CN109506028B - Quick follow-up control method of pressure regulating valve - Google Patents
Quick follow-up control method of pressure regulating valve Download PDFInfo
- Publication number
- CN109506028B CN109506028B CN201710832210.0A CN201710832210A CN109506028B CN 109506028 B CN109506028 B CN 109506028B CN 201710832210 A CN201710832210 A CN 201710832210A CN 109506028 B CN109506028 B CN 109506028B
- Authority
- CN
- China
- Prior art keywords
- regulating valve
- flow
- value
- pressure regulating
- valve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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 invention discloses a rapid follow-up control method of a pressure regulating valve. The pressure, temperature and flow sensors are arranged in front of the pressure regulating valve. The interference source comes from another valve; the control principle is as follows: 1. when disturbance occurs, the controller detects a flow signal and a valve position signal of an interference source; 2. the controller obtains a KV value of the pressure regulating valve according to an engineering thermodynamic calculation formula, then the valve flow characteristic curve examination value is adjusted, and valve position opening information corresponding to the KV value is obtained and serves as flow feedforward inhibition interference; 3. meanwhile, extracting the valve position change of the interference source as valve position feedforward suppression instantaneous disturbance; 4. the comprehensive effects of flow feedforward, valve position feedforward and closed-loop regulation act on the actuator to control the opening and closing of the pressure regulating valve. The invention has the advantages of excellent control effect, excellent response characteristic and stability, greatly lightening the debugging task by adopting a universal debugging method, and having high reliability and adaptability.
Description
Technical Field
The invention relates to a quick follow-up control method of a pressure regulating valve, in particular to a quick follow-up pressure stabilization control method of a steam pressure regulating valve, which is obtained according to an engineering thermodynamic calculation formula and field parameter setting.
Background
The follow-up control is a control form commonly existing in the current industrial process control, the control performance of the follow-up control directly determines the stability and the response rate of the system, determines whether the system can realize full-automatic variable working condition operation, causes interference to other steam users as little as possible and influences the normal operation of a power source as little as possible.
At present, the following control methods are generally adopted in the follow-up control in industrial application: (1) PID control, the most common closed-loop control method, has strong applicability; (2) the open loop control has small parameter setting workload, realizes simple (3) PID + valve position feedforward control, has stable adjusting process and higher control precision. The first control method is simple in debugging and high in applicability, but is easy to vibrate, delay in response, lag in control, overlong in adjusting time and easy to be out of order when large working condition changes occur; the second control method is simple to debug, but has low control precision and weak anti-interference capability, ignores the influence possibly caused by other interference factors, and is suitable for being used in a specific environment; the third method fully considers the quick response capability of the pressure regulating valve, but does not accurately set the reference opening of the valve position, so that the process deviation is slightly large, the control process is unstable, and the control difficulty is increased.
Disclosure of Invention
The invention aims to solve the problems and provides a quick follow-up control method of a pressure regulating valve.
In order to achieve the purpose, the invention adopts the technical scheme that: a double feedforward closed loop pressure stabilizing control method is consistent with other general control systems in system composition and comprises a controller, an actuator, a pressure regulating valve and a related sensor.
The controller is used for detecting the states of the valve and the pipeline in real time, calculating and sending control signals.
The states include steam temperature, pressure parameters, and valve positions of the interference source valves, flow rate changes.
The calculating and issuing of the control signal comprises calculating the change rate of the opening of the interference valve; performing closed-loop pressure regulation operation on the regulating valve; calculating a KV value, and checking the value in a database to obtain the output opening degree of the pressure regulating valve; and in turn controls actuator output.
A quick follow-up control method of a pressure regulating valve comprises the following steps:
the controller detects interference source flow signals, calculates a KV value of the pressure regulating valve according to an engineering thermodynamic calculation formula, then obtains a flow feedforward value according to a flow characteristic curve examination value of the pressure regulating valve, and the KV value of the pressure regulating valve is obtained through the following formula:
after the occurrence of the blocking flow, the calculation formula is as follows:
wherein Q istAs total load, QdFor disturbance of source flow, P is the pressure before the pressure regulating valve, Δ P is the pressure difference before and after the pressure regulating valve, α is the pressure regulating valve coefficient, μ is the critical blocking flow coefficient, R1、R2Is constant, rho is steam density, and KV is valve through-flow capacity coefficient.
In order to compensate the hysteresis characteristic of flow feedforward, a valve position change signal of an interference source is extracted when interference occurs, and a differential calculation result is used as a valve position feedforward value for restraining transient disturbance of the interference source.
And a closed-loop control link is added, so that the steady-state precision and the anti-interference capability of the system are improved.
The invention has the following advantages:
although the invention relates to more control parameters, the universal debugging method is adopted, the parameter setting process is simple, the debugging task is greatly reduced, and the time and labor cost are saved.
The control effect is excellent, the dynamic response characteristic and the system stability are excellent, and the steady-state precision is high.
The method has high reliability and strong adaptability, and has strong popularization in the aspect of steam pipeline pressure stabilizing control.
