CN106978336A - 一种基于预测控制的沼气系统及其稳定供气方法 - Google Patents
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Abstract
本发明的一种基于预测控制的沼气系统及其稳定供气方法,高可靠系统包括发酵罐、屯渣液池、蓄粪池、物料仓、储气罐、电源管理模块和热电联合机组,特征在于:蓄粪池与发酵罐相连通,发酵罐与屯渣液池相连通,发酵罐中设置有搅拌装置、液位传感器、温度传感器、pH传感器和浓度传感器,所述储气罐中设置有压力传感器和气体成分传感器。本发明的稳定性供气方法,包括a).采集发酵参数;b).采集沼气参数;c).训练样本;d).稳定器供气控制。本发明的沼气系统及控制方法,预测控制参数结合传统的PID控制,具有建造成本低、沼气产量丰富、沼气利用率高、有益效果显著和适于应用推广的优点。
Description
技术领域
本发明涉及一种基于预测控制的沼气系统及其稳定供气方法,更具体的说,尤其涉及一种结构简单合理、沼气产生率高和沼气生产稳定的沼气系统及预测控制与PID控制相融合的稳定性供气方法。
背景技术
畜禽粪便、病死畜禽、农作物秸秆等废弃物的不当处理,将引发环境污染、滋生病菌、资源浪费等问题,成为政府和居民关注的热点。现在很多地方建立区域废弃物资源化利用示范基地,以区域农业废弃物资源化利用、新农村沼气利用、沼液沼渣综合利用为核心的区域生态循环农业示范,解决区域有机废弃物污染问题,优化农村能源结构。但当下沼气发酵和供气多采用电触点式气体压力表配合时间继电器连接电磁阀、仪表变频器配合连接电机等供气装置,都会受到相应继电器、电机等硬件条件的限制,会出现装置上下限调节压力不稳、燃气灶使用效率不高和单纯的变频控制缩短电机使用寿命等问题,需要有更为理想的自动稳压供气装置。
一般情况下,会借助PID控制解决上述问题,PID控制具有原理简单、结构简明、实现方便,算法在结构上具有较强的鲁棒性,在工业控制中简单有效。但另一方面,控制算法的普及性也反映了PID控制器在控制品质上的局限性,PID控制比较适用于单输入单输出最小相位系统,并且只能确定闭环系统的少数主要零极点等不足,使得在规模化的沼气供气控制过程中不能有效实现自动化管理和稳定有序的工作。
发明内容
本发明为了克服上述技术问题的缺点,提供了一种基于预测控制的沼气系统及其稳定供气方法。
本发明的沼气系统,包括发酵罐、屯渣液池、蓄粪池、物料仓、储气罐、电源管理模块和热电联合机组,蓄粪池设置于地表以下,用于存储畜禽的粪便,物料仓用于存储农作物秸秆,物料仓与发酵罐之间设置有物料输送装置,发酵罐和屯渣液池设置于地表之上;其特征在于:所述蓄粪池经设置有第一输液泵的输液管与发酵罐相连通,发酵罐经设置有第二输液泵的输液管与屯渣液池相连通,屯渣液池经设置有第三输液泵的输液管与外界相连通;发酵罐的上部经设置有流量计的沼气管与沼气纯化器相连通,沼气纯化器经沼气管与储气罐相连通,储气罐经设置有可控电磁阀的沼气管与热电联合机组的进气管相连通,热电联合机组的电源输出经输电线与输电电网和电源管理模块的输入端相连接;电源管理模块的输出端经输电线与沼气纯化器的电源输入端、发酵罐中的用电设备以及办公房中的用电设备相连接;所述发酵罐中设置有搅拌装置、液位传感器、温度传感器、pH传感器和浓度传感器,所述储气罐中设置有压力传感器和气体成分传感器。
本发明的沼气系统,所述蓄粪池设置于畜禽饲养场地的地表之下,畜禽饲养场地中设置有带孔底板,带孔底板的下方设置有接料槽,接料槽的底部经通孔与蓄粪池相连通。
本发明的沼气系统,包括起采集、运算和控制作用的微控制器,所述液位传感器、温度传感器、pH传感器、浓度传感器、压力传感器、气体成分传感器均与微控制器的输入端相连接,微控制器的输出端与可控电磁阀的控制端相连接。
