2009 Second International Conference on Computer and Electrical Engineering

DESIGN AND MODELING REMOTE MONITORING SYSTEM FOR A SOLAR POWER PLANT

Ali Hosein Arianfar1, M.Hosein Mehraban Jahromi2, Mohsen Mosalanejad3, Bahram Dehghan4
Islamic Azad University, ZahedShahr Branch, Iran, a_aryanfar85@yahoo.com 2 Islamic Azad University, Neyriz Branch , Iran, Hmehraban82@gmail.com 3 Islamic Azad University, Neyriz Branch, young researcher club, mohsen.ec@googlemail.com 4 Islamic Azad University, Sarvestan Branch, Iran, Bahramdehghan1@gmail.com
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AbstractIn this paper we will analyze and study a solar power plant of a linear parabolic type after introducing it. Monitoring system via the Internet is designed for the plant according to present parameters. Besides studying different dynamics of the Internet as important components we discuss the quality and effectiveness of each Internet parameter in order to explain the Internet behavior. According to previous studies one important obstacle to implementing remote monitoring system is variable delays .We try to explain delay behavior by using results of this study and other projects. After studying delay behavior during different periods, dynamics related to the delay in the Internet are modeled by using system recognition Technique. Wave Variable method is chosen as the best monitoring Method based on the studies which were done on remote Monitoring Methods and due to the variability of delays Internet .Solar power plants Monitoring system via the Internet is finally designed and Modeled according to this Method and Linear dynamic delay in the Internet.

is an advantage of this energy. At the present time the only problem in using solar power plants is high costs of establishing and operating them .Among all methods suggested for solar system monitoring, those with lower costs, shorter construction time and higher reliability are of utmost importance.([1],[2])

Key words- Solar Power plant , Modeling, Monitoring, Internet, Wave variables.

Figure 1.Shiraz solar power plant

I. INTRODUCTION The era of fossil fuels, As a Main part of our energy supplies, is coming to an end, so it is obvious that using new forms of energy is necessary. Because of this remarkable amount of energy received from the sun, and the fact that using solar energy is free of environmental pollution and harmful gases, solar energy can be a proper source to replace fossil Fuels. In areas where there is sufficient amount of solar energy, a solar power plant is the best way of generating electricity. Optimum use of a great permanent, endless and always available source of energy
978-0-7695-3925-6/09 $26.00 2009 IEEE DOI 10.1109/ICCEE.2009.163 83 81

Spread of the Internet and IT, especially in recent years, and necessity of utilizing this great revolution in different industries made us to attempt to develop solar power plants, particularly shiraz power plant, by studying methods of establishing and using this new technology . We will then examine the Internet dynamics as a medium and an important component of a Tele operation system via the Internet.

II.

INTERNET DYNAMICS

Table 1: Measured specification an data transferring line (the Internet)

Studying the Internet dynamics as a medium and an important component of a Tele operation system via the Internet is of utmost importance. In this paper besides considering different Internet dynamics based on QoS parameters, we study the quality and effectiveness of each Internet parameters to explain the Internet behavior. Time delay is introduced as the most important parameter in determining the internet dynamics as a QoS network. In order to have a logical and true understanding of delay behavior in the Internet, we have first tried to explain delay behavior by using the of this study and other projects , then we have directly measured delay on data transferring net in different places of the net in Iran . We analyzed the measurement, focusing and emphasizing our intended application that is establishing Tele operation via the Internet. In this paper we tried to Model delay related dynamics in the Internet as a black-box by using system recognition technique.

Average place Delay Shiras University Tabriz University Tehran University 739.0103 930.7525 2921.515 97.9353 93.2259 73.0796 SD

Maximum Delay 2371 2932 2132

Minimum Delay 639 723 692

Table 2: Average delay measured on data transferring line in Iran Delay (ms) Average value IP1 Shiraz University 772 722 950 IP2 799 937 1212 Delay (ms)

