CN110161859A - A kind of waste heat comprehensive utilization system adaptive controller peculiar to vessel and method - Google Patents
A kind of waste heat comprehensive utilization system adaptive controller peculiar to vessel and method Download PDFInfo
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- CN110161859A CN110161859A CN201910453271.5A CN201910453271A CN110161859A CN 110161859 A CN110161859 A CN 110161859A CN 201910453271 A CN201910453271 A CN 201910453271A CN 110161859 A CN110161859 A CN 110161859A
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- 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
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Abstract
The invention discloses a kind of waste heat comprehensive utilization system adaptive controller peculiar to vessel and methods, this method comprises: obtaining the real-time cabin temperature information in each cabin of ship；The current cabin temperature information in each cabin and cabin set temperature numerical value are obtained into temperature difference as difference, and temperature difference change rate is obtained according to temperature difference；According to temperature difference and temperature difference change rate, it is based on Fuzzy PID, pid control parameter is adaptively adjusted, so that working moisture orchestration is adjusted working water flow, and then each cabin temperature is adjusted to cabin set temperature.The present invention can be needed according to ship and external environment variation adjusts equipment state in time, improve fuel cell utilization rate of waste heat.
Description
Technical field
The invention belongs to UTILIZATION OF VESIDUAL HEAT IN control technology field more particularly to a kind of waste heat comprehensive utilization system peculiar to vessel are adaptive
Controller and method.
Background technique
Improve ship discharge, carry out the important research direction that new cleaning fuel ship is shipping business.It is with fuel cell
The ship of power is in test run, this is for efficiently using the electric energy of marine fuel battery and the thermal energy of association to mention
High battery comprehensive utilization ratio has certain research significance.
Marine fuel battery UTILIZATION OF VESIDUAL HEAT IN mode mainly has refrigeration, heating and makes light three kinds, marine fuel battery waste heat benefit
It is related to the equipment such as refrigerating plant, fresh-water generator, heating combined equipment, water tank, air-conditioning device with system.System requirements is according to ship needs
And external environment variation in time adjustment equipment state, to improve fuel cell utilization rate of waste heat, facilitate administrative staff manipulation and
Monitoring.However, there is no system that can reach the requirement at present, overcome to solve this defect, the present invention existing for existing system
Prior art blank designs a set of effective and stable adaptive controller.
Summary of the invention
The purpose of the present invention is to provide a kind of waste heat comprehensive utilization system adaptive controller peculiar to vessel and method, it can be with
It is needed according to ship and external environment variation adjusts equipment state in time, improve fuel cell utilization rate of waste heat.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of waste heat comprehensive utilization system adaptive controller peculiar to vessel, for the work to waste heat comprehensive utilization system peculiar to vessel
Water dispenser carries out Fuzzy PID self-adaptive control, and the adaptive controller includes analog module and PLC control module, institute
The output end for stating analog module is connect with the input terminal of PLC control module, the output end and working water of the PLC control module
Distributor connection；
The analog module collected will own for acquiring the cabin temperature signal in each cabin of ship in real time
Cabin temperature signal is sent to PLC control module；
The PLC control module includes processing unit and fuzzy-adaptation PID control unit；
It is poor that the current cabin temperature signal in each cabin that the processing unit is used to receive and cabin set temperature are made
Temperature difference is obtained, and temperature difference change rate is obtained according to temperature difference；
The fuzzy-adaptation PID control unit is used to be based on Fuzzy PID according to temperature difference and temperature difference change rate,
Pid control parameter is adaptively adjusted, so that working moisture orchestration is adjusted working water flow, and then each cabin temperature is adjusted
To cabin set temperature.
