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Study On Predictive Functional Control of An Expan
Study On Predictive Functional Control of An Expan
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Article in Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering · June 2008
DOI: 10.1243/09596518JSCE566
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Study on predictive functional control of an expansion valve for controlling the evaporator superheat
C Changenet, J N Charvet, D Géhin, F Sicard and B Charmel
Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 2008 222: 571
DOI: 10.1243/09596518JSCE566
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What is This?
The manuscript was received on 1 February 2008 and was accepted after revision for publication on 28 May 2008.
DOI: 10.1243/09596518JSCE566
Abstract: A new method is proposed to control the evaporator superheat with an electronic
expansion valve. The conventional proportional-integral-derivative (PID) control with invari-
able parameters cannot show good performance because of the variation of refrigeration unit
parameters under disturbances. To solve this problem, this paper presents a method for the use
of predictive functional controllers (PFCs) on superheat of an evaporator. This method is based
on a physical model of the appliance studied to allow calculation of parameters needed for the
use of PFCs. The control system created is incorporated into an industrial programmable
logic controller and used for experiments on a refrigerating machine containing a shell and
tubes evaporator with R410A as refrigerant fluid. The comparison between the two types of
controller, i.e. PID and PFC, indicates that superheat may be more efficiently controlled by
using the latter type of controller: the setting value is only slightly exceeded, there are only
small oscillations of measured superheat, and the energy efficiency of the refrigeration unit
may be improved.
Keywords: refrigerating machine, predictive control, shell and tubes evaporator, heat transfer
JSCE566 F IMechE 2008 Proc. IMechE Vol. 222 Part I: J. Systems and Control Engineering
Proc. IMechE Vol. 222 Part I: J. Systems and Control Engineering JSCE566 F IMechE 2008
JSCE566 F IMechE 2008 Proc. IMechE Vol. 222 Part I: J. Systems and Control Engineering
2
HP HP
c~0:6126z0:109 {0:00486 ð3Þ
BP BP
Proc. IMechE Vol. 222 Part I: J. Systems and Control Engineering JSCE566 F IMechE 2008
" 2=3 #
in D
eCmin Tsw _ r cpr Tro {Tsat
{Tsat ~m ð7Þ Nu~0:012 Re 0:87
{280 Pr 0:4
1z ,
L
Thanks to this temperature, it is possible to calculate 1:5vPrv500 ð9bÞ
the superheat, which can be compared to the
required one. Then the initial value of BP is modified
as follows: where D is the tube diameter and L its length.
In the existing literature, many correlations for
(a) if calculated superheat . required superheat ) characterizing boiling inside tubes can be found.
BP 5 BP + 0.01; With regard to the correlations employed in this
(b) if calculated superheat , required superheat ) work to estimate the heat transfer coefficient, five
BP 5 BP 2 0.01. models have been considered [20–24]. Some com-
parisons have been conducted for different operat-
The same set of equations, from (1) to (7), is used
ing conditions between experimental results and
until the convergence is reached.
numerical ones. It appears that Dhar and Jain’s
correlation [22] gives the best results. This model
considers two thermal mechanisms: convective
3.3 Heat transfer coefficients
boiling and nucleate boiling. The Nusselt number
In the method described above it is necessary to is evaluated by considering the maximum value of
determine the values of the overall heat transfer the Nusselt number due to convective boiling (Nucb)
coefficient for the single-phase flow and for the two- and Nusselt number due to nucleate boiling (Nunb),
phase flow. Therefore, heat transfer coefficients on where Nucb and Nunb are defined as
the mixed-water side and on the refrigerant side
h i0:11 m
_ r Lv 0:44 0:7
have to be estimated. This estimation is made by
Nucb ~0:115 x4 ð1{xÞ2 Prl ð10aÞ
using several correlations between dimensionless A g rl s
numbers such as the Nusselt number (Nu), Reynolds
number (Re), or Prandtl number (Pr). 0:64 2 0:14
Flow outside the tube bundle is characterized by a Q g D 0:27 m_r D
Nunb ~23 388 ð10bÞ
Reynolds number between 2000 and 1 000 000 and rv Lv w Lv A2 rl s
the Kern relationship [18] is applicable
where x is the vapour quality, Lv the enthalpy of
0:55 1=3 m vaporization, A the cross-sectional area, g the
Nu~0:36Re Pr ð8Þ
mw acceleration of gravity (5 9.81 m/s2), s the surface
tension, Q the heat flux, and w is a parameter defined
where mw is the dynamic viscosity evaluated at wall by using the reduced pressure P*
conditions.
