CN111735228A - Variable-structure control system and control method of lithium bromide refrigerator for marine nuclear power ship - Google Patents
Variable-structure control system and control method of lithium bromide refrigerator for marine nuclear power ship Download PDFInfo
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- CN111735228A CN111735228A CN202010624399.6A CN202010624399A CN111735228A CN 111735228 A CN111735228 A CN 111735228A CN 202010624399 A CN202010624399 A CN 202010624399A CN 111735228 A CN111735228 A CN 111735228A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
- F25B15/00—Sorption machines, plants or systems, operating continuously, e.g. absorption type
- F25B15/02—Sorption machines, plants or systems, operating continuously, e.g. absorption type without inert gas
- F25B15/06—Sorption machines, plants or systems, operating continuously, e.g. absorption type without inert gas the refrigerant being water vapour evaporated from a salt solution, e.g. lithium bromide
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
- F25B49/00—Arrangement or mounting of control or safety devices
- F25B49/04—Arrangement or mounting of control or safety devices for sorption type machines, plants or systems
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21D—NUCLEAR POWER PLANT
- G21D1/00—Details of nuclear power plant
- G21D1/02—Arrangements of auxiliary equipment
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/27—Relating to heating, ventilation or air conditioning [HVAC] technologies
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
- Y02B30/62—Absorption based systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
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Abstract
The invention relates to a variable-structure control system and a control method of a lithium bromide refrigerator for an ocean nuclear power ship, wherein the system comprises the lithium bromide refrigerator and a programmable controller, the programmable controller comprises a logic arithmetic unit, a change-over switch, a PID (proportion integration differentiation) controller and a hybrid controller, the hybrid controller comprises a first controller and a third controller which form closed-loop control and a second controller which ensures the stability margin and the sensitivity of the system, the signal input ends and the signal output ends of the PID controller and the hybrid controller are respectively connected with the change-over switch, the signal output ends of sensors are respectively connected with the signal input end of the logic arithmetic unit, the signal output end of the logic arithmetic unit is connected with the change-over switch, and the control signal input end of an electric regulating valve is connected with the change. The method comprises selecting a switching mode; selecting a control mode; traditional PID control and analytical hybrid control. The method has the advantages of simple parameter setting and good system sensitivity and robustness, and effectively solves the problem of system instability under low-load variable working conditions.
Description
Technical Field
The invention relates to waste heat utilization control, in particular to a lithium bromide refrigerator variable-structure control system and a control method for an ocean nuclear power ship.
Background
Ocean nuclear powered vessels can provide electricity, fresh water, heat energy and the like for ocean development, and are rapidly developed due to the advantages of high power, long refueling period and good maneuverability. In order to save energy, reduce emission and improve the utilization efficiency of nuclear power, large-scale load equipment such as a lithium bromide refrigerator on a ship usually adopts dead steam of the nuclear power as a power source.
At present, a PID controller is generally adopted in a control system of a lithium bromide refrigerator, the parameter setting of the PID controller is mainly based on experience, the information quantity acquired by the control system is limited, and the intelligent degree is low.
The working condition of the nuclear power ship changes greatly, and when the nuclear power operates under the low-load working condition, the change of dead steam is large, so that the lithium bromide refrigerator generates unstable factors, and the conventional PID control method is difficult to realize stable control. Once such a situation occurs, the manual control is usually performed by an operator with abundant experience, and the manual control is converted into the automatic control after the stabilization, so that the operation is complex, the automation degree is low, and the control efficiency is not high.
Aiming at the defects in the prior art, the invention provides a variable-structure control system and a variable-structure control method for a lithium bromide refrigerator for an ocean nuclear power ship, which have the advantages of simple parameter setting and good system sensitivity and robustness. By adopting the invention, the good quality of the PID controller under the steady-state working condition is kept, and the problem of system instability under the low-load variable working condition is solved.
Disclosure of Invention
The invention aims to provide a variable-structure control system and a variable-structure control method for a lithium bromide refrigerator for an ocean nuclear power ship, which have the advantages of simple parameter setting and good system sensitivity and robustness.
In order to achieve the purpose, the invention adopts the following technical scheme:
a variable-structure control system of a lithium bromide refrigerator for a marine nuclear power ship comprises the lithium bromide refrigerator, an exhaust steam pipeline, a cold water inlet pipe, a cold water outlet pipe and a programmable controller, and is characterized in that the exhaust steam pipeline is connected with the lithium bromide refrigerator through an electric regulating valve, an exhaust steam pressure sensor and an exhaust steam temperature sensor are arranged on the exhaust steam pipeline, a water inlet temperature sensor is arranged on the cold water inlet pipe, a water outlet temperature sensor is arranged on the cold water outlet pipe, the programmable controller comprises a selector switch, a logic arithmetic unit, a selector switch, a PID (proportion integration differentiation) controller and a hybrid controller, the hybrid controller comprises a first controller, a third controller and a second controller, the first controller, the third controller and the second controller are used for forming closed-loop control, the signal input end and the signal output end of the PID controller, and the signal input end and the signal output end of the hybrid controller are respectively connected, the signal output ends of the steam exhaust pressure sensor, the steam exhaust temperature sensor, the water inlet temperature sensor and the water outlet temperature sensor are respectively connected with the signal input end of the logic arithmetic unit, the signal output end of the logic arithmetic unit is connected with the change-over switch, and the control signal input end of the electric regulating valve is connected with the change-over switch.
