CN105588179A - Heat supply network control loop based on fuzzy PID algorithm - Google Patents
Heat supply network control loop based on fuzzy PID algorithm Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24D—DOMESTIC- OR SPACE-HEATING SYSTEMS, e.g. CENTRAL HEATING SYSTEMS; DOMESTIC HOT-WATER SUPPLY SYSTEMS; ELEMENTS OR COMPONENTS THEREFOR
- F24D19/00—Details
- F24D19/10—Arrangement or mounting of control or safety devices
- F24D19/1006—Arrangement or mounting of control or safety devices for water heating systems
- F24D19/1009—Arrangement or mounting of control or safety devices for water heating systems for central heating
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Abstract
A heat supply network control loop based on the fuzzy PID algorithm comprises a secondary supply temperature control loop, a secondary supply return pressure control loop, a secondary return pressure control loop, a temperature control loop, a pressure control loop and a pressure difference control loop and has the advantages that on the basis of the PID control algorithm under fuzzy control, an outdoor temperature-supply water temperature control loop, a circulating pump pressure difference control loop and a constant-pressure water supplementation control loop are built, closed-loop control over a whole heat supply network is formed, branch multi-station control coarse regulation and single-station fine control are realized, the demand balance of the heat supply network is realized, and the thermal requirements of all heat consumers are met.
Description
Technical field
The present invention relates to a kind of heating network control loop, especially a kind of heating network control based on fuzzy PID algorithm control returnsRoad.
Background technology
Along with scientific and technological development, the utilization of urban district heating system is more and more wider, applies and tests large-scaleCheng Zhong, has formed taking cogeneration of heat and power as main, and district boiler room is auxiliary, and other heat source ways are supplementary heat supply situation.
Central heating system refer to central heat source produce steam, hot water, by heat distribution pipe network to certain area heat supply,To meet hot user's the heat request such as heating, hot water supply, air conditioning, by the hot user three in thermal source, heat distribution pipe network and regionMost of composition. The basic task of central heating system is the heating load and whole heat use that ensures thermal source under any outdoor temperatureThe thermal balance of the heat consumption sum at family ensures the hydraulic equilibrium between thermal source and thermal substation simultaneously.
But the fine degree of heat supply network automation control is also promoting with day, compared with distributing heat-supplying mode in the past, jointEnergy environmental protection, but management operating mode is more complicated, presents following features: heat supply network big-difference transmission characteristic: user geographical positionThe popularity distributing causes thermal source very large to transmission range and the time phase difference of different user; The thermal inertia of huge sluggishness; SystemThe transient behavior of inner fluid; The distributivity of system physical parameter; The polytropy of meteorologic factor.
Above feature determined heating system have non-linear, time stickiness large feature, and be a kind of coupling that existsMany output-multiple entry systems, operational factor variation, heat transfer, distribution and regulation rule complex. Heating system scale moreGreatly, it is more abundant that these features embody, and operational management is controlled just more complicated with adjusting.
Summary of the invention
The object of the invention is to avoid the deficiencies in the prior art and a kind of heating network control based on fuzzy PID algorithm is providedLoop.
Technical scheme of the present invention is: a kind of heating network control loop based on fuzzy PID algorithm, comprises that secondary is for temperature controlLoop, secondary return for back pressure control loop, secondary returning pressure-controlled loop, temperature control loop, pressure control loop, pressure reduction controlRoad.
Described secondary for the main flow process in temperature control loop is:
1) outdoor temperature (containing upper biography value down) outputs to " weather compensation secondary is for warm curve setting " program, calculates " secondaryFor warm curve output valve "; " secondary is for warm timetable offset setting ", provides " offset temperatures value " in the regulation and control time simultaneously;
2) " secondary for warm curve output valve " and " offset temperatures value " with accumulate mode in conjunction with after, form that " secondary confession temperature is established automaticallyDefinite value "; " secondary is for temperature setting value automatically " and " secondary is for warm value of feedback " are carried out PID calculating, obtain " motor-driven valve open degree ", fromAnd realize the auto-control of motor-driven valve;
3), in the time of heat exchange station employing artificial regulatory, can use " secondary is for manually setting value of temperature " and enter with " secondary is for warm value of feedback "Row PID calculates, and obtains " motor-driven valve open degree ", thereby realizes the auto-control of motor-driven valve; When electric control valve damage or artificialWhen adjusting, can manually set " motor-driven valve manually sets value " and realize.
