CN109828493B - Control method for water supply fault of urban water service management network system - Google Patents

Control method for water supply fault of urban water service management network system Download PDF

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CN109828493B
CN109828493B CN201910027315.8A CN201910027315A CN109828493B CN 109828493 B CN109828493 B CN 109828493B CN 201910027315 A CN201910027315 A CN 201910027315A CN 109828493 B CN109828493 B CN 109828493B
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water
water supply
matrix
service pipe
network system
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CN109828493A (en
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杨浩月
张俊锋
李苗
刘来友
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Jiangxi Zhongli Water Co ltd
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Hangzhou Dianzi University
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Abstract

The invention discloses a method for controlling water supply faults of an urban water service pipe network system. The invention adopts a feedback control method of a positive Markov jump system. When a pump station valve fails in the running process of the urban water service pipe network system, a positive Markov jump system model of the water quantity of a water supply tank of the water service pipe network system is established by carrying out data acquisition on the system model. And then designing a reliable controller for the positive Markov jump system with the actuator fault so as to obtain a control method for the water supply fault of the urban water service pipe network system. Compared with the prior art, the method can effectively solve the problem of water supply faults caused by aging, failure and the like of the valves of the pump stations in the urban water service pipe system, and has good control effect on the premise of ensuring the stability of the system.

Description

Control method for water supply fault of urban water service management network system
Technical Field
The invention belongs to the technical field of automation, and relates to a control method for realizing water supply faults of an urban water service pipe network system by controlling the opening value of a water pipe or a pump station valve in a water supply process, which can be used for the water supply process of the urban water service pipe network system.
Background
With the modernization development of cities, the urban water management problem is increasingly concerned by people. The phenomena of water resource shortage, water supply difficulty and the like begin to appear in the urban construction process. The urban water service pipe network system is an important infrastructure of a city and is a material foundation on which the city lives and develops. The water supply system for city water service pipe network consists of water source, pump station, water supply tank, water supply pipe network, water pipe valve, water using department, etc. Wherein the proper operation of the pumping station and water shut-off valves is very important for the daily supply of water. At present, due to the shortage of water resources caused by the rapid development of cities, a water supply system of an urban water service pipe network must be operated at full load with long time and high precision in the peak period of water consumption. This can lead to pump station and water pipe valve to break down and consequently cause the unstability of water supply system and appear phenomenons such as lack of water, cutting off water supply. Therefore, it is very necessary to adopt a reasonable water supply scheme to solve the problem of water supply caused by pump station and valve failure in the water supply system.
Furthermore, the peak water usage periods in various water usage departments (e.g., schools, factories, residential buildings, etc.) in a city are uncertain. For example, in a plant, the peak water usage for each department of the plant is random, the current time period may be department 1, and the next time period may be department 1 or department 2. Fig. 1 (see attached drawings) shows a water supply network of a designated physical area, and water sources cannot supply water to a plurality of water using departments simultaneously during peak water use due to water resource shortage. Therefore, if the school is in the peak water consumption period in the current time period, the valves of the pump B and the pump C are closed, and the valve of the pump A is opened to supply water to the school; the next time water department (maybe school, maybe factory, maybe district) if it is factory, then close the valves of pumps A and C, open the valve of pump B to supply water to factory. It can be seen that this random behavior is more suitably represented by a markov jump process. Because the volume of water in the water supply tank of the water supply system, the opening degree of a pump station and a water pipe valve and the like are all non-negative, the change of the volume of water in the water supply tank of the water supply system can be more effectively analyzed by adopting an analysis method of a positive system. In order to ensure the safe and reliable water use and the stable operation of a water supply system, a positive Markov jump system with an actuator fault is used as a model, a corresponding analysis method is adopted, and a control method based on state feedback can realize the safe and reliable control of the water supply fault of an urban pipe network system.
Disclosure of Invention
The invention aims to provide a method for controlling water supply faults of an urban water service pipe network system, aiming at the problems of pump station and water pipe valve faults in the water supply process of the urban water service pipe network system.
