Anti-surge speed control

Abstract

The present invention relates to a method and control system to control the speed of a centrifugal compressor operating within a vacuum pressure swing adsorption process to avoid an operation at which surge can occur and directly driven by an electric motor that is in turn controlled by a variable frequency drive. In accordance with present invention an optimal speed for operation of the compressor is determined at which the compressor will operate along a peak efficiency operating line of a compressor map thereof. This speed is adjusted by a feed back speed multiplier when the flow or other parameter referable to flow through the compressor is below a minimum and a feed forward multiplier during evacuation and evacuation with purge steps that multiplies the feed back multiplier to increase speed of the compressor and thereby avoid surge.

We claim: 
     
         1 . A method of controlling speed of a centrifugal compressor operating within a vacuum pressure swing adsorption apparatus and directly driven by an electric motor controlled by a variable frequency drive, said method comprising:
 measuring and calculating a parameter referable to a flow rate of gas entering the centrifugal compressor;   measuring and calculating a pressure ratio of outlet to inlet pressure of the compressor;   determining an optimal speed of the centrifugal compressor based on the pressure ratio and that lies along the peak efficiency operating line of the centrifugal compressor;   determining a minimum allowable value of the parameter at which the centrifugal compressor is likely to enter surge conditions at the optimal speed;   determining a feed back multiplier that when multiplied by the optimal speed will either increase the speed when the parameter is less than the minimum allowable value or will reduce the speed when the parameter is greater than or equal to the minimum allowable value;   during steps of a repeating cycle conducted by the vacuum pressure swing adsorption apparatus where the centrifugal compressor is at least likely to encounter surge conditions, other than an evacuation step and an evacuation with purge step thereof, setting a total speed multiplier equal to the feed back multiplier;   during the evacuation step and the evacuation with purge step, calculating the total speed multiplier by multiplying the feed back multiplier by a feed forward multiplier that will increase the speed during the evacuation step and the evacuation with purge step such that centrifugal compressor is not likely to enter the surge conditions;   calculating an adjusted speed by multiplying the optimal speed by the total speed multiplier; and   generating a control signal referable at least to the adjusted speed and inputting the control signal into the variable frequency drive such that the electric motor and therefore, the centrifugal compressor operates at the adjusted speed.   
     
     
         2 . The method of  claim 1 , wherein:
 the repeating cycle includes a feed with equalization step subsequent to the evacuation with purge step, a feed with product repressurization step following the feed with equalization step and an equalization step prior to the evacuation step; and   during the feed with equalization step, the equalization step and initiation of the feed with product repressurizaton step, the control signal is referable to a non-operational speed such that when the control signal is inputted into the variable frequency drive, electrical power is not applied to the electric motor; and   when a predetermined pressure ratio is obtained during the feed with product repressurization step, the control signal is again referable to the adjusted speed such that the electric motor and therefore, the compressor operates at the adjusted speed.   
     
     
         3 . The method of  claim 1 , wherein:
 each time the feed back multiplier is determined, the feed back multiplier is stored;   when the parameter is less than the minimum allowable value, the feed back multiplier is determined by adding to a last stored value of the feed back multiplier a speed correction factor; and   when the parameter is greater than or equal to the minimum allowable value, the feed back speed multiplier is calculated by dividing the last stored value of the feed back multiplier by a proportionality constant, the proportionality constant set equal to a value greater than 1.0 when the last stored value of the feed back multiplier is greater than or equal to 1.0 or 1.0 when the last stored value of the feed back multiplier is less than 1.0.   
     
     
         4 . The method of  claim 1 , wherein:
 the feed forward multiplier is a function of the pressure ratio;   the function having a maximum value of the feed forward multiplier at a predetermined pressure ratio at which or directly before which the centrifugal compressor will likely enter surge conditions during a transition between the evacuation step and the purge step and decreasing values of the feed forward multiplier at pressure ratios greater than or less than maximum value; and   the maximum valve has a magnitude preselected such that when the maximum valve is multiplied by the optimal speed at the predetermined pressure ratio the resulting speed will prevent the centrifugal compressor from entering surge conditions.   
     
