CN105023479A - Mixing process control experimental apparatus - Google Patents
Mixing process control experimental apparatus Download PDFInfo
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Abstract
The invention discloses a mixing process control experimental apparatus. The mixing process control experimental apparatus comprises a water storage tank as well as a first water groove and a second water groove which are connected with each other sequentially through a pipeline with electromagnetic valves; the first water groove is provided with a water inlet and a water outlet, wherein the water inlet is connected with a first heating device, the water inlet is connected with the water storage tank through a water pump; a stirrer is installed in the first water groove; a stirrer and a second heating device are installed in the second water groove; and the second water groove is provided with two water inlets and a water outlet, wherein one water inlet is connected with the water outlet of the first water groove, the other water inlet is connected with the water storage tank through a water pump, the water outlet is connected with the water storage tank through an air-water heat exchanger and a water pump sequentially. According to the mixing process control experimental apparatus of the invention, the opening and closing of the electromagnetic valves are adjusted through a control system, so that a mixing procedure control process can be simulated flexibly, and the design and test of control algorithms under different complexities can be realized, and an experimental apparatus emphasizing algorithm test and execution in actual conditions can be provided for researchers of related theories.
Description
Technical field
The present invention relates to process control field, be specifically related to a kind of hybrid process Control release device.
Background technology
Hybrid system is the dynamic system being mixed mutually with continuous variable system by discrete event system and formed, and has both been characterized in consecutive variations in time, again by the driving of discrete accident.The example of hybrid system is a lot, as automotive control system, aircraft control system, steam boiler system and some there are the Chemical Manufacture of batch processing and intermittent nature and treating apparatus etc.
For the research of hybrid system process control, focus mostly at theoretic, the optimized control etc. of the modeling of such as hybrid system, the stability study of hybrid system and hybrid system, usual is both at home and abroad that means conduct a research with computer simulation experiment, as the process control training system of certain Jiao Yi company of Germany development, by computer simulation software simulation actual industrial production and process, the simple Control release of temperature, flow, pressure and liquid level can be carried out, and closed-loop control and bus marco are carried out to system.
But industry member for selecting one of very careful reason of advanced control algorithm is, often extremely successful under emulation algorithm, often there will be problem in practical situations both.This is because some important practical problemss are left in the basket in simulations (such as noise, non-linear, saturation integral phenomenon, parameter sudden change etc.).So researcher usually can test algorithm and verify on experimental provision, and by result with emulation obtain compare.But relevant hybrid system experimental provision is also few, current process control device pays attention to the conventional control experiment of unit object more, as the advanced process control system of certain Jiao Yi company domestic development, its experiment object apparatus selects single boiler implosion, carries out instrument and meter test experience and process control experiment; The Two-tank System control system of certain colleges and universities domestic development, can carry out the experiments such as single loop PID control and fuzzy control.
Application number be the disclosure of the invention of the CN201310187253 modeling of a kind of blast funnace hot blast stove hybrid system and coordinating and optimizing control method.Application Subspace Identification obtains blast furnace and hot blast cupola combustion phase model and on air model respectively, then combustion model and air-supply model are carried out comprehensively, set up hybrid model based on integrating mixed logic dynamic modeling method, the coordination optimization finally utilizing the PREDICTIVE CONTROL for hybrid system to realize heat generator controls.
The hybrid model optimal control method of application number a kind of CSTR that has been the disclosure of the invention of CN201010616956, the method can ensure that first kernel response CSTR runs in both cases fast, accurately, stably.
Application number a kind of integrated form process industry dynamic process control experimental provision that has been the disclosure of the invention of CN201310145326.Be be made up of two or more capacitance-resistance tank, adopt the experimental provision without pipeline, valveless integrated form formation simulated object dynamic perfromance, multiple linear or non-linear dynamic characteristic can be simulated.
Application number a kind of chemical industry heat exchange process process control device that has been the disclosure of the invention of CN201210233074, comprise cold rinse bank, boiler and four heat interchanger, by the opening and closing of control system control valve, various chemical industry heat exchange process control procedure can be simulated flexibly.