本发明的沼气系统的稳定性供气方法,a).采集发酵参数,以每天为时间段Tday,在时间段Tday周期性地采集发酵罐中反应物质的液位h、温度t、pH值p、浓度ρ,形成发酵参数ci(h,t,p, ρ),其中,i为每天所采集的发酵参数的次数,12≤i≤48;
b).采集沼气参数,在采集发酵参数的同时,也采集发酵罐输出端的沼气管上的气体流量L、储气罐中的气体压力f以及储气罐中的气体成分CO、H2S、CH4,形成沼气参数ki(L,f,CO,H2S,CH4);
c).训练样本,采集N天的发酵参数和沼气参数,以其为样本,以发酵参数h、t、p、 ρ为输入,以沼气参数L、f、CO、H2S、CH4 为输出进行训练,直至气体流量L=L1*h+ L2*t+ L3*p+ L4*ρ、气体压力f=f1*h+ f2*t+ f3*p+ f4*ρ、气体成分CO=CO1*h+ CO2*t+ CO3*p+ CO4*ρ、气体成分H2S = H2S1*h+ H2S2*t+ H2S3*p+ H2S4*ρ、气体成分CH4= CH41*h+ CH42*t+ CH43*p+CH44*ρ中的变量L1、L2、L3、L4、f1、f2、f3、f4、CO1、CO2、CO3、CO4、H2S1、H2S2、H2S3、H2S4、CH41、CH42、CH43、CH44不在变化或者变化处于收敛位置;
d).稳定器供气控制,采集当前的发酵参数cpresent(h,t,p, ρ),利用步骤c)中训练出的计算公式L=L1*h+ L2*t+ L3*p+ L4*ρ、气体压力f=f1*h+ f2*t+ f3*p+ f4*ρ、气体成分CO=CO1*h+ CO2*t+ CO3*p+ CO4*ρ、气体成分H2S = H2S1*h+ H2S2*t+ H2S3*p+ H2S4*ρ、气体成分CH4= CH41*h+ CH42*t+ CH43*p+ CH44*ρ计算出沼气参数kpresent(L,f,CO,H2S,CH4),根据当前所需发电量采用PID控制实时调节可控电磁阀的开度,以对发电量进行控制,保证沼气系统的可持续运行。
本发明的有益效果是:本发明的沼气系统及方法,由蓄粪池、发酵罐、屯渣液池、物料仓、储气罐、热电联合机组形成,设置于地表之下的蓄粪池有利于收集畜禽的粪便,物料仓用于存储待发酵的农作物秸秆,粪便经第一输液泵抽至发酵罐中,秸秆经物料输送装置输送至发酵罐中;发酵罐产生的沼气首先通入沼气纯化器中进行处理,再存储在储气罐中,以供热电联合机组进行燃烧发电;热电联合机组产生的电能不仅可供办公房、发酵罐、沼气纯化器的运行之用,而且还可输送至电网中。本发明的沼气系统结构简单合理,具有建造成本低、沼气产量丰富、沼气利用率高、有益效果显著和适于应用推广的优点。本发明的沼气稳定性供气方法,通过沼气生产工艺等实际内容的分析和研究,将发酵罐中反应物质的液位h、温度t、pH值p、浓度ρ作为预测控制参数,结合传统的PID控制,可较为精确地预测出沼气的产生量和成分,并对发电所用沼气量进行控制,既能最大限度地发电,又可满足设备的正常运行。
附图说明
图1为沼气生产工艺流程图;
图2为本发明的沼气系统的结构原理图;
图3为本发明中控制电路的原理图;
图4为本发明中沼气稳定性供气方法的原理图。
图中:1发酵罐,2屯渣液池,3蓄粪池,4物料仓,5储气罐,6热电联合机组,7办公房,8输电电网,9电源管理模块,10物料输送装置,11带孔底板,12接料槽,13通孔,14输液管,15第一输液泵,16沼气管,17沼气纯化器,18压力传感器,19输电线,20第二输液泵,21第三输液泵,22流量计,23可控电磁阀,24液位传感器,25温度传感器,26pH传感器,27浓度传感器,28气体成分传感器。
具体实施方式
