10.

1515/mecdc-2016-0011

OF THE REAL STIRLING CYCLE

in Prague, Vehicle Center of Sustainable Mobility,

h Republic
t.cz IDEALIZATION OF THE REAL STIRLING CYCLE
LIBOR ČERVENKA
Czech Technical University in Prague, Vehicle Center of Sustainable Mobility, Technická 4, Prague 6, Czech Republic
ovány možnosti idealizace reálného Stirlingova oběhu.
E-mail: libor.cervenka@fs.cvut.cz
náhradě sinusového pohybu pístu daného klikovým
pisujícím změny ideálního Stirlingova oběhu. Článek
ABSTRACT
vnitřní The
termodynamiku oběhu,idealization
paper presents a potential indikovanou účinnost
of the real a This idealization is performed by modifying the piston movement
Stirling cycle.
uzení těchto změntojethepoužit
corresponding detailní
ideal Stirling cycle.1-D matematický
The focus is on the cycle thermodynamics with respect to the indicated efficiency and
nto model zahrnuje reálné nenulové objemy ohřívače,
indicated power. A detailed 1-D simulation model of a Stirling engine is used as a tool for this assessment. The model includes real
pojovacích potrubí.
non-zero Model
volumes of je vytvořen
heater, regenerator, coolervandkomerčním
connecting pipe. The model is created in the GT Power commercial simulation
software.
ěh, 1-DKEYWORDS:
matematický model,
STIRLING CYCLE,ideální pohyb pístu
1-D MATHEMATICAL MODEL, IDEAL PISTON MOVEMENT

SHRNUTÍ
al idealization of thejsou
V tomto článku realprezentovány
Stirling cycle.
možnostiThis idealization
idealizace reálného Stirlingova oběhu. Tato idealizace spočívá v náhradě sinusového
e piston movement corresponding to the ideal Stirling
pohybu pístu daného klikovým mechanismem pohybem popisujícím změny ideálního Stirlingova oběhu. Článek popisuje vliv této
cycle thermodynamics with respect
změny na vnitřní termodynamiku to the indicated
oběhu, indikovanou účinnost a indikovaný výkon. Pro posouzení těchto změn je použit detailní 1-D
r. A detailed 1-D simulation model of a Stirling enginereálné
matematický model Stirlingova motoru. Tento model zahrnuje is nenulové objemy ohřívače, regenerátoru, chladiče a spojovacích
ssment.potrubí.
The model
Model je includes real non-zero
vytvořen v komerčním programuvolumes
– GT Power.of
KLÍČOVÁ SLOVA:
nd connecting pipe.STIRLINGŮV
The model OBĚH,
is 1-D MATEMATICKÝ
created in theMODEL,
GT IDEÁLNÍ POHYB PÍSTU
software.
D mathematical model, ideal piston movement
1. INTRODUCTION
The continual efforts of humanity to build a  machine capable Thermal efficiency of a real Stirling engine is very low compared
of converting thermal energy into mechanical work more to the ideal cycle. This difference is due to the real irreversible
efficiently leads to the creation of new mechanisms that would thermal changes, real viscous gas and real geometry. Heat
anity to be
build
able ato machine
realize cyclescapable
with idealof converting
reversible changes.thermal
One of transfer must be realized by non-zero volumes of heat exchangers
ork more these cycles is the Carnot cycle. This cycle can operateof
efficiently leads to the creation withnew
the and regenerators. Sinusoidal piston motion is realized by the
ble to realize cyclesthermal
highest possible with ideal reversible
efficiency changes.levels.
for given temperature One crankshaft mechanism. There aren’t any other options that use
cycle. This cycle
The cycle canofoperate
consists two isothermswithandthe
twohighest
isentropicpossible
changes. real gas and heat exchangers in a real engine, but the theoretical
emperature levels. The cycle consists of
Thermal efficiency is dependent only on the ratio two ofisotherms
maximum possibility exists of achieving idealized piston movement. This
Thermaland efficiency is dependent
minimum temperature (1). only on the ratio of article is focused on the influence of idealized movement of
erature (1). the piston on the thermal efficiency and indicated power of the
Tmin Stirling cycle. It further explains why it isn’t correct to compare
ηt = 1 − (1) (1)
Tmax the real cycle with the ideal Stirling cycle and why it is better to
regeneration of heat can work with the same thermal use a different cycle, the Pseudo Stirling cycle.
The Stirling
e. The Stirling cycle consists
cycle with 100%ofregeneration
two isotherms of heat and
can worktwo A  mathematical model, based on the real Stirling engine
with the same thermal efficiency as the
regeneration. Heat transfer is realized (ideally) atCarnot cycle. The Stirling
the presented in [1] is used as a tool for solving cycle thermodynamics.
vantagecycle consists isochoric
of using of two isotherms
change and is twotheisochoric
muchchangeslower The model therefore includes non-zero volumes of regenerator,
with heat compression
e of isentropic regeneration. Heatintransfer is realized
the original (ideally)cycle.
Carnot at the heater and cooler. Their sizes are the same as in the model
same temperatures. The advantage of using
Stirling engine is very low compared to the ideal cycle. isochoric change with crankshaft mechanism created according to the measured
is the much thermal
real irreversible lower pressure peak than
changes, realin the case of gas
viscous isentropic
and prototype described in [1]. This is also due to the same heat
compression in the original Carnot
er must be realized by non-zero volumes of heatcycle. transfer area and heat capacity of the regenerator. The engine
. Sinusoidal piston motion is realized by the crankshaft

