Detection of Fouling in Heat Exchangers - Final Version

!""

!" ##
$
%&'( '' (() * %&'( '' (&
#+,
---,,

!
"

!

#
$

%

&

!

'
ṁcΔT

ΔTLMT D

% AU &

( )

(
*
+ ( ,*( ((

-

.,
. ( / .
*(

, ( ). ( *
* . 0 &
., . . (
-
- ((
1 ( -
, /
*(

( -
2 )

2( ).
( , 3 * (
02 *
/ 0
)*
3 . . ((

. 2
(
*( 0, ( ( 4
-
, . 2
.
( ( -
, . 2
0 .
/ -
-
, 5( - /
( ( .
.

6
(
,( ( * ( / .
*(

( (( 1 . (( /
. ((
1 ( . / 0

* (
(( ). 4 ((
,( , (
( ( ). ( ṁcΔT - 2 2 .
(
ΔTLMT D * . . ( 0 AU 7
( ). ( 0
( - ,

8 0
9 !

1 :
!
&
!

; < <

6 <
9 !

1

!

8 = :

+ 5
&

%

& & ! 8 ;

! !
8

9

8
> 0
6
0

! 6 8
0 ; > 0

?

:
! >
&
! @ 5
> 0 @ ABBC
; D

EE !

F

AE &

G
AEE < H
AEA I C
AEF I
J
AA 9

EB
AAE 8
EE

! "
AAA <
EA
AF I

EF
# $
FE <

EK
FA EC
FAE

EC
FAA 1

AB
FAF AA
FAL AF
FAK AL
FF
AG
FL AC
FLE 8 AJ
FLA 1 1& AJ
FK I
FE
% & ##
LE 8 FF
LA & FL
LAE
FK
LF :
FC
LFE 9
FC
! "
LFA 9
LB
' %#
KE ; LL
KEE <
LL
KEA 1
LG
KEF 9

LG
KEL !
α β
LC
KEK 9
LJ
KEG 8

KB
KEH I
KB
KA ; KF
KAE 8
M KF
KAA 1

KK
KAF 9
KG
KAL 1

KH
KAK 8

KC
KAG !
α β
KJ
KAH I
GB
KF
GE
KFE 8

GA
KFA I

GF
! "
( & (
) * ()
+$ (,
- )#
NE 9 HF
NA ; HF
NAE <
HK
NAA 9
HK
NF ; HK
NFE 9
HG
+ * ).
- / ,
- ,)

ṁ

Q̇

∂
∂υ
υ
d
dt

μ

ν

ρ

ṁ

f

T

u

w

x

z

A

B

C

c

! "
Dh
F

F

H

h
" "

K

k

k
M

ns

Nu O

P
Pr <
Q

R

Rf
Rt h

Re >

T
t
U
"
w

w D

% M P
y >

01 $
α
β
! "
Δt

Δ

τ
θ

"
α α
β β
θ

c

f

h

i

in
k

LM T D
m
out
z

"
∗

−

∧

T

Q

$

$
$

!
M

N

"

&
5

9

K◦I

CBBJLB R

SEET !

M
BAKU
SALT SFET

&

&
KKB Q
ABBμm
EA
CO2
SKT
9

1

%
SFBT
• >

• !

• I

>

E
2

8

SACT SALT

8

SEBT SAKT "

>

M

?RRR

SEGT?
E 1

"
A 8

F

L :

K Q

#EF$ %

#L$
#K$ %

#EL$

% #K$

N

R

!

N
SEAT

&02
- O ! !

9

M
0

2 #
• ! SFLT

%

• ! SECT

SEHT

• ! SHT

• ! SEGT

SEHT SEGT SELT SEKT SEFT

!

E 34

A 4

F "
&

I

I8
I8

N

!

&

&

6

N

6

>

& "

M

6

'

"
SGT
Q

" '

8

SG AHT
SFFT &

K
( 2
• >%

• 8M
• 6R

• N

• <

• I
• ;
!

I

6 1

• <
• I
• I

N

ΔT

ΔLMT D

2 *5 )

!

& AE
!

N

& AA

!

!

, 2

:

& AF
!

& AL

Q &

AA AL

!

"

"
ΔT #
2 *5 .

$

M

#= 9$

= 9

!

JB◦
& AK
!

& AG

I

6 2

&

Q

=

N

= 9

! SGT

%

F F
%
1
!

"

N

SG FFT SET
• 8

• <

• >

• N

• &

• 9

• <

• 65NI

• 8

N

2 &3 $

8

%

V

! V

!

!

! & AH

!
2

!
0

& AC

" # $

<

N

M

2# 5 #
N

Q

SAH FFT SABT
• '

'

• 8
8

&

M

• I

6

Q

!

N

Rf

N SABT

!
%

>

U

6

SAHT
SBBBBE BBBBHT
% 2
I

SGT SAT?
•

•
6

•

•
M I

M

• &

!

!

&

N

&

I8

6
!
L

W M

SG FFT
0

• / 5

%

%

• ;
% 5

6

W
SGT
• I

EK
( #2 $

0

• I

!

• >

:

%

!

#FE$
#FA$

?
q = −hAΔT #FE$
−kA
q=
Δx
ΔT #FA$
h

" A

ΔT
k
Δx

!

ns

& FE

ij

Th,11

W
Th,11 Th,21 Tc,21
!

?
E

A

F

L

#2 $ )

%

:

% #FF$

dTij (t)
Mc = ṁ(t)c[Ti−nj−m (t) − Tij (t)] ± AUij (t)ΔTij (t) #FF$
dt
ii iii
i
?
• $

ij t
• $

ij Q n = 1 m = 0

n = 0 m = 1

• $

ij N

!

% &

As Us (t)ΔTs (t)
#FF$

!

! SELT

, #2 $

!