Described secondary for the main flow process of back pressure control loop is:
1) carry out PID calculating by " secondary is for back pressure value of feedback " and " secondary is for back pressure setting value ", obtain " pump operating cycle frequencyRate ", thus realize the auto-control of circulating pump;
2), in the time that heat exchange station adopts artificial regulatory or circulating pump frequency converter to damage, use " circulating pump frequency manually sets value " to enterThe auto-control of row circulating pump.
The described main flow process in secondary returning pressure-controlled loop is:
1) carry out PID calculating by " secondary back pressure value of feedback " and " secondary returning is installed with definite value ", obtain " small pump running frequency ",Thereby realize the auto-control of small pump;
2), in the time that heat exchange station adopts artificial regulatory or small pump frequency converter to damage, use " small pump frequency manually sets value " to enterThe auto-control of row small pump.
The main flow process of described temperature control loop is:
1) determine secondary network supply water temperature setting curve according to outdoor mean temperature compensation, this curve can be supported the outdoor temp of multiple spotDegree setting parameter; Taking secondary returning coolant-temperature gage compensated curve as auxiliary, form independently temperature control loop simultaneously;
2) on the basis that meets user's heat demand, farthest economize on heat, be according to outdoor temperature and calculate in real time secondarySupply water temperature setting value, regulates a secondary net electric control valve aperture or booster pump FREQUENCY CONTROL one secondary net flow, meets secondary and suppliesThe demand of backwater mean temperature.
The main flow process of described pressure control loop is: by the setting value of secondary returning water pressure and comparing of process values,Calculate the running frequency of small pump via fuzzy control loop, control the converting operation of small pump, make secondary returning water pressureReach goal-setting value, realize the constant pressure supply water in station.
The described main flow process of pressure reduction control loop is: adopt fuzzy control model, supply hydraulic pressure according to actual secondary sidePressure reduction between power, pressure of return water, regulates circulating pump by frequency converter, and the pressure reduction of secondary side is stabilized near setting value.
Compared with prior art, advantage of the present invention is: based on the pid control algorithm under fuzzy control, build outdoor tempDegree-supply water temperature control loop, circulating pump pressure reduction control loop, constant pressure supply water control loop, has formed whole heating networkClosed-loop control, comprises branch line multistation control coarse adjustment, finely regulating two aspects, single station, the balance and the institute that have realized heat supply network demandThere is hot user's heat demand.
Brief description of the drawings
Fig. 1 is PID control mathematical model schematic diagram of the present invention.
Fig. 2 is fuzzy control principle block diagram of the present invention.
Fig. 3 is fuzzy theory diagram of the present invention.
Fig. 4 is that secondary of the present invention is for temperature control loop FB(flow block).
Fig. 5 is that secondary of the present invention is for back pressure control loop FB(flow block).
Fig. 6 is secondary returning pressure-controlled of the present invention loop FB(flow block).
Fig. 7 is temperature control loop FB(flow block) of the present invention.
Fig. 8 is that PID of the present invention controls step response curve.
Fig. 9 is that fuzzy self-turning PI D of the present invention controls step response curve.
Figure 10 is pressure control loop FB(flow block) of the present invention.
Figure 11 is pressure reduction control loop FB(flow block) of the present invention.
Figure 12 is pressure reduction control simulation curve of the present invention.
Detailed description of the invention
Describe embodiments of the invention in detail below in conjunction with accompanying drawing.
Conventional pid algorithm and fuzzy control principle:
Conventional PID controls because principle is simple, easy to use, applicability is good, have very strong robustness, in Industry ControlArrived application widely, but PID control need to be set up the accurate Mathematical Modeling of controlled device, be difficult to process the non-linear of complexityControl system. Shown in its schematic diagram 1.