The invention adopts a state feedback control method of a positive Markov jump system to control the water volume of a water supply tank and the opening values of a pump station and a water pipe valve in the urban water service pipe network water supply system, and carries out safe and effective control on the problem of water supply failure of the urban water service pipe network system by designing a reliable controller of the positive Markov jump system with actuator failure.
The method comprises the following specific steps:
step 1, establishing a state space model of the water volume of a water supply tank of an urban water service pipe network system, wherein the specific method comprises the following steps:
1.1 consider the water supply network of the urban water service pipe network system. A water supply network typically comprises a set of water supply pipes, water tanks of different volumes, and a plurality of pumping stations and valves for managing the water flow to supply water to users. Fig. 1 (see the drawings of the specification) shows the relationship between these elements. The water tank of fig. 1 provides water storage capacity for the entire water supply network to ensure that sufficient water service is provided for the user. The mass balance expression relating to the volume v stored in the nth supply tank can be written as a discrete time difference equation
Figure GDA0002315156490000021
Wherein
Figure GDA0002315156490000022
Representing the amount of water flowing from the jth element into the nth tank,
Figure GDA0002315156490000023
representing the amount of water flowing out of the nth tank to the h element (referring to the user). Further, Δ t is a sampling time, and k is a discrete time. For all k, the constraint on the tank volume is expressed as upsilonn(k) For convenience, ≧ 0, the dynamic behavior of these elements is described as a function of volume. The model does not take into account errors arising from the geometry of the water tank.
The water supply network takes into account two control actuators: valves and pumps. Variable q representing valve opening degree when valve is assumed to be openuNegative, full valve closure represents a valve opening value of 0.
Nodes represent network points where water flow converges or diverges in the network and must adhere to mass conservation relationships.
Considering the elements described above, a control-oriented model can be obtained by adding these elements and the corresponding dynamic descriptions. In a general form, a water volume dynamic expression that considers all of these elements can be written as
x(k+1)＝h(x(k),u(k)),
Wherein x (k) e RnRepresents the system state, u (k) e RrRecording as system input (i.e. opening values of valves and pump stations), h: Rn×Rm→RnIs an arbitrary system state function, k is equal to N+. In the present inventionIn a water supply network, a discrete-time state space model can be written
Figure GDA0002315156490000024
Wherein x (k) ═ x1(k),x2(k),...,xn(k)]T∈RnIndicating the volume of water supplied to the tank and n representing the number of tanks. u. off(k)∈RrIndicating opening q of water pipe valve and pump with failureuAnd r represents the total number of water pipe valves and pumps. RnRepresenting a real column vector of dimension n.
Figure GDA0002315156490000025
And
Figure GDA0002315156490000026
representing a system matrix of appropriate dimensions. For each gkAll are belonged to S
Figure GDA0002315156490000027
(
Figure GDA00023151564900000211
Is directed to the matrix
Figure GDA0002315156490000028
I.e., all elements within the matrix are non-negative). gkRepresenting a markov jump process that takes values in a finite set S ═ 1,2,.., M },
Figure GDA0002315156490000029
and (4) the following steps.
For convenience, let's note gkI, i ∈ S, then there is
Figure GDA00023151564900000210
1.2 design Markov jump signal gkThe transfer rate satisfies the following conditions:
Pr(gk+1＝j|gk＝i)＝πij,
where for each i, j ∈ S there is aij≥0，
Figure GDA0002315156490000031
Step 2, designing a state feedback controller of water quantity change in a water supply tank of the urban water service pipe network system, which comprises the following specific steps:
2.1 design the control input model with faults as
uf(k)＝Hiu(k).
Matrix HiIs an unknown fault matrix and satisfies
Figure GDA0002315156490000032
Wherein
Figure GDA0002315156490000033
h ijAnd
Figure GDA0002315156490000034
is a diagonal matrixH iAnd
Figure GDA0002315156490000035
and is a given constant, and ρ > 1 is a given constant value.
