CN109031955A - A kind of disturbance rejection and has the agitator tank emptying of saturated characteristic and method that output solution concentration is kept - Google Patents
A kind of disturbance rejection and has the agitator tank emptying of saturated characteristic and method that output solution concentration is kept Download PDFInfo
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- CN109031955A CN109031955A CN201810984099.1A CN201810984099A CN109031955A CN 109031955 A CN109031955 A CN 109031955A CN 201810984099 A CN201810984099 A CN 201810984099A CN 109031955 A CN109031955 A CN 109031955A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 229920006395 saturated elastomer Polymers 0.000 title claims abstract description 18
- 239000007788 liquid Substances 0.000 claims abstract description 60
- 230000007423 decrease Effects 0.000 claims description 8
- 238000003756 stirring Methods 0.000 claims description 8
- 239000012530 fluid Substances 0.000 abstract 1
- 239000002002 slurry Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000052 comparative effect Effects 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010808 liquid waste Substances 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
Abstract
The invention proposes a kind of disturbance rejection and have saturated characteristic agitator tank emptying and output solution concentration keep method, include the following steps: 1), obtain agitator tank parameter, including input agitator tank two kinds of strength of fluidsWithDesired output solution concentration Cbd；The desired trajectory h that liquid level declines in agitator tankd(t)；2) it, defines residual error function and the system equation of agitator tank is combined to derive controller equation group；3), the flow velocity w of two kinds of liquid of input agitator tank is set according to controller equation group1(t) and w2(t), so that: (1) there is anti-interference dynamic characteristic, the system of agitator tank can effectively eliminate local interference.Even if this method also ensures that agitator tank routinely exports the solution of aimed concn there are local dip.(2) there is saturated characteristic, be capable of the flow velocity of two kinds of input liquid of operative constraint agitator tank, keep two kinds of maximum values for inputting flow rate of liquid of agitator tank within limits.
Description
Technical field
The present invention relates to industrial control fields, and in particular to a kind of disturbance rejection and have saturated characteristic agitator tank emptying and
Export the control method that solution concentration is kept.
Background technique
The solution emptying problem of agitator tank currently has become an extremely important problem in China's industrial circle, and shows
Some technologies increasingly focus on how the sediment in drain tank, be only discharged, will cause so very as liquid waste
Serious industrial resources waste and natural environment pollution.In addition to this, the actual job environment of agitator tank is complicated and changeable.
For example, agitator tank is in real-time moving condition, or the interference etc. changed by ambient temperature.These complicated actual conditions pair
More stringent requirements are proposed for the stability and accuracy for stirring can system.Existing related invention patent is " dynamic (dynamical) based on
The method that agitator tank emptying and slurries output solution concentration are kept " (application number: 201510316006.4) proposed invention side
Method enables to: 1) agitator tank exports concentration of slurry Cb(t) current and expectation agitator tank output concentration of slurry is quickly remained to
Cbd；2) the height h (t) that liquid level declines in agitator tank rapidly converges to the desired trajectory h that liquid level declines in agitator tankd(t), with
Achieve the purpose that empty agitator tank.But actually agitator tank at the scene operation when usually will receive the interference of disturbance, before
Inventive method is difficult to eliminate this disturbance, probably will lead between the solution concentration of reality output and aimed concn in this way
Deviation is excessive, is finally unable to satisfy actual needs.In view of the foregoing drawbacks, it proposes a kind of disturbance rejection and has the stirring of saturated characteristic
The method that tank emptying and output solution concentration are kept.The method of the present invention efficiency eliminates the existing interference of stirring can system, to ensure
Agitator tank routinely exports the solution of aimed concn.In addition, this method also has saturated characteristic, it being capable of operative constraint stirring
The flow velocity of two kinds of input liquid of tank, so that the maximum value of flow velocity is kept within limits.These new advantages are for changing
Kind agitator tank at the scene operation when integrated status have very important significance.
Summary of the invention
The present invention in order to make up for the deficiencies of the prior art, proposes a kind of disturbance rejection and has the agitator tank emptying of saturated characteristic
And the method that output solution concentration is kept, the method for the present invention can allow the system of agitator tank to effectively eliminate local interference, to ensure to stir
Mix the solution that tank routinely exports aimed concn.In addition, this method also has saturated characteristic, it being capable of operative constraint agitator tank
Two kinds input liquid flow velocity so that flow velocity maximum value keep within limits.At the same time, this method is also protected
The advantage of patent of invention before holding, agitator tank export solution concentration Cb(t) desired agitator tank output solution concentration is quickly remained to
Cbd；The height h (t) that liquid level declines in agitator tank rapidly converges to the desired trajectory h that liquid level declines in agitator tankd(t), to reach
To the purpose of emptying agitator tank.
