CA1238395A - Self-optimizing, capacity control system for inverter-driven centrifugal compressor based water chillers - Google Patents
Self-optimizing, capacity control system for inverter-driven centrifugal compressor based water chillersInfo
- Publication number
- CA1238395A CA1238395A CA000495877A CA495877A CA1238395A CA 1238395 A CA1238395 A CA 1238395A CA 000495877 A CA000495877 A CA 000495877A CA 495877 A CA495877 A CA 495877A CA 1238395 A CA1238395 A CA 1238395A
- Authority
- CA
- Canada
- Prior art keywords
- compressor
- speed
- signal
- guide vanes
- control system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
- F25B49/00—Arrangement or mounting of control or safety devices
- F25B49/02—Arrangement or mounting of control or safety devices for compression type machines, plants or systems
- F25B49/025—Motor control arrangements
-
- 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
- F04D27/0246—Surge control by varying geometry within the pumps, e.g. by adjusting vanes
-
- 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
- F04D27/0261—Surge control by varying driving speed
-
- 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
- F04D27/0284—Conjoint control of two or more different functions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
- F25B49/00—Arrangement or mounting of control or safety devices
- F25B49/02—Arrangement or mounting of control or safety devices for compression type machines, plants or systems
- F25B49/022—Compressor control arrangements
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
- F25B2600/00—Control issues
- F25B2600/02—Compressor control
- F25B2600/021—Inverters therefor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
- Y02B30/70—Efficient control or regulation technologies, e.g. for control of refrigerant flow, motor or heating
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Geometry (AREA)
- Control Of Positive-Displacement Air Blowers (AREA)
- Devices That Are Associated With Refrigeration Equipment (AREA)
Abstract
SELF-OPTIMIZING, CAPACITY CONTROL SYSTEM FOR
INVERTER-DRIVEN CENTRIFUGAL COMPRESSOR BASED
WATER CHILLERS
ABSTRACT:
A self-optimizing, capacity control system for a refrigeration system including a compressor (20), a condenser (22), and an evaporator (28), all connected in a closed refrigeration circuit is provided. The com-pressor includes a plurality of adjustable inlet guide vanes (31), a motor (32) connected to regulate the inlet guide vanes position and an electrical speed motor (36) connected to drive the compressor. The self-optimizing capacity control system includes a microprocessor (106) responsive to continual measurements of a PRV signal, a compressor head signal, a motor current signal and a motor speed signal for determining both the compressor speed and the position of the inlet guide vanes to define a current operating point in an initial surge surface array stored in a random-access memory (107). The micro-processor will initiate a "learning" mode in which the compressor motor speed will continually be decreased incrementally and the PRV will be moved to a more open position until an operating point is found where the compressor is surging. The mciroprocessor will update the initial surge surface array stored in the random-access memory with the latest surge conditions.
Then, the microprocessor will initiate an "operating"
mode in which the PRV are moved to a position responsive to a temperature error signal related to the difference between the chilled water temperature and the temperature set point and the compressor speed is set a safety margin away from the surge speed. In this manner, the micro-processor automatically regulates both the adjustable inlet guide vanes and the compressor speed in response to the continually updated "learned" chiller surge surface so as to realize minimum overall chiller energy consumption.
INVERTER-DRIVEN CENTRIFUGAL COMPRESSOR BASED
WATER CHILLERS
ABSTRACT:
A self-optimizing, capacity control system for a refrigeration system including a compressor (20), a condenser (22), and an evaporator (28), all connected in a closed refrigeration circuit is provided. The com-pressor includes a plurality of adjustable inlet guide vanes (31), a motor (32) connected to regulate the inlet guide vanes position and an electrical speed motor (36) connected to drive the compressor. The self-optimizing capacity control system includes a microprocessor (106) responsive to continual measurements of a PRV signal, a compressor head signal, a motor current signal and a motor speed signal for determining both the compressor speed and the position of the inlet guide vanes to define a current operating point in an initial surge surface array stored in a random-access memory (107). The micro-processor will initiate a "learning" mode in which the compressor motor speed will continually be decreased incrementally and the PRV will be moved to a more open position until an operating point is found where the compressor is surging. The mciroprocessor will update the initial surge surface array stored in the random-access memory with the latest surge conditions.
Then, the microprocessor will initiate an "operating"
mode in which the PRV are moved to a position responsive to a temperature error signal related to the difference between the chilled water temperature and the temperature set point and the compressor speed is set a safety margin away from the surge speed. In this manner, the micro-processor automatically regulates both the adjustable inlet guide vanes and the compressor speed in response to the continually updated "learned" chiller surge surface so as to realize minimum overall chiller energy consumption.
Description
~X;3~39~
., 1 SELF-OPTIMIZING, CAPACITY CONTROL SYSTEM FOR
INVERTER-DRIVEN CENTRIFUGAL COMPRESSOR BASED
WATER CHILLERS
Description 1. Field of the Invention This invention relates generally to refrigeration systems and more particularly, it relates to a self-optimizing, capacity control system for inverter-driven centrifugal compressor based water chillers wherein adjustable inlet guide vanes and compressor speed are both automatically regulated in response to a continually updated "learned" chiller surge surface so as to realize minimum overall chiller energy consumption.
., 1 SELF-OPTIMIZING, CAPACITY CONTROL SYSTEM FOR
INVERTER-DRIVEN CENTRIFUGAL COMPRESSOR BASED
WATER CHILLERS
Description 1. Field of the Invention This invention relates generally to refrigeration systems and more particularly, it relates to a self-optimizing, capacity control system for inverter-driven centrifugal compressor based water chillers wherein adjustable inlet guide vanes and compressor speed are both automatically regulated in response to a continually updated "learned" chiller surge surface so as to realize minimum overall chiller energy consumption.
2. Description of the Prior Art:
In the art of inverter-driven chillers, it is generally known that the most efficient operating conditions are met when the chiller is operating at an operating point which has the combination of the lowest compressor speed and more open PRV position. However, the surge surface of the chiller restricts the degree to which the lowest speed and larger ~ane openings combi-nation can be established. Thus, it should be clear that the objective of capacity control is to operate the chiller at the lowest, surge free, compressor speed possible, but yet still supplies the load and head requirements. ~n certain prior art attempts, approxi-mations to the chiller surge surfaces are factory set by means of pre-stored surge surface equations contained in a capacity control unit. Since the surge surfaces for a particular chiller are not constant all the time and changes under certain conditions due to factors such as tube cleanliness, compressor aging, and drifts in ~2~ 5 transducers or sensors used for detecting PRV position, condenser pressure, and evaporator pressure, the use of constant pre-stored surge surface equations do not take into consideration these varying conditions.
It would therefore be desirable to provide a self-optimizing, capacity control system for inverter-driven centrifugal compressor based water chil-lers which continually adjusts itself for varying condi-tions affecting the surge surfaces so as to operate at 10 minimum overall energy consumption.
U. S. Patent No. 4,151,725 which issued on May 1, 1979 there is disclosed a capacity control system wherein the compressor head value was inferred from the differ-ence between the temperature of liquid refrigerant leav-1~ ing the condenser and the temperature of the saturatedrefrigerant leaving the evaporator. This temperature difference was utilized with the control system to regu-late both the means for adjusting the position of the guide vanes and the means for driving the compressor.
20 However, the assumed linearity of the function between the isentropic compressor head parameter _fiL and the difference between the condensing and the evaporating refrigerant temperatures was not to be entirely accurate over the system operation, especially at light loads and 25 at low heads.
In U. S. Patent No. 4,282,~19 which issued on August 11, 1981, there is taught a capacity control system having a more accurate indication of compressor head which, even at light loads and low heads, could be 30 determined by a signal that is a function of the ex-pression ~Pcd-pev)pev. The numerator of this ~3~
ratio is derived from the difference between the con-denser absolute pressure PCd and the evaporator absolute pressure PeV. The denominator of this ratio signal is derived from the evaporator absolute pressure PeV-In U. ~. Patent No. 4,546,618 which issued onOctober 15, 19~5, there is shown a capacity control system for inverter-driven centrifugal based water chillers which includes a microprocessor responsive to continual measurements of a PRV signal, compressor head signal and suction flow signal for regulating both the inlet guide vanes and compressor speed. In another embodiment of this patent, the compressor head signal is replaced with an actual motor speed signal of the com-pressor. Consequently, the microprocessor in the secondembodiment is responsive to the PRV signal, motor speed signal and suction flow signal for regulating both the inlet guide vanes and compressor speed.