Wherein Rin is the given input of system, and Yout is whole system output, and e is between given input and system outputDeviation, the proportional component in figure, differentiation element, integral element form controlled quentity controlled variable by e by linear combination, and u is the defeated of controllerGo out, its rule is:
①
In formula, it is rate mu-factor; For integration time constant; For derivative time constant.
Fuzzy control is taking fuzzy set theory, fuzzy language variable and fuzzy logic inference as basic computer digitControl algolithm, this algorithm is converted into control strategy people's experience, and that become during to those, nonlinear, hysteresis, high-order is used to greatlyThe controlled device of property, has good control effect. Its principle frame as shown in Figure 2.
1) fuzzy principle
For complicated nonlinear system, only adopt conventional PID control or common fuzzy control to be all difficult to the effect that reaches satisfied,Therefore we organically get up both advantages, in the time that error is less than certain threshold values, adopt PID to control, to improve systemThe control accuracy of system; In the time that error is greater than a certain threshold values, adopt fuzzy control, to improve system response time, add fast-responseJourney, Reducing overshoot. Its principle as shown in Figure 3.
2) Fuzzy PID parameters self-adjusting
The key that PID controls is to determine three parameters of PID, if three parameters can be along with the variation of the factors such as system environmentsAdaptive adjustment, will reach good control effect. We utilize fuzzy control to realize certainly adjusting of pid parameter. ?In the process of system operation, fuzzy relation between three parameters and e and ec based on PID, constantly detects two parametersChange, utilize three parameters of the method online modification PID controller of fuzzy reasoning, realized certainly adjusting of parameter, reach and makeSystem output has the object of good dynamic and static state performance. We set up suitable fuzzy reasoning table, obtain for three parametersThe fuzzy control table of adjusting respectively.
Error e and error rate ec excursion are defined as to the domain in fuzzy set:
②
In subset, element meaning represents respectively and bears greatly, in bearing, negative little, zero, and just little, center, honest. If error e and error changeEc and,, equal Normal Distribution, therefore can draw each fuzzy subset's degree of membership, according to each fuzzy subset's degree of membership assignmentTable and each parameter fuzzy control model, the design of application fuzzy synthetic reason can obtain the fuzzy matrix table of pid parameter, through adoptingLarge membership degree method reverse gelatinization, obtain tri-parameters of PID,, correction value, formula calculates below substitution:
③
④
⑤
Utilize Ziegler-Mike Nichols method to solve, realize the pre-tuning of parameter. Correspond respectively in fuzzy control, pass throughFuzzy rule carries out fuzzy reasoning, inquires about above-mentioned fuzzy matrix table and can carry out parameter adjustment.
In the present invention: secondary for temperature control loop as shown in Figure 4. Main flow process is:
1) outdoor temperature (containing upper biography value down) outputs to " weather compensation secondary is for warm curve setting " program, calculates " secondaryFor warm curve output valve "; " secondary is for warm timetable offset setting ", provides " offset temperatures value " in the regulation and control time simultaneously;
2) " secondary for warm curve output valve " and " offset temperatures value " with accumulate mode in conjunction with after, form that " secondary confession temperature is established automaticallyDefinite value "; " secondary is for temperature setting value automatically " and " secondary is for warm value of feedback " are carried out PID calculating, obtain " motor-driven valve open degree ", fromAnd realize the auto-control of motor-driven valve;
3), in the time of heat exchange station employing artificial regulatory, can use " secondary is for manually setting value of temperature " and enter with " secondary is for warm value of feedback "Row PID calculates, and obtains " motor-driven valve open degree ", thereby realizes the auto-control of motor-driven valve; When electric control valve damage or artificialWhen adjusting, can manually set " motor-driven valve manually sets value " and realize.