下面结合附图与实施例对本发明作进一步说明。
如图1所示,给出了沼气生产工艺流程图,如图中所示,本发明中生产沼气的物料主要来至畜禽养殖和生态农业种植,畜禽养殖中产生的畜禽粪便、畜禽尸体均可作为沼气产生的物料,不仅变废为宝,而且还解决了环境污染问题。生态农业种植所产生的粮食秸秆、蔬菜的烂根叶、果木的烂果均可作为发酵沼气的物料。沼气生产工程不仅可生产生物天然气,而且还可产出有机肥。
如图2所示,给出了本发明的沼气系统的结构原理图,其由发酵罐1、屯渣液池2、蓄粪池3、物料仓4、储气罐5、热电联合机组6、电源管理模块9组成,所示的蓄粪池3设置于地表之下,用于收集和存储畜禽的粪便;蓄粪池3经设置有第一输液泵15的输液管14与发酵罐1相连通,以便在第一输液泵15的驱动下将蓄粪池3中的粪便抽至发酵罐1中。物料仓4设置于地表之上,用于存储农作物的秸秆等,物料仓4与发酵罐1之间设置有物料输送装置10,以便将物料仓4中的秸秆运输至发酵罐1中。为了便于畜禽粪便的收集,饲养畜禽的场地中铺设有带孔底板11,带孔底板11的下方为接料槽12,接料槽12经通孔13与蓄粪池相连通,以便将畜禽的粪便直接导流至蓄粪池3中。
所示发酵罐1和屯渣液池2均设置于地表之上,发酵罐1经设置第二输液泵20的输液管与屯渣液池2相连通,以便将物料发酵之后的沼渣、沼液抽至屯渣液池2中。同时,屯渣液池2经设置第三输液泵21的输液管与外界相通,以便将沼渣、沼液抽出。
所示发酵罐1的顶部经设置流量计22的沼气管16与沼气纯化器17相通,以便将产生的沼气输送至沼气纯化器17进行纯化处理。沼气纯化器17经管路与储气罐5相通,以便将纯化之后的沼气输送至储气罐中进行保存。储气罐5经沼气管16与热电联合机组6的燃气管相通,以供热电联合机组6进行燃烧发电。热电联合机组6产生的电能一部分输送至输电电网8上,实现沼气发电,另一部分经电源管理模块9转化后,输入至沼气纯化器17、发酵罐1和办公房7,以维持整个沼气系统的运行。
所示发酵罐1中还设置有液位传感器24、温度传感器25、pH传感器26、浓度传感器27,以实现发酵罐1中反应物质的液位h、温度t、pH值p、浓度ρ的测量。储气罐5中还设置有压力传感器18和气体成分传感器28,气体成分传感器28可对沼气中的CO、H2S、CH4的含量进行检测。所示储气罐5至热电联合机组6之间的沼气管16上设置有可控电磁阀23,通过对可控电磁阀23的开度进行控制,可控制热电联合机组6的发电功率,以控制沼气的利用量。
如图3所示,给出了发明中控制电路的原理图,所示的微控制器29具有信号采集、数据运算和控制输出的作用,液位传感器24、温度传感器25、pH传感器26、浓度传感器27、压力传感器1)、气体成分传感器28均与微控制器29的输入端相连接,以实现传感器数据的测量,微控制器29的输出端与可控电磁阀23的控制端相连接,以便微控制器29根据所检测的数据对可控电磁阀23的开度进行控制,进而控制发电功率。
如图4所示,给出了本发明中沼气稳定性供气方法的原理图,其稳定性供气方法的原理为通过设备状态情况、用户使用规律、负载数据和传感器检测值,来实现沼气压力预测、发电机功率预测和沼气浓度预测,进而形成融合预测控制的沼气自动稳定控制器,同时通过所建立的目标函数和动态约束来优化模型,反馈至融合预测控制的沼气自动稳定控制器,来实现沼气的稳定控制。
抛弃设备状态情况、用户使用规律、负载数据不予考虑,本沼气系统的稳定性供气方法通过以下步骤来实现:
a).采集发酵参数,以每天为时间段Tday,在时间段Tday周期性地采集发酵罐中反应物质的液位h、温度t、pH值p、浓度ρ,形成发酵参数ci(h,t,p, ρ),其中,i为每天所采集的发酵参数的次数,12≤i≤48;