Drawings
FIG. 1 is a control flow diagram of the present invention;
FIG. 2 is a flow characteristic of the regulator valve of the present invention;
fig. 3 is a diagram showing the effect of the present invention in practical application.
Description of the main reference numerals:
1-controller, 2-actuator, 3-pressure regulating valve, 4-relative sensor
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description, but the invention is not limited thereto.
Before the controller is programmed, related data of the pressure regulating valve are required to be acquired, wherein the related data comprise a regulating valve flow characteristic curve and a critical blocking flow constant epsilon; FIG. 2 is a typical pressure regulator valve flow characteristic.
Firstly, a steam database is led into a storage area of the controller, the controller collects temperature and pressure signals in front of the pressure regulating valve in real time, and the controller checks the steam density through the temperature and pressure values.
The total load is set through the operation station, and the controller collects the flow change of the interference valve in real time to obtain the target flow of the pressure regulating valve.
The controller collects the valve position change of the interference valve in real time and calculates the valve position feedforward by differential
(TDAs a differential time).
Calculating a differential pressure ratio of the pressure regulating valve according to the target pressure before the pressure regulating valve and the pressure after the pressure regulating valve
Comparing epsilon1With the critical blocking current constant ε1>ε, KV are calculated as follows:
when epsilon1<ε, KV are calculated as follows:
wherein Q istAs total load, QdFor disturbance of source flow, P is the pressure before the pressure regulating valve, Δ P is the pressure difference before and after the pressure regulating valve, α is the pressure regulating valve coefficient, μ is the critical blocking flow coefficient, R1、R2Is constant, rho is steam density, and KV is valve through-flow capacity coefficient.
A pressure regulating valve flow characteristic curve database is led into a controller storage area, the controller collects KV values in real time, and the flow feedforward value Y is obtained through examination2。
The closed-loop control adopts a PID (proportion integration differentiation) regulation method and controlThe device collects the pressure before the regulating valve in real time, takes the target pressure as a set value and outputs the target pressure as
(KpIs a proportionality coefficient, Δ E is a control deviation, TnFor integration time, TvAs a differential time).
Final output Y ═ K1Y1+K2Y2+K3Y3(K1As a valve position feedforward coefficient, K2As flow feedforward coefficient, K3A closed loop control coefficient).
In the parameter setting process, PID is firstly set; then adding flow feedforward to gradually increase the flow feedforward coefficient K2Decreasing the closed-loop control coefficient K3(ii) a Finally adding valve position feedforward, gradually increasing valve position feedforward coefficient K1Stepwise reduction of the flow feedforward coefficient K2And a closed loop control coefficient K3And the system reaches an optimal control state.
The above is an embodiment of the present invention, and fig. 3 is a control effect in practical application, and it can be seen from the figure that even when the working condition is changed drastically, the output of the regulating valve is very stable, no jitter or oscillation occurs, and the pressure before the regulating valve remains stable.
It should be noted that, for a person skilled in the art, several modifications and refinements can be made without departing from the basic principle of the invention, and these modifications and refinements are also considered to be within the protective scope of the invention.
Claims (3)
1. A quick follow-up control method of a pressure regulating valve is characterized in that: the method is a control method of double feedforward closed loop voltage stabilization, which obtains a flow change value of an interference source, and calculates a flow feedforward value through a valve flow characteristic curve; in order to compensate for the lag effect of flow feedforward, a valve position change signal of an interference source is obtained, and a valve position feedforward value is obtained; acquiring an actual valve pressure value of the regulating valve, comparing the actual valve pressure value with a set value to obtain a deviation value, and inputting the deviation value into a PID controller to obtain a closed-loop control value; the flow feedforward value, the valve position feedforward value and the closed-loop control value are added to obtain a control value of the opening of the regulating valve, the actuator is controlled according to the control value of the opening of the regulating valve, the through-flow capacity of the pressure regulating valve is further controlled, and the pressure in front of the pressure regulating valve is stabilized.
2. The method as claimed in claim 1, wherein the flow feedforward is used to output a stabilized reference opening, the valve position feedforward is used to quickly suppress transient disturbance of an interference source, and the closed-loop control is used to improve the steady-state accuracy and the anti-interference capability of the system.
