CN109506028A - A kind of quick servo antrol algorithm of pressure-regulating valve - Google Patents
A kind of quick servo antrol algorithm of pressure-regulating valve Download PDFInfo
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- CN109506028A CN109506028A CN201710832210.0A CN201710832210A CN109506028A CN 109506028 A CN109506028 A CN 109506028A CN 201710832210 A CN201710832210 A CN 201710832210A CN 109506028 A CN109506028 A CN 109506028A
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- pressure
- regulating valve
- valve
- feedforward
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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
Abstract
The present invention discloses a kind of quick servo antrol algorithm of pressure-regulating valve, including controller, actuator, pressure-regulating valve and related sensor.Pressure, temperature and flow sensor are housed before pressure-regulating valve.Interference source is from other valve；Its control principle is as follows: 1. after disturbance occurs, and controller detects flow signal, the valve position signal of interference source；2. controller obtains pressure-regulating valve KV value, then flow characteristics of regulating valve curve Check value according to Engineering Thermodynamics calculation formula, the valve seat opening information of corresponding KV value is obtained, feedover as flow and inhibit interference；3. extracting the variation of interference source valve position simultaneously, feedovers as valve position and inhibit ringing；4. the resultant effect that flow feedforward, the feedforward of valve position and closed loop are adjusted acts on actuator, the opening and closing of pressure-regulating valve are controlled.Control effect of the present invention is fabulous, and response characteristic and stability are splendid, while using general adjustment method, greatly alleviates debugging task, has very high reliability and adaptability.
Description
Technical field
The present invention relates to a kind of quick servo antrol algorithms of pressure-regulating valve, in particular to a kind of according to engineering
The steam pressure regulating valve that calculation of thermodynamics formula and on-site parameters adjusting obtain quickly is servo-actuated the control algolithm of pressure stabilizing.
Background technique
Servo antrol is a kind of control form generally existing in current industrial stokehold, and the quality of control performance will
Can the stability and the speed of response of direct decision systems, decision systems realize full-automatic variable parameter operation and as small as possible
Other steam user is interfered, influences power source normal operation as small as possible.
The control method that servo antrol generallys use in industrial application at present has following several: (1) PID control, most generally
Closed loop control method, strong applicability；(2) opened loop control, parameter tuning workload is small, realizes simple (3) PID+ valve position feedforward
Control, adjustment process are stablized, and control precision is higher.Wherein, the debugging of the first control method is simple, strong applicability, but is easy
It shakes, operating lag, control lag, regulating time is too long, occurs being easy imbalance when the variation of larger operating condition；Second of control
Method debugging is simple, but control precision is low, and anti-interference ability is weak, has ignored the influence that other disturbing factors may cause,
Suitable for using in certain circumstances；The third has fully considered pressure-regulating valve capability of fast response, but there is no accurately give
The reference opening amount for determining valve position causes process variations bigger, and control process is unstable, makes to control difficulty increasing.
Summary of the invention
The present invention to solve the above-mentioned problems, provides a kind of quick servo antrol algorithm of pressure-regulating valve, controller root
Pressure is obtained according to Engineering Thermodynamics calculation formula and pressure-regulating valve rating curve and the feedforward of valve position and closed loop control algorithm
Force regulating valve is quickly servo-actuated the output opening value of pressure stabilizing, and control actuator movement stablizes adjusting upstream pressure.
The present invention to achieve the goals above, the technical solution adopted is that: a kind of control algolithm of double feed forward loop pressure-stabilizing,
System composition is consistent with other general-purpose control systems, including controller, actuator, pressure-regulating valve and related sensor.
Controller is used for real-time detection valve, pipeline conditions and calculating, issues control signal.
The state includes the valve position of vapor (steam) temperature, pressure parameter and interference source valve, changes in flow rate.
It is described to calculate, issue the change rate that control signal includes calculating interference valve opening；The pressure closed loop tune of regulating valve
Save operation；KV value is calculated, database Check is worth pressure-regulating valve to export aperture；Then control actuator output.
A kind of quick servo antrol algorithm of pressure-regulating valve, comprising the following steps:
Controller detects interference source flow signal and calculates pressure-regulating valve KV value, then according to Engineering Thermodynamics calculation formula
According to the rating curve Check value of pressure-regulating valve, outflow feedforward value is obtained, pressure-regulating valve KV value is obtained by following formula
It arrives:
After obstruction stream occurs, calculation formula is as follows:
Wherein,For total load,To interfere source flux, P is pressure before pressure-regulating valve,To be pressed before and after pressure-regulating valve
Difference,For pressure-regulating valve coefficient,For critical blockage stream coefficient,、For constant,For vapour density.
