Compressor Surge Control

© All Rights Reserved

Als PDF, TXT **herunterladen** oder online auf Scribd lesen

5 Aufrufe

Compressor Surge Control

© All Rights Reserved

Als PDF, TXT **herunterladen** oder online auf Scribd lesen

- PD Linear Control
- rr322204-digital-and-optimal-control-systems
- Nahum Shimkin
- IEEE5
- Direct Methods for Transient Stability Studies in Power System Analysis (Lyapunov- Energy Function)
- Vs s Based Control
- 10.1.1.14
- lec23
- ADOUANE_RoboticaObstacleAvoidance
- Stability of non autonomous systems
- Mechatronik Systems Guderjahn
- Untitled
- Revised
- International Conference Neru
- Lecture 1
- Stepanyan_Control of Systems With Slow Actuators
- Lyapunov on Wikipedia
- LQG MPC Notes 07 New
- lyapunoiva stabilnost
- 6010

Sie sind auf Seite 1von 7

discussions, stats, and author profiles for this publication at: https://www.researchgate.net/publication/320323498

Matrix Inequality Approach

DOI: 10.1109/ICA.2017.8068403

CITATIONS READS

0 63

2 authors:

University of Pertamina Norwegian University of Science and Techno…

14 PUBLICATIONS 48 CITATIONS 277 PUBLICATIONS 2,811 CITATIONS

Some of the authors of this publication are also working on these related projects:

All content following this page was uploaded by Jan Tommy Gravdahl on 11 October 2017.

Compressor Surge Control Design Using Linear

Matrix Inequality Approach

Nur Uddin Jan Tommy Gravdahl

Dept. of Electrical Engineering Dept. of Engineering Cybernetics

Universitas Pertamina Norwegian University of Science and Technology (NTNU)

Jakarta, Indonesia Trondheim, Norway

Email: nur.uddin@universitaspertamina.ac.id Email: Jan.Tommy.Gravdahl@itk.ntnu.no

Abstract—A novel design for active compressor surge control compressor map. A compressor map is commonly provided

system (ASCS) using linear matrix inequality (LMI) approach by the compressor manufacturer. However, the compressor

is presented and including a case study on piston-actuated map may also be obtained through a compressor performance

active compressor surge control system (PAASCS). The non-

linear system dynamics of the PAASCS is transformed into test by following steps: operate the compressor for several

linear parameter varying (LPV) system dynamics. The system operating points, record the mass flow and pressure data, and

parameters are varying as a function of the compressor perfor- do a curve fitting to approximate the whole operating points.

mance curve slope. A compressor surge stabilization problem is An approximation of compressor performance for a constant

then formulated as a LMI problem. Solving the LMI problem compressor speed has been introduced in [6], while for the

results in a feedback control gain for the compressor surge

stabilization and stability proof of the closed loop system in the varying compressor speeds has been presented in [7].

whole compressor operating area. Simulation results show that The main goal of an active compressor surge control sys-

the designed surge control system is able to stabilize compressor tem design is to make the closed loop compressor system

surge. Significant improvement of the control system performance to operate stable in the surge area. Previously, the surge

is achieved by combining the LMI approach and linear quadratic control was designed base on linear control approach [8]–

regulator (LQR).

[10]. Using the linear control approach, the closed loop system

I. INTRODUCTION achievies locally asymptotically stable such that the stabilized

compressor surge area is limited. In order to make the closed

Compressor operation at lower mass flows is limited by loop compressor system stable in the whole surge region, the

compressor surge. Compressor surge is an aerodynamic insta- closed loop system must be globally asymptotically stable

bility and results in axisymmetric oscillations of the compres- (GAS). A necessary condition for GAS is the existence of

sor mass flow and the compressor pressure. This phenomenon a Lyapunov function. Simon and Valavani applied Lyapunov-

is indicated by fluctuations at the compressor mass flow, at based control for an active surge control system using close-

the compressor discharged pressure, and at the compressor coupled valve [11]. Krstic et al. introduced a non-linear

flow temperature, and followed by vibrations on the rotating control design method known as backstepping in [12]. The

parts. The vibrations reduce the reliability of the rotating parts backstepping method provides a systematic procedure to find

and large amplitude vibrations lead to compressor damage, state feedback and Lyapunov function simultaneously. Several

especially to the compressor blades and bearing. works on active surge control using backstepping have been

A method for stabilizing compressor using a state feedback presented afterwards [13]–[16]. However, the backstepping

control and an active element (actuator) has been introduced by may result in a complicated state feedback and can be difficult