     
         5 . The method of  claim 4 , wherein the function is a Gaussian function. 
     
     
         6 . The method of  claim 1 , wherein the parameter is a pressure difference measured at two point in the shroud of the centrifugal compressor that are successively closer to an impeller thereof. 
     
     
         7 . The method of  claim 3 , wherein:
 the parameter is a pressure difference measured at two points in the shroud of the centrifugal compressor that are successively closer to an impeller thereof;   during each of the time intervals, a pressure difference error is calculated and stored by subtracting the minimum allowable value from the a current value of the pressure difference; and   the speed correction factor of the feed back multiplier is calculated during each of the time intervals through proportional integral control comprising adding a proportional term to an integral term, the proportional term calculated by multiplying a gain factor by a difference between the pressure difference error and a prior pressure difference error calculated in a prior time interval and dividing the difference by the time interval and the integral term calculated by dividing the gain factor by an integral reset time and multiplying a resultant quotient thereof by the pressure difference error.   
     
     
         8 . The method of  claim 7 , wherein:
 the feed forward multiplier is a Gaussian function of the pressure ratio;   the Gaussian function having a maximum value of the feed forward multiplier at a predetermined pressure ratio at which or directly before which the centrifugal compressor will likely enter surge conditions during a transition between the evacuation step and the purge step and decreasing values of the feed forward multiplier at pressure ratios greater than or less than maximum value; and   the maximum valve has a magnitude preselected such that when the maximum valve is multiplied by the optimal speed at the predetermined pressure ratio the resulting speed will prevent the centrifugal compressor from entering surge conditions.   
     
     
         9 . A control system for controlling speed of a centrifugal compressor operating within a vacuum pressure swing adsorption apparatus and directly driven by an electric motor controlled by a variable frequency drive, said control system comprising:
 means for sensing a parameter referable to a flow rate of gas entering the centrifugal compressor;   pressure transducers positioned to sense pressure at an inlet and an outlet of the centrifugal compressor;   a controller responsive to the parameter sensing means, the pressure transducers and steps of a repeating cycle conducted by the vacuum pressure swing adsorption apparatus and having a control program programmed to:
 calculate a pressure ratio of the pressures of the outlet to inlet of the centrifugal compressor; 
 determine an optimal speed of the centrifugal compressor based on the pressure ratio and that lies along the peak efficiency operating line of the centrifugal compressor; 
 determine a minimum allowable value of the parameter at which the centrifugal compressor is likely to enter surge conditions at the optimal speed; 
 determine a feed back multiplier that when multiplied by the optimal speed will either increase the speed when the parameter is less than the minimum allowable value or will reduce the speed when the parameter is greater than or equal to the minimum allowable value; 
 set a total speed multiplier equal to the feed back multiplier during the steps of the repeating cycle where the centrifugal compressor is at least likely to enter surge conditions, other than an evacuation step and an evacuation with purge step thereof; 
 set the total speed multiplier equal to a mathematical product of the feed back multiplier and a feed forward multiplier during the evacuation step and the evacuation with purge step, that will increase the speed such that centrifugal compressor is not likely to enter the surge conditions; and 
 calculate an adjusted speed by multiplying the optimal speed by the total speed multiplier; and 
   the controller configured to generate a control signal in response to the control program and able to serve as an input into the variable frequency drive such that speed of the electric motor and therefore, the centrifugal compressor is controlled in response to the control signal, the control signal referable at least to the adjusted speed such that the electric motor and therefore, the centrifugal compressor operates at the adjusted speed.   
     
