Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem...

104
Power Coordination Control and Energy Storage Sizing: Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate Professor Department of Chemical and Biological Engineering Illinois Institute of Technology Chicago, IL

Transcript of Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem...

Page 1: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Power Coordination Control and Energy Storage Sizing: Application to Hybrid Fuel Cell Vehicles

Donald J. Chmielewski Associate Professor

Department of Chemical and Biological Engineering Illinois Institute of Technology

Chicago, IL

Page 2: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Research Overview (Chmielewski Lab)

Control Theory

Profit Control

- Chemical Processes

- Inventory Planning

- Smart Grid Operation and

Expansion Planing

- Water Resource Management

- Hybrid Vehicle Control and

System Design

Market Responsive Control

- Dispatchable IGCC

- Building HVAC with Thermal

Energy Storage

Energy Systems

Power Systems

- Dry Gasification Oxy-

Combustion (DGOC) Process

- Oxygen as Energy Carrier

Fuel Cell Systems

- SOFC

- Fuel Processors

- PEMFC

Page 3: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Outline

• Motivation and Background

• Profit Control

• Controller Embedded System Design:

- Hybrid Vehicle Equipment Sizing

• Utility Scale Power Systems:

- Energy Storage System Sizing

Page 4: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Motivating Example

time

T(t)

F(t)

F(sp)

T(sp)

time

F

F

CA, T

PI Controller:

)(

)()/(

sp

c

spIcc

TTe

ex

FxeKF

i

Page 5: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Phase Plane Trajectory

)(tF

)(tT

*

Page 6: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Expected Dynamic Operating Region (EDOR)

)(tF

)(tT

*

Page 7: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Expected Dynamic Operating Region (EDOR)

)(tF

)(tT

*

Page 8: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Selection of Set-Points

)(tF

)(tT

* )(spT

PI Controller:

)(

)()/(

sp

c

spIcc

TTe

ex

FxeKF

)(spF

Page 9: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

)(tF

)(tTmaxT

maxF

Available Steady-State Operating Points

Page 10: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Real-Time Optimization

),,(),,( pmshqpmsfs

Original Nonlinear Process Model:

maxmin

,,

),,(),,(0

s.t. )(max

iii

qms

qqqpmshqpmsf

qg

Real-Time Optimization (maximize profit):

Page 11: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Optimal Operating Point

)(tF

)(tT

Decrease F

Increase T

Increase conversion

Increase production

maxT

maxF

Page 12: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Backed-off Operating Point (BOP)

)(tF

)(tT

* maxT

maxF

)(spT

)(spF

Page 13: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Backed-off Operating Point Selection

Based on Seady-State Models and Flexibility Analysis: Bahri et al. (1995),

Young et al. (1996), Bahri et al. (1996), Figueroa et al. (1996), Contreras-Dordelly

& Marlin, (2000), Zhang & Forbes, (2000), Figueroa & Desages, (2003), Rooney

& Biegler (2003), Arbiza et al. (2003), Young et al. (2004) and Soliman et al.

(2008)

Based on Stochastic Models and Chance Constrained Optimization:

Loeblein & Perkins (1999a, 1999b), van Hessem et al. (2001), Muske (2003),

Peng et al., (2005), Lee et al. (2008), Akande et al. (2009) and Zhao et al. (2009).

Literature Review:

Page 14: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Backed-off Operating Point Selection

Based on Seady-State Models and Flexibility Analysis: Bahri et al. (1995),

Young et al. (1996), Bahri et al. (1996), Figueroa et al. (1996), Contreras-Dordelly

& Marlin, (2000), Zhang & Forbes, (2000), Figueroa & Desages, (2003), Rooney

& Biegler (2003), Arbiza et al. (2003), Young et al. (2004) and Soliman et al.

(2008)

Based on Stochastic Models and Chance Constrained Optimization:

Loeblein & Perkins (1999a, 1999b), van Hessem et al. (2001), Muske (2003),

Peng et al., (2005), Lee et al. (2008), Akande et al. (2009) and Zhao et al. (2009).

