CN111240188A - Biomass waste fermentation heat energy control system and control method - Google Patents
Biomass waste fermentation heat energy control system and control method Download PDFInfo
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 4
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Abstract
The embodiment of the invention provides a biomass waste fermentation heat energy control system and a control method, wherein a biomass waste fermentation tank is provided with a heat supply pipeline, biomass waste is heated by hot water circulation, a temperature detection device is arranged in the biomass waste fermentation tank, the temperature detection device detects the real-time temperature in the biomass fermentation tank, and a PID (proportion integration differentiation) controller controls and adjusts the temperature in the biomass fermentation tank according to the input real-time temperature so as to keep the temperature in the biomass fermentation tank constant. The embodiment of the invention provides a comprehensive utilization mode for preparing biogas by fermenting biomass wastes, establishes a heat energy control model of a biomass waste fermentation system, and provides an improved invasive weed algorithm PID control method, which has the characteristics of high convergence rate and strong global search capability, can quickly and stably control heat energy required by the fermentation process of the biomass wastes, and realizes stable supply of biogas.
Description
Technical Field
The invention belongs to the technical field of heat energy control, and particularly relates to a biomass waste fermentation heat energy control system and a control method.
Background
In rural areas, a large amount of biomass waste such as crop straws, vegetable seedlings, waste agricultural films, livestock excrements, domestic garbage and the like is generated every year. The huge amount of biomass waste is randomly stacked or burned on site in rural areas, which causes a serious environmental pollution problem. Therefore, how to reasonably and effectively treat a huge amount of biomass waste becomes one of the urgent problems to be solved in rural areas at present.
At present, the mainstream biomass waste treatment method at home and abroad is to prepare biogas by waste fermentation for recycling, for example, the biogas preparation is carried out based on cow dung, and the influence on the biogas yield caused by different stirring time and times of the cow dung is researched; analyzing the flow field dynamics of the fermentation and stirring process of the biomass waste by utilizing a multiphase flow technology, and providing reference for optimizing the design and stirring process; and (3) mixing and proportioning the cow dung and the straws to prepare the methane, so as to obtain the optimal configuration proportion. For another example, research is carried out on a biogas treatment method of the excrement waste generated in a large-scale pig farm; the method for culturing anaerobic flora in the process of preparing the biogas from the straws is researched, and a biogas fermentation parameter optimization model based on ELECTRE-1 is constructed.
The research on the influence factors such as stirring, biogas slurry proportion, anaerobic flora and the like in the process of preparing the biogas from the biomass waste obtains some research results, but the research on the heat energy control in the biomass fermentation process is less.
Disclosure of Invention
To overcome the existing problems or at least partially solve the problems, embodiments of the present invention provide a system and a method for controlling biomass waste fermentation heat energy.
According to a first aspect of the embodiments of the present invention, a biomass waste fermentation heat energy control system is provided, the control system includes a biomass waste fermentation tank and a PID controller, the biomass waste fermentation tank is provided with a heat supply pipeline, the biomass waste is heated by hot water circulation, and the biomass waste fermentation tank is internally provided with a temperature detection device;
the temperature detection device is used for detecting the real-time temperature in the biomass fermentation tank and transmitting the real-time temperature to the PID controller;
the PID controller is used for controlling and regulating the temperature in the biomass fermentation tank according to the input real-time temperature so as to keep the temperature in the biomass fermentation tank constant;
wherein the parameters of the PID controller are adjusted using an improved invasive weed algorithm.
According to a second aspect of the embodiments of the present invention, there is provided a method for controlling fermentation heat energy based on a biomass waste fermentation tank, the biomass waste fermentation tank being provided with a heat supply pipeline for heating biomass waste by hot water circulation, the biomass waste fermentation tank being provided with a temperature detection device therein, the method comprising:
the temperature detection device detects the real-time temperature in the biomass fermentation tank and transmits the real-time temperature to the PID controller;
the PID controller controls and regulates the temperature in the biomass fermentation tank according to the input real-time temperature, so that the temperature in the biomass fermentation tank is kept constant;
wherein the parameters of the PID controller are adjusted using an improved invasive weed algorithm.
