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선박엔진용 Oil Separator의 Sludge 자동배출 시스템 구현

안찬훈1,2, 김만기3, 최준1,#orcid

Development of Automatic System to Discharge Sludge in Oil Separator of Marine Engine

Chan Hoon Ahn1,2, Man Gi Kim3, Jun Choi1,#orcid
Journal of the Korean Society for Precision Engineering 2018;35(7):663-668.
Published online: July 1, 2018

1 한국생산기술연구원 첨단정형공정그룹

2 부산대학교 전기전자컴퓨터공학과

3 울산대학교 기계공학부

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#E-mail: junchoi@kitech.re.kr, TEL: +82-52-980-6680
• Received: November 3, 2017   • Revised: January 3, 2018   • Accepted: February 13, 2018

Copyright © The Korean Society for Precision Engineering

This is an Open-Access article distributed under the terms of the Creative Commons Attribution Non-Commercial License (http://creativecommons.org/licenses/by-nc/3.0) which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.

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  • A separator used by marine engine functions as a purifier by dividing engine oil into pure oil and impurities. By rotating the separator at a high speed between 1800 to 4500 rpm, fine particles of oil inside the separator are centrifuged due to the weight difference when the engine oil is refined. The impurities, so-called sludge, should be manually removed by taking the separator apart from the oil purifier system unless the accumulated sludge is measured and monitored in real time. A manual discharge of the sludge causes an increase of cycle time to clean the engine oil as well as operator exposure of safety risks. Therefore, the development of automatic system with a sludge monitor and an actuator is necessary for ship engine efficiency. In this paper, the pressure difference from the accumulated sludge is monitored via a pressure sensor. By measuring the pressure exerted at the wall surface, the amount of sludge was quantitatively estimated within the error of 0.032-0.091 kg when the oil purifier system has been automated.
  • KEYWORDS: Pressure sensor, Oil separator, Automatic discharge, Marine engine, Sludge discharge
  • KEYWORDS: 압력센서, 유수분리기, 자동배출, 선박엔진, 슬러지 배출
화물 운송용 대형선박은 5,000 마력 이상의 추진력을 내기 위해 주로 2행정 디젤엔진이 탑재되며, 엔진의 냉각, 윤활, 보호를 위해 엔진오일이 반드시 사용된다. 1,2 그러나 엔진이 가동되면서 엔진오일에 미세한 입자 형태의 Sludge가 증가하여 엔진 내부에 치명적인 손상을 초래할 수 있다. 따라서, 선박엔진의 각종 오일을 정제하고 재사용하기 위해 유수분리기(Oil Separator, OS)를 사용한다. OS는 Jet Nozzle의 작용·반작용 원리에 의한 회전운동을 통해 중력의 2,000배 이상의 원심력으로 회전체를 구동하여 오일 내의 각종 오염물질을 밀도 차에 의해 오일과 분리한다. 이때, 보통 1-2 μm 이상의 불순물 입자가 제거되며 분리된 Sludge는 OS 내벽에 계속해서 축적된다.3-5
