ ≤ β2 (14)
t
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Adaptive Observers design
The adaptive observers consider:
A boundary term
T̂ (0, t) = Tin + ko (T (1, t) − T̂ (1, t))
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A boundary term
T̂ (0, t) = Tin + ko (T (1, t) − T̂ (1, t))
An adaptive term
˙
θ̂ = α(t)(T (1, t) − T̂ (1, t))
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A boundary term
T̂ (0, t) = Tin + ko (T (1, t) − T̂ (1, t))
An adaptive term
˙
θ̂ = α(t)(T (1, t) − T̂ (1, t))
The gain α(t) can have the following form:

α(t) = ηI(t)
α(t) = ηγ(1, t)
where η is positive real constant and γ(x, t) is an auxiliary variable.
Extension of the ideas proposed by [Zhang 2001] for fault detection in
linear time-varying systems. . . . . . . . . . . . . . . . . . . . .
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The first observer considers a boundary observer defined by the following

equation
∂ T̂ ∂ T̂
+ q(t) = θ̂(t)I(t) (15)
∂t ∂x
with boundary conditions
T̂ (0, t) = Tin + ko (T (1, t) − T̂ (1, t))

(16)
T̂ (x, 0) = T̂0 x ∈ [0, 1]
and an adaptive law for θ̂

˙
θ̂ = ηI(t)(T (1, t) − T̂ (1, t)) (17)
where k0 and η are positive constants.
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Proposition 3
If I(t) satisfies Assumption 4 and q(t) Assumption 1, then the adaptive
state observer defined by (15), (16) and (17) with positive constants µ,
ko ≤ e−µ , and η, is an asymptotic adaptive observer for system (2).
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Proposition 3
If I(t) satisfies Assumption 4 and q(t) Assumption 1, then the adaptive
state observer defined by (15), (16) and (17) with positive constants µ,
ko ≤ e−µ , and η, is an asymptotic adaptive observer for system (2).
Proof: Let T̃ = T̂ − T and θ̃ = θ̂ − θ. Thus, the dynamic of the

estimation error is given by
∂ T̃ ∂ T̃
+ q(t) = θ̃(t)I(t) (18)
∂t ∂x
with the following boundary and initial conditions:
T̃ (0, t) = −ko T̃ (l, t) T̃ (x, 0) = T̃0 x ∈ [0, l] (19)
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Lets consider the following Lyapunov function candidate
∫ 1
2
V (t) = θ̃(t) + e−µx T̃ (x, t)2 dx (20)
0
Taking the time derivative and replacing the error dynamic (18)
∫ 1 ∫ 1
˙ −µx ∂ T̃
V̇ (t) = 2θ̃(t)θ̃ + 2θ̃(t)I(t) e T̃ (x, t)dx − 2q(t) e−µx T̃ (x, t) dx
0 0 ∂x
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∫ 1
2
V (t) = θ̃(t) + e−µx T̃ (x, t)2 dx (20)
0
∫ 1 ∫ 1
˙ −µx ∂ T̃
0 0 ∂x
The integral of the second term can be upper bounded by the outlet error
temperature, [Mechhoud et. al. 2016],
∫ 1
1
e−µx T̃ (x, t)dx ≤ T̃ (1, t) (21)
0 µ
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∫ 1
2
V (t) = θ̃(t) + e−µx T̃ (x, t)2 dx (20)
0
∫ 1 ∫ 1
˙ −µx ∂ T̃
0 0 ∂x
The integral of the second term can be upper bounded by the outlet error
temperature, [Mechhoud et. al. 2016],
∫ 1
1
e−µx T̃ (x, t)dx ≤ T̃ (1, t) (21)
0 µ
Using the upper bound (21) and integrating by part the third term it
follows
˙
V̇ (t) ≤ 2θ̃(t)(θ̃ + µ1 T̃ (1, t)I(t)) − q(t)(e−µ T̃ (1, t)2 − T̃ (0, t)2 )
∫ 1 −µx
−q(t)µ 0 e T̃ (x, t)2 dx . . . . . . . . . . . . . . . . . . . .
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Replacing the boundary condition (16) and the adaptive law (17) with
η = µ−1
∫ l
V̇ (t) ≤ −2q(t)µ e−µx T̃ (x, t)2 dx − q(t)(e−µ − k02 )T̃ (1, T )2 (22)
0
V̇ (t) ≤ −β3 µV (23)
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Replacing the boundary condition (16) and the adaptive law (17) with
η = µ−1
∫ l
V̇ (t) ≤ −2q(t)µ e−µx T̃ (x, t)2 dx − q(t)(e−µ − k02 )T̃ (1, T )2 (22)
0
V̇ (t) ≤ −β3 µV (23)