However, the three above patents used pre-stored surge surface equations which are factory set. Thus, these sysems did not take into account the varying condi-tions affecting the surge surfaces. The present in-vention represents an improvement over these three patents, which are all assigned to the same assignee as this application. This invention provides a self-optimizing, capacity control system for inverter-driven centrifugal compressor based water chillers wherein adjustable inlet guide vanes and compressor speed are both automatically regulated in response to a continually updated "learned" chiller surge surface so as to realize the minimum overall chiller energy consumption. This is accomplished by a micro-processor having a random-access memory which perio-dically identifies the location of the surge surface at the current operating point of the chiller and updates that surge surface information in the random-access 33~5 memory during a "learning" mode. Then, the micro-processor causes the chiller t~ operate at a safety margin away from the surge surface during an"operating"
mode for minimum energy consumption.
In particular, the present invention uses all of the same input signals to the control system block 50 in the '725 patent except that (1) the condenser temperature from the thermistor 56 is replaced by an absolute con-denser pressure signal taken from the transducer 110 on line 111 of '719 patent and (2) the evaporator tem-perature from the thermistor 58 i5 replaced by an absolute evaporator pressure signal taken from the transducer 112 on line 113 of the '719 patent. Further, the amplifier 59 of the '725 patent is replaced by a func-tional generator 104 formed by the blocks 120 and 123 in Figure 2 of the '719 patent. The substantial improvement of the present invention depends in part upon substi-tuting the electronic circuitry of the control system 50 illustrated in Figure 6A, 6B and 6C of the '~25 patent by a microprocessor having a random-access memory for stor-ing the updated surge surface information.
Accordingly, it is a general object of the present invention to provide a self-optimizing capacity control system for a refrigeration system wherein the compressor speed and inlet guide vane position are both adjusted automatically in response to a continually updated "learned" chiller surge surface so as to realize minimum overall chiller energy consumption.
It is an object of the present invention to provide a self-optimizing, capacity control system for a refri-geration system which includes a microprocessor having a random-access memory for periodically identifying the location of the surge surface at the current operating point and for updatating the surge surface information in the random-access memory during a "learning" mode.
It ic another object of the present invention to provide a self-optimizing, capacity control system for a :1~383~
refrigeration system which includes a microprocessor responsive to continual measurements of a PRV signal, a compressor head signal, a compressor motor speed signal, and a motor current signal for setting the compressor speed at a safety margin from the surge speed during an "operating" mode.
In accordance with these aims and objectives, the present invention is concerned with the provision of a self-optimizing, capacity control system for a refri-geration system which includes a compressor, condenserand an evaporator, all connected in a closed refri-geration circuit. The compressor has a plurality of adjustable inlet guide vanes, a motor connected to regulate the inlet guide vanes position, and an elec-trical variable speed motor connected to drive the com-pressor. The self-optimizing, capacity control system includes means for sensing the absolute condenser pres-sure to generate a first signal and means for sensing the absolute evaporator pressure to generate a second signal. There are also provided means for sensing the amplitude of the current flowing in the compressor drive motor to generate a third signal and means for sensing the actual speed of the compressor drive motor to gene-rate a fourth signal. Means for sensing the physical posi-tion of the inlet guide vanes is provided to generate afifth signal. Means for sensing the temperature of the chilled water discharged from the evaporator is provided to generate a sixth signal. Further, there is provided a means for sensing a temperature set point to generate a seventh signal. A microprocessor responsive to the first through the seventh signals generates control ~ignals to regulate automatically both the speed of the compressor drive motor and the position of the inlet guide vanes so as to realize minimum overall chiller energy consumption.
:123~
These and other objects and advantages of the present invention will become more fully apparent from the following detailed description when read in con-junction with the accompanying drawings with like reference numerals indicating corresponding parts throughout, wherein:
Figure 1 is block diagram of a self-optimizing, capacity control system of the present invention which includes a microprocessor with a RAM;
Figure 2 is a graphical illustration useful in understanding the operation of the present invention in the partly open vane region of a "learning" mode;
Figure 3 is a more detailed diagram illustrzting the microprocessor of Figure 1 by way of a flow chart during a "learning" mode;
Figure 4 is a more detailed diagram illustrating the microprocessor of Figure 1 by way of a flow chart during an "operating" mode;
Figures 5 and 6 are graphical illustrations useful in understanding the operation of the present illus-tration; and Figure 7 is a graph depicting a typial initial chiller surge surface and an adjusted surge surface.
Referring now in detail to the various views of the drawings, there is shown in Figure 1 in bloc~ diagram form a refrigeration or cooling system which includes a centrifugal compressor 20 for passing a refrigerant through line 21 to a condenser 22. Water from a cooling tower (not shown) enters on line 23 and leaves on line 24, the water being in heat exchange relationship with the liquid refrigerant in the condenser 22. A refri-gerant at the discharge side of condenser 22 is delivered to a fixed orifice 26 via line 25. The outlet of the ori-fice 26 is passed over line 27 to the refrigerant inlet connection of an evaporator 28. The refrigerant is then passed through the evaporator and out a suction duct 30 1~8~!~5i having a plurality of inlet guide vanes 31 or pre-rotational vanes (PRV). The position of the guide vanes 31 is regulated by a small PRV motor 32 which receives a control signal on line 33. The higher temperature of water from a building or cooling load (not shown) enters on line 34 and leaves as chilled water on line 35, the building water being in heat exchange relationship with the refrigerant vapor in the evaporator 28.
An electrical prime mover such as an induction motor 36 is coupled over a shaft 39 for driving the centrifugal compressor 20. The motor 36 is in turn driven from an inverter 37 which receives a DC input voltage over line 38 so as to determine the amplitude of the inverter output voltage. A
voltage control circuit 40 is provided between a voltage supply line 41 and the line 38 which delivers the DC input voltage to the inverter 37. The frequency of the inverter output voltage is resulted by the periodicity of timing or gating signals appearing on line 43 from a logic circuit 44. As is well known, a regulating input signal through the logic circuit on line 45 may be a DC voltage for controlling a voltage-controlled oscillator in the logic circuit to provide output pulses at a frequency determined by the amplitude of the signal on line 45. The logic circuit generally includes a ring counter-type circuit to distribute the impulses to the switching means such as thyristors in the inverter 37.
As described thus far, the components of the present refrigeration system are quite conventional in nature and are the same components as shown in Figure 1 of Patent No.
4,151/725. The substantial improvement of the present invention depends in part upon the provision of a microprocessor 106 with random-access memory (RAM) 107 which is utilized to automatically regulate both the speed of the induction motor 36 via line 51 and the physical position of the kh/sd ~3~
pre-rotational vanes 31 via line 33 so as to realize minimum overall chiller energy consumption. The vane control signal on line 33 can be either an "open vanes" signal on line 53 or a "closed vanes" signal on line 54, or no signal ("hold vanes").
As can be seen, the output speed control signal from the micro-processor 106 on line 112 is fed through a digital-to-analog (D/A) converter 114 for supplying the line 51. The vane position control signals from the microprocessor 106 on lines 116 and 118 are fed through respective D/A converters 120 and 121 for supplying the respective lines 53 and 54. These output control signals are derived from various input signals which will now be described.
A first input signal on line 55 is provided by a first compressor transducer 56 and is a function of the absolute pressure in the condenser 22. A second input signal on line 57 is obtained from a second pressure transducer 58 and : is a function of the absolute pressure in the evaporator 28.
The first input signal is fed through analog-to-digital (A/D) : converter 122 for driving the microprocessor 106 via line 124.
The second input signal is fed through A/D converter 126 for ; driving the microprocessor 106 via line 128. The pressure transducers 56, 58 are the same type as pressure transducers : 110 and 112 described in Figure 1 of U.S. Patent No. 4,282,719.
A third input signal on line 71 which is representative of the amplitude of the current flowing through the winding of the induction motor 36. This motor current signal is fed through A/D converter 179 for driving the micro-processor 106 via line 181. This motor current signal may be derived from a current transformer 75 connected to the motor 36 via a line 77. The first, second and third input signals representative of the respective condenser pressure, evaporator pressure and motor current define input signals for surge detector kh/ l ~3~39~
g means 165 for the chiller of the present invention as ~ill be explained in more detail later.
A fourth input signal on line 72 i9 provided which is representative of the actual motor speed of the in-duction motor 36. This mo~or speed signal is fed to A/Dconverter 183 for driving the microprocessor 106 via line 1~4. It should be understood that the actual motor speed can be derived via a conventional tachometer 73 connected to the motor 36 via a line 74.