Idealization of the Real Stirling Cycle

Libor Červenka MECCA 03 2016 PAGE 19
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is operated at a  synchronous speed of 1500 min-1. Isothermal
compression and expansion cannot be realized due to the non-
zero volumes of heat exchangers and relatively high speed.
The compression and expansion are in fact isentropic. Isochoric
supply and heat dissipation are achieved by moving the working
medium between a cold cylinder and a hot cylinder. This cycle
is sometimes called a  pseudo Stirling cycle. The mathematical
model has been built using the GT-Power software. This
software includes a  solver of partial differential equations of
gas dynamics for compressible flow. It takes into account mass,
energy and momentum conservation as well as the irreversibility
of compressible, non-stationary flow, and heat transfer between
gas and walls. A 1-D discretization is used in the manifolds. A 0-D
(time dependent only) solution of thermodynamic quantities is
used for parts with variable displacement (e.g. cylinders). This
more realistic but still idealizedThis process
cycle will is shown
be compared in the pressure volume diagram (p-v) and temperature entro
to a highly
idealized cycle to better identify the sources
diagram of discrepancies.
(T-s) in Figure 2. The compression is plotted between states labelled 1 a
2. Both pistons move synchronously and the working medium is transferred throug
2. THEORETICAL IDEALIZED CYCLESfrom
the regenerator the cold space to the hot space. The regenerator volume
The ideal Stirling cycle consists equal to zero in
of two workspaces the ideal cycle. Heat, equal to that transferred to regenerator mater
interconnected
duringmedium
through the regenerator. The working the previous reverse motion of both pistons, is transferred to the workin
is an ideal inviscid
gas (i.e., with constant thermalmedium
capacities from the regenerator walls. This change is presented in Figure 2 betwee
and without pressure
losses). The entire working mediumthe states
is always 2 located
and 3.in After
a cold this, the working medium expands in the hot cylinder. Th
expansion
or a hot space, since no dead volumes proceeds
are present. at constant temperature and the heat is supplied through the h
The principle
is illustrated in Figure 1. A coldcylinder wall.isItatistheshown
cylinder piston bottom in the
FIGUREp-v and –T-s
2: Pressure diagrams
volume between
and temperature – entropystates
diagramslabelled
of the 3 an
ideal Stirling cycle.
4. The
dead center (BDC). For the situation lasta hot
plotted, change
cylinderispiston
the transfer of working medium back into the cold
OBRÁZEK 2: p – V a T – s diagramy idealizovaného Stirlingova oběhu.
space. Bo
is at the top dead center (TDC). pistons move
All working synchronously
medium is in the (change at constant volume). It is shown in Figure
cold volume. The piston in thebetween
hot cylinderstates 4 and
andthe1. Inthethis change heat is accumulated
space to the hotinspace.the Theregenerat
is standing
regenerator from the cold
material, as mentioned above.
piston in the cold cylinder is moving to the TDC and compresses
regenerator volume is equal to zero in the ideal cycle. Heat,
the working medium. Heat is removed from the gas through the
equal to that transferred to regenerator material during the
cold cylinder wall. Compression proceeds therefore at constant
previous reverse motion of both pistons, is transferred to the
temperature.
working medium from the regenerator walls. This change is
This process is shown in the pressure volume diagram (p-v) and
presented in Figure 2 between the states 2 and 3. After this,
temperature entropy diagram (T-s) in Figure 2. The compression
the working medium expands in the hot cylinder. This expansion
is plotted between states labelled 1 and 2. Both pistons move
proceeds at constant temperature and the heat is supplied
synchronously and the working medium is transferred through
through the hot cylinder wall. It is shown in the p-v and T-s
diagrams between states labelled 3 and 4. The last change is
the transfer of working medium back into the cold space. Both
pistons move synchronously (change at constant volume). It is
Figure 2: Pressure – volumeshownand temperature – entropy
in Figure 2 between diagrams
states 4 and of theheat
1. In this change ideal
is Stirlin
accumulated incycle.
the regenerator material, as mentioned above.
Obrázek 2: p – V a T Thermal
– s diagramy
efficiencyidealizovaného Stirlingova
ηt of the ideal Stirling cycle is oběhu.
given by
Equation (2). Efficiency is defined as cycle work divided by heat
Thermal efficiency ηt of the supplied
ideal Stirling cycle
to the engine fromis the
given by Equation (2). Efficiency
outside,
defined as cycle work divided by heat supplied to the engine from the outside,
ηt =
(κ − 1)(τ − 1)ln ε (2) (
FIGURE 1: Schematic diagram of ideal Stirling engine.
OBRÁZEK 1: Schéma idealizovaného Stirlingova motoru.
(τ − 1)(1 − ξ ) + τ (κ − 1)ln ε
where Poisson constant is labelled κ. Compression ratio ε is given by the ratio
maximum v1 to minimum v2 volume – Equation (3)
v v
ε= 1 = 4 (
v 2 v3
Temperature ratio τ is defined by the ratio of Tmax to Tmin - Equation (4)
Idealization of the Real Stirling Cycle T T
Libor Červenka τ = max = 3 MECCA 03 2016 PAGE 20 (
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9:23the
PM engine from t
outside between the states labelled 2 and 2' to the maximum possible he
 eal Stirlingcycle.
cycle is given by Equation (2). Efficiency is
–by s diagramy
heat supplied idealizovaného
to the engine Stirlingova
from the oběhu.
outside,
(κ − 1)(τ − 1)ln ε
nd temperature – entropy diagrams of the ideal Stirling
deal
t = where
Stirling Poisson
cycle.
cycle constant
is −given is labelled κ. Compression
by Equation (2). Efficiencyratio ε(2)
isis
(τ − 1
s diagramy
)(1 − ξ ) + τ (κ
idealizovaného
1) ln ε Stirlingova oběhu.
by heatgiven by
supplied the to
ratio
theof engine
maximum v1 tothe
from minimum v2 volume –
outside,
belled Equation
κ. Compression
(3) ratio ε is given by the ratio of
ηolume
(κ − 1)(τ − 1)ln ε
– Equation (3)
t = Stirling cycle is given by Equation (2). Efficiency (2)
eal is
(τ − 1)(1 −v ξ ) +vτ (κ − 1)ln ε
by heatεsupplied to
4 the engine from the outside,
abelled κ. = 1
= (3) (3)
(κ −Compression
v12)(τ −v13)ln ε ratio ε is given by the ratio of
olume
t = – Equation (3) (2)
by (the )(1 −vξof) +Tτmax
τ − 1ratio (κ to
− 1 )
Tln ε
min - Equation (4)
v4
κ. Tmax1
= Tratio
ε =Compression
belled τTemperature τ isratio
defined by the
ε is of T
ratioby
given the to Tmin (3)
max ratio
–
of
= v = v
3
(4)
Equation
lume – Equation 2 (4) 3
Tmin T(3) 1
d by the ratiov of Tvmax to Tmin - Equation (4)
ven by the ε = Tratio
1
= ofT4 3heat supplied to the engine from the (3)
labelled
τ = 2vmax2
and=v 3
2'
(4)to the maximum possible (4)
heat
between T
states T
labelled
FIGURE 3: Thermal efficiency of the ideal Stirling engine for various
by the ratio min
of Tmax 1
to Tmin4 and 1 (state(4)
- Equation 2 has the same regeneration efficiencies and cycle specific work.
ven
ncy isbygiven
theTratio of
by Equation
T3 heat supplied
(5) to the engine from the OBRÁZEK 3: Tepelná účinnost a měrná práce idealizovaného Stirlingova
labelled 2
τ = max
T2 I and
Regenerator − T2 2' to the maximum ofpossible
= efficiency ξ is given by the ratio heat supplied (4)
heat
to motoru pro různé účinnosti regenerace.
between ξ = T
statesfrom
the engine
min Tlabelled
1 4 and
the outside 1 (state
between 2 has
the states the same
labelled (5)
2 and
ven by the T −maximum
2’ to ratio
Tof
2 heat supplied to the engine from the
ency is given the4by Equation (5) heat accumulated
possible in a regenerator
idealized
labelled Stirling
2T and
between T2cycle
states
− to isthe
2' labelled given by
maximum
4 and Equation
1 (state 2 has(1)
possible theonlyheatif
same
2I
100%.
between Efficiency
ξ states labelled
=
temperature reaches that of
4 and 1is(state
as 1). This efficiency the Carnot
given by2Equationcycle
has the and
(5) same (5)
ncy is given by T − T
4 Equation
2 (5)
idealized Stirling
T I − T2 cycle is given by Equation (1) only if
100%. ξEfficiency
= 2 reaches
(5) that of the Carnot cycle and (5)
T4 − T2
idealized Stirling cycle is given by Equation (1) only if
100%. The Efficiency reachesof that
thermal efficiency of the Carnot
the idealized cycle
Stirling cycle and
is given
by Equation (1) only if the regeneration efficiency is 100%. FIGURE 4: Schematic diagram of an ideal regenerative constant volume
Efficiency reaches that of the Carnot cycle and depends only on cycle with backflow valve.
OBRÁZEK 4: Schéma idealizovaného oběhu s přívodem a odvodem tepla
minimum and maximum temperatures. Specific cycle work w is při konstantním objemu opatřeného ventily k zabránění zpětného toku.
mum and
givenmaximum temperatures. Specific cycle work
by Equation (6) w is
If a  real high speed engine is used to increase the power
w = cv (κ − 1) ⋅ Tmin ⋅ (τ − 1)ln ε (6) (6)
simultaneously, heat transfer takes place during isochoric phases
at capacity of the working medium at constant volume. only. For this reason, isothermal changes cannot be realized.
where cv is specific heat capacity of the working medium at Compression and expansion are closer to isentropic ones. This
constant volume.
of the ideal Stirling cycle in relation to compression ratio cycleisis called the ideal regenerative constant volume cycle. It
does not use the same temperatures at the cooled and heated
ciency is calculated for temperature ratio τ=2.57 and Poisson
The thermal efficiency of the ideal Stirling cycle in relation to sides for regeneration of heat. Compression of working medium
various curves represent thermal efficiency as a function of
compression ratio is shown in Figure 3. Efficiency is calculated is isentropic. These states are labelled 1 and 2 in the p-v and
.
for temperature ratio τ = 2.57 and Poisson constant κ = 1.4. T-s diagrams in Figure 5. The working medium is transferred
The various curves represent thermal efficiency as a function of from the cold cylinder into the hot cylinder at constant volume.
regeneration efficiency. It bypasses the cooler and flows through the regenerator and
Efficiency increases with compression ratio up to a  maximum the heater to the hot space. This change is shown between
value (red line). This is valid for 100% regeneration efficiency. states 2 and 3. Then the isentropic expansion occurs in the hot
The thermal efficiency of the cycle is then the same as the space between states 3 and 4. The last change is a transfer of
Carnot cycle efficiency given by Equation (1). Specific work is the working medium back into the cold spaces. Both pistons
represented by the dashed curve. It increases with increasing move synchronously and the change is at constant volume. It
compression ratio. is shown between states 4 and 1 in Figure 5. In this change
Heat supply and cooling cannot be realized through the small working medium bypasses the heater and heat is accumulated
surfaces of the cylinder wall alone. Therefore, a  heater and in the regenerator.
a  cooler must be placed between the hot and cold cylinder Thermal efficiency ηt of the ideal regenerative constant volume
(Figure 4). cycle is given by Equation (7)