Literature Review:

Page 15: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Backed-off Operating Point Selection

Based on Seady-State Models and Flexibility Analysis: Bahri et al. (1995),

Young et al. (1996), Bahri et al. (1996), Figueroa et al. (1996), Contreras-Dordelly

& Marlin, (2000), Zhang & Forbes, (2000), Figueroa & Desages, (2003), Rooney

& Biegler (2003), Arbiza et al. (2003), Young et al. (2004) and Soliman et al.

(2008)

Based on Stochastic Models and Chance Constrained Optimization:

Loeblein & Perkins (1999a, 1999b), van Hessem et al. (2001), Muske (2003),

Peng et al., (2005), Lee et al. (2008), Akande et al. (2009) and Zhao et al. (2009).

Literature Review:

Page 16: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Step 0: Start with Constrained MPC controller:

maxmin

0,

..

min

iii

ux

TT

ux

zzz

uDxDz

GwBuAxxts

dtRuuQxx

Stochastic BOP Selection (Loeblein & Perkins, 1999)

Page 17: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

PBPBRQPAPA TT 10

PBRL T1

Lxu

uDxDz

GwBuAxxts

dtRuuQxx

ux

TT

ux

..

min

0,

Step 1: Relax constraints and calculate resulting

linear feedback L:

Stochastic BOP Selection (Loeblein & Perkins, 1999)

Page 18: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Tuxxuxz LDDLDD )()(

)()( tLxtu

0)()( Tw

Txx GSGBLABLA

Controller:

Step 2: Closed-loop Covariance Analysis:

Plant )(tw

)(tx

L )(tu

)(tz

Stochastic BOP Selection (Loeblein & Perkins, 1999)

Page 19: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Expected Dynamic Operating Region (EDOR)

EDOR

defined by:

*

1z

2z

22

221

212

21

z

1

2

Page 20: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

q1 max

EDOR BOP

q1 min

q2 min q2 max

q2 - q2min q2

max - q2

The EDOR and the Constraint Set

Page 21: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

q1 max

EDOR BOP

q1 min

q2 min q2 max

q2 - q2min q2

max - q2

Statistical Constraints (AKA: Chance Constraints)

2max22 qq

min222 qq

Page 22: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Step 3: Solve the following Linear Program:

minmax

maxmin

,,0 s.t. min

iiiiii

iiiux

qqms

qqqq

qqqmDsDq

BmAsqg

Stochastic BOP Selection (Loeblein & Perkins, 1999)

Page 23: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

i ’s are calculated in Step 2:

Tuxxuxz LDDLDD )()(

0)()( T

w

T

xx GGBLABLA

Step 3: Solve the following Linear Program:

minmax

maxmin

,,0 s.t. min

iiiiii

iiiux

qqms

qqqq

qqqmDsDq

BmAsqg

}{2zi diag

Stochastic BOP Selection (Loeblein & Perkins, 1999)

Page 24: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Tuxxuxz LDDLDD )()(

0)()( T

w

T

xx GGBLABLA

Step 3: Solve the following Linear Program:

And L is calculated in Step 1:

LxuGwBuAxxts

dtRuuQxx TT

ux

..

min

0,

}{2zi diag

minmax

maxmin

,,0 s.t. min

iiiiii

iiiux

qqms

qqqq

qqqmDsDq

BmAsqg

i ’s are calculated in Step 2:

Stochastic BOP Selection (Loeblein & Perkins, 1999)

Page 25: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Tuxxuxz LDDLDD )()(

0)()( T

w

T

xx GGBLABLA

Step 3: Solve the following Linear Program:

And L is calculated in Step 1:

PBPBRQPAPA TT 10

PBRL T1

minmax

maxmin

,,0 s.t. min

iiiiii

iiiux

qqms

qqqq

qqqmDsDq

BmAsqg

}{2zi diag

i ’s are calculated in Step 2:

Stochastic BOP Selection (Loeblein & Perkins, 1999)

