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The paper presents the static non-linear model with feedbacks of a freezing complex of a Horizont-type shing trawler. The changes in specic power consumption for freezing shery products in various operating regimes of a freezing complex have been analysed. The dynamic model of the compressor complex and the compressor operation local control system have been designed and analysed. Based on a static model of a ships freezing complex, the dynamic multidimensional model has been designed and analysed. It includes a freezing chamber air temperature and coolant condensation temperature automatic control system, and accounts for lags in the actuating paths. The self-learning system of extrapolative search of minimum the specic energy consumption for freezing has been designed. The microprocessor implementation of integrated automatic control system of a ships freezing complex has been offered. The necessary software providing for the required control systems algorithms has also been designed.
AUTHORS BIOGRAPHIES Prof AI Kohanskiy is the Head of the Chair of Automisation of Ships Steam Power Plants at Odessa National Maritime Academy (ONMA), Ukraine, where he conducts lectures on automation at the Shipmechanical- and Automation departments and also directs research work at the Academy. He graduated from the Nautical College (now ONMA) prior to serving as a marine engineer ofcer on the Black Sea Shipping Companys vessels. In his post-graduate course at ONMA he presented his thesis Automisation of Marine Diesel Engines and obtained a Masters degree in technical sciences. He later held positions at Odessa Refrigeration Academy as a lecturer, senior research associate and Dean of Department, receiving his Doctors degree in 1984. Prof Kohanskiys research interests include the investigation of non-standard regimes of refrigeration plants operation, mathematical modelling, and he is the author or co-author of more than 150 scientic papers. Vadym V Logvynenko nished his studies in automatics and telemechanics at the Odessa Polytechnic Institute in 1990. In 1993 he completed his postgraduate studies in the same institute. He then worked as the assistant to the chair of the automated control systems in refrigerating engineering of the Odessa State Refrigeration Academy from 1995 until 2000. From 2001 to 2004 he was the senior teacher of Chair of
No. A5 2004 Journal of Marine Engineering and Technology
NOMENCLATURE
aa2, aa1, ac2, ac1, aac, a coefcients of the equation describing nature of Wsp(ta, tc) dependence parameter in the dynamic model of freezing complex depending on water heat capacity, water mass and condenser heatexchange surface air heat capacity oil heat capacity coefcients of tm model a coefcients of tm model c
ca Cp cw2, cw1, cea2, cea1, cwea, c dw2, dw1, dea2, dea1, dwea, d
Project Management of the Organizations in the Ukrainian Academy of State Administration Under the President of Ukraine, Odessa Regional Institute of State Administration. The following disciplines were taught by him: theory of automatic control, circuit engineering, programming, operations research and econometrics. Mr Logvynenko has written a dissertation entitled Optimisation of operating modes of a ship freezing complex, and has also had over 20 papers published. He has recently been appointed to his present position as an assistant to Prof Kohanskiy.
23
Nr Ne Ne
nom
I1 and I2
Ne
ca
Npr Nma
Jcl
Jcs
K kl kl1,kl2 kg l
Q3
Q4
Dkg (t) l2
ktd
Qisp Qo Qo
nom
Qp
QpH Qc DQ(t)
24
Tj
ta ,tc
t ,t a c tex ,tex a c tm , tm a c
Tsim uc
us
Uw ul
1,2
tea tw tw
av
Wfa
td1
Wps
Ws Wsp
tg and tg a c
Ww Wcr(p)
time variation of deviation ta from tg a time variation of deviation tc from tg c step change parameter of extremum search by Hooke-Jeeves method co-ordinates of a base point of extremum search by Hooke-Jeeves method co-ordinates of Wsp extremum for given environment tea and tw co-ordinates of Wsp extremum models of dependences of co-ordinates of Wsp(ta, tc) extremum from environments tea and tw run time of one machine simulation experiment signal for the on and off switching of supporting compressor function of determining the status of compressors in said local control system percentage of cooling water ow fed to condensers control action inputted to slide valves of leading and supporting compressors in the said local control system volume ow of cooling water through condenser conveyor movement rate increment of conveyor speed energy consumption energy consumed by compressor aggregates in all operating time energy consumed by freezing apparatus in all operating time energy consumed by pumps of freezing plant for all operating time total energy consumed by freezing complex specic energy consumption for cold treatment of a product unit water velocity in condenser pipes transfer function of the corrective link ensuring invariance in local control system of symmetrical operation of compressors