Epstein et al. [1]. The method is known as active compressor to be implemented [17]. Two general state feedback control

surge control. Several studies on active compressor surge laws for compressor surge control have been derived using

control using different control design methods by including Lyapunov-based control method and guarantee the GAS of

linear and non-linear control methods for different actuators the closed loop system [18]. However, applying the Lyapunov-

have been presented, and are summarized in [2]–[4]. Most of based control method is not straightforward and in general, it

the active surge control studies uses the Greitzer compression is not possible to do performance adjustment base on a cost

model to represent the dynamics of compressor states (pressure function as in optimal control.

and mass flow). The Greitzer compressor model is a model of A non-linear system can be approximated by a linear system

compression system which is able to predict transient com- through a linearization around an operating point and therefore

pressor states during compressor surge including compressor linear control methods are applicable. This approximation is

mass flow and compressor [5]. only valid for a limited region around the operating point as

Physical observations show that compressor produced pres- basis in the linearization. Therefore, linearization at several

sure (compressor discharged pressure) has a non-linear relation operating points is required to cover the whole operating area.

to the compressor mass flow which is usually described in a This will result in several linear systems and the parameters

Ls A plenum is a model of downstream control volume. The

plenum volume (Vp ) can be representing a volume of pipeline

us

ws and/or vessel. It is assumed that the pressure in the plenum

Piston (pp ) is uniformly distributed in the plenum space. A throttle is

used to adjust the outlet mass flow (wt ). The throttle generates

pt

pd

pressure drop (pt ) between plenum and the outlet. A piston

Station A pi pc Vp , p p Station B

pA wi wd wt pB is connected to the plenum for generating piston mass flow

Inlet (ws ). The piston mass flow is used to manipulate the plenum

T

M pressure to maintain the system to be stable.

Throttle

Compressor Plenum

Motor Dynamic equations of the system are given as follows [18]:

Lc

Ac

ẇi = [pc − pp ] (1)

Lc

Fig. 1. COMPRESSION SYSTEM EQUIPPED PAASCS. a20

ṗp = [wi − wt − ws ] (2)

Vp

pt

where Ac is the inlet cross section area, Lc is the effective

are varying

Station A pi for each operating

pd point. Linear matrix inequalities

Station B length of the inlet, a0 is the speed of sound, and Vp is the

pA p V , p pB design

(LMI)-based wi control

c

is wone

d

of the

p p

powerful control

wt plenum volume.

Inlet

methods for such linear parameter varying system [19], [20]. The inlet mass flow dynamics is a function of the pressure

The LMI-based T control is a convex optimization base on

M

Compressor Plenum

Throttle difference between the compressor discharge and the plenum.

LyapunovMotor stability condition. A Lyapunov function candidate, Pressure at the compressor discharge is a result of energy

Lc

which is a positive definite function and the time derivative conversion from mechanical into pneumatic. It is a function

should be negative definite, is formulated as an LMI problem of the compressor mass flow and the compressor speed as

[21]. The LMI problem is solved to obtain a positive definite commonly shown in a compressor map. The compressor map

matrix such that the time derivative of the Lyapunov candidate usually consists of a plot of the compressor produced pressure

is negative definite. The LMI solution can be obtained using against the compressor mass flow for several compressor

available computational tools, for an example the YALMIP speeds. However, we consider only on a constant compressor

Toolbox [22]. speed in this study.

A piston-actuated active surge control system (PAASCS) A compressor performance at a constant speed can be

is a method to stabilize compressor surge by dissipating the approximated by a qubic function [6]:

downstream compressor energy using a piston [17]. This paper 3

H w

i

w

i

is presenting an application of LMI-based control method in an pc = pc0 + 2+3 −1 − −1 (3)

active compressor surge system with a case study on PAASCS. 2 W W

The goal is to obtain a state feedback control to stabilize where pc0 is the shut-off value of the axisymmetric char-

the whole compressor operating area and the control system acteristic, W is the semi-width of the cubic axisymetric

has a performance. The non-linear dynamics of PAASCS compressor characteristic and H is the semi-hight of the cubic

is transformed into a linear parameter varying system, and axisymetric compressor characteristic, consults [6] for more

the compressor surge stabilization is formulated as an LMI detailed definition.

problem.