Page 26: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

)(tF

)(tT

*

maxT

maxF

)(spT

)(spF

Minimum Back-off

Page 27: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

)(tF

)(tT

*

maxT

maxF

)(spT

)(spF

Minimum Back-off

Page 28: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

)(tF

)(tTmaxT

maxF

Increase F

Increase production

What If …. Different Economics

Page 29: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

)(tF

)(tT

*

maxT

maxF

)(spT

)(spF

What If …. Different Economics

Increase F

Increase production

Page 30: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

)(tF

)(tT

*

maxT

maxF

)(spT

)(spF

Minimum Back-off (not so profitable)

Increase F

Increase production

Page 31: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

)(tF

)(tT

*

maxT

maxF

)(spT

)(spF

Increase F

Increase production

Better Operating Point (but infeasible)

Page 32: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

)(tF

)(tT

*

maxT

maxF

)(spT

)(spF

Requires Different Tuning

Increase F

Increase production

Page 33: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Less Aggressive Tuning

)(tF

)(tT

*

time

F(t)

F(sp)

T(sp)

time

F(max)

T(max)

T(t)

Page 34: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Automated Tuning?

)(tF

)(tT

*

* PI Controller:

)(

)()/(

sp

c

spIcc

TTe

ex

FxeKF

Page 35: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Automated Tuning?

)(tF

)(tT

*

* MPC:

maxmin

0,

..

min

iii

ux

TT

ux

zzz

uDxDz

GwBuAxxts

dtRuuQxx

Page 36: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Outline

• Motivation and Background

• Profit Control

• Controller Embedded System Design:

- Hybrid Vehicle Equipment Sizing

• Utility Scale Power Systems:

- Energy Storage System Sizing

Page 37: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Tuxxuxz LDDLDD )()(

0)()( T

w

T

xx GGBLABLA

Step 3: Solve the following Linear Program:

And L is calculated in Step 1:

PBPBRQPAPA TT 10

PBRL T1

minmax

maxmin

,,0 s.t. min

iiiiii

iiiux

qqms

qqqq

qqqmDsDq

BmAsqg

}{2zi diag

i ’s are calculated in Step 2:

Fixed Controller BOP Selection (Loeblein & Perkins, 1999)

Page 38: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Tuxxuxz LDDLDD )()(

0)()( T

w

T

xx GGBLABLA

Free Controller BOP Selection:

Profit Control (Peng, Manthanwar & Chmielewski, 2005)

PBPBRQPAPA TT 10

PBRL T1

minmax

maxmin

,,,,,,

,,,

0 s.t .

min

iiiiii

iiiux

q

RQPL

qms

qqqq

qqqmDsDq

BmAs

qg

izx

}{2zi diag

Page 39: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

*

*

More profit

Less profit

Max

Profit

Different

Tuning

Values

Visualization of Profit Control

Simultaneous BOP Selection and Controller Tuning:

Page 40: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Fluidized Catalytic Cracker

Regenerator and Separator (dynamic):

Riser (pseudo steady state):

(adapted from Loeblein & Perkins, 1999)

Page 41: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

FCC Constraints and Economics

Process Constraints:

Profit Function:

Fgs Fgl and Fugo are product flows

(gasoline, light gas and unconverted oil).

(adapted from Loeblein & Perkins, 1999)

Page 42: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Tuxxuxz LDDLDD )()(

0)()( T

w

T

xx GGBLABLA

Step 3: Solve the following Linear Program:

Fixed Controller BOP Selection (Loeblein & Perkins, 1999)

And L is calculated in Step 1:

PBPBRQPAPA TT 10

PBRL T1

minmax

maxmin

,,0 s.t. min

iiiiii

iiiux

qqms

qqqq

qqqmDsDq

BmAsqg

}{2zi diag

i ’s are calculated in Step 2:

55xIQ 22xIR

Page 43: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

0 5 10 15 20

x 10-4

25

26

27

28

29

30

31

32

Inle

t A

ir (

kg

/s)