Due to the complicacy that hybrid process controls, making corresponding experimental provision needs to expend higher cost, does not also have now more complete hybrid process Control release device.
Summary of the invention
The invention provides a kind of hybrid process Control release device, can to show in reality multiple mixes control problem, for the research mixing control algolithm provides experiment and teaching platform.
A kind of hybrid process Control release device, comprises tank, and the first tank connected successively by the pipeline of provided with electromagnetic valve and the second tank, wherein:
First tank is provided with a water inlet and a water delivering orifice, and water inlet connects first heater, and described first heater is storage-type electric water heater, and its water inlet is connected with tank by a water pump, and groove is built with stirrer.
Stirrer and secondary heating mechanism are housed in the second tank, second tank is provided with two water inlets and a water delivering orifice, one of them water inlet is connected with the water delivering orifice of the first tank, another water inlet is connected with tank by a water pump, and water delivering orifice is connected with tank with a water pump by an air-to-water heat exchanger successively.
Water inlet and the water delivering orifice of described first tank and the second tank are equipped with hand valve, liquid level detection device and temperature-detecting device is all installed in groove, each water pump is equipped with volume control device, and water outlet pipeline is all provided with flow detector, the outlet pipeline of described storage-type electric water heater is provided with temperature-detecting device.
The heating controller of the electric machine controller of all solenoid valves, stirrer, first heater and secondary heating mechanism and the equal access control system of liquid level detection device, temperature-detecting device, flow detector and volume control device.
By unlatching and the closedown of each valve on described control system pilot piping, the serial or parallel connection between various heat exchange device can be realized, by the opening degree of each valve on described control system pilot piping, the flow of water in various heat exchange organ pipe journey or shell side can be controlled.
Connected mode between the pipeline general reference chemical plant of band valve of the present invention, not refers in particular to certain section of pipeline.
First tank is provided with liquid level detection device, during the minimum liquid level of liquid level lower than Operation system setting, carries out moisturizing to the first tank; Described second tank is provided with liquid level detection device, and when the minimum liquid level of liquid level in the second groove lower than Operation system setting, its well heater cuts out, prevent the second tank dry combustion method, and to the second tank moisturizing, when the high liquid level of liquid level in the second tank higher than Operation system setting, controlling the second tank can not water filling.
Water inlet and the water delivering orifice of the first tank are provided with temperature-detecting device, and for gathering the temperature value of relevant position, the real time temperature in monitoring flow process, by controlling stirring rate in the first tank or storage-type electric water heater, can regulate the water temperature before and after water first groove.
Second tank is provided with temperature-detecting device and overtemperature self-protecting device, when the second tank water temperature exceedes the maximum temperature of Operation system setting, automatically closes secondary heater, and to moisturizing in the second tank.
Storage-type electric water heater is provided with overtemperature self-protecting device, when wherein water temperature exceedes the maximum temperature of Operation system setting, automatically closes storage-type electric water heater, and to storage-type electric water heater automatic water supplement.
As preferably, water temperature setting value in described storage-type electric water heater and the second tank all not higher than 80 DEG C, in namely described hybrid process Control release device as the water temperature setting value in the storage-type electric water heater of first heater and second tank at described secondary heating mechanism place all not higher than 80 DEG C.
After first water pump, the second water pump and the 3rd water pump, pipeline (by flowing to posterior pipeline) is equipped with flow detector, for detecting the flow of the water of relevant position; The inflow of the first tank and the second tank can as performance variable or disturbance.
Bypass conduit by provided with electromagnetic valve between the water inlet of described first tank and water delivering orifice connects.
When the water temperature that the temperature-detecting device of described second tank detects exceedes the maximum temperature of Operation system setting, open the valve (solenoid valve) in inlet pipeline, to the second tank moisturizing; When the liquid level detection device of described second tank detects the minimum liquid level of water level lower than Operation system setting, open the valve in water pipe, to the second tank moisturizing, prevent dry combustion method, when the high liquid level of liquid level in tank higher than Operation system setting, close the valve of water pipe, controlling tank can not water filling.
