CN106054951B - A kind of control method and system of dissolved oxygen concentration - Google Patents
A kind of control method and system of dissolved oxygen concentration Download PDFInfo
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- CN106054951B CN106054951B CN201610465040.2A CN201610465040A CN106054951B CN 106054951 B CN106054951 B CN 106054951B CN 201610465040 A CN201610465040 A CN 201610465040A CN 106054951 B CN106054951 B CN 106054951B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D11/00—Control of flow ratio
- G05D11/02—Controlling ratio of two or more flows of fluid or fluent material
- G05D11/13—Controlling ratio of two or more flows of fluid or fluent material characterised by the use of electric means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Abstract
A kind of control method and system of dissolved oxygen concentration.Wherein, method includes the following steps: obtaining the current aeration control amount of aerobic tank and current dissolved oxygen concentration in real time；The related parameter values in preset prediction model are updated according to current aeration control amount, calculate the dissolved oxygen concentration predicted value of prediction model；By current dissolved oxygen concentration and dissolved oxygen concentration predictor calculation prediction deviation, dissolved oxygen concentration predicted value is corrected according to prediction deviation, obtains dissolved oxygen concentration corrected value；Based on default majorized function and dissolved oxygen concentration corrected value, rolling optimization is carried out, calculates aeration control increment；Current aeration control amount and aeration control increment are subjected to summation operation, output aeration control value is to being aerated execution module.The application adjusts aeration control value in real time, achievees the purpose that adaptively to adjust tracking, to improve the control precision of dissolved oxygen concentration.
Description
Technical field
This application involves sewage treatment field, the control method and system of especially a kind of dissolved oxygen concentration.
Background technique
With the acceleration of industrial process, the living standard of people is improved constantly, but the following environmental problem allows
People endure puzzlement to the fullest extent.Promoting industry to develop towards intelligence, green direction has been the inexorable trend in future.
Sewage treatment improves the important measures of environment, has also welcome unprecedented hair as Industrial Green development is promoted
Opportunity is opened up, efficient, low energy consumption sewage treatment control technology meets historical development trend, has important practical significance.
In sewage disposal process, the dissolved oxygen concentration of aerobic tank is a key variables for influencing sewage treating efficiency.
It is the necessary condition of nitrobacteria growth, affects the efficiency that ammonia in sewage disposal process is converted to nitrate, and dissolved oxygen
The control of concentration is mostly realized by aeration effect, and therefore, the control to aeration is the key link of sewage disposal process.
In the prior art, traditional PID control is currently to run a kind of most common Dissolved Oxygen concentration Control mode, it has
Have the advantages that structure is simple, stability is good, reliable operation, easy to adjust.However, the change procedure of dissolved oxygen concentration is entered water temperature
Various influences such as degree, the discharge of sewage, water-quality constituents and pH value, have the characteristics that nonlinearity and uncertainty, dissolution
The structure and parameter of oxygen concentration model cannot be grasped completely, it is necessary to determine by experience and field adjustable, in this case, adopt
It is difficult to adaptively adjust control parameter with traditional PID control method, control precision is not high, it is difficult to obtain ideal control effect
Fruit.
Summary of the invention
The application provides the control method and system of a kind of dissolved oxygen concentration, solves existing Dissolved Oxygen concentration Control method control
The not high problem of precision processed.
According to a first aspect of the present application, the application provides a kind of control method of dissolved oxygen concentration, comprising the following steps:
The current aeration control amount K of aerobic tank is obtained in real timeLa(k) and current dissolved oxygen concentration So(k), wherein k is current time；Foundation
Current aeration control amount KLa(k) related parameter values in preset prediction model are updated, the dissolved oxygen concentration of prediction model is calculated
Predicted valueCalculate current dissolved oxygen concentration So(k) and dissolved oxygen concentration predicted valueIt calculates prediction deviation e (k), root
It is predicted that deviation e (k) is to dissolved oxygen concentration predicted valueIt is corrected, obtains dissolved oxygen concentration corrected value
Based on default majorized function and dissolved oxygen concentration corrected valueRolling optimization is carried out, aeration control increment Delta is calculated
KLa(k)；By current aeration control amount KLa(k) with aeration control increment Delta KLa(k) summation operation is carried out, aeration control is exported
Value KLa(k+1) is to aeration execution module to change its aeration quantity to aeration control value KLa(k+1)。
Preferably, the prediction model is based on dissolved oxygen concentration model set AallIt establishes, AallExpression formula are as follows:
Wherein,For measurement point number, a=[ai1,…,aiN] indicate ith measurement point under vector model；
The expression formula of the prediction model are as follows:
Wherein,Dissolved oxygen concentration predicted value is tieed up for P；It is initial that dissolved oxygen concentration is tieed up for P to be updated
Value；It is made of comprising model information matrix A the vector model under current measurement point；ΔKLa,M(k) aeration control increment is tieed up for M.