Correspondingly, the present invention also provides a kind of waste heat comprehensive utilization system self-adaptation control method peculiar to vessel, including following step
It is rapid:
S1, the real-time cabin temperature information in each cabin of ship is obtained；
S2, the current cabin temperature information in each cabin and cabin set temperature numerical value are obtained into temperature difference as difference, and according to
Temperature difference obtains temperature difference change rate；
S3, pid control parameter is carried out adaptive according to temperature difference and temperature difference change rate based on Fuzzy PID
It should adjust, so that working moisture orchestration is adjusted working water flow, and then each cabin temperature is adjusted to cabin set temperature.
The beneficial effect comprise that: because there are biggish hysteresis qualitys and non-thread in ship's space temperature control system
Property the problems such as, therefore the present invention according to the temperature difference, that is, temperature difference change rate in cabin, be based on Fuzzy PID, to pid parameter
On-line control realizes that accurate control working moisture is matched, is precisely controlled cabin room temperature, reaches optimal control effect, and have
The advantages that model is simple, strong robustness, wide applicability.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the structural schematic diagram of hydrogen-oxygen fuel cell waste heat comprehensive utilization system peculiar to vessel in the embodiment of the present invention；
Fig. 2 is the structure chart of waste heat comprehensive utilization system adaptive controller peculiar to vessel provided in an embodiment of the present invention；
Fig. 3 be another embodiment of the present invention provides waste heat comprehensive utilization system adaptive controller peculiar to vessel structure chart；
Fig. 4 is the schematic diagram of fuzzy-adaptation PID control unit in the embodiment of the present invention；
Fig. 5 is the control algolithm flow chart of the embodiment of the present invention.
In figure: 10- hydrogen-oxygen fuel cell；21- lithium bromide-water mixed solution generating device；22- condensing unit；23- expansion
Valve；24- vaporising device；25- first transports pump；31- thermostat valve；32- heat exchanger coil；41- sea water control valve；The filter of 42- seawater
Device；43- second transports pump；44- vaporization chamber；45- vacuum compression device；46- heat of evaporation water coke slurry device；47- fresh water tank；50-
Working moisture orchestration；60- low temperature water tank；71- heat exchanger；72- cools down water tank；80- is from being humidified self-cooling set.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiments of the present invention, instead of all the embodiments.It should be appreciated that specific embodiment described herein only to
It explains the present invention, is not intended to limit the present invention.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
As shown in Fig. 2, a kind of waste heat comprehensive utilization system adaptive controller peculiar to vessel, for being utilized to residual heat integrative peculiar to vessel
The working moisture orchestration of system carries out Fuzzy PID self-adaptive control, and adaptive controller includes analog module and PLC control mould
The output end of block, analog module is connect with the input terminal of PLC control module, the output end and working moisture of PLC control module
Orchestration connection；
Analog module for acquiring the cabin temperature signal in each cabin of ship in real time, and by collected all cabins
Temperature signal is sent to PLC control module；
PLC control module includes processing unit and fuzzy-adaptation PID control unit；
Processing unit as difference for obtaining the current cabin temperature signal in each cabin received with cabin set temperature
Temperature difference, and temperature difference change rate is obtained according to temperature difference；
Fuzzy-adaptation PID control unit is used to Fuzzy PID is based on, to PID according to temperature difference and temperature difference change rate
Control parameter is adaptively adjusted, and so that working moisture orchestration is adjusted working water flow, and then each cabin temperature is adjusted to cabin
Room set temperature.
The present invention can accurately control work by making it have good adaptive ability to pid parameter on-line control
Moisture is matched, and the waste heat for generating it by hydrogen-oxygen fuel cell is light by refrigeration module, heating module and system in a manner of working water
Module is realized and is efficiently utilized, to accurately control cabin room temperature to set temperature.
In a preferred embodiment of the invention, as shown in figure 3, analog module is also used to acquire remaining working flow in real time
Signal, remaining working water temperature signal, seawater inlet temperature signal are measured, and is sent to PLC control module；
PLC control module includes seawater pump control unit, and seawater pump control unit is used for according to current residual working flow
Signal, remaining working water temperature signal and seawater inlet temperature signal are measured, corresponding seawater under the optimal light efficiency of system is calculated
Flow, and then adjust seawater revolution speed and most preferably make light operating condition to realize.