As preferably, described first tank water inlet pipeline is provided with a solenoid valve; Water outlet pipeline is parallel with two solenoid valves, and described three solenoid valves form solenoid valve group and control from the first tank to the flow of the second tank.
Each solenoid valve in solenoid valve group can instant opening-closing, can control the flow from the first tank to the second tank by this solenoid valve group, and flow can divide three steps changes: valve complete shut-down, single valve leaves, and bivalve is opened.
The outlet valve group (solenoid valve group) of described first tank and front and back line temperature detect access control system, and by the opening and closing of solenoid valve in solenoid valve group, this hybrid process Control release device can be used for doing hybrid system Control release.
As preferably, between described first water pump and the first tank, be provided with first heater, and before the first tank, pipeline (by flowing to preceding pipeline) is provided with the solenoid valve to the first tank conveying hot water.
As preferably, be equipped with stirrer in described first tank and the second tank, and the stirring rate of stirrer is by corresponding Electric Machine Control, controls motor and access described control system.
As preferably, be provided with in the outlet pipeline of described second tank a band fan Kong Qi ?water heat exchanger, make the water temperature substantially constant in tank.
Preferably, described first tank is cylindrical tank, and bottom surface radius is 5.8cm, is highly 50cm.
Described second tank comprises upper and lower two sections of splicing mutually; Epimere is straight-tube shape, is highly 20cm; Hypomere is wealthy mouth shape, and hypomere height is 40cm, and bottom radius is 7.8cm, and top radius is 5.2cm.That is: have special up-narrow and down-wide coniform shape, conical lower section radius of circle is 7.8cm, and upper conical portion radius of circle is 5.2cm.Lower cone body tank height is 40cm, and upper cylinder tank height is 20cm.
Preferably, the flow (namely draw water delivery rate) of each water pump (comprising the first water pump, the second water pump and the 3rd water pump) water delivering orifice is 0 ~ 5L/min., more preferably, the delivery rate that draws water of each water pump is 0 ~ 4.5L/min.
Preferably, the heating power of described storage-type electric water heater is 2kw, and moisture storage capacity is 10L; The heating power of described secondary heating mechanism is 800W.Preferably, described tank is rectangular shape, and length is respectively 60cm, 40cm and 30cm.
Hybrid process Control release device of the present invention is by the opening and closing of control system control valve, hybrid flowsheet control procedure can be simulated flexibly, can realize multiplely mixing Control release by control system, comprise integrating mixed logic dynamic modeling, Parameter identification, hybrid system PREDICTIVE CONTROL etc., both can be used as institution of higher learning and controlled the experimental provision of course, and also can be the research of scientific research personnel to hybrid process control system and a perfect physical object simulation and experiment porch are provided.
Accompanying drawing explanation
Fig. 1 is hybrid process Control release device schematic diagram of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, hybrid process Control release device of the present invention is described in detail.
As shown in Figure 1, a kind of hybrid process Control release device comprises:
Tank;
Tank, the first tank (tank 1) and the second tank (tank 2);
Water pump, is respectively the first water pump (pump 1), the second water pump (pump 2) and the 3rd water pump (pump 3);
Heating arrangement, is respectively first heater (well heater 1) and secondary heating mechanism (well heater 2).Wherein, the heating power of well heater 1 is 2kw, and the heating power of well heater 2 is 800W;
And connect the pipeline of these parts and the valve (comprising solenoid valve and hand valve) be positioned on pipeline.