3. The rapid follow-up control method of the pressure regulating valve according to claim 2, characterized in that the controller needs to detect the disturbance source flow signal, calculate the KV value of the pressure regulating valve according to a calculation formula of the flow rate and the through-flow capacity of the pressure regulating valve, then obtain the flow rate feedforward value according to the flow rate characteristic curve test value of the pressure regulating valve, and the KV value of the pressure regulating valve is obtained by the following formula:
after the occurrence of the blocking flow, the calculation formula is as follows:
wherein Q istAs total load, QdFor disturbance of source flow, P is the pressure before the pressure regulating valve, Δ P is the pressure difference before and after the pressure regulating valve, α is the pressure regulating valve coefficient, μ is the critical blocking flow coefficient, R1、R2Is constant, rho is steam density, and KV is valve through-flow capacity coefficient.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710832210.0A CN109506028B (en) | 2017-09-15 | 2017-09-15 | Quick follow-up control method of pressure regulating valve |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710832210.0A CN109506028B (en) | 2017-09-15 | 2017-09-15 | Quick follow-up control method of pressure regulating valve |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109506028A CN109506028A (en) | 2019-03-22 |
| CN109506028B true CN109506028B (en) | 2020-02-21 |
Family
ID=65744825
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710832210.0A Active CN109506028B (en) | 2017-09-15 | 2017-09-15 | Quick follow-up control method of pressure regulating valve |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109506028B (en) |
Families Citing this family (6)
| 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 |
| 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 |
| CN112180877B (en) * | 2020-10-19 | 2021-11-30 | 浙江工业大学 | Method for determining feedforward coefficient compensation |
| CN112377819B (en) * | 2020-11-17 | 2022-08-02 | 张峰 | Metering method for valve orifice gas amount of pressure regulating valve |
| 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 |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7603186B2 (en) * | 2006-04-28 | 2009-10-13 | Advanced Energy Industries, Inc. | Adaptive response time closed loop control algorithm |
| CN100575757C (en) * | 2008-01-31 | 2009-12-30 | 浙江大学 | Digital positioner for electric controlled valve and method thereof |
| CN101429959A (en) * | 2008-12-05 | 2009-05-13 | 太原理工大学 | Electric closed-loop control flow control valve |
| US20130240045A1 (en) * | 2012-03-15 | 2013-09-19 | Xiufeng Pang | Method for Determining a Fluid Flow Rate With a Fluid Control Valve |
| JP2015040569A (en) * | 2013-08-20 | 2015-03-02 | 横河電機株式会社 | Valve positioner |
| CN103558757B (en) * | 2013-11-07 | 2016-09-21 | 中冶南方工程技术有限公司 | Thermoelectricity boiler drum liquid level control method |
| US10754358B2 (en) * | 2015-09-28 | 2020-08-25 | Koninklijke Philips N.V. | Methods and systems for controlling gas flow using a proportional flow valve |
| CN105485716B (en) * | 2015-12-25 | 2017-10-13 | 中冶南方工程技术有限公司 | blast furnace gas combustion control method |
| CN106640809B (en) * | 2016-11-07 | 2018-04-17 | 同济大学 | Variable displacement and variable power adjusts load matched electro-hydraulic position tracking and controlling method |
-
2017
- 2017-09-15 CN CN201710832210.0A patent/CN109506028B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109506028A (en) | 2019-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109506028B (en) | Quick follow-up control method of pressure regulating valve | |
| JP7041697B2 (en) | Chamber pressure control method and equipment, semiconductor equipment | |
| KR20160047430A (en) | Flow-rate control device and flow-rate control program | |
| GB2440673A (en) | Steam temperature control in a boiler using a PID controller. | |
| Prasad et al. | Plant-wide predictive control for a thermal power plant based on a physical plant model | |
| CN111664442B (en) | Desuperheating water control method, system and equipment based on heat value calculation and readable storage medium | |
| KR20140083905A (en) | Flow calculation apparatus and flow control apparatus | |
| CN111413865B (en) | Disturbance compensation single-loop superheated steam temperature active disturbance rejection control method | |
| CN104712378A (en) | Main steam pressure closed loop energy-saving control method and system for thermal power generating unit | |
| CN114237199B (en) | Aeroengine execution loop fault detection method based on adaptive comparator | |
| CN109668139B (en) | Engine-boiler coordination control method for supercritical thermal power generating unit | |
| CN107102555B (en) | Design method of linear active disturbance rejection controller of stabilized first-order inertia plus pure hysteresis system | |
| CZ20031074A3 (en) | Method of and system for controlling the ratio of a variable lead parameter and an adjustable lag parameter for a lag-lead process | |
| CN106015692A (en) | Card inserting type flutter signal self-adaptive proportional valve amplifier | |
| CN108762085A (en) | A kind of quick point-to-point motion control method of robust | |
| CN114370521A (en) | Hysteresis compensation control method and system for electric proportional relief valve | |
| CN104214415A (en) | Method for soft measurement of openness signal of high pressure cylinder steam intake adjusting valve of steam turbine | |
| CN111061311B (en) | Control method and device for pressure difference between main sealing gas and balance pipe in centrifugal compressor | |
| Luqing et al. | Application of model-free adaptive control in managed pressure drilling | |
| Zhang | Modified Smith prediction compensation control method for temperature control of deformation test equipment | |
| Wei et al. | A novel IMC cascade control structure of super-heated steam temperature system for super-critical coal-fired boilers | |
| KR100786010B1 (en) | Dynamometer control system with P.I.DProportional Integral Derivative control algorithm | |
| Zhang et al. | Compensation method to improve dynamics of hydraulic gap control system | |
| CN115751288A (en) | Water supply control system and method for overcoming false water level | |
| Shilei et al. | Design and Simulation of Main Steam Pressure Control System Based on Dynamic Matrix Control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |