US20130144444A1 - Method for determining parameters for controlling an hvca system - Google Patents

Method for determining parameters for controlling an hvca system Download PDF

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US20130144444A1
US20130144444A1 US13/816,325 US201113816325A US2013144444A1 US 20130144444 A1 US20130144444 A1 US 20130144444A1 US 201113816325 A US201113816325 A US 201113816325A US 2013144444 A1 US2013144444 A1 US 2013144444A1
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hvac system
values
thermal
regulation
modelled
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Christophe Ligeret
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Schneider Electric Industries SAS
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Schneider Electric Industries SAS
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • 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
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric

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  • the invention relates to the field of command and control of an HVAC (Heating, Ventilation and Air-Conditioning) system or machine.
  • the invention relates more particularly to a method making it possible to determine parameters for regulating such an HVAC system and for optimizing the energy consumption of this system.
  • the solutions currently implemented for regulating an HVAC system are not optimal in terms of the performance, reliability and energy efficiency obtained. This is usually due to the fact that the user of HVAC systems has little knowledge in the fields of energy regulation or optimization. Specifically, the adjustment of the parameters of the existing regulation loops of the HVAC systems is often carried out by habit, which may cause regulation difficulties within the systems (considerable excesses, pumping phenomena, instabilities etc), these difficulties resulting in energy losses and risks of breakage of the badly regulated equipment. Similarly, the operating points are also determined by habit and not on the basis of a perfect control of the process: for example, the high floating pressure of the heat pumps is usually determined by a constant difference between the condensation temperature and the outside temperature.
  • One object of the present invention is to provide a method for determining parameters for regulating an HVAC system improving the command and control of the HVAC system, making it possible notably to reduce the energy consumption of the HVAC system and to increase the operating reliability of the system thus regulated.
  • the present invention provides a method for determining parameters for regulating an HVAC system comprising thermal elements designed to be regulated by regulation loops, characterized in that it comprises at least the following steps:
  • This method makes it possible to determine regulation parameters based on which it is possible to easily program, without requiring expertise on the part of the user in the automation, regulation, optimization or diagnostics fields, the programmable controller or controllers of an HVAC system.
  • This method makes it possible to manage two aspects: the regulation itself of the system, but also the optimization of the energy consumption, for example the electricity consumption, of the HVAC system.
  • This method finally allows a user who is not an expert in automation to easily use a regulation of an HVAC system.
  • a simulation is carried out in steady state of the thermal and electrical behaviour of the modelled HVAC system.
  • a “steady state” therefore does not signify a state that is “permanently” present over time, but rather a stable state.
  • the dynamic state of the modelled HVAC system corresponds to an unstable state over time of the HVAC system caused by varying the value of a signal on at least one input of the system, that is to say by applying a transitory signal to this input of the system.
  • a “transitory” signal corresponds to a signal that can vary over time.
  • the dynamic state is therefore a temporary state following a modification on at least one input of the system.
  • the simulation in dynamic state of the thermal and electrical behaviour of the modelled HVAC system can therefore be carried out by varying values of input signals of the thermal elements of the modelled HVAC system, the computation of the values of the parameters of the regulation loops being carried out based on parameters of transfer functions of the thermal elements corresponding to the ratios between the values of the output physical magnitudes of the thermal elements and the values of input signals of the thermal elements.
  • the regulation loops may preferably be of the predictive control type.
  • the method can use techniques of advanced control of the HVAC system, for example a PFC (Predictive Functional Command) control.
  • PFC Predictive Functional Command
  • the simulation in dynamic state of the thermal and electrical behaviour of the modelled HVAC system can be carried out by successively applying, on the inputs of each thermal element, signal variations of a step type.
  • the simulation in dynamic state of the thermal and electrical behaviour of the modelled HVAC system can be carried out for values of the set points for which the energy consumption of the modelled HVAC system is lowest.