Oxygen Mass Fraction5 5.5 6 6.5 7 7.5 8 8.5

x 10-3

280

300

320

340

360

380

400

Cata

lyst

Flo

w (

kg

/s)

Fraction of Coke in Regenerator

0.0125 0.013 0.0135 0.014 0.0145 0.015

990

992

994

996

998

1000

Reg

en

era

tor

Tem

p (

K)

Coke Fraction in Separator

Fixed Controller Free Controller

785 790 795 800 805 810 815

990

992

994

996

998

1000

Cyclo

ne T

em

pera

ture

(K

)

Separator Temperature (K)

Profit Control vs. Fixed Controller Back-off

Page 44: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Profit Comparisons

Gross Profit Diff from OSSOP ($/day) ($/day) OSSOP $36,905 $0.0 Fixed Control $34,631 - $2,274 Profit Control $35,416 - $1,489 Improves profit by 2%

Page 45: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Tuxxuxz LDDLDD )()(

0)()( T

w

T

xx GGBLABLA

Step 3: Solve the following Linear Program:

Fixed Controller BOP Selection (Loeblein & Perkins, 1999)

And L is calculated in Step 1:

PBPBRQPAPA TT 10

PBRL T1

minmax

maxmin

,,0 s.t. min

iiiiii

iiiux

qqms

qqqq

qqqmDsDq

BmAsqg

}{2zi diag

i ’s are calculated in Step 2:

55xIQ 22xIR

Page 46: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Profit Control Applications

• Mechanical Systems

• Chemical and Reaction Systems

• Hybrid Vehicle Design

• Inventory Control

• Electric Power System Design

• Building HVAC

• Water Resource Management

Page 47: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Tuxxuxz LDDLDD )()(

0)()( Tw

Txx GSGBLABLA

Profit Control Optimization Problem:

Computational Aspects

PBPBRQPAPA TT 10

PBRL T1

minmax

maxmin

,,,,,,

,,,

0 s.t .

min

iiiiii

iiiux

q

RQPL

qms

qqqq

qqqmDsDq

BmAs

qg

izx

}{2zi diag

Page 48: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Tuxxuxz LDDLDD )()(

0)()( Tw

Txx GSGBLABLA

Profit Control Optimization Problem:

Computational Aspects

PBPBRQPAPA TT 10

PBRL T1

minmax

maxmin

,,,,,,

,,,

0 s.t .

min

iiiiii

iiiux

q

RQPL

qms

qqqq

qqqmDsDq

BmAs

qg

izx

}{2zi diag

Page 49: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Tuxxuxz LDDLDD )()(

0)()( Tw

Txx GSGBLABLA

Covariance Equations:

Computational Aspects

PBPBRQPAPA TT 10

PBRL T1

}{2zi diag

LQR Solution:

Page 50: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Tuxxuxz LDDLDD )()(

0)()( Tw

Txx GSGBLABLA

Covariance Equations:

Expanded Feasible Region

PBPBRQPAPA TT 10

PBRL T1

}{2zi diag

LQR Solution:

Page 51: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

EDOR Feasible Region

1

2

Region of

Feasible

Controllers

Infeasible

Tuxxuxz LDDLDD )()(

0)()( Tw

Txx GSGBLABLA

}{2zi diag

Page 52: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Theorem 1 (Chmielewski & Manthanwar, 2004):

MPC Equivalence

All controllers on feasible region boundary

are equal to

some Unconstrained Model Predictive Controller

(aka LQR Control)

Page 53: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Pareto Frontier Interpretation

1

2

LQR Controllers

are on Frontier

Infeasible

Region

Tuxxuxz LDDLDD )()(

0)()( Tw

Txx GSGBLABLA

}{2zi diag

PBPBRQPAPA TT 10

PBRL T1

Page 54: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Tuxxuxz LDDLDD )()(

0)()( Tw

Txx GSGBLABLA

Covariance Equations:

Explicit LQR Constraints Not Needed

PBPBRQPAPA TT 10

PBRL T1

}{2zi diag

LQR Solution:

Page 55: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Inverse Optimality

01 TT MPBRMPBQPAPA TMPBRL 1

Theorem 2 (Chmielewski & Manthanwar, 2004):

If there exists P > 0 and R > 0 such that

0

RPBRL

PBRLPAPARLLTT

TTT

then P and R satisfy

GwBuAxxts

dtRuuMuxQxxLxu TTT

ux

..

