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This thesis is concerned with the development of model based control for the Star Cool refrigerated container (reefer) with the objective of reducing energy consumption. This project has been carried out under the Danish Industrial PhD programme and has been financed by Lodam together with the Danish Ministry of Science, Technology and Innovation. The main contributions in this thesis are on the subjects of modeling, simulation and control of a reefer and experimental model validation. A modular nonlinear simulation model is developed using a control oriented approach, resulting in a model that matches the states that are important for control very well both statically and dynamically and different options for faster simulation of the model is investigated. Based on the model, a model predictive controller is developed and shown to reduce energy consumption by up to 21.9%. |