Preferably, the expression formula of the majorized function are as follows:
So,refIt is P dimension expectation reference locus；Q is that P × P ties up error weight matrix, realizes the inhibition to tracking error；R be M ×
M dimension control weight matrix, realizes the inhibition changed to control amount.
Preferably, the prediction deviationIt is described according to prediction deviation e (k) to dissolved oxygen concentration
Predicted valueIt is corrected, obtains dissolved oxygen concentration corrected valueThe step of, specifically:
According to prediction deviation e (k), dissolved oxygen concentration predicted value is corrected according to following formula:
Wherein, S and h is design factor.
Preferably, aeration control increment Delta KLa(k) expression formula are as follows:
And aeration control value KLa(k+1)=KLa(k)+ΔKLa(k)。
According to a second aspect of the present application, the application provides a kind of control system of dissolved oxygen concentration, comprising: detection mould
Block, for detecting the current aeration control amount K of aerobic tankLa(k) and current dissolved oxygen concentration So(k)；Processing module, for obtaining in real time
Take the current aeration control amount K of aerobic tankLa(k) and current dissolved oxygen concentration So(k), wherein k is current time；It is exposed according to current
Gas control amount KLa(k) related parameter values in preset prediction model are updated, the dissolved oxygen concentration predicted value of prediction model is calculatedCalculate current dissolved oxygen concentration So(k) and dissolved oxygen concentration predicted valueIt calculates prediction deviation e (k), according to prediction
Deviation e (k) is to dissolved oxygen concentration predicted valueIt is corrected, obtains dissolved oxygen concentration corrected valueBased on pre-
If majorized function and dissolved oxygen concentration corrected valueRolling optimization is carried out, aeration control increment Delta K is calculatedLa(k)；
By current aeration control amount KLa(k) with aeration control increment Delta KLa(k) summation operation is carried out, aeration control value K is exportedLa(k+
1) to aeration execution module to change its aeration quantity to aeration control value KLa(k+1)；It is aerated execution module, for receiving aeration
Measure controlling value KLa(k+1) to change itself aeration quantity.
Preferably, the prediction model is based on dissolved oxygen concentration model set AallIt establishes, AallExpression formula are as follows:
Wherein,For measurement point number, a=[ai1,…,aiN] indicate ith measurement point under vector model；
The expression formula of the prediction model are as follows:
Wherein,Dissolved oxygen concentration predicted value is tieed up for P；It is initial that dissolved oxygen concentration is tieed up for P to be updated
Value；It is made of comprising model information matrix A the vector model under current measurement point；ΔKLa,M(k) aeration control increment is tieed up for M.
Preferably, the expression formula of the majorized function are as follows:
So,refIt is P dimension expectation reference locus；Q is that P × P ties up error weight matrix, realizes the inhibition to tracking error；R be M ×
M dimension control weight matrix, realizes the inhibition changed to control amount.
Preferably, the prediction deviation
Processing module is used for according to prediction deviation e (k), corrects dissolved oxygen concentration predicted value according to following formula:
Wherein, S and h is design factor.
Preferably, aeration control increment Delta KLa(k) expression formula are as follows:
And aeration control value KLa(k+1)=KLa(k)+ΔKLa(k)。
The beneficial effect of the application is, since the application obtains the current aeration control amount K of aerobic tank in real timeLa(k) and it is current
Dissolved oxygen concentration So(k), wherein k is current time；According to current aeration control amount KLa(k) it updates in preset prediction model
Related parameter values, calculate the dissolved oxygen concentration predicted value of prediction modelCalculate current dissolved oxygen concentration So(k) and it is molten
Solve oxygen concentration predicted valueIt calculates prediction deviation e (k), according to prediction deviation e (k) to dissolved oxygen concentration predicted valueInto
Row correction, obtains dissolved oxygen concentration corrected valueBased on default majorized function and dissolved oxygen concentration corrected valueRolling optimization is carried out, aeration control increment Delta K is calculatedLa(k)；By current aeration control amount KLa(k) it and is aerated
Controlling increment Δ KLa(k) summation operation is carried out, aeration control value K is exportedLa(k+1) is to aeration execution module to change its exposure
Tolerance is to aeration control value KLa(k+1).Its input data of prediction model real-time update reaches adaptive adjustment tracking, thus
Adjustment aeration control value in real time, to improve the control precision of dissolved oxygen concentration.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the control method of dissolved oxygen concentration of the application.