III. L INEAR PARAMETER VARYING S YSTEM

II. P ISTON ACTUATED ACTIVE S URGE C ONTROL S YSTEM R EPRESENTATION

Define system states for the PAASCS as follows:

A piston actuated active surge control system (PAASCS) is

an active surge control system utilizing a piston as an actuator x1 = wi − wt (4)

to stabilize compressor surge. The piston generates mass flow x2 = pc − pp (5)

to manipulate the compressor downstream pressure in order

to stabilize compressor surge. PAASCS has been introduced and substituting into (1) and (2) results in:

in [17] and the model is shown in Figure 1. The model was ẋ1 = k1 x2 − ẇt (6)

developed base on the Greitzer compressor model [5] and all

assumptions in the Greitzer model are adopted. It is assumed ẋ2 = km k1 x2 − k2 x1 + k2 ws (7)

that pressures at station A (pA ) and at station B (pB ) are a20

dpc

where k1 = A Lc , k2 = Vp and km = dwi . The variable km

c

equivalent to the ambient pressure. All pressures in the system represents the slope of compressor performance curve which

are measured relative to the ambient pressure. Heat transfer in is varying at each operating point.

the system is neglected. Pressure drop along the inlet line is A state space form of the PAASCS dynamics is given as

neglected such that the inlet pressure (pi ) is equal to pA . There follows:

is no mass storage in the compressor such that the inlet mass

ẋ1

0 k1

x1

0

−1

flow (wi ) is equal to the compressor discharge mass flow (wd ). = + ws + ẇt . (8)

ẋ2 −k2 km k1 x2 k2 0

IV. LPV S YSTEM S TABILIZATION

21.5

Approximation 1 A PAASCS applies a piston to generate mass flow for

G F Pd

21

E

Approximation 2 stabilizing compressor surge. The generated mass flow is

20.5 D

represented by the system input, ws , in (9). In order to design

a controller, define a state feedback:

20 % Approximation 2

C

Pc0=20.564; H=0.190; W=0.011;

wi=-0.02:0.001:0.022;

ws = Kx (12)

pressure (kPa)

Pc=Pc0+H*(1+1.5*(wi/W-1)-0.5*(wi/W-1).^3);

19.5

19

wi=0.022:0.001:0.1;

18.5 Pc = 11580*wi.^3 - 2534*wi.^2 + 94.43*wi +19.97;

ẋ = [A + BK] x + Dẇt . (13)

18

It is required to find K such that the closed loop system

17.5

Compressor speed: 26287 rpm

A

matrix is asymptotically stable. It is achieved iff [A + BK] is

17 Hurwitz. The asymptotic stability of a system is guaranteed

-0.02 -0.01 0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08

mass flow (kg/s) by the existence a Lyapunov function V (x), where: V (x) > 0

and V̇ (x) < 0. For (13), define a Lyapunov function candidate

Fig. 2. Compressor performance curve obtained through a performance test V (x) = xT P x (14)

[23].

where P needs to satisfy the following conditions:

P >0 (15)

The equation (8) can be expressed by: T T T

A P + P A + K B P + P BK < 0. (16)

ẋ = A(km )x + Bws + Dẇt , (9)

Equation (16) is a bilinear matrix inequality (BMI) because

T 0 k1 it has multiplication of two unknown variables, P and K.

where x = x1 x2 , A(km ) = ,B=

−k2 km k1 Solving a BMI problem is difficult, and it is recommended to

T T

0 k2 , and D = −1 0 . The variable x is the convert a BMI problem into a linear matrix inequalities (LMI)

system states, ws is the system input, and wt is the system problem by the following steps [21]:

disturbance. The ẇt is the rate change of compressor outlet a. Define Y = P −1 and do pre- and post- multiplication to

flow and the value is assumed to be bounded as the outlet (16) such that it results in:

valve has usually slow dynamics.

Y AT + AY + Y K T B T + BKY < 0. (17)

Eigenvalues of the open loop system (8) are given by:

q

2

Inequality (17) is still a BMI.

km k1 ± (km k1 ) − 4k1 k2 b. Define L = KY and substitute into (17) such that it

s1,2 = , (10)

2 results in:

where the real parts of eigenvalues indicate the system sta- Y AT + AY + LT B T + BL < 0. (18)

bility. Because the value of k1 is constant and k1 > 0, the

compressor system stability depends on the value of km , which Inequality (18) is a LMI.

is the compressor performance curve slope. Therefore, the Because the compressor map slope is varying in a certain

compressor operates stable at along compressor performance range, we need to define two LMIs which represents the

curve at negative slope (km < 0) and unstable at the positive extreme operating region:

slope (km > 0). The unstable compressor operating along Y AT1 + A1 Y + LT B T + BL < 0 (19)

the positive slope is known as surge. For a compressor

performance curve described in (3), the curve slope is given Y AT2 + A2 Y + LT B T + BL < 0 (20)

by: − +

2 where A1 = A(km ) for the minimum slope and A2 = A(km )

3 3 wi for the maximum slope, respectively. Both LMIs are then

km = − −1 , (11)