25
No. A5 2004
Wpr(p)
BACKGROUND
Method of determining energy demands in a ships refrigerating plant operation
The effectiveness of energy consumption by a ships refrigerating plant is estimated by comparing the actual ows of energy determined in service, with their theoretical values calculated under the same operational conditions. The crucial issue of estimation is the choice of an index of energy effectiveness. The standard method consists in comparing them by the electric refrigerating factor: Q (1) eel ~ o Nel where: Qo real compressor cold-productivity, kW, Nel total electric power consumed by compressor drive, kW. However, use of this index as a criterion for ships of the same type has a drawback: for a given operating regime of compressors it will have an equal value irrespective of any change in external operating conditions and operating regimes of other production equipment. Furthermore, it leaves out an amount of a shery product processes where low temperatures are required. The variable part of normalised annual costs is the main index determining the effectiveness of any equipment, including the refrigerating plant. Hence, the energy effectiveness of the refrigeration plants of sisterships can be estimated by the amount of energy consumption: W~
m X j~1
eel d
INTRODUCTION
aving fuel-and-energy resources is a vital problem that has to be solved both for increasing industrial production effectiveness and preserving the Earths natural resources. Refrigeration units are the main energy users onboard shing industry vessels. They consume, depending on operating conditions, up to 50% of the energy produced by a ships electric power plant. The most energy-consuming processes onboard shing vessels are those of sh cooling and freezing. In addition, refrigerating plants of shing industry vessels operate about 50% of shing time in the modes or regimes at which a specic energy consumption exceeds minimum values by more than 30-40%.15 It is, therefore, widely accepted that minimising energy consumption for cold production during shing is one of the main directions of increasing the efciency of ships refrigerating plants. Minimisation of energy consumption for shing production is possible, both by modernising the equipment and by optimising operational modes in various shing conditions. The main parameters determining a refrigerating plants operation, as well as its energy consumption, are coolant boiling- and condensation temperatures. Estimation of the effectiveness of cooling cycles, their parameters varying in time, is possible in two ways: rstly, by calculating the averaged estimates of energy effectiveness for intermediate, conditionally stable modes; secondly, estimating these, accounting for the dynamics of articial cold production in compressor refrigerating plant. Traditionally, calculations of refrigerating plants are carried out for preset static operating regimes. However, considering the fact that ships refrigerating plants are continuously subjected to various internal and external disturbances, non-stationary and quasi-stationary operating regimes are much more common. Automatic control of working parameters is achieved by means of local regulating devices or controllers. Their main function is keeping a controlled variable constant, compensating the disturbances. Whereas local controllers execute autonomous functions, certain control loops are interconnected and interdependent. Hence, to provide for the required control quality, a synthesis and analysis of the control system as a whole is to be carried out. In view of the abovementioned, the determination of operating regimes of a freezing complex providing for a minimum of energy consumption, and designing a control
26
Tj Nj z
l X r~1
Tr Nr kWh
(2)
where: Tj operating period of refrigerating plants auxiliary equipment, h, Nj power consumed by auxiliary equipment of refrigerating plant, kW, Tr operating period of compressor, h, Nr power consumed by compressor, kW. Due to the fact that the quantity of shery products processed by cold may vary, it is convenient to estimate the energy effectiveness of refrigerating plants by an index offered in Grishin and Petrov1 and used for analysing the energy consumption by ships freezing complex in Erlihman et al:4,5 W Wsp ~ kWh=kg (3) Gfa where; Gfa total quantity of product fed for freezing, kg. The same index was adopted for further research. It shows an amount of specic energy consumption, Wsp, on the cold treatment of a unit of a shery product while at sea. An operation of a refrigerating plant has to be aimed at achieving the minimal values of Wsp. However, at the same time it is necessary to avoid non-observance of process requirements with respect to the cold treatment of a shery product.