b).采集沼气参数,在采集发酵参数的同时,也采集发酵罐输出端的沼气管上的气体流量L、储气罐中的气体压力f以及储气罐中的气体成分CO、H2S、CH4,形成沼气参数ki(L,f,CO,H2S,CH4);
c).训练样本,采集N天的发酵参数和沼气参数,以其为样本,以发酵参数h、t、p、 ρ为输入,以沼气参数L、f、CO、H2S、CH4 为输出进行训练,直至气体流量L=L1*h+ L2*t+ L3*p+ L4*ρ、气体压力f=f1*h+ f2*t+ f3*p+ f4*ρ、气体成分CO=CO1*h+ CO2*t+ CO3*p+ CO4*ρ、气体成分H2S = H2S1*h+ H2S2*t+ H2S3*p+ H2S4*ρ、气体成分CH4= CH41*h+ CH42*t+ CH43*p+CH44*ρ中的变量L1、L2、L3、L4、f1、f2、f3、f4、CO1、CO2、CO3、CO4、H2S1、H2S2、H2S3、H2S4、CH41、CH42、CH43、CH44不在变化或者变化处于收敛位置;
d).稳定器供气控制,采集当前的发酵参数cpresent(h,t,p, ρ),利用步骤c)中训练出的计算公式L=L1*h+ L2*t+ L3*p+ L4*ρ、气体压力f=f1*h+ f2*t+ f3*p+ f4*ρ、气体成分CO=CO1*h+ CO2*t+ CO3*p+ CO4*ρ、气体成分H2S = H2S1*h+ H2S2*t+ H2S3*p+ H2S4*ρ、气体成分CH4= CH41*h+ CH42*t+ CH43*p+ CH44*ρ计算出沼气参数kpresent(L,f,CO,H2S,CH4),根据当前所需发电量采用PID控制实时调节可控电磁阀的开度,以对发电量进行控制,保证沼气系统的可持续运行。
图中:1发酵罐,2屯渣液池,3蓄粪池,4物料仓,5储气罐,6热电联合机组,7办公房,8输电电网,9电源管理模块,10物料输送装置,11带孔底板,12接料槽,13通孔,14输液管,15第一输液泵,16沼气管,17沼气纯化器,18压力传感器,19输电线,20第二输液泵,21第三输液泵,22流量计,23可控电磁阀,24液位传感器,25温度传感器,26pH传感器,27浓度传感器,28气体成分传感器,29微控制器。
Claims (4)
1.一种基于预测控制的沼气系统及其稳定供气方法,先是可靠的沼气供气方法:包括发酵罐(1)、屯渣液池(2)、蓄粪池(3)、物料仓(4)、储气罐(5)、电源管理模块(9)和热电联合机组(6),蓄粪池设置于地表以下,用于存储畜禽的粪便,物料仓用于存储农作物秸秆,物料仓与发酵罐之间设置有物料输送装置(10),发酵罐和屯渣液池设置于地表之上;其特征在于:所述蓄粪池经设置有第一输液泵(15)的输液管(14)与发酵罐相连通,发酵罐经设置有第二输液泵(20)的输液管与屯渣液池相连通,屯渣液池经设置有第三输液泵(21)的输液管与外界相连通;发酵罐的上部经设置有流量计(22)的沼气管(16)与沼气纯化器(17)相连通,沼气纯化器经沼气管与储气罐相连通,储气罐经设置有可控电磁阀(23)的沼气管与热电联合机组的进气管相连通,热电联合机组的电源输出经输电线与输电电网(8)和电源管理模块的输入端相连接;电源管理模块的输出端经输电线(19)与沼气纯化器的电源输入端、发酵罐中的用电设备以及办公房(7)中的用电设备相连接;所述发酵罐中设置有搅拌装置、液位传感器(24)、温度传感器(25)、pH传感器(26)和浓度传感器(27),所述储气罐(5)中设置有压力传感器(18)和气体成分传感器(28)。
2.根据权利要求1所述的沼气系统及方法,其特征在于:所述蓄粪池(3)设置于畜禽饲养场地的地表之下,畜禽饲养场地中设置有带孔底板(11),带孔底板的下方设置有接料槽(12),接料槽的底部经通孔(13)与蓄粪池相连通。
