Classifications

• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
  • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
  • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
  • F04B49/06—Control using electricity
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
  • F17D—PIPE-LINE SYSTEMS; PIPE-LINES
  • F17D3/00—Arrangements for supervising or controlling working operations
  • F17D3/01—Arrangements for supervising or controlling working operations for controlling, signalling, or supervising the conveyance of a product
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
  • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
  • F04D15/00—Control, e.g. regulation, of pumps, pumping installations or systems
  • F04D15/0088—Testing machines
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
  • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
  • F04D27/00—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids
  • F04D27/02—Surge control
  • F04D27/0269—Surge control by changing flow path between different stages or between a plurality of compressors; load distribution between compressors
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
  • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
  • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
  • G05B13/048—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators using a predictor
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D7/00—Control of flow
  • G05D7/06—Control of flow characterised by the use of electric means
  • G05D7/0617—Control of flow characterised by the use of electric means specially adapted for fluid materials
  • G05D7/0629—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means
  • G05D7/0676—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means by action on flow sources
  • G05D7/0682—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means by action on flow sources using a plurality of flow sources
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
  • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
  • F04B2205/00—Fluid parameters
  • F04B2205/09—Flow through the pump

Definitions

• the present invention relates to a method and a device for controlling a fluid conveyor for conveying a fluid within a fluid conduit, wherein the
• fluid may be gas or oil and the fluid generator may be a compressor or a pump.
• a method of controlling (which may include, in particular, rules wherein a manipulated variable may be output, for example for controlling the conveyor, and a signal relating to the flow of the fluid can be read in (feedback)) of a fluid conveyor or fluid conveyor (in particular a pump or a compressor) for conveying or conveying or transporting (in particular for compressing or transporting) a fluid (in particular a gas or an oil) within a fluid line (in particular a gas line or an oil line or a gas line system or an oil line system).
• a fluid conveyor or fluid conveyor in particular a pump or a compressor
• conveying or conveying or transporting in particular for compressing or transporting
• a fluid in particular a gas or an oil
• a fluid line in particular a gas line or an oil line or a gas line system or an oil line system
• the method comprises obtaining (for example via an electrical signal which is connected to an information source) information (in particular in electronic form) about a desired flow quantity (in particular a flow quantity or flow rate to be achieved and optionally via a target pressure to be achieved ) of the fluid within the fluid conduit, which information in particular may define a desired flow rate of the fluid at multiple locations (and / or at multiple times) within the fluid conduit.
• the method comprises determining (in particular having modeling, calculating or estimating) an energy consumption of the fluid conveyor during operation of the fluid conveyor within a working area of the fluid conveyor, wherein the working area of the fluid conveyor may be definable by means of different operating parameters of the fluid conveyor.
• the method comprises controlling or regulating (in particular via supplying a electrical signal, in particular one or more manipulated variables, such as a rotational speed) of the fluid conveyor with regard to a flow (and in particular optionally a generated pressure) of the fluid (the fluid conveyor in operation transports the fluid under pressure or momentum transfer in accordance with a fluid flow) on the information about the desired flow rate of the fluid within the fluid line such that the desired flow rate of the fluid (in particular at the plurality of locations where the target flow rate are predetermined) are achieved and the energy consumption required for this (which is required by the fluid conveyor) is minimized, taking into account in the control (in particular in the regulation), that the working range of the fluid conveyor is limited by non-linear limitations.
• the working range of the fluid conveyor is defined by a set of pairs (in particular tuples) of a flow rate and a ratio of a pressure at an inlet and an outlet of the fluid conveyor, the quantity of pairs being limited by at least one curved curve.
• the method can thus tax shares for issuing
• Control variables and control components for generating the manipulated variables using feedback are controlled by controlling the manipulated variables using feedback.
• the information can also provide information about a target pressure.
• the flow rate may e.g. expressed in standard cubic meters, taking into account the gas quality in order to be able to assign a given energy content to a standard cubic meter.
• the flow rate may e.g. in an energy flow amount, whereby a supply of a defined amount of energy is achieved by supplying a certain amount of standard cubic meters, wherein the amount of the
• Gas quality depends. Depending on the gas quality, the energy content of a standard cubic meter varies.
• the energy content can be specified in Btu (British Thermal Unit).
