부하추종 냉각수 시스템의 온도 제어를 위한 유전알고리즘 기반 비선형 PID 제어기 설계
Genetic algorithm-based design of a nonlinear PID controller for the temperature control of load-following coolant systems
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초록
본 연구에서는 선박용 2행정 저속 디젤 주기관 자켓 냉각수 온도 제어 시스템의 외란으로 작용하는 주기관의 부하 변동에 따라 변화되는 부하를 피드포워딩(Feedforward) 시켜 제시된 기준 설정치를 추종하고 만족할만한 외란 제거 성능을 갖는 비선형(Nonlinear) PID 온도 제어 시스템을 설계하였다. 피드포워딩 되는 변동 부하는 이중 루프 제어 시스템의 내, 외부 루프의 설정치를 변경할 수 있도록 고려되었다. 비선형 PID 제어기 파라미터를 최적으로 동조하기 위해 최적화 도구인 RCGA를 이용하였고, 평가 함수로는 ITAE를 사용하였다. 이때 평가함수는 주기관 자켓 냉각수 출구측 온도 뿐만 아니라 입구측 온도를 함께 고려하였다. 설계된 캐스케이드 비선형 PID 제어시스템을 모의 실험한 결과 만족할만한 성능으로 부하변동에 의한 외란을 제거했고, 변경되는 설정치를 추종해 가는 것을 확인하였다.
Abstract
In this study, the load fluctuation of the main engine is considered to be a disturbance for the jacket coolant temperature control system of the low-speed two-stroke main diesel engine on the ships. A nonlinear PID temperature control system with satisfactory disturbance rejection performance was designed by rapidly transmitting the load change value to the controller for following the reference set value. The feed-forwarded load fluctuation is considered the set points of the dual loop control system to be changed. Real-coded genetic algorithms were used as an optimization tool to tune the gains for the nonlinear PID controller. ITAE was used as an evaluation function for optimization. For the evaluation function, the engine jacket coolant outlet temperature was considered. As a result of simulating the proposed cascade nonlinear PID control system, it was confirmed that the disturbance caused by the load fluctuation was eliminated with satisfactory performance and that the changed set value was followed.
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