?
•

• 1

• 1

• 1
4
Q

I F

& FE

%

#FF$

dTh,ij (t)
M h ch
dt
= ṁh (t)ch [Th,ij−1 (t) − Th,ij (t)] − Ah Uij (t)F ΔTij (t) #FL$
dTc,ij (t)
M c cc
dt
= ṁc (t)cc [Tc,i−1j (t) − Tc,ij (t)] + Ac Uij (t)F ΔTij (t) #FK$
i = 1, ..., n j = 1, ..., s

R

ΔTij (t)

ij

&
SGT

ΔTij (t)
F

F

% 1

F = 1

F

SGT

ΔTij (t)
#2 .
E

ΔTij (t) = Th,ij (t) − Tc,ij (t) #FG$
A

ΔTij (t) = [Th,ij−1 (t) + Th,ij (t)]/2 − [Tc,i−1j (t) + Tc,ij (t)]/2 #FH$
F

[Th,ij−1 (t) − Tc,ij (t)] − [Th,ij (t) − Tc,i−1j (t)]
ΔTij (t) =
ln([[Th,ij−1 (t) − Tc,ij (t)]/[Th,ij (t) − Tc,i−1j (t)]
#FC$
! SELT

A

F

'
?
F Ah Uij (t)
αij (t) =
ṁh (t)ch
#FJ$
F Ac Uij (t)
βij (t) =
ṁc (t)cc
#FEB$
Mh
τh (t) =
ṁh (t)
#FEE$
Mc
τc (t) =
ṁc (t)
#FEA$

#FJ$ #FEB$ #FEE$ #FEA$ #FH$ #FL$ #FK$
%

?
dTh,ij (t) αij −1 αij −1 αij αij
= (1− )τh Th,ij−1 (t)−(1+ )τh Th,ij (t)+( )Tc,i−1j (t)+( )Tc,ij (t)
dt 2 2 2τh 2τh
#FEF$
dTc,ij (t) βij −1 βij −1 βij βij

= (1− )τc Tc,i−1j (t)−(1+ )τc Tc,ij (t)+( )Th,ij−1 (t)+( )Th,ij (t)
dt 2 2 2τc 2τc
#FEL$
1%
#FEF$ #FEL$

d
dt
T = (ṁ, θ)T + +(ṁ, θ)Tin #FEK$
6 #2 $

⎡ α ⎤
−(1+ 11 ) α11
2 0 0 0 0 0 0
⎢ 2τh ⎥
⎢ τh ⎥
⎡ ⎤ ⎢ α α ⎥ ⎡ ⎤
⎢ (1− 12 ) −(1+ 12 ) α12 ⎥
Th,11 ⎢ 2 2 0 0 0 0 0 ⎥ T
⎢ ⎥ ⎢ τh τh 2τh ⎥ ⎢ h,11 ⎥
⎢ ⎥ ⎢ α21 ⎥ ⎢ ⎥
⎢T ⎥ ⎢ −(1+ ) ⎥ ⎢ ⎥
⎢ h,12 ⎥ ⎢ 2 α 21 α 21 ⎥ ⎢ Th,12 ⎥
⎢ ⎥ ⎢ 0 0 0 0 0 ⎥ ⎢ ⎥
⎢ ⎥ ⎢ τh 2τh 2τh ⎥ ⎢ ⎥
⎢ Th,21 ⎥ ⎢ α22 α22 ⎥ ⎢T ⎥
⎢ ⎥ ⎢ (1− ) −(1+ ) ⎥ ⎢ h,21 ⎥
⎢ ⎥ ⎢ 0 0 2 2 0
α22
0
α22 ⎥ ⎢ ⎥
d ⎢ T
⎢ h,22 ⎥
⎥ ⎢
⎢ τh τh 2τh 2τh ⎥
⎥
⎢T
⎢ h,22
⎥
⎥
⎢ ⎥ =⎢ β ⎥ ⎢ ⎥
⎢ ⎥
dt ⎢ Tc,11 ⎥ ⎢
⎢ β11 −(1+ 11 ) ⎥
⎥
⎢
⎢ Tc,11
⎥
⎥
⎢ ⎥ ⎢ 0 0 0 2 0 0 0 ⎥ ⎢ ⎥
⎢ ⎥ ⎢ 2τc τc ⎥ ⎢ ⎥
⎢T ⎥ ⎢ β12 ⎥ ⎢T ⎥
⎢ c,12 ⎥ ⎢ β12 β12 −(1+ ) ⎥ ⎢ c,12 ⎥
⎢ ⎥ ⎢ 0 0 0 2 0 0 ⎥ ⎢ ⎥
⎢ ⎥ ⎢ 2τc 2τc τc ⎥ ⎢ ⎥
⎢ Tc,21 ⎥ ⎢ ⎥ ⎢ Tc,21 ⎥
⎣ ⎦ ⎢ β21 β31 ⎥ ⎣ ⎦
⎢ β21 (1− ) −(1+ ) ⎥
Tc,22 ⎢ 0 0 0 2 0 2 0 ⎥ Tc,22
⎢ 2τc τc τc ⎥
⎢ β22 ⎥
⎣ (1−
β22
) −(1+ ) ⎦
β22 β22 2 2
0 0 0 0
2τc 2τc τc τc
⎡ (1− α11 ) α11

⎤
2 0 0
τh 2τh
⎢ 0 0 0
α12 ⎥
⎢ 2τh ⎥⎡
⎢ α
(1− 21 ) ⎥ T ⎤
⎢ 0
τh
2 0 0
⎥ h,10
⎢ ⎥ ⎢ Th,20 ⎥
+⎢
⎢
0 0 0
β
(1− 11 )
0
⎥⎣
⎥ Tc,01 ⎦ #FEG$
⎢ β11
0 2 0 ⎥
⎢ 2τc τc
β
(1− 12 )
⎥ Tc,02
⎢ 0 0 0 2 ⎥
⎣ β21
τc
⎦
0 0 0
2τc
0 0 0 0
?

⎡ ⎤
Th,11
⎢ Th,12 ⎥
⎢ ⎥
⎢ Th,21 ⎥
⎢ ⎥
0 0.5 0 0.5 0 0 0 0 ⎢ ⎥
Tout =
0 0 0 0 0 0
⎢
0.5 0.5 ⎢
Th,22
Tc,11
⎥
⎥ #FEH$
⎢ ⎥
⎢ Tc,12 ⎥
⎢ ⎥
⎣ Tc,21 ⎦
Tc,22
!

'
M

J

ECEC

! SEKT

"

"

#2

'

SEKT

8

" h

SEKT
h(t) = C ṁy (t) #FEC$
SEKT
!