A. Delay in the Internet In a sample of works which have been done in measuring delay in the Internet, especially in Iran net lines , delays between three different places were measured and studied. These places are Shiraz University, Tabriz University , and Tehran University respectively .Since measurements in this study were done randomly, in irregular periods of time , and without following a specific pattern , the do not give any information about the Internet dynamic behavior or how it change . Furthermore, considering the numerical results of this study do not give any information about the distribution or the Internet delay behavior. Therefore, in this study we measured delay on data transferring net (the Internet) in the said places and given time periods. First, we computed delay statistical parameters related to each of the above mentioned hosts during a 24- hour period (table 1). Since we aim to study delay behavior related to Tele operation systems (commander - compliant), behavior and change values of these parameters in bilateral relations were also evaluated in a separate study. To that end 2 hosts with different IPs were selected randomly, and delay parameters behaviors in bilateral relations between hosts were studied in these two examples. Tables 1-5 summarize the results of these measurements. [3]

Tabriz University Tehran University

Table 3: Delay SD Measured on data transferring line (the Internet) in Iran Delay (ms) SD IP1 Shiraz University Tabriz University Tehran University 33 37 53 IP2 37 62 62 Delay (ms)

Table 4: Maximum delay measured on data transferring line in Iran Delay (ms) Maximum value IP1 Shiraz University Tabriz University Tehran University 732 796 1003 IP2 956 972 1327 Delay (ms)

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Table 5: Minimum Delay measured on data transferring line in Iran Delay (ms) Minimum Delay IP1 Shiraz University Tabriz University Tehran University 702 623 659 IP2 722 663 702 Delay (ms)

Delay is generally related with net load and line traffic Directly i.e the more net load and line traffic is, the more related delay is , and on the contrary , the less the net load and line traffic is , the less delay is . It was also observed that data transferring path does not depend on longitudes, that is, geographical path may be short but corresponding data transferring line is long. In order to study delay behavior in a 24- hour period , delays were measured in contiguous 24 hours by measuring delay for each minute ( Figure 2 ). As it is observed delay in first and late hours are more than other hours which may be due to more network users and therefore increasing delay proportional to increasing network traffic during these hours.

ARX Model is utilized here and its indices are specified by system recognition ([3] & [7]). Figure 3 shows the general concept of using ARX Model to Model packet delay dynamics .ARX input is packet inter - departure time from source host and end to end delay change measured by destination host is its output. Other traffic effects (i.e packets coming from other hosts) are modeled as ARX noise. In order to determine ARX indices, a series of input and output data from modeling by ns2 [7] were selected. Given u(k) and y(k) are input data and output data at slot-k respectively . ARX Model is defined as follows: A(q) y(k)= b(q) u( k-nd) + e(k) A(q)=1+q1q-1++ana q-na B(q)=b1+b2q-1++bnbq-n(b+1) Where e(k)=immeasurable noise q-1= operator delay, i.e qu-1(k)=u(k-1) nb ,na =corresponding polynomials indices, and nd= number or input to output delay In order make it easier to remember, is defined an follows =[na ,nb , nd] Here u(k) and y(k) are corresponding to k-th packet inter-departure time and k-th end to end packet delay change.[8]
e(t)
u(k)

noise(other traffic)

ARX model of Internet Delay

y(k)

Input(packet inter-departure time)

Output(Round-Trip Time)

1200
Time Delay

24 Hour_Time Delay

1000 800 600 400 200 0

0:00:00 0:41:00 1:22:00 2:03:00 2:44:00 3:25:00 4:06:00 4:47:00 5:28:00 6:09:00 6:50:00 7:31:00 8:12:00 8:53:00 9:34:00 10:15:00 10:56:00 11:37:00 12:18:00 12:59:00 13:40:00 14:21:00 15:02:00 15:43:00 16:24:00 17:05:00 17:46:00 18:27:00 19:08:00 19:49:00 20:30:00 21:11:00 21:52:00 22:33:00 23:14:00 23:55:00

Figure 3: ARX Model for end to end packet delay Dynamics Modeling

Data resulted from direct measurement of delay on data transferring line in previous section was also used. Figure u shows u(k) inter departure time and y(k) end to end packet delay change in UDP .