2min

0,

Page 56: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Tuxxuxz LDDLDD )()(

0)()( Tw

Txx GSGBLABLA

Nonlinear Covariance Equations:

Computational Aspects

Page 57: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Tuxxuxz LDDLDD )()(

0)()( Tw

Txx GSGBLABLA

Nonlinear Covariance Equations:

Convexification

0)(

)(

XYDXD

YDXDT

ux

uxz

0)()( Tw

T GSGBYAXBYAX

Equivalent to Convex Linear Matrix Inequalities:

Page 58: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

}{

''

0 s.t . min

2

minmax

maxmin

,,',','

ziii

iiiiii

iiiux

q

YXqms

diag

qqqq

qqqmDsDq

BmAsqg

i

0)(

)(

XYDXD

YDXDT

ux

uxz

0)()( Tw

T GSGBLAXBYAX

Profit Control Optimization Problem

Page 59: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

}{

''

0 s.t . min

2

minmax

maxmin

,,',','

ziii

iiiiii

iiiux

q

YXqms

diag

qqqq

qqqmDsDq

BmAsqg

i

0)(

)(

XYDXD

YDXDT

ux

uxz

0)()( Tw

T GSGBLAXBYAX

Reverse Convex Constraints

Page 60: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Reverse-Convex Constraints

-2 -1.5 -1 -0.5 00

0.2

0.4

0.6

0.8

1

zss,i

i

(zss,i

+dmin,i

)2 (z

ss,i+d

max,i )

2

Feasible Region

2

1

max

11 )''( qq 2min

111 )''( qq

1'q

1

Page 61: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Global Solution

-2 -1.5 -1 -0.5 00

0.2

0.4

0.6

0.8

1

zss,i

i

Region 1

Region 2

Region 3

Region 4

Region 5

Based on Branch and Bound algorithm

1'q

1

Page 62: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Outline

• Motivation and Background

• Profit Control

• Controller Embedded System Design:

- Hybrid Vehicle Equipment Sizing

• Utility Scale Power Systems:

- Energy Storage System Sizing

Page 63: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

q1 max

EDOR BOP

q1 min

q2 min q2 max

q2 - q2min q2

max - q2

Statistical Constraints (AKA: Chance Constraints)

2max22 qq

min222 qq

Page 64: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

q1 max

EDOR BOP

q1 min

q2 min q2 max

q2 - q2min q2

max - q2

Variable Constraint Bounds

2max22 qq

min222 qq

Page 65: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Hybrid Vehicle Design

iscap

Rscap

Escap

iarm

Rarm

Larm

ibat

Rbat

Ebat

ifc

Efc

Fuel

Cell

Power Bus

warm

Earm

Page 66: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Hybrid Vehicle Design

iascap

iscap

Rscap

Escap

iarm

Rarm

Larm

DC-DC

Converter

iabatibat

Rbat

Ebat

DC-DC

Converter

iafcifc

EfcDC-DC

Converter

Fuel

Cell

Power Bus

warm

Earm

kfc kbat kscap

Page 67: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Servo-Loops with PI Controllers

Vehicle

Power

System

+ -Pscap

(sp) Pscap

kscap

+ -Pbat

(sp) Pbat

kbat

+ -Pfc

(sp) Pfc

kfc

PI

PI

PI

Page 68: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Supervisory Control

Vehicle

Power

System

+ -Pscap

(sp) Pscap

kscap

High

Level

Controller

Pmot(sp)

