A Computer Science View of

THE LOAD
David E. Culler
CS294-F09
Feb 2, 2009

09/24/16

Where does the energy go?

09/24/16

 Buildings
Heat

People
Supply Air
Water

Return Air
Waste Water

Electricity

10-8-2008

Supply

Figure Courtesy Professor

Arun Majumdar, UCB,
LBNL

Demand

09/24/16

BUILDINGS CONSUME SIGNIFICANT ENERGY

The
The Numbers
Numbers Tell
Tell the
the Story
Story

$370 Billion
Total
Total U.S.
U.S.Annual
Annual Energy
EnergyCosts
Costs

200%

Increase
Increase in
in U.S.
U.S. Electricity
ElectricityConsumption
Consumption Since
Since 1990
1990

40%

Total
Total U.S.
U.S. Energy
EnergyConsumption
Consumption for
for Buildings
Buildings

72%

Total
Total U.S.
U.S. Electricity
ElectricityConsumption
Consumption for
for Buildings
Buildings

55%

Total
Total U.S.
U.S. Natural
Natural Gas
Gas Consumption
Consumption for
for Buildings
Buildings

Source: U.S. Department of Energy 2007 Building Energy Data Book. Sept 2007

09/24/16

Buildings Matter!
Buildings
Buildings construction/renovation
construction/renovation contributed
contributed 9.5%
9.5% to
to US
US GDP
GDP and
and employs
employs
approximately
approximately 88 million
million people.
people. Buildings
Buildings utility
utility bills
bills totaled
totaled $370
$370 Billion
Billion in
in 2005.
2005.
Buildings
Buildings use
use 72
72 %
% of
of the
the electricity
electricity and
and 55
55 %
% of
of the
the nations
nations natural
natural gas.
gas.

Source: Buildings Energy Data Book 2007

09/24/16

EPA Nat Action Plan for Energy Efficiency

30% of energy consumed in buildings is wasted
66% electrical, 34% gas and other
15.5 kWh per square foot

* 2003 EIA Commercial Building Consumption Survey

09/24/16

Where does the energy go in buildings?

HVAC Heating, Ventilation, Air Conditioning

Lighting
Major Equipment
Plug Loads

09/24/16

09/24/16

HVAC
Heating maintain indoor temperature within
comfort threshold
ASHRAE 55-1992: 68-75 winter, 73-79 summer (why?)

Ventilation
replacing air in a space to control temperature or remove
CO2, contaminants, moisture, odors, smoke, heat, dust
and airborne bacteria
ASHRAE 62-1999: 20 CFM per person in work environment

Air Conditioning
provides cooling, ventilation, and humidity control

Provides comfort to people

Humidity, Pressure, Acoustics, Visually pleasing,
Productivity, durability, health, ...

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10

Thermodynamics
0th Law: If two thermodynamic systems are each in
thermal equilibrium with a third, then they are in
thermal equilibrium with each other.
1st Law: Energy can neither be created nor destroyed.
It can only change forms.
In any process in an isolated system, the total energy remains the
same.

2nd Law: The total entropy of any isolated

thermodynamic system always increases over time,
approaching a maximum value.
3rd Law: the entropy of all systems and of all states of
a system is zero at absolute zero"

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11

Heat Transfer
Conduction
Energy transferred when free atoms collide
2nd law: from higher to lower
Via a medium (solids, liquids, gas)

Convection
Displacement of molecule groups at a different
temperature
Transfer of enthalpy

Radiation
Heat transfer caused by emission and absorption
of electromagnetic waves

Latent heat
Thermal Resistance (R-Value)
U = 1/R
Heat Flux: Q = U x A x T
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12

Heat Gains

Solar Heat Gain

Occupants
Equipment

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13

Psychrometrics
psychrometric ratio
ratio of the heat transfer coefficient to
the product of mass transfer
coefficient and humid heat at a wetted
surface

Specific enthalpy
symbolized by h, also called heat
content per unit mass, is the sum of
the internal (heat) energy of the moist
air in question, including the heat of
the air and water vapor within

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14

HVAC Equipment

Fans / Blowers
Furnace / Heating Unit
Filters
Compressor
Condensing Units
Evaporator (cooling coil)
Control System
Air Distribution System
Ducts, dampers,

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15

Building HVAC: Ventilation

Return Air
Vent

Air Vent
Zone

Supply Air Fan

Exhaust Air Fan

09/24/16

16

Building HVAC: AHU

Return Air
Vent

Air Vent
Zone

Air
Handling
Supply Air Fan
Unit

Exhaust Air Fan

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17

Air Handling Unit (AHU)