선박용 엔진오일과 Sludge의 종류에 따라 밀도가 다르기 때문에 OS 가동시간이 동일한 조건에서 OS 내벽에 쌓인 Sludge 축적량은 일정하지 않아 정확한 배출 시기를 획일적으로 결정하기 어렵다. 따라서, Sludge를 배출하기 위해서 OS의 작동을 중지하고 작업자가 직접 벽면에 쌓인 Sludge의 양을 확인한 후 제거해야 하며, 이 작업이 약 1시간 정도 소요된다. 또한, Sludge 제거 작업 시 피부 접촉이나 유증기 흡입 등 작업자의 건강과 안전에 위협을 준다. 이러한 이유로 오일과 Sludge의 종류에 상관없이 일정한 양의 Sludge를 배출하기 위해서 OS 내의 Sludge 축적량 모니터링이 필요하다. 최초에는 모니터링 시스템 구현방법으로 OS의 회전속도 변화와 Vision 센서를 이용한 방법을 시도하였다. 그러나 Sludge 축적량에 따른 OS의 회전속도 변화량이 100 RPM이하로 미세하고 그 값이 일정하지 않아 Sludge 축적량을 판단할 수 없었다. 또한, Sludge의 색이 오일과 같은 검은색이기 때문에 Vision 센서를 이용하여 Sludge와 오일을 구분할 수 없으며, 적외선과 초음파는 오일을 투과하지 못하여 Sludge 축적량을 계측할 수 없었다.
이러한 문제점들을 해결하기 위해 본 연구에서는 OS가 동작하는 동안 내벽에 쌓이는 Sludge에 의해 벽면에 가해지는 압력을 측정하고, 이를 이용해 Sludge의 양을 정량적으로 추정하여 Sludge 자동배출 시기를 결정하였다. 이를 위해 Navier-Stokes Equation을 통해 Sludge가 쌓이면서 OS 내벽에 가해지는 압력을 변화시킬 수 있다는 것을 이론적으로 확인하였다. 또한, 압력센서와 Arduino를 사용하여 Sludge가 쌓이면서 OS 내벽에 시간당 가해지는 압력을 실험적으로 측정하였다. 실제로 OS 내벽에 축적된 Sludge 무게를 측정하고, 본 연구에서 개발된 Sludge 모니터링 시스템의 무게 추정값과 비교하여 정확성을 확인하였다.
2.1 Theoretical analysis of Navier-Stokes Equation
Navier-Stokes Equations란 물과 공기를 비롯한 점성을 뉴턴의 운동 제2 법칙을 이용하여 유체가 가해진 힘으로 어떻게 운동하느냐를 기술한 식으로 유체에 관성력, 점성력, 외력을 전부 고려하여 하나의 식으로 표시한 것이다.6
(1)
ρ∂v∂t=-∇p+μ∇2ν+ρg
여기서, μ는 점성계수, v는 유체의 속도, ρ는 유체의 밀도, p는 Sludge의 압력이다. OS 벽면에 가해지는 압력변화는 원심력 그리고 오일과 Sludge의 밀도 차이에 의해 발생한다. 식(1)은 v가 일정한 비압축성 흐름에서의 Navier-Stokes Equation이며, 더욱 특수한 경우인 점도가 0인 경우 식(2)를 Euler Equation이라고 한다.
(2)
ρ∂υ∂t=-∇p+ρg
식(2)를 원통형 좌표계로 분리한 후 초기조건과 구속조건을 대입하면,
(3)
∂p∂r=ρω2r and ∂p∂z=-ρg
이다. 이에 대한 구속조건은 유체의 속도 v는 각벡터 φ의 방향으로만 존재하고 v를 φ에 편미분한 변수인 vφ또한 r에 대한 함수라 가정한다. 변수 분리법을 통해 식(3)을 정리하고 유체의 압력이 φ에 독립적이므로 식(4)로 정리된다.
(4)
p-patm=12ρω2r2-r02-ρg(z-z0)
여기서, OS 내벽에 고착된 Sludge는 OS가 회전함과 동시에 Sludge 또한 회전하게 되며 이때 각속도는 OS가 가지는 각속도와 동일하다. 또한, 유체의 각속도에 의해 생기는 압력은 중력가 속도에 의해 발생하는 압력에 비해 5,000배 이상 크기 때문에 OS의 높이 z에 의해 변화하는 압력은 무시할 수 있다. 따라서, OS의 벽면에 수직으로 받는 압력은 최종적으로 식(5)로 정리된다.
(5)
p-patm=12ρω2(r2-r02)
Sludge 두께에 따른 압력 변화량을 계산하기 위한 변수들은 Table 1과 같다. 이때 사용된 Sludge는 황토, Carbon 그리고 Silica이며 동일한 조건으로 실험을 진행하였다. 축적된 Sludge가 OS 벽면에 가해지는 압력 계산을 통해 본 연구에 적합한 압력센서 사양을 선정하였다. 또한, 계산결과와 실험결과를 비교하여 OS 내벽에 쌓인 Sludge 두께를 예측하였다.
Table 1

The parameters for calculation of the accumulated sludge on the wall of oil separator

