A model-driven multivariable controller for vapor compression refrigeration systems

A model-driven controller for vapor compression refrigeration systems is presented herein. Mathematical sub-models were developed for each of the system components: heat exchangers (condenser and evaporator), variable-speed compressor and variable-orifice electric expansion device. The overall system simulation model was used to design a MIMO controller based on the linear-quadratic Gaussian method using a state observer of the Kalman filter type. A purpose-built testing apparatus comprised of a variable-speed compressor and a pulse-width modulated expansion valve was used to collect data for the system identification and model validation exercises. It was found that the model reproduces the experimental trends of the working pressures in conditions far from the operation point (±30%) with a maximum deviation of ±5%. Additional experiments were also performed to verify the ability of the controller of tracking reference changes and rejecting thermal load disturbances as high as 15%.