For the flow inside the tubes, it is important to w~0:000 36ðP 1Þ{1:4 ð11Þ
dissociate the single-phase heat transfer coefficient
from that of the phase change. The Gnielinski An experimental test campaign has been carried out
correlation [19] is used to quantify the heat transfer on the test rig, for several operating conditions, in
coefficient for single-phase turbulent flow: order to validate the physical model of the refriger-
" ating machine. Comparisons between numerical
2=3 # and experimental results are given in Table 2. The
0:8
0:4 D
Nu~0:0214 Re {100 Pr 1z , results show that the vaporization pressure (BP)
L
which is required to reach the desired superheat
0:6vPrv1:5 ð9aÞ value can be predicted satisfactory.
JSCE566 F IMechE 2008 Proc. IMechE Vol. 222 Part I: J. Systems and Control Engineering
3.4 Gain and time constant calculation system. Indeed, if the process model is known with
precision, it is possible to define the action to be
As stated earlier, the control of evaporator superheat
is performed by the expansion valve. Of course this taken directly without considering the output mea-
valve may be operated in a partially open position, surement. In this way, the PID control system
and to quantify this position a parameter (O) is consists of creating a closed-loop control using the
introduced, which corresponds to the opening data provided by the sensors while disregarding the
degree of the valve: process, whereas the predictive controller is based
on an open-loop control linked to a perfect under-
(a) for wide open position O 5 100 per cent; standing of the relevant process. In reality, it is
(b) for totally closed position O 5 0 per cent. obvious that a model is always incorrect, or at least
inaccurate. The predictive controller must therefore
According to Park et al. [25], the R410A mass flowrate
establish a compromise between the understanding
through EEVs can be determined by using a single-
of the process structure and the data provided by the
phase orifice equation. Then the position parameter
sensors. The main difficulty encountered with the
may be related to the refrigerant mass flowrate and to
predictive controller is to define a process that is as
operating pressures by the following relationship
reliable as possible.
m_r It will be necessary to ‘predict’ future changes at
O~ pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi ð12Þ the output of the process. This prediction is there-
23 rl ðHP{BPÞ
fore based on an internal model used as a known
where rl is the refrigerant density at the expansion model. This is of course a mathematical model,
valve inlet. which is incorporated into the calculator. By focus-
By using equation (12) it is possible to link the ing on the example of an evaporator, some studies
vaporization pressure (BP), which is required to [14, 15] have shown that the response of super-
reach the desired superheat value, to the valve heating to variation of refrigerant flow in an
position. This calculation is then performed for two evaporator can be represented using a first-order
different values of superheat: DT0 and DT‘, and the plus time delay model. As a consequence, its transfer
evaporator gain may be estimated by function G(p) will be given by the following equation
As far as the time constant is concerned, the where K is the evaporator gain, Td the evaporator
simple model proposed by Abdelghani-Idrissi et al. time delay, and t the evaporator time constant. As
[11] has been used on mixed-water flow: explained in the previous section, these parameters
can be determined by using the evaporator model-
mcp sw ling. Then the process representation model is
t~ ð14Þ
_ cp sw zUS
m known.
As shown in Fig. 5, the reference trajectory
where m is the mass of mixed water inside the represents the future process output in order to
evaporator, U is an average value of the overall heat reach the setting value, which is the control
transfer coefficient, and S is the evaporator exchange objective. However, it is pointless to attempt to
surface area. This calculation is performed on mixed- ensure that the process output corresponds to the
water flow because this fluid flows around the tube reference trajectory at any time. The aim is therefore
bundle. As a consequence the volume occupied by to determine a future action that will allow the
the fluid is at its greatest as well as its thermal inertia. prediction to coincide with one point, referred to as
the coincidence point, along the reference trajectory
at the end of a time period referred to as the
4 PREDICTIVE FUNCTIONAL CONTROLLER coincidence horizon. The ultimate objective of the
DESIGN control system is to obtain a coincidence point at
time H (or k + H, with k as present instant value),
4.1 Predictive functional control which offers a correspondence between the refer-
The predictive controller represents a way of ‘think- ence trajectory and the predicted process output.