ficiency of the ideal Stirling engine for various regeneration

efficiencies and cycle specific work.
Idealization of the Real Stirling Cycle
činnost a měrná práce idealizovaného Libor Stirlingova
Červenka motoru pro MECCA 03 2016 PAGE 21
různé účinnosti regenerace. Unauthenticated
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th compression ratio up to a maximum value (red line). This is

 engine is used to increase the power simultaneously, heat
during isochoric phases only. For this reason, isothermal
ealized. Compression and expansion are closer to isentropic
alled the ideal regenerative constant volume cycle. It does not
atures at the cooled and heated sides for regeneration of heat.
ng medium is isentropic. These states are labelled 1 and 2 in
ams in Figure 5. The working medium is transferred from the
hot cylinder at constant volume. It bypasses the cooler and
enerator and the heater to the hot space. This change is shown
d 3. Then the isentropic expansion occurs in the hot space
4. The last change is a transfer of the working medium back
Both pistons move synchronously and the change is at constant
between states 4 and 1 in Figure 5. In this change working
heater and heat is accumulated in the regenerator. FIGURE 6: Thermal efficiency of the ideal regenerative constant volume
cycle for various regeneration efficiencies and cycle specific work.
OBRÁZEK 6: Tepelná účinnost a měrná práce idealizovaného oběhu
s přívodem a odvodem tepla při konstantním objemu pro různé
účinnosti regenerace.