The embodiment of the invention provides a biomass waste fermentation heat energy control system and a control method, wherein a biomass waste fermentation tank is provided with a heat supply pipeline, biomass waste is heated by hot water circulation, a temperature detection device is arranged in the biomass waste fermentation tank, the temperature detection device detects the real-time temperature in the biomass fermentation tank, and a PID (proportion integration differentiation) controller controls and adjusts the temperature in the biomass fermentation tank according to the input real-time temperature so as to keep the temperature in the biomass fermentation tank constant. The embodiment of the invention provides a comprehensive utilization mode for preparing biogas by fermenting biomass wastes, establishes a heat energy control model of a biomass waste fermentation system, and provides an improved invasive weed algorithm PID control method, which has the characteristics of high convergence rate and strong global search capability, can quickly and stably control heat energy required by the fermentation process of the biomass wastes, and realizes stable supply of the biogas.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic view of a comprehensive utilization mode of biogas prepared by fermenting biomass waste;
fig. 2 is a schematic view of the overall structure of a biomass waste fermentation heat energy control system according to an embodiment of the present invention;
FIG. 3 is a schematic view of a biomass waste fermentation tank;
FIG. 4 is a flow chart of an improved invasive weed algorithm;
FIG. 5 is a graph of fitness values for a first test function;
FIG. 6 is a graph of fitness values for a second test function;
FIG. 7 is a plot of fitness values for a third test function;
FIG. 8 is a graph of the thermal energy control fitness value of a biomass waste fermentation tank;
FIG. 9 is a diagram showing simulation results of three PID control methods (conventional PID control, invasive weed PID control, and improved invasive weed PID control) of the biomass waste fermentation system.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Referring to fig. 1, a biomass waste fermentation heat energy control system according to an embodiment of the present invention is provided, and the control system includes a biomass waste fermentation tank and a PID controller, the biomass waste fermentation tank is provided with a heat supply pipeline, the biomass waste is heated by hot water circulation, and the biomass waste fermentation tank is provided with a temperature detection device.
The temperature detection device is used for detecting the real-time temperature in the biomass fermentation tank and transmitting the real-time temperature to the PID controller;
the PID controller is used for controlling and regulating the temperature in the biomass fermentation tank according to the input real-time temperature so as to keep the temperature in the biomass fermentation tank constant;
wherein the parameters of the PID controller are adjusted using an improved invasive weed algorithm.
It can be understood that fig. 2 is a comprehensive utilization mode for preparing biogas by fermenting biomass waste, and the comprehensive utilization mode mainly comprises a facility agricultural greenhouse fruit and vegetable module, a large livestock farm module, a biogas preparation system module by fermenting biomass waste and a biogas utilization module. Crops such as greenhouse fruits and vegetables of facility agriculture can be used as one of feed supply sources of large livestock farms, and on the contrary, livestock manure generated by the large livestock farms can be used as fertilizer of the crops, so that the crops use less fertilizer, and the fertilizer is more healthy and environment-friendly. Agricultural wastes after fruits and vegetables in the facility agricultural greenhouse are mature and livestock manure in a large livestock farm can also be used as raw materials of a biogas system prepared by fermenting biomass wastes, and conversely biogas slurry and biogas residues formed in the process of preparing biogas by fermenting the biomass wastes can be used as fertilizers for crops such as fruits and vegetables in the facility agricultural greenhouse. The biogas prepared by fermenting the biomass waste can be used for cooking at peasant homes, warming or storing greenhouse facilities and agriculture, and the like. The stable and reasonable heat energy environment is one of the key factors for realizing stable supply of the biogas, and the biomass waste fermentation system is a large time-lag system, so that the problems of large fluctuation, more vibration and large overshoot of heat energy control in the biomass fermentation system exist. In order to solve the problems, the embodiment of the invention utilizes the heat energy control system to keep the fermentation temperature of the biomass waste stable, thereby realizing the stable supply of the biogas.
The biomass waste fermentation tank provided by the embodiment of the invention is provided with a heat supply pipeline, the biomass waste is heated by hot water circulation, and the biomass waste fermentation tank is internally provided with a temperature detection device. Wherein, utilize temperature-detecting device to detect the real-time temperature in the biomass fermentation vat, the PID controller is according to the real-time temperature of input, controls the regulation to the temperature in the biomass fermentation vat for the temperature in the biomass fermentation vat keeps invariable. In the embodiment of the invention, the parameters of the PID controller are adjusted by adopting an improved invasive weed algorithm, so that the control and regulation capacity of the PID controller is improved.