Fig. 2 is a kind of structural schematic diagram of the control method of dissolved oxygen concentration of the application.
Fig. 3 is the experiment effect figure for applying the control method of dissolved oxygen concentration of the application.
Specific embodiment
Below by specific embodiment combination attached drawing, invention is further described in detail.
A kind of control method of dissolved oxygen concentration, this method are applied to the processing module of the control system of dissolved oxygen concentration,
As shown in Figure 1, comprising the following steps:
S101: the current aeration control amount K of aerobic tank is obtained in real timeLa(k) and current dissolved oxygen concentration So(k), wherein k is
Current time.
Aeration quantity and current dissolved oxygen concentration are obtained after over-sampling and removal noise, can be right in order to remove noise
Measurement data carries out smooth treatment, prevents the interference of noise.Since prediction model includes multiple measurement points, in the present embodiment, when
Preceding aeration control amount KLa(k) and current dissolved oxygen concentration SoIt (k) is resulting based on current measurement point.Wherein, current aeration control
Amount K processedLa(k) and current dissolved oxygen concentration So(k) it is not single numerical value, is the function of a real-time change, each moment
A corresponding numerical value.Wherein, k is current time, refers to the current time of the control system of dissolved oxygen concentration of the invention.Dissolution
The control system of oxygen concentration has the preset duty cycle, is subsequent time K+1 after a duty cycle.
S102: according to current aeration control amount KLa(k) related parameter values in preset prediction model are updated, prediction is calculated
The dissolved oxygen concentration predicted value of model
Specifically, measuring dissolved oxygen concentration in advance, its sampled value a is obtainedi=a (iT), i=1,2 ..., T are sampling week
Phase.Have the characteristics that asymptotically stability in view of the dissolved oxygen concentration input/output relation in biochemical wastewater treatment system, therefore, N step
Dissolved oxygen concentration output later tends towards stability, i.e. aN=as=a (∞).In order to remove measurement noise, light has been carried out to measurement data
Sliding processing, sets vector a=[a1,…,aN]TReferred to as vector model, N are modeling time domain.Due in biochemical processing procedure of sewage,
Since violent fluctuation occurs at any time for the flow water quality that sewage enters water, the dissolved oxygen concentration in aerobic tank is caused to become therewith
Change, moreover, dissolved oxygen concentration model has the characteristics that nonlinearity, therefore, in step response sampling step, needs to establish
Vector model set A under multi-operating pointsall。
AallExpression formula are as follows:
Wherein,For measurement point number, a=[ai1,…,aiN] indicate ith measurement point under vector model.Predict mould
Type is based on dissolved oxygen concentration model set AallIt establishes,
The expression formula of the prediction model are as follows:
Above formula can specifically be write as:
Wherein,Dissolved oxygen concentration predicted value is tieed up for P；It is initial that dissolved oxygen concentration is tieed up for P to be updated
Value；It is made of comprising model information matrix A the vector model under current measurement point；ΔKLa,M(k) aeration control increment is tieed up for M.
There are certain corresponding relationships with dissolved oxygen concentration for aeration quantity, dense by acquiring the dissolved oxygen under different aeration quantity in advance
Degree evidence constitutes the data of aeration quantity and dissolved oxygen concentration to (KLa, So), get current aeration control amount KLa(k) after, foundation
Above-mentioned data are to can obtain dissolved oxygen concentration.P dimension dissolved oxygen concentration initial value is updated againAccording to above-mentioned expression formula
Acquire dissolved oxygen concentration predicted value
S103: current dissolved oxygen concentration S is calculatedo(k) and dissolved oxygen concentration predicted valueIt calculates prediction deviation e (k), root
It is predicted that deviation e (k) is to dissolved oxygen concentration predicted valueIt is corrected, obtains dissolved oxygen concentration corrected value
Specifically, prediction deviationAccording to prediction deviation e (k), according to following formula school
Positive dissolved oxygen concentration predicted value:
Wherein, S and h is design factor.
Can value h=[1 0.86 ... 0.86],
S104: based on default majorized function and dissolved oxygen concentration corrected valueRolling optimization is carried out, calculates and exposes
Gas control increment Delta KLa(k)；
Above formula is the expression formula of majorized function, wherein So,refIt is P dimension expectation reference locus；Q is that P × P ties up error power square
Battle array realizes the inhibition to tracking error；R is M × M dimension control weight matrix, realizes the inhibition changed to control amount.