" U
"

1 1
U −1 =
hh
+
hc
#FEJ$
'
#FEC$

"
hh hc

" U

hh hc C (ṁh (t)ṁc (t))y

U (t) =
hh (t) + hc (t)
=
(ṁyh (t) + ṁyc (t))
#FAB$
! SEKT

M

ṁref 8 U

α β

M Uref #FAE$

"
ṁh∗
ṁc∗

hh∗ hc∗ C (ṁh∗ ṁc∗ )y

Uref =
hc∗ + hc∗
=
(ṁyh∗ + ṁyc∗ )
#FAE$
N M

#2 $
ṁh∗ Uij (t)

αij (t) = αij∗
ṁh (t) Uij∗
#FAA$
ṁc∗ Uij (t)
βij (t) = βij∗
ṁc (t) Uij∗
#FAF$
ṁh∗
τh (t) = τh∗
ṁh (t)
#FAL$
ṁc∗
τc (t) = τc∗
ṁc (t)
#FAK$
αij∗ , βij∗ , τh∗ , τc∗ %

#FJ$ #FEB$ #FEE$ #FEA$

#FAA$ #FAF$ #FAL$ #FAK$ y
#FAB$ #FAE$

Q

" U !

U
%

"

>

#FAG$ SGT
1
U= 1 1 /W H #FAG$
Ac h c + Ah h h

N ui ki
hi =
Dhi
1
N ui = 0.023Reyi P ri3
ṁi Dhi
Rei =
ρHdi νi
Q i = h, c

8

U

α β ' #FJ$ #FEB$
U
α β

Q
U

#2 #

α β

I8

8 FK
! "

#FEK$

wθ (t) wθ (t)∈N (0, Qθ (t))

M

d
dt
T = (ṁ, T , θ)T + +(ṁ, T , θ)Tin + wf (t) = f (ṁ, T , θ, Tin) + wf (t)
8

'

T (t + Δt) = Φ(ṁ, Δt)T (t) + Γ(ṁ, Δt)T in (t) + w(t + Δt) #FAH$
∞
(ṁ)i
Φ(ṁ, Δt) = e (ṁ)
=
i!
#FAC$
i=1
Δt
Γ(ṁ, Δt) = [ e (ṁ)s
+
ds] (ṁ) #FAJ$
0
w(t + Δt)

M Q(t)

N

8 FL

θ

%
SAAT

θ M

#FFB$

%

! #FFB$ t1

% #2 $

M
t1 tN

N
V (θ) = ε(t)T ε(t) #FFB$
t=t1
!
L

& FE

#FJ$ #FEB$
#FEE$ #FEA$ #FAG$

!

!

y = 0.8 SGT

#
! SEGT

' α∗
β ∗

U

%
#FEK$ α∗
β ∗

d α∗ (t) d
dt β ∗ (t)
=
dt
[θ] = w θ (t) #FFE$
wθ (t)∈N (0, Qθ (t))

M
N #FEK$ #FFE$

d 0
dt
θ
T
=
f (ṁ, T , θ, Tin )
+
wθ
wf
#FFA$
6 wf = N (0, Qf )
#FEK$

#2
8

1

M

T̂
8 FL

%

%

d
dt
T̂ (t) = f (x̂(t)) #FFF$
d
dt
*
(t) = (x̂(t)) (t) + (t)*T (x̂(t), t) + 7(t) #FFL$

0
∂
f (ṁ, T , θ, Tin )
F (x̂(t)) =
∂x
|(x(t) = x̂(t)) #FFK$

F
%

%

#FFG$
⎡ ⎤
⎢ 0 ⎥
⎢ ⎥
⎢ 0 ⎥
⎢ ⎥
⎡ ⎤ ⎢ ⎥
α∗ (t) ⎢ (1+ 2
α11
) (1− 2
α11
) ⎥
⎢ − T + α11
T + Th,10 + α 11
T ⎥
⎢ β ∗ (t) ⎥ ⎢ τ h,11 2τ c,11 τ 2τh c,01 ⎥
⎢ ⎥
h h h
⎢ ⎥ ⎢ (1− 2 )
α12 α12
(1+ 2 ) ⎥
⎢ Th,11 ⎥ ⎢ Th,11 − Th,12 + 2τh Tc,12 + 2τh Tc,02
α12 α12
⎥
⎢ ⎥ ⎢ τh τh
⎥ ⎡ ⎤
⎢ Th,12 ⎥ ⎢ ⎥
⎢ ⎥ α21
⎢ − (1+ 2 ) Th,21 + α21 Tc,11 + α21 Tc,21 + (1− 2 ) Th,20
α21
⎥
d ⎢⎢ Th,21 ⎥
⎥ ⎢ τh 2τh 2τh τh
w
⎥ ⎢ θ ⎥
=⎢ ⎥+⎣ ⎦
dt ⎢
⎢ Th,22 ⎥
⎥ ⎢ (1− α222 ) (1+ 2
α22
) ⎥
⎢ ⎥ ⎢ Th,21 − Th,22 + α 22
T
2τh c,12
+α 22
T
2τh c,22
⎥ wf
⎢ Tc,11 ⎥ ⎢ τh τh ⎥
⎢ ⎥ ⎢ β β11 β11 ⎥
⎢ Tc,12 ⎥ ⎢ (1+ ) (1− ) ⎥
⎢ 2τc Th,11 − Tc,11 + β2τ11c Th,10 +
11 2 2
Tc,01 ⎥
⎣ Tc,21 ⎦ ⎢
τc τc
⎥
⎢ β12 (1+
β12
) (1−
β12
) ⎥
Tc,22 ⎢ 2τ Th,11 + β2τ12 Th,12 − 2
Tc,12 + 2
Tc,02 ⎥
⎢ c c τc τc ⎥
⎢ β21 β21 ⎥
⎢ (1− ) (1+ ) ⎥
⎢ 2τ21c Th,21 + Tc,11 − Tc,21 + 2τ21c Th,20
β 2 2 β
⎥
⎣ τc
β22
τc
β22
⎦
(1− 2 ) (1+ 2 )
β22
T
2τc h,21
+ β2τ22c Th,22 + τc
Tc,12 − τc
Tc,22
( #2 $
⎡ ⎤
0
⎢ 0 ⎥
⎢ ⎥
⎢ f1 ⎥
⎢ ⎥
⎢ f2 ⎥
⎢ ⎥
=⎢
⎢
f3
f4
⎥ + wθ
⎥ wf
#FFG$
⎢ ⎥
⎢ f5 ⎥
⎢ ⎥
⎢ f6 ⎥
⎣ f7 ⎦
f8
&