+ -Pbat

(sp) Pbat

kbat

+ -Pfc

(sp) Pfc

kfc

PI

PI

PI

Page 69: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

High Level Battery Model

)(loss

batbatbat PPE

Page 70: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

)(loss

batbatbat PPE maxmin

batbatbat EEE

0min batE

batbatbat meE ˆmax

High Level Battery Model

Page 71: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

High Level Battery Model

)(loss

batbatbat PPE maxmin

batbatbat EEE

maxmin

batbatbat PPP

0min batE

batbatbat meE ˆmax

batbat

drate

batbat meCP ˆˆ ,min

batbat

crate

batbat meCP ˆˆ ,min

Page 72: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Ebat

Pbat

max ,c maxrate

bat bat batP C E

min 0batE

max ˆbat bat batE e m

min ,d maxrate

bat bat batP C E

Power and Energy Constraints of the Battery

Page 73: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Ebat

Pbat

max ,c maxrate

bat bat batP C E

max ˆbat bat batE e m

Constraints a Function of the Mass

Page 74: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Ebat

Pbat

max ,c maxrate

bat bat batP C E

max ˆbat bat batE e m

Aspect Ratio a Function of C-Rate

Page 75: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

High Level Battery Model

)(loss

batbatbat PPE maxmin

batbatbat EEE

maxmin

batbatbat PPP

0min batE

batbatbat meE ˆmax

batbat

drate

batbat meCP ˆˆ ,min

batbat

crate

batbat meCP ˆˆ ,min

batbat

batloss

batml

PP

ˆ

2)(

Page 76: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Operating Region with Power Losses

Ebat

Pbat

Page 77: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

High Level Super Cap Model

)(loss

scscsc PPE maxmin

scscsc EEE

maxmin

scscsc PPP

0min scE

scscsc meE ˆmax

scsc

drate

scsc meCP ˆˆ ,min

scsc

crate

scsc meCP ˆˆ ,min

scsc

scloss

scml

PP

ˆ

2)(

Page 78: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Fuel Cell Model

MEA

Anode

In

(H2, H

2O) H

2

Cathode

Air in

Cathode

Exhaust

O2

H2O

N2

Solid Material Current Collector

H+

H+

H+

H+

H+

H+

H+

H+

Anode

Exhaust

H2O

Page 79: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

High Level Fuel Cell Model

fcfc PP maxmin

fcfcfc PPP

maxmin

fcfcfc PPP

0min fcP

fcfcfc mpP ˆmax

fcfc

drate

batfc mpCP ˆ,min

fcfc

crate

batfc mpCP ˆ,max

Page 80: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Supervisory Control

Vehicle

Power

System

+ -Pscap

(sp) Pscap

kscap

High

Level

Controller

Pmot(sp)

+ -Pbat

(sp) Pbat

kbat

+ -Pfc

(sp) Pfc

kfc

PI

PI

PI

Page 81: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Power Demand Disturbance

0 200 400 600 800 1000 1200 14000

20

40

60

time (sec)

Sp

eed

(m

ph

)

0 200 400 600 800 1000 1200 1400-40

-20

0

20

40

time (sec)

Po

wer

to M

oto

r (k

W)

Page 82: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

`

Pfc

Δ Pfc

Optimal Steady-State Operating Point

Ebat

Pbat

Page 83: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

`

Pfc

Δ Pfc

Controller, EDOR and Back-off all Functions of Equipment Sizes

Ebat

Pbat

Page 84: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

min

1

min

2

min

3

min

4

min

5

min

6

0 1...6i

fc fc

bat bat

sc sc

fc fc

bat bat

sc sc

i

P P

E E

E E

P P

P P

P P

Design Problem Formulation

0 0

0

0 0

0

fc o bat sc

v o fc bat sc

bat bat bat

bat bat bat

bat bat bat

sc sc sc

sc sc sc

sc sc sc

P P P P

m m m m m

P P

l m

P l m

P P

l m

P l m

1

1

1

0

0

1...6

T

o v

o v w

i i x u

T T

x u i

AX BY AX BY G m G

G m G

D X D Y

D X D Y X

i

2

max

1

max

2

max

3

max

4

max

5

max

6

i i

fc fc

bat bat

sc sc

fc fc

bat bat

sc sc

P P

E E

E E

P P

P P

P P

. .ˆ ˆ ˆmin{ }fc fc bat bat sc sc

s tc m c m c m

Page 85: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Case Study

Technology Lithium Battery Super-Capacitor PEM Fuel Cell

Cost $59/kg $93/kg $300/kg

C-Rate 0.5 hr-1 360 hr-1 10 hr-1

Power Density 100 W/kg 110,000 W/kg 1 W/kg

Appetecchi & Prosini (2005) ;