olume and temperature – entropy diagrams of ideal regenerative

constant volume cycle. FIGURE 7: Schematic diagram of a pseudo Stirling engine.
FIGURE 5: Pressure – volume and temperature – entropy diagrams of
s diagramy idealizovaného
ideal regenerative oběhu
constant volume cycle.s přívodem a odvodem tepla
OBRÁZEK 7: Schéma pseudo Stirlingova motoru.
při konstantním objemu.
OBRÁZEK 5: p – V a T – s diagramy idealizovaného oběhu s přívodem
a odvodem tepla při konstantním objemu.
of the ideal regenerative constant volume cycle is given by
regeneration efficiency. The graph shows that there is an
optimal compression ratio for maximum efficiency. All curves

ηt =
(
τ −ε κ −1
)(
1− ε 1−κ
) (7)
of efficiency intersect at a  ratio of approximately 3.25. This
(7) point from which regeneration is not possible. The
is the
⎛ τ κ −1 ⎞ κ −1
τ − ξ ⎜ κ −1 − ε ⎟ − ε temperature after compression (point 2 in Figure 5) is higher
( ⎝ ε 1 1 ⎠1 )( ) than the temperature after expansion (point 4 in Figure 5).
on ratio εt =is defined by Equation (3), the temperature ratioTheτ orange is line represents the cycle without regeneration (i.e.
where the compression
4) and regenerator efficiency ratio
1 ε is defined
1 by Equation (3), the
ξ is given by the ratio of theOtto heat
cycle, which describes an idealized spark ignition internal
1
between temperature
the states τ is defined2byand
ratiolabelled Equation
2' to(4)the
andmaximum
regenerator possible
combustion engine). The efficiency of this cycle increases with
efficiency ξ isbetween
he regenerator given by the ratio oflabelled
states the heat supplied
4 andto2. theRegenerator
increasing compression ratio. The dashed curve represents the
cycle between the states labelled 2 and 2’ to the maximum
Equation (5). Specific cycle work w is given by Equation (8)specific work. Work reaches a maximum and then decreases
possible heat accumulated in the regenerator between states with further increase of compression ratio.
labelled 4 and [(
2.
w = cv ⋅ T1 ⋅ τ − εRegenerator
κ −1
)(
1− ε efficiency
1− κ
)]
(5). Specific cycle work w is given by Equation (8)
is given by Equation (8) without the bypass coolers and heaters is often
A  variant
of the ideal regenerative constant volume cycle with respect toThe working medium flows through heat exchangers in
used.
is shown in Figure 6. Efficiency is calculated for temperature both directions. This variant is shown schematically in Figure
[(
w = cv T1κ=1.4. The1 various
sson constant
1
)( 1
)]
(8)
curves represent thermal 7. As in the previous case, compression in the cold space is
isentropic. It is shown between the states 1 and 2 in Figure 8.
n of the regeneration efficiency. The graph shows that there is
The thermal efficiency of the ideal regenerative constant Then the working medium flows through the cooler at constant
sion ratio for maximum efficiency. All curves of efficiency
volume cycle with respect to the compression ratio is volume. The working medium is first cooled to the temperature
approximately 3.25. This is the point from which regeneration is
shown in Figure 6. Efficiency is calculated for temperature labelled 2T. Temperature 2T is the same as in the state before
perature after compression (point 2 in Figure 5) is higher than
ratio τ = 257 and Poisson constant κ = 1.4. The various compression 1. Flow continues through the regenerator and
expansion (point 4 in Figure 5). The orange line represents the
curves represent thermal efficiency as a  function of the the heater up to the state 3 at constant volume.