Journal of Marine Engineering and Technology No. A5 2004
Microprocessor system of automatic control of ships freezing complex Models of refrigerating plants
A lot of work was dedicated to the problems of constructing the mathematical models of refrigerating plants. Thus, in James,6 an empirical model of the dynamics of a ships cooling water system was considered. Based on this model, various ways of piston compressors productivity control were estimated. In Panozzo et al,7 the experimentally determined transfer functions of the evaporator are submitted. In Cleland,8 and Cleland et al,9 the system of ordinary differential equations describing the refrigerating system of a shing vessel was offered. The method of simulating a refrigerating plant with varying heat loads was also put forward. Wang and Tauber,10 considered the nonlinear mathematical model of the evaporator allowing for description of the dynamics of the apparatus at switching a compressor on and off. Yasuda et al,11 suggested the mathematical model of a laboratory refrigerating plant, while Melo and Ferreira,12 presented the mathematical model of a domestic refrigerator, aimed at simulating time variation of temperatures in its various compartments. Experimental research of dynamics of the evaporator of a refrigerating plant was described in Hong and Kraft.13 The mathematical model was shown to be an aperiodic link of the rst order with lagging argument. The proportionalplus-integral control law was also offered. In Konstantinov,14 the methods of an operational analysis of refrigerating plants on the basis of mathematical modelling were developed, allowing solution of the problems of optimal design, modernisation and maintenance improvement of the refrigerating equipment of a eet of shing vessels. Dened in Onosovskiy,15 were the principles of optimisation task statement while designing refrigerating plants. The essence of the thermodynamic-and-economic approach is described and thermodynamic-and-economic model of a multipurpose refrigerating plant was offered. In Timofeev,16 the analysis of relative change of specic power consumption of compressor drives with variations of boiling temperature and condensation temperature was carried out. The values of specic power consumption changes were evaluated on the basis of a logarithmic function of sensitivity. In Chumak and Kohanskiy,17 the transfer functions for the equipment of a refrigerating unit in which the mathematical models are one-dimensional, were obtained. The methods of analysing non-linear and distributed parameter systems in ships refrigerating plant were also offered. The set of linear stationary transfer functions describing dynamic characteristics of ships refrigerating plant were submitted in Alehin et al.18 The said transfer functions were obtained by experiment during a shing voyage. The structure of the multidimensional model of a ships refrigerating plant obtained on their basis is additive without feedbacks. The dynamic responses of separate elements of ships refrigerating plant were examined by Eydeyus.19 Mathematical models of ships production refrigerating plants proper, present only a certain part in the abovementioned review of refrigerating plant models. The signicant numbers of models are dedicated to the description of steady-state operation regimes, and are aimed at optimum selection of refrigerating plant components during design. The models mirroring the dynamics,
No. A5 2004 Journal of Marine Engineering and Technology
investigate mainly the dynamic properties of the separate elements of a refrigerating plant, not when combined into a whole unit. The dynamic characteristics of refrigerating plants are often presented by linear transfer functions, thus indicating their applicability in the narrow range of operational conditions of a ships freezing complex, which is essentially a non-linear object. There are very few works based on the developed refrigerating plants model and giving recommendations regarding synthesis and analysis of its automatic control system. Adopted as a basis for further research is a static nonlinear model of a ships freezing complex of a Prometeytype super-trawler introduced in Erlihman et al.4,5
Fig 1: The standard control diagram of refrigerating plant: CM compressor, CD condenser, E evaporator, TRV thermostatic expansion valve, FC freezing chamber, ps suction pressure, pc condensation pressure, po boiling pressure, tv steam temperature at the evaporator output, ta freezing chamber air temperature, PC pressure regulator, PDC pressure difference regulator, TE temperature sensor
27
complex subject to a minimum of power demand and ensure a high quality of transient processes. The control system is to be implemented on the basis of microprocessor engineering. This paper reects all stages of fullling this task.