2W 2 W solved simultaneously to find a positive definite matrix Y

which is a function of the compressor mass flow. The slope and a matrix L such that the both LMIs in (19) and (20) are

− + +

is varying in a range of km ≤ km ≤ km , where km is the satisfied. The YALMIP Toolbox together with Matlab is one

−

maximum slope and km is the minimum slope. The maximum of the available software to solve the problem. Commands for

+ 3H

slope is km = 2W achieved at mass flow wi = W , while the solving the problem are given as follows:

− 2p

minimum slope is km = wop [18]. Y = sdpvar(2,2);

Therefore, the system dynamics in (8) or (9) is a linear L = sdpvar(1,2,’full’);

parameter varying (LPV) system as the system matrix A is F = [Y > 0];

F = [F, [Y*A1’+A1*Y+Bs*L+L’*Bs’] < 0];

a function of km . From now we use notation A instead of F = [F, [Y*A2’+A2*Y+Bs*L+L’*Bs’] < 0];

A(km ) in the interest of simplicity. solvesdp(F,-trace(Y))

TABLE I 0.07

PAASCS PARAMETERS [23] 0.06 wiref

0.05 wi

wi [kg/s]

Parameter Value Unit Parameter Value Unit 0.04

0.02

Lc 0.8 m Ac 0.0038 m2

0.01

ρ 1.2041 kg/m3 As 0.0314 m2

0

ms 2 kg 50 55 60 65 70 75

t [second]

21.5

21

0.06

pp [kPa]

20.5

wi [kg/s]

0.04

20

0.02 19.5

wi 19

0

wiref 18.5

50 55 60 65 70 75

-0.02 t [second]

50 52 54 56 58 60

t [second]

21.5 0.04

21 0.03

ws [kg/s]

20.5 0.02

pp [kPa]

20 0.01

19.5 0

19 -0.01

50 55 60 65 70 75

18.5

50 52 54 56 58 60 t [second]

t [second]

Fig. 3. COMPRESSION SYSTEM STATES WITHOUT SURGE CONTROL.

V. LMI-LQR M ETHOD

Considering the simulation results in the previous section,

While the matrices Y and L are found, the matrices P and K

the closed loop system performance needs to be improved.

are obtained by P = Y −1 and K = LY −1 , respectively.

Using the LMI formulation in (16), we can not do any

A simulation is done to evaluate the closed loop system performance adjustment as the matrices A and B are given

performance using parameters data in Table I and a compressor from the plant, and the matrices P and K are obtained

performance curve shown in Figure 2. The simulation scenario through a computational process using the YALMIP Toolbox.

is given as follows. A compressor is initially operating steady Performance adjustment bases on a cost function is commonly

at mass flow 0.06 kg/s and then the operating point is changed done in optimal control theory, for example linear quadratic

at t = 50 seconds by reducing the mass flow to 0.015 kg/s regulator (LQR). Fortunately, combination of LQR method and

which is crossing the compressor surge line. LMI method for control system design (LMI-LQR) has been

presented in [19], [21], [24], [25] and summarized as follows.

The simulation results are shown in Figure 3. It is shown

The LMI-LQR gives an opportunity to adjust the performance

that the open loop compressor system experiences oscillation

of a closed loop system designed using LMI. The concept

in plenum pressure and inlet mass flow, and is known as

of LMI-LQR is described as follows. A LQR problem for a

compressor surge. Moreover, the compressor surge is known

system:

as a deep surge as the compressor mass flow is reversed

(negative mass flow). While Figure 4 shows simulation results ẋ = Ax + Bu (21)

of the closed loop system using the designed control law, is basically to find a control gain K such that a states feedback

the system operates stable in the desired operating point, control u = Kx minimizes a cost function:

which means that the PAASCS is able to stabilize compressor

1 ∞ T

Z

surge. However, the closed loop system has a long settling J= x Qx + uT Ru dt,

(22)

time and the piston mass flow is very high compare to the 2 0

compressor mass flow which is not practical. A piston with a where Q ≥ 0 and R > 0. Using u = Kx, the closed loop

large diameter and fast movement is required to generate the system of (21) is given by:

high piston mass flow. The performance of the closed loop

system is therefore needed to be improved. ẋ = [A + BK] x (23)

and the cost function (22) can be expressed as: By using Schur complement, (35) can be expressed as:

1 ∞ T T

Z

J= x Q + K T RK xdt.

(24) (AY + BL) + (AY + BL) Y LT

2 0 Y −Q−1 0 < 0.