To realize above-mentioned technical goal, the technical solution of the present invention is as follows:
A kind of disturbance rejection and has the agitator tank emptying of saturated characteristic and method that output solution concentration is kept, including as follows
Step:
1) parameter of agitator tank is obtained, parameter includes inputting the concentration of two kinds of liquid of agitator tankWithIt is expected that stirring
Mix tank output solution concentration Cbd, Cbd=Cb(0), the desired trajectory h that liquid level declines in agitator tankd(t), wherein
The system equation of agitator tank such as (1), (2) formula:
Wherein k1And k2For the discharge rate constant for influencing system dynamic course, h (t) is the height of liquid level decline in agitator tank
Degree, t is time, w1(t)、w2It (t) is the flow velocity of two kinds of liquid of input agitator tank, CbIt (t) is the concentration of output solution, Cb
(0) concentration of solution is exported for initial time.
2) controller group equation is derived according to the system equation of defined residual error function and combination agitator tank, such as (3),
(4) formula:
3) according to controller group (3), the flow velocity w of two kinds of liquid of (4) setting input agitator tank1(t) and w2(t), so that:
1) there is anti-interference dynamic characteristic, the system of agitator tank can effectively eliminate local interference.Even if there are local dip, this method
It can ensure that agitator tank routinely exports the solution of aimed concn.2) there is saturated characteristic, be capable of the two of operative constraint agitator tank
The flow velocity of kind input liquid, so that the maximum value of flow velocity is kept within limits.3) agitator tank exports solution concentration Cb
(t) desired agitator tank output solution concentration C is quickly remained tobd；4) the height h (t) that liquid level declines in agitator tank is rapidly converged to
The desired trajectory h that liquid level declines in agitator tankd(t), to achieve the purpose that empty agitator tank.
Further, the residual error function of the step 2), that is,
Specifically, the derived function expression formula of liquid level residual error at any time is as follows in agitator tank:
It is as follows to export the derived function expression formula of solution concentration residual error at any time:
Formula (1), (2) are substituted into formula (5), (6) respectively, then can be obtained
Above-mentioned linear equation in two unknowns group is solved further according to Cramer's rule, then gets w1(t) and w2(t):
Step 1) the Cbd=Cb(0) it can be realized, so the present invention can ensure that agitator tank routinely exports target rich
The solution of degree.
Compared with prior art, the advantage of the method for the present invention is that the system of agitator tank can be allowed to effectively eliminate local interference, with
Ensure that agitator tank routinely exports the solution of aimed concn.In addition, this method also has saturated characteristic, it being capable of operative constraint
The flow velocity of two kinds of input liquid of agitator tank, so that the maximum value of flow velocity is kept within limits.At the same time, our
The advantage of patent of invention before method is also kept, agitator tank export solution concentration Cb(t) it is molten quickly to remain to desired agitator tank output
Liquid concentration Cbd；The height h (t) that liquid level declines in agitator tank rapidly converges to the desired trajectory h that liquid level declines in agitator tankd
(t), to achieve the purpose that empty agitator tank.
Detailed description of the invention
Fig. 1 is flow chart of the invention；
Fig. 2 is the structure chart of agitator tank；
Fig. 3 is the flow velocity w of two kinds of liquid of illustrative input agitator tank1(t) and w2(t) variation diagram；
Fig. 4 is that liquid level declines figure at any time in illustrative agitator tank；
Fig. 5 is that illustrative agitator tank exports solution concentration variation diagram；
Fig. 6 is illustratively to deposit liquid level and output solution concentration error analysis figure in agitator tank in case of interferers；
Fig. 7 is liquid level and output solution in agitator tank in patent of invention before illustrative deposit in case of interferers
Concentration error analysis chart.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.A kind of disturbance rejection and the agitator tank row for having saturated characteristic
The method that empty and output solution concentration is kept, includes the following steps:
1) parameter of agitator tank is obtained, parameter includes inputting the concentration of two kinds of liquid of agitator tankWithIt is current and
It is expected that agitator tank exports solution concentration Cbd, Cbd=Cb(0), the desired trajectory h that liquid level declines in agitator tankd(t), whereinThe system equation of agitator tank is as follows:
Wherein k1And k2For the discharge rate constant for influencing system dynamic course, h (t) is the height of liquid level decline in agitator tank
Degree, t is time, w1(t)、w2It (t) is the flow velocity of two kinds of liquid of input agitator tank, CbIt (t) is the concentration of output solution, Cb
(0) concentration of solution is exported for initial time.