All stirrer is installed in tank 1 and tank 2, well heater 2 is installed bottom tank 2.Tank 1 is tubular structure, and the bottom surface radius of columniform tank 1 is 5.6cm, i.e. r1=11.2cm in figure, and tank height is 60cm, is provided with a water inlet and a water delivering orifice.Tank 2 is divided into two sections, and epimere is straight-tube shape, and hypomere is wealthy mouth shape, forms up-narrow and down-wide coniform shape, and conical upper bottom surface radius is 4cm, and conical bottom surface radius is 6cm, i.e. r2=8cm, r3=12cm in figure.The height of top straight-tube shape part is 20cm, and hypomere wealthy mouth shape Partial Height l2 is 40cm.Be provided with two water inlets and a water delivering orifice, be respectively the first water inlet and the second water inlet.
The front and back pipeline of tank 1 and tank 2 is provided with hand valve, and the corresponding site of pipeline is provided with solenoid valve, is respectively S1, S2, S3 and S4, and tank is provided with turnover sailor valve.
Concrete annexation between each building block is as follows:
Water pump 1 (i.e. pump 1), well heater 1, tank 1, tank 2 (by the first water inlet), heat interchanger, water pump 2 (i.e. pump 2) connect successively, wherein, water pump 1 is all connected with tank with water pump 2, water pump 1 is by the water suction well heater 1 in tank, and water pump 2 is by the water suction tank in heat interchanger;
Second water inlet of tank 2 is connected with tank by water pump 3 (i.e. pump 3), and water pump 3 is by the water suction tank 2 in tank.
Tank 1 is provided with the dish road pipeline of provided with electromagnetic valve S2 between importing and exporting, tank 1 water inlet pipeline is provided with solenoid valve S1, the outlet of tank 1 is connected with the entrance of tank 2 by the pipeline of provided with electromagnetic valve S3 with S4, and solenoid valve S3 and S4 parallel connection forms a valve sets as outlet solenoid valve group.
Solenoid valve in outlet solenoid valve group can instant opening-closing, effectively can control the flow from tank 1 screw clamp 2.Flow can divide three step changes: valve complete shut-down, single valve leaves, and bivalve is opened.
According to the valve state (i.e. the on off state of solenoid valve) relevant to pipeline before and after tank 1, the annexation of 2 tanks (i.e. tank 1 and tank 2) can be switched, such as shut electromagnetic valve S1, open solenoid valve S2, well heater 1 is directly connected with tank 2, can do and singly hold Control release under this state; Open valve 1, valve-off 2, opens valve 3 or 4, and tank 1, tank 2 are directly connected, and by the on off state of 2 valves in by-pass valve control group (outlet solenoid valve group), can do and mix Control release.
The export pipeline of tank 2 is provided with the air-to-water heat exchanger of a band fan, the water delivering orifice of air-to-water heat exchanger is connected with tank by water pump 2 (i.e. pump 2), water pump 2 to draw water tank from Air-Water interchanger, makes the water temperature substantially constant in tank.
Be provided with liquid level detection device in tank 1 and tank 2, be respectively LT1 and LT2; Be provided with temperature-detecting device in the import of tank 1 and outlet and tank 2, be respectively TT1, TT2 and TT3; The water delivering orifice of water pump 1 ~ 3 (i.e. water pump 1, water pump 2 and water pump 3) is equipped with flow detector and volume control device, and wherein, flow detector is respectively FT1, FT2 and FT3, and volume control device is respectively FC1, FC2 and FC3.
The stirring motor of all valves, liquid level detection device, temperature-detecting device, flow detector, volume control device, stirrer and the equal access control system of the heating control module of well heater.
1, the expression formula of the classical nonlinear model of device is as follows:
Suppose that the liquid in tank is incompressible, the material balance in single tank has following statement:
Wherein,
H is water level, the water level that h (t) is t;
The tank cross-sectional area that A (h) is liquid level h place;
Q
in(t) and q
outt () is respectively the volumetric flow rate of tank water inlet, water outlet.