?
• N

α
• N

β
! F EB EB

⎡ ⎤
0 0 0 0 0 0 0 0 0 0
⎢ ⎥
⎢ ⎥
⎢ 0 0 0 0 0 0 0 0 0 0 ⎥
⎢ ⎥
⎢ ⎥
⎢ ∂f1 ∂f1 ∂f1 ∂f1 ∂f1 ∂f1 ∂f1 ∂f1 ∂f1 ∂f1 ⎥
⎢ dα dβ dTc,22 ⎥
⎢ ⎥
dTh,11 dTh,12 dTh,21 dTh,22 dTc,11 dTc,12 dTc,21
⎢ ∂f2 ∂f2 ∂f2 ⎥
∂f2 ∂f2 ∂f2 ∂f2 ∂f2 ∂f2 ∂f2
⎢ dTh,11 dTh,12 dTh,21 dTh,22 dTc,11 dTc,12 dTc,21
⎥
⎢ ∂f3 ∂f3 ∂f3 ⎥
⎢ dα dβ ∂f3 ∂f3 ∂f3 ∂f3 ∂f3 ∂f3 ∂f3
⎥
F =⎢
⎢ ∂f4 ∂f4
dTh,11 dTh,12 dTh,21 dTh,22 dTc,11 dTc,12 dTc,21 dTc,22 ⎥
⎥ #FFH$
⎢ dα dβ ∂f4 ∂f4 ∂f4 ∂f4 ∂f4 ∂f4 ∂f4 ∂f4 ⎥
⎢ dTh,11 dTh,12 dTh,21 dTh,22 dTc,11 dTc,12 dTc,21 dTc,22 ⎥
⎢ ∂f ∂f ⎥
⎢ 5 5 ∂f5 ∂f5 ∂f5 ∂f5 ∂f5 ∂f5 ∂f5 ∂f5 ⎥
⎢ dα dβ dTh,11 dTh,12 dTh,21 dTh,22 dTc,11 dTc,12 dTc,21 dTc,22 ⎥
⎢ ⎥
⎢ ∂f6 ∂f6 ∂f6 ∂f6 ∂f6 ∂f6 ∂f6 ∂f6 ∂f6 ∂f6 ⎥
⎢ dTh,11 dTh,12 dTh,21 dTh,22 dTc,11 dTc,12 dTc,21
⎥
⎢ ∂f7 ∂f7 ∂f7 ⎥
⎢ dα dβ ∂f7 ∂f7 ∂f7 ∂f7 ∂f7 ∂f7 ∂f7
dTc,22 ⎥
⎣ dTh,11 dTh,12 dTh,21 dTh,22 dTc,11 dTc,12 dTc,21
⎦
∂f8 ∂f8 ∂f8 ∂f8 ∂f8 ∂f8 ∂f8 ∂f8 ∂f8 ∂f8
dα dβ dTh,11 dTh,12 dTh,21 dTh,22 dTc,11 dTc,12 dTc,21 dTc,22

!

#2# )
%

&

N 6 8(
0

?
• 8

• I

• &

Q̇ = U AΔTLMT D = ṁk cp ΔTk #FFC$

k

&

F

ΔTLMT D F
SGT
' #FFC$ ṁΔT ∝ U AF ΔTLMT D

AU F

M N ṁΔT

ΔTLMT D N
&
FA '

'

N

'

M

, #2 $
The slope of the line is equal to UAF

90
Equation of the line:
80 y = 5.08*x − 366
UAF = 5.08
70
mΔcpTh
60
50
40
83 84 85 86 87 88
ΔTLMTD

ṁcp ΔT ΔTLM T D

! " #

SL EJ FAT SAET

EJGB >1

0

%

?

SFAT

D

0

M
%

!

#FFJ$ #FLF$ #FLL$ #FLC$

#2% 8 / .

!

α β
! $ %

%

?
E 8

A <0
?
x̂−
k = Ax̂k−1 + Buk−1 #FFJ$
F <0
Pk− = APk−1 AT + Q #FLB$
L I
Kk = Pk− H T (HPk− H T + R)−1 #FLE$
K :

zk
x̂k = x̂− −
k + Kk (zk − H x̂k ) #FLA$
G :
Pk = (I − Kk H)Pk− #FLF$
H >

A G

FF
! $ %& $'
!

1&

1& M
1&

%

?
#6 #2 $
E 8

A <0
?
x̂−
k = f (x̂k−1 , uk−1 , 0) #FLL$
F <0
Pk− = Ak Pk−1 ATk + Wk Qk−1 WkT #FLK$
L I
Kk = Pk− HkT (Hk Pk− HkT + Vk Rk VkT )−1 #FLG$
K :

zk
x̂k = x̂− −
k + Kk (zk − h(x̂k , 0)) #FLH$
G :
Pk = (I − Kk Hk )Pk− #FLC$
H >

A G

FL

$

&

#2 #
$ %

N SAGT I

#I8$
"

I8

N

U 8

U

!
#FAG$ U

8

U

9
"

% !

I8

Q M

I8

!

!

M !

I8
% !

$

&

# #2 $

I8

#FLJ$ #FKB$ SAGT
SH (i) = max[0, x̄i − (μ0 + K) + SH (i − 1)] #FLJ$

SL (i) = max[0, (μ0 − K) − x̄i + SL (i − 1)] #FKB$
Q

SH (0) = 0 SL (0) = 0 SH (i) SL(i)

K
%

M I

K M

E

A ! sH (i) sL (i)

H

H

K

!
8
"

6 <
8 =

N

:
5

!

! &

?
• '

• '
!

!

FF
#% %2 &
!

x y

W
H

dh dc

%

Tc Th

%

∂Tc ṁc ∂ U
∂t
+
ρcHdc ∂x
(cTc ) =
ρcdc
(Th − Tc ) #LE$
∂Th ṁh ∂ U
∂t
+
ρcHdh ∂y
(cTh ) =
ρcdh
(Tc − Th ) #LA$
!
ρ c U

Th Tc

x y N

ṁc y

ṁh x

"

!

FB

&

<

&

6 "

Rf

&

M

SAT SGT 0

?
• I

• ;

•

• =
%2 * #
• <

N SA CT SAJT

"

>

!