The embodiment of the invention provides an improved invasive weed algorithm PID control method which has the characteristics of high convergence rate and strong global search capability, can quickly and stably control heat energy required by the fermentation process of biomass waste, and realizes stable supply of biogas.
As an alternative embodiment, the temperature detection device comprises three sets of temperature sensors, and the three sets of temperature sensors are respectively arranged at the upper position, the middle position and the lower position of the biomass waste fermentation tank.
Referring to fig. 3, it can be understood that the biomass waste fermenting tank is provided with a heat supply pipeline, and the biomass waste is heated by hot water circulation. Three groups of temperature sensors, namely an upper group of temperature sensors, a middle group of temperature sensors and a lower group of temperature sensors, are arranged inside the fermentation tank and are used for monitoring the real-time temperature in the fermentation tank and feeding back data to the heat energy control system.
As an alternative embodiment, adjusting the parameters of the PID controller using the modified invasive weed algorithm comprises:
proportional adjustment parameter K for PID controller using improved invasive weed algorithmPIntegral adjustment parameter KIAnd a differential adjustment parameter KDAnd (6) adjusting.
It will be appreciated that in embodiments of the invention, an improved invasive weed algorithm is used to adjust the parameters of the PID controller. Specifically, the proportion adjusting parameter, the integral adjusting parameter and the differential adjusting parameter of the PID controller are adjusted, and the temperature control adjusting capability of the PID controller on the fermentation of the biomass waste is improved.
On the basis of the biomass waste fermentation heat energy control system, the embodiment of the invention also provides a fermentation heat energy control method based on the biomass waste fermentation tank, and the control method comprises the following steps:
the temperature detection device detects the real-time temperature in the biomass fermentation tank and transmits the real-time temperature to the PID controller;
the PID controller controls and regulates the temperature in the biomass fermentation tank according to the input real-time temperature, so that the temperature in the biomass fermentation tank is kept constant;
wherein the parameters of the PID controller are adjusted using an improved invasive weed algorithm.
It can be understood that the biomass waste fermentation tank is provided with a heat supply pipeline, the biomass waste is heated by hot water circulation, and the biomass waste fermentation tank is internally provided with a temperature detection device. Wherein, utilize temperature-detecting device to detect the real-time temperature in the biomass fermentation vat, the PID controller is according to the real-time temperature of input, controls the regulation to the temperature in the biomass fermentation vat for the temperature in the biomass fermentation vat keeps invariable. In the embodiment of the invention, the parameters of the PID controller are adjusted by adopting an improved invasive weed algorithm, so that the control and regulation capacity of the PID controller is improved.
The embodiment of the invention provides an improved invasive weed algorithm PID control method which has the characteristics of high convergence rate and strong global search capability, can quickly and stably control heat energy required by the fermentation process of biomass waste, and realizes stable supply of biogas.
As an alternative example, the temperature in the fermentation tank is kept constant during the fermentation process of the biomass waste, which is the key for keeping stable preparation of the biogas. Because the heat generated by the biomass waste fermentation process and the heat lost in the methane output process have small numerical values, the influence on the human energy model of the biomass waste fermentation system is small, and the heat can be ignored. According to the law of conservation of energy, the heat energy control model of the biomass waste fermentation system can be obtained as follows:
in the formula ,cxM is the specific heat capacity of water in the heat supply pipelinexFor the quality of water in the heat supply pipeline, delta T is the variation of the temperature of the pipeline water entering the fermentation tank and the temperature of the pipeline water flowing out of the fermentation tank, βxFor heat transfer coefficient of heat supply pipe, AxFor the cross-sectional area of the heat supply pipe, KμIs a proportionality coefficient, delta mu is the temperature variation before and after water enters a heat supply pipeline, and tau is the temperature delay variation time in the fermentation tank;
the formula (1) can be collated to obtain:
wherein ,
in the formula, K is the heat conductivity coefficient of the heat supply pipeline;
the formula (2) is subjected to Laplace transform to obtain
TSΔT(s)-TΔT(0)+ΔT(s)＝KΔμ(s)e-τs；(4)
The formula (4) is arranged to obtain
The transfer function form of the biomass waste fermentation system heat energy control model established by the equation is a first-order inertia plus pure hysteresis link.