     
         10 . The control system of  claim 9 , wherein:
 the repeating cycle includes a feed with equalization step subsequent to the evacuation with purge step, a feed with product repressurization step following the feed with equalization step and an equalization step prior to the evacuation step;   the control program is programmed to produce a non-operational speed at which the variable frequency drive will remove electrical power from the electric motor and the control signal is referable to the non-operational speed when produced by the control program;   during the feed with equalization step, the equalization step and initiation of the feed with product repressurizaton step, the control program produces the non-operational speed such that when the control signal is inputted into the variable frequency drive, electrical power is not applied to the electric motor; and   the control program also programmed such that when a predetermined pressure ratio of the pressure ratio is obtained during the feed with product repressurization step, the control signal is again referable to the adjusted speed such that the electric motor and therefore, the compressor operates at the adjusted speed.   
     
     
         11 . The control system of  claim 9 , wherein the control program is programmed such that:
 each time the feed back multiplier is determined, the feed back multiplier is stored;   when the parameter is less than the minimum allowable value, the feed back multiplier is determined by adding to a last stored value of the feed back multiplier a speed correction factor; and   when the parameter is greater than or equal to the minimum allowable value, the feed back speed multiplier is determined by dividing the last stored value of the feed back multiplier by a proportionality constant, the proportionality constant set equal to a value greater than 1.0 when the last stored value of the feed back multiplier is greater than or equal to 1.0 or 1.0 when the last stored value of the feed back multiplier is less than 1.0.   
     
     
         12 . The control system of  claim 9 , wherein the control program is programmed such that:
 the feed forward multiplier is a function of the pressure ratio;   the function having a maximum value of the feed forward multiplier at a predetermined pressure ratio at which or directly before which the centrifugal compressor will likely enter surge conditions during a transition between the evacuation step and the purge step and decreasing values of the feed forward multiplier at pressure ratios greater than or less than maximum value; and   the maximum valve has a magnitude preselected such that when the maximum valve is multiplied by the optimal speed at the predetermined pressure ratio the resulting speed will prevent the centrifugal compressor from entering surge conditions.   
     
     
         13 . The control system of  claim 12 , wherein the function is a Gaussian function. 
     
     
         14 . The control system of  claim 9 , wherein:
 the parameter sensing means is two further pressure transducers situated at two points in the shroud of the centrifugal compressor that are successively closer to an impeller thereof;   the control program is programmed to calculate a pressure difference from pressure measured by the two further pressure transducers; and   the parameter is the pressure difference.   
     
     
         15 . The control system of  claim 11 , wherein:
 the parameter sensing means is two further pressure transducers situated at two points in the shroud of the centrifugal compressor that are successively closer to an impeller thereof;   the control program is programmed to calculate a pressure difference from pressure measured by the two further pressure transducers;   the parameter is the pressure difference; and   the control program is programmed such that;   during each of the time intervals, a pressure difference error is calculated and stored by subtracting the minimum allowable value from the a current value of the pressure difference; and   the speed correction factor of the feed back multiplier is calculated during each of the time intervals through proportional integral control comprising adding a proportional term to an integral term, the proportional term calculated by multiplying a gain factor by a difference between the pressure difference error and a prior pressure difference error calculated in a prior time interval and dividing the difference by the time interval and the integral term calculated by dividing the gain factor by an integral reset time and multiplying a resultant quotient thereof by the pressure difference error.   
     
     
         16 . The control system of  claim 15 , wherein the control program is programmed such that:
 the feed forward multiplier is a Gaussian function of the pressure ratio;   the Gaussian function having a maximum value of the feed forward multiplier at a predetermined pressure ratio at which or directly before which the centrifugal compressor will likely enter surge conditions during a transition between the evacuation step and the purge step and decreasing values of the feed forward multiplier at pressure ratios greater than or less than maximum value; and   the maximum value has a magnitude preselected such that when the maximum value is multiplied by the optimal speed at the predetermined pressure ratio the resulting speed will prevent the centrifugal compressor from entering surge conditions.