2) design residual error function is as follows:
Specifically, the derived function expression formula of liquid level residual error at any time is as follows in agitator tank:
It is as follows to export the derived function expression formula of solution concentration residual error at any time:
Formula (1), (2) are substituted into formula (5), (6) respectively, then can be obtained
3) above-mentioned linear equation in two unknowns group is solved according to Cramer's rule, obtains w1(t) and w2(t) as follows:
C can be released according to step 1bd=Cb(0).Even if there is disturbance, output solution concentration residual error also be can converge to
Zero, so the present invention can ensure that agitator tank routinely exports the solution of aimed concn.
Workflow of the invention is carried out now in conjunction with a specific example as described below.
The experiment for being stirred tank emptying and output solution concentration holding to the method for the present invention using MATLAB software is imitative
Very, and with the inventive method in granted patent carries out Comparative result before.Design parameter is provided that two kinds of initial time
The concentration of input liquid is set to 24.9mg/L and 0.1mg/L, and the inflow velocity of two kinds of liquid is set as 5L/s, outflow speed
Rate constant k1And k2It is set as 1, parameter lambda and γ are set as 1.5, it is expected that solution height h in agitator tankdIt (t) is 15.5L, it is expected that
Solution concentration C in agitator tankbdFor 10mg/L, disturbs constant and be set as 0.5, the Computer Simulation time is set as 50s.Pass through analysis
Simulation result is available: in the presence of interference, using the method for the present invention agitator tank output solution concentration error and
Liquid level dropout error can rapidly converge to zero in tank, and the agitator tank of patent of invention method exports solution concentration before use
Liquid level dropout error fails to converge to zero in error and tank.This result sufficiently presents the superiority of the method for the present invention.
Fig. 2 is the structure chart of agitator tank.H (t) is the height of liquid level decline in agitator tank, and t is time, w1It (t) is input
The flow velocity of one of liquid of agitator tank, w2It (t) is the flow velocity of another liquid of input agitator tank, w0For agitator tank output
The flow velocity of solution, Cb(t) concentration of solution is exported for agitator tank.
Fig. 3 is the flow velocity w of two kinds of liquid of illustrative input agitator tank1(t) and w2(t).As can be seen from Figure 3: w1
(t) and w2(t) it can be efficiently controlled, reach the state for rapidly entering more gentle decline, more convenient for industrial real
It is existing.
Fig. 4 is liquid level decline curve figure at any time in illustrative agitator tank.As can be seen from Figure 4: liquid in agitator tank
The height h (t) of position decline can rapidly converge to the desired trajectory h that liquid level in agitator tank falls to zerod(t), the row of can be realized
The purpose of empty agitator tank.
Fig. 5 is that illustrative agitator tank exports solution concentration change curve.As can be seen from Figure 5: agitator tank output
Solution concentration Cb(t) desired agitator tank output solution concentration C can quickly be remained tobd。
Fig. 6 is illustratively to deposit agitator tank in case of interferers to export liquid level decline in solution concentration error and tank
Error analysis figure.As can be seen from Figure 6: in the presence of interference, agitator tank exports solution concentration error eCb(t)And tank
Interior liquid level dropout error eh(t)Zero can be rapidly converged to.
Fig. 7 is that liquid level and output solution in agitator tank in case of interferers are deposited in illustrative patent of invention before
Concentration error analysis chart.As can be seen from Figure 7: in the presence of interference, agitator tank output is molten in patent of invention before
Liquid concentration error eCb(t)With liquid level dropout error e in tankh(t)Fail to converge to zero.