SFT
&

&

N

>

U

Rf

1 1
Rf (t) = −
U (t)A U (0)A
#LF$
!
Q

" U
ABU KBU
U

!
& LE UU
f ouled

!
& LE

8 LA
clean
U

#LL$
Ufouling = Uclean cos(at + b) #LL$

#( %2 &
Changes in the overall heat transfer

coefficient, U, because of fouling
Continuously fouling heat exchanger

1 20% decrease in U
Ufouled/Uclean
0.9
0.8
0 0.2 0.4 0.6 0.8 1

Dimensionless time
Changes in the overall heat transfer
coefficient, U, because of fouling
1 Continuously fouling heat exchanger

50% decrease in U
Ufouled/Uclean
0.8
0.6
0.4
0 0.2 0.4 0.6 0.8 1
Dimensionless time

$'

'
( )

arccos(cf 1 )
a=
m − ﬂoor(mcf2 ) + 1
b = −a(ﬂoor(mcf2 ) + 1)
#LK$

cf 1
Ufouling
Uclean

cf 2

cf 1 cf 2 [0, 1]
%2 * #)
Evolution of the resistance

−4 to heat transfer because of fouling
x 10
4
Fouling factor, Rf [m2K/(W)]

3 20% decrease in U
Rf=0.0001
1
0.644
0
0 0.2 0.4 0.6 0.8 1
Dimensionless time
Evolution of the resistance
−3 to heat transfer because of fouling
x 10
1.5
Fouling factor, Rf [m2K/(W)]

50% decrease in U
1
Rf=0.0007
0.5
0.395
0.876
Rf=0.0001
0
0 0.2 0.4 0.6 0.8 1
Dimensionless time

$'

Rf

! & LA

N SEHT

SBBBBE BBBBHT

SAHT & ABU

SBGLK ET

KBU

SBFJK BCHGT Q

#, %2 &
! '

BBE

Q

E

BK

BBBA

I F

34 4

'

!

AKU

! ( "
!
34 4
ABU

U U

& LE

"

!

& LF

!

ch = cc =
4200 [J/Kg◦ C]

ρ = 998 [kg/m3 ] & 34
4

E R

"
E R
U = 3.780 [W/m2 K] #FAG$ SGT
%2# 9 #.
Example of a typical data set

100
thin
tcin
thout
°C
50
tcout
0
0 2000 4000 6000 8000 10000
Sample no.
2
mh
mc
l/s
0
0 2000 4000 6000 8000 10000
Sample no.
Closer look on the data set above
100
thin
tcin
thout
°C
50
tcout
0
1000 1100 1200 1300 1400 1500
Sample no.
1.5
mh
mc
l/s
0.5
1000 1100 1200 1300 1400 1500
Sample no.

%6 %2 &
8

"

N

8 FA
L

L

& FE

%
?
Ah,ij U (W H/4)U
α= =
ṁh ch (ṁh /2)ch
Ac,ij U (W H/4)U
β= =
ṁc cc (ṁc /2)cc
Mh,ij W Hdρ/4
τh = =
ṁh (ṁh /2)
Mc,ij W Hdρ/4
τc = =
ṁc (ṁc /2)
LE

'

I

θ E[θ]
α BEEAK
β BEEAK
τh BALJK
τc BALJK
y BC
! (
8

34 4

U KBU U

& LE

& LL

%2# 9 %

150
thin
100 tcin
°C
thout
50 tcout
0
0 2 4 6 8 10
Sample no. 4
x 10
6
mh
4 mc
l/s
0
0 2 4 6 8 10
Sample no. 4
x 10
150
thin
100 tcin
°C
thout
50 tcout
0
1000 1100 1200 1300 1400 1500
Sample no.
6
mh
4 mc
l/s
0
1000 1100 1200 1300 1400 1500
Sample no.

"
" #
!

34

!

8

9

Thin Tcin ṁh
ṁc
Thout Tcout

N

?
• N

α
• N

β
•
%
LF
%% 2 '
$ ()
M
M

!

?
• <

• 8

• 8

• !
α β

!

#

8
FL

M
%

!

6

&
X
SJT '

6

#KE$ '

JKU

2:((θ))
ˆ
[(θ)]
ˆ =
N − (t1 + p)
H (−1) #KE$

KE

2 34 %

KA

&

!

KE
KA JKU τ
M

"
&

$

*+, ' -

1

θ σ(θ) 2; .)2;
α BBJLL BBBBL BBJFH BBJKE
β BEBFH BBBBL BEBAJ BEBLK
τh BBBG BAJ BKG BKH
τc BBE EBC AE AE
y BCE BBEL BHC BCL

$

*+, ' -

1

θ σ(θ) 2; .)2;
α BEEB BBBBF BEBJL BEEBG
β BEEL BBBBF BEEAJ BEELA
τh BBA BEK BF BF
τc BBL BCK EG EH
y BCE BBE BHJ BCF
& KE

!

! M

&
KA KF

& KF

& LF
M

x(t + Δ) Δ

x(t)
%( 2 '
100
th,out tc,out th,out,pred tc,out,pred
80
Temperature [°C]
60
40
20
0 50 100 150 200 250
Observation no.

# " )
!

SB AT

M

α β y

LE "

τh
τc

τh τc BBBE BBK
8

KF
!
KF

α
β

%

!

# ("
! M

KL

α β y

2 34 %)
Residuals of the predicted hot output
1
Error
−1
50 100 150 200 250 300 350
No.
Residuals of the predicted cold output
0.5
Error
−0.5
50 100 150 200 250 300 350
No.

.
'
Autocorrelation of the residuals for the hot output

1
No.
−1
0 5 10 15 20
Correlation
Autocorrelation of the residuals for the cold output
1
No.
−1
0 5 10 15 20
Correlation

%, 2 '

'
/00 - '
8

EBB
θ E[θ] σ[θ] [2.5%, 97.5%]
α BBCCJGAH 0.0005 SBBCCJGAA BBCCJGFJT

β BBJKCHLF 0.0005 SBBJKCHFC BBJKCHKFT
τh BBELB 0.008 SBBBE B BAAJT
τc BBEHK 0.01 SBBBE BBACLT
y BCAAC 0.01 SBCAAC BCAACT
"

τh τc

$

-
" α β τh τc $

E BBJKB BEBLE BBBEB BBFAK BCBHE
A BBJLJ BEBLE BBLJL BBGAH BCBLE
F BBJKE BEBLE BBFGF BBALL BCBGJ
L BBJLC BEBLE BBKHA BBEJF BHJGA
K BBJLH BEBLA BBAGC BBAHH BHJJK
G BBJLG BEBLL BBAKE BBAJL BCBLF
H BBJKE BEBLB BBALC BBAEK BHJJH
C BBJKB BEBLA BBAFL BBFFG BCBAJ
J BBJKG BEBLA BBJJC BAFEH BCAAE
EB BBJKH BEBLB BFFGE BLFFG BCABG
#! * α β
8

α β

α β

α β

! #FEG$ α β

ij

! 8 KE

"

τ

LF

y

BC

SGT
2 34 %.
!