This working moisture orchestration also has remaining working water and uses after working moisture is assigned to refrigeration module or heating module
Light in making, remaining working water is carried out making light operating condition by working moisture orchestration through fresh water pump transport.The present invention is by working to residue
Water flow, temperature and seawater inlet temperature acquisition, calculate, seawater optimum flow under available real-time working condition, thus real
When control sea water pump revolving speed, realization efficiently make it is light, sufficiently realize hydrogen fuel cell Ship Waste Heat utilize.Wherein, remaining working water
Flow signal is acquired by flow sensor, and seawater inlet temperature is acquired by temperature sensor.
It makes in light operating condition, light device heat balance equation is made according to boiling type evaporation, the total amount of heat in evaporator should reach
Balance, has: mhcp(t1-t2)=mgcp(t3-t4)+mdR,
In formula, mh- flow heated water amount, kg/s；cpThe specific heat of-water, kJ/ (kg DEG C)；t1、t2- heating tube into and out of
Mouth temperature, DEG C；mgThe seawater confluent of-evaporator, kg/s；t3- boiling sea water temperature, DEG C；t4- seawater inlet temperature, DEG C；
mdThe water yield of-device, kg/s；R-water latent heat of vaporization, kJ/kg.
In a preferred embodiment of the invention, as shown in Fig. 2, analog module includes analog quantity unit, analog quantity unit
For collected analog signals to be converted into digital quantity signal and are sent to PLC control module.
In a preferred embodiment of the invention, as shown in Fig. 2, the adaptive controller further includes man-machine interface, man-machine boundary
Face is for interactive information, alarm and the switching of manual/auto control model between display system and user.The present invention can be with
Human-computer interaction is realized, to facilitate field management while efficiently utilizing the energy.The combination of PLC control module and man-machine interface can
To give full play to intuitive and convenient for monitoring the advantage of the powerful working efficiency of PLC control module and performance and HMI technology, from
And entirety promotes human-computer interaction and control performance of the invention.
In a preferred embodiment of the invention, as shown in Fig. 2, analog module is also used to acquire environment temperature letter in real time
Number, and be sent to man-machine interface and shown, so that user understands real time environment temperature information.
In a preferred embodiment of the invention, as shown in Fig. 2, the adaptive controller further includes host computer, host computer is used
In for user's transmission manipulation command.
In a preferred embodiment of the invention, as shown in Figure 1, waste heat comprehensive utilization system peculiar to vessel includes hydrogen-oxygen fuel electricity
Pond, refrigeration module 10, heating module, the light module of system and working moisture orchestration 50, hydrogen-oxygen fuel cell 10 are proton exchange film hydrogen
Oxygen fuel cell provides thermal energy, the input terminal (pipeline III) and hydrogen-oxygen fuel cell 10 of working moisture orchestration 50 for whole system
Connection, output end passes through three output pipes (pipeline IV, V, VIII) respectively and refrigeration module, heating module and the light module of system connect
It connects, working moisture orchestration 50, which absorbs the waste heat from hydrogen-oxygen fuel cell 10 and is delivered to modules, to be utilized.The system
It further include VI being flowed by the road from humidification self-cooling set 80 from the fresh water in humidification self-cooling set 80, fresh water tank 47, warp
Runner distribution, a part of water are used for the humidification of hydrogen-oxygen fuel cell 10, and a part of water is used when cooling 72 thermic load of water tank increases
In cooling fuel cell.
