Beruflich Dokumente
Kultur Dokumente
I. INTRODUCTION
Two-phase flow heat exchangers have been widely
used in air conditioning and refrigeration systems for
residential, commercial, and industrial applications.
Modeling, estimation, and control of two-phase flow heat
exchangers have been active research subjects for years in
attempts to imrove energy efficiency and system reliability.
Most of these projects are concerned with the steady-state
operation of such heat exchangers, despite the fact that
steady-state conditions are almost never reached in the
presence of dynamic interaction and varying environmental
conditions. Modeling of dynamic behavior of a
complicated and spatially distributed air conditioning
system has been reported in several works [Chi and Didion,
1982], [MacArthur and Grald, 1989], [He, Liu and Asada,
1997], and [He and Asada, 2003]etc.
With increasing complexity of modern HVAC
systems, controlling and optimizing the operation with
guaranteed performance, stability and reliability becomes a
challenging issue. In advanced control of HVAC systems,
it is necessary to dynamically estimate some immeasurable
variables based on available sensor measurements. For
example, in the nonlinear feedback linearization [He and
Asada, 2003], the heat transfer rate of evaporators must be
estimated because no direct measurement is available.
Dynamic estimation of heat transfer rate can also be used
for adaptive control of room air temperature. To estimate
qa
Tw
m& in
Ta
Te
m& out
a
m& in = Av g v ( Pe , Pc )
(3)
(4)
1535
where Te, l and Tw are the three states of the model, and Ta ,
m& in and m& out are the inputs to the system.
x
Di i
1
kh
k
k
&
lg
Te
1
&
(Do o (Ta Tw ) Di i (Tw Te ))
Tw =
l& (C p A) e
Di i l (Tw Te )
1
(
+ m& in (1 xo ))
(
1
)
A
h
lg
l
(9)
Di i
x
1
T&
k
k
khlg
e
L1
1
&
T =
) D (T T )) L T T
D
T
T
(
(
o o
a
w
i i
w
e
e
&w (C p A) e
2 e
l
L3
D l (T Te )
1
+ m& in (1 xo ))
( i i w
(1 ) A
hlg
l
1
x
Di i
khlg
k
k
T&e
1
(Do o (Ta Tw ) Di i (Tw Te ))
T&w =
(
)
C
l& p
e
D l (T Te )
1
( i i w
+ m& in (1 xo ))
A
h
(
1
)
l
lg
Ta
Di i
x
1
T&
khlg
k
k
e
L1
1
&
T =
(Do o (Ta Tw ) Di i (Tw Te )) L2 Te Te
w
& (C p A) e
l
L3
1
D l(T T )
( i i w e + m& in (1 xo ))
(1 ) A
hlg
l
max
, where
max is
the largest
+
)
Te
l L1
khlg
f B3
=
L2
x B1
B3
B h l L3
4 lg
(11)
convergence rate
m& in
m& out
Te
B3
l
khlg
B + B3
2
B1
B
3 l
B4 hlg
B3
(Tw Te )
khlg
3 (Tw Te )
B4 hlg
(12)
where
B1 = (C p A) e
B2 = Do o
B3 = Di i
B4 = l (1 ) A
2( 3 l + L1 )
khlg
T
B3 B3
1 f f 1
l+
+ =
L2
khlg
B1
2 x x 2
B3
B
(Tw Te ) + 3 l L3
kh
B4 hlg
lg
B3 B3
l+
L2
khlg
B1
2( B2 + B3 )
B1
B
3 l
B4 hlg
B3
B
(Tw Te ) + 3 l L3
khlg
B4 hlg
3 l
B4 hlg
2 B3
(Tw Te )
B4 hlg
(13)
According to contraction theory, if the eigenvalues of
this matrix are all negative, then the system is contracting.
By
looking
at
the
characteristic
equation
3 + a12 + a 2 + a3 = 0 ,
L2 = 3
L3 = 1
200
Tw_estimate-Te_estimate
150
50
0
-50
-100
-150
-200
-150
-100
-50
50
100
l_estimate
Fig.3. Convergence range for some sets of values of observer gains L1, L2, L3
B3
x
0
(Tw Te )
khlg
T k
e
0
Tw + 0
l
(1 x0 )
B3
(Tw Te )
B
B4 hlg
B3
l
khlg
B2 + B3
B1
B
3 l
B4 hlg
Fig. 5.
0
0
0
m& in
B2
m& out
B1
T
a
0
Evaporating Temperature
10
Te
Te-nonlinearobserver
Te-linearobserver
400
300
200
Evaporating Temperature(c)
Tw_estimate-Te_estimate
1
k
500
100
0
-100
-200
-300
-400
-500
-500
-400
-300
-200
-100
100
200
300
400
500
l_estimate
20
10
15
Time(s)
20
25
30
Fig.6a. Comparison of Te
Wall Temperature
15
11
Tw
Tw-nonlinearobserver
Tw-linearobserver
10
10
Wall Temperature(c)
Tw_estimate-Te_estimate
(14)
The operation point used in the standard linear observer
is chosen to be the same as the initial condition of the
nonlinear observer. Fig. 6a,b and c show that the nonlinear
observer states converge to the actual states of the system.
However, the linear observer states do not converge to the
actual states. This is because the standard linear observer
for the linearized model can only guarantee the
convergence of Te , Tw and l but not Te, Tw and l. The
L1 = 5
L2 = 3
L3 = 1
100
B3
l
T&e khlg
& B3
Tw =
l& B1
B3
Bh l
4 lg
-5
10
15
20
25
30
35
40
45
50
l_estimate
10
15
Time(s)
20
25
30
Fig.6b. Comparison of Tw
Two Phase Length
13.5
l
l-nonlinearobserver
l-linearobserver
13
12.5
12
11.5
11
10.5
10
10
15
Time(s)
20
25
30
2.6
q
q-nonlinearobserver
q-linearobserver
2.4
Kw
2.2
1.8
1.6
1.4
10
15
Time(s)
20
25
30
Fig.6d. Convergence of q
Measurement Te
m& in
m& out
Ta
8
Te-experiment
Te-simulated
Te-observed
7.8
Evaporating Temperature(c)
q
2.8
7.6
7.4
7.2
7
6.8
6.6
6.4
200
400
600
Time(s)
800
1000
1200
8.8
8.6
Wall Temperature(c)
8.4
8.2
8
7.8
7.6
7.4
Di i
1
x
T&
khlg
k
k
e
L1
1
T& =
) D (T T )) L T T
D
T
T
(
(
o o
a
w
i i
w
e
&w (C p A) e
2 e e
l
L3
Di i l(Tw Te )
1
(
+ m& in (1 xo ))
(1 ) A
hlg
l
+
)
Te
7.2
200
400
600
Time(s)
800
1000
1200
19
l-simulated
l-observed
18.5
18
17.5
17
16.5
200
400
600
Time(s)
800
1000
1200
Tw , l
Feedback
Linearization
and PI
Controller
Te
Plant
Nonlinear
Observer
VI. CONCLUSIONS
The model-based nonlinear observer design presented in
this paper can estimate dynamic variables of the evaporator
with guaranteed convergence. This is demonstrated with
simulation and experimental results. Feedback linearization
with a PI controller and a model-based nonlinear observer
can achieve the desired performance of the evaporating
temperature control. This observer design for the
evaporator will also be used for the investigation of
dynamic refrigerant distribution model in the future.
REFERENCES
[1]
[2]
[3]
[4]
[5]
[6]
[7]
[8]
1539