tmp268D TMP
tmp268D TMP
tmp268D TMP
UPSTREAM
VALVE
V1
Ps
Inlet
Ts po,s
PT
TT
FT
FY
ST
Pd
IGV
ZT
Td
ASV
PT
TT
DOWNSTREAM
VALVE
V2
COOLER
Outlet
I. I NTRODUCTION
The objective of the control system of a centrifugal compressor is to keep the primary process variable (for example,
suction/discharge pressure or mass flow rate) at a desired set
point level and to track the set point as quickly as possible
whenever a process disturbance occurs. At the same time, the
operating point must be kept within the safe or acceptable
train operating envelope, considering limits such as surge
or stonewall. Moreover, limitations on speed, inlet guide
vane, pressure and power, must be kept into account. The
reference application considered in this paper is that of a
plant for natural gas transportation, in which the centrifugal
compressor is required to maintain a prescribed discharge
pressure, no matter of the variations occurring upstream or
downstream along the pipeline.
The use of Model Predictive Control (MPC) for centrifugal
compressors has been considered and investigated by several
works in the literature. In [1], a linear MPC scheme has
been designed for anti-surge control of a plant with two
compressors. In [2], [3], [4], nonlinear MPC formulations
have been proposed for different plant families. Some works
use both the compressor rotational speed and the position of
an Anti-Surge Valve (ASV), also called recycle valve, for
anti-surge control, see e.g. [5]. However, in all these studies
the Inlet Guide Vane (IGV) is not used as a further degree of
freedom of the control system. In centrifugal compressors,
IGV is typically used to modify the mass flow rate without
acting on the rotational speed or compressor ratio [6].
a
Dipartimento di Ingegneria dellInformazione e Scienze
Matematiche, Universita degli Studi di Siena, Italy. E-mail:
bentaleb@dii.unisi.it; garulli@ing.unisi.it.
b
Nuovo Pignone Ge Oil & Gas Florence, Italy. E-mail:
sergio.defranciscis@ge.com; alessio.cacitti@ge.com.
A dynamic model for the simulation of a gas compression system has been developed. Figure 1 shows the plant
model and the control system setup. It includes a variable
Fig. 1.
3346
Hp [kJ/kg]
SLL
SCL
Choke line
Speed lines
Resistance line
ds OP
ax
s
pe
ed
V
IG
SM
Min
V
IG
spe
ed
Qv [m3 /s]
Fig. 2.
3347
r |OP = h
r |SP
h
r vs q2 ) compressor map
A. The (h
s
From equation (2) and (3), the ratio of Hp to Q2v can
be computed without measuring the molecular weight. If
compressibility variations are assumed to be negligible, one
has
Rc 1
av Ts
RZ
Hp
hr
MW
2
(4)
P
RZs Ts
o,s
Q2v
qs
Ps
MW
Ps
The process variables Rc , Po,s and Ps are easily measured by the available pressure and differential pressure
transmitters. The only variable which remains to be determined is the polytropic exponent (). However, for a fairly
wide variety of applications one can assume that 1 is a
reasonable approximation. Hence, one gets
hr =
hr R c 1
=
=
qs2
qs2
Pd
Ps 1
Po,s
Ps
(6)
where the rightmost term is not affected by the gas composition and it depends only on pressure measurements that
can be obtained from the plant. This motivates the use of
r = Rc 1 and q2 = q 2 Ps
a map whose coordinates are h
s
s
SC
L
SL
L
SP
OP
s
qs2 |SP
qs2 |OP
3348
i=0
h=1
3
2
X
uh
uh (k + i|k)
+
w
h=1
3
X
h=1
2
yh
sp
w yh (k + i + 1|k) yh
(9)
!)
70 u1 10
and 4 u1 4,
IGV:
Speed: 4270 u2 6405 and 15 u2 15,
ASV:
0 u3 100
and 5 u3 50.
The output set-point for pressure regulation and output
constraints are given by
sp
Discharge pressure: y1 = y1ss ,
Distance to surge: y2 b1 ,
In the considered case studies, the reference discharge pressure is equal to the discharge pressure at steady state, which
means that such a value must be maintained by the control
system, no matter of the disturbances occurring along the
pipeline, which are modeled in terms of variations of the
upstream and downstream valve openings.
B. Case Study I
In this test, we close slowly the upstream and downstream
valves as shown in Figure 5. Notice that, by closing the
TABLE I
N OMINAL OPERATING CONDITIONS CONSIDERED IN THE SIMULATIONS
Parameter
xss
1
ss
xss
2 = u2
ss
ss
x3 = u1
xss
4
Value
463.6
6053.3
0
71.6
Unit
[kg/s]
[rpm]
[deg]
[bara]
Parameter
ss
xss
5 = y1
ss
xss
=
u
6
3
ss
y2
y3ss
Value
121.2
0
126.9
95
Unit
[bara]
[%]
[%]
[%]
Inputs
Outputs
122
121.8
20
121.6
pd
pss
d
y1
u1
40
121.4
60
121.2
121
6100
50
SLL
SCL
40
6050
ds
u2
30
20
6000
10
0
5950
4
100
3
90
y3
u3
80
70
60
50
0
50
100
150
200
50
time [s]
150
200
100
UV
DV
90
80
U V /DV [%]
Fig. 4.
100
time [s]
70
60
50
40
30
20
0
50
100
150
200
250
time [s]
Fig. 5.
3350
Inputs
Outputs
132
130
20
128
y1
u1
pd
pss
d
126
40
124
60
122
100
SLL
SCL
6000
80
5500
ds
u2
60
5000
40
20
4500
0
100
100
80
y3
u3
80
60
60
40
20
40
0
0
50
100
150
200
time [s]
Fig. 6.
U V /DV [%]
80
70
60
50
40
30
100
150
200
time [s]
Fig. 7.
200
R EFERENCES
DV
50
150
UV
20
0
100
time [s]
100
90
50
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