−1

Assuming (23) is asymptotically stable by existing a Lyapunov L 0 −R

function: (36)

V (x) = xT P x > 0 (25) which is in a LMI. A detail explanation of Schur complement

is given in the Appendix. Equation (33) is therefore expressed

then time derivative of V (x) along the system trajectories (23) as a convex optimization as follows:

is given by:

max tr(Y )

T T T Y,L

V̇ (x) = x(A P + P A + K B P + P BK)x < 0 (26) T

(AY + BL) + (AY + BL) Y LT

where P > 0. The negative definiteness of (26) can be s.t Y −Q−1 0 < 0.

reinforced by defining: L 0 −R−1

(37)

V̇ (x) < −xT Q + K T RK x < 0.

(27) Applying the LMI-LQR method in PAASCS design is

presented

as follows. Define weighting cost function matrices

A time integration from 0 to ∞ of (27) will result in: 1 0

Z ∞ Q = , and R = 10. YALMIP Toolbox is used to

0 1

xT Q + K T RK xdt

V (∞) − V (0) < − (28) solve the LMI by the following commands:

0

or Q=eye(2);

Z ∞ R=10;

Y = sdpvar(2,2);

xT (∞)P x(∞)−xT (0)P x(0) < − xT Q + K T RK xdt.

L = sdpvar(1,2,’full’);

0 F = [Y >= 0];

(29)

F = [F, [-A1*Y-Bs*L + (-A1*Y-Bs*L)’ Y L’;...

Since (23) is asymptotically stable then x(∞) is equal to zero Y inv(Q) zeros(2,1);...

such that (29) becomes: L zeros(1,2) inv(R)] > 0];

Z ∞ F = [F, [-A2*Y-Bs*L + (-A2*Y-Bs*L)’ Y L’;...

Y inv(Q) zeros(2,1);...

xT (0)P x(0) > xT Q + K T RK xdt.

(30) L zeros(1,2) inv(R)] > 0];

0

solvesdp(F,-trace(Y))

Equation (30) shows upper bound of the cost function (24), K = double(L)*inv(double(Y));

such that the cost function will be minimum by minimizing

and running the code results in a new control gain K.

the matrix P :

Simulation of PAASCS using the new control gain for the

min xT (0)P x(0) same system parameters and simulation scenario results in an

P,K (31)

s.t

V̇ (x) < −xT Q + K T RK x. improvement of the closed loop system performance as shown

in Figure 5. Simulation of the PAASCS designed using LMI-

Expressing the minimization constraint along the trajectories LQR results in stabilized compressor surge where the control

of system (23), the (31) becomes: system requires much less piston mass flow and much faster

min xT (0)P x(0) system response than the PAASCS designed using LMI only.

P,K

T VI. C ONCLUSION

s.t (A + BK) P + P (A + BK) + (Q + K T RK) < 0.

(32) A control design of an active compressor surge control sys-

Since the initial condition x(0) is given, it can be eliminated tem using LMI method has been presented. The LMI method

from (32) and the minimizing problem becomes: provides an analytic solution to obtain a control gain and a

min tr(P ) stability proof. A study case of applying the LMI method for

P,K the PAASCS resulted in a linear state feedback control which

T

s.t (A + BK) P + P (A + BK) + Q + K T RK < 0. is able to stabilize the compressor surge. The control system

(33) performance is improved significantly by combining the LMI

Equation (33) is a non-convex optimization problem where the method and LQR method. This method is very systematically

constraint is BMI. A transformation is required to transform for nonlinear control system design by approaching a nonlinear

the BMI into LMI as done in the previous section. Define Y = system as a linear parameter varying system and the control

P −1 and do pre- and post- multiplications to the optimization system design problem is expressed as a LMI problem. The

constraint of (33) such that the constraint becomes: LMI solution is obtained directly using the available software.

Y AT + AY + Y K T B T + BKY + Y QY + Y K T RKY < 0. ACKNOWLEDGMENT

(34)

The authors acknowledge the financial support of Siemens

Define L = KY and substituting it into (34) results in:

Oil and Gas Solutions Offshore through the Siemens-NTNU

Y AT + AY + LT B T + BL + Y QY + LT RL < 0. (35) collaboration project in a period of 2009-2013.

0.07 [13] M. Krstic, J. Protz, J. Paduano, and P. Kokotovic, “Backstepping designs

0.06 wi for jet engine stall and surge control,” in Decision and Control, 1995.,

0.05 wiref Proceedings of the 34th IEEE Conference on, vol. 3. IEEE, 1995, pp.

wi [kg/s]

0.04 3049–3055.

0.03 [14] J. T. Gravdahl and O. Egeland, “Compressor surge control using a

0.02 close-coupled valve and backstepping,” in American Control Conference,

0.01 1997. Proceedings of the 1997, vol. 2. IEEE, 1997, pp. 982–986.

