CN106763980A - A kind of control method of nozzle baffle type intelligent valve positioner - Google Patents

A kind of control method of nozzle baffle type intelligent valve positioner Download PDF

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Publication number
CN106763980A
CN106763980A CN201710100252.5A CN201710100252A CN106763980A CN 106763980 A CN106763980 A CN 106763980A CN 201710100252 A CN201710100252 A CN 201710100252A CN 106763980 A CN106763980 A CN 106763980A
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control
valve
value
values
minimum
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CN106763980B (en
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柳曦
陈仕顺
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Wuhan Top Control Technology Co Ltd
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Wuhan Top Control Technology Co Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K31/00—Actuating devices; Operating means; Releasing devices
    • F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K37/00—Special means in or on valves or other cut-off apparatus for indicating or recording operation thereof, or for enabling an alarm to be given
    • F16K37/0025—Electrical or magnetic means
    • F16K37/0041—Electrical or magnetic means for measuring valve parameters

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Feedback Control In General (AREA)

Abstract

The invention discloses a kind of control method of nozzle baffle type intelligent valve positioner, comprise the following steps：Valve position measured value is subtracted into desired value, valve position deviation e (k) is obtained, V is the valve position measured value that current valve position measured value subtracts last time；As | e (k) | >=5%, using maximal rate control, when e (k) is for just, the positive maximal rate of DA outputs, when e (k) is negative, the reverse maximal rate of DA outputs, allows valve to enter next interval；As 2%≤| e (k) |<5%, the PD control for using integration separate, the initial value of output is middling speed, and the PD control for using integration separate first determines whether the movement velocity V values of valve, and V values are excessive, then carry out brake treatment, and V values are normal.Deviation according to measured value and mesh indicating value of the invention ensures the quick and accurate of control using different control algolithms come demarcation interval, different intervals, in fine adjustment, it is controlled using accurate pid algorithm, while introducing gray discrete system algorithm to correct minimum gas output.