Portet et al., (2005);

Murphy et al., (1998)

Parametric Data:

Page 86: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Case Study

Technology Lithium Battery Super-Capacitor PEM Fuel Cell

Cost $59/kg $93/kg $300/kg

C-Rate 0.5 hr-1 360 hr-1 10 hr-1

Power Density 100 W/kg 110,000 W/kg 1 W/kg

Appetecchi & Prosini (2005) ;

Portet et al., (2005);

Murphy et al., (1998)

Parametric Data:

Technology Lithium Battery Super-Capacitor PEM Fuel Cell Total Capital Cost

Mass 30 kg 2.8 kg 3.5 kg

Nominal Power 0.1 kW 1.5 kW 1.8 kW

Cost $1770 $260 $1050 $3,080

Case Study Solution:

Page 87: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Case Study Solution: EDOR, Back-off and Time Plots

-1 -0.5 0 0.5 1

x 10-5

0

0.5

1

1.5

2

2.5

3

3.5

Pfc

(

kW

)

Pfc

(kW/s)

Fuel Cell

20 25 30 35 40 451.9

1.95

2

2.05

2.1Fuel Cell Power(kW)

time(hr)

-10 -2 0 2 10

0

100

200

300

400

500

600

700

Esc

(k

J)

Psc

(kW)

Super Capacitor

20 20.02 20.04 20.06 20.08 20.1-15

-10

-5

0

5

10

15SuperCap Power, kW

time(hr)

-1.5 -1 -0.5 0 0.5 1 1.5

0

2000

4000

6000

8000

10000

Eb

at

(kJ)

Pbat

(kW)

Battery

20 20.2 20.4 20.6 20.8 21-2

-1.5

-1

-0.5

0

0.5

1

1.5

2Battery Power, kW

time(hr)

Page 88: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Outline

• Motivation and Background

• Profit Control

• Controller Embedded System Design:

- Hybrid Vehicle Equipment Sizing

• Utility Scale Power Systems:

- Energy Storage System Sizing

Page 89: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Electric Power System Design

Gas Turbine

PC Boiler

Renewable Transmission

Grid

Consumer Demand

Energy Storage

Page 90: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

System Disturbances

0 5 10 15 20 25 30 35 400

100

200

300

400

500

600

700

Pr (

MW

)

Days

Consumer Demand

1.5 2 2.5 3 3.5 4 4.5 5

10

12

14

16

Pow

er

Load (

GW

)

Forcasted Data

Simulated Data

Renewable Power

Generated

Page 91: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Electric Power System Model

min max

min max

max

0.8

1200

C C C

C C

C

P P P

P P

P

min max

max max0.05

C C C

C C

r r r

r P

min max

min max

max

0.2

1000

T T T

T T

T

P P P

P P

P

min max

max max6

T T T

T T

r r r

r P

Power Limits Power Limits

Rate Limits Rate Limits

max0 S SE E

min max

S S SP P P

Energy Limits

Power Limits

PC Boiler

CC rP Gas Turbine

TT rP

Pumped Hydro

SS PE

Page 92: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Manipulated Variables

min max

min max

max

0.8

1200

C C C

C C

C

P P P

P P

P

min max

max max0.05

C C C

C C

r r r

r P

min max

min max

max

0.2

1000

T T T

T T

T

P P P

P P

P

min max

max max6

T T T

T T

r r r

r P

Power Limits Power Limits

Rate Limits Rate Limits

max0 S SE E

min max

S S SP P P

Energy Limits

Power Limits

PC Boiler

CC rP Gas Turbine

TT rP

Pumped Hydro

SS PE

Page 93: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Defined by Power Balance