Table 1
Angular velocity (ω) 250 rad/s
Outer radius of oil separator (r) 0.13 m
Inner radius oil separator (r0) 0.01 m
Mixed oil density (ρ0) 840 kg/m3
Sludge density (ρs) 1210 kg/m3
Sludge가 축적되지 않았을 때 압력값을 pi, Sludge가 축적됐을 때 압력값을 po라고 하면,
(6)
pi=12ρ0ω2r2-r02=441 [kPa]
식(6)이 된다. OS 내 17 mm의 Sludge가 쌓였을 때 po는 Sludge가 17 mm 축적된 부분의 압력과 축적되지 않은 부분의 압력을 각각 구한 후 합하여 계산된다.
(7)
p0=12ρω2r2-r02=12ρ0ω2r2-r-0.0172+12ρsω2r-0.0172-r02=156.2+332.6=488.8 [kPa]
그러므로 Sludge가 17 mm 축적됐을 때 압력 변화량은 47.8 kPa이다. 이 결과를 통해 Sludge가 축척되면서 OS 내벽에 가해지는 압력이 변화되는 것을 알 수 있다. 이를 통해 Sludge 축적량에 따른 압력 변화량을 압력센서를 통해 측정하여 Sludge 축적량을 추정하는 것이 가능한 것을 이론적으로 확인하여 본 연구에 적용하였다.7-9
2.2 Experimental Setup
OS 내벽에 가해지는 압력을 측정하기 위해 Arduino Due (Arduino, Italy) 보드와 압력센서를 이용하였다. Arduino Due의 상세한 성능은 Table 2과 같다. Sludge 축적량 모니터링을 위해 압력 측정부, 압력 계산부, 그리고 Sludge 무게 추정부의 총 3가지의 Loop로 분리하여 C-Code를 작성하였다. Arduino 보드에서 동시에 3가지의 Loop를 동작시키기 위해서는 큰 용량과 빠른 처리속도가 필요하다. 따라서, 본 연구에서는 주로 사용되는 Arduino NANO 보다 8배 큰 512 kB의 Flash Memory와 32 Bit 마이크로 컨트롤러를 사용하는 Arduino Due 보드를 사용한다.
Table 2

The specifications of Arduino Due

Table 2
MCU AT91SAM3X8E
Operating voltage 3.3 V
Digital I/O pin 54
Analog input pin 12
Analog output pin 2
Flash memory 512 kB
SRAM 96 kB
Clock speed 84 MHz
Fig. 1

A schematic of automatic sludge discharge system. The Arduino Due board on the OS is connected with the pressure sensor to transmit the measurement data of pressure to control module

KSPE_2018_v35n7_663_f001.jpg
본 연구에서 압력을 측정하기 위해 사용한 압력센서는 Flexiforce A201 (Tekscan Inc. USA) 이다. 이 센서는 Arduino Due 보드와 호환성이 우수하며, 센서에 압력이 가해질 때, 센서의 저항 변화로 유도되는 전압값의 변화를 측정하여 압력을 감지하는 원리로 작동된다. 또한, 압력 측정범위가 0-6200 kPa로 OS를 8시간 이상 가동 시 5-10 kg 이상의 Sludge를 분리할 수 있는 충분한 압력 변화량 측정이 가능하다.
Sludge 자동배출 시스템 구현을 위한 알고리즘을 Fig. 5에 나타내었다. OS 내로 오일이 유입되어 OS를 회전시키게 되고, 안정상태의 회전속도인 2400 RPM에 도달하면 OS 내벽에 가해지는 압력 측정을 시작한다. Sludge가 OS 내벽에 축적되면서 측정되는 압력이 증가하게 되고, 이때의 압력이 기존에 설정한 기준압력 p와 대소관계를 판단하여 Sludge 축적 또는 배출명령을 내린다. 이 알고리즘을 기반으로 작성한 C-Code를 Arduino Due 보드에 입력하여 Sludge 자동배출 시기를 판단하고 제어기로 신호를 전달하는 시스템을 구성하였다. 또한, 압력센서에서 출력된 데이터를 kPa 단위의 압력값으로 변환하기 위한 C-Code를 Arduino Due 보드에 추가로 입력하였다. 출력되는 값을 노트북이나 PC 등 시리얼 통신을 통해 데이터를 수신할 수 있으며 데이터 분석을 위한 실시간 저장이 가능하다.10
OS 내벽에 쌓이는 Sludge로 인해 측정되는 압력값을 이용하여 Sludge 축적에 대한 추정값을 구하고 실제 Sludge 축적량과 비교하여 Sludge 축적량 추정 정확도를 확인하는 방식으로 실험을 진행하였다. 이때, 각각 0-2 kg의 Sludge무게에 해당하는 압력의 범위를 설정하였다. 압력 변화량을 계산한 후 그 값을 포함하는 압력의 범위가 있다면 그에 해당하는 Sludge 무게값을 출력하게 된다. 그 때의 Sludge 축적량 추정값을 확인하고, Sludge 축적량을 측정한다. 비교를 위해서 OS 내 쌓인 Sludge의 축적량 측정은 실험 시작 전, 후의 OS의 무게를 각각 측정하고 그 차이를 구하여 Sludge 축적량을 구한다. 실험 시 사용되는 Sludge는 황토, Carbon 그리고 Silica이며 각각 600 g씩 오일에 첨가된다. 이때, 오일 100 L에 각각 600 g씩 첨가된 후 오일과 잘 혼합되도록 30분 동안 교반시키며 이후 다시 100 L의 오일을 첨가하여 다시 30분 동안 교반시킨다. 실험조건은 Table 3와 같다.
Table 3