In order to make up the hysteresis characteristic of flow feedforward, interference source valve position variable signal, difference gauge are extracted when interfering and occurring
Result is calculated as valve position feedforward value, for inhibiting interference source ringing.
Closed-loop control link is added, systematic steady state precision and anti-interference ability are improved.
The invention has the following advantages that
Although the present invention is related to, control parameter is more, uses general adjustment method, parameter tuning process is simple, greatly
Debugging task is alleviated, time and labour cost are saved.
Control effect is fabulous, has splendid dynamic response characteristic and system stability, higher stable state accuracy.
With very high reliability and stronger adaptability, there is very strong generalization in terms of jet chimney pressure stabilizing control.
Detailed description of the invention
Control flow chart Fig. 1 of the invention；
Flow characteristics of regulating valve curve Fig. 2 of the invention；
The effect picture of Fig. 3 present invention in practical applications.
Main appended drawing reference explanation:
1- controller, 2- actuator, 3- pressure-regulating valve, 4- related sensor
Specific embodiment
Present invention is further described in detail with specific implementation case with reference to the accompanying drawing, but not as to of the invention
It limits.
It needs to obtain pressure-regulating valve related data before controller programming, including flow characteristics of regulating valve curve and faces
Boundary's obstruction stream constant；Fig. 2 is typical pressure-regulating valve rating curve.
Vapor database first is imported to controller memory block, controller acquires temperature, pressure before pressure-regulating valve in real time
Signal, controller obtain vapour density by temperature, pressure value, Check value.
Total load is set by active station, controller acquires the changes in flow rate of interference valve in real time, obtains pressure-regulating valve
Target flow.
Controller acquires the valve position variation of interference valve in real time, and differential calculation show that valve position is feedovered(For
Derivative time).
According to goal pressure and downstream pressure before pressure-regulating valve valve, adjusting valve differential pressure ratio is calculated。
CompareWith critical blockage stream constantSize, when>, KV calculation formula is as follows:
When<, KV calculation formula is as follows:
Wherein,For total load,To interfere source flux, P is pressure before pressure-regulating valve,To be pressed before and after pressure-regulating valve
Difference,For pressure-regulating valve coefficient,For critical blockage stream coefficient,、For constant,For vapour density.
Pressure-regulating valve rating curve database is imported to controller memory block, controller acquires KV value, Check in real time
Value obtains flow feedforward value。
Closed-loop control uses PID adjusting method, and it is setting with goal pressure that controller acquires in real time, which adjusts upstream pressure,
Value, exports and is(For proportionality coefficient,For control deviation,When to integrate
Between,For derivative time).
Final output(For valve position feed-forward coefficients,For flow feed-forward coefficients,For
Closed-loop control coefficient).
During parameter tuning, according to first adjusting PID；Then flow feedforward is added, incrementally increases flow feed-forward coefficients,
Reduce closed-loop control coefficient；It is eventually adding the feedforward of valve position, incrementally increases valve position feed-forward coefficients, gradually reduce flow feedforward system
NumberWith closed-loop control coefficient, system is made to be optimal state of a control.
It is embodiments of the present invention above, Fig. 3 is the control effect in practical application, it can be seen from the figure that even if
In operating condition acute variation, regulating valve output is very steady, does not occur shaking or shaking, pressure remained steady before regulating valve.
It should be pointed out that for those skilled in the art, before not departing from general principles
It puts, several improvements and modifications can also be made, these modifications and embellishments are also considered to be within the scope of the present invention.
Claims (7)
1. a kind of quick servo antrol algorithm of pressure-regulating valve, it is characterised in that: including controller (1), actuator (2), pressure
Force regulating valve (3) and related sensor (4), the technical solution adopted is that a kind of control algolithm of double feed forward loop pressure-stabilizing, flow
The resultant effect that feedforward, the feedforward of valve position and closed loop are adjusted acts on actuator, controls the opening and closing of pressure-regulating valve.
2. a kind of quick servo antrol algorithm of pressure-regulating valve according to claim 1, which is characterized in that system is always born
Lotus is fixed, and when interference source variation, pressure-regulating valve needs follow variation, with stable regulation upstream pressure.
3. a kind of quick servo antrol algorithm of pressure-regulating valve according to claim 1, which is characterized in that flow feedforward
For exporting pressure stabilizing reference opening amount, the feedforward of valve position is for quickly inhibiting interference source ringing, and closed-loop control is for improving system
Stable state accuracy and anti-interference ability.