Idealization of the Real Stirling Cycle

Libor Červenka MECCA 03 2016 PAGE 22
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Download Date | 5/28/18 9:23 PM
 Figure 8: Pressure – volumeand 1 intemperature
and Figure 8. In this change heat
– entropy is accumulated
diagrams in the Stirli
of a pseudo
regenerator and iscycle.
higher than in the previous case.
Obrázek 8: p – Thermal
V a T –efficiency
s diagramyht of pseudo
the pseudoStirlingova
Stirling cycleoběhu.
is given by
Equation (9)
Figure 8: Pressure – volume and temperature – entropy diagrams of a pseudo Stirling
Thermal efficiency ηt of the pseudo Stirling cycle is given by Equation (9)
cycle.
Obrázek 8: p – V a T – s diagramy ηt = pseudo ( )(
τ − ε κ −1Stirlingova
1 − ε 1−κ ) oběhu.
⎛ 1 ⎞ (9)
τ ⎜1 − κ −1 ⎟ + (τ − ξ (τ − 1) − 1)
Thermal efficiency ηt of the pseudo Stirling⎝cycle ε is⎠given by Equation (9)
where the compression ratio
ηt =
(
κ −1
τ −εε is given )( )
1 − ε 1−κby Equation (3), the temperature ratio
where the compression ratio ε is given by Equation (3), the (9)
given by Equation (4) and regenerator
1 ⎞
⎛ temperature efficiency ξ is given by the ratio of the h
supplied to the cycle between τ ⎜1 − κ −1the⎟ + (τ −ratio
ξ (τ τlabelled
−is1)given
− 1) by Equation (4) and regenerator
ε ⎠ ξstates
⎝ efficiency 2T and 2' to the maximum poss
is given by the ratio of the heat supplied to the cycle
where theheat accumulated
compression ratiotoεthe regenerator
is given
betweenbythe between
Equation
states labelled (3),states
2Tthe
labelled 4T and
and temperature
2’ to the maximum ratio 1τ (2T
possible is has
same temperature as 1). Regenerator efficiency is given by Equation (10)
given by Equation (4) and regenerator heat efficiency
accumulated ξto is thegiven by the
regenerator ratiostates
between of the heat
labelled
supplied to the cycle between the states 4T andlabelled
T I − T2T
= 2Ttheand
1 (2Tξ has 2 same 2' temperature
to the maximum possible
as 1). Regenerator (
heat accumulated to the regeneratorefficiency between Tby4TEquation
states
is given T2T (10) 4T and 1 (2T has the
−labelled
same temperature
Specific cycle as 1).work
Regenerator
w is givenefficiency
by Equation is given (10) by as Equation
in the previous(10) case.
T2 I − T2T
The thermal efficiency of the ξ = pseudo (10) (10)
T4T − T2T Stirling cycle, as a function of compress
ratio,work
Specific cycle is shown in Figure
w is given 9. Efficiency
by Equation (10) as is incalculated
the previous for temperature
case. ratio τ=2.57
Poisson constant κ=1.4. The various
Specific curves
cycle work w is represent thermal
given by Equation efficiency
(10) as in the against
The thermal regeneration
efficiency efficiency.
of the pseudo There is
case.an
Stirling
previous cycle,optimal as a compression ratio for maxim
function of compression
efficiency. The dashed curve represents the
ratio, is shown in Figure 9. Efficiency is calculated for temperature ratio τ=2.57 specific work. Work has a maximum
and
then decreases with increasingthermal
compression ratio.
Poisson
FIGURE 8: Pressure – volume constant
and temperature κ=1.4.
– entropy TheofvariousThe
diagrams curves represent
efficiency of the thermal
pseudo efficiency
Stirling cycle,against
as a functionthe
a pseudo Stirling cycle.regenerationThis part of paper explained why the pseudo Stirling cycle is better for descriptio
efficiency. There is an optimal compression ratio for maximum
of compression ratio, is shown in Figure 9. Efficiency is calculated
the real
OBRÁZEK 8: p – V a T – s diagramy pseudo Stirling
Stirlingova oběhu.cycle.
efficiency. The dashed curve represents the specific
for temperature ratiowork.
τ = 2.57Work has a maximum
and Poisson and
constant κ = 1.4.
then decreases with increasing compression ratio. The various curves represent thermal efficiency against the
This part of paper explained why theregeneration pseudo Stirlingefficiency.cycle
There is better
is an optimalforcompression
description ratioof
the real Stirling cycle. for maximum efficiency. The dashed curve represents the specific
work. Work has a maximum and then decreases with increasing
compression ratio.
This part of paper explained why the pseudo Stirling cycle is
better for description of the real Stirling cycle.

3. REAL STIRLING ENGINE CYCLE

FIGURE 9: Thermal efficiency of a pseudo Stirling engine for various
regeneration efficiencies and cycle specific work.
OBRÁZEK 9: Tepelná účinnost a měrná práce pseudo Stirlingova motoru
pro různé účinnosti regenerace.
Expansion of working fluid is isentropic in the hot space at state
4. Then, the working medium flows back through the heater
where it is heated to the temperature 4T. Then, the working
medium is transferred back through the regenerator and cooler
into the cold space. Both pistons move synchronously and the
change is at constant volume. It is shown between states 4T
The schematic diagram of a real cycle (Figure 10) is similar to the
pseudo Stirling engine (Figure 7), except it has non-zero volumes
of regenerator, heater, cooling and connecting pipes. A  buffer
is connected below the pistons and is over pressurized with
working medium. It is used to decrease bearing load. Therefore,
the working medium is not located in the hot or cold space
only. It is spread over the total volume (sum of all volumes)
depending on the actual volumes and the temperatures in the
individual sections. Heat supply and cooling is only in the part
of the working medium. Another difference is the use of real
viscous gas with good aerodynamic properties (usually helium or
hydrogen). A major difference is the use of a crank mechanism.
Therefore, the piston movements are approximately sinusoidal.

Idealization of the Real Stirling Cycle

Libor Červenka MECCA 03 2016 PAGE 23
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FIGURE 10: Schematic diagram of a real Stirling engine.
OBRÁZEK 10: Schéma reálného Stirlingova motoru.
Isothermic compression and expansion cannot be achieved due
to non-zero volumes of the heat exchangers and high engine
speed in the real case. Ideal movement of the Stirling engine
is only one way to approach the theoretical idealized cycle.
This mechanism of ideal movement does not exist, but we can
achieve it in the mathematical model.
This is why the pseudo Stirling cycle can be used as a  more
realistic but still idealized benchmark. For this case, piston
movement tailored to the sequence of changes should be used.
The following simulations were focused on such a movement,
although a gear realizing it is not yet known.
The results have been compared to experimental outcomes of
a Stirling engine prototype (alpha modification) with standard
sinusoidal piston movement. The idealized engine had the same
thermal parameters (except for cylinder volumes), but piston
motion is close to the ideal motion pattern (Figure 12 green and
yellow line) smoothed by Fourier polynomial representation.
With the aim of achieving the same compression ratio in the
realized prototype and idealized engine, the cylinder volumes of
the idealized engine had to be changed, but the maximum sum
of both volumes was kept at the same level as the prototype.
This resulted in the re-designing of both cylinders, leading to
a significant increase in individual volumes and to transport of
more gas through all heat exchangers using higher velocities
(shorter time of piston movement). At the end, pressure losses at
heat exchangers are increased significantly, which can be shown
by the individual pressure – volume diagrams in Figure 15, and
is taken into account by integrals of work in Figure 15 (orange
closed area). This important fact is not visible if the pressure
– total volume diagram is used, Figure 15 (green and purple
closed area). Moreover, this diagram is much narrower than the
ideal one.
The mathematical model of the engine realized as a prototype
was presented in [1] and [3]. The model was calibrated with data
measured on the prototype. The new mathematical model of the
Stirling engine with idealized piston motion is based on a model
with real dimensions of the individual parts. The main change
Idealization of the Real Stirling Cycle
Libor Červenka
is changing the sinusoidal movement of pistons to the ideal
Stirling engine piston movement.
The prototype engine is realized as an alpha modification. This
means two separate cylinders (hot and cold) connected through
a  cooler, regenerator and heater. The displacement of each
cylinder is 183 cm3. Cooler wall temperature is 350 K and heater
wall temperature is 900 K. The regenerator is made of steel.
Engine speed is 1500 min-1. Working medium is helium. Non-
zero volumes of heater Vh, regenerator Vr and cooler Vc with heat
transfer area and heat capacity of the regenerator are shown in
Figure 10.
4. KINEMATICS MODIFICATION
The original kinematics of the piston is nearly a  sinusoidal
motion determined using the full crank mechanism. Figure 11
shows strokes (volume change) of hot piston (full red line) and
cool piston (full blue line). The workspace is formed between
the hot and cold pistons. Therefore, the grey area represents the
total stroke (total volume change).
The stroke of the idealized Stirling engine is shown in Figure
11 as dashed lines. The red dashed line represents the stroke of
an idealized hot piston and the blue dashed line the stroke of
the idealized cold piston. The orange area between these lines
shows the idealized total stroke. Isochoric changes are shown
between -135° crank angle (CA) and -45° CA, and between
45° CA and 135° CA.
Compression ratio, minimum and maximum total volumes are
not the same when idealized stroke is used with the same
maximum value of hot and cold cylinders as shown in Figure 11.
The stroke must be increased from the original 45 mm to 72 mm
to keep the same minimum and maximum stroke as shown in
Figure 12 by the dashed lines. To achieve the same compression
ratio, the cold cylinder volume has to be reduced. That means
a  larger cold cylinder volume change when the hot cylinder
volume is at a  minimum (i.e. between -45° CA and 45°  CA).
FIGURE 11: Hot and cold piston stroke and total stroke of the original and
idealized kinematics.
OBRÁZEK 11: Průběh zdvihu horkého a studeného pístu a celkový zdvih
původní a idealizované kinematiky.
MECCA 03 2016 PAGE 24
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 drop as shown in Equation (13).