ing’ that is far more natural than the PID control Figure 5 illustrates this process, in which Dyp
Proc. IMechE Vol. 222 Part I: J. Systems and Control Engineering JSCE566 F IMechE 2008
represents the process output increment and Dym The reference trajectory may be fixed by indicating
the model output increment with a coincidence the response time required in a closed loop and by
horizon k + H, whereby the aim is to have an equality choosing an exponential decrease of the gap be-
between these two values: Dyp 5 Dym. tween the setting value and the output. Then the gap
When the time delay is an integer multiple of the decrement is given by the following equation
sampling period Te (Td 5 ndTe), the corresponding
discrete transfer function of equation (15), applied to dðkzH Þ~dðk Þe{Te H=tbf ~dðk ÞlH ð20Þ
process, has the following form
where tbf is the reference trajectory time constant
{1
Kp 1{e{Te =t z{1 {nd yp z{1 and l~e{Te =tbf .
Gp z ~ z ~ ð16Þ
1{e{Te =t z{1 uc p ðz{1 Þ By assuming that, at time (k + H), there is coin-
cidence between the process output and the refer-
By introducing a parameter a~e{Te =t , equation (16) ence trajectory, the process output increment (Dyp)
leads to may be defined by
yp ðk Þ~ayp ðk{1ÞzKp ð1{aÞucp ðk{1{nd Þ ð17Þ Dyp ðk Þ~yref ðkzH Þ{yref ðkÞ
~C{dðkzH Þ{yref ðk Þ ð21Þ
By proceeding in the same manner for the process
representation model, but considering the first order
not to be lagging (nd 5 0), it is possible to write By using relationship (20), the expression of the
output increment becomes
ym ðkÞ~am ym ðk{1ÞzKm ð1{am Þucm ðk{1Þ ð18Þ
Dyp ðkÞ~ 1{lH ½C{yref ðkÞ ð22Þ
If the control is considered to be a constant value of
ucm ðkÞ after being applied to instant k, it is possible to By taking into consideration the coincidence be-
calculate the output at instant k + H by incrementing the tween the two trajectories in (k + H), yref may be
relationship (18), which leads to the predictor equation replaced by the process output measurement in
equation (22).
ym ðkzH Þ~aH H
m ym ðk ÞzKm 1{am ucm ðk Þ ð19Þ In the same way it is possible to define the
increment of the representation model output by
where aH
m is the model parameter am to the power H. using equation (19)
JSCE566 F IMechE 2008 Proc. IMechE Vol. 222 Part I: J. Systems and Control Engineering
Dym ðkÞ~ 1{aH H
m Km ucm ðk Þ{ym ðk Þ 1{am ð23Þ
Note that when the process and the model have the
same input signal, then ucm ~ucp ~uc . As the aim is
to have Dyp 5 Dym, it is possible to extract from
equations (22) and (23) the expression of control
uc
1{lH C{yp ðk Þ ym ðk Þ
uc ðk Þ~ z ð24Þ
1{aHm K m Km Fig. 7 Schematic representation of superheat control
for PFC
If one wishes to take a time delay into account in
the process, it is possible to consider the pure lag on namely the gain or time constant, are set by the
the process and model as being in series with the internal model.
outputs. By assuming correct identification of the Thanks to the physical model described in section
3, a machine operator needs to define geometrical
time delay, the lagged process output (yplag) may
data of the evaporator, or the compressor, and the
be calculated with the following relationship
fluids used in a given refrigerating machine. Then
yplag ðk Þ~yp ðkÞ{½ym ðk Þ{ym ðk{Td Þ ð25Þ the system gain and time constant are automatically
calculated and transmitted to the industrial PLC. As
a conclusion, the operator does not have to know the
In this way it is possible to estimate the signal yp(k)
mathematical model of the controller.
required for control. This control corresponds to the
diagram illustrated in Fig. 6.
