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Chapter 6: Case studies the simulations and by the higher sensitivity of PID controllers to measurement noise. The control signal is described by the equation: CS=K p⋅(b⋅e+ t1⋅∫(e+track )⋅dt) (98) i where e is the error between the present value and the set point, both scaled between 0 and 1, b is the set point weight on the proportional action, Kp is the proportional gain, and ti is the integral time constant. The control signal (CS) saturates at 0 and at 1. The variable “track” is defined as the difference between CS and its saturated value, in order to avoid integral windup. Kp, b and ti are parameters to be tuned. This is done manually, with the aim of minimizing the stabilization time towards a steady state of the system. The following parameters are obtained: Parameter Kp b ti Pump PI controller 0.7 Expander PI controller 2 11 2s 3s Table 28: Parameters of the PI controllers The detailed view of the Control Unit Modelica interface is provided in Figure 90. The different components are described hereunder: Tev_sp: DELTAT: DELTAT_SP: Initialisation: Const_exp: Const_pump: PID: CS_freq: CS_Xpp: Computes the optimal evaporating temperature as a function of the condensing pressure, fluid mass flow rate and heat source temperature Computes the saturation temperature and the superheating of the current working fluid using polynomial laws Constant value for the set point of the superheating Smooth switching between a constant value and the actual control value to facilitate the initialization process (cfr section 4.3.1 ). Takes as parameter the starting time and the length of the transition. Constant initial value for the expander rotating speed Constant initial value for the pump flow fraction. PID controller (cfr Eq. 98) Control signal for the expander frequency Control signal for the pump flow fraction Two different control strategies are defined and are described below. 24PDF Image | Organic Rankine Cycles for Waste Heat Recovery and Solar Uses
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