  • the invention also relates to a method for regulating an HVAC system comprising thermal elements, comprising at least the steps of:
  • the thermal and electrical modelling of the HVAC system may comprise at least the steps of:
  • the definition of the regulation loops may comprise the steps of description, in the software, of:
  • the method may also comprise, prior to use of the method for determining parameters for regulating the HVAC system, a step of defining ranges of possible values of control signals designed to be delivered by the regulators.
  • the user can specify operating fields of the system.
  • the simulation in steady state of the thermal behaviour of the modelled HVAC system may also determine values of control signals designed to be applied at the input of the thermal elements.
  • the definition of the regulation loops may also comprise a definition of ranges of possible values of the set points of the regulation loops.
  • the user can specify the operating point or points of the system for which the simulations are carried out.
  • the method may also comprise, prior to the use of the method for determining parameters for regulating the HVAC system, a step of defining ranges of possible values of the physical magnitudes.
  • the programming of the controller can be carried out at least by the use of the following steps:
  • the programming of the controller may comprise at least one step of entering determined values of the set points and computed values of the parameters of the regulation loops into the controller.
  • the programming of the controller of the HVAC system may be carried out based on data in which the values of the set points and the values of the parameters of the regulation loops computed during the method for determining parameters for regulating the HVAC system are encrypted.
  • the invention also relates to a device for determining parameters for regulating an HVAC system comprising thermal elements designed to be regulated by regulation loops, comprising means for using a method for determining parameters for regulating an HVAC system as described above.
  • FIG. 1 represents schematically an HVAC system designed to be regulated by a method that is the subject of the present invention
  • FIG. 2 represents schematically a regulation carried out for one of the thermal elements of an HVAC system by the method that is the subject of the present invention
  • FIG. 3 represents the steps of a method for regulating an HVAC system, that is the subject of the present invention
  • FIGS. 4 to 6 represent screen captures of the description software used during a method for determining regulation parameters and during a method for regulating an HVAC system, which are subjects of the present invention.
  • FIG. 1 represents schematically an HVAC system 10 designed to be regulated.
  • the HVAC system 10 represented in FIG. 1 comprises an operative part 12 formed by the various elements, or various components, of the HVAC system 10 to be regulated (compressors, valves, heat exchangers, sensors, etc) and a control part 14 comprising one or more controllers in which command and control functions, preferably advanced functions, are designed to be incorporated. These command and control functions are designed to regulate the various elements of the operative part 12 of the system 10 , but also to optimize the energy consumption of these elements.
  • a thermal element 20 for example a condenser, of the HVAC system 10 is shown.
  • the thermal element 20 receives on an input 22 a control signal u designed to drive the thermal element 20 .
  • An output physical magnitude y of the element 20 for example a pressure or a temperature of the refrigerant output from the element 20 , is measured on an output 24 of the element 20 and will be used for the regulation of the thermal element 20 .
  • the relationship between the physical magnitude y and the control signal u corresponds to a first transfer function H 1 (s) of the thermal element 20 .
  • the value of the output physical magnitude y depends on the value of the control signal u applied at the input of the element 20 , but also depends on the values of other parameters, called external physical magnitudes influencing the energy performance of the thermal element, and therefore of the HVAC system.
  • external physical magnitudes are for example an outside temperature, a temperature of a fluid entering the machine, a flow rate, a load ratio, a delay, etc.
  • three external physical magnitudes are represented in the form of variables Gext 1 , Gext 2 and Gext 3 applied on the second inputs 23 of the element 20 .
  • the regulation of the thermal element 20 is carried out by a regulation loop 26 determining the value of the control signal u designed to be applied on the input 22 of the thermal element 20 based on the value of the physical magnitude y that is applied on a first input 28 of the regulation loop 26 , of a regulation set point y* applied on a second input 30 of the regulation loop 26 , of measurements of the external physical magnitudes Gext 1 , Gext 2 and Gext 3 , but also of certain internal physical magnitudes of the thermal element 20 influencing the performance of the regulation of the thermal element 20 .