• Btu Blunt Thermal Unit
• the amount of energy in the form of gas must be supplied at a lower energy content more standard cubic meters than at higher energy content.
• a non-linear boundary can be defined as a boundary by a curved curve, which is thus not a straight line.
• the desired flow quantity (in particular also a desired pressure) can be achieved with higher accuracy, since the modeling of the behavior of the fluid within the fluid conveyor can be modeled with higher accuracy.
• a more accurate or reliable determination of one or more manipulated variables is possible, which are output to the fluid conveyor for controlling the fluid conveyor.
• the permissible working range of the fluid conveyor can specify the area of the fluid conveyor in which the fluid conveyor can be operated without being damaged.
• an operation of the fluid conveyor outside the working area can be avoided in order to protect the fluid conveyor from damage or even destruction.
• the working range can also be defined in other ways by a set of points, for example by specifying a speed, a flow rate, only the pressure at the inlet and / or only a pressure at the outlet of the fluid conveyor.
• the working area is limited by curved curves, which thus can not be represented exclusively by one or more straight lines. The shape of the curves is taken into account in the control of the fluid conveyor. Thus, the control of the fluid conveyor can be further improved.
• the method further comprises obtaining information about an actual pressure (a pressure actually existing at a certain time) and an actual flow amount (a flow amount actually existing at a certain time) of the fluid within the fluid passage
• Controlling the fluid conveyor is further based on the information about the actual pressure and the actual flow rate of the fluid within the fluid conduit.
• the information about the actual pressure and the actual flow quantity of the fluid may have been determined, for example, via one or more measurements at one or more points along or within the fluid line.
• the information about the actual pressure and the actual flow amount can be obtained continuously or at regular or irregular intervals (about every second, every minute, every hour).
• the information about the target flow amount as well as the information about an actual pressure and the actual flow amount can be obtained via a network (wired or wireless).
• the method further comprises modeling (in particular having simulations with the provision of physical equations of flow dynamics, in particular differential equations, in particular taking into account the temperature of the fluid, the wall condition of the fluid conduit, the density of the fluid and the like) of the flow (in particular the movement) of the fluid through the fluid conduit and the pressure of the fluid within the fluid conduit, wherein the controlling of the fluid conveyor is further based on modeling the flow of the fluid through the fluid conduit (and in particular the pressure of the fluid within the fluid conduit) ,
• modeling the flow of fluid through the fluid conduit (and in particular the pressure of the fluid within the fluid conduit) may include accounting for the friction between an interior wall of the fluid conduit and the fluid, which may be described in particular by non-linearity.
• the friction between the fluid and the fluid line or the friction between individual fluid components leads to a reduction of the flow and / or to a reduction of the pressure of the fluid within the fluid line.
• a flow of the fluid and / or a pressure of the fluid can be reduced the more, the further the fluid within the fluid conduit is removed from the fluid conveyor.
• Considering the friction of the fluid with the wall of the fluid conduit and taking into account the friction of the fluid in mutual interaction may improve the control of the fluid conveyor such that the desired flow rate can be achieved at one or more locations within the flow conduit while minimizing energy.
• the flow of the fluid through the flow conduit and the pressure of the fluid within the fluid conduit are modeled using a non-linear differential differential equation system.
• the partial differential equations the entire pipeline including friction can be modeled.
• a friction of the fluid with a wall surface of the fluid line can be described or modeled or simulated in order to improve the control of the fluid conveyor.
• the controlling of the fluid conveyor is based on a flow amount difference between the target flow amount and the actual flow amount (particularly, at plural places of the fluid passage).
• the flow amount difference may represent an error signal of the flow amount, wherein the controlling of the Fluid conveyor is carried out such that the error signals are minimized.
• the control of the fluid conveyor can be simplified and improved.
• the information about the target flow amount over a period of time about 0 sec. - 10 sec., 0 sec. - 1 min., 0 sec.
• Flußmengedifferenz can be an integrator (in particular an electronic module) of a conventional PI controller used. In this way, the control method of the fluid conveyor can be simplified and / or improved.
• determining the power consumption of the fluid conveyor comprises determining (or accounting for) the power consumption of the fluid conveyor upon power up and / or power down.
• the power consumption of the fluid conveyor upon power up and / or power down is taken into account in minimizing the required power consumption.