The method for performing variable-structure control on the lithium bromide refrigerator for the marine nuclear power ship by using the control system comprises the following steps of:
s1, selecting a switching mode;
the selection switch is placed at 'manual' or 'automatic';
s2, selecting a control mode;
s2.1, manually selecting;
the selector switch is arranged at a manual position, and an operator places the selector switch at a PID controller or a hybrid controller according to the system working condition and experience;
s2.2, automatic selection is carried out;
the selection switch is arranged at the 'automatic' position, the logic arithmetic unit carries out logic operation according to signals of the exhaust steam pressure sensor, the exhaust steam temperature sensor, the water inlet temperature sensor and the water outlet temperature sensor, judges the current system working condition and automatically outputs signals: when the steam exhaust amount is small and the change is large, the cold water temperature difference value is large and the change is large, and the system is possibly in an unstable state, the change-over switch is switched to a 'hybrid controller'; otherwise, switching the change-over switch to the PID controller;
s3, variable structure control;
s3.1, traditional PID control;
when the PID controller is selected in the step S2, the traditional PID control is carried out on the lithium bromide refrigerator by the PID controller;
s3.2, performing analytic mixed control;
when the mixing controller is selected in step S2, the mixing controller performs analytic mixing control on the lithium bromide refrigerator;
s3.2.1, establishing a mathematical model;
obtaining a mathematical model of the controlled object through testing, and expressing the mathematical model as follows by a molecular analytic expression:
P＝Kp(s+e1)(s+e2)…(s+eg)/(s+f1)(s+f2)…(s+fh)
in the formula: h is>g，ei(i is 1, 2, … g) is zero, f isj( j 1, 2, … h) is the pole, kpThe proportional coefficients are dimensionless coefficients, the input function of P is a valve opening function, and the output function is a cold water outlet temperature function;
s3.2.2, calculating a sensitivity function S;
acquiring an S function with optimal sensitivity under a stability condition and a performance constraint condition;
s3.2.2.1, a set of reasonable closed-loop function T poles and partial zeros of an S function are given. T and S are complementary functions, T is 1-S, T directly influences the stability of the system, S directly influences the sensitivity of the system, and the T and the S are restricted with each other;
s3.2.2.2. determining a group of constraint conditions including stability conditions and performance constraint conditions as interpolation conditions according to the system performance index requirements;
and S3.2.2.3, solving an S function through an interpolation method. That is, a set of closed loop poles is found in D domain, and an S function which must be given is found in F domainCounting zero point to make Min | | | S | non-woven phosphor∞<q；
S3.2.2.4, solving a T function; T1-S, calculating | | | T | | non-woven phosphor∞And if the value meets the requirement, returning to the step S3.2.2.1, and resetting a set of reasonable closed-loop function T poles and partial zeros of the S function for calculation. Until an S function meeting the requirements is obtained;
s3.2.3, calculating a transfer function C of the hybrid controller;
the P function, T function and S function obtained in the steps S3.2.1-S3.2.2 are used to obtain the C function according to the following formula,
C＝T/PS；
s3.2.4, calculating the component functions C1, C2 and C3 of the first controller, the second controller and the third controller;
the above-obtained C is represented by an analytical formula:
C＝KK(s+b1)(s+b2)...(s+bm)/(s+a1)(s+a2)...(s+an)
in the formula KKA constant, s is a variable, ai(i＝1、2、…n)、bj(j ═ 1, 2, … m) are poles and zeros, respectively, and n is>m；
Let the transfer function Cuv ═ s + a)/k (s-a) of the closed loop formed by C1 and C3,
C1＝k1(s+d)/(s+b),C3＝k2；
then d ═ a, k1 ═ 1, k2 ═ k-1, b ═ 2k +1) a, where k <1/2, k ≠ 0;
C2＝k*kk(s+b1)(s+b2)...(s+bm)/(s+a)(s+a2)...(s+an)；
s3.2.5, building a hybrid controller;
c has a right half-plane pole a, set to a1＝-a,a>And 0 and C are unstable controllers, so that a hybrid controller is built: c1 and C3 form a closed loop to realize the unstable part of C, and C2 realizes the rest part of C;
s3.2.6, the mixing controller carries out analytic mixing control on the lithium bromide refrigerator;
the mixing controller calculates an effective valve opening value by using a control algorithm according to the difference value between the given value of the outlet water temperature and the outlet water temperature sensor, controls the opening of the electric regulating valve, and regulates the exhaust steam quantity entering the lithium bromide refrigerator until the cold water temperature reaches the given value and the system runs stably.