As an alternative embodiment, the temperature detection means comprises three sets of temperature sensors;
a group of temperature sensors are respectively arranged at the upper position, the middle position and the lower position of the biomass fermentation tank.
As an alternative embodiment, adjusting the parameters of the PID controller using the modified invasive weed algorithm comprises:
and adjusting the proportional regulation parameter, the integral regulation parameter and the differential regulation parameter of the PID controller by adopting an improved invasive weed algorithm.
The invasive weed algorithm is a novel artificial intelligence algorithm proposed by scientist a.r.mehrabian et al in 2006. The weed algorithm simulates four steps of weed invasion according to the weed invasion principle, namely: weed initialization, weed propagation, weed spread, and weed competition rejection. The algorithm is simple in principle and easy to implement, and is superior to a classical particle swarm algorithm in all aspects. However, the algorithm still has problems to be further solved, for example, the evolutionary speed needs to be further accelerated at the later stage of the algorithm iteration, and the search depth is still insufficient. Based on this, as an alternative embodiment, the proportional regulation parameter, the integral regulation parameter and the differential regulation parameter of the PID controller are adjusted by using the modified invasive weed algorithm, and the steps of modifying the invasive weed algorithm can be seen in fig. 4, which is as follows:
(1) initializing a population, and setting the scale of the population, the maximum and minimum values of the seed scale and the solving range of the function independent variable;
(2) weeds propagate, and the number of seeds produced by the weeds is:
in the formula ,nseeds(i) Number of seeds produced for weed i, smaxMinimum number of seeds produced for weeds, sminMaximum number of seeds produced for weeds, fminIs the fitness minimum, f, in the iterative process of the objective functionmaxIs the maximum value of fitness in the iterative process of the objective function, fiIs the fitness value of the weed i, t is the current iteration number, tmaxFor the maximum number of iterations, g is the weed factor. The weed factor is added on the basis of the traditional invasive weed algorithm by the formula, and is adjusted according to the set maximum iteration times and the current iteration times, so that the number of seeds generated by each generation of weeds is dynamically adjusted according to the weed factor, and the parameters of PID control are adjusted in real time.
(3) The weeds spread, seeds produced by the weeds grow into weeds according to a positive distribution, spread around the parent weeds, and are represented by the following formula:
in the formula ,σtStandard deviation of the t-th weed, deltainitialIs a firstInitial standard deviation, δfinalThe final standard deviation;
(4) competitive weed rejection
After the weed diffusion process in the step (3), performing mutation, intersection and selection operations on seeds generated by weeds by using a differential evolution algorithm for reference;
combining all the parent weeds and the offspring weeds, sorting according to the fitness value, finally selecting Wmax weeds with smaller fitness values, and eliminating the rest weeds;
if the iteration number does not reach the maximum value, returning to the step (2), otherwise, outputting the iterative optimal solution, namely the proportional control parameter K of the PID controllerPIntegral adjustment parameter KIAnd a differential adjustment parameter KD。
In order to verify the effectiveness of the improved invasive weed algorithm provided by the embodiment of the invention, three standard functions are set for testing, the dimension of each test function is set to be 10, and the expressions of the three standard functions are shown in table 1. Parameters for improving the invasive weed algorithm were: initial population size of weeds was 30, maximum population size was 50, maximum number of iterations was 200, maximum and minimum seed numbers were 5 and 2.
TABLE 1 test function
The test effect diagrams of the three standard functions are respectively shown in fig. 5, fig. 6 and fig. 7, wherein fig. 5 is the standard function f1(x) FIG. 6 is a graph showing a standard function f2(x) FIG. 7 is a graph showing a standard function f3(x) The test results of (1) are shown schematically.
As can be seen from fig. 5 to 7, when the improved invasive weed algorithm proposed by the embodiment of the present invention is used to solve the three standard functions, the fitness values of the three functions are respectively reduced by 50%, 23% and 82% compared to the conventional invasive weed algorithm. The improved invasive weed algorithm provided by the embodiment of the invention is proved to be capable of effectively improving the global convergence of the three standard functions to obtain a better global optimal solution. The improved invasive weed algorithm is applied to the PID controller, and the optimal proportional regulation parameter, integral regulation parameter and differential regulation parameter of the PID controller can be obtained. The regulation capability of the PID controller is improved, so that the biogas preparation has a stable heat energy environment.