• an actual or instantaneous state of the fluid conveyor can be taken into account. For example, if it turns out that turning off and turning on later has a higher energy consumption than running the fluid conveyor at lower throughput or lower power, the fluid conveyor can operate at the lower power without shutting it off and then turning it back on later , In this way, controlling or regulating the fluid conveyor can be particularly helpful. visibly minimizing energy consumption, while at the same time ensuring compliance with the target flow rate.
• a distance between the fluid conveyor and a location along the fluid conduit where the target flow rate is to be achieved is taken into account to control the fluid conveyor. The greater the distance, the greater the dead times (eg.
• Time difference between the output of a manipulated variable to the conveyor and the corresponding setting of a modified fluid flow can occur. Considering these dead times, which may occur, the control method can improve, in order to actually achieve the target flow amount in fact.
• At least one constraint on a set of constraints is taken into account in controlling the fluid conveyor, wherein the set of constraints includes: avoiding a pressure in the fluid line that is above a maximum line pressure (in particular damaging the fluid line to prevent) ; Avoiding a pressure in the fluid conveyor which is above a maximum delivery pressure (in particular to prevent damage to the fluid conveyor); and Keeping the working point (the operating point at which the fluid conveyor is operated, in particular definable by speed, flow rate or pressure ratio established at the input or at the output of the fluid idenseers) from a boundary line of the working area, which delimits in particular the working range of flow rates, the below the work area (ie smaller
• the method further comprises obtaining further information about another target flow amount of the fluid, wherein the target flow amount is different from the further target flow amount, wherein the controlling of the fluid conveyor is further based on the further target flow amount.
• the set flow rate may define a first setpoint state
• the further setpoint flowrate may define a second setpoint state.
• a regulation of the fluid conveyor is made possible to move from a first desired state to a second desired state.
• the first desired state and the second desired state can each be defined via specific set flow quantities at a plurality of delivery points of the fluid.
• a dynamically changing flow configuration and pressure configuration within the fluid conduit can be achieved by appropriate control of the fluid conveyor (or, in particular, a plurality of fluid conveyors).
• the fluid is a gas and the fluid conveyor is a compressor.
• the compressor can eg by an electric motor or in particular by a gas turbine (which, for example, by the fluid can be driven, the drive being taken into account by the fluid in the energy consumption of the fluid conveyor).
• a control method for controlling one or more compressors of a gas piping system can be provided.
• the fluid is an oil and the fluid conveyor is a pump, in particular an electric pump, whereby a method for controlling a pump of an oil line system is provided.
• obtaining information about the target flow amount of the fluid within the fluid conduit includes obtaining information (particularly, an electrical signal, such as a wireless or wired network) of information about a desired flow rate of the fluid at a plurality of locations or in the fluid line, in particular at a plurality of different times.
• the method further comprises determining an energy consumption of at least one further fluid conveyor (or a plurality of further fluid conveyors) when operating within a further work area (or a plurality of further work areas) of the further fluid conveyor; and controlling the fluid conveyor and / or the at least one further fluid conveyor (s) for generated pressure and flow of the fluid based on the information about the desired flow rate of the fluid at the plurality of locations of the fluid conduit so Fluids are reached at the plurality of points and the required energy consumption, which is caused by the fluid conveyor, the at least one further fluid conveyor is minimized.
• This allows a complex fluid line system to be controlled by nes / rules of a plurality of fluid conveyors are operated optimally in terms of total energy consumption.
• an apparatus for controlling a fluid conveyor for delivering a fluid within a fluid conduit comprising: an input for receiving information about a desired flow rate of the fluid within the fluid conduit; a determination module for determining an energy consumption of the fluid conveyor when operating within a working range of the fluid conveyor; and a control module for controlling the fluid conveyor with respect to a generated pressure and flow of the fluid based on the information about the target flow amount of the fluid within the fluid line such that the target flow amount of the fluid is achieved and the required power consumption is minimized taking into consideration in the control in that the working area of the fluid conveyor is limited by a non-linear limitation.
• the working range of the fluid conveyor can be defined by a set of pairs (in particular tumblers) of a flow rate and a ratio of a pressure at an inlet and an outlet of the fluid conveyor, the quantity of pairs being limited by at least one curved curve (see FIG 2).