Fig 2: Principle diagram of ship freezing complex: AC air cooler, FC freezing chamber, F fan, CP circulating pump, CR circulating receiver, RV expansion valve, RH cold heat exchanger, SC screw compressor, CO condenser, R line receiver characteristics of the compressors submitted in a refrigerating compressors reference book.33 The modelling of the characteristics of R22 coolant and determination of a heat load on oil coolers and condensers is made according to the designed model of a freezing complex for Prometey-type vessels. In the beginning of calculation, the freezing time for a sh block, Tfr, was determined by DG Rjutovs formula representing functional dependence: Tfr ~f(ta ,tst ,ten ), h (4) where: ta air temperature in a freezing chamber, uC, tst starting temperature of sh, uC, ten end temperature of sh in the center of a block, uC. A heat load for a freezing chamber, Qfa, was then determined as the sum of several components: Qfa ~Q1 zQ2 zQ3 zQ4 , W (5) where: Q1 heat gain through an enclosure surface, W, Q2 heat gain from a shery product, W, Q3 heat gain from the heated conveyor chains and block-moulds entering the freezing chamber, W, Q4 consumption of cold for cooling and drying air entering a freezing chamber and cold consumption for heat equivalent of electric blower operation, W.
No. A5 2004 Journal of Marine Engineering and Technology
Air cooler productivity, Qisp (W), is calculated on the basis of the formula: Qisp Dta ~ taH {to (6) kFc ln taHH {to where: Fc air cooler surface area, m2, k~f(to) air cooler heat transfer coefcient, W/(m2.uC), to coolant boiling temperature, uC, taH~tazDta/2 air temperature before air cooler, uC, taHH~ta2Dta/2 air temperature after air cooler, uC, Dta air heating in freezing apparatus, uC. Taking into account that the plant is operating in a stationary mode, it is accepted that: Qisp (ta )~Qfa (ta ) (7) The values for ta and Qfa are found on the basis of the above equation. Deriving from the reference book,33 it is possible to determine a nominal cold-productivity, Qo nom (W), and compressors nominal power consumption, Ne nom (kW), for set values to and tc, where tc coolant condensation temperature, uC. Assuming that the plant is operating in a stationary mode, the real cold-productivity, Qo, and the
29
Fig 3:
Block diagram of mathematical model of a ships freezing complex An enthalpy of oil-Freon mixture at the compressor output is expressed as i2HH~f(tc, t2HH) (kJ/kg), where t2HH (uC) temperature of oil-freon mixture at compressor output. Heat removed by oil from a coolant in the compressor is calculated by the formula: (10) Qp ~1000:Gad :(i2H {i2HH ), W Heat received by oil from a coolant is calculated by the formula: (11) QpH ~Gp :Cp :(t2HH {tp ), W where: tp oil temperature at an entry to compressor, uC; Cp ~f(tp ){oil heat capacity, J=(kg:0 C) Solving the equation Qp~QpH an unknown quantity, t2HH, is found. Thereafter the value Qp is determined.
Journal of Marine Engineering and Technology No. A5 2004
load factor of the compressor, kl, are determined: Qo ~Qfa , W k1 ~Qo | 100=Qo nom , % (8)
On this basis a percentage value of power consumption Npr~f(kl) was calculated and the effective power of compressor was computed: Ne ~Ne nom | Npr =100, kW (9) Next was the determination of the power consumed by the electric motors of the compressor aggregate, Neca (kW), and coolant ow through the compressor Gad~f(Qo, to, tc) (kg/s). This was followed by determining the suction pressure ps (MPa), discharge pressure pd (MPa), an adiabatic work Lad (kJ/kg), adiabatic power Nad (kW), enthalpy i2H~f(to, tc) (kJ/kg) and coolant temperature t2H (uC) at the end of dry compression. To determine a heat load on oil cooler the mass ow of oil, Gp, is found.