3.根据权利要求1或2所述的沼气系统及方法,其特征在于:包括起采集、运算和控制作用的微控制器(29),所述液位传感器(24)、温度传感器(25)、pH传感器(26)、浓度传感器(27)、压力传感器(18)、气体成分传感器(28)均与微控制器的输入端相连接,微控制器的输出端与可控电磁阀(23)的控制端相连接。
4.一种基于权利要求1所述的沼气系统的稳定性供气方法,其特征在于,通过以下步骤来实现:
a).采集发酵参数,以每天为时间段Tday,在时间段Tday周期性地采集发酵罐中反应物质的液位h、温度t、pH值p、浓度ρ,形成发酵参数ci(h,t,p, ρ),其中,i为每天所采集的发酵参数的次数,12≤i≤48;
b).采集沼气参数,在采集发酵参数的同时,也采集发酵罐输出端的沼气管上的气体流量L、储气罐中的气体压力f以及储气罐中的气体成分CO、H2S、CH4,形成沼气参数ki(L,f,CO,H2S,CH4);
c).训练样本,采集N天的发酵参数和沼气参数,以其为样本,以发酵参数h、t、p、 ρ为输入,以沼气参数L、f、CO、H2S、CH4 为输出进行训练,直至气体流量L=L1*h+ L2*t+ L3*p+ L4*ρ、气体压力f=f1*h+ f2*t+ f3*p+ f4*ρ、气体成分CO=CO1*h+ CO2*t+ CO3*p+ CO4*ρ、气体成分H2S = H2S1*h+ H2S2*t+ H2S3*p+ H2S4*ρ、气体成分CH4= CH41*h+ CH42*t+ CH43*p+CH44*ρ中的变量L1、L2、L3、L4、f1、f2、f3、f4、CO1、CO2、CO3、CO4、H2S1、H2S2、H2S3、H2S4、CH41、CH42、CH43、CH44不在变化或者变化处于收敛位置;
d).稳定器供气控制,采集当前的发酵参数cpresent(h,t,p, ρ),利用步骤c)中训练出的计算公式L=L1*h+ L2*t+ L3*p+ L4*ρ、气体压力f=f1*h+ f2*t+ f3*p+ f4*ρ、气体成分CO=CO1*h+ CO2*t+ CO3*p+ CO4*ρ、气体成分H2S = H2S1*h+ H2S2*t+ H2S3*p+ H2S4*ρ、气体成分CH4= CH41*h+ CH42*t+ CH43*p+ CH44*ρ计算出沼气参数kpresent(L,f,CO,H2S,CH4),根据当前所需发电量采用PID控制实时调节可控电磁阀的开度,以对发电量进行控制,保证沼气系统的可持续运行。
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CN109060044A (zh) * | 2018-10-25 | 2018-12-21 | 浙江科技学院 | 一种沼气发电多机组并网监控系统 |
CN109652150A (zh) * | 2018-11-27 | 2019-04-19 | 中国矿业大学(北京) | 一种利用沼气开发煤矿抽采极低浓度瓦斯发电方法 |
CN110045616A (zh) * | 2019-05-20 | 2019-07-23 | 长沙学院 | 一种搅拌反应罐的鲁棒预测控制方法 |
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CN109060044A (zh) * | 2018-10-25 | 2018-12-21 | 浙江科技学院 | 一种沼气发电多机组并网监控系统 |
CN109652150A (zh) * | 2018-11-27 | 2019-04-19 | 中国矿业大学(北京) | 一种利用沼气开发煤矿抽采极低浓度瓦斯发电方法 |
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