Description

A kind of control method of nozzle baffle type intelligent valve positioner
Technical field
The present invention relates to intelligent valve positioner technical field, more particularly to a kind of nozzle baffle type intelligent valve positioner Control method.
Background technology
In the industry fields such as oil, chemical industry, pharmacy, thermal technology, material and light industry, in order to temperature, flow, pressure, into The controlled variable that grades carries out stabilization, accurately and fast controls, it is necessary to use valve positioner.The control of current intelligent valve positioner Method processed is more obscured, and it cannot be guaranteed that control it is quick and accurate, it is impossible to meet the demand of people, be this we have proposed one Plant the control method of nozzle baffle type intelligent valve positioner.
The content of the invention
Based on the technical problem that background technology is present, the present invention proposes a kind of nozzle baffle type intelligent valve positioner Control method.
A kind of control method of nozzle baffle type intelligent valve positioner proposed by the present invention, comprises the following steps：
Valve position measured value is subtracted into desired value, valve position deviation e (k) is obtained, V is the valve that current valve position measured value subtracts last time Position measured value；
As | e (k) | >=5%, using maximal rate control, when e (k) is for just, DA exports positive maximal rate, when e (k) is Negative, DA exports reverse maximal rate, allows valve to enter next interval；
As 2%≤| e (k) |<5%, the PD control for using integration separate, the initial value of output is middling speed, using integration point From PD control, first determine whether the movement velocity V values of valve, V values are excessive, then carry out brake treatment, and V values are normal, then carry out PD Control；Work as V>3, e (k), for just, DA exports reverse middling speed value, e (k) is negative, the positive middling speed value of DA outputs；When V≤3, e (k) is Just, DA outputs forward direction PD values, e (k) is negative, and DA exports reverse PD values, and the computing formula of PD values is：
U (t)=U0+KP*[e(k)-e(k-1)]+Kd*[e(n)-2e(n-1)+e(n-2)]；
Wherein U0It is middling speed value, allows valve to enter next interval；
As 0.3%≤| e (k) |<2%, using PID control, output amplitude is increment size of the minimum speed plus PID, This is interval, increases the gray prediction function of controlling value, and the size of minimum speed value is adjusted according to control effect；
DA output valves U (t)=U0+(Kp+Ki+Kd)*e(k)–(Kp+2Kd)e(k-1)+Kp*e(n-2)；
Valve is allowed to enter tolerance band, wherein U0It is minimum speed value, because minimum speed is the minimum gas output of IP modules, IP At the scene over time, gas output can change module, and minimum speed value should be adjusted accordingly, and just can guarantee that the reality of control When property and accuracy, introduce gray prediction function, and minimum gas output is predicted by judging the valve startup time interval herein Whether diminish, whether control overshoot and predict whether minimum gas output becomes big by judging that valve is interval herein, if same Direction, the continuous 3 startup time is both greater than 1000ms, represents that IP minimum speeies value not enough, needs increase, U0=U0+10；If same One direction, continuous 3 secondary control overshoot represents that IP minimum speed values are big, needs to reduce, its value U0=U0- 10, in control process In adjust minimum speed value；
As | e (k) |<0.3% valve enters in range of tolerable variance, and regulation in place, closes output.
Deviation according to measured value and mesh indicating value of the invention is calculated come demarcation interval, different intervals using different controls Method come ensure control it is quick and accurate, in fine adjustment, be controlled using accurate pid algorithm, at the same introduction gray discrete system Algorithm corrects minimum gas output.
Brief description of the drawings
Fig. 1 is a kind of control flow chart of the control method of nozzle baffle type intelligent valve positioner proposed by the present invention.
Specific embodiment
The present invention is made with reference to specific embodiment further explain.
Reference picture 1, a kind of control method of nozzle baffle type intelligent valve positioner proposed by the present invention, including following step Suddenly：
Valve position measured value is subtracted into desired value, valve position deviation e (k) is obtained, V is the valve that current valve position measured value subtracts last time Position measured value；
As | e (k) | >=5%, using maximal rate control, when e (k) is for just, DA exports positive maximal rate, when e (k) is Negative, DA exports reverse maximal rate, allows valve to enter next interval；
As 2%≤| e (k) |<5%, the PD control for using integration separate, the initial value of output is middling speed, using integration point From PD control, first determine whether the movement velocity V values of valve, V values are excessive, then carry out brake treatment, and V values are normal, then carry out PD Control；Work as V>3, e (k), for just, DA exports reverse middling speed value, e (k) is negative, the positive middling speed value of DA outputs；When V≤3, e (k) is Just, DA outputs forward direction PD values, e (k) is negative, and DA exports reverse PD values, and the computing formula of PD values is：
U (t)=U0+KP*[e(k)-e(k-1)]+Kd*[e(n)-2e(n-1)+e(n-2)]；
Wherein U0It is middling speed value, allows valve to enter next interval；
As 0.3%≤| e (k) |<2%, using PID control, output amplitude is increment size of the minimum speed plus PID, This is interval, increases the gray prediction function of controlling value, and the size of minimum speed value is adjusted according to control effect；
DA output valves U (t)=U0+(Kp+Ki+Kd)*e(k)–(Kp+2Kd)e(k-1)+Kp*e(n-2)；
Valve is allowed to enter tolerance band, wherein U0It is minimum speed value, because minimum speed is the minimum gas output of IP modules, IP At the scene over time, gas output can change module, and minimum speed value should be adjusted accordingly, and just can guarantee that the reality of control When property and accuracy, introduce gray prediction function, and minimum gas output is predicted by judging the valve startup time interval herein Whether diminish, whether control overshoot and predict whether minimum gas output becomes big by judging that valve is interval herein, if same Direction, the continuous 3 startup time is both greater than 1000ms, represents that IP minimum speeies value not enough, needs increase, U0=U0+10；If same One direction, continuous 3 secondary control overshoot represents that IP minimum speed values are big, needs to reduce, its value U0=U0- 10, in control process In adjust minimum speed value；
As | e (k) |<0.3% valve enters in range of tolerable variance, and regulation in place, closes output.
In actual control, control within 2 to 4 seconds in place, not overshoot, not surge, precision is 0.3%.Meet the control of high-end valve System is required.
Deviation according to measured value and mesh indicating value of the invention is calculated come demarcation interval, different intervals using different controls Method come ensure control it is quick and accurate, in fine adjustment, be controlled using accurate pid algorithm, at the same introduction gray discrete system Algorithm corrects minimum gas output.
The present invention ensures valve from the steady reduction of speed in high velocity to precision regulatory region using the PD control that integration is separate.Its Judge whether the minimum gas output of IP changes and real-time regulation minimum speed using gray prediction function.Solve IP's Time variation.The present invention also uses accurate PID control, calculates suitable gas output, makes valve accurately into tolerance band and does not breathe heavily Shake.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto, Any one skilled in the art the invention discloses technical scope in, technology according to the present invention scheme and its Inventive concept is subject to equivalent or change, should all be included within the scope of the present invention.

Claims (1)