Secondary for back pressure control loop as shown in Figure 5. Main flow process is:
1) carry out PID calculating by " secondary is for back pressure value of feedback " and " secondary is for back pressure setting value ", obtain " pump operating cycleFrequency ", thus realize the auto-control of circulating pump;
2), in the time that heat exchange station adopts artificial regulatory or circulating pump frequency converter to damage, use " circulating pump frequency manually sets value " to enterThe auto-control of row circulating pump.
Secondary returning pressure-controlled loop as shown in Figure 6. Main flow process is:
1) carry out PID calculating by " secondary back pressure value of feedback " and " secondary returning is installed with definite value ", obtain " small pump operation frequencyRate ", thus realize the auto-control of small pump;
2), in the time that heat exchange station adopts artificial regulatory or small pump frequency converter to damage, use " small pump frequency manually sets value " to enterThe auto-control of row small pump.
Temperature control loop schematic diagram as shown in Figure 7. Main flow process is:
Determine secondary network supply water temperature setting curve according to outdoor mean temperature compensation, this curve can be supported the outdoor temperature of multiple spotSetting parameter. Taking secondary returning coolant-temperature gage compensated curve as auxiliary, form independently temperature control loop, for different heat simultaneouslyWhether user, also can select the in addition intermitting heating of enabling time program flexibly, maximum on the basis that meets user's heat demandDegree economize on heat, be according to outdoor temperature and calculate in real time secondary water-supply desired temperature, regulate a secondary net motorized adjustmentValve opening or booster pump FREQUENCY CONTROL one secondary net flow, thus meet secondary and supply altogether the demand of backwater mean temperature.
PID controller and Fuzzy Self-Tuning PID Controller are by MATLAB emulation, and result as shown in Figure 8,9. By two kindsIt is known that PID controls step response curve, and rapidly, system overshoot is little for the temperature control loop response based on fuzzy self-turning PI D,There is good dynamic, static properties, and have the adaptive ability of certain antijamming capability and parameter time varying.
Pressure control loop as shown in figure 10. Main flow process is:
By the setting value of secondary returning water pressure and comparing of process values, calculate small pump via fuzzy control loopRunning frequency, the converting operation of control small pump, makes secondary returning water pressure reach goal-setting value, thereby realizes the level pressure in stationMoisturizing. In addition, can be in the time that system need moisturizing, the running frequency of small pump continues lower than sleep frequency in official hourSetting value, water pump enters sleep state, prevents that water pump from dallying for a long time, damages water pump.
Pressure reduction control loop as shown in figure 11. Main flow process is:
Adopt fuzzy control model, according to the pressure reduction between actual secondary side pressure of supply water, pressure of return water, pass through frequency converterRegulate circulating pump, the pressure reduction of secondary side is stabilized near setting value, reach the object of constant pressure water supply, avoid pressure excessive simultaneouslyOr the excessive adverse effect to pipeline and user.
Because water pump is by VFC, therefore can obtain according to the fundamentals of successive deduction:
⑥
Utilize above formula, by setting up a M function, designed simulated program. Suppose that controlled device is as follows:
⑦
We obtain the simulation curve as Figure 12:
Visible, the pressure based on designing under fuzzy control loop, pressure reduction control loop, have good robustness, rapidlyReaction time and stronger stable property.
According to three of above foundation kinds of heat-exchanging station controlling loops, when Dang Gezhan regulates according to outdoor temperature separately, fromIn theory, as long as set rational temperature curve, supplementing water pressure, secondary net circulation pressure reduction, just can make user reach heating and wantAsk, but in fact but have following problem:
In the time that outdoor temperature reduces, each thermal substation will be opened large primary side valve one after another according to predetermined adjusting rule, strengthen one-levelNet flow, now, thermal source may take the mode that improves supply water temperature or enlargement discharge to regulate. Due to each thermal substationThere is suitable distance from thermal source, so near-end thermal substation has reached by opening large valve the flow and the secondary network outlet temperature that requireDegree, far-end thermal substation flow diminishes, until valve reaches maximum, secondary network outlet temperature does not still reach requirement. After, heatThe intensification effect in source starts reaction at near-end, and near-end thermal substation starts to close minor valve, to maintain secondary net supply water temperature, makes long-rangeThe secondary network supply water temperature of standing raises, and will cause distant station also to start to turn down valve, and these regulating actions cause the flow of a secondary netStart to reduce, thereby the temperature at thermal source place further raises, and causes thermal source will suitably reduce rate of discharge, this finally causes again respectivelyThermal substation is opened large valve successively. Because heating system has the characteristic of large inertial time stickiness, the time delay between thermal source and thermal substationGenerally, between dozens of minutes to one two hours, this concussion scene last very long sometimes, until system can not be justNormal work.