0 [15] ——, “Control of the three state moore-greitzer compressor model using

48 50 52 54 56 58 60

t [second] a close-coupled valve,” in Proc. 1997 European Control Conference,

1997.

[16] A. Banaszuk and A. J. Krener, “Design of controllers for mg3 compres-

sor models with general characteristics using graph backstepping,” in

21.5 American Control Conference, 1997. Proceedings of the 1997, vol. 2.

21 IEEE, 1997, pp. 977–981.

[17] N. Uddin and J. T. Gravdahl, “Active compressor surge control using

pp [kPa]

20.5

20 piston actuation,” in Proc. of the ASME Dynamics System and Control

19.5 Conference, Virginia, 2011.

19

[18] ——, “Two general state feedback control laws for compressor surge

stabilization,” in 24th Mediterranean Conference on Control and Au-

18.5

48 50 52 54 56 58 60 tomation (MED), Athens, Greece, June 2016, pp. 689–695.

t [second] [19] C. Olalla, R. Leyva, A. El Aroudi, and I. Queinnec, “Robust lqr control

for pwm converters: an lmi approach,” Industrial Electronics, IEEE

Transactions on, vol. 56, no. 7, pp. 2548–2558, 2009.

×10 -3 [20] J. Mohammadpour and C. W. Scherer, Control of linear parameter

4

varying systems with applications. Springer, 2012.

3 [21] S. P. Boyd, Linear matrix inequalities in system and control theory.

ws [kg/s]

[22] J. Löfberg, “Yalmip: A toolbox for modeling and optimization in

1

matlab,” in Computer Aided Control Systems Design, 2004 IEEE In-

0 ternational Symposium on. IEEE, 2004, pp. 284–289.

-1 [23] N. Uddin and J. T. Gravdahl, “Active compressor surge control system

48 50 52 54 56 58 60 by using piston actuation: Implementation and experimental results,” in

t [second] Proc. of the 11th IFAC Symposium on Dynamics and Control of Pro-

cess Systems, including Biosystems (DYCOPS-CAB 2016), Trondheim,

Fig. 5. CLOSED LOOP TIME RESPONSE LQR. Norway, June 2016.

[24] J. Löfberg, “Modeling and solving uncertain optimization problems in

yalmip,” in Proceedings of the 17th IFAC World Congress, 2008, pp.

1337–1341.

[25] V. Balakrishnan and L. Vandenberghe, “Connections between duality in

R EFERENCES control theory and convex optimization,” in American Control Confer-

ence, 1995. Proceedings of the, vol. 6. IEEE, 1995, pp. 4030–4034.

[1] A. H. Epstein, J. E. F. Williams, and E. M. Greitzer, “Active suppres-

sion of compressor instabilities,” in Proc. of AIAA 10th Aeroacoustic A PPENDIX

Conference, Seattle, 1986.

[2] F. Willems and B. de Jager, “Modeling and control of compressor flow A PPENDIX : LMI-LQR D ERIVATION

instabilities,” Control Systems, IEEE, vol. 19, no. 5, pp. 8 –18, oct 1999.

[3] N. Uddin and J. T. Gravdahl, “Bond graph modeling of centrifugal

compression systems,” SIMULATION, vol. 91, no. 11, pp. 998–1013, (A + BK)T P + P (A + BK) < −(Q + K T RK)

2015. AT P + K T B T P + P A + P BK + Q + K T RK < 0

[4] J. T. Gravdahl and O. Egeland, Compressor surge and rotating stall: X(AT P + K T B T P + P A + P BK + Q + K T RK)X < 0

Model and control. London: Springer Verlag, 1999. XAT + XK T B T + AX + BKX + XQX + XK T RKX < 0

[5] E. M. Greitzer, “Surge and rotating stall in axial flow compressor, part XAT + LT B T + AX + BL + XQX + XK T RKX < 0

I: Theoritical compression system model,” J. Engineering for Power, XAT + AX + LT B T + BL + XQX + LT RL < 0

vol. 98, pp. 190–198, 1976. Q 0 X

XA + AX + LT B T + BL + X LT

T

[6] F. K. Moore and E. M. Greitzer, “A theory of post stall transients <0

0 R L

in an axial compressors system: Part I-Development of equation,” J.

Engineering for Gas Turbine and Power, vol. 108, pp. 68–76, 1986. By using Schur complement it can be represented as:

[7] J. T. Gravdahl, O. Egeland, and S. O. Vatland, “Drive torque actuation

in active surge control of centrifugal compressor,” Automatica, vol. 38, Q 0 X

XAT + AX + LT B T + BL + X LT

<0

pp. 1881–1893, 2002. | {z } | {z } 0 R L

[8] J. E. F. Williams and X. Y. Huang, “Active stabilization for compressor S11 S12 | {z } | {z }

S22 S21

surge,” J. Fluid Mechanics, vol. 204, pp. 245–262, 1989.