Claims (3)
1. a kind of disturbance rejection and the method that the agitator tank for having saturated characteristic empties and output solution concentration is kept, including walk as follows
It is rapid:
1) parameter of agitator tank needed for obtaining, parameter include inputting the concentration of two kinds of liquid of agitator tankWithIt is expected that stirring
Mix tank output solution concentration Cbd, Cbd=Cb(0), the desired trajectory h that liquid level declines in agitator tankd(t), wherein
The system equation of agitator tank is as follows:
Wherein k1And k2For the discharge rate constant for influencing system dynamic course, h (t) is the height of liquid level decline in agitator tank, t
For time, w1(t)、w2It (t) is the flow velocity of two kinds of liquid of input agitator tank, Cb(t) concentration of solution, C are exported for agitator tankb
(0) concentration of solution is exported for initial time agitator tank；
2) derived function of residual error function and residual error function at any time is defined, as follows:
E (t)=y (t)-yd(t), wherein y (t)=[h (t)；Cb(t)], yd(t)=[hd(t)；Cbd(t)]；
Above-mentioned two formula is arranged to obtain:
3) controller group equation is derived according to the system equation of the residual error function of definition and combination agitator tank, such as (3), (4) formula:
4) according to the flow velocity w of two kinds of liquid in controller equation group (3), (4) setting emptying agitator tank1(t) and w2(t), so that:
1) there is anti-interference dynamic characteristic, the system of agitator tank can effectively eliminate local interference, even if this method also can there are local dip
Ensure that agitator tank routinely exports the solution of aimed concn；2) there is saturated characteristic, be capable of two kinds of operative constraint agitator tank
The flow velocity of liquid is inputted, so that the maximum value of flow velocity is kept within limits；3) agitator tank exports solution concentration Cb(t) fast
Speed remains to desired agitator tank output solution concentration Cbd；4) the height h (t) that liquid level declines in agitator tank rapidly converges to agitator tank
The desired trajectory h of interior liquid level declined(t), to achieve the purpose that empty agitator tank.
2. a kind of disturbance rejection according to claim 1 and the agitator tank emptying and output solution concentration holding for having saturated characteristic
Method, which is characterized in that the derived function of the residual error function and residual error function of the step 2) at any time, it is as follows:
E (t)=y (t)-yd(t), wherein y (t)=[h (t)；Cb(t)], yd(t)=[hd(t)；Cbd(t)],
Above-mentioned two formula is arranged to obtain:
Specifically, the derived function expression formula of liquid level residual error at any time is as follows in agitator tank:
It is as follows to export the derived function expression formula of solution concentration residual error at any time:
3. a kind of disturbance rejection according to claim 2 and the agitator tank emptying and output solution concentration holding for having saturated characteristic
Method, it is advantageous that, have anti-interference dynamic characteristic, the system of agitator tank can effectively eliminate local interference, even if there are offices
Portion's disturbance, this method also ensure that agitator tank routinely exports the solution of aimed concn；With saturated characteristic, agitator tank is
System is capable of the flow velocity of two kinds of input liquid of operative constraint agitator tank, so that the maximum value of flow velocity is kept within limits；
The advantage of patent of invention is authorized before also retaining simultaneously, agitator tank exports solution concentration Cb(t) expectation stirring is quickly remained to
Tank exports solution concentration Cbd；The height h (t) that liquid level declines in agitator tank rapidly converges to the expectation rail that liquid level declines in agitator tank
Mark hd(t), to achieve the purpose that empty agitator tank.
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| CN201810984099.1A CN109031955A (en) | 2018-08-22 | 2018-08-22 | A kind of disturbance rejection and has the agitator tank emptying of saturated characteristic and method that output solution concentration is kept |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050286340A1 (en) * | 1998-04-16 | 2005-12-29 | Urquhart Karl J | Method and apparatus for asynchronous blending and supply of chemical solutions |
| CN104950932A (en) * | 2015-06-10 | 2015-09-30 | 广东顺德中山大学卡内基梅隆大学国际联合研究院 | Stirring tank emptying and slurry output concentration maintaining method based on tensioning dynamics |
| CN106171233A (en) * | 2016-08-30 | 2016-12-07 | 嘉施利（新疆）水溶肥有限公司 | Constant concentration fertilizing equipment and constant concentration control method thereof for Water soluble fertilizer |
-
2018
- 2018-08-22 CN CN201810984099.1A patent/CN109031955A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050286340A1 (en) * | 1998-04-16 | 2005-12-29 | Urquhart Karl J | Method and apparatus for asynchronous blending and supply of chemical solutions |
| CN104950932A (en) * | 2015-06-10 | 2015-09-30 | 广东顺德中山大学卡内基梅隆大学国际联合研究院 | Stirring tank emptying and slurry output concentration maintaining method based on tensioning dynamics |
| CN106171233A (en) * | 2016-08-30 | 2016-12-07 | 嘉施利（新疆）水溶肥有限公司 | Constant concentration fertilizing equipment and constant concentration control method thereof for Water soluble fertilizer |
Non-Patent Citations (1)
| Title |
|---|
| 张雨浓等: "基于泰勒有限差分的搅拌罐的离散控制仿真", 《系统仿真学报》 * |
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Application publication date: 20181218 |