The above embodiment proposes an improved invasive weed algorithm, and in conjunction with fig. 1, the biomass waste pool, the temperature detection device and the PID controller in the embodiment of the present invention form a closed loop mechanism. The temperature detection device is arranged in the biomass waste fermentation tank, so that the temperature of the fermentation tank is fed back in real time, a PID (proportion integration differentiation) controller is favorable for carrying out online adjustment, and the stability of the temperature environment of the biomass waste fermentation system is realized.
The thermal energy control method provided by the embodiment of the invention is verified by taking a biomass waste fermentation system in a certain rural area in the west as an example, wherein the simulation environment is MATLAB2014a, the thermal energy control model parameters of the biomass waste fermentation system are K equal to 0.92, τ equal to 10, and T equal to 144. The system simulation parameters are set as follows: (1) the original PID controlled parameters were: kp is 3, KIIs 0.02, KD0.001, the control temperature is set to 37 ℃, and the initial input signal is a step signal. (2) Parameters of the invasive weed algorithm PID control and the improvement method thereof are as follows: initial population size of 30, maximum population size of 50, maximum seed number of 5, minimum seed number of 2, iteration number of 100, Kp range of [0, 5%]，KIIn the range of [0,0.1]，KDIn the range of [0,0.01 ]]。
Fig. 8 is a curve of the heat energy control fitness value of the biomass waste fermentation system, which can be obtained from fig. 8, the fitness value of the biomass waste fermentation system obtained by using the traditional invasive weed algorithm is 25832.05, the fitness value of the biomass waste fermentation system obtained by using the improved invasive weed algorithm provided by the embodiment of the present invention is 25830.74, and the fitness value of the biomass waste fermentation system is reduced to a certain extent, which indicates that the improved invasive weed algorithm provided by the embodiment of the present invention can obtain a better global optimal solution. Secondly, compared with the traditional invasive weed algorithm, the improved invasive weed algorithm provided by the embodiment of the invention approaches to the global optimal solution at the 94 th iteration, and the convergence speed of the improved invasive weed algorithm provided by the embodiment of the invention is proved to be also due to the invasive weed algorithm.
FIG. 9 is a diagram showing simulation results of three PID control methods (conventional PID control, invasive weed PID control, and improved invasive weed PID control) of the biomass waste fermentation system. As can be seen from fig. 9, the heat energy control of the biomass waste fermentation system by using the conventional PID control method has the disadvantages of large overshoot and slow response speed, and cannot provide a stable heat energy environment for the biomass waste fermentation system, thereby affecting the stable supply of biogas; by adopting the invasive weed PID control method and the improved method thereof, the response speed of the system is improved, and the overshoot of the system is reduced. Simultaneously; as can be seen from fig. 9, the improved invasive weed PID control method proposed by the embodiment of the present invention can achieve higher precision control of temperature than the invasive weed PID control method, and also shows the effectiveness and superiority of the proposed improved invasive algorithm.
The embodiment of the invention provides a biomass waste fermentation heat energy control system and a control method, wherein a biomass waste fermentation tank is provided with a heat supply pipeline, biomass waste is heated by hot water circulation, a temperature detection device is arranged in the biomass waste fermentation tank, the temperature detection device detects the real-time temperature in the biomass fermentation tank, and a PID (proportion integration differentiation) controller controls and adjusts the temperature in the biomass fermentation tank according to the input real-time temperature so as to keep the temperature in the biomass fermentation tank constant. The embodiment of the invention provides a comprehensive utilization mode for preparing biogas by fermenting biomass wastes, establishes a heat energy control model of a biomass waste fermentation system, and provides an improved invasive weed algorithm PID control method, which has the characteristics of high convergence rate and strong global search capability, can quickly and stably control heat energy required by the fermentation process of the biomass wastes, and realizes stable supply of the biogas.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A biomass waste fermentation heat energy control system is characterized by comprising a biomass waste fermentation tank and a PID (proportion integration differentiation) controller, wherein the biomass waste fermentation tank is provided with a heat supply pipeline for heating biomass waste by utilizing hot water circulation, and a temperature detection device is arranged in the biomass waste fermentation tank;
the temperature detection device is used for detecting the real-time temperature in the biomass fermentation tank and transmitting the real-time temperature to the PID controller;
the PID controller is used for controlling and regulating the temperature in the biomass fermentation tank according to the input real-time temperature so as to keep the temperature in the biomass fermentation tank constant;
wherein the parameters of the PID controller are adjusted using an improved invasive weed algorithm.
