CN108591036A - A kind of metering diaphragm pump group fluid proportional adding control method - Google Patents
A kind of metering diaphragm pump group fluid proportional adding control method Download PDFInfo
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- CN108591036A CN108591036A CN201810323256.4A CN201810323256A CN108591036A CN 108591036 A CN108591036 A CN 108591036A CN 201810323256 A CN201810323256 A CN 201810323256A CN 108591036 A CN108591036 A CN 108591036A
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- pump
- pump group
- ratio
- control
- value
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B13/00—Pumps specially modified to deliver fixed or variable measured quantities
Abstract
The invention discloses a kind of metering diaphragm pump group fluid proportional adding control methods.This method is based primarily upon a kind of follow-on deviation coupled structure design, makes to form coupling constraint between pump group, and make velocity compensation to each pump unit by velocity compensator and improve synergisticing performance.Scale factor is introduced in input terminal, so that the rotating speed of pump group is met proportion requirement, and further to velocity compensator amendment.Due to meeting linear relationship between stroke type metering diaphragm pump output flow and rotating speed, thus the ratio for further realizing output flow adds.Consider that the present invention also proposes a kind of redundancy control method based on failure simultaneously, in material pump group node failure of the same race, selecting pump unit and modification scale factor to compensate node flow by judgement makes to meet proportionate relationship between total output flow.
Description
Technical field
The invention patent relates to the industries such as fine chemistry industry, medicine to carry out the technical field that fluid adds using metering pump group,
Especially a kind of metering pump group fluid proportional based on digital frequency conversion controller adds technology.
Background technology
Industrial fluids add metering pump group and are widely used in the fields such as pharmacy, oil, chemical industry, water process, are common in use
Metering pump group cooperates carries out the production operation that certainty ratio adds by various materials according to producting proportion.
The application that metering pump group fluid proportional adds is illustrated just like lower part：
The proportioning of pharmaceuticals industry medicament conveys.Pump group generally is constituted by more metering pumps, pump group is conveyed according to production requirement
Different agents are mixed, and every pumps to need between the dosing that adds to meet accurate proportionate relationship just and can make the drug of production
With qualified drug effect.
The adjusting and control of fluid reaction room pH value in chemical process.Generally rely on metering pump group addition strong acid and strong base preparation
It reconciles, must satisfy quantitative relationship between the acid-base reagent added, the indoor acid-base value of reaction can just be made to be maintained at a certain range,
Meet technique productions requirement.
The control mode of metering pump mainly has following three kinds at present:
1 hand wheel type manual adjustment
This is a kind of artificial off-line type regulative mode, changes metering pump internal structure by adjusting handle, is accessed between
To the mesh of flow-rate adjustment.Have a disadvantage in which is offline disposable, and as the change of fluid dosage needs people
The numerous participation of power frequency, for the industrial scene such as production scene of strong corrosive with severe production environment if be not suitable for artificial ginseng
With, thus modern crafts requirement cannot be met.
2 electronic valve regulation
Which adjusts stroke by Electric Actuator and has some improvement instead of traditional hand wheel type, still
There is also certain defects for which, and such as adjusting real-time is inadequate, there is adjusting delay, while increasing the complicated of metering pump
Property, cost increase.
3 digital frequency converting type controllers are adjusted
Metering pump is controlled by digital frequency converting type controller to carry out fluid to add being to reach its maturity at present and application is more hot
The mode of door.The functions such as a combination thereof controller, frequency conversion drive, adjust frequency by controller and finally adjust driving motor and turn
Speed reaches on-line control flow purpose according to certain relationship between rotating speed and flow.
