CN105089997A - Fuzzy control method for revolution speeds of high-pressure diaphragm pumps - Google Patents
Fuzzy control method for revolution speeds of high-pressure diaphragm pumps Download PDFInfo
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- CN105089997A CN105089997A CN201410218252.1A CN201410218252A CN105089997A CN 105089997 A CN105089997 A CN 105089997A CN 201410218252 A CN201410218252 A CN 201410218252A CN 105089997 A CN105089997 A CN 105089997A
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Abstract
The invention discloses a fuzzy control method for the revolution speeds of high-pressure diaphragm pumps. According to the method, on the premise that a diaphragm pump fixed revolution angle difference control system is used for strictly keeping all the pumps at a constant revolution angle difference synchronous relation, a synchronous speed relation is kept, during the same pulse period, revolution angle initial positions of all the pumps are strictly coordinated, and a set revolution angle difference value is kept. According to the diaphragm pump fixed revolution angle difference control system, a master-slave control structure is adopted, crank angles and the revolution speed of the first diaphragm pump are used as given references of revolution angles and revolution speeds of all moving shaft driving motors of the pump set. According to the method, the output frequency of a frequency converter is determined by analyzing input motor speed deviations and a deviation change rate, and therefore the speed of slave motors is adjusted, and the slave motors have good following performance to main motors. By means of the solution, the anti-disturbance performance of a system with the multiple high-pressure diaphragm pumps is improved, and the system has instant responsiveness and good stability.
Description
Technical field
The present invention
relate to high-pressure diaphragm pump Fuzzy control of Rotate speed method, belong to machinery control technique field.
Background technique
diaphragm pump is one of key equipment of Alumina Enterprise middle and long distance channelization conveying, it combines the advantages such as high, the sturdy and durable and chamber of septum structure of reciprocating pump delivery pressure is simple, corrosion-resistant, overcome again the deficiency of the easy to wear and passive delivery of chamber of septum of reciprocating pump Sealing own, can obtain very high row pressure, and flow and pressure have nothing to do, and adapt to fed sheet of a media very extensive, suction performance is good, efficiency is high, and be the update product of other pump, at alumina factory, many workshop sections play vital effect.
in recent years, along with channelization conveying equipment keeps the large-scale development, in many toolings, all there is the operating mode utilizing multiple stage high-pressure diaphragm pump to same Cemented filling slip, every platform pump is driven by a motor, and the flow of diaphragm pump realizes by regulating motor speed.Any measure is not taked to solve the peak flow superposition problem of multiple stage diaphragm pump in original control apparatus.Like this, often cause pipe vibration, affect the normal operation of diaphragm pump and whole pipeline, lead to a disaster.
Summary of the invention
the object of the present invention is to provide a kind of high-pressure diaphragm pump Fuzzy control of Rotate speed method, to solve the pipe vibration phenomenon of the peak value superposition generation due to slip flow.At synchronization, between diaphragm pump bent axle, constant outer corner difference must be kept, that is, during system cloud gray model, stable physics phase angle must be kept between each pump, thus realize the steady conveying of slip, thus overcome the deficiencies in the prior art.
content of the present invention
high-pressure diaphragm pump Fuzzy control of Rotate speed method, the method adopts diaphragm pump to determine under all pumps strictly remain on the prerequisite of constant outer corner difference synchronized relation by outer corner difference control system, synchronous speed relation can be kept, within the same pulse interval, the corner initial position strict coordination of each pump, keep the corner difference of setting, this diaphragm pump is determined outer corner difference control system and is adopted master & slave control structure, using the crank angle of First diaphragm pump and rotating speed as the corner of pump group each travel axis drive motor and rotating speed with reference to given.
in aforementioned high-pressure diaphragm pump Fuzzy control of Rotate speed method, described master & slave control structure is that employing has multivariable, high coupling, the synchronous control system for multiple motors of nonlinear feature, and select a motor in this system to be mair motor, and all the other motors are slave motor, mair motor is followed the tracks of by the rotating speed controlling each slave motor, namely refer to need synchronous several executive components carry out controlling using one of them executive component as the tracing object of other executive components and reach synchronously driven control form, initiatively the speed that provides using user of motor and position setting value are as with reference to value, the setting value of closely tracking system in running, and slave motor is not follow the tracks of the setting value of user, and the reference value changed using the output of the speed of active motor and position as oneself, initiatively motor is closely followed the tracks of in running, like this in running, slave motor follows the tracks of initiatively motor, instead of tracking system setting value, the synchronization accuracy of system is greatly improved.
in aforementioned high-pressure diaphragm pump Fuzzy control of Rotate speed method, this master & slave control structure adopts Fuzzy PID design as its isochronous controller, the fuzzy inference rule of this controller, based on the rule list preset, adopts the method for the duplex feedback of speed error e and speed error variance ratio d/dt to realize.
in aforementioned high-pressure diaphragm pump Fuzzy control of Rotate speed method, described fuzzy controller is input as two dimension, exports as one dimension, and the rule format of fuzzy controller adopts conventional linear inference rule.