A fifth input signal on line 62 is provided by a potentiometer 61 with its movable arm or wiper mecha-nically coupled to the output shaft of the PRV motor 32 as indicated by the dotted lines 61a. Therefore, this fifth input signal indicates (i.e., wide open vanes -WOV, 3/4 open, 1/2 open and so forth) of the inlet guide vanes 31 in a continuous manner. The fifth signal is fed through A/D converter 130 for driving the microprocessor 106 via line 132. A sixth input signal on line 64 is obtained from a thermistor 63 positioned to sense the temperature of the chilled water discharged from the evaporator 28. This sixth signal represents the instan-taneous load condition and is fed through A/D converter 134 for driving the microprocessor 106 via line 136. A
seventh input signal on line 138 is obtained from a po-tentiometer 66 and represents a temperature set point ordesired condition signal. This seventh signal is fed thro~gh A/D converter 140 to the microprocessor 106 via line 142.
In order to provide an understanding of the general overall operation of the present invention, reference is now made to Table I of the Appendix which summarizes how the microprocessor regulates th~o compressor speed and PRV
position in the surge surface during a "learning" mode and during an "operating" mode. As can be seen, there exists a wide open vane (WOV) region and a partly open vane (POV) region for each mode. In the WOV region of ~23~95 the "learning"mode, there are no surge surfaces to be learned since the PRV are wide open and thus no other combinations exists for a lower speed and more open vane position. Consequently, any reduction in compressor speed will cause a lower chiller capacity and a hiyher leaving chilled water temperature.
Reference now made to Figure 2 of the drawings which is a graphical illustration useful in understanding the operation of the present invention in the POV region of the "learning" mode. Figure 2 depicts how lines of constant chiller power appear on a chart where the PRV
setting is plotted along the left ordinate and the com-pressor speed is plotted along the abcissa. For example, if the PRV setting is equal to the PRVi and the com-pressor speed is equal to Si, there is defined aparticular operating point i. Prior to initiation of "learning mode", the microprocessor will determine the current operating point in an initial surge surface array for the various input signals. The method for generating the initial surge surface array which is stored in a random-access memory (RAM) 107 of the microprocessor 106 will be explained hereinafter.
Upon start-up of the "learning mode", the micro-processor will lower incrementally the compressor speed such as by approximately .1 hz to a point "a". Then, with the speed being held constant the chilled water temper-ature control is closed by moving of the PRV to a point "b" so that the error in the water temperature is within +.1F from the water set point temperature. This process is continually repeated along point "c", "d", "e", and "f" until a surge is detected at the point "f".
The current surge surface array stored in the RAM is now updated with the detected surge conditions or information reltive to the PR'I position, compressor speed, and pres-sure ratio. Finally, the microprocessor will suspend the ~3~3,~5 "learning" mode and activate the normal "operating" modewhich now will be described.
In the WOV region of the "operating" mode, the PRV
are held in a fully opened position and the compressor speed is increased or decreased so as to meet the load requirement by maintaining constant the leaving chilled water temperature. If a reduced load requires a lower capacity, the microprocessor will shift to the partly open vane region of control. In the POV region of the "operating" mode, errors in the chilled water temperature are controlled by changing both the PRV position and the compressor speed. The primary chiller capacity control is accomplished by ad justing the PRV position . The PRV
are moved to a more open position if a chiller capacity is increased and to a more closed position if the chiller capacity is decreased.
The secondary chiller capacity control is accom-plished by adjusting the compressor speed so as to in-crease or set it at a safety margin, such as .5 hz to a point "g" in Figure 2, away from the surge speed as determined from the latest surge surface during the "learning" mode. It should be understood that the compressor speed is a function of the PRV position and the head measurement (approximated by the pressure ratio). Thus, this point "g" defines the minimum energy operating point which is surge free and still satisfies the load and head requirements.
The details of the microprocessor required to perform the function just described with respect to the "learning" mode portion of Table I is shown in Figure 3 in a flow chart fashion. The microprocessor 106 includes a functional block 104 which receives the first input signal representative of the absolute condenser pressure from line 124 and the second input signal representative of the absolute evaporator pressure from line 12~. The functional block lOs produces on its output line 105 a signal which is a ratio. This ratio signal is the same as the signal represented on line 124 in Figure 2 of the '719 patent. A block 158 receives this ratio signal on line 105 which is indicative of the compressor head. The input signal representative of the motor speed on the line 184 is also received by the block 158. Further, a fifth input signal representative of the vane position on the line 132 is fed to the block 158.
From all of these inputs a block 160 locates the current operating point such as the point "i" of Figure 2.
The surge array is stored in the RAM 107. Once the operating point is located, the compressor speed is incrementally decreased in speed by a speed block 162. This output speed control signal on the line 112 from the block 162 is utilized to regulate the speed of the induction motor 36 via the D/A
converter 114 and the line 51.
A block 164 receives the sixth input signal representative of the instantaneous load condition from line 136 and the seventh input signal from line 142 representative of the desired condition. The block 164 is used to increase or open the position of the vanes so that an error between the chilled water temperature and the temperature set point is within point .13F.
A surge detector block 166 in response to the surge detection device 165, which is provided as part of the present control system, determines whether the centrifugal compressor is in the surge condition. This surge detection device 165 may be the same as the surge detection apparatus 10 of Figure 1 taught in applicant's ~.S. Patent No. 4,581,900, issued April 15, 1986. In this patent the surge detection apparatus 10 receives as input signals a motor current signal kh/,~
In the art of inverter-driven chillers, it is generally known that the most efficient operating conditions are met when the chiller is operating at an operating point which has the combination of the lowest compressor speed and more open PRV position. However, the surge surface of the chiller restricts the degree to which the lowest speed and larger ~ane openings combi-nation can be established. Thus, it should be clear that the objective of capacity control is to operate the chiller at the lowest, surge free, compressor speed possible, but yet still supplies the load and head requirements. ~n certain prior art attempts, approxi-mations to the chiller surge surfaces are factory set by means of pre-stored surge surface equations contained in a capacity control unit. Since the surge surfaces for a particular chiller are not constant all the time and changes under certain conditions due to factors such as tube cleanliness, compressor aging, and drifts in ~2~ 5 transducers or sensors used for detecting PRV position, condenser pressure, and evaporator pressure, the use of constant pre-stored surge surface equations do not take into consideration these varying conditions.
It would therefore be desirable to provide a self-optimizing, capacity control system for inverter-driven centrifugal compressor based water chil-lers which continually adjusts itself for varying condi-tions affecting the surge surfaces so as to operate at 10 minimum overall energy consumption.
U. S. Patent No. 4,151,725 which issued on May 1, 1979 there is disclosed a capacity control system wherein the compressor head value was inferred from the differ-ence between the temperature of liquid refrigerant leav-1~ ing the condenser and the temperature of the saturatedrefrigerant leaving the evaporator. This temperature difference was utilized with the control system to regu-late both the means for adjusting the position of the guide vanes and the means for driving the compressor.
20 However, the assumed linearity of the function between the isentropic compressor head parameter _fiL and the difference between the condensing and the evaporating refrigerant temperatures was not to be entirely accurate over the system operation, especially at light loads and 25 at low heads.
In U. S. Patent No. 4,282,~19 which issued on August 11, 1981, there is taught a capacity control system having a more accurate indication of compressor head which, even at light loads and low heads, could be 30 determined by a signal that is a function of the ex-pression ~Pcd-pev)pev. The numerator of this ~3~
ratio is derived from the difference between the con-denser absolute pressure PCd and the evaporator absolute pressure PeV. The denominator of this ratio signal is derived from the evaporator absolute pressure PeV-In U. ~. Patent No. 4,546,618 which issued onOctober 15, 19~5, there is shown a capacity control system for inverter-driven centrifugal based water chillers which includes a microprocessor responsive to continual measurements of a PRV signal, compressor head signal and suction flow signal for regulating both the inlet guide vanes and compressor speed. In another embodiment of this patent, the compressor head signal is replaced with an actual motor speed signal of the com-pressor. Consequently, the microprocessor in the secondembodiment is responsive to the PRV signal, motor speed signal and suction flow signal for regulating both the inlet guide vanes and compressor speed.
However, the three above patents used pre-stored surge surface equations which are factory set. Thus, these sysems did not take into account the varying condi-tions affecting the surge surfaces. The present in-vention represents an improvement over these three patents, which are all assigned to the same assignee as this application. This invention provides a self-optimizing, capacity control system for inverter-driven centrifugal compressor based water chillers wherein adjustable inlet guide vanes and compressor speed are both automatically regulated in response to a continually updated "learned" chiller surge surface so as to realize the minimum overall chiller energy consumption. This is accomplished by a micro-processor having a random-access memory which perio-dically identifies the location of the surge surface at the current operating point of the chiller and updates that surge surface information in the random-access 33~5 memory during a "learning" mode. Then, the micro-processor causes the chiller t~ operate at a safety margin away from the surge surface during an"operating"
mode for minimum energy consumption.