Experimental parameters of sludge discharge system

Table 3
Volume of oil 200 L
Oil type SAE 30 & 40
Oil pressure 6.8 bar
Rotational speed 2400 rpm
Operating time 80 min
Fig. 2

Configuration of flexiforce A201 pressure sensor

KSPE_2018_v35n7_663_f002.jpg
Fig. 3

An algorithm for automatic sludge discharge system

KSPE_2018_v35n7_663_f003.jpg
2.3 실험결과
Navier-Stokes Equation을 통해 계산한 압력 변화량을 Fig. 5과 같이 실험을 통해 비교하였고, 그 결과를 Table 4에 나타내었다. 약 4시간 동안 2400 RPM에서 Sludge를 17 mm 축적하였으며, 이때 압력 변화량은 60.4 kPa이다. 이는 Sludge가 17 mm 쌓였을 때 Navier-Stokes Equation으로 계산한 결과와 12.6 kPa 차이가 나는 것을 확인할 수 있다. 또한, 실험을 통해 얻은 60.4 kPa의 압력 변화량은 20 mm의 Sludge가 축적되었을 때 계산결과인 55.5 kPa과 유사하다. 즉, 3 mm 내의 오차로 Sludge 축적량 유추가 가능한 것을 실험적으로 확인하였다. 이 결과를 통해 Sludge 자동배출 시스템에 적용하여 Sludge 무게 추정 정확성을 확인하였다.
Fig. 4

Composition of sludge for experiment. The 600 g of red clay, carbon and silica are added into the pure oil respectively for containing 1.8 kg of sludge in pure oil

KSPE_2018_v35n7_663_f004.jpg
Fig. 5

Accumulated sludge in the oil separator (thickness of the sludge: 17 mm). The oil separator has been operated for 4 hours at 2400 RPM

KSPE_2018_v35n7_663_f005.jpg
Table 4

Comparison calculation with experiment

Table 4
Accumulated
Sludge (17 mm)		 Calculation 47.8 kPa
Experiment 60.4 kPa
Difference 12.6 kPa
3차례 실험을 각각 80분 동안 진행한 결과, Table 5에 나타낸 바와 같이 OS 내 Sludge 축적량은 각각 1.591 kg, 1.543 kg, 1.632 kg이다. 이때, Sludge 축적량 추정값의 오차는 0.091 kg, 0.043 kg, 0.032 kg이며 무게 추정 정확도는 93.9%, 97.1%, 98%로 나타났다. Fig. 7과 같이 제어기 모니터에 6분 단위로 Sludge 축적량을 모니터링 하였으며 Sludge 무게가 0 kg에서 1.6 kg까지 순차적으로 올라간 것을 확인할 수 있다. 사전실험을 통해 OS를 회전시키는데 필요한 유압이 안정상태로 도달하는데 약 20-25분이 소요되었으며, OS의 RPM 이 약 2400 RPM으로 유지되는 것을 통해 안정상태를 확인하였다. 또한, 25분 후 Sludge 무게 추정값을 나타낼 때는 그 전에 축적된 Sludge의 무게를 포함한 압력이 측정되도록 설계하였다. 따라서, Sludge가 축적되면서 증가되는 정확한 압력값을 측정하기 위해 25분일 때의 압력값을 p1이라 하고 실험 시작 후 매 6분마다 평균 압력값을 p2로 설정하였다. 이는 Sludge 추정값을 자주 확인함과 동시에 평균 압력값의 정확도를 높이기 위해 6분마다 평균 압력값을 계산하였다. 압력 변화량은 p2−p1을 계산하여 도출되며 이를 통해 Sludge 무게를 추정하였다.
Table 5

