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Abstract In recent years, a number of extremum seeking (CF)
algorithms have been proposed. While each approach aims to
estimate the gradient of a performance metric in realtime and Compressor
steer inputs to values that optimize the metric, the way in
cond fan
which each method accomplishes this goal can have practical evap fan
speed speed
implications that depend on the application.
In this paper, we compare the performance of tradi-
tional perturbation-based extremum seeking to time-varying EEV position
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zone
Electronic
Expansion
valve
A.
Extremum Seeking
Controller
electrical power
evap fan speed consumption
Feedback
Controller
Fig. 3. Standard perturbation-based extremum seeking control.
B.
Fig. 2. Extremum seeking algorithms evaluated are configured to optimize
electrical power consumption by modulating both evaporator and condenser
fan speeds while the feedback controller regulates zone temperature and
problem.
internal VCS states. Consider a nonlinear system
x = f (x, a(x, v)) (1)
has been developed based on the Thermosys toolbox for y = h(x) (2)
MATLAB/Simulink [15]. This model captures pertinent dy-
namics through a moving-boundary approximation to the where x 2 Rn is the vector of state variables, v is the vector
heat exchanger dynamics. The parameters used in this model of input variables taking values in U R p and y 2 R is the
have been calibrated to data obtained from a 2.6 kW single- variable to be minimized. The function a(x, v) is smooth.
zone room air conditioner operating in cooling mode. It denotes the potential existence of a state-feedback that
Typically, vapor compression machines with variable actu- may be required to stabilize the process at its equilibrium.
ators are controlled with feedback regulators that command The state-feedback is parametrized by the input variable v.
compressor speeds and electronic expansion valve (EEV) It is assumed that f (x, a(x, v)) is a smooth vector valued
positions. Additionally, indoor and outdoor heat exchanger functions of x and v and that h(x) is a smooth function of x.
fans may be controlled to a small number of discrete speeds. The objective is to steer the system to the equilibrium x
In this context, the extremum seeking controllers considered and v that achieves the minimum value of y(= h(x )). The
here will continuously modulate both heat exchanger fans equilibrium (or steady-state) map is the n dimensional vector
speeds in order to minimize electrical power consumption p(v) which is such that:
(see Fig. 2). The room temperature regulation and internal
vapor compression machine state regulation are performed f (p(v), a(p(v), v)) = 0.
by the feedback controller, with the extremum seeking con- The equilibrium cost function is given by:
troller serving to relocate the steady state operation on the
equilibrium manifold to the point that minimizes power. y = h(p(v)) = `(v) (3)
Disturbances to the VCS include heat load (thermal power
removed from the indoor space by the evaporator and Thus, at equilibrium, the problem is reduced to finding the
rejected to the outdoor space by the condenser) and the minimizer v of y = `(v ).
outdoor air temperature. For each combination of these two Some basic assumption are required to ensure that this
disturbances, an optimal set of four inputs minimized VCS problem is well-posed.
power consumption. Assumption 1: The equilibrium cost (3) is such that
1) `(v )
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fed back to unknown nonlinear system. The ESC loop can with initial conditions S(0) = a1 I 0, where a1 , d and kT
be written as the following dynamical system. are strictly positive constants to be assigned. The inverse
of S is then given as the solution to the matrix differential
equation:
x = f (x, a(x, v(t)
+ a sin(wt)))
v = wkx S 1
= S 1 ccT S 1
+ kT S 1
dS 2
(9)
wl
x = wwl x + w (h(x) h) sin(wt) with initial condition S 1 (0) = a1 I. Let the variable h be
a
h = wwh h + wwh h(x). defined by the dynamical system:
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600 600
580 580
Powe r
560 560
540 540
520 520
500 500
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
4 4
x 10 x 10
3.6 3.8
I ndoor Fan Sp e e d
3.4 3.6
3.2 3.4
3 3.2
2.8 3
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
4
x 10 T ime ( s e c s ) 4
x 10
Fig. 4. Optimization of electrical power using the perturbation-based ESC Fig. 6. Optimization of electrical power using the time-varying ESC by
by manipulating the indoor fan speed. The top plot shows the power as a manipulating the indoor fan speed. The top plot shows the power as a
function of time. The bottom plot shows the indoor fan speed. function of time. The bottom plot shows the indoor fan speed.
590 590
580 580
570 570
560 560
Powe r
Powe r
550 550
540 540
530 530
520 520
510 510
500 500
0.1 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 3 3.1 3.2 3.3 3.4 3.5 3.6 3.7 3.8
I ndoor Fan Sp e e d I ndoor Fan Sp e e d
Fig. 5. Optimization of electrical power using the perturbation-based ESC Fig. 7. Optimization of electrical power using the time-varying ESC by
by manipulating the indoor fan speed. The full line shows the steady-state manipulating the indoor fan speed. The full line shows the steady-state
input-output relationship for the system. The ESC input-output trajectory is input-output relationship for the system. The ESC input-output trajectory is
shown as the dotted line. shown as the dotted line.
initiated at the steady-state occurring at an indoor fan motor pivotal parameter is the time-scale separation parameter, e.
voltage of 3 V 1 . It is set at 0.005. The remaining parameters are set as:
We first consider the performance of the perturbation
based ESC. The best performance was obtained for the kg = 0.01, K = kT = 20, d = 10 6 .
following value of the parameters:
The dither signal is set to d(t) = 0.05 sin(0.005t). The
a = 0.05, w = 0.005, k = 0.0001, wh = 0.005, wl = 0.001. results are shown in Figures 6 and 7. The main advantage
The corresponding results are shown in Figures 4 and 5. of this technique is that the choice of tuning parame-
The perturbation-based ESC is shown to converge to ters provides a much wider range of suitable parameters.
what it perceives as the optimum quickly. However, the The transient performance of this technique is particularly
resulting conditions are not optimal. Efforts to increase or good. The final value reached is slightly biased as in the
reduce the optimization gain or the amplitude do not yield perturbation-base ESC technique. However, one can rely on
significant improvements in the performance. Reduction of additional tools to improve the performance since the choice
the dither frequency is shown to improve the accuracy of of dither is not tied to the time-scale separation.
the optimization at the cost of slowing the convergence rate.
B. Two-input case
Consequently, the convergence is longer and the transient
response is slower. In this section, we consider the problem where both indoor
2) Estimation-based ESC: The time-varying estimation- and outdoor fan speed to optimize power consumption. We
based ESC technique is considered for the solution of the first consider the perturbation-based approach with the same
steady-state optimization problem. In this application, the tunings as above for the loop involving the indoor fan ESC
loop. We add the outdoor fan speed loop with the following
1 In the simulation model used, the indoor unit fan is driven by a variable
parameters:
speed DC motor. The input is a signal that represents the motor voltage, and
therefore the units that ultimately drive the indoor fan speed is specified in
volts. a = 20, w = 0.008, k = 0.1, wh = 0.008, wl = 0.003.
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0 a vapor compression system. Two classes of ESC techniques
50
were investigated: Perturbation-based ESC and time-varying
ESC. The advantages and disadvantages of both techniques
Out door Fan Sp e e d-840 were assessed to study their applicability to minimizing
100
lElectricite,
1922.
150
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I ndoor Fan Sp e e d
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singular perturbation parameter e = 0.001. We remove the extremum seeking. Automatica, vol. 48, no. 8, pp. 17591767, 2012.
dither for the indoor fan speed and introduce a dither in [14] M. Guay, S. Dhaliwal, and D. Dochain, A time-varying extremum-
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V. C ONCLUSION
The paper presents a study of the application of extremum-
seeking control to the optimization of the energy efficiency of
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