2.2 design State feedback controller as
u(k)＝(Ki+ΔKik)x(k)
And
ΔKik＝FiGik
wherein Ki∈Rr×nIs the nominal controller gain, Δ K, to be designedikIs the fluctuation of the controller gain, Gik∈Rr×nIs the decision matrix, F, to be designedi∈Rr×rIs a known non-negative matrix and for 0 < sigma1＜σ2Satisfy the requirement of
Figure GDA0002315156490000036
2.3 design
Figure GDA0002315156490000037
Its associated definitions are indicated at step 1.1, step 2.1 and step 2.2. Simultaneously constructing a random complementary Li ya Ponuff function
V(x(k),gk＝i)＝xT(k)vi,
Wherein
Figure GDA0002315156490000038
vi∈RnIs an n-dimensional real column vector and each element in the column is a positive number. Calculating the difference of the Lyapunov function:
Figure GDA0002315156490000039
where T represents the transpose of the matrix,
Figure GDA00023151564900000310
Kiand GikThe definition of (c) is identical to that in step 2.2.
2.4 design constants
Figure GDA00023151564900000311
Sum vector vi∈Rn,
Figure GDA00023151564900000312
And
Figure GDA00023151564900000313
such that the following inequality
Figure GDA0002315156490000041
Figure GDA0002315156490000042
Figure GDA0002315156490000043
Figure GDA0002315156490000044
Figure GDA0002315156490000045
Figure GDA0002315156490000046
Figure GDA0002315156490000047
Figure GDA0002315156490000048
For each i e S, where
Figure GDA0002315156490000049
ρ > 1 is a given constant value, σ2＞σ1> 0 are respectively a matrix FiThe upper and lower bound parameters of (a),
Figure GDA00023151564900000410
Figure GDA00023151564900000411
2.5 design water service pipe network water supply system
Figure GDA00023151564900000412
Feedback controller u in a reliable statef(k)＝Hi(Ki+FiGik) x (k) the system is randomly stable. For any initial condition x0∈RnMode r0The state of the system belonging to the epsilon S meets the following conditions:
Figure GDA00023151564900000413
wherein E {. represents the mathematical expectation, | | | · | | | not calculation1Represents the standard 1 norm, i.e., the sum of the absolute values of the vector elements. Firstly, calculating the infinitesimal operator satisfaction of the Lyapunov function
ΔV(x(k),gk＝i)＜0.
2.6 the following inequality relationships can be obtained according to step 2.5:
Figure GDA00023151564900000414
Figure GDA00023151564900000415
2.7 from step 2.5, step 2.6:
ΔV(x(k),gk＝i)≤-γ||x(k)||1,
combining with step 2.3, further converting into:
Figure GDA00023151564900000416
from step 2.4, the following relationship holds:
Figure GDA00023151564900000417
2.8 according to the conditions set forth in step 2.4, the nominal controller gain K is taken into accountiIs divided into non-negative components
Figure GDA00023151564900000418
And a non-positive component
Figure GDA00023151564900000419
Gain perturbation matrix GikIs divided into
Figure GDA00023151564900000420
And
Figure GDA00023151564900000421
the following forms are available:
Figure GDA0002315156490000051
Figure GDA0002315156490000052
Figure GDA0002315156490000053
Figure GDA0002315156490000054
2.9 from steps 2.7 and 2.8 the following inequality relationship is obtained:
Figure GDA0002315156490000055
combining with the step 2.3, the following can be obtained:
ΔV(x(k),gk＝i)＜0.
2.10 the reliable state feedback controller of the water supply fault process of the urban water service pipe network system can be obtained by integrating the steps from 2.3 to 2.9, and the form is as follows:
Figure GDA0002315156490000056
wherein
Figure GDA0002315156490000057
The invention has the following beneficial effects:
the method of the invention aims at the problem of water supply faults of the urban water service pipe network system, establishes a state space model of the water quantity in the water supply tank, designs a reliable state feedback controller by constructing a random complementary Li ya Punuo function and considering an actuator fault model, and can effectively solve the problems of water supply difficulty, water supply faults and the like caused by aging, faults and the like of a pump station and a water-closing valve in the urban water supply process. The designed controller can also better deal with the uncertain problems caused by external factors in the water supply system. The invention adopts the feedback control of the positive Markov jump system, designs a more reliable state feedback controller under the condition of considering the system with the actuator fault, makes up the defects of the general system and the control method, and increases the applicability of the controller and the capability of processing a more complex system.