Experimental results for automatic discharge system

Table 5
1 2 3
Weight of oil separator
(before experiment) [kg]		 18.406 18.617 18.508
Weight of oil separator
(After experiment) [kg]		 20.099 20.160 20.140
Weight of accumulated
sludge [kg]		 1.591 1.543 1.632
Weight of estimated
sludge [kg]		 1.5 1.5 1.6
Accuracy [%] 93.9 97.1 98
실험 시작 후 25분까지 OS가 안정상태로 도달하기 위한 준비 시간이다. 따라서, 제어기 모니터에는 값이 출력되지 않아 Sludge 모니터링 모듈의 정확한 작동유무를 판단하기 어렵다. Sludge 모니터링 모듈의 작동유무를 판단하기 위해 Fig. 6과 같이 제어기에 4개의 LED를 부착하여 각각의 LED의 역할을 설정하였다. 먼저, LED 1은 Sludge 모니터링 모듈의 전원 유무 확인이며 LED 2는 실험 시작 후 25분에 p1이 선택되었을 때 점등이 된다. LED 3는 모니터링 모듈 내에서 설정한 범위를 벗어난 계산값을 출력했을 때 점등 되도록 설정하였으며 이는 설정 범위를 벗어나 제어기 모니터에 값이 출력되지 않더라도 제대로 작동된다는 것을 확인하기 위한 용도이다. 마지막으로 LED 4는 6분 마다 압력 평균값을 계산하여 p2를 출력할 때 1초 동안 점등된다. 이를 통해 Sludge 모니터링 모듈의 원활한 작동유무를 시각적으로 확인할 수 있다.
Fig. 6

LEDs for checking operation of sludge monitoring system

KSPE_2018_v35n7_663_f006.jpg
Fig. 7

Weight of estimated sludge at control monitor from 0 kg to 1.6 kg. With measuring the pressure inside the OS, weight of sludge matched the pressure is printed the monitor

KSPE_2018_v35n7_663_f007.jpg
Fig. 8

Weight of estimated sludge as a function of time. The weight of estimated sludge is increased logarithmically