Asynchronous between a this secondary net and secondary network parameter just, finally caused user's thermic load can not with thermal sourceTotal load synchronous. As can be seen here, independent Surveillance center's matter regulates waterpower and the thermal balance that can not realize the whole network, meets notThe whole network user equilibrium with heat.
Therefore the control loop self adaptation that, we have proposed a kind of branch line pipe network based on temperature and thermal substation regulates mouldFormula, has realized the stability that in station, automatic control equipment responds under step input, adaptive the meeting the tendency of energy-saving safety of having guaranteed thermal substationOK. Concrete regulative mode is as follows:
1) thick, thin tuning combines
Due to the characteristic that central heating network exists big-difference to transmit, system has the thermal inertia of huge delay simultaneously, has causedSecondary network parameter asynchronous between network parameters and hot user between the thermal substation of synchronization diverse geographic location. CauseThis, we propose whole pipe network to be divided into some branch lines, first branch line are carried out to multistation coarse adjustment, then pin in a certain orderList station thin tuning is carried out in the larger station of deviation;
2) limited amplitude, even regulation
Due to large inertia and the transmission delay of system, we can not regulate continuously, otherwise will cause the concussion of system. Therefore weBetween 2 adjustings, according to the actual set time interval, treat that temperature substantially reaches stable and regulates afterwards next time again. WholeRegulating is not to complete for one or two times, but the dynamic process reaching unanimity gradually for backwater mean temperature of each thermal power station secondary side.
Can be obtained by the equation of heat balance under stable state:
⑧
In formula, being the heat transfer coefficient of radiator, is the heat transfer coefficient of building,, to be respectively water supply, return water temperature, user indoorTemperature, outdoor temperature. Go out can be obtained fom the above equation:
⑨
Under steady working condition, indoor temperature is that weight coefficient is by building for the weighted average of backwater mean temperature and outdoor temperatureThe ratio of the complex heat transfer coefficient of thing and the heat transfer coefficient of radiator determines, if the value with it of the responsible building of each thermal substationBe more or less the same, survey each heat exchange station substantially reflected this heat exchange station be responsible for building average room temperature, if by each heat exchange stationSecondary side be adjusted to unanimously for backwater mean temperature, can be similar to and think that the room temperature of heating room is uniform each other.
This even regulation generally can not cause system oscillation. Due to each heat exchange station with area of heat-supply service can often not changeBecome, and the load of each building mainly determined by outer temperature, therefore synchronously raise with the thermic load of the each thermal substation of outer temperature variationOr reduce, between each heat exchange station, the ratio of thermic load is substantially constant. Therefore, once system regulates evenly, just substantially can keep, thisSample, system can steady in a long-term be moved.
Embodiment:
4 of the total heat exchange stations in certain community, heating area 123 Wan ㎡. According to outdoor temperature and time bias program, regulate in real time electricityMoving valve, ensures community heat. Confession, pressure of return water based on gathering simultaneously, with reference to " secondary is for the poor control loop of back pressure " and " twoInferior back pressure control loop " realize the chain automatic operation of circulating pump and small pump.
Aspect energy consumption, with cogeneration zone leveling value contrast same period last year, as following table:
Resident's room temperature aspect, by be analyzed discovery same period last year, go up a Heating Period, user's average room temperature improve0.1 DEG C, high temperature ratio (22 DEG C of >) reduces by 5%, and low temperature ratio (16 DEG C of <) reduces by 2.5%, has effectively controlled resident's room temperature inequalityWeighing apparatus problem.