Description of the drawings:
fig. 1 is a schematic diagram of a conventional water supply network according to the present invention.
The specific implementation mode is as follows:
the method is characterized in that a model of the water quantity in a water supply tank of the urban water service pipe network system is established by taking the urban water service pipe network water supply system as an actual object, taking the opening degrees of a pump station and a water shut valve in the system as input and taking the volume of water in the water supply tank as output.
Step 1, establishing a state space model of the water volume of a water supply tank of an urban water service pipe network system, wherein the specific method comprises the following steps:
1.1 firstly, collecting water volume data in a water supply tank of the urban water service pipe network system, and establishing a state space model of the water volume of the water supply tank of the urban water service pipe network system by using the data, wherein the form is as follows:
Figure GDA0002315156490000061
wherein x (k) ═ x1(k),x2(k),...,xn(k)]T∈RnIndicating the volume of water supplied to the tank and n representing the number of tanks. u. off(k)∈RrIndicating opening q of water pipe valve and pump with failureuAnd r represents the total number of water pipe valves and pumps. RnRepresenting a real column vector of dimension n.
Figure GDA0002315156490000062
And
Figure GDA0002315156490000063
representing a system matrix of appropriate dimensions. For each gkAll are belonged to S
Figure GDA0002315156490000064
(
Figure GDA0002315156490000065
Is directed to the matrix
Figure GDA0002315156490000066
I.e., all elements within the matrix are non-negative). gkRepresenting a markov jump process that takes values in a finite set S ═ 1,2,.., M },
Figure GDA0002315156490000067
and (4) the following steps. For convenience, let's note gkI, i ∈ S, then there is
Figure GDA0002315156490000068
1.2 design Markov jump signal gkThe transfer rate satisfies the following conditions:
Pr(gk+1＝j|gk＝i)＝πij,
where for each i, j ∈ S there is aij≥0，
Figure GDA0002315156490000069
Step 2, designing a state feedback controller of water quantity change in a water supply tank of the urban water service pipe network system, which comprises the following specific steps:
2.1 design the control input model with faults as
uf(k)＝Hiu(k).
Matrix HiIs an unknown fault matrix and satisfies
Figure GDA00023151564900000610
Wherein
Figure GDA00023151564900000611
h ijAnd
Figure GDA00023151564900000612
is a diagonal matrixH iAnd
Figure GDA00023151564900000613
and is a given constant, and ρ > 1 is a given constant value.
2.2 design State feedback controller as
u(k)＝(Ki+ΔKik)x(k)
And
ΔKik＝FiGik
wherein Ki∈Rr×nIs the nominal controller gain, Δ K, to be designedikIs the fluctuation of the controller gain, Gik∈Rr×nIs the decision matrix, F, to be designedi∈Rr×rIs a known non-negative matrix and for 0 < sigma1＜σ2Satisfy the requirement of
Figure GDA00023151564900000614
2.3 design
Figure GDA00023151564900000615
Its associated definitions are indicated at step 1.1, step 2.1 and step 2.2. Simultaneously constructing a random complementary Li ya Ponuff function
V(x(k),gk＝i)＝xT(k)vi,
Wherein
Figure GDA0002315156490000071
vi∈RnIs an n-dimensional real column vector and each element in the column is a positive number. Calculating the difference of the Lyapunov function:
Figure GDA0002315156490000072
where T represents the transpose of the matrix,
Figure GDA0002315156490000073
Kiand GikThe definition of (c) is identical to that in step 2.2.