Suppose that liquid heat capacity is definite value c, thermal loss can be ignored, and fully mixes, and the energy conservation equation of single tank is:
Can be reduced to:
Wherein:
ρ is the density of water;
Liquid volume in the tank that V (t) is t;
Q
in(t) and q
outt () is respectively the volumetric flow rate of the water inlet of t tank, water outlet;
H is that well heater heat exports, and the well heater heat that H (t) is t exports;
inflow temperature,
it is the inflow temperature of t;
the water temperature in tank,
be t tank in water temperature.
The volumetric flow rate coefficient of valve is k
v, then the tank being h from liquid level flows out, and can be represented by the volumetric flow rate q of valve by basic flow equations, and static pressure ρ gh is used for replacing by pressure drop during valve.
Wherein, q is flow, unit and coefficient of flow (i.e. volumetric flow rate coefficient) k
videntical.
2, the expression formula of device hybrid model is as follows:
The model of whole device is made up of the formula of water level and temperature.Because device has the valve of switching value, the shape of tank kinetically can cause sudden change, and mounted cast has hybrid characters.For tank 1, there is following characteristic:
Wherein,
H
1for the liquid level of tank 1, h
1t () is the liquid level in tank 1t moment;
Q
0for the volumetric flow rate that tank 1 is intake;
A
1h () is the cross-sectional area at liquid level h place in tank 1;
K
vfor the volumetric flow rate coefficient of tank 1 valve;
The input σ of discrete value
0acquiescence value is 0,1 (S1 closes/opens), σ
1acquiescence value is 0,1,2 (valve full cut-offs, S3 opens, and S3, S4 open).
For tank 2, then there is following characteristic:
Wherein,
A
22for the cross-sectional area of epimere straight-tube shape in tank 2;
A
21for the cross-sectional area of the wealthy mouth shape of hypomere in tank 2;
H
2t () is the height of water level of t tank 2;
Q
2and q
22be respectively that tank 2 is intake, the volumetric flow rate of water outlet;
R
21for tank 2 is gone to the bottom radius of circle;
R
22(h) for tank 2 hypomere wealthy mouth shape water level be the cross circular section radius at h place, Δ r=r
21-r
22;
θ
1(t) and θ
2t () is the water temperature of t tank 1 and tank 2 respectively;
M
1it is discrete state variable;
The input σ of discrete value
1acquiescence value is 0,1,2 (valve full cut-offs, S3 opens, and S3, S4 open);
H is that the heat of heater H 2 exports;
K
vit is the coefficient of flow of S3, S4.
To (9), model (5) supposes that S2 closes.Iff with screw clamp 2, so to use and open S2
Close this state of S1.
Control system adopts DCS control system, is connected by experimental provision, realizes the real-time monitoring of host computer to each data by DCS rack with host computer.Experimental provision of the present invention is using multivariate control technology in the controls, from the overall situation of production run, directly carry out the design of multi-variable system, not only can avoid or weaken the coupling between each controlled variable, and certain optimizing index can also be reached, make the level of control that system reaches higher.
For a simple object dynamic test experiment, device operating process is as follows: (1) is opened control desk and experimental subjects power switch (first closed air switch, press start button again), open water pump, solenoid valve, checkout equipment power switch.Open control software design and login system.
(2) open tank water intaking valve, reserve tank is filled water (water as reserve tank is enough, and this step can be omitted).
(3) open main line pump remote holder valve, open tank 2 and to intake hand valve, its outlet valve is opened to suitable aperture.Open solenoid valve 2, shut electromagnetic valve 1,3,4, select tank 2 liquid level to carry out dynamic model test as experimental subjects.
(4) utilize set-up of control system pump 1, pump 2, pump 3 initial opening as follows:
(4-1) water pump 1 aperture is set to 30%,
(4-2) water pump 2 aperture is set to 70%,
(4-3) power of well heater 1 and well heater 2 is set to 0%,
(4-4) water pump 3 aperture is set to 30%,
(4-5) heat interchanger power is set to 0%,
(4-6) waiting system is stablized.
(5) enter control software design monitored picture, observe liquid level change, when liquid level tends to balance, record valve opening and liquid level, as liquid level is difficult to stablize, manual adjustments tank 2 goes out sailor's valve opening.