[9] D. Gysling, D. Dugundji, E. M. Greitzer, and A. H. Epstein, “Dynamic and then

control of centrifugal compressor surge using tailored structures,” ASME

XAT + AX + LT B T + BL LT

J. Turbomachinery, vol. 113, pp. 710–722, 1991. X

[10] J. Pinsley, G. Guenette, A. H. Epstein, and E. M. Greitzer, “Active X −Q−1 0 < 0.

stabilization of centrifugal compressor surge,” ASME J. Turbomachinery, L 0 −R−1

vol. 113, pp. 723–732, 1991.

[11] J. S. Simon and L. Valavani, “A lyapunov based nonlinear control Schur complement of s22 in S:

scheme for stabilizing a basic compression system using a close-coupled

control valve,” in Proc. of the American Control Conference, 1991, pp. s11 s12

View publication stats −1

S= < 0 ⇔ s11 − s12 (s22 ) s21 < 0

2398–2406. s21 s22

[12] M. Krstic, I. Kanellakopoulos, P. V. Kokotovic et al., Nonlinear and

adaptive control design. John Wiley & Sons New York, 1995, vol. 8.

- PD Linear ControlHochgeladen vonioncopae
- rr322204-digital-and-optimal-control-systemsHochgeladen vonSRINIVASA RAO GANTA
- Nahum ShimkinHochgeladen vonsubhayudan
- IEEE5Hochgeladen vonlcheekala
- Direct Methods for Transient Stability Studies in Power System Analysis (Lyapunov- Energy Function)Hochgeladen vonRafaelFunes
- Vs s Based ControlHochgeladen vonHarsha Vardhan
- 10.1.1.14Hochgeladen vonRavindranath Venkata
- lec23Hochgeladen vonHidayat Fathoni
- ADOUANE_RoboticaObstacleAvoidanceHochgeladen vonNardenioMartins
- Stability of non autonomous systemsHochgeladen vonvanalexblues
- Mechatronik Systems GuderjahnHochgeladen vonizhar77
- UntitledHochgeladen vonGAkumari
- RevisedHochgeladen vonPaulina Marquez
- International Conference NeruHochgeladen vonNeeru Singh
- Lecture 1Hochgeladen vonsandeepbabu28
- Stepanyan_Control of Systems With Slow ActuatorsHochgeladen vontheowa
- Lyapunov on WikipediaHochgeladen vonElizabeth Johns
- LQG MPC Notes 07 NewHochgeladen vonSpecule
- lyapunoiva stabilnostHochgeladen vonmsoldier
- 6010Hochgeladen vonkj185
- Articulo Further Results on Stability of Networked Control SystemsHochgeladen vonPaulina Marquez
- 01077786Hochgeladen vonalsonlee1111
- Model Reference Adaptive 25-3-2015Hochgeladen vonBharat Chandra Sahu
- StabilityHochgeladen vonsekin
- MIT6_241JS11_chap14Hochgeladen vonAntonio Perez
- Lecture 37Hochgeladen vonSalam Albaradie
- stability-switched.ppsHochgeladen vonT
- Control Systems I - Prof. Dr. Lino Guzzella, 2014Hochgeladen vonhozipek5599
- Leitmann G. - Guaranteed Asymptotic Stability for Some Linear Systems With Bounded UncertaintiesHochgeladen vonSofoklis
- A Nonlinear State Observer for the Sensorless Control of a Permanent-Magnet AC Machine-2001Hochgeladen vonWensheng Luo