30
(16)
Fig 4: Wsp(to, Vwc) dependences during the operation of two compressors with equal productivities: a) tea~20u, tw~16u; b) tea~40u, tw~30u For this purpose two sets of tea, tw and tst values were adopted: tea~0uC, tw~30uC, tst~4uC; and tea~40uC, tw~2uC, tst~20uC. The calculations were made assuming two compressors operating with equal cold-production. Thus, one can see that for Horizont-type ships, when operating two compressors with equal cold-outputs, the change of a tw towards higher values results in displacement of to value providing for Wsp minimum, also in the direction of increase. The change of external heat load, owing to change of tea and tst values, inuences to a lesser degree a displacement of to value ensuring Wsp minimum. In this case, the tw change inuences a change of Wsp values to a greater degree than does a change of tea and tst values. condition acts as a feedback at the control system input. The regulation algorithm of tracking subsystems is a threeposition one, accounting for the regulators inert zone and hysteresis. It produces a control action, ul1,2(t), inputted to the slide valves of both the leading and follow-up compressors. On and off switching of the follow-up compressor is provided by a uc~1;0 signal. The function of determining the follow-up compressors start-up and shutdown time allows for the following variables: a) position of a slide valve kl1 of the leading compressor; b) average value of a current I1av consumed by the leading compressor. Switching on the second compressor is executed when a maximum permissible value is reached by any of the specied variables, and its cutting off at kl1 and I1av, occurs when the said maximum values are lowered by the preset amount. Obviously, there is a gradual mechanical deterioration of the compressors while in service, and the wear rate is higher in a compressor that has been working longer. In this connection, to increase the operational effectiveness of the compressors and a uniform distribution of their wear, the leading compressor (put in use rst) is to be the compressor having a higher index of an overall performance. This is realised by the function of comparing an actual overall performance of the compressors and thus determining their status. The comparison of the compressors work efciency is executed by the consumption load currents of compressor drives averaged on sliding time intervals after termination of transient processes with respect to symmetrisation of kl and td. The algorithm of determining the status of compressors by us function is expressed as: ( 0{compressors keep the status us ~ >0{compressors change the status 1 us ~ Tav ( q~
tzTav
q
t
(17)
The plunger executive device of a compressor drive represents an integrating non-linear link. The nonlinearity is conditioned by slide valve travel limits at reaching extreme positions and by backlash at changing its movement.
Jcl ~
0
(td1 {td2 )2 dt
(20)
where: Tsim run time of a single machine simulation experiment. Calculations by this criterion are made with the beginning of symmetrisation by td, which, in turn, starts after ending symmetrisation by kl. The researches reveal that the best results with respect to control quality are displayed by the control system without second-order astatism link in a td2 controller and comprises a corrective link ensuring invariance by td1 (Version 1). The system with the second-order astatism in a td2 controller and without a corrective link ensuring invariance by td1 (Version 2) displays slightly worse control quality in comparison with the previous version. The worst results are displayed by a control system including both secondorder astatism and correction ensuring invariance (Version 3). With that, as indicated above, all control versions include predictive correction. Shown in Fig 6 are the graphs of transient processes by Dtd and kl of Version 1 control system. The areas symbolised with quadrates are
Fig 5:
The block diagram of the local control system on symmetrical operation of compressors
Journal of Marine Engineering and Technology 33
No. A5 2004
Fig 6:
Transients in the local control system on symmetrical operation of compressors, ensuring invariance The freezing time Tfr depends on the path length of a sh block in the freezing chamber, Lc (m), and conveyor speed, Vc (m/h). The latter may have a stationary value calculated beforehand, based on technological conditions, or it may be a variable, ensuring a correspondence of freezing process parameters to varying operational conditions of a freezing complex. In the latter case, ta varying, depending on operating conditions, it is necessary to constantly ensure a set value of ten. To do this, Tfr is determined continuously so that the integrand difference was always equal to Lc: 80tzT 9 1 fr < = Tfr (t)~ arg @ (Vc (t){Vc (t{Tfr ))dtA~Lc (22) : ;
t
those where the discrepancy in quality of regulation for the given variants of the control systems was observed. An input action, kg , was harmonic with an exponentiallyl increasing constant component. The parameters of an input action were tted so that during simulation of the supporting compressor, it would be switched on, then off, and then on once again.