2.4 design constants
Figure GDA0002315156490000074
Sum vector vi∈Rn,
Figure GDA0002315156490000075
And
Figure GDA0002315156490000076
such that the following inequality
Figure GDA0002315156490000077
Figure GDA0002315156490000078
Figure GDA0002315156490000079
Figure GDA00023151564900000710
Figure GDA00023151564900000711
Figure GDA00023151564900000712
Figure GDA00023151564900000713
For each i e S, where
Figure GDA00023151564900000714
ρ > 1 is a given constant value, σ2＞σ1> 0 is a matrix FiThe upper and lower bound parameters of (a),
Figure GDA00023151564900000715
2.5 design water service pipe network water supply system
Figure GDA00023151564900000716
Feedback controller u in a reliable statef(k)＝Hi(Ki+FiGik) x (k) the system is randomly stable. For any initial condition x0∈RnMode r0The state of the system belonging to the epsilon S meets the following conditions:
Figure GDA00023151564900000717
wherein E {. represents the mathematical expectation, | | | · | | | not calculation1Represents the standard 1 norm, i.e., the sum of the absolute values of the vector elements. Firstly, calculating the infinitesimal operator satisfaction of the Lyapunov function
ΔV(x(k),gk＝i)＜0.
2.6 the following inequality relationships can be obtained according to step 2.5:
Figure GDA00023151564900000718
Figure GDA00023151564900000719
2.7 from step 2.5, step 2.6:
ΔV(x(k),gk＝i)≤-γ||x(k)||1,
combining with step 2.3, further converting into:
Figure GDA0002315156490000081
from step 2.4, the following relationship holds:
Figure GDA0002315156490000082
2.8 according to the conditions set forth in step 2.4, the nominal controller gain K is taken into accountiIs divided into non-negative components
Figure GDA0002315156490000083
And a non-positive component
Figure GDA0002315156490000084
Gain perturbation matrix GikIs divided into
Figure GDA0002315156490000085
And
Figure GDA0002315156490000086
the following forms are available:
Figure GDA0002315156490000087
Figure GDA0002315156490000088
Figure GDA0002315156490000089
Figure GDA00023151564900000810
2.9 from steps 2.7 and 2.8 the following inequality relationship is obtained:
Figure GDA00023151564900000811
combining with the step 2.3, the following can be obtained:
ΔV(x(k),gk＝i)＜0.
2.10 the reliable state feedback controller of the water supply fault process of the urban water service pipe network system can be obtained by integrating the steps from 2.3 to 2.9, and the form is as follows:
Figure GDA00023151564900000812
wherein
Figure GDA00023151564900000813

Claims (1)

1. A control method for water supply fault of urban water service network system is characterized by comprising the following steps:
step 1, establishing a state space model of the water volume of a water supply tank of an urban water service pipe network system, wherein the specific method comprises the following steps:
step 1.1, firstly, collecting water volume data in a water supply tank of the urban water service pipe network system, and establishing a state space model of the water volume of the water supply tank of the urban water service pipe network system by using the data, wherein the form is as follows:
Figure FDA0002315156480000011
wherein x (k) ═ x1(k),x2(k),...,xn(k)]T∈RnRepresenting the volume of water supply to the water supply tank, n representing the number of water tanks; u. off(k)∈RrIndicating opening q of water pipe valve and pump with failureuAnd r represents the total number of water pipe valves and pumps; rnA real column vector representing n dimensions;
Figure FDA0002315156480000012
and
Figure FDA0002315156480000013
a system matrix representing appropriate dimensions; for each gkAll are belonged to S
Figure FDA0002315156480000014
And is
Figure FDA00023151564800000113
Is directed to the matrix
Figure FDA0002315156480000015
I.e. all elements within the matrix are non-negative; gkRepresenting a Markov jump process, whose values are in a finite set
Figure FDA0002315156480000016
Internal; for convenience of description, let's gkI, i ∈ S, then there is
Figure FDA0002315156480000017
Step 1.2 design Markov jump signal gkThe transfer rate satisfies the following conditions:
Pr(gk+1＝j|gk＝i)＝πij,
where for each i, j ∈ S there is aij≥0，
Figure FDA0002315156480000018
Step 2, designing a state feedback controller of water quantity change in a water supply tank of the urban water service pipe network system, which comprises the following specific steps:
step 2.1 design the control input model with faults as
uf(k)＝Hiu(k).