owing to have employed technique scheme, the present invention compared with prior art, the present invention is applicable to factory or the engineering mesohigh diaphragm pump operating conditions to Cemented filling slip, especially multiple stage high-pressure diaphragm pump is to the operating conditions of same Cemented filling slip, by many motors master & slave control system in the present invention, make system in running, slave motor can follow the tracks of initiatively motor timely, instead of tracking system setting value, the synchronization accuracy of system is greatly improved.Synchronous control system for multiple motors has multivariable, high coupling, nonlinear feature, the impact of the factors such as its control performance can be subject to load disturbance, each axle drive performance is not mated, isochronous controller adopts fuzzy controller, fundamentally can eliminate synchronization error, the situation that stability is undesirable, and the fuzzy inference rule of fuzzy controller is based on the rule list preset, and does not need complicated algorithm, therefore the computing of controller is very fast, can the requirement of adaptive system.The present invention determines the output frequency of frequency variator by the motor speed deviation and deviation variation rate analyzing input, thus reaches the speed regulated from motor, makes it to have good followability to mair motor.This solution improves the interference free performance of multiple stage autoclave diaphragm pumping system, makes system have summary responses and good stability.
Accompanying drawing explanation
accompanying drawing 1 is the fuzzy controller schematic diagram in the present invention;
accompanying drawing 2 is the fuzzy control rule table in the present invention;
accompanying drawing 3 is the fuzzy polling list in the present invention.
Embodiment
below in conjunction with accompanying drawing, the present invention is further described in detail, but not as any limitation of the invention.
a kind of high-pressure diaphragm pump Fuzzy control of Rotate speed method of the present invention is, the method adopts diaphragm pump to determine under all pumps strictly remain on the prerequisite of constant outer corner difference synchronized relation by outer corner difference control system, synchronous speed relation can be kept, within the same pulse interval, the corner initial position strict coordination of each pump, keep the corner difference of setting, this diaphragm pump is determined outer corner difference control system and is adopted master & slave control structure, using the crank angle of First diaphragm pump and rotating speed as the corner of pump group each travel axis drive motor and rotating speed with reference to given.
described master & slave control structure is that employing has multivariable, high coupling, the synchronous control system for multiple motors of nonlinear feature, and select a motor in this system to be mair motor, and all the other motors are slave motor, mair motor is followed the tracks of by the rotating speed controlling each slave motor, namely refer to need synchronous several executive components carry out controlling using one of them executive component as the tracing object of other executive components and reach synchronously driven control form, initiatively the speed that provides using user of motor and position setting value are as with reference to value, the setting value of closely tracking system in running, and slave motor is not follow the tracks of the setting value of user, and the reference value changed using the output of the speed of active motor and position as oneself, initiatively motor is closely followed the tracks of in running, like this in running, slave motor follows the tracks of initiatively motor, instead of tracking system setting value, the synchronization accuracy of system is greatly improved, synchronous control system for multiple motors is utilized to have multivariable, high coupling, nonlinear feature, its control performance can be subject to load disturbance, each axle drive performance such as not to mate at the impact of factor.
as shown in Figure 1: this master & slave control structure adopts Fuzzy PID design as its isochronous controller, the fuzzy inference rule of this controller is based on the rule list preset, do not need complicated algorithm, therefore the computing of controller is very fast, can the requirement of adaptive system, the object adopting the duplex feedback of speed error e and speed error variance ratio d/dt is to reduce synchronization error as soon as possible, to adapt to the requirement of controlled device.
the fuzzy controller that native system adopts is input as two dimension, exports as one dimension.The rule format the most frequently used according to fuzzy controller and linear inference rule are:
IfEandEcthenY.（1）
wherein, E represents the membership function of speed variation, and Ec represents the membership function of speed variation variance ratio, and Y represents output quantity.(1) formula have expressed 25 fuzzy rules, and the form that this 25 rule is formed is exactly fuzzy control rule table, as shown in Figure 2.
what obtained by fuzzy control rule table is fuzzy quantity, and the control for reality is then necessary for clear amount, therefore needs to convert fuzzy quantity to clear amount, namely fuzzy judgment.Adopt weighted mean method herein, obtain fuzzy polling list as shown in Figure 2.
the rotating speed deviation collected and the deviation variation rate calculated are multiplied by respective quantizing factor respectively, corresponding fuzzy theory field element can be obtained, and then pass through row and the row of inquiry fuzzy polling list, just can find required controlled quentity controlled variable Y, the Y value of gained is passed through analog output module, output on the end pin of frequency variator, and then reach the object regulated from motor speed.
Claims (4)
1. a high-pressure diaphragm pump Fuzzy control of Rotate speed method, it is characterized in that: the method adopts diaphragm pump to determine under all pumps strictly remain on the prerequisite of constant outer corner difference synchronized relation by outer corner difference control system, synchronous speed relation can be kept, within the same pulse interval, the corner initial position strict coordination of each pump, keep the corner difference of setting, this diaphragm pump is determined outer corner difference control system and is adopted master & slave control structure, using the crank angle of First diaphragm pump and rotating speed as the corner of pump group each travel axis drive motor and rotating speed with reference to given.