W = Wh + Wc = ∫ ph ⋅ dVh + ∫ pc ⋅ dVc = ∫ ph ⋅ dVh + ∫ ( ph + Δp ) ⋅ dVc = ∫ ph ⋅ (dVh + dVc ) + ∫ Δp ⋅ dVc (13)

h c hThe total work
c W is not determined
h + c from the common c pressure

The total work W is not determined from the common pressure multiplied by the sum
multiplied by the sum of volumes only. The lost work required
of volumes only. The lost work required for transport of the working medium
for transport of the working medium from the cold compression from the
cold compression side to the hotside expansion side andside
to the hot expansion vice
andversa hashas
vice versa totobebetaken
taken into
account. This work is expressed into as pressure drop Δ p.
account. This work is expressed as pressure drop Δp.

W= ∫ p ⋅ (dV h + dVc ) (14) (14)

h +c
Work computed from total stroke and pressure in hot cylinder is shown in Figure 13
Work computed from total stroke and pressure in hot cylinder is
in green. The purple trace represents work computed from total stroke and pressure
shown in Figure 13 in green. The purple trace represents work
in the cold cylinder. Work overcoming the pressure drop seems to be small in
computed from total stroke and pressure in the cold cylinder.
FIGURE 12: Stroke of the hot comparison with
and the cold pistons these
replaced two lines, but work to overcome pressure drop is multiplied by
by Fourier
Work overcoming the pressure drop seems to be small in
polynomial used for modified the large volume of the cold cylinder
kinematics. (13). In Figure 13 it is shown as an orange
OBRÁZEK 12: Průběh náhrady zdvihu horkého a studeného pístu
closed area.
Fourierovým polynomem, který je použit v modifikované kinematice.

For this reason, the line representing the stroke of the cold
piston changes gradient at 45° CA. A different stroke gradient
is exhibited between 45° CA and 135° CA for constant volume
change. The same also occurs on the expansion side.
A  Fourier polynomial is used in the mathematical model to
replace the idealized discontinuous stroke and remove pressure
oscillations close to an abrupt change in acceleration. Using 3
d in theharmonic
mathematical
componentsmodel to isreplace
the stroke very closethe idealized
to the original
move pressure oscillations FIGURE 13: p – V diagram of the hot (Hot – red line) and the cold (Cold
straight line (Figure 12). close to an abrupt change in
– Blue line) cylinder and p – V diagram of total volume and pressure
nic components the stroke is very close to the original in the hot cylinder (Total Hot – green line) and p – V diagram of total
A Fourier polynomial is used in the mathematical model to replace the idealized
5. RESULTS
discontinuous stroke and remove pressure oscillations
volume and pressure in the cold cylinder (Total Cold – purple line) and
closeof to
p – V diagram workan abruptthe
to overcome change in (Delta p – orange
pressure drop
A  comparison ofmodel
n the mathematical both variants has been carried out by
acceleration. Using 3toharmonic
replace the idealized
components the stroke is very
line) for original close
sinusoidal to the original
kinematics.
evaluation
e pressure of both thermal
oscillations closeefficiency
to an and indicated
abrupt power. Cycle
change in
straight line (Figure 12). OBRÁZEK 13: p – V diagram horkého (Hot – červená čára) a studeného
ts has been
work is carried
computed out
by by
(12) evaluation
and represented
components the stroke is very close to the original of
as both
the innerthermal
area of (Cold – modrá čára) válce a p – V diagram celkového objemu a tlaku
er. Cycle work is computed by (12) and represented as v horkém válci (Total Hot – zelená čára) a p – V diagram celkového
pV diagrams.
s. 5. RESULTS objemu a tlaku ve studeném válci (Total Cold – fialová čára) a p –
A comparison of both variants has been carried out by práce
V diagram evaluation of tlakových
pro překonání both thermal
ztrát (Delta p – oranžová čára)
dW = p ⋅ dV (12) (12) pro původní kinematiku.
efficiency and indicated power. Cycle work is computed by (12) and represented as
assuming
has been an
thecarried
inner ideal out
area gas of with
byp-V zero pressure
evaluation
diagrams. of both drop, thermal cycle
plified from is Equation (13)byinto (12)Equation (14). Theaszero
⋅real
In the most idealized case, assuming an ideal gas with
Cycle work computed and represented dW = pfrom dV (12)
is shown
der Wh pressure incycle
drop, Figure work13 as a red
calculation willclosed area. The
be simplified
inderdW In thedepicted
most
(13) intoidealized case, assuming an in ideal
the gas with zero pressure drop, cycle
W c is
Equation
= p ⋅ dV as a blue
Equation (14). closed
The real workarea. The
obtained
(12) total
um of Wwork h and
hot calculation
WcWwith
cylinder is shown will
correct be simplified
signs.
in Figure 13 as Total
a redworkfromcan
closed Equation
area. also
The (13) into Equation (14). The real
uming work an ideal gas
obtained
h
with
in thezerohot pressure
cylinder W drop,is cycle
shown in Figure 13 as a red closed area. The
olume work and supplied
the work in theneeded
cold cylinder to W overcome
is depicted theh pressure
as a blue closed
ed fromwork Equation (13) into Equation (14). The real
c