• a fluid delivery system may be provided, including a fluid conduit, a fluid conveyor and the apparatus for controlling the fluid conveyor.
• the device for controlling / regulating the fluid conveyor can be remote from the fluid line and the fluid conveyor, wherein communication between the fluid conveyor control device and the fluid conveyor may be via a network and also measurements from sensing sensors on the fluid line via a network to the control device the fluid conveyor can be transmitted.
• FIG. 1 schematically illustrates a fluid delivery system having a device for controlling a fluid conveyor according to an embodiment, and a fluid conduit system having a plurality of fluid conveyors and measuring sensors;
• Fig. 2 illustrates a graph for defining a working range of a fluid conveyor according to an embodiment of the present invention.
• 1 illustrates a fluid delivery system, in particular a gas delivery system, having a device 100 for controlling a fluid conveyor according to an embodiment of the present invention and a gas line system 110 having a plurality of compressors 112 provided by the device 100 for controlling a fluid conveyor to be controlled.
• the device 100 for controlling a fluid conveyor may also be referred to as a non-linear model-based predictive controller with upstream I-portion.
• the gas line system 110 comprises a plurality of fluid line sections 114 and branches 116, which branch off from the line sections 114 in order to supply fluid or gas 118 flowing in the gas line system 110 to specific delivery points 120.
• the fluid 118 particularly a gas, is to be delivered at the delivery points 120 at particular times with particular flow rates or flow rates.
• the gas line system is
• the 110 is equipped with a plurality of compressors 112, which transport the gas 118 by pressurizing the line sections 114 and branches 116, respectively, to arrive at the delivery points 120.
• the compressors 112 are controlled via data lines 122 by the nonlinear model-based predictive controller 100.
• compressors or pumps may not or may not be placed.
• the compressor 112 is (directly or near) at a feed point 112 (to which gas is fed). because pressure must initially be applied to feed points.
• the gas line system 110 further includes a plurality of flow sensors, pressure sensors, and temperature sensors 124 that indicate the actual pressure, actual flow rate, and actual temperature of the gas 118 at the delivery points 120 or at other points or locations along or in the gas line 114 , 116 and output electrical signals via signal lines 126.
• the predictive controller 100 Via the data line 126, the predictive controller 100, which is illustrated in FIG. 1, is supplied with information about an actual flow amount, an actual pressure and the actual temperature at the plurality of delivery points 120. In addition, the predictive controller 100 is supplied via a data line 129 or an input 129 with information 128 about a desired flow quantity (optionally also via a setpoint pressure) of the gas 118 at the plurality of delivery points 120.
• the predictive controller 100 forms a flow rate difference signal between the desired flow rate and the actual flow rate and supplies these differences to an integration element 130.
• the integral parts may be introduced in the model of the predictive controller 100 as additional states.
• the integration element 130 can also be arranged at another point in the signal processing.
• the integration element 130 integrates the pressure difference signal and / or the flow difference signal over a certain period of time in order to obtain a pressure difference sum and / or a flow quantity difference total.
• These sum signals are then fed to a mathematical pipeline model processor 132, which can access a dynamic optimization algorithm (to minimize power consumption and define the operating range of the compressors 112) 134.
• the processor 132 accesses various optimization criteria and constraints that are retrievable in a data structure 136, which may include, in particular, compressor characteristics including surge lines, maximum operating pressures, contractual delivery conditions, weighting factors, and others.
• constraints 136 may define a work area 240, as illustrated in the graph in FIG. 2, and as explained in detail below.
• the predictive controller 100 then calculates one or more manipulated variables, such as speed of the compressor 112, and outputs it via the output 138, which is connected to the data input lines 122 of the compressor 112.
• Manipulated variables thus control, via the data lines 122, the plurality of compressors 112 in order to operate an operation of the gas line system 110 to reach target states at the delivery points 120 while minimizing the energy consumption.
• the fluid delivery system of FIG. 1 may be configured to convey or convey oil or gas.
• the compressors 112 are to be replaced by pumps.
• a working area 240 which defines a permissible range of operation of the compressor 112, is limited by means of boundary lines 246, 248, 250 and 252.
• the boundary line 252 extends along a maximum speed of the compressor 112.
• a further line 253 runs along a smaller number of revolutions of the compressor, line 254 runs along an even smaller number of revolutions of the compressor 112 and the limit line never 248 of the working area 240 extends along a minimum rotational speed of the compressor 112.