- Electric MachineryHochgeladen vonJohnatan Andrade Rodrigues
- Comparison of Wavelet Family Performances in ECG Signal DenoisingHochgeladen vonAli Almisbah
- Wind Turbine Simulator Fault Diagnosis via Fuzzy Modelling and Identification TechniquesHochgeladen vonAli Almisbah
- Cloud ComputingHochgeladen vonAli Almisbah
- An Adaptive Dynamic Matrix ControlHochgeladen vonAli Almisbah
- Ehanced Benchmark Challenge with NREL 5 MW FASTHochgeladen vonAli Almisbah
- MAXIMIZATION OF POWER CAPTURE IN WIND TURBINES USING ROBUST ESTIMATION AND LYAPUNOV EXTREMUM SEEKING CONTROL.pdfHochgeladen vonAli Almisbah
- RECURSIVE IDENTIFICATION ALGORITHMS LIBRARY by NavratilHochgeladen vonAli Almisbah
- santibanez_strict_lyapunov_function_and_chetaev_function_for_stability_instability_analysis_of_the_pendulum.pdfHochgeladen vonAli Almisbah
- recursive lecture.pdfHochgeladen vonAli Almisbah
- Multivariable Optimal Control of an Industrial Nonlinear Boiler Turbine UnitHochgeladen vonAliAlMisbah
- 5 (1)Hochgeladen vonYahya Ben Walid
- 1271.pdfHochgeladen vonAnonymous xGwQEOQiGz
- Lect 14Hochgeladen vonStefania Oliveira
- InequalitiesHochgeladen vonAli Almisbah
- A55 3 Thomas Model Based Power Plant Master ControlHochgeladen vonAli Almisbah
- LMIproblem.pdfHochgeladen vonAmadou Cissé
- Design of Static and Dynamic DecouplerHochgeladen vonAli Almisbah
- Tutorial Model Predictive Control TechnologyHochgeladen vonYijia Zhu
- Levinson Recursion.pdfHochgeladen vonAli Almisbah
- Drum-boiler Control PerformanceHochgeladen vonAli Almisbah
- Modeling Estimation Florian ZurbriggenHochgeladen vonAli Almisbah
- A First Course in Stochastic Processes.pdfHochgeladen vonAli Almisbah
- Boiler Drum Level Control in Thermal Power Plant 2016Hochgeladen vonAli Almisbah
- Programming for Computations_PythonHochgeladen vonManoj Baishya
- The Application of Genetic Algorithms to Parameter Esitmation in Lead Acid Battery ModelsHochgeladen vonAliAlMisbah
- Efficiency Optimization of a Conventional Boost DC DC ConverterHochgeladen vonAli Almisbah
- Robust Path Following in the Present of Sliding Effect Based on LMIHochgeladen vonAli Almisbah
- L01_MINI.pdfHochgeladen vonAli Almisbah

- FiloG_ModellingFuzzyHochgeladen vonali199013279254
- Cironixwhitepaper Re-Engergizingyourconvertingequipment CaseforretrofitsHochgeladen vonRandy Prabha Yogana
- Motor Control PrimerHochgeladen vonrogalva
- [Arthur E. Bryson Jr. (Auth.), Dr. Rer. Nat. ErnHochgeladen vonJulio Vergara
- Boiler Instrumentation and ControlsHochgeladen vonVora Vishal
- NC jaganHochgeladen vonSean Zimmerman
- Rotex A1 BGHochgeladen vonjacek_janikowsk4374
- Ejemplo de Un Control DifusoHochgeladen vonErick Poumián Palomec
- Complete details of Draw Works equipment in oil rigsHochgeladen vonvampiremurthy
- ESP MonitoringHochgeladen vontrunglqvpi
- Robust Fault -Tolerance Control for AircraftHochgeladen vonRyu Watanabe
- Agar API Oil Skimmer Appl 2Hochgeladen vonjose antonio daza cedeño
- Battenfeld IBCHochgeladen vonJ Díaz Salaverría
- ASC-450 Manual EHochgeladen vonAdrian Budur
- 1700 Wellhead Control SystemsHochgeladen vonSpirit
- pid 1Hochgeladen vonRenato Torres S
- 146259872-YOKOGAWA-CENTUM-CS3000-pptx.pptxHochgeladen vonSyed Ali
- Design Evaluation of Microcontroller–Driven Temperature, HumidityHochgeladen vonGlaiza Lacson
- Instrumentation System FundamentalsHochgeladen vons_hassan_167419
- Datasheet_SimSci_TRISIMPlusHochgeladen vonhicham
- Cycloidal trajectorysimulinkHochgeladen vonUNsha bee kom
- Lab 1 PresentationHochgeladen vonLê Đình Tiến
- 01 Paper Machine Steam & Condensate Systems.pdfHochgeladen vonMiguel Angel Mendoza Suazo
- Power Plant Control pptHochgeladen vonsourav
- 11. Questions & Answers on State Variable Analysis and DesignHochgeladen vonkibrom atsbha
- GOVSYSHochgeladen vonSam
- ADAMS Mechatronics 2016Hochgeladen vonEmanuel Byan
- 1dcs_presHochgeladen vonRajasekaran Vt
- 990_vibration_transmitter_datasheet-141612m.pdfHochgeladen vonloopkk
- Control System SimulationHochgeladen vonNmg Kumar

## Viel mehr als nur Dokumente.

Entdecken, was Scribd alles zu bieten hat, inklusive Bücher und Hörbücher von großen Verlagen.

Jederzeit kündbar.