Predictive Control of a Hybrid Diesel-Electric Marine Propulsion Plant
Predictive Control of a Hybrid Diesel-Electric Marine Propulsion Plant Diploma Thesis Nikolaos Planakis Supervisor: Assistant Prof. G. Papalambrou Committee Member: Prof. N. Kyrtatos Committee Member: Prof. K. Kyriakopoulos
SNAME Greek Section Meeting, 26 January 2017 NATIONAL TECHNICAL UNIVERSITY OF ATHENS
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Introduction Diesel Engines Transients - Fuel injection
, Air Supply
Targets • Smoke reduction • NOx emissions reduction • Fuel savings
Hybrid Diesel-Electric Powertrain Challenge
Control System Reduced Emissions & Energy Management
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Introduction Hybrid Propulsion Plant (HIPPO-1) at LME • Caterpillar marine diesel engine 450 kW @ 2300 rpm • AC electric motor, 110 kW • Frequency Inverter, 110 kW • Water brake 1200 kW @ 4000 rpm
Issues
• Multivariable System • Delays • Disturbances • Constraints : -Physical limits (Actuators) __ _ -Operating limits
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Our Approach
Power Split Concept Electric Motor Torque
Diesel Engine Torque
Total Torque Demand
λ-value control: Operating region with reduced exhaust pollutants
λ= NATIONAL TECHNICAL UNIVERSITY OF ATHENS
AFR cylinder AFR stoichiometric
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Development Phases Instrumentation
Mathematical Modeling of the Hybrid Plant
Controller Design
Experimental Testing
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Equipment Optical fiber
Torque Meter
dSpace Controller
Operator’s Interface
Opacimeter Fuel Consumption NATIONAL TECHNICAL UNIVERSITY OF ATHENS
ΝΟx / O2 sensor
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Modeling
Signal
Effect
Hybrid Cmd
Model Identification
Δ Speed Speed λ (past) MAP
λ system
OPA FOC
Fit to Experimental Data
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
NOx
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Controller Concept Model Predictive Controller (MPC)
Optimal sequence of control commands: • Minimize cost function “J” • Stay within limits
J = f (error2, command2, constraints) reference tracking
to avoid oscillating behavior
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
penalty if violated
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Controller Design
How Predictive Control works: Output delay = 0.7 sec
Reference
Plant Behavior
Control Action
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
MPC acts preventively Limit
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Closed Loop Control
Use of state-of-art control: • Model Based Predictive Controller (MPC) NATIONAL TECHNICAL UNIVERSITY OF ATHENS
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Experiments at ΗΙΡΡΟ-1
Loading scenarios:
• Propeller curve
(Simulation of propulsion loading, based on onboard measurements by LME )
• Step loading
(Simulation of generator engine behavior)
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Results: Propeller Load
Reference
Limit
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Results: Propeller Load
NOx Emissions
Limit
Smoke
Fuel Cons.
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
Limit
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Results: Step Loading MPC vs Industry-standard Controller (PI)
Controlled Variable PI is oscillatory!
Hybrid Command
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Conclusions Up to 15% reduction in NOx, PM & FOC during transient operation Up to 40% reduction in gaseous emissions in steady state operation System complexity justifies the use of advanced controllers Good application potential (e.g. supply vessels, ferries, floating production vessels, drill ships, shuttle tankers, ice breakers, naval ships, cruise liners)
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Publications Joint Publication (NTUA - AALTO U./Finland): • G. Papalambrou, S. Topaloglou, N. Planakis, N. Kyrtatos, S. Samokhin, K. Zenger, “Predictive control of marine hybrid diesel-electric powertrain”, IFAC 2017 World Conference, Toulouse, France, 7/2017, submitted 11/2016
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Questions ?
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
SNAME Greek Section Meeting, 26 January 2017 NATIONAL TECHNICAL UNIVERSITY OF ATHENS
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Introduction Diesel Engines Transients - Fuel injection
, Air Supply
Targets • Smoke reduction • NOx emissions reduction • Fuel savings
Hybrid Diesel-Electric Powertrain Challenge
Control System Reduced Emissions & Energy Management
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Introduction Hybrid Propulsion Plant (HIPPO-1) at LME • Caterpillar marine diesel engine 450 kW @ 2300 rpm • AC electric motor, 110 kW • Frequency Inverter, 110 kW • Water brake 1200 kW @ 4000 rpm
Issues
• Multivariable System • Delays • Disturbances • Constraints : -Physical limits (Actuators) __ _ -Operating limits
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Our Approach
Power Split Concept Electric Motor Torque
Diesel Engine Torque
Total Torque Demand
λ-value control: Operating region with reduced exhaust pollutants
λ= NATIONAL TECHNICAL UNIVERSITY OF ATHENS
AFR cylinder AFR stoichiometric
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Development Phases Instrumentation
Mathematical Modeling of the Hybrid Plant
Controller Design
Experimental Testing
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Equipment Optical fiber
Torque Meter
dSpace Controller
Operator’s Interface
Opacimeter Fuel Consumption NATIONAL TECHNICAL UNIVERSITY OF ATHENS
ΝΟx / O2 sensor
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Modeling
Signal
Effect
Hybrid Cmd
Model Identification
Δ Speed Speed λ (past) MAP
λ system
OPA FOC
Fit to Experimental Data
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
NOx
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Controller Concept Model Predictive Controller (MPC)
Optimal sequence of control commands: • Minimize cost function “J” • Stay within limits
J = f (error2, command2, constraints) reference tracking
to avoid oscillating behavior
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
penalty if violated
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Controller Design
How Predictive Control works: Output delay = 0.7 sec
Reference
Plant Behavior
Control Action
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
MPC acts preventively Limit
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Closed Loop Control
Use of state-of-art control: • Model Based Predictive Controller (MPC) NATIONAL TECHNICAL UNIVERSITY OF ATHENS
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Experiments at ΗΙΡΡΟ-1
Loading scenarios:
• Propeller curve
(Simulation of propulsion loading, based on onboard measurements by LME )
• Step loading
(Simulation of generator engine behavior)
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Results: Propeller Load
Reference
Limit
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Results: Propeller Load
NOx Emissions
Limit
Smoke
Fuel Cons.
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
Limit
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Results: Step Loading MPC vs Industry-standard Controller (PI)
Controlled Variable PI is oscillatory!
Hybrid Command
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Conclusions Up to 15% reduction in NOx, PM & FOC during transient operation Up to 40% reduction in gaseous emissions in steady state operation System complexity justifies the use of advanced controllers Good application potential (e.g. supply vessels, ferries, floating production vessels, drill ships, shuttle tankers, ice breakers, naval ships, cruise liners)
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Publications Joint Publication (NTUA - AALTO U./Finland): • G. Papalambrou, S. Topaloglou, N. Planakis, N. Kyrtatos, S. Samokhin, K. Zenger, “Predictive control of marine hybrid diesel-electric powertrain”, IFAC 2017 World Conference, Toulouse, France, 7/2017, submitted 11/2016
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
Questions ?
NATIONAL TECHNICAL UNIVERSITY OF ATHENS
LABORATORY OF MARINE ENGINEERING www.lme.ntua.gr