Claims (7)
1. the heating network control loop based on fuzzy PID algorithm, is characterized in that: comprise that secondary is for temperature control loop, secondaryFor back pressure control loop, secondary returning pressure-controlled loop, temperature control loop, pressure control loop, pressure reduction control loop.
2. a kind of heating network control loop based on fuzzy PID algorithm according to claim 1, is characterized in that: describedSecondary for the main flow process in temperature control loop is:
1) outdoor temperature (containing upper biography value down) outputs to " weather compensation secondary is for warm curve setting " program, calculates " secondaryFor warm curve output valve "; " secondary is for warm timetable offset setting ", provides " offset temperatures value " in the regulation and control time simultaneously;
2) " secondary for warm curve output valve " and " offset temperatures value " with accumulate mode in conjunction with after, form that " secondary confession temperature is established automaticallyDefinite value "; " secondary is for temperature setting value automatically " and " secondary is for warm value of feedback " are carried out PID calculating, obtain " motor-driven valve open degree ", fromAnd realize the auto-control of motor-driven valve;
3), in the time of heat exchange station employing artificial regulatory, can use " secondary is for manually setting value of temperature " and enter with " secondary is for warm value of feedback "Row PID calculates, and obtains " motor-driven valve open degree ", thereby realizes the auto-control of motor-driven valve; When electric control valve damage or artificialWhen adjusting, can manually set " motor-driven valve manually sets value " and realize.
3. a kind of heating network control loop based on fuzzy PID algorithm according to claim 1, is characterized in that: describedSecondary for the main flow process of back pressure control loop is:
1) carry out PID calculating by " secondary is for back pressure value of feedback " and " secondary is for back pressure setting value ", obtain " pump operating cycle frequencyRate ", thus realize the auto-control of circulating pump;
2), in the time that heat exchange station adopts artificial regulatory or circulating pump frequency converter to damage, use " circulating pump frequency manually sets value " to enterThe auto-control of row circulating pump.
4. a kind of heating network control loop based on fuzzy PID algorithm according to claim 1, is characterized in that: describedThe main flow process in secondary returning pressure-controlled loop is:
1) carry out PID calculating by " secondary back pressure value of feedback " and " secondary returning is installed with definite value ", obtain " small pump running frequency ",Thereby realize the auto-control of small pump;
2), in the time that heat exchange station adopts artificial regulatory or small pump frequency converter to damage, use " small pump frequency manually sets value " to enterThe auto-control of row small pump.
5. a kind of heating network control loop based on fuzzy PID algorithm according to claim 1, is characterized in that: describedThe main flow process of temperature control loop is:
1) determine secondary network supply water temperature setting curve according to outdoor mean temperature compensation, this curve can be supported the outdoor temp of multiple spotDegree setting parameter; Taking secondary returning coolant-temperature gage compensated curve as auxiliary, form independently temperature control loop simultaneously;
2) on the basis that meets user's heat demand, farthest economize on heat, be according to outdoor temperature and calculate in real time secondarySupply water temperature setting value, regulates a secondary net electric control valve aperture or booster pump FREQUENCY CONTROL one secondary net flow, meets secondary and suppliesThe demand of backwater mean temperature.
6. a kind of heating network control loop based on fuzzy PID algorithm according to claim 1, is characterized in that: describedThe main flow process of pressure control loop is: by the setting value of secondary returning water pressure and comparing of process values, via fuzzy controlLoop calculates the running frequency of small pump, controls the converting operation of small pump, makes secondary returning water pressure reach goal-setting value,Realize the constant pressure supply water in station.
7. a kind of heating network control loop based on fuzzy PID algorithm according to claim 1, is characterized in that: describedThe main flow process of pressure reduction control loop is: adopt fuzzy control model, according to actual secondary side pressure of supply water, pressure of return water itBetween pressure reduction, regulate circulating pump by frequency converter, the pressure reduction of secondary side is stabilized near setting value.
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