As shown in Figure 1, the refrigeration module of the system includes that the lithium bromide-water for being sequentially connected and being formed into a loop by pipeline mixes
It closes solution generator 21, condensing unit 22, expansion valve 23, vaporising device 24 and first and transports pump 25.Its heating module includes
Thermostat valve 31 and heat exchanger coil 32, the residual heat collection that working moisture orchestration 50 generates hydrogen-oxygen fuel cell 10, through efferent duct
Road V is delivered to heat exchanger coil 32, and low temperature water tank 60 is flowed into after the change of current, thermostat valve 31 is arranged on output pipe V.It makes light mould
Block includes fresh-water generator and fresh water tank 47, and fresh-water generator includes the sea water control valve 41 being sequentially connected, the fortune of sea water filter 42, second
Pump 43 and vaporization chamber 44, a water outlet of vaporization chamber 44 is sent to connect with heat of evaporation water coke slurry device 46, heat of evaporation water coke slurry dress
It sets 46 to connect with low temperature water tank 60, another water outlet of vaporization chamber 44 is connect with fresh water tank 47, and vaporization chamber 44 is equipped with vacuum
Compression set 45.Its pipeline I is 10 enclosed cooling cycle pipeline of hydrogen-oxygen fuel cell, by hydrogen-oxygen fuel cell 10, heat exchanger
71, cooling water tank 72 is sequentially connected composition, and the water outlet of low temperature water tank 60 is connect with heat exchanger 71, the low temperature of low temperature water tank 60
Water passes through the inflow working water of pipeline II after realizing heat exchange with the high-temperature water from hydrogen-oxygen fuel cell 10 in heat exchanger 71
Distributor 50.
The system supplies through working moisture orchestration and freezes using the cooling water of fuel cell output and reaction water as heat source
Module, the light module of system and heating module, refrigeration module absorb heat by generator and vaporize the refrigerant generation cooling capacity, heat mould
Block generates warm wind by the heat exchanger heat exchange in water heating fan, and making light module by generator absorption heat makes boiling sea water
Fresh water is made.The present invention is acquired using PLC as control core by each cabin temperature, seawater inlet temperature, operation of fuel cells water temperature
The standard signal of the sensors output such as degree and flow, controls working moisture orchestration by the fuzzy PID algorithm in PLC, makes work
Water a part enters refrigeration module or heating module, to realize that each cabin temperature is adjusted；Remaining working water enters the light module of system,
By acquiring its temperature, flow signal, in conjunction with seawater inlet temperature value, the available best seawater flow after calculating is real
It now efficiently makes light.The self-adjusted block of marine fuel battery waste heat energy may be implemented in the present invention, sufficiently efficiently utilizes waste heat energy
Source.
Correspondingly, the present invention also provides a kind of waste heat comprehensive utilization system self-adaptation control method peculiar to vessel, this method includes
Following steps:
S1, the real-time cabin temperature information in each cabin of ship is obtained；
S2, the current cabin temperature information in each cabin and cabin set temperature numerical value are obtained temperature difference (Et) as difference, and
Temperature difference change rate (ECt) is obtained according to temperature difference, wherein cabin set temperature sets benchmark temperature according to cabin area and purposes
Degree；
S3, pid control parameter is carried out adaptive according to temperature difference and temperature difference change rate based on Fuzzy PID
It should adjust, so that working moisture orchestration is adjusted working water flow, and then each cabin temperature is adjusted to cabin set temperature.
In a preferred embodiment of the invention, in step S3, the fuzzy rule of Fuzzy PID is (real according to control
Border experience is available) as shown in table 1:
The fuzzy rule of 1 PID of table
Wherein, Et is temperature difference, and ECt is temperature difference change rate, NB, NM, NS, Z, PS, PM, PB respectively represent bear it is big, negative
In, bear it is small, zero, it is just small, center, it is honest.The input quantity of Fuzzy PID and the language description of output quantity are as follows: NB, NM,
NS, Z, PS, PM, PB }
As shown in figure 4, fuzzy PID algorithm is calculated according to the deviation and deviation variation rate of input quantity, by input quantity
Blurring, fuzzy reasoning, output quantity sharpening constantly adjust three parameters of PID, to reach optimal control effect
Fruit.The advantages that fuzzy PID algorithm has model simple, strong robustness, applicability is wide.