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18

Building HVAC: Chilled Water

Return Air
Vent

Air Vent
Zone

Chilled Water
Pump

Air
Handling
Supply Air Fan
Unit

Exhaust Air Fan

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19

Building HVAC: Chiller

Return Air
Vent

Chiller
Expansion Valve

Condenser
Compressor
Refrigerant

Evaporator

Air Vent
Zone

Chilled Water
Pump

Air
Handling
Supply Air Fan
Unit

Exhaust Air Fan

09/24/16

20

Building HVAC: Cooling

Air

Cooling Tower
Return Air
Vent

Condenser
Pump
Water

Chiller
Expansion Valve

Condenser
Compressor
Refrigerant

Evaporator

Air Vent
Zone

Chilled Water
Pump

Air
Handling
Supply Air Fan
Unit

Exhaust Air Fan

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21

Major Equipment

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22

Building HVAC: Zone Control

Air

Cooling Tower
Reheater

Condenser
Pump

Return Air
Vent

Water

Chiller
Expansion Valve

Condenser
Compressor

Damper

Refrigerant

Evaporator

Air Vent
Zone

Chilled Water
Pump

Air
Handling
Supply Air Fan
Unit

Exhaust Air Fan

09/24/16

23

Heating

AHU Cool + Zone Reheating

AHU + Boiler
Distribute Hot and Cool H2O and mix at zone
Circulate hot H20 + Radiator separate from VAC

09/24/16

24

Building HVAC: Major Equipment

Air

Cooling Tower
Reheater

Condenser
Pump

Return Air
Vent

Water

Chiller
Expansion Valve

Condenser
Compressor

Damper

Refrigerant

Evaporator

Air Vent
Zone

Chilled Water
Pump

Air
Handling
Supply Air Fan
Unit

Air
Conditioner

Major Eqmt

Exhaust Air Fan

09/24/16

25

System Types and Terms

Packaged Rooftop Unit

Split System
Heat Pump
Geothermal
Air to Air
Hydronic (water)
(Packaged Thermal) PTAC / PTHP
Constant Volume
Variable Volume
Indoor Air Quality
Direct Expansion
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26

Heat Pump

09/24/16

27

Soda HVAC components

Chillers
2 x 130 kw
Colling Towers:
2 x 33.2 kw
Computer Room units: 12 x 45 kVA
AHU SF:
3.2 kw
AHU RF:
2.3 kw
Economizers:
4 x 2.6 kw + 2.1 + 1.4
Supply fans:
4 x 2.3 kw + 1.4
Pumps:
2 x 9.3 kw + 2 x 14 kw
Compressors:
2 x 5 kw

- Its all duty cycle

10-8-2008

28

Soda Chilled Water

Cooling Towers

Blow cold air

Fans
throughout
building
Maintain circulation
Adjust cooling with
vents and VFDs
Heat it where
needed
AC determined by
needs of the worst
heat load

530
420
340

Comm closet

287
288
290
Machine Room ACCs

Pumps
2x chillers

10-8-2008

29

Soda Electrical
MCM2
HP7A

HP7A
400

400

HP6A

HP6A

Lighting

HP5A

Pumps

HP4A

Fans

HP3A

400

400

400

HP2A
600

HP1A

HP1A

400

400

1200 A 277/480 3 phase

100

2500 A 120/208 3 phase

100

HP5A
400

HP4A
400

HP3A
400

LP2A
800

~42 circuits each

LP2D
LP2C
LP2B
225
225
225

LP2D
LP2C
LP2B
225
225
225

LP2C
LP5B
225

LP2E
225

225

LP2E
LP2D
LP2C
LP4B225 225 225
225

LP2E
LP2D
LP2C
LP3B225 225 225

LP2J
LP2I
LP2H
225
LP2G
225
LP2F
225
225
LP2K
225
LP2J
225
LP2I
LP2H
225
LP2G
225
LP2F225 225
LP2K
225
LP2J
225
LP2I
LP2H
225
LP2G
LP2F225 225 225
225

225

LP2E
LP2D
LP2C
LP2B225 225 225
225

LP1A

LP1B

400

400

LP2G
LP2F
225
225

Machine Rooms

MCM1
2x Chiller

Offices
2x Substation

Classrooms

12 KV dist.
10-8-2008

30

HVAC Control
Building is designed for max cool/heat load
Operates at partial load
Varies with weather, activity, building
configuration
HVAC control affects this partial load service
Within operational constraints

Zonal temps
Adequate airflow
Air pressure
Flow and pressure throughout the system
Energy efficiency
Maintenance efficiency

09/24/16

31

Controlled Parameters and Points

Temperature
Humidity
Ventilation
Pressure
Flow Rate

Mechanical Room Primary equipment

Chiller, boiler, pumps, heat exchanged

Secondary equipment AHU weather maker

Room controls
Zone thermostats, humidistats,
Fan coil units, variable air volume units, terminal reheat, unit
vents, exhausters
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32

Why Controls

1) Maintain thermal comfort conditions

2) Maintain optimum indoor air quality
3) Reduce energy use
4) Safe plant operation
5) To reduce manpower costs
6) Identify maintenance problems
7) Efficient plant operation to match the load
8) Monitoring system performance

09/24/16

33

Open Loop (feed forward) Control

a type of controller which computes
its input into a system using only the
current state and its model of the
system
No feedback