In the production technology of pharmacological agents, the proportioning of medicament delivers control generally using one-to-one delivery and master-slave mode knot
Structure is delivered.An one-to-one delivery mode i.e. metering pump delivers a kind of medicament, and pharmaceutical quantities are given by corresponding controller preset value,
This control mode is simple to operation, but pumps and do not form restriction relation between pump, and whole system is equivalent to open loop, when certain
When one delivery line is interfered, it can only rely on and itself eliminate, other, which deliver line, can not coordinate change, be already led to during adjustment
Proportioning is delivered to change.It is that the previous output signal for delivering line is multiplied by certain proportion coefficient as latter throwing that primary and secondary structure, which is delivered,
Line sending gives, and so that the front and back semaphore for delivering line is formed proportionate relationship, this mode is a kind of improvement for the former, can be formed
A kind of constraint, but when deliver line it is more when, for still remaining the corrective delay compared with the latter, and which have the drawback that with
Feedback element is formed with the not oriented main pump of pump.
Therefore the present invention propose a kind of follow-on deviation coupling control structure solve there is currently technical deficiency, make meter
Amount pump group can accurately certainty ratio add, and in the case where there is disturbance, still can mutually be constrained between pump group, quickly adjust and consistently achieve ratio
Example relationship, does not influence the quality of production.
Invention content
Hardly possible existing for middle metering pump group delivery mode is added in order to solve traditional chemical production technology fluid foods certainty ratio
To form constraint between pump group and can not quickly correct between pump group in the case where there is disturbance, causes to be unable to reach accurate ratio to add and ask
Topic, a kind of modified deviation coupled structure pump group control program of present invention proposition is to solve disadvantages mentioned above.The structure has as follows
Feature：
Include mainly velocity compensator, controller, metering based on modified deviation coupled structure metering pump group control structure
Pump control object, signal mixing module and signal separation module.The control strategy for the deviation coupled structure that patent of the present invention proposes
It is to make the difference the angular speed value of feedback of certain subsystem and the angular speed value of feedback of other subsystems respectively, sums to obtained deviation
Velocity compensation signal as the subsystem.When system works, velocity compensator is by the rotating speed of subsystem and other subsystems
Rotating speed make the difference and compare, deviation is handled via backoff algorithm, the speed considerations signal of the system is exported, due to deviation coupling
Conjunction scheme considers the deviation between all subsystems, and the error of each subsystem is made all to be constrained.It therefore, can be according to every height
The working condition of system dynamically distributes compensation speed, to have preferable synergisticing performance.In order to realize that ratio adds control,
It is improved again on the basis of above structure, enables ωiThe feedback angular speed pumped for No. i-th, eiThe tracking error pumped for No. i-th and definitionFor predetermined given control signal.λ1,λ2,λ3…(λi＞ 0) be each revolution speed ratio synchronization factor, work as λi
When=1, added between pump group to synchronize.By taking ratio Collaborative Control between three pump groups as an example, proportionate relationship should have：
ω1=λ1ω*
ω2=λ2ω*
ω3=λ3ω*
There is ω1/ω2=λ1/λ2,ω1/ω3=λ1/λ3,ω2/ω3=λ2/λ3。
Definition ratio synchronous error is：
ε12(t)=ω1(t)/λ1-ω2(t)/λ2
ε13(t)=ω1(t)/λ1-ω3(t)/λ3
Ratio adds between keeping each pump, should make pump and the ratio synchronous error and tracking error Simultaneous Stabilization of other pumps
Convergence has when i.e. time t tends to infinite
Further, it understands to take ω based on above-mentioned design philosophy*On the basis of be worth, determined by actually adding demand.Each subsystem
System is multiplied by a reference value respectively to be added proportionality coefficient and obtains ωi, inputted as subelement.After improved, collaboration is realized about
Beam also copes with velocity compensator and makes amendment, and the inverse that the feedback magnitude of angular velocity of each sub- pump is multiplied by proportionality coefficient is done respectively again
Difference.In velocity compensator, design is replaced with PI controllers to pump rotary inertia ratio K12/K13Fixed compensation gain, PI tune
Section device can take into account simultaneously load change when because motor rotary inertia difference causes the influence and any one that motor speed fluctuates
Platform pump system fluctuation caused by by external disturbance is influenced, and can be eliminated the collaboration error between pump group as soon as possible and be ensured system with good
Good net synchronization capability and dynamic property.If enabling δiFor the output of velocity compensator, then the input control quantity of metering pump is ri=
ω* i-ωi+δi.The input control quantity of other pump group lines is similarly.