As shown in figure 5, cabin temperature control process are as follows: each cabin temperature value is read first, judges refrigerating/heating operating condition,
It later with cabin temperature preset value calculation temperature difference Et, rate of temperature change ECt, is blurred, fuzzy reasoning, exports by input quantity
Sharpening is measured, three parameters (Kp, Ki and Kd) of PID are constantly adjusted, and then output services water dispenser adjusts work
Water flow (specifically controls refrigerating/heating, the light operating condition relevant work water dispenser valve opening of system), so that cabin temperature is adjusted,
PLC control module acquires remaining working water flow and seawater inlet temperature later, calculates corresponding seawater under the optimal light efficiency of system
Flow adjusts seawater revolution speed and then realizes and most preferably makes light operating condition.It is light that cabin temperature, environment temperature and system may be implemented in the present invention
The energy distribution of system reaches optimum efficiency.
The input quantity of fuzzy adaptivecontroller includes that (temperature difference becomes by Et (difference of desired temperature and actual measured value), ECt
Rate), work coolant-temperature gage, working water flow；Output quantity includes Ct (working water flow control amount).
Commonly using incremental timestamp calculation formula is
In formula: n-sampled signal, n=0,1,2 ...；The computer output valve of u (n)-n-th sampling instant；e
(n)-n-th sampling instant input deviation；Kp- proportionality coefficient；Ti- the time of integration；Td- derivative time；KiFor integral
Coefficient, KdFor differential coefficient, enable:
Δ u (n)=Kp[e(n)-e(n-1)]+Kie(n)+Kd{e(n)-2e(n-1)+e(n-2)}。
In ship's space temperature control system there are biggish hysteresis quality and it is non-linear the problems such as, and conventional PID control is calculated
Method can only be effective to linear control object, unstable control process is controlled in temperature, conventional PID control method is to cabin
The inertial element control effect of pure delay is undesirable in temperature control, and pid control parameter is difficult to adapt to, so the present invention uses mould
Paste pid control algorithm controls working moisture orchestration, determines the fuzzy relation in PID between Kp, Ki and Kd and E and EC,
The value of the value of cycle calculations Et and ECt in control process, Kp, Ki and Kd carries out on-line tuning according to fuzzy control principle, allows
The dynamic and static performance of system reaches control and requires, and guarantees good adaptive ability, to reach ideal control effect, to fill
Divide and efficiently utilizes the waste heat energy.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (9)
1. a kind of waste heat comprehensive utilization system adaptive controller peculiar to vessel, for the working water to waste heat comprehensive utilization system peculiar to vessel
Distributor carries out Fuzzy PID self-adaptive control, which is characterized in that the adaptive controller includes analog module and PLC control
The output end of molding block, the analog module is connect with the input terminal of PLC control module, the output of the PLC control module
End is connect with working moisture orchestration；
The analog module for acquiring the cabin temperature signal in each cabin of ship in real time, and by collected all cabins
Temperature signal is sent to PLC control module；
The PLC control module includes processing unit and fuzzy-adaptation PID control unit；
The processing unit as difference for obtaining the current cabin temperature signal in each cabin received with cabin set temperature
Temperature difference, and temperature difference change rate is obtained according to temperature difference；
The fuzzy-adaptation PID control unit is used to Fuzzy PID is based on, to PID according to temperature difference and temperature difference change rate
Control parameter is adaptively adjusted, and so that working moisture orchestration is adjusted working water flow, and then each cabin temperature is adjusted to cabin
Room set temperature.