2. The control system of claim 1, wherein the temperature detection device comprises three sets of temperature sensors, and the three sets of temperature sensors are respectively disposed at an upper position, a middle position and a lower position of the biomass waste fermentation tank.
3. The control system of claim 1, wherein the adjusting parameters of the PID controller using the modified invasive weed algorithm comprises:
proportional adjustment parameter K for the PID controller using an improved invasive weed algorithmPIntegral adjustment parameter KIAnd a differential adjustment parameter KDAnd (6) adjusting.
4. A fermentation heat energy control method based on a biomass waste fermentation tank is characterized in that the biomass waste fermentation tank is provided with a heat supply pipeline, biomass waste is heated by hot water circulation, and a temperature detection device is arranged in the biomass waste fermentation tank, and the method comprises the following steps:
the temperature detection device detects the real-time temperature in the biomass fermentation tank and transmits the real-time temperature to the PID controller;
the PID controller controls and regulates the temperature in the biomass fermentation tank according to the input real-time temperature, so that the temperature in the biomass fermentation tank is kept constant;
wherein the parameters of the PID controller are adjusted using an improved invasive weed algorithm.
5. The control method according to claim 4, wherein the thermal energy control model of the biomass waste fermentation tank is as follows:
in the formula ,cxM is the specific heat capacity of water in the heat supply pipelinexFor the quality of water in the heat supply pipeline, delta T is the variation of the temperature of the pipeline water entering the fermentation tank and the temperature of the pipeline water flowing out of the fermentation tank, βxFor heat transfer coefficient of heat supply pipe, AxFor the cross-sectional area of the heat supply pipe, KμIs a proportionality coefficient, delta mu is the temperature variation before and after water enters a heat supply pipeline, and tau is the temperature delay variation time in the fermentation tank;
the formula (1) can be collated to obtain:
wherein ,
in the formula, K is the heat conductivity coefficient of the heat supply pipeline;
the formula (2) is subjected to Laplace transform to obtain
TSΔT(s)-TΔT(0)+ΔT(s)＝KΔμ(s)e-τs；(4)
The formula (4) is arranged to obtain
6. The control method according to claim 4, wherein the temperature detection means includes three sets of temperature sensors;
a group of temperature sensors are respectively arranged at the upper position, the middle position and the lower position of the biomass fermentation tank.
7. The control method of claim 4, wherein the adjusting parameters of the PID controller using the modified invasive weed algorithm comprises:
proportional adjustment parameter K for the PID controller using an improved invasive weed algorithmPIntegral adjustment parameter KIAnd a differential adjustment parameter KDAnd (6) adjusting.
8. The control method of claim 7, wherein adjusting the proportional, integral, and derivative tuning parameters of the PID controller using the modified invasive weed algorithm comprises:
(1) initializing a population, and setting the scale of the population, the maximum and minimum values of the seed scale and the solving range of the function independent variable;
(2) weeds propagate, and the number of seeds produced by the weeds is:
in the formula ,nseeds(i) Number of seeds produced for weed i, smaxMinimum number of seeds produced for weeds, sminMaximum number of seeds produced for weeds, fminIs the fitness minimum, f, in the iterative process of the objective functionmaxIs the maximum value of fitness in the iterative process of the objective function, fiIs the fitness value of the weed i, t is the current iteration number, tmaxG is a weed factor;
(3) the weeds spread, seeds produced by the weeds grow into weeds according to a positive distribution, spread around the parent weeds, and are represented by the following formula:
in the formula ,σtStandard deviation of the t-th weed, deltainitialIs the initial standard deviation, δfinalThe final standard deviation;
(4) weed competitive exclusion, namely performing mutation, intersection and selection operations on seeds generated by weeds by using a differential evolution algorithm after the weed diffusion process in the step (3);
combining all the parent weeds and the offspring weeds, sorting according to the fitness value, finally selecting Wmax weeds with smaller fitness values, and eliminating the rest weeds;
and (3) if the iteration number does not reach the maximum value, returning to the step (2), otherwise, outputting the iterative optimal solution, namely the proportional regulation parameter, the integral regulation parameter and the differential regulation parameter of the PID controller.
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