Thus V (t) ≤ V (0) and therefore T̃ and θ̃ are bounded. In addition, T̃˙ and
˙
θ̃ are also bounded and by the Barbalat’s lemma
lim T̃ (x, t) = 0 (24)
t→∞
˙
In addition, since θ̂ = −ηI(t)T̃ (1, t) it follows that θ̃ tends to a constant
value. Thus, by (18) and for a positive constant δ when t → ∞
∫ t+δ
I 2 (τ )dτ θ̃ → 0 (25)
t
By Assumption 4, the integral is bounded from below and therefore it
follows that θ̃ → 0. □ . . . . . . . . . . . . . . .
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The second observer has the following structure:
∂ T̂ ∂ T̂ ˙
+ q(t) = θ̂(t)I(t) + γ(x, t)θ̂ (26)
∂t ∂x
with boundary and initial conditions defined as follows:
T̂ (0, t) = Tin + ko (T (1, t) − T̂ (1, t)) T̂ (x, 0) = T̂0 x ∈ [0, 1] (27)
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The second observer has the following structure:
∂ T̂ ∂ T̂ ˙
+ q(t) = θ̂(t)I(t) + γ(x, t)θ̂ (26)
∂t ∂x
with boundary and initial conditions defined as follows:
T̂ (0, t) = Tin + ko (T (1, t) − T̂ (1, t)) T̂ (x, 0) = T̂0 x ∈ [0, 1] (27)
The proposed adaptive law is given in terms of the boundary information
˙
θ̂ = ηγ(1, t)(T (1, t) − T̂ (1, t)) (28)
where the dynamic gain γ is obtained as the solution of the following PDE
∂γ ∂γ
+ q(t) = I(t) (29)
∂t ∂x
with boundary and initial conditions
γ(0, t) = −ko γ(1, t) γ(x, 0) = γ0 x ∈ [0, 1] (30)
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Assumption 5: The gain γ(1, t) is persistently exited; i.e. there exist
positive constants δ1 , β5 β6 such that ∀t
∫ t+δ1
β5 ≤ γ(1, τ )2 dτ ≤ β6 (31)
t
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∫ t+δ1
β5 ≤ γ(1, τ )2 dτ ≤ β6 (31)
t
Proposition 4
Under Assumptions 1, 2 and 5, the adaptive state observer defined by
(26), (28), (27), (29), (30), with positive constants µ, ko ≤ e−µ , and η, is
an exponential observer of system (2).
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∫ t+δ1
β5 ≤ γ(1, τ )2 dτ ≤ β6 (31)
t
Proposition 4
Under Assumptions 1, 2 and 5, the adaptive state observer defined by
(26), (28), (27), (29), (30), with positive constants µ, ko ≤ e−µ , and η, is
an exponential observer of system (2).
Proof: Let the auxiliary variable z̃ defined as z̃(x, t) = T̃ (x, t) − γ(x, t)θ̃
The dynamic of z̃ is
( )
∂ z̃ ∂ z̃ ∂γ ∂γ
+ q(t) = θ̃(t) + q(t) − I(t) (32)
∂t ∂x ∂t ∂x
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Letting γ be the solution of the following partial differential equation
∂γ ∂γ
+ q(t) − I(t) = 0 (33)
∂t ∂x
with boundary conditions (30), the dynamic of z̃ is just given by the
following equation
∂ z̃ ∂ z̃
+ q(t) =0 (34)
∂t ∂x
z̃(0, t) = −ko z̃(1, t) z̃(x, 0) = z̃0 x ∈ [0, 1] (35)
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Letting γ be the solution of the following partial differential equation
∂γ ∂γ
+ q(t) − I(t) = 0 (33)
∂t ∂x
with boundary conditions (30), the dynamic of z̃ is just given by the
following equation
∂ z̃ ∂ z̃
+ q(t) =0 (34)
∂t ∂x
z̃(0, t) = −ko z̃(1, t) z̃(x, 0) = z̃0 x ∈ [0, 1] (35)
Let ∫ 1
V (t) = e−µx z̃(x, t)2 dx (36)
0
be a Lyapunov function candidate for (34) and taking its time derivative
an integrating by parts, it is possible to write
V̇ (t) ≤ −q(t)µV (t) . . . . . . . . . . . . . . . .
(37)
. . . .
. . . . . . . . . . . . . . . . . . . .
Control
Engineering,
and Estimation
Universidad
in Solar
de Concepción,
Using the relationship between the norm || · ||2e−µx and || · ||2 , it follows
||z̃(·, t)||2 ≤ ∥|z̃(·, 0)||2 e−β4 µt (38)
Thus, z̃ → 0 exponentially.
. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . .
Control
Engineering,
and Estimation
Universidad
in Solar
de Concepción,
Using the relationship between the norm || · ||2e−µx and || · ||2 , it follows
||z̃(·, t)||2 ≤ ∥|z̃(·, 0)||2 e−β4 µt (38)
Thus, z̃ → 0 exponentially.
Using the definition of z̃(x, t) the dynamic of the parameter error can be
expressed in terms of z̃ as
( )
˙
θ̃ = −ηγ(1, t) z̃(l, t) + γ(1, t)θ̃ (39)
and re-organizing terms

˙
θ̃ = −ηγ(1, t)2 θ̃ − ηγ(1, t)z̃(1, t) (40)
By Assumption 4, I(t) is bounded and γ(1, t) is also bounded since (29)
with boundary conditions (27) represents an exponentially stable system
driven by a bounded input. Furthermore by Assumption 5 the homogenous
part of (40) is exponentially stable. Thus, θ̃ is exponentially vanishing
because the homogenous part of (40) is exponentially stable and its non
homogeneous term is exponentially vanishing. □. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .

Control
Engineering,
and Estimation
Universidad
in Solar
de Concepción,
120
100
80
I(t)
60
40
20
0
0 20 40 60 80 100 120 140 160
Time [hours]
. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . .
Control
Engineering,
and Estimation
Universidad
in Solar
de Concepción,
60
50
40
T(t)
30
20
10
0
0 20 40 60 80 100 120 140 160
Time [hours]
1.5
θ(t)
0.5
0
0 20 40 60 80 100 120 140 160
Time [hours]
. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . .
Control
Engineering,
and Estimation
Universidad
in Solar
de Concepción,
45
40
35
30
T (t)
25
20
15
10
0 20 40 60 80 100 120 140 160
Time [hours]
1.5
θ(t)
0.5
0
0 20 40 60 80 100 120 140 160
Time
. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . .
Control
Engineering,
and Estimation
Universidad
in Solar
de Concepción,
Final remarks
A simple feedback controller based on internal energy balance has

been proposed.
Two simple adaptive observers were proposed and compared for
estimating the soiling rate in thermal concentrators.
. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . .
Control
Engineering,
and Estimation
Universidad
in Solar
de Concepción,
Final remarks

been proposed.
The simulation results for real solar radiation profiles show that the
exponential observer has a better performance than the asymptotic
observer.
. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . .
Control
Engineering,
and Estimation
Universidad
in Solar
de Concepción,
Final remarks

been proposed.
observer.
Further work
▶ More complex dynamic models for soiling.
▶ Heat losses.
▶ Multiple temperature measurements in several thermal collectors
connected in series.
. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . .
Control
Engineering,
and Estimation
Universidad
in Solar
de Concepción,
Final remarks

been proposed.
observer.
Further work
▶ More complex dynamic models for soiling.
▶ Heat losses.
▶ Multiple temperature measurements in several thermal collectors
connected in series.
▶ Experimental trails.
. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . .
Control
Engineering,
and Estimation
Universidad
in Solar
de Concepción,
Thanks for your attention
dsbarbar@udec.cl
. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . .
Control
Engineering,
and Estimation
Universidad
in Solar
de Concepción,

Control and Estimation in Solar Parabolic Concentrators

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Control and Estimation in Solar Parabolic

Department of Electrical Engineering, Universidad de Concepción, Concepción, Chile

. . . .... .... .... . . . . .

Soiling represents one of the most important factors influencing the

Soiling represents one of the most important factors influencing the

The loss in specular reflectivity be as high as 14% or even 26% after a

T (0, t) = Tin T (x, 0) = T0 , x ∈ [0, 1] (3)

q ∈ Qq = {q ∈ C 1 (0, t) : 0 ≤ ql ≤ q(t) ≤ qh , ∀t ≥ 0} (4)

f = θ(t)I(t) ∈ Qf = {f ∈ L2 (0, t) : f (t) > 0, ∀t ≥ 0} (5)

T r (x, t = 0) ≥ T (x, t = 0) (8)

where T r (x, t = 0) is the initial conditions of the target system generating

Proof: S. Mechhoud and T. Laleg-Kirati 2015, IEEECDC

D. Sbarbaro (Department of Electrical

Proof: Reeplazing (11) in (10) and considering that dU

Assumption 4: There exist positive constants δ, β1 , β2 such that ∀t the

T̂ (0, t) = Tin + ko (T (1, t) − T̂ (1, t))

T̂ (0, t) = Tin + ko (T (1, t) − T̂ (1, t))

T̂ (0, t) = Tin + ko (T (1, t) − T̂ (1, t))

The gain α(t) can have the following form:

The first observer considers a boundary observer defined by the following

T̂ (0, t) = Tin + ko (T (1, t) − T̂ (1, t))

and an adaptive law for θ̂

where k0 and η are positive constants.

Proof: Let T̃ = T̂ − T and θ̃ = θ̂ − θ. Thus, the dynamic of the

T̃ (0, t) = −ko T̃ (l, t) T̃ (x, 0) = T̃0 x ∈ [0, l] (19)

V̇ (t) ≤ −β3 µV (23)

V̇ (t) ≤ −β3 µV (23)

D. Sbarbaro (Department of Electrical

and re-organizing terms

D. Sbarbaro (Department of Electrical

A simple feedback controller based on internal energy balance has

A simple feedback controller based on internal energy balance has

A simple feedback controller based on internal energy balance has

A simple feedback controller based on internal energy balance has

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