2. waste heat comprehensive utilization system adaptive controller peculiar to vessel according to claim 1, which is characterized in that the simulation
Amount module is also used to acquire remaining working water flow signal, remaining working water temperature signal, seawater inlet temperature signal in real time, and
It is sent to PLC control module；
The PLC control module includes seawater pump control unit, and the seawater pump control unit according to current residual for working
Water flow signal, remaining working water temperature signal and seawater inlet temperature signal are calculated corresponding under the optimal light efficiency of system
Seawater flow, and then adjust seawater revolution speed and most preferably make light operating condition to realize.
3. waste heat comprehensive utilization system adaptive controller peculiar to vessel according to claim 1, which is characterized in that the simulation
Measuring module includes analog quantity unit, and the analog quantity unit is used to collected analog signals being converted into digital quantity signal simultaneously
It is sent to PLC control module.
4. waste heat comprehensive utilization system adaptive controller peculiar to vessel according to claim 1, which is characterized in that this is adaptive
Controller further includes man-machine interface, and the man-machine interface is for interactive information, alarm and the hand between display system and user
The switching of dynamic/automatic control mode.
5. waste heat comprehensive utilization system adaptive controller peculiar to vessel according to claim 4, which is characterized in that the simulation
Amount module is also used to acquire ambient temperature signal in real time, and is sent to the man-machine interface and is shown.
6. waste heat comprehensive utilization system adaptive controller peculiar to vessel according to claim 1, which is characterized in that this is adaptive
Controller further includes host computer, and the host computer is used to send manipulation command for user.
7. waste heat comprehensive utilization system adaptive controller peculiar to vessel according to claim 1, which is characterized in that described peculiar to vessel
Waste heat comprehensive utilization system includes hydrogen-oxygen fuel cell, refrigeration module, heating module, the light module of system and working moisture orchestration, institute
Stating hydrogen-oxygen fuel cell is proton exchange membrane hydrogen-oxygen fuel cell, and for providing thermal energy for whole system, the working moisture is matched
The input terminal of device is connect with hydrogen-oxygen fuel cell, and output end is connect with refrigeration module, heating module and the light module of system respectively, institute
Working moisture orchestration is stated to be utilized for absorbing the waste heat from hydrogen-oxygen fuel cell and being delivered to modules.
8. a kind of waste heat comprehensive utilization system self-adaptation control method peculiar to vessel, which comprises the following steps:
S1, the real-time cabin temperature information in each cabin of ship is obtained；
S2, the current cabin temperature information in each cabin and cabin set temperature numerical value are obtained into temperature difference as difference, and according to temperature
Difference obtains temperature difference change rate；
S3, pid control parameter is adaptively adjusted based on Fuzzy PID according to temperature difference and temperature difference change rate
It is whole, so that working moisture orchestration is adjusted working water flow, and then each cabin temperature is adjusted to cabin set temperature.
9. waste heat comprehensive utilization system self-adaptation control method peculiar to vessel according to claim 8, which is characterized in that step S3
In, the fuzzy rule of the Fuzzy PID is as shown in table 1:
The fuzzy rule of 1 PID of table
Wherein, Et is temperature difference, and ECt is temperature difference change rate, and NB, NM, NS, Z, PS, PM, PB, which are respectively represented, to be born in big, negative, bears
It is small, zero, it is just small, center, it is honest.
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| CN111735228A (en) * | 2020-06-30 | 2020-10-02 | 中船重工湖北海洋核能有限公司 | Variable-structure control system and control method of lithium bromide refrigerator for marine nuclear power ship |
| CN111752148A (en) * | 2020-06-03 | 2020-10-09 | 武汉理工大学 | Self-adaptive controller and method applied to ship waste gas utilization system |
| CN112713290A (en) * | 2020-12-29 | 2021-04-27 | 浙江高成绿能科技有限公司 | Temperature control method of fuel cell |
| CN113782767A (en) * | 2021-08-24 | 2021-12-10 | 武汉理工大学 | Reforming hydrogen-oxygen production fuel cell ship waste heat comprehensive utilization system |
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