Figure 2: Delay behavior in a 24 hour period

Black Box Modeling by using ARX Model Our goal in this section is modeling a SISO system which explains end to end delay dynamics, that is, the process of transferring a packet from source host and consequent end to end delay which is observed at destination host. System input is considered as Inter-departure time from source host that is the interval between two successive packets from the same host. End to end packet delay measured by destination host, i.e the difference between two successive end to end packet delays, on the other hand, is used as the system output.
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B.

end to end delay Variation

0.04 0.02 0 -0.02 -0.04

20

40

60 Time Step

80

100

120

0.5
Departure Time

0.4 0.3 0.2 0.1 0 0 20 40 60 Time Step 80 100 120

delay is the most important obstacle in establishing remote systems such as monitoring via the Internet. Two methods are suggested to eliminate adverse effects of remote system delay: Smith's prediction method and wave variables. Smiths prediction method is not useful when delay is not accurately known. So considering the Internet structure and topology and delay dynamics, wave variable method is used in this study to design and establish Monitoring systems. ([2], [4],[5]) A. Wave Variables Method This method is used to eliminate delay instability effects in a closed ring. It changes signal carrying control signals in a connective cable with delay in to wave variables. Wave variables were first introduced by Anderson and Song in 1979 [9].Although stability is Maintained in this Method, its efficiency decreases considerably. Passivity concept explains stability in this method. Physical passivity is described by energy arguments .A passive system cannot be stabilized as energy can only be increased by inputs from external sources. Connection delay be destabilized the system because it increases system energy. Energy, which may be defined as Integral of force by velocity product, may be increased by connection delay by converting it to wave variables; energy will be the total squares of two variables which do not change the sign. Connection delay may make the moment sign and therefore power sign positive or negative. For network power is: P= m m or P=XTF When F= force , = Moment , X=linear velocity, and = angular velocity. But by using ware variables, power will be: Pwv=(Um2-Vm2)/2 or Pwv=(1/2)Ut U (1/2)Vt V t (1/2)U U, which appears with positive sign in power definition, introduces power in main direction and (1/2)Vt V , which appears with negative sign in power definition , in the opposite direction . In this case U is called rightward wave and V is called leftward wave. Wave variables can be obtained by following transformation of main power variables:

Figure 4: Modeling result (UDP Condition)

In Figure 5 measured data (line) and model output (dotted line) are compared for = [10. 4, 1]. Figure 5.2 show error function in all conditions. It is observed that j ( k|) output and y ( k) measured output are highly alike but they have small differences. The reason is that end to end measured packet delay change are distributed by other traffic which is unknown, and therefore is not considered in y*(k) out put.
25 20 Y(out) Model

end to end delay Variation(ms)

15 10 5 0 -5 -10 -15 -20 -25 0 10 20 30 40 50 60 70 80 90 100

Time Step

Figure 5-1: comparison between y(k) measured data and y*(k) out put
5 4 3 2

Error(ms)

1 0 -1 -2 -3 -4 -5 0 10 20 30 40 50 60 70 80 90 100

U
Time Step

bx  f 2b

and

bx  f 2b

Figure 5.2: Error Function between y (k ) measured data and y*( k) output.

III. POWER PLANT MONITORING Monitoring includes inspection, supervision, sending signals and messages, and receiving signals from the environment. Based on previous studies and examining different Internet dynamics in terms of QoS parameters,

Where b is called wave impedance. Wave impedance may be a positive fixed number of a certain positive symmetrical matrix.

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X
b F

U m (t )

2b

bxm (t )  Fm (t ) 2b
Delay

and

vs (t )

bxs (t )  f s (t ) 2b

2b

1 sJ m  bm
Delay

sBpd  K pd s

1 sJ s  bs

Figure 6: Wave variable transformation manner.