  • the value of the regulation set point y* is determined by a set point generator 32 which makes it possible, based on the external physical magnitudes Gext 1 , Gext 2 and Gext 3 but also by at least one portion of the internal physical magnitudes of the thermal element 20 (for example a compressor control) and applied on the inputs 34 of the set point generator 32 , to determine the best set point to be applied as an input of the regulation loop 26 in order to minimize the energy consumption of the thermal element 20 .
  • the physical magnitudes to be taken into account may be the temperature of the outside air, the control of the compressors, and the low pressure.
  • the regulation loop 26 carries out the regulation part of the command and control of the thermal element 20 , the set point generator 32 forming the energy optimization part of this command and control.
  • the regulation loop 26 can use various types of regulation, for example a regulation of PID type.
  • the regulation loop will advantageously carry out a regulation of PFC (Predictive Functional Control) type, which makes it possible, relative to a PID regulation, to use a dynamic model of the regulation process inside the controller (control part 14 of the HVAC system 10 ) and in real time producing the regulation loop 26 in order to anticipate the future behaviour of the thermal element 20 .
  • PFC Predictive Functional Control
  • the use of a regulation of PFC type is for example described in the work of J. Richalet et al.: “La commande lightdictive. Mise en ⁇ domain et applications vons” [Predictive control. Use and industrial applications], Editions Eyrolles.
  • the user describes, for example in a software used as a description tool, the operative part 12 of the HVAC system 10 .
  • This description relates both to the architecture of the HVAC system 10 , that is to say to the links between the various thermal elements 20 of the HVAC system 10 , and to the intrinsic features of the thermal elements 20 and the nominal operating fields of the system 10 (step 102 ).
  • the user therefore describes, initially, the architecture of the HVAC system 10 by choosing, in the software, generic components representing each of the thermal elements 20 of the system 10 (heat exchangers, valves, compressors, pumps, fans, etc), then by creating the links between the thermal elements (by linking them by pipes, cables, etc).
  • Each of the generic components present in the software corresponds to a mathematical modelling of the thermal and electrical behaviour of a thermal element of the HVAC system.
  • the description produced by the user therefore forms, in the software, a mathematical modelling of the general architecture of the HVAC system 10 .
  • FIG. 4 An example of a description made by the user is shown in FIG. 4 .
  • the HVAC system 10 comprises a first circuit consisting of an evaporator 50 one output of which is linked to a first compressor 52 .
  • the output of the first compressor 52 is linked to an input of a first condenser 54 of which the output is linked to a first expansion value 56 .
  • An output of the first expansion valve 56 is linked to the input of the evaporator 50 .
  • This HVAC system 10 also comprises a second circuit formed by the evaporator 50 an output of which is linked to a second compressor 58 .
  • the output of the second compressor 58 is linked to an input of a second condenser 60 .
  • An output of this second condenser 60 is linked to a second expansion valve 62 an output of which is linked to a pump 64 itself linked to the evaporator 50 .
  • the description software may comprise a library in which the features of existing elements are stored.
  • the work of the user then consists in selecting a reference in the library. This selection may be assisted by filtering functions: the user may for example enter information on the element (for example for an exchanger: plates, tubes and grilles, nominal power, name of the manufacturer, etc), allowing him to have access either directly to the element or to a short list of potential elements.
  • the user may describe the component completely by entering a list of features corresponding to this element (for example, for a plate exchanger: counter-current or co-current flow, the number of plates, the spacing between plates, the corrugation angle, the width and height of each plate, the material of the plates, the empty weight of the exchanger, describe whether the exchanger is thermally insulated, etc).
  • the features to be entered depend on the type of element (pump, condenser, compressor, etc).