• An area 256 beyond the boundary line 246 represents an unstable area of operation of the compressor 112 (or surge area) and must be avoided.
• Point 258 represents an optimum operating point with best efficiency of compressor 112.
• Lines 260 and 262 represent lines of equal efficiency, with the efficiency associated with line 260 being higher than the efficiency associated with line 262.
• a distance ⁇ from the boundary lines 246, 248, 250, 252 is maintained to operate the compressor 112.
• the compressor 112 is operated only in a sub-area 264 of the working area 240 to reduce the risk of damage to the compressor.
• a ratio of an area of the sub-area 264 and the working area 240 may be between 0.8 and 0.99.
• the compressors 112 (including the limitations of the working area 240) and the pipelines themselves have a non-linear behavior and the pipeline may have dead-time behavior with respect to pressure and flow. on.
• a multi-variable regulator 100 is provided which optimizes energy consumption taking into account the limitation of the compressor working range (and maximum operating pressure) and can effectively deal with dead times.
• Nonlinear MPC (Model Predictive Control) regulations are able to effectively accomplish this task.
• the use of the non-linear variant of the MPC allows the pipeline to operate more accurately and closer to desired limits.
• the nonlinear MPC concept 100 presented here is based on the nonlinear model of the pipeline 114, 116 and the compressor 112.
• the boundaries of the compressor 112 are not linearized but are modeled by non-linear functions.
• the pipeline 114, 116 can be described by nonlinear partial differential equations (eg Weimann: Modeling and Simulation of the Dynamics of Gas Distribution Networks with Respect to Gas Network Management and Gas Network Monitoring, Dissertation TU Kunststoff, Department of Electrical Engineering, 1978) or in Combination with the Compressor be modeled as a Wiener-Hammer-Stein model (eg Wellers: Nonlinear Model-Based Predictive Control Based on Wienerstein and Hammerstein Models, VDI Verlag, Progress Reports, Series 8, No. 742, 1998).
• Wiener-Hammer-Stein model eg Wellers: Nonlinear Model-Based Predictive Control Based on Wienerstein and Hammerstein Models, VDI Verlag, Progress Reports, Series 8, No. 742, 1998.
• Constraints 136 may be:
• the MPC controller 100 described here is equipped with I parts 130.
• the individual compressors In order to achieve the energy consumption of the compressors 112, the individual compressors must be operated at the operating points with the highest efficiency. Since usually implements several compressors in a compressor station In addition, it must be decided in which configuration the compressors are operated (ie which compressors are switched on or off). For the stationary state and transient state (ie in the transition from one operating point to the next), the non-linear MPC
• the non-linear MPC 100 described herein closes this gap by determining in each sampling step the optimal compressor constellation (i.e., which compressors are on and off) and the optimal operating points of the compressors that are on.
• Such systems can be called hybrid because they have both binary and analog variables or states. It is considered that the switching on and off of compressors 112 requires more energy than the actual operation. The energy for switching the compressors on and off are included as additional terms in the optimization criterion.
• the non-linear MPC controller 100 is adaptively constructed.
• Compressors for gas are usually powered by either electric motors or gas turbines.
• the presented principle can be applied to both drive variants.
• When driving through gas turbines it is only necessary to take into account when modeling and optimizing that part of the gas transported via the pipeline is used for the drive.
• the model predictive controller described here calculates the
• the compressor constellation is optimized not only in the stationary state but also in the transient state. This further reduces the energy consumption of the compressor station.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• General Engineering & Computer Science (AREA)
• Automation & Control Theory (AREA)
• General Physics & Mathematics (AREA)
• Physics & Mathematics (AREA)
• Software Systems (AREA)
• Medical Informatics (AREA)
• Evolutionary Computation (AREA)
• Computer Vision & Pattern Recognition (AREA)
• Artificial Intelligence (AREA)
• Health & Medical Sciences (AREA)
• Control Of Positive-Displacement Pumps (AREA)
• Control Of Conveyors (AREA)
• Pipeline Systems (AREA)
• Feedback Control In General (AREA)
• Flow Control (AREA)

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• 2011
  • 2011-07-25 DE DE102011079732.7A patent/DE102011079732B4/de not_active Expired - Fee Related
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