5 RESULTS
4.2 Implementation of the PFC into an industrial
In general, when designing a control system, atten-
PLC
tion should be paid to both responses to setting
An industrial PLC, made by Schneider-Electric, has value changes and to disturbance condition changes.
been incorporated in EEV instead of the original In the case of evaporator control, the aim is to keep
package, which contains a PID controller. The PFC the degree of refrigerant superheat in a given range:
has been implemented in this industrial PLC by 7–9 K in this study. The purpose of this paper is
programming a functional block, as described in therefore to focus on the stability analysis of
Fig. 7. This figure shows that the measurement of disturbance condition changes. The first disturbance
the evaporator outlet pressure (BP) is used to analysed in this study was the modification in water
determine the refrigerant saturation pressure (Tsat). flowrate of the condenser. This disturbance induces
This value is then subtracted from the refrigerant a variation in condensation pressure and may
o
outlet temperature Tr in order to calculate the correspond to operating conditions in which some
superheat value (DT). Note that the PFC functional pumps, for water-cooled condensers or some fans
block does not use any identification algorithm. As a for air-cooled condensers, are shut off. Figure 8
consequence, the parameters needed for control, presents the results obtained when the water flow is
reduced by 15 per cent. The response time of the PID
controller appears to be higher than the one
obtained with the PFC controller: 5 min instead of
1 min. As a consequence, the superheat with the PID
controller decreases very quickly and this controller
does not succeed in maintaining enough suction
superheat, contrary to the PFC controller, which
prevents any unevaporated refrigerant liquid from
reaching the compressor.
Some other experiments were conducted by
changing the cooling capacity of the refrigerating
Fig. 6 Block diagram of controller structure machine from 115 to 30 kW and back to 115 kW.
Proc. IMechE Vol. 222 Part I: J. Systems and Control Engineering JSCE566 F IMechE 2008
Fig. 8 System response to condensation pressure Fig. 10 System response to cooling capacity modifica-
modification tion with PFC control
Changes in cooling capacity are connected have an adverse effect on performance. In order to
to modification in refrigerant mass flowrate. quantify the refrigeration system control in the sense
This modification is obtained by using a cylinder- of increasing the coefficient of performance (COP) or
unloading scheme; for 115 kW the compressor energy efficiency, some experiments have been
operates with four cylinders, but it operates with conducted by changing the compressor rotational
only one cylinder for 30 kW. By using a PID speed with the aim of increasing the cooling
controller, it appears that the system does not capacity. The coefficient of performance is deter-
succeed in maintaining the superheat at a setting mined as
value (Fig. 9): the superheat may vary from 0 up to
16 K as the setting value is equal to 8 K. In Fig. 9 it _ r ðh3 {h1 Þ
m
appears that EEV does not maintain enough suction COP~ ð26Þ
Wcomp
superheat to prevent any unevaporated refrigerant
liquid from reaching the compressor; this operating where ṁr is the refrigerant mass flowrate, which is
condition may induce the destruction of the reci- measured at the expansion valve inlet with a Coriolis
procating compressor. Figure 10 expresses the con- mass flowmeter, Wcomp is the electrical power
trol performance of the PFC for the same operating provided by the motor-compressor, which is mea-
conditions. It is apparent that it is possible to obtain sured with a wattmeter, and (h3 2 h1) represents the
a very stable superheat; the measured superheat enthalpy difference between the evaporator outlet
fluctuates around the setting value in a very small and the evaporator inlet. These enthalpies are
range from ¡ 1 K. Note also that excessively high determined by measuring refrigerant pressures and
values of superheat are obtained with the PID temperatures and then by using R410A properties.
controller (Fig. 9), and the added superheat may The measured coefficients of performance for
each type of controller are given in Table 3. It
appears that the energy efficiency of the refrigerating
machine increases when a PFC controller is used;
savings of energy may reach up to 4.2 per cent.
The third disturbance analysed is an on–off
cycling of the compressor, which corresponds to
the start-up of a refrigerating unit. Figure 11 shows
that the compressor is switched off for 20 min; then
the superheat decreases to zero and the expansion
JSCE566 F IMechE 2008 Proc. IMechE Vol. 222 Part I: J. Systems and Control Engineering
Proc. IMechE Vol. 222 Part I: J. Systems and Control Engineering JSCE566 F IMechE 2008
JSCE566 F IMechE 2008 Proc. IMechE Vol. 222 Part I: J. Systems and Control Engineering
Proc. IMechE Vol. 222 Part I: J. Systems and Control Engineering JSCE566 F IMechE 2008