α1 = α11 = α21 α2 = α12 = α22 β1 = β11 = β12 β2 = β21 = β22
Q ij

& FE

α β
N

α β

"

α β

## ( "
Q 34

M !

M

200

=

%

!

20

0

!

0

N

%

0

N

8 FA

α
β
Q

I8

8
FK

K
FKB FLJ

I8

FB

N

&
& KL

!

6 2 '
AKU
!
& KK α

0.77 β 0.40

& 5
! &
KG KH &
KL KK

8

34

#+ ), ,
! 8 FA

20

34 ; 20

I8
1

I8

N

JKU
0.35 0.84

SBBBBBF BBBBECT
& LA
#- "

• ! 34

&
34

SBFK BCLT

SBBBBBF BBBBECT !

8 LA

N

SBBBBE BBBBHT
• 34 "

τ

• !

N N

2 34
Off−line estimation of the α values

0.1
0.09
Value
0.08
0.07
0 200 400 600 800
Estimation no.
Off−line estimation of the β values
0.11
0.1
Value
0.09
0.08
0.07
0 200 400 600 800
Estimation no.

$'

CuSum chart for the off−line method
2.5
Fouled heat exchanger
Shift detected in α: 0.77
2 936 CuSum values

Shift detected in β:0.4
Sampling time dt = 1
CuSum values
1.5
0.5
0
β α
−0.5
0 0.2 0.4 0.6 0.8 1
Dimensionless time

"
-
2 '
Off−line estimation of the α values
0.11
Value
0.1
0.09
0.08
0 200 400 600 800
Estimation no.
Off−line estimation of the β values
0.12
Value
0.1
0.08
0 200 400 600 800
Estimation no.

$'

3
2.5 936 CuSum values
2 Sampling time dt = 1
CuSum values
1.5
0.5
0
β α
−0.5
0 0.2 0.4 0.6 0.8 1
Dimensionless time

"
-
2 4 #
M

!

0
$ ()
!

α β

1
#1&$

α β

N
8 FA

α β

I8

8 FK

!

?
• 8
M

• 8

• 8

• 8

• !
α β

!

# .
Q
1&

M

Q '

!

;

! & KC

c Q

!
Q
EBEB Q(1, 1) = Q(2, 2) = cq

α β ! c

c = 10−9

AFU

!
c = 10−9

% 2 '
Estimated parameters
0.2
α c = 10−5 β
0.14 c = 10−5
0.18
0.12
0.1 0.16
0.08
0 500 1000 1500 0 500 1000 1500
sample number sample number
0.13 α c = 10−7 0.17 β c = 10−7
0.12
0.16
0.11
0.1 0.15
0 500 1000 1500 0 500 1000 1500
0.164
α c = 10−9 β c = 10−9
0.118
0.163
0.117
0.162
0.116
0.115 0.161
0 500 1000 1500 0 500 1000 1500
0.118 0.164
β c = 10−10
α c = 10−10
0.163
0.117
0.162
0.116 0.161
0 500 1000 1500 0 500 1000 1500

-
-

' 1
2 4
Sampling time of 1 s Sampling time of 1 s

0.6
Standard deviation
β
0.4
0.2 β
0.2
0.1 α
α
0
0 100 200 0 10 20 30
Standard deviation
0.4 β
0.2 β
0.2
α α
0.1
0
0 100 200 0 10 20 30

2
α β

/ /0 '

'
# " )
N
34

EBB
B A
α β
! & KJ

%

EBB

! & KEB

!

1

EU
100

& 10

EU 70

& &
KJ KEB

%
( 2 '

0 0
10 10
−1 −1
10 10
−2 −2
10 10
Standard deviation
Standard deviation
β α
−3 −3
10 10
−4 α −4
10 10
β
−5 −5
10 10
−6 −6
10 10
0 100 200 300 0 100 200 300

'

'

α β

/
/0

N

ABB

%

!

100

# (
N

!
4

30
α β
I8

8 FK
2 4 )
CuSum chart for the on line method
0.6 Fouled heat exchanger

CuSum values
0.4 Sampling time dt = 1
0.3
0.2
0.1
0
α β
−0.1
0 0.2 0.4 0.6 0.8 1
Dimensionless time

"

&

! & KEE

β
0.81

0.83 α !

1s
& 5
! &
KEA KEE

!

4
# ! "

&
KEF KEL

4 !

!

, 2 '

0.8

CuSum values
0.4
0.2
0
α β
0 0.2 0.4 0.6 0.8 1

Dimensionless time

"

!

!

10
FHK I8

FHKB I8

1

I8

O

# # ), ,
N

4
KB

JKU
0.65 0.91

SBBBBE BBBBAAT
& LA
2 4 .

0.4

CuSum values
1875 CuSum values

0.1
0
α β
−0.1
0 0.2 0.4 0.6 0.8 1
Dimensionless time

0.15

0.1
CuSum values

938 CuSum values
0.05
0
α β
0 0.2 0.4 0.6 0.8 1
Dimensionless time

" dt = 2 dt = 4
# + * α β
N
34 4

α
34
β

α1 = α11 = α21 α2 = α12 = α22 β1 = β11 = β12 β2 = β21 = β22

ij

& FE
"

α β
9

"

α β

(6 2 '

0.2

626 CuSum values
CuSum values
0.05
0
β α
0 0.2 0.4 0.6 0.8 1
Dimensionless time

0.3

375 CuSum values
0.2
CuSum values
0.15
0.1
0.05
0
α
0 0.2 0.4 0.6 0.8 1
Dimensionless time

" dt = 6 dt = 10

# -

• &

4

&
4
SBGK BJET

SBBBBE
2# (
BBBBAET I

SBBBBE BBBBHT

• !

N N

M

&

0
•
"

α β

$

8 FF

!

9

34 4

N
8 LF
AKU

&

" U

KBU U
& LE ! &
KEK

! & KEG

AU F

AU F

!

I8

8 FK

ΔU AF = U AF − U AF

& KEH

I8

I8

0.42

!

8 LA

( 2 '
5 The slope, UAF, calculated with window size=400
x 10
4
Equation of the line:
Reference slope
y = 1.96e+004*x − 1.4e+006
3.5 UAF = 1.96e+4
h
mc ΔT
3
p
2.5
2
82 83 84 85 86 87 88
ΔTLMTD

$

Rf = 0.00016

SBBBBE BBBBHT
# ), ,
! 8 FA

50

; 50

4

JKU
0.33 0.92

SBBBBBH BBBBCT
& LA
!