3). area. Thesupplied

total cycle in work the
W iscoldgiven cylinder
as a sum ofW Whcandis W depicted
with as a blue closed area. The total
Wh is shown in Figure 13 as a red closed area. The
c
cycle work W is given as a sum
correct signs. Total work can also be calculated from the totalof W h and W c with correct signs. Total work can also
er Wc is be depicted
volumecalculated
and the as
work a
from blue
needed the closed
total
to⋅ overcome area.
volume the The
and
pressure total
the work
drop(13)as needed to overcome the pressure
= ∫ p
of Wh and
h ⋅ dV
drop
h + ∫
Was ( p
c with
+ Δ
shown
h p ) ⋅ dV
correct = ∫ p (dV
signs. Total
in Equation
c h h + dV c ) + ∫ Δ
(13).workc can also p ⋅ dV c
h
shown c
in Equation (13). h+c
me and the work needed to overcome the pressure
mined from the common pressure multiplied by the sum FIGURE 14: Pressure in the hot cylinder (p Hot), pressure in the cold
W = forWh +transport
Wc = ph ⋅of dVthe pc ⋅ dVc = medium ph ⋅ dVh +from ( ph the
+ Δp ) ⋅cylinder ph ⋅ (dV
dVc = (p Cold) h + dVc ) + Δp ⋅ dVc
and pressure (13) on the crank
drop (Delta p) depending
k required ∫ ∫h + working ∫ ∫
angle original
∫
sinusoidal kinematics.
∫
c Volume traces are shown for
hot expansion side and vice versa has to be taken
h c h
(13)into illustration
c h+c
only.
ph ⋅as The
+ ( ptotal
dVhpressure pwork = isphnot
) ⋅ dVΔc W ⋅ (dVdetermined from the
h + dVc ) + Δp ⋅ dVc
(13)common pressure multiplied by the sum
ed ∫h + Δdrop p.
ofc volumes only. hThe +c
∫
lost work required
c
∫ OBRÁZEK 14: Závislost tlaku horkého válce (p Hot), tlaku studeného válce
for transport of the working medium from theklikového hřídele pro
(p Cold) a tlakové ztráty (Delta p) na úhlu natočení
ed fromcold
the compression
common pressure multiplied by the sum
side to the hot expansion side and vice
původní versa Průběhy
kinematiku. has toobjemů
be taken into pro ilustraci.
jsou zobrazeny
W =account.
equired for ⋅ (dVhThis
∫h+cptransport c ) the is
+ dVof
work working medium
expressed from the(14)
as pressure drop Δp.
expansion side and vice versa has to be taken into
okepressure
as and pressure drop Δinp. hot cylinder is shown in Figure 13
presents work computed from total stroke and W = ⋅ (dVh + dVc )
∫h+cppressure (14)
overcoming the pressure drop seems to be small in
W = ∫ pWork
es, but
⋅ (dV computed
work hto
dVc )
+ overcome from total Idealization
pressure stroke
drop and
of the Real
is (14)Cycle
pressure
Stirling
multiplied byin hot cylinder is shown in Figure 13
h + c in green. The purple trace represents work computed from total stroke and pressure
Libor Červenka MECCA 03 2016 PAGE 25
cylinder (13). In Figure 13 it is shown as an orange
e and pressure
in the cold in hot cylinderWork
cylinder. is shown in Figurethe
overcoming 13 pressure drop seems to be small in Unauthenticated
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sents work computed from total stroke and pressure
comparison with these two lines, but work to overcome pressure drop is multiplied by
rcomingthethe pressure
large volumedrop seems
of the cold to be small
cylinder (13).inIn Figure 13 it is shown as an orange
comparison with these two lines, but work to overcome pressure Original Modified
drop is multiplied by the large volume of the cold cylinder (13). kinematics kinematics
In Figure 13 it is shown as an orange closed area. Indicated power 8.51 1.54 [kW]
In Figure 14 the volume and pressure traces, as a  function Indicated efficiency 27.15 4.07 [%]
of crank angle, are shown. The greatest pressure difference
Hot cylinder power 26.75 31.04 [kW]
occurs simultaneously with the largest volume changes, which
is evident from the pressure lines (i.e. volumes of hot and cold Cold cylinder power -17.90 -28.47 [kW]
cylinders while the total volume shows the smallest change). Power of total vol. hot press. 10.25 13.81 [kW]
Work overcoming the pressure drop for moving the working
Power of total vol. cold press. 10.33 14.78 [kW]
medium is calculated from the change of cold cylinder volume.
The same graphs, but for the modified kinematics, are shown Power to overcome pressure drop -1.40 -11.24 [kW]
in subsequent figures. The Color marking is the same as in the TABLE 1: Performance parameters original and modified kinematics.
previous case. Isochoric change is evident on the graph for TABULKA 1: Výkonové parametry původní a modifikované kinematiky.