Improved deviation coupled structure control system can make the output between pump group meet ratio synchronization requirement, according to stroke
Formula diaphragm metering pump operation principle meets linear relationship between output flow and rotating speed, i.e. output flow can be uniquely true by rotating speed
It is fixed, therefore, it is further known that, the certainty ratio that fluid may be implemented in follow-on deviation coupled structure metering pump group accurately adds.
Further, above-mentioned design structure can be assumed that every deliver line conveying be different material.Extend accordingly,
Every is delivered line again widenable to the pump group component units of material of the same race, can repeat structure according to mentality of designing above-mentioned between pump group
It builds.For the proportionate relationship between dosage is not influenced when realizing that material pump group node of the same race breaks down.The present invention proposes one simultaneously
The pump group of kind redundancy control method, i.e., material of the same race delivers information sharing between line, and the controller between same functional unit is realized
It communicates, stores neighbor information in memory, and delete passing information in due course.When certain node breaks down offline
When, the delivery proportionality coefficient of adjacent node is judged and corrected by main program, changes the loss that contribution makes up malfunctioning node.When
The failure-free operation t times delete the storage information before t, reduce EMS memory occupation.It is real by the information sharing between neighbor controller
Existing Redundant Control does not influence dosage, and without considering to increase stand-by pump, saves equipment cost.
The present invention proposes a kind of metering diaphragm pump group fluid certainty ratio adding control method, can solve traditional pump group fluid
It is poor that ratio adds existing system open loop, synergisticing performance, is difficult to when being disturbed constrained each other and the problem of be adjusted in synchronism.The party
Method is designed and is improved based on deviation coupled structure, pumps and formed between pumping coupling constraint, while by pump group synchronous error through speed
Compensator compensates.Each group of pump obtains ratio angle speed setting value in preset value a reference value after proportional amplifier.Because of stroke type
Meet linear relationship between metering diaphragm pump output flow and rotating speed, it is final to realize that certainty ratio adds.It is proposed a kind of redundancy control simultaneously
Method processed makes adjustment in time when product pump of the same race delivers the failure of line node and achievees the purpose that Redundant Control.
Description of the drawings
Fig. 1 is modified deviation coupled structure pump group certainty ratio cooperative control structure figure；
Fig. 2 is modified velocity compensator structure chart；
Fig. 3 is redundancy control system figure；
Fig. 4 is Redundant Control flow chart.
Specific implementation mode
Below in conjunction with attached drawing, the present invention will be further described.
As shown in Figure 1, a kind of pump group ratio of modified deviation coupled structure of patent of the present invention adds the side of being precisely controlled
Case.The structure and feature are as follows：
Pump group is electrically connected based on deviation coupled structure, which includes mainly velocity compensator, control
Device, metering pump control object, signal mixing module and signal separation module.Signal mixing module and separation module play signal
The effect for merging and detaching.The angular speed that the nucleus module velocity compensator of deviation coupling control structure pumps certain subelement is fed back
The angular speed value of feedback that value is pumped with other subelements makes the difference respectively, is compensated to respective deviation via the backoff algorithm of compensator
After sum, the speed considerations value that output valve is pumped as the subelement.Since deviation coupling scheme considers between all pump groups
Deviation, thus the rotating speed deviation of each unit is made all to be constrained, the working condition according to each subelement pump is its dynamic point
With velocity compensation signal, preferable synergisticing performance is realized.Control is added in order to further realize ratio, it is enterprising in this architecture basics
The modification of one step is realized, it is assumed that ωiThe feedback angular speed pumped for No. i-th, eiThe tracking error pumped for No. i-th and definitionFor predetermined given control signal.λ1,λ2,λ3…(λi>0) it is the ratio synchronization factor of each revolution speed.With three
Should then have for ratio Collaborative Control between platform pump group：
ω1=λ1ω*
ω2=λ2ω*
ω3=λ3ω*
λi
There is ω1/ω2=λ1/λ2,ω1/ω3=λ1/λ3,ω2/ω3=λ2/λ3。
Defining ratio synchronous error simultaneously is：
ε12(t)=ω1(t)/λ1-ω2(t)/λ2
ε13(t)=ω1(t)/λ1-ω3(t)/λ3
It follows that keep synthetic operation between each pump, the tracking error of pump and the ratio synchronous error of pump group should be made
Simultaneously meet time t tend to it is infinite when stable convergence.Proportionate relationship is derived and is analyzed above similarly between other pump groups.