The change of air temperature ta, with time, depends on the change of heat ows, DQ(t), in the freezing chamber: t 1 DQ(t)dtzta (t~0) (23) ta (t)~ ca ma
0
where: ca air heat capacity, J/(kg.uC); ma air mass in the freezing chamber, kg. Change of DQ(t) value is determined by the following equation: DQ(t)~Qfa (t){Qo (t) (24) According to equation (5), Qfa represents the sum of heat ows. So, the Q1 ow passes through the enclosure surface of a freezing chamber and depends on external air temperature tea. Other heat ow, Q2, comes from a sh situated in a freezing chamber and depends on the starting temperatures of a sh, tst. Its average value, Q2av (W), is determined in the dynamic model by the following
Journal of Marine Engineering and Technology No. A5 2004
ta (t)dt, 0 C
(21)
34
Q2 (t)dt
t
(25)
The cold-productivity, Qo(t), of a screw compressor depends on the suction pressure, ps, and discharge pressure, pd. The suction pressure ps interdependent with a boiling temperature, to, is regulated by changing the screw compressor load factor, kl, that varies due to the effect of an actuating mechanism. A discharge pressure, pd, is interdependent with a condensation temperature, tc, depending in turn on an average temperature, tw av (uC), of the cooling water passing through the condenser and the water temperature, twc (uC), at the output of condenser: t twc ~B (tfw {twc )dtztwc (t~0) (26)
0
where: B the parameter depending on water heat capacity, water mass and heat-exchange surface area of a condenser; tfw the temperature eld created in a condenser owing to Freon action. A condensation temperature, tc, also depends on the heat load, Qc, on the condenser, computed from equation (12). The tw av and twc values depend on the starting temperature, tw, of the cooling water and the water discharge, Uw (%). The Uw varies due to the effect of an actuating mechanism.
The automatic regulation system and dynamic model of a ships freezing complex are realised in a SIMULINK software environment of the MATLAB package. The general view of a dynamic model is illustrated in Fig 7. Shown in the gure are the blocks calculating Qo, pd, ps, Gad, Qfa, Vc, ten, ta, to, tc, twc, Ne, Qp and Qc values. The input quantities in the model are Tfr, Lc, kl, Uw, tw, tea, tst, tp and also an increment of conveyor speed DVc, assigned if necessary. Shown also in Fig 7 are the interconnections between the said blocks achieved with the help of auxiliary blocks; Product, Sum, Gain etc. In Fig 8, the static characteristics of a ships freezing complex, obtained on the basis of the designed dynamic model, are submitted at different values of Tfr, tw, tea. The static characteristics of ta, pd, ps and Qfa change subject to kl change for three different values of tc, and also the characteristics of tc change, subject to Uw change for three different ta values, were obtained. The non-linear features of a ships freezing complex are clearly illustrated on the obtained graphs. The general view of the automatic regulation system is presented in Fig 9. Blocks 1 and 2 contain a dynamic model of a freezing complex proper shown in Fig 7. Depending on the external operating conditions (tw, tea and tst values), the analysis of a static model of a ships freezing complex is carried out. On its basis, tg and tg master controls and Tfr a c value are set in the regulating system. As a result, the kl and Uw control actions and Vc value minimising specic power demands for freezing in static conditions, are ensured. Master controls tg and tg are input into PI and PI1 blocks a c representing regulators. From the regulators outputs kl and Uw control actions come to inputs of the dynamic model. The Saturation and Saturation1 blocks model the natural limitations on the travel length of the actuating mechanisms inuence on kl and Uw changes. It is necessary to note that the kl value from the PI controller output, really becomes an input of the local control system of symmetrical work of the compressors, ensuring their equal loading. With a view to simplication, the local control system of symmetrical operation of compressors in Figs 7 and 9 is not shown; both its synthesis and analysis are carried out separately. The optimum adjustments of the controllers parameters ensure the high quality of transient processes during a freezing complex transition to a preset operating regime. The setting variables of regulators are optimised with respect to integral quadratic performance criterion, Jcs, considering ta and tc changes: Tsim " # Nma 1 X Dta (t) 2 Dtc (t) 2 Jcs ~ dt (28) z Nma i~1 tg tg a c
0
where Dta(t) time variation of ta from tg deviation a value; Dtc(t) time variation of tc from tg deviation value; c Nma number of machine experiments corresponding to various operating conditions of a freezing complex, representing one step of the optimisation procedure.