In particular, the present invention uses all of the same input signals to the control system block 50 in the '725 patent except that (1) the condenser temperature from the thermistor 56 is replaced by an absolute con-denser pressure signal taken from the transducer 110 on line 111 of '719 patent and (2) the evaporator tem-perature from the thermistor 58 i5 replaced by an absolute evaporator pressure signal taken from the transducer 112 on line 113 of the '719 patent. Further, the amplifier 59 of the '725 patent is replaced by a func-tional generator 104 formed by the blocks 120 and 123 in Figure 2 of the '719 patent. The substantial improvement of the present invention depends in part upon substi-tuting the electronic circuitry of the control system 50 illustrated in Figure 6A, 6B and 6C of the '~25 patent by a microprocessor having a random-access memory for stor-ing the updated surge surface information.
Accordingly, it is a general object of the present invention to provide a self-optimizing capacity control system for a refrigeration system wherein the compressor speed and inlet guide vane position are both adjusted automatically in response to a continually updated "learned" chiller surge surface so as to realize minimum overall chiller energy consumption.
It is an object of the present invention to provide a self-optimizing, capacity control system for a refri-geration system which includes a microprocessor having a random-access memory for periodically identifying the location of the surge surface at the current operating point and for updatating the surge surface information in the random-access memory during a "learning" mode.
It ic another object of the present invention to provide a self-optimizing, capacity control system for a :1~383~
refrigeration system which includes a microprocessor responsive to continual measurements of a PRV signal, a compressor head signal, a compressor motor speed signal, and a motor current signal for setting the compressor speed at a safety margin from the surge speed during an "operating" mode.
In accordance with these aims and objectives, the present invention is concerned with the provision of a self-optimizing, capacity control system for a refri-geration system which includes a compressor, condenserand an evaporator, all connected in a closed refri-geration circuit. The compressor has a plurality of adjustable inlet guide vanes, a motor connected to regulate the inlet guide vanes position, and an elec-trical variable speed motor connected to drive the com-pressor. The self-optimizing, capacity control system includes means for sensing the absolute condenser pres-sure to generate a first signal and means for sensing the absolute evaporator pressure to generate a second signal. There are also provided means for sensing the amplitude of the current flowing in the compressor drive motor to generate a third signal and means for sensing the actual speed of the compressor drive motor to gene-rate a fourth signal. Means for sensing the physical posi-tion of the inlet guide vanes is provided to generate afifth signal. Means for sensing the temperature of the chilled water discharged from the evaporator is provided to generate a sixth signal. Further, there is provided a means for sensing a temperature set point to generate a seventh signal. A microprocessor responsive to the first through the seventh signals generates control ~ignals to regulate automatically both the speed of the compressor drive motor and the position of the inlet guide vanes so as to realize minimum overall chiller energy consumption.
:123~
These and other objects and advantages of the present invention will become more fully apparent from the following detailed description when read in con-junction with the accompanying drawings with like reference numerals indicating corresponding parts throughout, wherein:
Figure 1 is block diagram of a self-optimizing, capacity control system of the present invention which includes a microprocessor with a RAM;
Figure 2 is a graphical illustration useful in understanding the operation of the present invention in the partly open vane region of a "learning" mode;
Figure 3 is a more detailed diagram illustrzting the microprocessor of Figure 1 by way of a flow chart during a "learning" mode;
Figure 4 is a more detailed diagram illustrating the microprocessor of Figure 1 by way of a flow chart during an "operating" mode;
Figures 5 and 6 are graphical illustrations useful in understanding the operation of the present illus-tration; and Figure 7 is a graph depicting a typial initial chiller surge surface and an adjusted surge surface.
Referring now in detail to the various views of the drawings, there is shown in Figure 1 in bloc~ diagram form a refrigeration or cooling system which includes a centrifugal compressor 20 for passing a refrigerant through line 21 to a condenser 22. Water from a cooling tower (not shown) enters on line 23 and leaves on line 24, the water being in heat exchange relationship with the liquid refrigerant in the condenser 22. A refri-gerant at the discharge side of condenser 22 is delivered to a fixed orifice 26 via line 25. The outlet of the ori-fice 26 is passed over line 27 to the refrigerant inlet connection of an evaporator 28. The refrigerant is then passed through the evaporator and out a suction duct 30 1~8~!~5i having a plurality of inlet guide vanes 31 or pre-rotational vanes (PRV). The position of the guide vanes 31 is regulated by a small PRV motor 32 which receives a control signal on line 33. The higher temperature of water from a building or cooling load (not shown) enters on line 34 and leaves as chilled water on line 35, the building water being in heat exchange relationship with the refrigerant vapor in the evaporator 28.
An electrical prime mover such as an induction motor 36 is coupled over a shaft 39 for driving the centrifugal compressor 20. The motor 36 is in turn driven from an inverter 37 which receives a DC input voltage over line 38 so as to determine the amplitude of the inverter output voltage. A
voltage control circuit 40 is provided between a voltage supply line 41 and the line 38 which delivers the DC input voltage to the inverter 37. The frequency of the inverter output voltage is resulted by the periodicity of timing or gating signals appearing on line 43 from a logic circuit 44. As is well known, a regulating input signal through the logic circuit on line 45 may be a DC voltage for controlling a voltage-controlled oscillator in the logic circuit to provide output pulses at a frequency determined by the amplitude of the signal on line 45. The logic circuit generally includes a ring counter-type circuit to distribute the impulses to the switching means such as thyristors in the inverter 37.
As described thus far, the components of the present refrigeration system are quite conventional in nature and are the same components as shown in Figure 1 of Patent No.
4,151/725. The substantial improvement of the present invention depends in part upon the provision of a microprocessor 106 with random-access memory (RAM) 107 which is utilized to automatically regulate both the speed of the induction motor 36 via line 51 and the physical position of the kh/sd ~3~
pre-rotational vanes 31 via line 33 so as to realize minimum overall chiller energy consumption. The vane control signal on line 33 can be either an "open vanes" signal on line 53 or a "closed vanes" signal on line 54, or no signal ("hold vanes").
As can be seen, the output speed control signal from the micro-processor 106 on line 112 is fed through a digital-to-analog (D/A) converter 114 for supplying the line 51. The vane position control signals from the microprocessor 106 on lines 116 and 118 are fed through respective D/A converters 120 and 121 for supplying the respective lines 53 and 54. These output control signals are derived from various input signals which will now be described.
A first input signal on line 55 is provided by a first compressor transducer 56 and is a function of the absolute pressure in the condenser 22. A second input signal on line 57 is obtained from a second pressure transducer 58 and : is a function of the absolute pressure in the evaporator 28.
The first input signal is fed through analog-to-digital (A/D) : converter 122 for driving the microprocessor 106 via line 124.
The second input signal is fed through A/D converter 126 for ; driving the microprocessor 106 via line 128. The pressure transducers 56, 58 are the same type as pressure transducers : 110 and 112 described in Figure 1 of U.S. Patent No. 4,282,719.
A third input signal on line 71 which is representative of the amplitude of the current flowing through the winding of the induction motor 36. This motor current signal is fed through A/D converter 179 for driving the micro-processor 106 via line 181. This motor current signal may be derived from a current transformer 75 connected to the motor 36 via a line 77. The first, second and third input signals representative of the respective condenser pressure, evaporator pressure and motor current define input signals for surge detector kh/ l ~3~39~
g means 165 for the chiller of the present invention as ~ill be explained in more detail later.
A fourth input signal on line 72 i9 provided which is representative of the actual motor speed of the in-duction motor 36. This mo~or speed signal is fed to A/Dconverter 183 for driving the microprocessor 106 via line 1~4. It should be understood that the actual motor speed can be derived via a conventional tachometer 73 connected to the motor 36 via a line 74.
A fifth input signal on line 62 is provided by a potentiometer 61 with its movable arm or wiper mecha-nically coupled to the output shaft of the PRV motor 32 as indicated by the dotted lines 61a. Therefore, this fifth input signal indicates (i.e., wide open vanes -WOV, 3/4 open, 1/2 open and so forth) of the inlet guide vanes 31 in a continuous manner. The fifth signal is fed through A/D converter 130 for driving the microprocessor 106 via line 132. A sixth input signal on line 64 is obtained from a thermistor 63 positioned to sense the temperature of the chilled water discharged from the evaporator 28. This sixth signal represents the instan-taneous load condition and is fed through A/D converter 134 for driving the microprocessor 106 via line 136. A
seventh input signal on line 138 is obtained from a po-tentiometer 66 and represents a temperature set point ordesired condition signal. This seventh signal is fed thro~gh A/D converter 140 to the microprocessor 106 via line 142.