The Transformation, which is used, is unique and reversible and no piece of information is lost in this way . This transformation provides a relationship between power and wave variables. For instance, having V as the input, F and U can be obtained according to Figure 6:

Fh

Fm

Fs

Figure 8:The structure used in tele operation modeling by wave variables.

bx  2bv

and

v  2b x

All the other combinations can be obtained in a similar way. Figure 7 structure is used in Tele operation system in order to send control signals.
Xm
b
x

Fs

Delay

F 2 Us  s b b

Xs

Fm

2b

Delay

Us 

2 Fs b

Fs

In this structure, equations which govern arm movement in commander robot are considered as: Jmm+bmm= m Similarly, equations which govern arm engine movement in compliant robot which makes an electro mechanic system are as follows: Jss+bss= s Where S=compliant parameters, M= commander parameters J = inertia moment, B= gearbox friction In order to control the situation in compliant unit, a simple (PD) controller was used as follows: pd=Kpd (m s) +Bpd(m-s) Parameters are used as follows in order to simulate this system performance. The result of modeling with T1 and T2 delay were obtained in figure 9.

Figure 7: The structure of a Tele operation system with wave variables.

In this structure velocity and Force variables are converted in to wave variables before sending. After receiving information, velocity and Force are obtained from wave variables. The relationship between wave variables before and after transferring is as follows:

u s (t ) um (t  TR(t ))

Vm (t ) VS (t  TL (t ))
Converting information in to wave variables is a follows:

Figure 9-a(T1)

Figure 9-b(T2) Figure 9: Control signals modeling by using wave variables (T1 & T2)

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According to the results of performed modeling with delay require a long time for damping and reaching stable conditions. Where ever a delay is more than a certain time (about 3 seconds) systems will destabilize. Using wave variables method improves system response and tracking .All the energy given to the system is consumed and the system does not generate energy by itself. B . Using wave variables in solar power plant monitoring Based on solar power plant monitoring oil flow (g) is taken as control signal (input) and output temperature level (T) is taken as the output signal. If we refer to power plant optimum linear model a Gp (z) sending and receiving control signal by using wave variable method will be as follows:
W A V E F O R M U L A T I O N
Um

IV CONCLUSION In this paper, different methods of transferring data from remote system under computer network were explained. Then the Internet dynamic related to Tele operation system via the Internet and based on QoS parameters were reviewed. There were intelligent and useful algorithms for eliminating correspondent effects of QoS parameters in systems via the Internet, except delay. Based on studies on remote Monitoring solar power plant via the Internet, wave variable method was selected as the best monitoring method due to variability of delay in the internet. A solar power plant monitoring system via the Internet was designed and modeled. Sending and tracking fluid flow signals (input) and fluid temperature (output) in solar power plant monitoring model was examined and its stability was evaluated.

Us
Delay

gm

Tm

Vm

VS

Delay

W A V E F O R M U L A T I O N

gS

GP s 

REFRENCES
[1] M.H.Mehraban Jahromi & F.Shabaninia, Introducing Effective Parameters in Tele-operation System Assessment, Iranian Journal of Engineering Education, vol .9 No.36, winter2007,(111-132) . [2] F. Shabania & M.H. Mehraban Jahromi Identification of Oil Cycle in the case of parabolic trough Solar Power Plant. IEEE, 39th North American Power Symposium (NAPS 2007), (197-204) [3] E.Kamrani & M.H. Mehraban Jahromi, Modeling Internet Delay Dynamics Using System Identification, India,IEEE2006(716-721)   [4] Camacho, E. F., M. Berenguel and F. Rubio, Application of Gain Scheduling Generalized Predictive Controller to a Solar Power Plant. Control Engineering Practice, 2(2):227-237, 1994. [5] Elhajj and N.XI, Real-Time Control of Internet Based Tele operation with Force Reflection, Proc.200 [6] J.-N. Juang, Applied system identification. Englewood Cliffs, N.J.: Prentice Hall, 1994. [7] L. Ljung, System identification theory for the user. Englewood Cliffs, N.J.: Prentice Hall, 2nd edition, Jan., 1999. [8] The network simulator-ns2. Available at http://www.isi.edu/nsnam/ns/ [9] S. Munir and W. J. Book, Internet-based teleoperation using wave variables with prediction, IEEE/ASME Trans. Mechatronics, vol. 7, no. 2, June 2002.,16

Ts

Figure 10: wave variable model in power plant monitoring (Gp(z))

In this block gm is flow control signal from remote operator, and gs is received signal for applying to power plant model, Ts is system response to flow input ( gs) . Finally Tm is the observed response of output temperature from operator:

Figure 11: modeling results (Temperature)

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