!

!

8

2# (#

x 10
4
Reference slope
Fouled slope
3
mcpΔTh
1
82 84 86 88 90 92 94
ΔT
LMTD
x 10
4
Reference slope
3.5 Clean Gradually fouling
mcpΔTh
2.5 Fouled slope
2
0.2 0.4 0.6 0.8 1
ΔTLMTD

3 4

AU F

3 4

'
'
'

!

%

#

SBBBBBH BBBBCT

"

SBBBBE BBBBHT
(% 2 '
CuSum chart for the slope method
0
Shift detected in ΔUA: 0.42
1471 CuSum values

CuSum values
−1000
−2000
−3000
−4000
0 0.2 0.4 0.6 0.8 1
Dimensionless time

"

$ !

N
8 AF

%

SBBBBE BBBBHT
!

34 4

" 8

"

!

Q

!

!

!

B

?
• 34
< JKU
SBFK BCLT

SBBBBBF
BBBBECT
GK
(( (2 &
<

α β y
%

τh τc

<
α β
<

<

• 4
< JKU
SBGK BJET

SBBBBE
BBBBAET
<

<

< 8"
EKB

<
α β
• "
<

< JKU

SBFF BJAT

SBBBBBH
BBBBCT
!

34

4

34

4
!

!

34 4
!

8

! SEGT

Rf ≈ 0.00008 !

%
% &

&

?
• :

• !

• 1

α β
!

•

GH
'

SET N = N' ?RR ? 6

SAT ' '
Y9 I &

@ ABBK ?RR

RR ABBKR
SFT Q ' I
M

AK

@ ABBK
?RR

RR ABBKR
SLT > D ' < ZI 6

@ Q

F EJJH
SKT I
>
> '
?

@ ABBK
?RR

RR ABBKR
SGT Z
N I > 6
D 6 A ABBK
SHT Y 9 I 9 Y Z = 8 Y P = O [M ;
R

\%

GE ABBL
SCT & & N< Q

O 1
I

@ ABBK
?RR

RR ABBKR
SJT N D @ ' I 6 8 8 9 ' >
I 6RI>I A ABBF
SEBT N8 62 =& N 8

' <@'& & I

"
?

EJJH
GJ
)6 ++-0' =
SEET < @
;' 8 I

AG @ EJJB
SEAT 6 @

! " <9

9 !
ABBG
SEFT D @
;< <
N

# ! $ EEG
@ EJJL
SELT D @
;< <
80

# !
$ EEL 9 EJJA
SEKT D @
; < <
:

% % $%
EJJE
SEGT D > @
8 = ; < <
' 9

:

" ! ABBG
SEHT 8 = ;< <
D> @
' 9
I

" 5!! ABBH
SECT 8 = 8 = ' 9

$
" ! FA ABBK
SEJT = @ = ? O ]

?RR
R RR= EJJHR= EJJH&^Q

SABT ' !
!

= &
%

?RR
R&!6 1

SAET 6
! 9 : A ABBG
SAAT 9
I D I > &'
' @ Q 8
! F ABBA
SAFT N D; 8Z N6 1

EJJJ
SALT N O0 I @
P _ 6 `8 !

EJJJ
SAKT < O N 9 N

ABBK
++-0' = )
SAGT ABBC O!8 R81N 1I6 6 8

?RR
RCJCRR
SAHT 1 < ?RRRR
SACT 88 > 8 Q 6 Y9 I
' '
N

@ ABBK
?RR

RR ABBKR
SAJT D >MM 6 `8 1 > !

? !
@
ABBK ?RR

RR ABBKR
SFBT 8 8 'M O 8
#$
$(
! & ABBH
SFET > 8 6

`8 M <

M

"
EL @ EJJF
SFAT D Q D '

N
@ AL ABBG
SFFT Q ?RRR
SFLT < Q
:

%

% (

)% EJJG
(

! I K

!

*

I K
8
LA ! I K

& NE

* ()
!

I K

8 KE

LB

0
AB

HF
)% 2 -

100
thin
tcin
°C
50 thout
tcout
0
0 0.5 1 1.5 2
Sample no. 4
x 10
2
mh
mc
l/s
0
0 0.5 1 1.5 2
Sample no. 4
x 10
100
thin
tcin
°C
50 thout
tcout
0
1000 1100 1200 1300 1400 1500
Sample no.
2
mh
mc
l/s
0
1000 1100 1200 1300 1400 1500
Sample no.

2# 4 )

$

*+, ' -

1

θ V ar(θ) 2; .)2;
α BEBJK BBBBF BBHFF BELKC 8
β BEEGH BBBBL BBHGJ BEKGK 8
τh BBAJF BHHJL EHFGL EHJKB O

τc BBAAH EAKFB AAEGE AAGEK O

$ BCBCL BBEFA BKHCC EBFCB 8
/
NE

Q
KA

!

τ

/ ( "
& NA

!

AKU

N
8 FA

α
β
! & NF α

BLL β BFL

* ()
!

I K

)( 2 -
Off line estimation of the α values

0.12
Value
0.1
0.08
0 200 400 600 800 1000
Estimation no.
Off line estimation of the β values
0.12
0.1
Value
0.08
0.06
0 200 400 600 800 1000
Estimation no.

$'

/ (
! & NL

β
BGG

BHG α

2# 4 ))

3.5
3 Fouled heat exchanger

934 CuSum values

2.5
CuSum values
1.5
1
0.5
0
α β
−0.5
0 0.2 0.4 0.6 0.8 1
Dimensionless time

"
-

3
CuSum values
1.5
0.5
0
β α
−0.5
0 0.2 0.4 0.6 0.8 1
Dimensionless time

"