min max

min max

max

0.8

1200

C C C

C C

C

P P P

P P

P

min max

max max0.05

C C C

C C

r r r

r P

min max

min max

max

0.2

1000

T T T

T T

T

P P P

P P

P

min max

max max6

T T T

T T

r r r

r P

Power Limits Power Limits

Rate Limits Rate Limits

max0 S SE E

min max

S S SP P P

Energy Limits

Power Limits

PC Boiler

CC rP Gas Turbine

TT rP

Pumped Hydro

SS PE

Page 94: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Equipment Costs

min max

min max

max

0.8

1200

C C C

C C

C

P P P

P P

P

min max

max max0.05

C C C

C C

r r r

r P

min max

min max

max

0.2

1000

T T T

T T

T

P P P

P P

P

min max

max max6

T T T

T T

r r r

r P

Power Limits Power Limits

Rate Limits Rate Limits

max0 S SE E

min max

S S SP P P

Energy Limits

Power Limits

PC Boiler

CC rP Gas Turbine

TT rP

Pumped Hydro

SS PE

Page 95: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Case Study

Average of Power Generators

32% Gas Turbine

48% PC Boiler

20% Renewable

Pumped Hydro Equipment Costs

Energy Storage: $55/kWh

Power Rating: $1300/kW

Page 96: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Case Study Results

200 400 600 800 1000

-5000

0

5000

Rate

(M

W/h

r)

Power (MW)

Gas Turbine

700 800 900 1000 1100 1200-40

-20

0

20

40

Rate

(M

W/h

r)

Power (MW)

Coal

0 2000 4000 6000 8000 10000 12000 14000

-1000

-500

0

500

1000

Po

wer

(MW

)

Energy (MWh)

Storage

Page 97: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Other Cases

Case

Coal

Power

Gas

Turbine Renewable

Storage

Size

Storage

Power

1 48% 32% 20% 12.9 GWh 948 MW

2 18% 32% 50% 26.8 GWh 1398 MW

3 75% 5% 20% 61.1 GWh 1188 MW

Page 98: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

New Directions

Gas Turbine

PC Boiler

Renewable Transmission

Grid

Consumer Demand

Energy Storage

Page 99: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Acknowledgements

• Current Students: Ben Omell David Mendoza-Serrano Ming-Wei Yang Syed Amed

• Former Students and Collaborators: Amit Manthanwar Dr. Jui-Kun Peng (ANL)

Professor Ralph Muehleison (CAEE, IIT) Professor Demetrois Moschandreas (CAEE, IIT) • Funding: National Science Foundation (CBET – 0967906) Graduate and Armour Colleges, IIT Chemical & Biological Engineering Department, IIT

Page 100: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Conclusions

• Relationship between control system performance

and plant profit quantified.

Page 101: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Conclusions

• Relationship between control system performance

and plant profit quantified.

• Enables profit guided controller design.

Page 102: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Conclusions

• Relationship between control system performance

and plant profit quantified.

• Enables profit guided controller design.

• Allows for controller embedded system design

Page 103: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Conclusions

• Relationship between control system performance

and plant profit quantified.

• Enables profit guided controller design.

• Allows for controller embedded system design

• Broad set of applications from a variety of

disciplines.

Page 104: Application to Hybrid Fuel Cell Vehiclesmypages.iit.edu/~chmielewski/presentations/seminar/ABB Sem July2… · Application to Hybrid Fuel Cell Vehicles Donald J. Chmielewski Associate

Department of Chemical and Biological Engineering

Illinois Institute of Technology

Conclusions

• Relationship between control system performance

and plant profit quantified.

• Enables profit guided controller design.

• Allows for controller embedded system design

• Broad set of applications from a variety of

disciplines.

• Non-convex, but global methods can be used to

size and/or select equipment.