Typically exerts control points

according to a schedule
Works well when there is an accurate
model of how the plant responds

Goal

Controller

Actuator

Process

Outcome

Model
Time
Ctrl State
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Closed Loop (Feedback) Control

Comparison

Set point
Feedback

Controller

Actuator

Process

Value

Error signal

Measurement

Reading

Sensor

Observation

Types of Feedback Control

Two-position, on/off, bang-bang
Modulated, continuous

Means of Control

Direct acting e.g., radiator release value

Electric / Electronic e.g., bi-metalic strip with relay
Pneumatic
Direct Digital Control
Mixed
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35

Simple Closed-Loop Control

Set point
Tolerance / Band
Sensing
Action
Calibration
Model and Assumptions
09/24/16

36

Two Position Control example

24 v AC @ ~10 mA

Load controller

Furnace
09/24/16

37

Sensors
Temperature
Resistance Temperature
Device (RTD)
Thermistor
Thermocouple

Relative Humidity
Resistance humidity sensors
Capacitance humidity
sensors
Quartz crystal humidity
Temperature compensation,
condensation

Pressure
Variable resistance
Capacitance

Flow Sensors

Orifice
Venturi
Flow nozzels
Vortex shedding
Positive displacement
Turbine based
Magnetic
Ultrasonic

Air flow
Hot wire anemometer
Pitot static tube

Dew point
Hygrometers

Liquid level
Hydrostatic, ultrasonic,
capacitance
09/24/16

38

An Analog World
Transducers
Allow us to convert physical phenomena to a voltage
potential in a well-defined way.

V
R ohm ?

WEI - L05 sense

June 2008

39

Simplest Analog Device

Water Level
Float Sensor

Flow
Sensor

Rain Sensor

Temperature
Switch
Pressure Switch

switch

Magnetic Reed
Contact Switch

Tilt Sensor

PhotoInterrupter

Often think of it as an actuator, rather than a sensor

But thats because of the circuit we put it in

It is binary (two states) but why is it not digital?

WEI - L05 sense

June 2008

40

To Sample a switch, make it digital

VD
VtH
VtL

Vacc

Many sensor are switches

Two states but not digital
Open => no current
Closed => no voltage drop

D
switch

Cap charges to Vacc when open

Cap discharges to GND when
closed

GND
WEI - L05 sense

June 2008

41

Analog to Digital
What we want

Physical
Phenomena

Engineering
Units

How we have to get there

Physical
Phenomena

Voltage
Sensor

Engineering
Units

ADC Counts
ADC

WEI - L05 sense

Software

June 2008

42

Modulated Sensor Example

V

ADC

What will you measure across an RTD?

Many sensors modulate current
4-20 mA standard
Why 4 mA => 0 ?

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43

Ratiometric sensor
Vacc

Va = Vacc* Rsens / (Rcomp+ Rsens)

use Vref = Vacc

Rcomp

D = M * Rsens / (Rcomp+ Rsens)

VA

Resistive Sensor

Rsensor

GND

WEI - L05 sense

June 2008

44

Example Modulated Control

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45

Controller Issues
Partial-load via on/off control means everything
is starting and stopping
Costly in energy, efficiency, maintenance

Modulation by wasting is not attractive either

New technology options
Variable air vent
Variable frequency drives

1 hp = 746 watts
09/24/16

46

Matching Sensor & Control

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47

Computational plumbing

Building needs hotter water for heat on cold

days
OAT secondary sensor changes setpoint for
on/off pan heater
09/24/16

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The Controlled Processes

Example flow rate in heating/cooling coils in

heat exchangers
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Matching controller & actuator

Also need to worry

about sensor &
actuator effect
Air flow, pressure,

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50

Controller Responses
1) Two-position
Complete stroke

2) Floating
Fast airside control loops
E.g., Two position dampers

3) Proportional
Y = -kp Q

4) Proportional plus Integral

(PI or P+I)
Y = -ki Qdt
control action is taken proportional
to the integral of deviation Q

5) Proportional plus Integral

plus Derivative (PID or P+I+D)
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Direct Digital Control !!!

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52

Building Management Systems

1300 sense / ctrl points in Soda Hall

Vast database of action / effect
No science to turning all the knobs
10-8-2008

53

Building Management Systems

10-8-2008

54

Economizers

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55

Economizers

09/24/16

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Resources
ASHRAE The American Society of Heating,
Refrigerating and Air-Conditioning Engineers
www.ashrae.org
www.energycodes.gov
http://www.demandless.org/building/
http://www.epa.gov/cleanenergy/documents/sect
or-meeting/4bi_officebuilding.pdf
http://sustainability.berkeley.edu/
www.buildingscience.com
http://www.southface.org

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57

Questions
How much load can be sculpted?
How much of the peak can be shaved? Versus
baseline?
What is the opportunity for sophisticated modeldriven control?
Where to sense what?
What are the physical resources to abstract?
Higher level abstractions?
What would building applications be?
How can it interact proactively with the grid?
How much can be done with improvements
versus new design of the envelope?
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58