(6) after system stability, start to carry out dynamic characteristic test experiment to tank 2 level object, manually changed the aperture to 40% (step signal) of water pump 1 by control system, record output data or the step response curve of tank 2 liquid level simultaneously.Then according to the version of given object model 1, experimental data is processed, each parameter in Confirming model.
(7) by changing input step signal magnitude, repeat step 6 process, and experimental data organized in record more.
(8) experiment terminates, stopping device.
Above-described embodiment has been described in detail technical scheme of the present invention and beneficial effect; be understood that and the foregoing is only most preferred embodiment of the present invention; be not limited to the present invention; all make in spirit of the present invention any amendment, supplement and equivalent to replace, all should be included within protection scope of the present invention.
Claims (10)
1. a hybrid process Control release device, is characterized in that, comprises tank, and the first tank connected successively by the pipeline of provided with electromagnetic valve and the second tank, wherein:
First tank is provided with a water inlet and a water delivering orifice, and water inlet connects first heater, and described first heater is storage-type electric water heater, and its water inlet is connected with tank by a water pump, and groove is built with stirrer,
Stirrer and secondary heating mechanism are housed in the second tank, second tank is provided with two water inlets and a water delivering orifice, one of them water inlet is connected with the water delivering orifice of the first tank, another water inlet is connected with tank by a water pump, and water delivering orifice is connected with tank with a water pump by an air-to-water heat exchanger successively;
Water inlet and the water delivering orifice of described first tank and the second tank are equipped with hand valve, liquid level detection device and temperature-detecting device is all installed in groove, each water pump is equipped with volume control device, and water outlet pipeline is all provided with flow detector, the outlet pipeline of described storage-type electric water heater is provided with temperature-detecting device;
The heating controller of the electric machine controller of all solenoid valves, stirrer, first heater and secondary heating mechanism and the equal access control system of liquid level detection device, temperature-detecting device, flow detector and volume control device.
2. hybrid process Control release device as claimed in claim 1, it is characterized in that, the bypass conduit by provided with electromagnetic valve between the water inlet of described first tank and water delivering orifice connects.
3. hybrid process Control release device as claimed in claim 2, it is characterized in that, described first tank water inlet pipeline is provided with a solenoid valve; Water outlet pipeline is parallel with two solenoid valves, and described three solenoid valves form solenoid valve group and control from the first tank to the flow of the second tank.
4. as the hybrid process Control release device in claims 1 to 3 as described in any one, it is characterized in that, described first tank is cylindrical tank, and bottom surface radius is 5.8cm, is highly 50cm.
5. hybrid process Control release device as claimed in claim 4, is characterized in that, described second tank comprises upper and lower two sections of splicing mutually; Epimere is straight-tube shape, is highly 20cm, and hypomere is wealthy mouth shape, and hypomere height is 40cm, and bottom radius is 7.8cm, and top radius is 5.2cm.
6. hybrid process Control release device as claimed in claim 5, it is characterized in that, the flow of each pump outlet is 0 ~ 5L/min.
7. hybrid process Control release device as claimed in claim 6, it is characterized in that, the heating power of described storage-type electric water heater is 2kw, and moisture storage capacity is 10L.
8. hybrid process Control release device as claimed in claim 7, it is characterized in that, the heating power of described well heater is 800W.
9. hybrid process Control release device as claimed in claim 8, it is characterized in that, described tank is rectangular shape, and length is respectively 60cm, 40cm and 30cm.
10. hybrid process Control release device as claimed in claim 9, is characterized in that, the water temperature setting value in described storage-type electric water heater and the second tank is not all higher than 80 DEG C.
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| CN2669298Y (en) * | 2003-09-30 | 2005-01-05 | 朴春子 | Course control experiment apparatus |
| KR20060026166A (en) * | 2004-09-20 | 2006-03-23 | 박송연 | Apparatus for experimenting a oceanic current |
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