4. a kind of quick servo antrol algorithm of pressure-regulating valve according to claim 3, which is characterized in that controller needs
Interference source flow signal is detected, according to the flow of pressure-regulating valve and through-current capability calculation formula, calculates pressure-regulating valve
KV value obtains outflow feedforward value then according to the rating curve Check value of pressure-regulating valve, pressure-regulating valve KV value by with
Lower formula obtains:
After obstruction stream occurs, calculation formula is as follows:
Wherein,For total load,To interfere source flux, P is pressure before pressure-regulating valve,To be pressed before and after pressure-regulating valve
Difference,For pressure-regulating valve coefficient,For critical blockage stream coefficient,、For constant,For vapour density.
5. a kind of quick servo antrol algorithm of pressure-regulating valve according to claim 4, which is characterized in that pressure is adjusted
Valve opening Check value needs to learn the rating curve of pressure-regulating valve, and the feedforward value for directly acting on pressure-regulating valve passes through stream
Rating curve Check value obtains.
6. a kind of quick servo antrol algorithm of pressure-regulating valve according to claim 3, which is characterized in that in order to make up
The hysteresis characteristic of flow feedforward extracts interference source valve position variable signal when interfering and occurring, before differential calculation result is as valve position
Feedback value, for inhibiting interference source ringing.
7. a kind of quick servo antrol algorithm of pressure-regulating valve according to claim 3, which is characterized in that addition closed loop
Controlling unit improves systematic steady state precision and anti-interference ability.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710832210.0A CN109506028B (en) | 2017-09-15 | 2017-09-15 | Quick follow-up control method of pressure regulating valve |
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| CN201710832210.0A CN109506028B (en) | 2017-09-15 | 2017-09-15 | Quick follow-up control method of pressure regulating valve |
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| CN109506028B CN109506028B (en) | 2020-02-21 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110010931A (en) * | 2019-03-25 | 2019-07-12 | 嘉兴德燃动力系统有限公司 | A kind of control strategy method and system of fuel battery engines hydrogen supply subsystem |
| CN112180877A (en) * | 2020-10-19 | 2021-01-05 | 浙江工业大学 | Method for determining feedforward coefficient compensation |
| CN112377819A (en) * | 2020-11-17 | 2021-02-19 | 张峰 | Metering method for valve orifice gas amount of pressure regulating valve |
| CN112462813A (en) * | 2020-12-01 | 2021-03-09 | 中国空气动力研究与发展中心高速空气动力研究所 | Temporary-stroke type high-speed wind tunnel pressure regulating valve safety control device and control method based on virtual valve position calculation |
| CN113281992A (en) * | 2021-06-07 | 2021-08-20 | 国家管网集团北京管道有限公司 | Automatic distribution control system and distribution method thereof |
| CN113741168A (en) * | 2020-05-29 | 2021-12-03 | 上海梅山钢铁股份有限公司 | Control method of parallel control system of double adjusting devices |
| CN117666331A (en) * | 2024-02-01 | 2024-03-08 | 中国航空工业集团公司沈阳空气动力研究所 | High-speed wind tunnel flow field composite adjusting method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112180877A (en) * | 2020-10-19 | 2021-01-05 | 浙江工业大学 | Method for determining feedforward coefficient compensation |
| CN112377819A (en) * | 2020-11-17 | 2021-02-19 | 张峰 | Metering method for valve orifice gas amount of pressure regulating valve |
| CN112462813A (en) * | 2020-12-01 | 2021-03-09 | 中国空气动力研究与发展中心高速空气动力研究所 | Temporary-stroke type high-speed wind tunnel pressure regulating valve safety control device and control method based on virtual valve position calculation |
| CN112462813B (en) * | 2020-12-01 | 2022-10-25 | 中国空气动力研究与发展中心高速空气动力研究所 | Temporary-impulse type high-speed wind tunnel pressure regulating valve safety control device and control method based on virtual valve position resolving |
| CN113281992A (en) * | 2021-06-07 | 2021-08-20 | 国家管网集团北京管道有限公司 | Automatic distribution control system and distribution method thereof |
| CN117666331A (en) * | 2024-02-01 | 2024-03-08 | 中国航空工业集团公司沈阳空气动力研究所 | High-speed wind tunnel flow field composite adjusting method |
| CN117666331B (en) * | 2024-02-01 | 2024-04-30 | 中国航空工业集团公司沈阳空气动力研究所 | High-speed wind tunnel flow field composite adjusting method |
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