Based on above-mentioned derivation relationship, ω is taken in the specific implementation*As an a reference value, which is needed by practical deliver
Ask decision.According to stroke type metering pump operation principle it is found that output flow value is uniquely determined by rotating speed, therefore can flow according to demand
Magnitude obtains angular speed controlling value through conversion, obtains meeting the ω that each unit pump control requires after ratio delivers coefficient amplificationi
Value, i.e. subsystem input preset value.Proportionality coefficient relationship is determined by above-mentioned derivation relationship, and is thrown according to the actual flow between pump group
Proportion requirement is sent to determine occurrence.
Further, as shown in Figure 2, the effect of velocity compensator is to form collaboration constraint between pump group.In coupled structure
After middle introducing proportionality coefficient, velocity compensator need to be corrected.By the feedback angle directly inputted originally speed in velocity compensator
Degree is multiplied by the inverse of proportionality coefficient, so that feedback signal is returned to same benchmark, then make the difference and compare.Meanwhile the processing of deviation is designed
Replaced with pump group rotary inertia ratio K with pi regulatori/KjFixed compensation fader, can be taken into account using pi regulator
Because motor rotary inertia is different, when load variation is big caused by caused motor speed fluctuation asynchronous and any one pump by
System fluctuation caused by environmental perturbation rotation speed change eliminates the collaboration error between pump group as early as possible, and it is good to ensure that system has
Synergisticing performance and dynamic property.
Further, δ is enabled it is found that by taking No.1 pumps as an example by Fig. 1-21For the output of velocity compensator, then one can be obtained
The input control quantity of number pump controller is r1=ω* 1-ω1+δ1, the input control quantity of other pumps and so on.It follows that changing
Into compensation of the deviation manifold type pump group control system through velocity compensator that the output between pump group can be made to meet ratio always is same
Step relationship.According to stroke type diaphragm metering pump principle it is found that meeting line between the output flow and rotating speed of stroke type diaphragm metering pump
Sexual intercourse, i.e. output flow can be uniquely determined by rotating speed, therefore, can further be obtained, follow-on deviation coupled structure metering pump
The certainty ratio that fluid may be implemented in group accurately adds.
Further, as can be seen from figs. 3 and 4, it may be assumed that aforementioned every deliver line conveying is different material.According to
This is expanded, and every delivery line can be designed as to deliver the pump group unit of material of the same race, structure is according to foregoing construction between pump group
It repeats to build.It cannot achieve between different material to reach in actual production material pump group node of the same race because failure is offline
Proportionate relationship.The present invention proposes that a kind of redundancy control method, implementation are as follows：With information between the pump group delivery line of material
It is shared, it realizes and communicates between the controller of same functional unit, neighbor information is stored in the memory of controller,
And passing information is deleted in due course.When generation node failure is offline, is judged by main program and correct the delivery of adjacent node ratio
Coefficient increases contribution according to actual conditions, makes up the flow loss of malfunctioning node.Failure-free operation through a period of time, journey
Sequence actively deletes passing period inner storag information, reduces EMS memory occupation.It is communicated by neighbor controller and realizes that information is total
It enjoys, the online of main program judges and correct scale factor to achieve the purpose that Redundant Control, does not have to consider to increase stand-by pump, reduction is set
Standby cost.