  • a file comprising the features of the elements to be described, for example in the form of a table containing several points, that is to say one or more tables of values giving the values of the output parameters (pressure, fluid flow rate, etc) of the elements of the HVAC system depending on the input parameter values of these elements (input temperature, power, water flow rate, etc).
  • a file may be a library file of DLL type.
  • this description of the operative part of the HVAC system 10 can be made by the user by answering a list of predefined questions in the description software, each of the questions relating for example to one or more parameters of one of the thermal elements of the HVAC system 10 .
  • Such a description of the HVAC system can be made when the HVAC system forms an assembly of finite machines, that is to say an HVAC system the architecture of which is predefined in the description software and not modified by the user.
  • the information that the user enters is easy to obtain and corresponds to data relating to the elements of the HVAC system 10 that the user is able to understand: for example, if the user is a refrigerationist, these data are exchanger references, exchanger mechanical features (number of plates, space between plates, length and width of the plates, etc), or else data tables supplied by the manufacturers (for example, for compressors, these data tables may comprise the values of the low pressure, of the high pressure, of the aspiration temperature, of the flow rate of the refrigerant, etc).
  • the user then describes, in the description software, the command and control of the system, that is to say the regulation loops of the system making it possible to regulate the various thermal elements of the HVAC system (step 104 ).
  • the regulation loop to be implemented on the system, corresponding to the regulation loop 26 described above with reference to FIG. 2 , the number of which corresponds to the numbers of thermal elements to be regulated of the HVAC system, the user indicates the physical magnitude obtained at the output of a thermal element that he wishes to regulate, the actuator that he wishes to drive for this loop and a set point value that he wishes to apply.
  • the user again takes up the system modelling previously carried out in the description software and first of all sets the sensors to the physical magnitudes that he wishes to measure and that are intended to be regulated.
  • several temperature sensors 66 and pressure sensors 68 are placed downstream and upstream of several elements of the system.
  • Pre-actuators are then positioned on the actuators of the HVAC system 10 to be driven, that is to say on the actuators of the compressors 52 and 58 , of the condensers 54 and 60 , and the actuators of the expansion valves 56 and 62 .
  • These pre-actuators are designed to receive at the input the values of the control signals delivered by the regulation loops.
  • the user then links the sensors 66 , 68 and the pre-actuators to the regulation boxes 70 which will be typed according to the nature of the output physical magnitude to be regulated (for example: the box for speed regulation, for overheating regulation, for pressure regulation, for temperature regulation, for regulation of the pressure difference, etc), but also depending on the desired type of regulation, notably PID or predictive control.
  • the user defines, in the regulation boxes 70 , the desired operating fields, that is to say the ranges of possible values of the set points of the loops ( FIG. 6 ).
  • the description of the command and control of the HVAC system 10 can be carried out by the user by answering a list of predefined questions in the description software, these questions in this instance relating to the parameters for command and control of the HVAC system 10 to be carried out.
  • simulations of the modelled system will be used by computation modules of the software in order to obtain the values of the parameters of the regulation loops from which it will be possible to program the controller or controllers of the control part 14 of the HVAC system 10 in order to ensure the command and control of the HVAC system 10 , and of the parameters of the set point generator 32 , comprising notably the values of the optimum set points intended to be applied as an input of the various regulation loops and making it possible to optimize the energy consumption of the HVAC system 10 by minimizing it.
  • the user can describe set points of fixed values.
  • these fixed values are not usually optimal in terms of energy consumption of the HVAC system, notably because of the internal and external physical magnitudes that may vary and influence the energy performance of the system.
  • the energy optimization achieved by virtue of the method described here consists therefore in varying these set points as a function of the values of the internal and external physical magnitudes in order to determine, for each operating point of the HVAC system 10 , the optimum set points of the various regulation loops, with the aim of minimizing the energy consumption of the HVAC system 10 .
  • a simulation in steady state of the HVAC system 10 will be carried out (step 106 ).
  • This simulation in steady state is carried out on the basis of the modelling obtained by the description of the system previously carried out by means of the description software.