KSPE_2018_v35n7_663_f008.jpg
사용자가 설정한 Sludge 배출 무게에 도달하면 PLC 제어기에서 OS로 공급되는 유로를 변경하여 OS가 Sludge를 배출할 수 있도록 신호를 전달하여 높은 유압이 공급된다. Sludge를 자동배출 후 정상모드로 전환하기 위해 PLC 제어기에서 신호를 전달하여 OS로 공급되는 유로가 정상상태로 복귀되면서 Sludge 포집모드로 전환된다. 이때 Sludge 무게 모니터링 값은 초기화되어 0 kg를 출력해야 한다. 이를 위해 Sludge를 자동배출 후 포집모드로 복귀하는 시간을 고려하여 Sludge 무게 추정값이 초기화 되도록 설정하였다.
선박엔진에 사용되는 오일을 정제하기 위해 OS가 사용되며, 오일 내에 포함된 Sludge가 분리되어 OS 내벽에 축적된다. Sludge가 축적되면서 OS 내벽에 가해지는 압력 변화는 Navier-Stokes Equations를 이용하여 확인하였으며 축적된 Sludge를 자동배출하기 위해 OS 내벽에 압력센서를 부착하여 압력을 측정한다.
실험결과, Sludge 무게 추정값과 Sludge 축적량의 오차는 0.032-0.091 kg으로 93.9-98%의 정확도로 Sludge 무게 추정이 가능하다. 본 Sludge 자동배출 시스템은 사용자가 원하는 Sludge 축적량을 설정할 수 있으며, 밀도가 다른 오일을 사용하더라도 동일한 축적량일 때 Sludge 배출이 가능하다. 또한, 약 1시간 소요되는 수동 제거 작업 시간을 Sludge 자동배출 시에는 20분으로 줄여 전체 작업 소요시간을 1/3로 줄일 수 있다. 그리고, 동일한 시간 내 상대적으로 자주 Sludge 배출이 가능하여 높은 오일 정제 효율을 낼 수 있다. Sludge 자동 배출을 통해 고난이도의 작업에 작업자를 배치하여 작업자의 능력을 향상시킬 수 있으며, 사용자의 안전을 보장할 수 있다.
이 성과는 2017년도 정부의 재원으로 한국연구재단의 지원을 받아 수행된 연구로 이에 감사드립니다(No. 2016R1C1B1014508).
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Development of Automatic System to Discharge Sludge in Oil Separator of Marine Engine
J. Korean Soc. Precis. Eng.. 2018;35(7):663-668.   Published online July 1, 2018
DOI: https://doi.org/10.7736/KSPE.2018.35.7.663
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Development of Automatic System to Discharge Sludge in Oil Separator of Marine Engine
J. Korean Soc. Precis. Eng.. 2018;35(7):663-668.   Published online July 1, 2018
DOI: https://doi.org/10.7736/KSPE.2018.35.7.663
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Development of Automatic System to Discharge Sludge in Oil Separator of Marine Engine
Image Image Image Image Image Image Image Image
Fig. 1 A schematic of automatic sludge discharge system. The Arduino Due board on the OS is connected with the pressure sensor to transmit the measurement data of pressure to control module
Fig. 2 Configuration of flexiforce A201 pressure sensor
Fig. 3 An algorithm for automatic sludge discharge system
Fig. 4 Composition of sludge for experiment. The 600 g of red clay, carbon and silica are added into the pure oil respectively for containing 1.8 kg of sludge in pure oil
Fig. 5 Accumulated sludge in the oil separator (thickness of the sludge: 17 mm). The oil separator has been operated for 4 hours at 2400 RPM
Fig. 6 LEDs for checking operation of sludge monitoring system
Fig. 7 Weight of estimated sludge at control monitor from 0 kg to 1.6 kg. With measuring the pressure inside the OS, weight of sludge matched the pressure is printed the monitor
Fig. 8 Weight of estimated sludge as a function of time. The weight of estimated sludge is increased logarithmically

Fig. 1

Fig. 2

Fig. 3

Fig. 4

Fig. 5

Fig. 6

Fig. 7

Fig. 8

Development of Automatic System to Discharge Sludge in Oil Separator of Marine Engine
Angular velocity (ω) 250 rad/s
Outer radius of oil separator (r) 0.13 m
Inner radius oil separator (r0) 0.01 m
Mixed oil density (ρ0) 840 kg/m3
Sludge density (ρs) 1210 kg/m3
MCU AT91SAM3X8E
Operating voltage 3.3 V
Digital I/O pin 54
Analog input pin 12
Analog output pin 2
Flash memory 512 kB
SRAM 96 kB
Clock speed 84 MHz
Volume of oil 200 L
Oil type SAE 30 & 40
Oil pressure 6.8 bar
Rotational speed 2400 rpm
Operating time 80 min
Accumulated
Sludge (17 mm)		 Calculation 47.8 kPa
Experiment 60.4 kPa
Difference 12.6 kPa
1 2 3
Weight of oil separator
(before experiment) [kg]		 18.406 18.617 18.508
Weight of oil separator
(After experiment) [kg]		 20.099 20.160 20.140
Weight of accumulated
sludge [kg]		 1.591 1.543 1.632
Weight of estimated
sludge [kg]		 1.5 1.5 1.6
Accuracy [%] 93.9 97.1 98
Table 1 The parameters for calculation of the accumulated sludge on the wall of oil separator
Table 2 The specifications of Arduino Due
Table 3 Experimental parameters of sludge discharge system
Table 4 Comparison calculation with experiment
Table 5 Experimental results for automatic discharge system

Table 1

Table 2

Table 3

Table 4

Table 5

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