Determine aeration control increment Delta KLa(k) the step of, is as follows:
It can obtain:
By extreme value necessary condition dJ (k)/d Δ KLa,M(k)=0 the aeration control increment inscribed when can obtain M is following formula:
Above formula gives Δ KLa(k),…,ΔKLa(k+M-1) optimal value, then the expression formula of aeration control increment is as follows:
Wherein, M ties up row vector cT=[1 0 ... 0]
Expression takes the operation of header element, and Q takes the unit matrix of P × P, and R=0.00001*I, I are M × M unit matrix.
S105: by current aeration control amount KLa(k) with aeration control increment Delta KLa(k) it sums up, exports aeration quantity control
Value K processedLa(k+1) is to aeration execution module to change its aeration quantity to aeration control value KLa(k+1)。
By current aeration control amount KLa(k) with aeration control increment Delta KLa(k) it sums up, obtains aeration control value
Expression formula are as follows: KLa(k+1)=KLa(k)+ΔKLa(k).The aeration control value is output to aeration execution module, so that exposing
Gas execution module changes its aeration quantity, and then adjusts dissolved oxygen concentration in aerobic tank, reaches the control to dissolved oxygen concentration.Together
When, prediction model output is updated in subsequent time:To which adjustment is aerated in real time
Controlling value is measured, to improve the control precision of dissolved oxygen concentration, while also there is better real-time and stability.
The present invention also provides a kind of control systems of dissolved oxygen concentration, as shown in Fig. 2, comprising: detection module 101, place
Manage module 102 and aeration execution module 103.
Detection module 101 is arranged in aerobic tank, is used to detect the current aeration control amount K of aerobic tankLa(k) and it is current molten
Solve oxygen concentration So(k)。
Processing module 102 for obtaining the current aeration control amount K of aerobic tank in real timeLa(k) and current dissolved oxygen concentration So
(k), wherein k is current time；According to current aeration control amount KLa(k) dissolved oxygen concentration phase in preset prediction model is updated
Pass value calculates the dissolved oxygen concentration predicted value of prediction modelCalculate current dissolved oxygen concentration So(k) and dissolved oxygen concentration
Predicted valueIt calculates prediction deviation e (k), according to prediction deviation e (k) to dissolved oxygen concentration predicted valueIt is corrected,
Obtain dissolved oxygen concentration corrected valueBased on default majorized function to dissolved oxygen concentration corrected valueInto
Row optimization, and calculate aeration control increment Delta KLa(k)；By current aeration control amount KLa(k) with aeration control increment Delta KLa(k)
It sums up, exports aeration control value KLa(k+1)。
Aeration execution module 103 is for receiving aeration control value KLa(k+1) to change itself aeration quantity.
Fig. 3 is a kind of exemplary effect picture of the invention.
In this example, there are preposition two isometric anaerobic reation pool V1=V2=1000m3And one of postposition is aerobic
Reaction tank V3=3999m3.In order to embody the validity of proposed Dissolved Oxygen concentration Control method, selected two kinds it is typical right
Than algorithm, it is fixed dynamic matrix Dissolved Oxygen concentration Control method (C1) that one is models, and another kind is common PI control method
(C2).Wherein, under C1 control, model is in operating point KLaIt is established on=135, algorithm other parameters are referring to " specific embodiment party
The explanation of formula " part.Under C2 control, control parameter is set as KP=25, Ti=0.002.
In order to compare the running effect under different control method effects, we have selected performance indicator IAE, and (deviation is exhausted
To value integrate) and the calculated value of IAE (deviation integrated square) compare and analyze.
From figure 3, it can be seen that tracking error changes very little based on self-adaptive dynamic model of the invention, have more preferable
Stability and real-time.
The above content is specific embodiment is combined, further detailed description of the invention, and it cannot be said that this hair
Bright specific implementation is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, it is not taking off
Under the premise of from present inventive concept, a number of simple deductions or replacements can also be made.
