Gas Mixture Dynamics in Pipeline Networks with a Focus on Linearization and Optimal Control

Balancing temporal shortages of renewable energy with natural gas for the generation of electricity is a challenge for dispatchers. This is compounded by the recent proposal of blending cleanly-produced hydrogen into natural gas networks. To introduce the concepts of gas flow, this thesis begins by linearizing the partial differential equations (PDEs) that govern the flow of natural gas in a single pipe. The solution of the linearized PDEs is used to investigate wave attenuation and characterize critical operating regions where linearization is applicable. The nonlinear PDEs for a single gas are extended to mixtures of gases with the addition of a PDE that governs the conservation of composition. The gas mixture formulation is developed for general gas networks that can inject or withdraw arbitrary time-varying mixtures of gases into or from the network at arbitrarily specified nodes, while being influenced by time-varying control actions of compressor units. The PDE formulation is discretized in space to form a nonlinear control system of ordinary differential equations (ODEs), which is used to prove that homogeneous mixtures are well-behaved and heterogeneous mixtures may be ill-behaved in the sense of monotone-ordering of solutions. Numerical simulations are performed to compute interfaces that delimit monotone and periodic system responses. The ODE system is used as the constraints of an optimal control problem (OCP) to minimize the expended energy of compressors. Moreover, the ODE system for the natural gas network is linearized and used as the constraints of a linear OCP. The OCPs are digitally implemented as optimization problems following the discretization of the time domain. The optimization problems are applied to pipelines and small test networks. Some qualitative and computational applications, including linearization error analysis and transient responses, are also investigated.