2. high-pressure diaphragm pump Fuzzy control of Rotate speed method according to claim 1, it is characterized in that: described master & slave control structure is adopt the synchronous control system for multiple motors with multivariable, high coupling, nonlinear feature, and select a motor in this system to be mair motor, and all the other motors are slave motor; Follow the tracks of mair motor by the rotating speed controlling each slave motor, namely refer to need synchronous several executive components to control using one of them executive component as the tracing object of other executive components, and reach synchronously driven control form; Initiatively the speed that provides using user of motor and position setting value are as with reference to value, the setting value of closely tracking system in running, and slave motor is not follow the tracks of the setting value of user, and the reference value changed using the output of the speed of active motor and position as oneself, in running, closely follow the tracks of initiatively motor, like this in running, slave motor follows the tracks of initiatively motor, instead of tracking system setting value, the synchronization accuracy of system is greatly improved.
3. high-pressure diaphragm pump Fuzzy control of Rotate speed method according to claim 2, it is characterized in that: this master & slave control structure adopts Fuzzy PID design as its isochronous controller, the fuzzy inference rule of this controller, based on the rule list preset, adopts the method for the duplex feedback of speed error (e) and speed error variance ratio (d/dt) to realize.
4. high-pressure diaphragm pump Fuzzy control of Rotate speed method according to claim 1, is characterized in that: described fuzzy controller is input as two dimension, exports as one dimension, and the rule format of fuzzy controller adopts conventional linear inference rule.
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| CN201410218252.1A CN105089997A (en) | 2014-05-22 | 2014-05-22 | Fuzzy control method for revolution speeds of high-pressure diaphragm pumps |
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| CN201410218252.1A CN105089997A (en) | 2014-05-22 | 2014-05-22 | Fuzzy control method for revolution speeds of high-pressure diaphragm pumps |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105889047A (en) * | 2016-05-13 | 2016-08-24 | 安庆市津海工业产品设计有限公司 | Operation rotating speed and flow rate control module of pneumatic diaphragm pump |
| CN106712652A (en) * | 2017-01-25 | 2017-05-24 | 北京鸿智电通科技有限公司 | Adaptive hardware PID controller for controlling motor and control method of adaptive hardware PID controller |
| CN108302022A (en) * | 2018-01-25 | 2018-07-20 | 北京保捷天润控制系统开发有限公司 | A kind of control method and device at diaphragm pump phase angle |
| CN109958606A (en) * | 2017-12-26 | 2019-07-02 | 中蓝连海设计研究院 | Suitable for the phase control method under more diaphragm pump parallel connection transport conditions |
| CN110685975A (en) * | 2019-09-24 | 2020-01-14 | 华中科技大学 | High-power-density hydraulic power output system of mobile robot |
| CN114115370A (en) * | 2021-11-23 | 2022-03-01 | 蚌埠凯盛工程技术有限公司 | Synchronous control method for angular speed of upper calendering roll and lower calendering roll of calender |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105889047A (en) * | 2016-05-13 | 2016-08-24 | 安庆市津海工业产品设计有限公司 | Operation rotating speed and flow rate control module of pneumatic diaphragm pump |
| CN106712652A (en) * | 2017-01-25 | 2017-05-24 | 北京鸿智电通科技有限公司 | Adaptive hardware PID controller for controlling motor and control method of adaptive hardware PID controller |
| CN106712652B (en) * | 2017-01-25 | 2019-03-26 | 北京鸿智电通科技有限公司 | A kind of hardware self-adapting PID controller and its control method controlling motor |
| CN109958606A (en) * | 2017-12-26 | 2019-07-02 | 中蓝连海设计研究院 | Suitable for the phase control method under more diaphragm pump parallel connection transport conditions |
| CN109958606B (en) * | 2017-12-26 | 2021-12-21 | 中蓝连海设计研究院有限公司 | Phase angle control method suitable for condition of parallel transportation of multiple diaphragm pumps |
| CN108302022A (en) * | 2018-01-25 | 2018-07-20 | 北京保捷天润控制系统开发有限公司 | A kind of control method and device at diaphragm pump phase angle |
| CN108302022B (en) * | 2018-01-25 | 2020-01-07 | 北京保捷天润控制系统开发有限公司 | Method and device for controlling phase angle of diaphragm pump |
| CN110685975A (en) * | 2019-09-24 | 2020-01-14 | 华中科技大学 | High-power-density hydraulic power output system of mobile robot |
| CN114115370A (en) * | 2021-11-23 | 2022-03-01 | 蚌埠凯盛工程技术有限公司 | Synchronous control method for angular speed of upper calendering roll and lower calendering roll of calender |
| CN114115370B (en) * | 2021-11-23 | 2024-06-04 | 蚌埠凯盛工程技术有限公司 | Synchronous control method for angular speeds of upper rolling roller and lower rolling roller of calender |
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