  • the set point values of the regulation loops defined by the regulation boxes 70 (corresponding to the set point applied to the input 30 of the regulation loop 26 ), and the values of the internal and external physical magnitudes are considered to be input variables for this simulation of the HVAC system in steady state.
  • the user may also enter, as input data, constraints on the values of the set points and on the controls of the actuators (for example, for a motor, that the speed must be between 30 Hz and 50 Hz).
  • the user may also enter maximum and/or minimum values that one or more internal and external physical magnitudes can take.
  • the set point value applied at the input of the regulation loop is substantially equal to the value of the measurement that is applied at the input of the regulation loop (the error computed by the regulation loop being in this case substantially zero).
  • the variables obtained at the output of this simulation in steady state correspond to the control signals intended to be sent to the input of the actuators of the HVAC system 10 . Since these values are stable (steady state), the computation module can then compute, based on the values of these signals and on the electrical and thermal models of the elements of the HVAC system 10 , the electrical power absorbed by the HVAC system 10 in steady state.
  • the computation module of the software samples the domain D as a finite set of points forming a set Dd (the discrete domain D). For each point of Dd, the module determines the values of the optimum set points to be applied making it possible to obtain a minimal energy consumption for the system. This gives a function foptimum which associates, with each point of Dd, a value such that:
  • Dd ⁇ ( G 1 , . . . , Gn ) ⁇ -> ⁇ (set point 1,set point 2, . . . ) ⁇
  • the value associated with each point of Dd is therefore determined so that this value is that for which the energy consumption of the system is lowest.
  • each optimum set point value is evaluated in the form of a mathematical function which will be for example, advantageously, a polynomial in G 1 , . . . , Gn.
  • the coefficients of the polynomial can then be determined by a least square method on the basis of the two sets Dd and foptimum(Dd). This gives the values of the coefficients of each polynomial:
  • set point 1 P 1( G 1 ,G 2 ,G 3, . . . );
  • set point 2 P 2( G 1 ,G 2 ,G 3, . . . );etc.
  • This simulation in steady state therefore makes it possible to determine, as a function of the values of the internal and external physical magnitudes, the optimal values of the set points to be applied to the regulation loops in order to minimize the energy consumption of the HVAC system 10 while observing the constraints imposed by the user.
  • a simulation of the system in dynamic state is then applied in order to determine the parameters of the regulation loops 26 of the HVAC system 10 (step 108 ).
  • These parameters of the regulation loops are obtained by determining the transfer functions of each of the thermal elements, corresponding to the ratios between the values of the output physical magnitudes y and the values of the control signals u and of the physical magnitudes that are external and internal to the thermal element 20 influencing the energy performance and the regulation performance of the thermal element 20 .
  • each element 20 is assumed to be for example a system of the 1 st order with delay, that is to say a system each of the transfer functions of which is of the type:
  • Such a simulation in dynamic state makes it possible to evaluate, as a function of the internal or external physical magnitudes and of the controls of the actuators (for example the outside temperature, the temperature of the water of the pipe return, the water flow rate in the pumps, the rotation speed of a fan, etc), the values of the output physical magnitudes that it is desired to control (overheating temperature, high pressure, low pressure, flow rate etc), that will subsequently be used to determine the parameters of the regulation loops.
  • the internal or external physical magnitudes and of the controls of the actuators for example the outside temperature, the temperature of the water of the pipe return, the water flow rate in the pumps, the rotation speed of a fan, etc
  • the values of the output physical magnitudes that it is desired to control overheating temperature, high pressure, low pressure, flow rate etc
  • a computation module of the software varies values of signals applied on the inputs 22 and 23 (designed to receive the control signals and the physical magnitudes) of the thermal elements 20 of the modelled HVAC system, that is to say applies transitory signals, such as control steps, on these inputs 22 and 23 .