In order to provide an understanding of the general overall operation of the present invention, reference is now made to Table I of the Appendix which summarizes how the microprocessor regulates th~o compressor speed and PRV
position in the surge surface during a "learning" mode and during an "operating" mode. As can be seen, there exists a wide open vane (WOV) region and a partly open vane (POV) region for each mode. In the WOV region of ~23~95 the "learning"mode, there are no surge surfaces to be learned since the PRV are wide open and thus no other combinations exists for a lower speed and more open vane position. Consequently, any reduction in compressor speed will cause a lower chiller capacity and a hiyher leaving chilled water temperature.
Reference now made to Figure 2 of the drawings which is a graphical illustration useful in understanding the operation of the present invention in the POV region of the "learning" mode. Figure 2 depicts how lines of constant chiller power appear on a chart where the PRV
setting is plotted along the left ordinate and the com-pressor speed is plotted along the abcissa. For example, if the PRV setting is equal to the PRVi and the com-pressor speed is equal to Si, there is defined aparticular operating point i. Prior to initiation of "learning mode", the microprocessor will determine the current operating point in an initial surge surface array for the various input signals. The method for generating the initial surge surface array which is stored in a random-access memory (RAM) 107 of the microprocessor 106 will be explained hereinafter.
Upon start-up of the "learning mode", the micro-processor will lower incrementally the compressor speed such as by approximately .1 hz to a point "a". Then, with the speed being held constant the chilled water temper-ature control is closed by moving of the PRV to a point "b" so that the error in the water temperature is within +.1F from the water set point temperature. This process is continually repeated along point "c", "d", "e", and "f" until a surge is detected at the point "f".
The current surge surface array stored in the RAM is now updated with the detected surge conditions or information reltive to the PR'I position, compressor speed, and pres-sure ratio. Finally, the microprocessor will suspend the ~3~3,~5 "learning" mode and activate the normal "operating" modewhich now will be described.
In the WOV region of the "operating" mode, the PRV
are held in a fully opened position and the compressor speed is increased or decreased so as to meet the load requirement by maintaining constant the leaving chilled water temperature. If a reduced load requires a lower capacity, the microprocessor will shift to the partly open vane region of control. In the POV region of the "operating" mode, errors in the chilled water temperature are controlled by changing both the PRV position and the compressor speed. The primary chiller capacity control is accomplished by ad justing the PRV position . The PRV
are moved to a more open position if a chiller capacity is increased and to a more closed position if the chiller capacity is decreased.
The secondary chiller capacity control is accom-plished by adjusting the compressor speed so as to in-crease or set it at a safety margin, such as .5 hz to a point "g" in Figure 2, away from the surge speed as determined from the latest surge surface during the "learning" mode. It should be understood that the compressor speed is a function of the PRV position and the head measurement (approximated by the pressure ratio). Thus, this point "g" defines the minimum energy operating point which is surge free and still satisfies the load and head requirements.
The details of the microprocessor required to perform the function just described with respect to the "learning" mode portion of Table I is shown in Figure 3 in a flow chart fashion. The microprocessor 106 includes a functional block 104 which receives the first input signal representative of the absolute condenser pressure from line 124 and the second input signal representative of the absolute evaporator pressure from line 12~. The functional block lOs produces on its output line 105 a signal which is a ratio. This ratio signal is the same as the signal represented on line 124 in Figure 2 of the '719 patent. A block 158 receives this ratio signal on line 105 which is indicative of the compressor head. The input signal representative of the motor speed on the line 184 is also received by the block 158. Further, a fifth input signal representative of the vane position on the line 132 is fed to the block 158.
From all of these inputs a block 160 locates the current operating point such as the point "i" of Figure 2.
The surge array is stored in the RAM 107. Once the operating point is located, the compressor speed is incrementally decreased in speed by a speed block 162. This output speed control signal on the line 112 from the block 162 is utilized to regulate the speed of the induction motor 36 via the D/A
converter 114 and the line 51.
A block 164 receives the sixth input signal representative of the instantaneous load condition from line 136 and the seventh input signal from line 142 representative of the desired condition. The block 164 is used to increase or open the position of the vanes so that an error between the chilled water temperature and the temperature set point is within point .13F.
A surge detector block 166 in response to the surge detection device 165, which is provided as part of the present control system, determines whether the centrifugal compressor is in the surge condition. This surge detection device 165 may be the same as the surge detection apparatus 10 of Figure 1 taught in applicant's ~.S. Patent No. 4,581,900, issued April 15, 1986. In this patent the surge detection apparatus 10 receives as input signals a motor current signal kh/,~
3~5 obtained from a current transformer 24 connected in a phase line 26 of an induction motor 20, a condenser pressure signal obtained from a first pressure transducer 32 connected to the discharge line of the condenser 14, and an evaporator pressure signal obtained from a second pressure transducer 34 connected to the suction side of the compressor. The device 165 receives these corres-ponding input signals on respective lines 181, 124 and 128. In response to these input signals, the apparatus generates as output signals a filtered motor current signal on line 63, a filtered differential pressure sig-nal on line 60, a filtered current threshold signal on line 70 and a filtered differential pressure threshold signal on line 72. The device 165 generates these corresponding output signals on lines 167, 169, 171 and 173 which are fed to the microprocessor 106.
The surge detector block 166 in the microprocessor 106 depicted in Figure 3 of the present invention is formed in the manner as the flow chart shown in Figure 2 of the aforementioned copcnding ap~}i--eat-i~. Thus, the block 166 will indicate that the compressor is surging when the differential pressure threshold and current threshold signals are exceeded within a pre-selected time ~ interval.
; 25 If a surge condition does not exist, the process of decreasing the compressor speed is repeated via the block 162 until a surge condition exists. At the surge condi-tion, a block 168 reads the PRV position, condenser pressure, evaporator pressure, and compressor speed.
This new information is updated by a block 170 for storing in the RAM 107. Thereafter, blocks 172 and 174 causes discontinuation of the "learning" mode and ac-tivates the normal "operating" mode of the system, respectively.
Similarly, the details of the microprocessor 106 required to perform the function previously described 1~3~
with respect to the "operating" mode portion of Table I
is shown in Figure 4 in a flow chart fashion. A block 176 increases the compressor speed until the system is no longer in the surge condition. Once it is determined that the compressor is not surging any block 166, a block 178 will open the position of the vanes if the chilled water temperature is determined to be too hot by the "open vanes' control signal on line 116. On the other hand, if the chilled water temperature is too cold, the block 178 will cause the position of the vanes to close by the "closed vanes" control signal on line 118. These same control signals are used to regulate the PRV motor 32 via the line 33. Subsequently, the compressor speed is increased a safety margin such as .5 hz from the current surge speed surface stored in the RAM 107. This is accomplished by the output speed control signal on the line 112 from the block 180 which is utilized to regulate the speed of the induction motor via the DA converter 114 via the line 51.
The method of generating the initial approximation to the surge surface for any variable speed chiller will now be explained. It is generally known to those skilled in the art that a Minimum Mach number Mo repre-sentative of compressor speed at wide open vanes is a function of the presure ratio over the compressor. The average values of actual measurements obtained from commercially available chillers during experimentation can be plotted to generate the graphical illustration of Figure 5. Further, it is also known that a speed correc-tion referred to as "speed boost" Mo is required to be made in the POV region of control for the minimum Mach number at WO~ to formulate correctly the surge surface.
Similarily, the average values of actual measurement of "speed boost" and PRV positions can be plotted to generate the graphical illustration of Figure 6. By combining the Mach number relationship from Figures 5 :~3~3;~
and 6 and defining the Mach number at 60 Hz inverter fre~uency to be equal to 1.5, the initial surge surface speed array can be generated and shown in Table II of the Appendix. In Table II, the columns are designated by the pressure ration PCd/pev whle the rows are desig-nated by PRV position with 2.00 volts corresponding to the closed vane position and 10.00 volts corresponding to the wide open vane position. The tabulated surge surface speed are scaled such that 9.99 volts corresponds to 60 hz inverter frequency. Further, this information can be plotted to provide a typical initial surge surface which is illustrated in Figure 7 of the drawings. This initial surge surface is the one stored initially in the RAM 107 of the microprocessor.
The accuracy of this initial surge surface is not required since an updated point on the surge surface will be l'learnedl' during the "learning" mode. From this, the microprocessor will adjust all of the values in the surge surface array and calculate a new surge surface. For example, an adjusted surge surface is shown as a dot-dash line in Figure ~ whch illustrates a surge speed that is above the previously "learned" surface.