FIGURE 15: p – V diagram of the hot (Hot – red line) and the cold (Cold
– Blue line) cylinder and p – V diagram of total volume and pressure
in the hot cylinder (Total Hot – green line) and p – V diagram of total
volume and pressure in the cold cylinder (Total Cold – purple line) and
p – V diagram of work to overcome the pressure drop (Delta p – orange
line) for modified kinematics.
OBRÁZEK 15: p – V diagram horkého (Hot – červená čára) a studeného
(Cold – modrá čára) válce a p – V diagram celkového objemu a tlaku
v horkém válci (Total Hot – zelená čára) a p – V diagram celkového
objemu a tlaku ve studeném válci (Total Cold – fialová čára) a p –
V diagram práce pro překonání tlakových ztrát (Delta p – oranžová čára)
pro modifikovanou kinematiku.
FIGURE 16: Pressure in the hot cylinder (p Hot), pressure in the cold
cylinder (p Cold) and pressure drop (Delta p) depending on the crank
angle modified kinematics. Volume traces are shown for illustration only.
OBRÁZEK 16: Závislost tlaku horkého válce (p Hot), tlaku studeného válce
(p Cold) a tlakové ztráty (Delta p) na úhlu natočení klikového hřídele pro
modifikovanou kinematiku. Průběhy objemů jsou zobrazeny pro ilustraci.
the total volume. A big deference between this graph and the
idealized Stirling cycle is obvious. The low isochoric change on
the expansion side (minimum volume) is notable. It is caused
by the supply of heat only to part of the working medium (only
to the volume in a heater). Approximately the same pressure
applies over the whole volume, but temperature varies from
the minimum at the compression side to the maximum at
the expansion side. Density of the working medium must be
distributed from the maximum on the compression side to
minimum on the expansion side. For this reason the heat is
supplied into the smaller mass quantities to the expansion
side. This is why pressure difference during isochoric change on
the expansion side is lower than the pressure difference during
isochoric change on the compression side in the idealized cycle.
The original version of the p-V diagram of total volume is shown
for comparison. Total volume of work is higher in comparison
with the original variant. However, the cycle work is lower due
to the significantly increased work to overcome the pressure
drop. This work is shown again as the orange closed area in
Figure 15. In Figure 16 the reason for the rapid increase in
pressure drop is visualized.
From the pressure traces it is evident that the greatest
difference occurs at the fastest change of the particular volumes
(i.e. volumes of hot and cold cylinders when total volume
is constant). There is one essential difference in comparison
with the original variant. In modified kinematics the piston
is motionless during ¼ of the cycle duration. Transport of the
working substance must be twice as fast in comparison with the
original kinematics. With the same dimensions of regenerator,
cooler and heater as [1] the increase in the pressure drop is
significant. It is clearly visible in Figure 16 between -135° CA
and -45° CA. This problem can be eliminated by a large flow
cross section. Then the heat exchanger must be shorter to
keep the same volume. Sufficient heat transport need not be
guaranteed in such exchangers.

Idealization of the Real Stirling Cycle

Libor Červenka MECCA 03 2016 PAGE 26
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In Table 1 the numerical values for work (areas) are shown in
terms of powers given by Equation (1). Indicated power is total
power of cycle i.e. the sum of Hot cylinder power and Cold
cylinder power. Indicated efficiency is cycle thermal efficiency
given by dividing Indicated power by heat supply in the heat
exchanger. Power given by total volume and pressure on the hot
side is labelled Power of total vol. hot press. Power given by
total volume and pressure on the cold side is labelled Power of
total vol. cold press. These two values are similar, but they do not
describe the total power of the cycle. From this value the Power
to overcome the pressure drop has to be deducted. The powers
for moving the working medium under the pistons and in the
buffer are not included in the graphs and table for simplicity. This
causes slight differences in values in Table 1.
6. CONCLUSION
It is evident that the use of idealized kinematics does not
necessarily improve the cycle thermal efficiency. A  significant
decrease in the indicated power of the cycle from 8.51 kW to
1.54 kW is shown in Table 1. This is due to the increased power
to overcome the pressure drop. For this reason the thermal
efficiency of the cycle also decreases rapidly. A pressure drop is
generated by the flow through the regenerator, cooler and heater
when real gas is used. This pressure drop can be eliminated by
using a larger cross-sectional area i.e. greater number of tubes.
They must be shorter to keep the same volume. Sufficient heat
flow may not be guaranteed in the exchangers.
Idealization of the Real Stirling Cycle
Libor Červenka
REFERENCES
[1] ČERVENKA, L.: Mathematical Model of Real Stirling Engine.
XLIV. International Scientific Conference of the Czech and
Slovak University Departments and Institutions Dealing
with the Research of Internal Combustion Engines –
KOKA 2013. Brno: Mendelova univerzita v Brně, 2013,
p. 98 – 107. ISBN 978-80-7375-801-1.
[2] VÁVRA, J., ČERVENKA, L., TAKÁTS, M., BROŽ, J.:
Mathematical Model of a Real Stirling Engine Calibrated
by Experiments. In: Mecca online – Journal of Middle
European Construction and Design of Cars [online]. 2013,
vol. 11, no. 2, p. 12 – 21. Internet: http://www.degruyter.
com/view/j/mecdc.2013.11.issue-2/mecdc-2013-0008/
mecdc-2013-0008.xml. ISSN 1804-9338.
[3] VÁVRA, J., ČERVENKA, L., TAKÁTS, M., J.: Mathematical
Model of a Real Stirling Engine Calibrated by Experiments.
ISEC 2014 – 16th International Stirling Engine Conference.
Spain Bilbao, September 2014, ISSN 2409-0387
[4] VÁVRA, J., ČERVENKA, L., TAKÁTS, M., BROŽ,
J.: Mathematical Model of a Real Stirling Engine Calibrated
by Experiments. ASME 2014 International Engineering
Congress and Exposition, Volume 8A, Canada Montreal,
November 2014, ISSN 978-0-7918-4655-2
ACKNOWLEDGEMENT
This research has been realized using the support of Technological
Agency, Czech Republic, programme Centres of Competence,
project # TE01020020 Josef Božek Competence Centre for
Automotive Industry.
Technological support was provided by EU Regional Development
Fund in OP R&D for Innovations (OP VaVpI) and Ministry for
Education, Czech Republic, project # CZ.1.05/2.1.00/03.0125
Acquisition of Technology for Vehicle Center of Sustainable
Mobility.
MECCA 03 2016 PAGE 27
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