35
Fig 7:
The performance criterion Jcs is computed in the model by the separate subsystem of blocks to which the tg , Dta, tg a c Dtc values are input. Also, in Fig 9 the additional blocks of Step type are shown. The Step 1 block, at a signal changing from 1 to 0, provides for disconnecting the regulating system and examining the dynamic properties of a freezing complex, proper. The Step 2, Step 3 and Step 4 blocks allow for assigning increments by kl, Uw and Vc for analysis of the system dynamic properties during its transition from one operating regime to another. The Step 5 and Step 6 blocks, on the signal changing from 1 to 0, allow for estimating the quality of system operation regarding a single actuating path. Shown in Fig 10 are the transient processes with respect to ta and tc arising in the regulating system from kl change by z10% and Uw by 2-10%. At the beginning, since zero time, there is a process of assertion of a given operating regime. After its completion there is a feeding of increments by kl and Uw, resulting in transient processes shown in the graphs. Fig 11 shows the transient processes with respect to ta and tc arising in the regulating system during a transition of a freezing complex from inactive state to the given operating regime.
36
(29) (29)
Fig 8:
The static characteristics of a ships freezing complex As indicated above, the Wsp(ta, tc) dependence can be submitted as a quadratic two-dimensional polynomial: Wsp ~(aa2 |t2 )z(aa1 |ta )z(ac2 |t2 )z(ac1 |tc ) a c z(aac |ta |tc )za (30)
in the automatic regulation system of the operating regimes of a freezing complex. However, in connection with possible inaccuracies in the static model, changes of technical parameters of a freezing complex accumulating during its service, and possible distinctions in the characteristics of freezing complexes onboard different vessels, the problem of providing for automatic search of Wsp minimum conditions occurs. For solving this task, the self-learning system for extrapolation search of a Wsp minimum, was designed. The process of its self-training consists in gradual accumulation of data on the behaviour of a Wsp surface and change of the control algorithm: from extrapolation search of a Wsp minimum direct output of control signals on the basis of data stored.
No. A5 2004 Journal of Marine Engineering and Technology
Considering the above, the Hooke-Jeeves method,36,37 combined with a method of two-dimensional parabolic interpolation, is used for searching the extremum coordinates. In the beginning of the search, departing from investigation of the static model for preset environmental 0 0 conditions, an initial base point with tg ~ta and tg ~tc a c co-ordinates is set. On completion of transients ta and tc, values are measured, along with the power, Nfc (kW), consumed by freezing complex. Thereupon a Wsp value is
37
Fig 9:
Automatic control system of operating regimes of a ships freezing complex determined for the given, now existing, environmental conditions (tea and tw values). With the change in environmental conditions (change of tea or tw), the next cycle of extremum co-ordinates search is started, ie, new t a and t values are determined. c
calculated. Then tg and tg are changed with Dtg Dtg a c a c steps. Having executed ve measurements, by a special procedure, ai coefcients are found from equation (30), and then tex and tex extremum co-ordinates are calculated. a c After calculating tex and tex , tg ~tex and tg ~tex , are set and a c a a c c 0 chosen as new base points, ie, tex and tex are declared ta a c 0 and tc accordingly, and then the repeated search procedure is begun. Thus, several phases of search are executed, diminishing the steps of Dtg and Dtg increments a c at each phase and iterating a procedure of search until Dtg a and Dtg become less than Dtmin and Dtmin . c a c After that, the search procedure is nished and it is considered that the rst cycle of measurements is carried out and the co-ordinates of extremum (t and t values) are a c
38
Transients in the automatic control system of operating regimes of a ships freezing complex at kl and Uw step
extremum co-ordinates from the environmental conditions tm ~f(tea, tw) and tm ~f(tea, tw) in the process of lling the a c database and data accumulation. The general view of these models is represented by interpolation polynomials: tm ~cw2 t2 zcw1 tw zcea2 t2 zcea1 tea zcwea tw tea zc a w ea tm ~dw2 t2 zdw1 tw zdea2 t2 zdea1 tea zdwea tw tea zd c w ea (31)
In the beginning, from among general type models,31 various types of tm ~f(tea, tw) and tm ~f(tea, tw) models of a c the most simple kind were looked over, ie models containing two components at a time separately for each ta and tc variable. The ci and di coefcients are determined separately for each model by Nelder-Meads simplex-method algorithm.36,38 Each model considered was tested for adequacy by Fishers F-criterion. If the model did not correspond to the said criterion, it was rejected, and
No. A5 2004 Journal of Marine Engineering and Technology
a model of the next type was then looked at. Gradually models of more complicated kind were reached, and the study of various types of tm ~f(tea, tw), and tm ~f(tea, tw) a c models containing three, four etc, components, was commenced. Adequate models were considered to be competitive and then the best of them were chosen for use, according to multiple correlation coefcients. The enlarged block algorithm of the extreme control system is shown in Fig 12.