For completeness in the disclosure of the above described system but not for purposes of limitation, there is listed in Tabe III the functions of each task for the microprocessor in performing the various control and surge learning and detecting features of the present invention.
From the foregoing detailed description, it can best be seen that the present invention provides a self-optimizing, inverter-driven centrifugal compressor based water chiller control system wherein adjustable inlet guide vanes and compressor speed are both auto-matically regulated in response to a continually updated "learned" chiller surge surface so as to realize minimum overall chiller energy consumption. The control system ~3~ 5 of the present invention inclucles a microprocessor having a random-access memory for storing an updated current surge surface during the "learning" mode. Further, during the "operating" mode the compressor speed is set at a safety margin away from the current surge speed surface.
While there has been illustrated and described what is at present to be a preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made, and equivalents may be substituted for elements thereof without departing from the true scope of the invention.
In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the central scope there-of. Therefore, it is intended that this invention not be limited to the particular embodiment disclosed as the best mode contemplated for carrying out this invention, but that the invention will include all embodiments falling within the scope of the appended claims.
3~i __ R~Q~ ~ , r&~; ~e ~ OCE
S~C~L ~ SPEeD I l?RV cn~P~ SE~ED P~V
l __ _ ~idc Cpen Vane Nb ~Learnlng~ mode. Cbilled ~ater ~eld open 'WOV~ A surge is possible a~ controlled by chiller 1CYd decreases, fDrcinq Speed an entry in~o the surge surfac# function~L
Op~n Y~Dt ~ ~ec~e~ tnted i ¦ Chlll~ ater j Interpol~tl:n of ¦ Cbill-d at _ ~PCVr Step6 until controlled by latest surge controlled by sur~e occu~s PgV surfa oe func- PRV
tional and safety l _ _ . _ _ _ T~L I
APP~IX
1~
~3~39~
~NITIAL SURGB SPE ED ARRAY
1.80 2.00 2.10 2.20 2.30 2.40 2~50 2.60 2.80 3.10 3.60-PCD/PISV
PRV
9.06 9.58 9.82 9.99 9.99 9.99 9.99 9.99 9.99 9.99 9.99 2.00 2 8.66 9.13 9.42 9.65 9.86 9.9g 9.99 9.99 9.99 9.99 9.99 2.50 3 9.33 8.35 9.0119.32 g.53 9.74 9.96 9.99 9.99 9.99 9.99 3.00 8.13 8.65 8.83 9.12 9.33 9.54 9.76 9.94 9.99 9.99 9.99 3.33 5 7.93 8.~5 8.63 8.92 9.13 9.34 9.56 9.74 9.99 9.99 9.99 3.67 6 7.73 8.25 R.43 8.72 8.93 9.14 9.36 9.54 9.91 9.99 9.99 4.00 7 7.56 8.08 8.32 8.55 8.76 8.98 g.l9 9.33 9.74 9.99 9.99 4.33 8 7.~3 7.95 8. 188.~2 8.63 8.84 9.06 9.2~ 9.61 9.99 9.99 4.67 9 7.26 7.78 8.02 8.25 8.~6 8.68 8.89 9.03 9.~4 9.91 9.99 5.00 7.16 7.68 7.92 8.15 8.36 8.5a 8.79 8.98 9.34 9.81 9.99 5.50 11 7.06 7.58 7.a2 8.05 8.26 8.48 8.69 8.88 9.24 9.71 9.99 6.00 12 6.83 7O35 7.58 7.82 8.03 8.24 8.46 8.64 9.01 9.'18 9.99 7.50 13 6.66 7.18 7.42 7.65 7.86 8.08 8.29 8.48 11.84 9.31 9.92 10.00 TABLæ I~
/g ~238~915 TAS~ OUT~--e ~OR SELF-OPTI~IZING CON~ ~L SYSTEM
TASX O--Lase Initialization Sask a) Performed only at ayste~ start up b) Readn Mach ~o. at 60 hz and a code to initialize the 8urge 8urface rray or use the latest array learned for the chiller c) Initializes parameter~ for l/o filters, safety margins, etc.
d) Re5eta surge detector after inverter reaches 60 hz e) Loops until inhibit vane logic from logic board permits vane movement f) Actlvates all periodic tasks for control, learnlng, detection of sarge, etc.
TA5~ l--Normal Control of Co~pressor Speed a) Activated every .5 sec b) Computes incremental speed changes due to: 1) Water temperature error rom set point, 2) Speed error from latest learned surge surface, 3) Presence of a closed switch to establish a 60 hz operating point c) Outputs new speed set point to Inverter logic board TAS~ 2--Normal Control of PRV Movement a~ Activated every 10 sec b) Computes period for the PRV vane motor contacts to be closed depending on current PRV location and water temperature error TASR 3--Test For Compressor Surge a) Activated every 1. sec b) Tests for the surge detector logic signal indicating the chiller is ln a surging state c) ~ills Tasks 1 and 2 d) Activates a subroutine to e~it from surge by increasing speed and reducing PRV position e) Activates a subroutine to update that surge in the stored surge surface array in the computer memory f) Reactivates Tasks 1 and 2 TAS~ 4--Probes Por Surg0 Surface a) ~ills Tasks 1 and 2 b) Locate8 start of surge 5urface probe in the stored array c) Increases PRV, lf water temperature allows, by an increment if vanes are already not wide open d) Decreases speed, if speed is not at its minimum e) Reactivates Tasks 1 and 2 for normal control, if the PRV are at their ma~imum opening or if the speed is at it~ mini~um, and updates the surge surface f) Continues looping of this task until tests of e) are satisfied or the syste~ surges TAS~ S--Defines and Actlvates TAS~ ~
TAS~ 5--Readr and Yilters Input Variables a) Activated every .5 ~ec b) Reads and filter~ (via a first order lag with ti~e constant of 2 ec)s 1) Water set point temperature, 2) Actual water temperature, 3) Condenser pressure,
The surge detector block 166 in the microprocessor 106 depicted in Figure 3 of the present invention is formed in the manner as the flow chart shown in Figure 2 of the aforementioned copcnding ap~}i--eat-i~. Thus, the block 166 will indicate that the compressor is surging when the differential pressure threshold and current threshold signals are exceeded within a pre-selected time ~ interval.
; 25 If a surge condition does not exist, the process of decreasing the compressor speed is repeated via the block 162 until a surge condition exists. At the surge condi-tion, a block 168 reads the PRV position, condenser pressure, evaporator pressure, and compressor speed.
This new information is updated by a block 170 for storing in the RAM 107. Thereafter, blocks 172 and 174 causes discontinuation of the "learning" mode and ac-tivates the normal "operating" mode of the system, respectively.
Similarly, the details of the microprocessor 106 required to perform the function previously described 1~3~
with respect to the "operating" mode portion of Table I
is shown in Figure 4 in a flow chart fashion. A block 176 increases the compressor speed until the system is no longer in the surge condition. Once it is determined that the compressor is not surging any block 166, a block 178 will open the position of the vanes if the chilled water temperature is determined to be too hot by the "open vanes' control signal on line 116. On the other hand, if the chilled water temperature is too cold, the block 178 will cause the position of the vanes to close by the "closed vanes" control signal on line 118. These same control signals are used to regulate the PRV motor 32 via the line 33. Subsequently, the compressor speed is increased a safety margin such as .5 hz from the current surge speed surface stored in the RAM 107. This is accomplished by the output speed control signal on the line 112 from the block 180 which is utilized to regulate the speed of the induction motor via the DA converter 114 via the line 51.
The method of generating the initial approximation to the surge surface for any variable speed chiller will now be explained. It is generally known to those skilled in the art that a Minimum Mach number Mo repre-sentative of compressor speed at wide open vanes is a function of the presure ratio over the compressor. The average values of actual measurements obtained from commercially available chillers during experimentation can be plotted to generate the graphical illustration of Figure 5. Further, it is also known that a speed correc-tion referred to as "speed boost" Mo is required to be made in the POV region of control for the minimum Mach number at WO~ to formulate correctly the surge surface.
Similarily, the average values of actual measurement of "speed boost" and PRV positions can be plotted to generate the graphical illustration of Figure 6. By combining the Mach number relationship from Figures 5 :~3~3;~
and 6 and defining the Mach number at 60 Hz inverter fre~uency to be equal to 1.5, the initial surge surface speed array can be generated and shown in Table II of the Appendix. In Table II, the columns are designated by the pressure ration PCd/pev whle the rows are desig-nated by PRV position with 2.00 volts corresponding to the closed vane position and 10.00 volts corresponding to the wide open vane position. The tabulated surge surface speed are scaled such that 9.99 volts corresponds to 60 hz inverter frequency. Further, this information can be plotted to provide a typical initial surge surface which is illustrated in Figure 7 of the drawings. This initial surge surface is the one stored initially in the RAM 107 of the microprocessor.