  • These control steps are applied around the operating point desired by the user, this operating point corresponding to the set points and to the physical magnitudes external to the system: outside temperature, flow rates, etc.
  • the software carries out a sampling of the signals obtained at the output of the simulation and then determines, for each response obtained (that is to say for each control step applied), values of the variables K, ⁇ and ⁇ of each transfer function. Finally, based on all the values obtained, and by applying for example a method of least squares, the computation module then determines the parameters K, ⁇ and ⁇ to be applied for each regulation loop.
  • the regulation and energy-optimization parameters obtained by using the simulations in steady state and in dynamic state are then used to program the controller or controllers of the HVAC system (step 110 ).
  • a functional module of the software can use these parameters to generate functional blocks, that is to say algorithms encoded in a programming language, designed to be imported directly or by means of a programming software into the controller or controllers of the control part 14 of the HVAC system 10 .
  • the functional blocks thus obtained based on the simulations in dynamic state and in steady state are algorithms in the form of computer codes making it possible to carry out the regulation and energy optimization of the various elements of the HVAC system 10 .
  • the language of these codes corresponds to the programming language of the controller or controllers of the control part 14 of the HVAC system 10 , and corresponds for example to the C language or to the “structured text” language.
  • the code of each functional block is then exported in the form of a file, for example encrypted, to an information-storage means (server, hard disk, USB key, CD-ROM).
  • the file or files thus exported can then be imported into a software for programming the controllers and thus be used by the person in charge of programming the controllers (step 110 ).
  • the programming may notably consist in defining the interactions between the functional block or blocks relative to the energy optimization, and with the functional blocks relative to the regulation of the HVAC system 10 .
  • the outputs of the functional block or blocks relating to the energy optimization, on which the optimum set points are delivered, will notably be linked to the inputs of the functional blocks relating to the regulation, each regulation functional block being able to receive as an input the optimum set point relating to the element designed to be regulated by this regulation functional block.
  • the user downloads the control program generated on the basis of the programming previously carried out into the memory of the programmable controller or controllers
  • the controller or controllers not to be programmable controllers, but parameterizable controllers.
  • the programming is not carried out by the user, the latter in this case transferring the list of parameters to the controller, these data being transferred directly (directly or via a data medium) into the parameterizable controller or controllers without being encoded in the form of algorithms.
  • the parameters it is possible for the parameters to be transferred in an encrypted manner so as, for example, to be able to lock certain functionalities as a function of an offer level chosen by the user.
  • the regulation and optimization parameters can be copied by the user directly into the controller or controllers or into a software for programming the controllers.
  • these parameters can be supplied to the user in an encrypted form for reasons of locking functionalities and/or in order to prevent errors when the parameters are copied into the controller or controllers, for example by introducing error codes mixed with the parameters.
  • the simulation in steady state is carried out prior to the simulation in dynamic state.
  • the simulation in dynamic state of the system is also possible for the simulation in dynamic state of the system to be carried out prior to or simultaneously with the simulation in steady state of the HVAC system.
  • the algorithms used by the computation module will be a function notably of the nature of the regulation loops (PID, predictive control, etc).
  • the mathematical models relating to the thermal and electrical behaviour of the elements of the HVAC system used by the software to produce the simulations in dynamic state and in steady state can be known mathematical models, for example described in the thesis of P. Schalbart entitled “Moderieation du 3, en complaint- d'une machine frigorifique bi-étagée à turbo-compresseurs—Application à sa regulation” [Modelling the operation in dynamic state of a two-stage cooling machine with turbocompressors—application to its regulation], autoimmune doctorale MEGA, 2006.
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FR1056751 2010-08-25
FR1056751A FR2964204B1 (fr) 2010-08-25 2010-08-25 Procede de determination de parametres de regulation d'un systeme hvac
PCT/EP2011/063218 WO2012025337A1 (fr) 2010-08-25 2011-08-01 Procede de determination de parametres de regulation d'un systeme hvac

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