Claims (6)
1. a kind of control method of dissolved oxygen concentration, it is characterised in that: the following steps are included:
The current aeration control amount K of aerobic tank is obtained in real timeLa(k) and current dissolved oxygen concentration So(k), wherein k is current time；
According to current aeration control amount KLa(k) related parameter values in preset prediction model are updated, the molten of prediction model is calculated
Solve oxygen concentration predicted value
Calculate current dissolved oxygen concentration So(k) and dissolved oxygen concentration predicted valueIt calculates prediction deviation e (k), it is inclined according to prediction
Poor e (k) is to dissolved oxygen concentration predicted valueIt is corrected, obtains dissolved oxygen concentration corrected value
Based on default majorized function and dissolved oxygen concentration corrected valueRolling optimization is carried out, aeration control increment is calculated
ΔKLa(k)；
By current aeration control amount KLa(k) with aeration control increment Delta KLa(k) summation operation is carried out, aeration control value is exported
KLa(k+1) is to aeration execution module to change its aeration quantity to aeration control value KLa(k+1)；
The prediction model is based on dissolved oxygen concentration model set AallIt establishes, AallExpression formula are as follows:
Wherein,For measurement point number, a=[ai1,...,aiN] indicate ith measurement point under vector model；
The expression formula of the prediction model are as follows:
Wherein,Dissolved oxygen concentration predicted value is tieed up for P；Dissolved oxygen concentration initial value is tieed up for P to be updated；Packet
Matrix A containing model information is made of the vector model under current measurement point；ΔKLa,M(k) aeration control increment is tieed up for M；
The expression formula of the default majorized function are as follows:
So,refIt is P dimension expectation reference locus；Q is that P × P ties up error weight matrix, realizes the inhibition to tracking error；R is M × M dimension
Weight matrix is controlled, realizes the inhibition changed to control amount.
2. method described in any one according to claim 1, it is characterised in that:
The prediction deviation
It is described according to prediction deviation e (k) to dissolved oxygen concentration predicted valueIt is corrected, obtains dissolved oxygen concentration corrected valueThe step of, specifically:
According to prediction deviation e (k), dissolved oxygen concentration predicted value is corrected according to following formula:
Wherein, S and h is design factor.
3. method described in any one according to claim 1, it is characterised in that:
Aeration control increment Delta KLa(k) expression formula are as follows:
And aeration control value KLa(k+1)=KLa(k)+ΔKLa(k)。
4. a kind of control system of dissolved oxygen concentration, it is characterised in that: include:
Detection module, for detecting the current aeration control amount K of aerobic tankLa(k) and current dissolved oxygen concentration So(k)；
Processing module obtains the current aeration control amount of aerobic tank and current dissolved oxygen concentration, wherein k is current time in real time；According to
The related parameter values in preset prediction model are updated according to current aeration control amount, calculate the dissolved oxygen concentration prediction of prediction model
Value；Current dissolved oxygen concentration and dissolved oxygen concentration predictor calculation prediction deviation are calculated, according to prediction deviation to dissolved oxygen concentration
Predicted value is corrected, and obtains dissolved oxygen concentration corrected value；Based on default majorized function and dissolved oxygen concentration corrected value, rolled
Dynamic optimization, calculates aeration control increment；Current aeration control amount and aeration control increment are subjected to summation operation, export aeration quantity
Controlling value is to aeration execution module to change its aeration quantity to aeration control value；
It is aerated execution module, for receiving aeration control value KLa(k+1) to change itself aeration quantity；
Wherein, the prediction model is based on dissolved oxygen concentration model set AallIt establishes, AallExpression formula are as follows:
Wherein,For measurement point number, a=[ai1,...,aiN] indicate ith measurement point under vector model；
The expression formula of the prediction model are as follows:
Wherein,Dissolved oxygen concentration predicted value is tieed up for P；Dissolved oxygen concentration initial value is tieed up for P to be updated；Include
Model information matrix A is made of the vector model under current measurement point；ΔKLa,M(k) aeration control increment is tieed up for M；
The expression formula of the majorized function are as follows:
So,refIt is P dimension expectation reference locus；Q is that P × P ties up error weight matrix, realizes the inhibition to tracking error；R is M × M dimension
Weight matrix is controlled, realizes the inhibition changed to control amount.
5. according to system described in claim 4 any one, it is characterised in that:
The prediction deviation
Processing module is used for according to prediction deviation e (k), corrects dissolved oxygen concentration predicted value according to following formula:
Wherein, S and h is design factor.
6. according to system described in claim 4 any one, it is characterised in that:
Aeration control increment Delta KLa(k) expression formula are as follows:
And aeration control value KLa(k+1)=KLa(k)+ΔKLa(k)。
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| CN106645617A (en) * | 2016-11-30 | 2017-05-10 | 北海职业学院 | Automatic correction method of dissolved oxygen instrument for aquiculture |
| CN108557991B (en) * | 2017-12-19 | 2020-11-03 | 浙江博世华环保科技有限公司 | Method for regulating aeration quantity of MBR (membrane bioreactor) device and method for treating landfill leachate by using MBR device |
| CN109019892A (en) * | 2018-08-13 | 2018-12-18 | 重庆工商大学 | A kind of regulation method based on data assimilation on-line optimization aeration quantity |
| CN117645358A (en) * | 2024-01-30 | 2024-03-05 | 青岛海湾中水有限公司 | Method and system for controlling dissolved oxygen concentration of biological pool |
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