The accuracy of this initial surge surface is not required since an updated point on the surge surface will be l'learnedl' during the "learning" mode. From this, the microprocessor will adjust all of the values in the surge surface array and calculate a new surge surface. For example, an adjusted surge surface is shown as a dot-dash line in Figure ~ whch illustrates a surge speed that is above the previously "learned" surface.
For completeness in the disclosure of the above described system but not for purposes of limitation, there is listed in Tabe III the functions of each task for the microprocessor in performing the various control and surge learning and detecting features of the present invention.
From the foregoing detailed description, it can best be seen that the present invention provides a self-optimizing, inverter-driven centrifugal compressor based water chiller control system wherein adjustable inlet guide vanes and compressor speed are both auto-matically regulated in response to a continually updated "learned" chiller surge surface so as to realize minimum overall chiller energy consumption. The control system ~3~ 5 of the present invention inclucles a microprocessor having a random-access memory for storing an updated current surge surface during the "learning" mode. Further, during the "operating" mode the compressor speed is set at a safety margin away from the current surge speed surface.
While there has been illustrated and described what is at present to be a preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made, and equivalents may be substituted for elements thereof without departing from the true scope of the invention.
In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the central scope there-of. Therefore, it is intended that this invention not be limited to the particular embodiment disclosed as the best mode contemplated for carrying out this invention, but that the invention will include all embodiments falling within the scope of the appended claims.
3~i __ R~Q~ ~ , r&~; ~e ~ OCE
S~C~L ~ SPEeD I l?RV cn~P~ SE~ED P~V
l __ _ ~idc Cpen Vane Nb ~Learnlng~ mode. Cbilled ~ater ~eld open 'WOV~ A surge is possible a~ controlled by chiller 1CYd decreases, fDrcinq Speed an entry in~o the surge surfac# function~L
Op~n Y~Dt ~ ~ec~e~ tnted i ¦ Chlll~ ater j Interpol~tl:n of ¦ Cbill-d at _ ~PCVr Step6 until controlled by latest surge controlled by sur~e occu~s PgV surfa oe func- PRV
tional and safety l _ _ . _ _ _ T~L I
APP~IX
1~
~3~39~
~NITIAL SURGB SPE ED ARRAY
1.80 2.00 2.10 2.20 2.30 2.40 2~50 2.60 2.80 3.10 3.60-PCD/PISV
PRV
9.06 9.58 9.82 9.99 9.99 9.99 9.99 9.99 9.99 9.99 9.99 2.00 2 8.66 9.13 9.42 9.65 9.86 9.9g 9.99 9.99 9.99 9.99 9.99 2.50 3 9.33 8.35 9.0119.32 g.53 9.74 9.96 9.99 9.99 9.99 9.99 3.00 8.13 8.65 8.83 9.12 9.33 9.54 9.76 9.94 9.99 9.99 9.99 3.33 5 7.93 8.~5 8.63 8.92 9.13 9.34 9.56 9.74 9.99 9.99 9.99 3.67 6 7.73 8.25 R.43 8.72 8.93 9.14 9.36 9.54 9.91 9.99 9.99 4.00 7 7.56 8.08 8.32 8.55 8.76 8.98 g.l9 9.33 9.74 9.99 9.99 4.33 8 7.~3 7.95 8. 188.~2 8.63 8.84 9.06 9.2~ 9.61 9.99 9.99 4.67 9 7.26 7.78 8.02 8.25 8.~6 8.68 8.89 9.03 9.~4 9.91 9.99 5.00 7.16 7.68 7.92 8.15 8.36 8.5a 8.79 8.98 9.34 9.81 9.99 5.50 11 7.06 7.58 7.a2 8.05 8.26 8.48 8.69 8.88 9.24 9.71 9.99 6.00 12 6.83 7O35 7.58 7.82 8.03 8.24 8.46 8.64 9.01 9.'18 9.99 7.50 13 6.66 7.18 7.42 7.65 7.86 8.08 8.29 8.48 11.84 9.31 9.92 10.00 TABLæ I~
/g ~238~915 TAS~ OUT~--e ~OR SELF-OPTI~IZING CON~ ~L SYSTEM
TASX O--Lase Initialization Sask a) Performed only at ayste~ start up b) Readn Mach ~o. at 60 hz and a code to initialize the 8urge 8urface rray or use the latest array learned for the chiller c) Initializes parameter~ for l/o filters, safety margins, etc.
d) Re5eta surge detector after inverter reaches 60 hz e) Loops until inhibit vane logic from logic board permits vane movement f) Actlvates all periodic tasks for control, learnlng, detection of sarge, etc.
TA5~ l--Normal Control of Co~pressor Speed a) Activated every .5 sec b) Computes incremental speed changes due to: 1) Water temperature error rom set point, 2) Speed error from latest learned surge surface, 3) Presence of a closed switch to establish a 60 hz operating point c) Outputs new speed set point to Inverter logic board TAS~ 2--Normal Control of PRV Movement a~ Activated every 10 sec b) Computes period for the PRV vane motor contacts to be closed depending on current PRV location and water temperature error TASR 3--Test For Compressor Surge a) Activated every 1. sec b) Tests for the surge detector logic signal indicating the chiller is ln a surging state c) ~ills Tasks 1 and 2 d) Activates a subroutine to e~it from surge by increasing speed and reducing PRV position e) Activates a subroutine to update that surge in the stored surge surface array in the computer memory f) Reactivates Tasks 1 and 2 TAS~ 4--Probes Por Surg0 Surface a) ~ills Tasks 1 and 2 b) Locate8 start of surge 5urface probe in the stored array c) Increases PRV, lf water temperature allows, by an increment if vanes are already not wide open d) Decreases speed, if speed is not at its minimum e) Reactivates Tasks 1 and 2 for normal control, if the PRV are at their ma~imum opening or if the speed is at it~ mini~um, and updates the surge surface f) Continues looping of this task until tests of e) are satisfied or the syste~ surges TAS~ S--Defines and Actlvates TAS~ ~
TAS~ 5--Readr and Yilters Input Variables a) Activated every .5 ~ec b) Reads and filter~ (via a first order lag with ti~e constant of 2 ec)s 1) Water set point temperature, 2) Actual water temperature, 3) Condenser pressure,
4) ~vaporator pres8ure, 5) CompressoF speed, 6) PRV
position c) Co~putes the water te~perature after a lead~lag control co pen~ation software soction T~aL~ III
APP~NDI~
position c) Co~putes the water te~perature after a lead~lag control co pen~ation software soction T~aL~ III
APP~NDI~
Claims (20)
1. A self-optimizing, capacity control system for a refrigeration system, including a compressor, a con-denser, and an evaporator, all connected in a closed refrigeration circuit, which compressor includes a plurality of adjustable inlet guide vanes, a motor connected to regulate the inlet guide vanes position, and an electrical variable speed motor connected to drive the compressor, said control system comprising:
means for sensing the absolute condenser pressure to generate a first signal;
means for sensing the absolute evaporator pressure to generate a second signal;
means for sensing the amplitude of the current flowing in the compressor drive motor to generate a third signal;
means for sensing the actual speed of the com-pressor drive motor to generate a fourth signal;
means for sensing the physical position of the inlet guide vanes to generate a fifth signal;
means for sensing the temperature of the chilled water discharged from the evaporator to generate a sixth signal;
means for sensing a temperature set point to generate a seventh signal; and microprocessor means responsive to said first through seventh signals to generate control signals to regulate automatically both the speed of the compressor drive motor and the position of the inlet guide vanes based upon a continually updated "learned" chiller surge surface so as to realize a minimum overall chiller energy consumption.
means for sensing the absolute condenser pressure to generate a first signal;
means for sensing the absolute evaporator pressure to generate a second signal;
means for sensing the amplitude of the current flowing in the compressor drive motor to generate a third signal;
means for sensing the actual speed of the com-pressor drive motor to generate a fourth signal;
means for sensing the physical position of the inlet guide vanes to generate a fifth signal;
means for sensing the temperature of the chilled water discharged from the evaporator to generate a sixth signal;
means for sensing a temperature set point to generate a seventh signal; and microprocessor means responsive to said first through seventh signals to generate control signals to regulate automatically both the speed of the compressor drive motor and the position of the inlet guide vanes based upon a continually updated "learned" chiller surge surface so as to realize a minimum overall chiller energy consumption.