Matrix HiIs an unknown fault matrix and satisfies
Figure FDA0002315156480000019
Wherein
Figure FDA00023151564800000110
And
Figure FDA00023151564800000111
is a diagonal matrix HiAnd
Figure FDA00023151564800000112
and is a given constant, ρ > 1 is a given constant value;
step 2.2 design the state feedback controller as
u(k)＝(Ki+ΔKik)x(k)
And
ΔKik＝FiGik
wherein Ki∈Rr×nIs the nominal controller gain, Δ K, to be designedikIs the fluctuation of the controller gain, Gik∈Rr×nIs the decision matrix, F, to be designedi∈Rr×rIs a known non-negative matrix and for 0 < sigma1＜σ2Satisfy the requirement of
Figure FDA0002315156480000021
Step 2.3 design
Figure FDA0002315156480000022
Their associated definitions are indicated at step 1.1, step 2.1 and 2.2; simultaneously constructing a random complementary Li ya Ponuff function
V(x(k),gk＝i)＝xT(k)vi,
Wherein
Figure FDA00023151564800000219
vi∈RnIs an n-dimensional real column vector and each element in the column is a positive number; calculating the difference of the Lyapunov function:
Figure FDA0002315156480000023
where T represents the transpose of the matrix,
Figure FDA0002315156480000024
Kiand GikThe definition of (a) is consistent with that in step 2.2;
step 2.4 design constants
Figure FDA00023151564800000221
Sum vector vi∈Rn,
Figure FDA0002315156480000025
And
Figure FDA0002315156480000026
such that the following inequality
Figure FDA00023151564800000220
Figure FDA0002315156480000027
Figure FDA0002315156480000028
Figure FDA0002315156480000029
Figure FDA00023151564800000211
Figure FDA00023151564800000212
Figure FDA00023151564800000213
For each i e S, where
Figure FDA00023151564800000214
ρ > 1 is a given constant value, σ2＞σ1> 0 is a matrix FiThe upper and lower bound parameters of (a),
Figure FDA00023151564800000215
step 2.5 design water service pipe network water supply system
Figure FDA00023151564800000216
Feedback controller u in a reliable statef(k)＝Hi(Ki+FiGik) x (k) the system is randomly stable; for any initial condition x0∈RnMode r0The state of the system belonging to the epsilon S meets the following conditions:
Figure FDA00023151564800000217
wherein E {. represents the mathematical expectation, | | | · | | | not calculation1A 1 norm representing the norm, i.e., the sum of the absolute values of the vector elements; firstly, calculating the infinitesimal operator satisfaction of the Lyapunov function
ΔV(x(k),gk＝i)＜0.
Step 2.6 the following inequality relationships can be obtained according to step 2.5:
Figure FDA00023151564800000218
Figure FDA0002315156480000031
step 2.7 from step 2.5, step 2.6:
ΔV(x(k),gk＝i)≤-γ||x(k)||1,
combining with step 2.3, further converting into:
Figure FDA0002315156480000032
from step 2.4, the following relationship holds:
Figure FDA0002315156480000033
step 2.8 according to the conditions set forth in step 2.4, the nominal controller gain K is taken into accountiIs divided into non-negative components
Figure FDA0002315156480000034
And a non-positive component
Figure FDA0002315156480000035
Gain perturbation matrix GikIs divided into
Figure FDA0002315156480000036
And
Figure FDA0002315156480000037
the following forms are available:
Figure FDA0002315156480000038
Figure FDA0002315156480000039
Figure FDA00023151564800000310
Figure FDA00023151564800000311
step 2.9 from steps 2.7 and 2.8 the following inequality relationship can be obtained:
Figure FDA00023151564800000312
combining with the step 2.3, the following can be obtained:
ΔV(x(k),gk＝i)＜0.
step 2.10, the reliable state feedback controller of the water supply fault process of the urban water service pipe network system can be obtained by integrating the step 2.3 to the step 2.9, and the form is as follows:
Figure FDA00023151564800000313
wherein
Figure FDA00023151564800000314
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CN110110496B (en) * 2019-06-06 2023-05-12 杭州电子科技大学 Reliable control method for urban water supply based on nonlinear system modeling
CN110187641B (en) * 2019-07-12 2021-12-14 杭州电子科技大学 Control method of urban water service pipe network water supply system under external disturbance input
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