'
&
F

CB

#FFH$ ' %

#FFG$

M
&
f1 ?
∂f1 1
= (−Th,10 − Th,11 + Tc,01 + Tc,11 )
∂α 2τh
∂f1 1 + α/2
=−
∂Th,11 τh
∂f1 α
=
∂Tc,11 2τh
∂f1 ∂f1 ∂f1 ∂f1 ∂f1 ∂f1 ∂f1
= = = = = = =0
∂β ∂Th,12 ∂Th,21 ∂Th,22 ∂Tc,12 ∂Tc,21 ∂Tc,22
&

f2 ?
∂f2 1
= (−Th,11 − Th,12 + Tc,02 + Tc,12 )
∂α 2τh
∂f2 1 − α/2
=
∂Th,11 τh
∂f2 1 + α/2
=−
∂Th,12 τh
∂f2 α
=
∂Tc,12 2τh
∂f2 ∂f2 ∂f2 ∂f2 ∂f2 ∂f2
= = = = = =0
∂β ∂Th,21 ∂Th,22 ∂Tc,11 ∂Tc,21 ∂Tc,22
HJ
,6 +2 *
&
f3 ?
∂f3 1
= (−Th,20 − Th,21 + Tc,11 + Tc,21 )
∂α 2τh
∂f3 1 + α/2
=−
∂Th,21 τh
∂f3 α
=
∂Tc,11 2τh
∂f3 α
=
∂Tc,21 2τh
∂f3 ∂f3 ∂f3 ∂f3 ∂f3 ∂f3
= = = = = =0
∂β ∂Th,11 ∂Th,12 ∂Th,22 ∂Tc,12 ∂Tc,22
&

f4 ?
∂f4 1
= (−Th,21 − Th,22 + Tc,12 + Tc,22 )
∂α 2τh
∂f4 1 − α/2
=
∂Th,21 τh
∂f4 1 + α/2
=−
∂Th,22 τh
∂f4 α
=
∂Tc,12 2τh
∂f4 α
=
∂Tc,22 2τh
∂f4 ∂f4 ∂f4 ∂f4 ∂f4
= = = = =0
∂β ∂Th,11 ∂Th,12 ∂Tc,11 ∂Tc,21
&

f5 ?
∂f5 1
= (Th,10 + Th,11 − Tc,01 − Tc,11 )
∂β 2τc
∂f5 β
=
∂Th,11 2τc
∂f5 1 + β/2
=−
∂Tc,11 τc
∂f5 ∂f5 ∂f5 ∂f5 ∂f5 ∂f5 ∂f5
= = = = = = =0
∂α ∂Th,12 ∂Th,21 ∂Th,22 ∂Tc,12 ∂Tc,21 ∂Tc,22
,
&
f6 ?
∂f6 1
= (Th,11 + Th,12 − Tc,02 − Tc,12 )
∂β 2τc
∂f6 β
=
∂Th,11 2τc
∂f6 β
=
∂Th,12 2τc
∂f6 1 + β/2
=−
∂Tc,12 τc
∂f6 ∂f6 ∂f6 ∂f6 ∂f6 ∂f6
= = = = = =0
∂α ∂Th,21 ∂Th,22 ∂Tc,11 ∂Tc,21 ∂Tc,22
&

f7 ?
∂f7 1
= (Th,20 + Th,21 − Tc,11 − Tc,21 )
∂β 2τc
∂f7 β
=
∂Th,21 2τc
∂f7 1 − β/2
=
∂Tc,11 τc
∂f7 1 + β/2
=−
∂Tc,21 τc
∂f7 ∂f7 ∂f7 ∂f7 ∂f7 ∂f7
= = = = = =0
∂α ∂Th,11 ∂Th,12 ∂Th,22 ∂Tc,12 ∂Tc,22
&

f8 ?
∂f8 1
= (Th,21 + Th,22 − Tc,12 − Tc,22 )
∂β 2τc
∂f8 β
=
∂Th,21 2τc
∂f8 β
=
∂Th,22 2τc
∂f8 1 − β/2
=
∂Tc,12 τc
∂f8 1 + β/2
=−
∂Tc,22 τc
∂f2 ∂f2 ∂f2 ∂f2 ∂f2
= = = = =0
∂α ∂Th,11 ∂Th,12 ∂Tc,11 ∂Tc,21
(
&

AE < H
AA < H
AF I C
AL I C
AK I
J

AG I
J

AH 8
Q EE
AC <
9 6 1

EA
FE I
L

EH
FA

ṁcp ΔT
ΔTLMT D
AC
FF 1

FB
FL 1

FE
CF
,% -" * *09'!"
LE 1
" :
FG
LA 1 Rf

FH
LF 8 FJ
LL 9

LE
KE <
LG
KA >

LH
KF N

LH
KL 1

KE
KK 9

KE
KG 1

KA
KH 9

KA
KC
P KL
KJ 5
α β
E
EB

KK
KEB
α β

E
EB

KG
KEE 9

4
KH
KEA 9

4
KC
KEF 9

dt = 2 dt = 4 KJ
KEL 9

dt = 6 dt = 10 GB
KEK 1

GA
-" * *09'!" ,
KEG & $

AU F

& $

GF
KEH 9

GL
NE 8 HL
NA 1

HG
NF 9

HH
NL 9

HH
(

LE I

LB
KE 1

JKU

LK
KA 1

JKU

LK
KF 8

EBB
LC
KL 1

LC
NE 1

JKU

HK
CH

Detection of Fouling in Heat Exchangers - Final Version

Uploaded by

Copyright:

Available Formats

You might also like

Detection of Fouling in Heat Exchangers - Final Version

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Detection of Fouling in Heat Exchangers - Final Version

Uploaded by

Copyright:

Available Formats

  

      

         

 

  

             

     

      

 

     

     

 ;  <  <

  9     !

 8  = :

      

    

 

     

   M    

   BAKU  

     SALT  SFET

 1       

• >          

E 1   

  

E 34  

  I   

   

 6 

 '        

        

!    

     I

      

       

    

:      

 

Q  & 

   $     

 

    

      

    

 

6   2   

  Q

  

        

  

N    

  

• 8   

   

      

       

 

    

0     

; < <

9 !

8 = :

M

BAKU

SALT SFET

1

• >

E 1

E 34

I

6

'

!

I

:

Q &

$

6 2

Q

N

• 8

0

• '

•

• / 5

6

#FA$

•

Q

%

i = 1, ..., n j = 1, ..., s

SGT

?

! SEKT

SEKT

h(t) = C ṁy (t) #FEC$

#FEC$

ṁref 8 U

αij∗ , βij∗ , τh∗ , τc∗ %

Q

>

! "

M

! #FFB$ t1

t1 tN

#

wθ (t)∈N (0, Qθ (t))

&

! F EB EB

!

• 8

Q̇ = U AΔTLMT D = ṁk cp ΔTk #FFC$

F

M N ṁΔT

! " #

! $ %

! $ %& $'

N SAGT I

"

SH (i) = max[0, x̄i − (μ0 + K) + SH (i − 1)] #FLJ$

8 =

N

! &

x y