The variable-structure control system of the lithium bromide refrigerator for the marine nuclear power ship, provided by the invention, can automatically identify the working conditions and switch between a PID (proportion integration differentiation) controller and a hybrid controller according to the working conditions: when the steam exhaust amount is small and the change is large, the cold water temperature difference value is large and the change is large, and the system is possibly in an unstable state, the control is switched to a 'mixing controller' for control; otherwise, the control is switched to the PID controller. Therefore, the good quality of the PID controller under the steady-state working condition is kept, and the problem of system instability under the low-load variable working condition is solved.
The hybrid controller is adopted, and comprises a first controller, a third controller, a second controller and the like which are stable and can be realized, wherein the first controller and the third controller form closed-loop control, and the second controller is used for ensuring the stability margin and the sensitivity of the system, so that the stable operation of the whole variable structure control system under the low-load working condition is effectively ensured.
The hybrid controller of the invention adopts an interpolation method to solve, namely, H is carried out under the condition of meeting the performance index requirements of sensitivity and certain robustness∞And (5) solving the sub-optimal solution. Because the solution is carried out by an analytic expression, the parameter setting is simple, and the system has better sensitivity and robustness.
The invention utilizes the programmable controller to realize data analysis, digitalization of various controllers, variable structure control, parameter self-tuning and full-process automatic control, and has high system automation degree and intelligent degree.
Drawings
FIG. 1 is a schematic diagram of a control system according to the present invention;
FIG. 2 is a schematic diagram of a programmable controller according to the present invention;
fig. 3 is a schematic structural diagram of a hybrid controller according to the present invention.
In the figure: 1-lithium bromide refrigerator; 2-a dead steam pipeline; 3-a cold water inlet pipe; 4-a cold water outlet pipe; 5-a programmable controller; 5.1-selection switch; 5.2-logical operator; 5.3-a diverter switch; 5.4-PID controller; 5.5-hybrid controller; 5.5.1 — a first controller; 5.5.2-a second controller; 5.5.3-a third controller; 6-electric regulating valve; 7-a dead steam pressure sensor; 8-a dead steam temperature sensor; 9-water inlet temperature sensor; 10-water outlet temperature sensor.
Detailed Description
The present invention is further described with reference to the following drawings and examples, but the examples should not be construed as limiting the present invention.
The variable-structure control system of the lithium bromide refrigerator for the marine nuclear power ship comprises a lithium bromide refrigerator 1, an exhaust steam pipeline 2, a cold water inlet pipe 3, a cold water outlet pipe 4 and a programmable controller 5, wherein the exhaust steam pipeline 2 is connected with the lithium bromide refrigerator 1 through an electric regulating valve 6, an exhaust steam pressure sensor 7 and an exhaust steam temperature sensor 8 are arranged on the exhaust steam pipeline 2, a water inlet temperature sensor 9 is arranged on the cold water inlet pipe 3, a water outlet temperature sensor 10 is arranged on the cold water outlet pipe 4, the programmable controller 5 comprises a selection switch 5.1, a logic arithmetic unit 5.2, a change-over switch 5.3, a PID controller 5.4 and a hybrid controller 5.5, the hybrid controller 5.5 comprises a first controller 5.5.1, a third controller 5.5.3 and a second controller 5.5.2, the signal input end and the signal output end of the PID controller 5.4 are used for forming closed-loop control, the second controller 5.5.3 is used for ensuring the stability margin and the sensitivity of the system, the signal input end and the signal output end of the mixing controller 5.5 are respectively connected with a selector switch 5.3, the signal output ends of the steam exhaust pressure sensor 7, the steam exhaust temperature sensor 8, the water inlet temperature sensor 9 and the water outlet temperature sensor 10 are respectively connected with the signal input end of the logic arithmetic unit 5.2, the signal output end of the logic arithmetic unit 5.2 is connected with the selector switch 5.3, and the control signal input end of the electric control valve 6 is connected with the selector switch 5.3.