Fig 11: Transients in the automatic control system of operating regimes of a ships freezing complex during a transition into a given operating regime system of symmetrical operation of compressors, the automatic regulation system of freezing-complex operating regimes, and the extremal control system. During microprocessor system operation the execution of service functions is also to be ensured. In view of all aforesaid, a special program in Czz language was developed. It was conditionally separated into relatively independent modules. In Fig 13 the structure of the modules interaction is presented. The program runs in real-time mode. The technical structure of the system is shown in Fig 14. An IBM-compatible computer with a Pentium processor is used as an upper-level computer. Used as the controller is the MicroPC 6040 model of Octagon Systems manufacture
40
that was introduced in a catalogue.39 The controller is based on an Intel Pentium 80386 processor with diskless FLASH-memory, RAM 1 MB. Control of the ships freezing complex is carried out directly by a controller, its memory containing the major part of the software. The functions of the upper-level computer are: $ Initialising controller to operation. $ Inputting the required constants and parameters. $ Data base management. $ Indicating online information for service personnel. Normalising converters and modules of commutation and output are of Analog Devices and Grayhill manufacture, introduced in another catalogue,40 and are applied to
Journal of Marine Engineering and Technology No. A5 2004
Fig 12:
No. A5 2004
Fig 13: Structure of software modules interaction in the microprocessor system of automatic control ships freezing complex
Fig 14:
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Technical implementation of the microprocessor system of automatic control of a ships freezing complex
Journal of Marine Engineering and Technology No. A5 2004
CONCLUSIONS
1. A static model of the freezing complex of the Horizont-type shing trawler was developed. The model is non-linear and accounts for natural feedbacks in a ships freezing complex. The conclusive part of the model is the determination of specic energy consumption during freezing. To analyse a static model and determine specic energy consumption, a special program in BASIC was developed. 2. The specic energy consumption for freezing, as a function of two variables coolant boiling temperature and cooling water ow through condensers is described by a parabolic surface with a minimum. The minimum position is oating, because a parabolic surface of specic energy consumption displaces in parametric space upon changes in the external heat load which is determined by outside air- and sea water temperatures. Additionally, this surface displaces in parametric space upon changing the variants of loading the compressors. 3. To minimise the energy consumption with simultaneous operation of two compressors, the dynamic nonlinear model of the compressor complex and local control system of symmetrical operation of compressors were designed in a SIMULINK environment for the MATLAB package. Control algorithms offered herein provide for choosing the leading and follow-up compressors, putting the latter in/out of operation, based on the required capacity demand, uniform redistribution of loads during simultaneous operation of both compressors, and equal discharge temperatures after the second compressor is put into operation. 4. To keep a set operational regime and provide for a high quality of the processes ensuing in a refrigerating complex upon its transfer from one operational regime to another, a dynamic model of the ships freezing complex
No. A5 2004 Journal of Marine Engineering and Technology
REFERENCES
1. Grishin VV and Petrov VM. Work efciency of screw compressors of ships refrigerating plants. Refrigerating engineering, 1979, No 5, pp 9-12. (Rus). 2. Grishin VV and Balobaev NI. Comparison of energy effectiveness of refrigerating plants of shing boats. Refrigerating engineering, 1980, No 11, pp 9-12. (Rus). 3. Grishin VV. Upgrading the operation of ships Freon refrigerating plant. Moscow: Light and food industry, 1983, 96 p. (Rus). 4. Erlihman VN, Bogolyubskiy OK, and Tadulev EB. The analysis of an electric energy demand of the freezing complex of Prometey-type supertrawler. Refrigeration engineering, 1987, No 10, pp 28-31. (Rus).
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