1. a kind of control method of nozzle baffle type intelligent valve positioner, it is characterised in that comprise the following steps：
Valve position measured value is subtracted into desired value, valve position deviation e (k) is obtained, V is surveyed for the valve position that current valve position measured value subtracts last time Value；
As | e (k) | >=5%, using maximal rate control, when e (k) is for just, the positive maximal rate of DA outputs, when e (k) be it is negative, DA exports reverse maximal rate, allows valve to enter next interval；
As 2%≤| e (k) |<5%, the PD control for using integration separate, the initial value of output is middling speed, is separated using integration PD control, first determines whether the movement velocity V values of valve, and V values are excessive, then carry out brake treatment, and V values are normal, then carry out PD control； Work as V>3, e (k), for just, DA exports reverse middling speed value, e (k) is negative, the positive middling speed value of DA outputs；When V≤3, e (k) is just DA Output forward direction PD values, e (k) is negative, and DA exports reverse PD values, and the computing formula of PD values is：
U (t)=U0+KP*[e(k)-e(k-1)]+Kd*[e(n)-2e(n-1)+e(n-2)]；
Wherein U0It is middling speed value, allows valve to enter next interval；
As 0.3%≤| e (k) |<2%, using PID control, output amplitude is increment size of the minimum speed plus PID, in this area Between, increase the gray prediction function of controlling value, the size of minimum speed value is adjusted according to control effect；
DA output valves U (t)=U0+(Kp+Ki+Kd)*e(k)–(Kp+2Kd)e(k-1)+Kp*e(n-2)；
Valve is allowed to enter tolerance band, wherein U0It is minimum speed value, because minimum speed is the minimum gas output of IP modules, IP modules At the scene over time, gas output can change, and minimum speed value should be adjusted accordingly, and just can guarantee that the real-time of control And accuracy, gray prediction function is introduced, whether predict minimum gas output by judging the valve startup time interval herein Diminish, whether control overshoot and predict whether minimum gas output becomes big by judging that valve is interval herein, if same side To the continuous 3 startup time is both greater than 1000ms, represents that IP minimum speeies value not enough, needs increase, U0=U0+10；If same Individual direction, continuous 3 secondary control overshoot represents that IP minimum speed values are big, needs to reduce, its value U0=U0- 10, in control process To adjust minimum speed value；
As | e (k) |<0.3% valve enters in range of tolerable variance, and regulation in place, closes output.
CN201710100252.5A 2017-02-23 2017-02-23 A kind of control method of nozzle baffle type intelligent valve positioner Active CN106763980B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112709859A (en) * 2020-12-21 2021-04-27 广西中烟工业有限责任公司 Valve opening control method and device, electronic equipment and storage medium

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5431182A (en) * 1994-04-20 1995-07-11 Rosemount, Inc. Smart valve positioner
JP2001142505A (en) * 1999-11-11 2001-05-25 Yokogawa Electric Corp Tuning method for valve positioner and valve positioner
CN101710245A (en) * 2009-12-03 2010-05-19 徐州雷奥医疗设备有限公司 PID control based self-focusing lens ion exchange temperature control method and device
CN101841295A (en) * 2010-05-10 2010-09-22 湖南天安门业科技有限公司 Linear motor motion control method based on fixed-step speed measurement
CN102052514A (en) * 2010-12-17 2011-05-11 中环天仪股份有限公司 Simple and easy control method of intelligent valve locator
CN102287572A (en) * 2011-07-22 2011-12-21 中环天仪股份有限公司 Pulse control method of intelligent valve positioning device
US20130068313A1 (en) * 2011-09-21 2013-03-21 Accutrol, LLC Electronic Pressure Independent Controller For Fluid Flow Control Valve
CN103775712A (en) * 2012-10-18 2014-05-07 柳曦 Parameter rapidly self-adjusting method of intelligent valve positioner
CN104315219A (en) * 2014-08-26 2015-01-28 北京易拓智谱科技有限公司 Automatic control method for ammonia refrigerating unit throttle valve based on fuzzy PID (Proportion Integration Differentiation) principle

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5431182A (en) * 1994-04-20 1995-07-11 Rosemount, Inc. Smart valve positioner
JP2001142505A (en) * 1999-11-11 2001-05-25 Yokogawa Electric Corp Tuning method for valve positioner and valve positioner
CN101710245A (en) * 2009-12-03 2010-05-19 徐州雷奥医疗设备有限公司 PID control based self-focusing lens ion exchange temperature control method and device
CN101841295A (en) * 2010-05-10 2010-09-22 湖南天安门业科技有限公司 Linear motor motion control method based on fixed-step speed measurement
CN102052514A (en) * 2010-12-17 2011-05-11 中环天仪股份有限公司 Simple and easy control method of intelligent valve locator
CN102287572A (en) * 2011-07-22 2011-12-21 中环天仪股份有限公司 Pulse control method of intelligent valve positioning device
US20130068313A1 (en) * 2011-09-21 2013-03-21 Accutrol, LLC Electronic Pressure Independent Controller For Fluid Flow Control Valve
CN103775712A (en) * 2012-10-18 2014-05-07 柳曦 Parameter rapidly self-adjusting method of intelligent valve positioner
CN104315219A (en) * 2014-08-26 2015-01-28 北京易拓智谱科技有限公司 Automatic control method for ammonia refrigerating unit throttle valve based on fuzzy PID (Proportion Integration Differentiation) principle

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112709859A (en) * 2020-12-21 2021-04-27 广西中烟工业有限责任公司 Valve opening control method and device, electronic equipment and storage medium

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