The present invention proposes a kind of metering diaphragm pump group fluid proportional adding control method, can solve the throwing of pump group fluid proportional
Adding system open loop, synergisticing performance are poor, be difficult to when being disturbed it is constrained each other and be adjusted in synchronism the problem of.This method is based on improved
Deviation coupled structure designs, and forms coupling constraint between pump and pump, the synchronism deviation between pump group is compensated through velocity compensator.Each group
Pump obtains ratio angle speed setting value in preset reference value after ratio enlargement.Based on stroke type metering diaphragm pump output flow with
Meet linear relationship between rotating speed, it is final to realize that fluid proportional adds.A kind of redundancy control method is proposed simultaneously, in product pump of the same race
It delivers to make adjusting in time when line node breaks down and achievees the purpose that Redundant Control.
If designer stroke type diaphragm pump group fluid proportional is added accurate control method design and application in have with
The change that the control mode principle of patent proposition of the present invention is same or similar should all belong to the scope of protection of the present invention.
Claims (4)
1. a kind of metering diaphragm pump group fluid proportional adding control method, using the deviation coupled structure control containing velocity compensator
Mode processed, it is characterised in that：The pump group of control structure is coupled based on deviation, is formed coupling between pump and pump and is cooperateed with constraint, in speed
It spends in compensator, the feedback angular speed pumped to every makes the difference two-by-two and the compensation after pi regulator compensation summation as pump unit
Signal improves the synergisticing performance of pump group control；Introducing ratio controlling elements and erection rate compensator, realize the ratio of revolution speed
Collaborative Control realizes that the ratio of fluid adds based on the linear relationship between stroke type metering diaphragm revolution speed and output flow.
2. metering diaphragm pump group fluid proportional adding control method according to claim 1, it is characterised in that：The angle respectively pumped
Speed feedback value makes the difference two-by-two in velocity compensator, sums after the compensation of PI compensators, and as the angular speed of each pump
Offset, each pump do the dynamic adjusting that accelerates and slow down according to offset.
3. metering diaphragm pump group fluid proportional adding control method according to claim 1, it is characterised in that：According to every
The material of pump adds proportionate relationship and takes suitable ratio value, and takes a reference value for meeting actual requirement as the unified input of pump group
Value；The value that a reference value obtains after ratiometric conversion is the input control value of every pump, in velocity compensator, each value of feedback
It should be multiplied by the inverse of the ratio controlling elements, to ensure ratio collaboration constraint control between pump group.
4. metering diaphragm pump group fluid proportional adding control method according to claim 1, it is characterised in that：Further include
Redundant Control, the pump group of material of the same race are added and can be extended by deviation coupled structure, while between the controller of adjacent pump
Realization communicates, information sharing；Controller preserves the information of adjacent pump in certain period of time, when each pump works normally, fits
When delete storage information reduce EMS memory occupation；When there is adjacent pump node failure, judge to change normally with after selection through main program
The scale factor of working barrel, realization is flow-compensated to be added, and ensures that material total amount of the same race is stablized.
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| CN201810323256.4A CN108591036A (en) | 2018-04-11 | 2018-04-11 | A kind of metering diaphragm pump group fluid proportional adding control method |
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| CN201810323256.4A CN108591036A (en) | 2018-04-11 | 2018-04-11 | A kind of metering diaphragm pump group fluid proportional adding control method |
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| CN104935217A (en) * | 2015-05-29 | 2015-09-23 | 天津大学 | Improved deviation coupling control method suitable for multi-motor system |
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2018
- 2018-04-11 CN CN201810323256.4A patent/CN108591036A/en active Pending
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| US20030127534A1 (en) * | 2002-01-09 | 2003-07-10 | Firestone Roy J. | Truck wash automatic chemical ratio proportioning |
| JP2004275890A (en) * | 2003-03-14 | 2004-10-07 | Reika Kogyo Kk | Liquid vibration preventing and quantitativity keeping structure for vibromixer |
| CN102032167A (en) * | 2010-12-10 | 2011-04-27 | 浙江工业大学 | Flow compensation technology of digital frequency conversion metering pump |
| CN104577163A (en) * | 2014-12-01 | 2015-04-29 | 广东合即得能源科技有限公司 | Hydrogen power generation system and power generation method |
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Application publication date: 20180928 |