2. A capacity control system as claimed in Claim 1, wherein said condenser pressure sensing means com-prises of a first pressure tranducer.
3. A capacity control system as claimed in Claim 1, wherein said evaporator pressure sensing means com-prises a second pressure transducer.
4. A capacity control system as claimed in Claim 1, wheren said inlet guide vanes sensing means comprises a potentiometer havng a movable arm mechanically coupled to the shaft of the vanes position motor.
5. A capacity control system as claimed in Claim 1, wherein said current sensing means is a current trans-former.
6. A capacity control system as claimed in Claim 1, wherein said speed sensing means comprises a tacho-meter.
7. A capacity control system as claimed in Claim 1, wherein said microprocessor means in response to said first through seventh signals determines both the com-pressor speed and the position of the inlet guide vanes to define a current operating point in an initial surge surface array stored in a random-access memory.
8. A capacity control system as claimed in Claim 7, wherein said microprocessor means includes means for initiating a "learning" mode in which the compressor motor speed is decreased incrementally and the inlet guide vanes are moved to a more open position to define a second operating point, said microprocessor means deter-mining whether said compressor is surging at said second operating point.
9. A capacity control system as claimed in Claim 8, wherein said microprocessor means includes means for continually decreasing incrementally the compressor drive motor speed and opening more of the vanes until an operat-ing point is found where said compressor is surging, said microprocessor means updating the initial surge surface array stored in the random-access memory with the latest surge conditions.
10. A capacity control system as claimed in Claim 9, wherein said microprocessor means includes means for initiating an"operating" mode in which the guide vanes are moved in response to a temperature error signal related to the difference between the sixth and seventh signals and said compressor speed is set at a safety margin away from the surge speed.
11. A self-optimizing, capacity control system for a refrigeration system including a compressor, a conden-sea, and an evaporator, all connected in a closed re-frigeration circuit, which compressor includes a plurality of adjustable inlet guide vanes, a motor con-nected to regulate the inlet guide vanes position and an electrical variable speed motor to drive the compressor, said control system comprising:
means for generating a first signal which is a function of the ratio of the absolute condenser pressure and the absolute evaporator pressure to define a com-pressor head signal;
means for generating a second signal which is a function of the amplitude of the current flowing in the compressor drive motor to define a motor current signal;
means for generating a third signal which is a function of the actual speed of the compressor drive motor to define a motor speed signal; and microprocessor means responsive to said compressor head signal, motor current signal, and motor speed signal for generating control signals to automatically adjust both the speed of the compressor speed drive motor and the inlet guide vanes based upon a continually updated "learned" chiller surge surface so as to utilize minimal overall chiller energy consumption.
means for generating a first signal which is a function of the ratio of the absolute condenser pressure and the absolute evaporator pressure to define a com-pressor head signal;
means for generating a second signal which is a function of the amplitude of the current flowing in the compressor drive motor to define a motor current signal;
means for generating a third signal which is a function of the actual speed of the compressor drive motor to define a motor speed signal; and microprocessor means responsive to said compressor head signal, motor current signal, and motor speed signal for generating control signals to automatically adjust both the speed of the compressor speed drive motor and the inlet guide vanes based upon a continually updated "learned" chiller surge surface so as to utilize minimal overall chiller energy consumption.
12. A capacity control system as claimed in Claim 11, wherein said microprocessor means in response to said first through third signals determines both the com-pressor speed and the position of the inlet guide vanes to define a current operating point in an initial surge surface array stored in a random-access memory.
13. A capacity control system as claimed in Claim 12, wherein said microprocessor means includes means for initiating a "learning" mode in which the compressor motor speed is decreased incrementally and the inlet guide vanes are moved to a more open position to define a second operating point, said microprocessing means deter-mining whether said compressor is surging at said second operating point.
14. A capacity control system as claimed in Claim 13, wherein said microprocessor means includes means for continually decreasing incrementally the compressor drive motor speed and opening more of the vanes until an operat-ing point is found where said compressor is surging, said microprocessor means updating the initial surge surface array stored in the random-access memory with the latest surge conditions.
15. A capacity control system as claimed in Claim 14, wherein said microprocessor means includes means for initiating an "operating" mode in which the guide vanes are moved in response to a temperature error signal related to the difference between a chilled water temperature and a temperature set point and said com-pressor speed is set at a safety margin away from the surge speed.
16. A method for controlling a refrigeration system having a compressor, a condenser, and an evaporator, all connected in an enclosed refrigeration circuit, which compressor includes a plurality of adjustable inlet guide vanes, a motor connected to regulate the inlet guide vanes position and an electrical variable speed motor connected to drive the compressor, said method comprising the steps of:
sensing the absolute condenser pressure to generate the first signal;
sensing the absolute evaporator pressure to generate a second signal;
sensing the amplitude of the current flowing in the compressor drive motor to generate a third signal;
sensing the actual speed of the compressor drive motor to generate a fourth signal;
sensing the physical position of the inlet guide vanes to generate a fifth signal;
sensing the temperature of the chilled water discharged from the evaporator to generate a sixth sig-nal;
sensing a temperature set point to generate a seventh signal; and generating control signals in response to the first through seventh signals to regulate automatically both the speed of the compressor drive motor and the position of the inlet guide vanes based upon a conti-nually updated "learned" chiller surge surface so as to realize minimal overall chiller energy consumption.
sensing the absolute condenser pressure to generate the first signal;
sensing the absolute evaporator pressure to generate a second signal;
sensing the amplitude of the current flowing in the compressor drive motor to generate a third signal;
sensing the actual speed of the compressor drive motor to generate a fourth signal;
sensing the physical position of the inlet guide vanes to generate a fifth signal;
sensing the temperature of the chilled water discharged from the evaporator to generate a sixth sig-nal;
sensing a temperature set point to generate a seventh signal; and generating control signals in response to the first through seventh signals to regulate automatically both the speed of the compressor drive motor and the position of the inlet guide vanes based upon a conti-nually updated "learned" chiller surge surface so as to realize minimal overall chiller energy consumption.
17. A method for controlling a refrigeration system as claimed in Claim 16, further comprising the step of determining both the compressor speed and the position of the inlet guide vanes to define a current operating point in an initial surge surface array stored in a random-access memory in response to the first through seventh signals.
18. A method for controlling a refrigeration system as claimed in Clam 17, further comprising the steps of initiating a "learning" mode in which the compressor motor speed is decreased incrementally and the inlet guide vanes are moved to a more open position to define a second operating point, and determining whether said compressor is surging at said second operating point.
19. A method for controlling a refrigeration system as claimed in Claim 18, further comprising the steps of continually decreasing incrementally the compressor drive motor speed and opening more of the vanes until an operating point is found where said compressor is surging, and updating the initial surge surface array stored in the random-access memory with the latest surge conditions.
20. A method for controlling a refrigeration system as claimed in Claim 19, further comprising the step of initiating an "operating" mode in which the guide vanes are moved in response to a temperature error signal related to the difference between the sixth and seventh signals and said compressor speed is set at a safety margin away from the surge speed.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US06/685,685 US4608833A (en) | 1984-12-24 | 1984-12-24 | Self-optimizing, capacity control system for inverter-driven centrifugal compressor based water chillers |
| US685,685 | 1984-12-24 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1238395A true CA1238395A (en) | 1988-06-21 |
Family
ID=24753274
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000495877A Expired CA1238395A (en) | 1984-12-24 | 1985-11-21 | Self-optimizing, capacity control system for inverter-driven centrifugal compressor based water chillers |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US4608833A (en) |
| EP (1) | EP0186332B1 (en) |
| JP (1) | JPH0742958B2 (en) |
| CA (1) | CA1238395A (en) |
| DE (1) | DE3568470D1 (en) |
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-
1984
- 1984-12-24 US US06/685,685 patent/US4608833A/en not_active Expired - Lifetime
-
1985
- 1985-11-21 CA CA000495877A patent/CA1238395A/en not_active Expired
- 1985-11-28 DE DE8585308683T patent/DE3568470D1/en not_active Expired
- 1985-11-28 EP EP85308683A patent/EP0186332B1/en not_active Expired
- 1985-12-24 JP JP60291789A patent/JPH0742958B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| EP0186332A1 (en) | 1986-07-02 |
| US4608833A (en) | 1986-09-02 |
| DE3568470D1 (en) | 1989-04-06 |
| JPS61160597A (en) | 1986-07-21 |
| EP0186332B1 (en) | 1989-03-01 |
| JPH0742958B2 (en) | 1995-05-15 |
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