The method for performing variable-structure control on the lithium bromide refrigerator for the marine nuclear power ship by using the control system comprises the following steps of:
s1, selecting a switching mode;
the selector switch 5.1 is placed at "manual" or "automatic";
s2, selecting a control mode;
s2.1, manually selecting;
the selector switch 5.1 is arranged at a manual position, and an operator places the selector switch 5.3 at a PID controller or a hybrid controller according to the working condition and experience of the system;
s2.2, automatic selection is carried out;
the selection switch 5.1 is arranged at the 'automatic' position, the logic arithmetic unit 5.2 carries out logic operation according to signals of the exhaust steam pressure sensor, the exhaust steam temperature sensor, the water inlet temperature sensor and the water outlet temperature sensor, judges the current system working condition and automatically outputs signals: when the steam exhaust amount is small and the change is large, the cold water temperature difference value is large and the change is large, and the system is possibly in an unstable state, the change-over switch 5.3 is switched to a 'mixed controller'; otherwise, the change-over switch 5.3 is switched to the PID controller;
s3, variable structure control;
s3.1, traditional PID control;
when the PID controller is selected in the step S2, the traditional PID control is carried out on the lithium bromide refrigerator by the PID controller 5.4;
s3.2, performing analytic mixed control;
when the mixing controller is selected in step S2, the mixing controller 5.5 performs analytic mixing control on the lithium bromide refrigerator;
s3.2.1, establishing a mathematical model;
obtaining a mathematical model of the controlled object through testing, and expressing the mathematical model as follows by a molecular analytic expression:
P＝Kp(s+e1)(s+e2)…(s+eg)/(s+f1)(s+f2)…(s+fh)
in the formula: h is>g，ei(i is 1, 2, … g) is zero, f isj( j 1, 2, … h) is the pole, kpThe proportional coefficients are dimensionless coefficients, the input function of P is a valve opening function, and the output function is a cold water outlet temperature function;
s3.2.2, calculating a sensitivity function S;
acquiring an S function with optimal sensitivity under a stability condition and a performance constraint condition;
s3.2.2.1, a set of reasonable closed-loop function T poles and partial zeros of an S function are given. T and S are complementary functions, T is 1-S, T directly influences the stability of the system, S directly influences the sensitivity of the system, and the T and the S are restricted with each other;
s3.2.2.2. determining a group of constraint conditions including stability conditions and performance constraint conditions as interpolation conditions according to the system performance index requirements;
and S3.2.2.3, solving an S function through an interpolation method. Namely, a group of closed loop poles are searched in the D domain, and S function zeros which must be given are searched in the F domain, so that Min | | S | Y phosphor∞<q；
S3.2.2.4, solving a T function; T1-S, calculating | | | T | | non-woven phosphor∞And if the value meets the requirement, returning to the step S3.2.2.1, and resetting a set of reasonable closed-loop function T poles and partial zeros of the S function for calculation. Until an S function meeting the requirements is obtained;
s3.2.3, calculating a transfer function C of the hybrid controller 5.5;
the P function, T function and S function obtained in the steps S3.2.1-S3.2.2 are used to obtain the C function according to the following formula,
C＝T/PS；
s3.2.4, calculating the fractional functions C1, C2 and C3 of the first controller 5.5.1, the second controller 5.5.2 and the third controller 5.5.3;
the above-obtained C is represented by an analytical formula:
C＝KK(s+b1)(s+b2)...(s+bm)/(s+a1)(s+a2)...(s+an)
in the formula KKA constant, s is a variable, ai(i＝1、2、…n)、bj(j ═ 1, 2, … m) are poles and zeros, respectively, and n is>m；
Let the transfer function Cuv ═ s + a)/k (s-a) of the closed loop formed by C1 and C3,
C1＝k1(s+d)/(s+b),C3＝k2；
then d ═ a, k1 ═ 1, k2 ═ k-1, b ═ 2k +1) a, where k <1/2, k ≠ 0;
C2＝k*kk(s+b1)(s+b2)...(s+bm)/(s+a)(s+a2)...(s+an)；
s3.2.5, building a hybrid controller;
c has a right half-plane pole a, set to a1＝-a,a>And 0 and C are unstable controllers, so that a hybrid controller is built: c1 and C3 form a closed loop to realize the unstable part of C, and C2 realizes the rest part of C;
s3.2.6, the mixing controller 5.5 carries out analytic mixing control on the lithium bromide refrigerator 1;
the mixing controller 5.5 calculates an effective valve opening value by using a control algorithm according to the difference value between the given value of the outlet water temperature and the outlet water temperature sensor 10, controls the opening of the electric regulating valve 6, and regulates the exhaust steam quantity entering the lithium bromide refrigerator 1 until the cold water temperature reaches the given value and the system runs stably.
The first embodiment is as follows: the lithium bromide refrigerator is used for controlling a certain nuclear power ship. The control method is adopted to realize the following steps that the pressure of the exhaust steam of a 50 ten thousand large-card refrigerator is 0.16-0.45MPa, and the pressure of the exhaust steam pipeline DN50 is controlled.
S1, selecting a switching mode;
the selector switch 5.1 is placed "auto";
s2, selecting an 'automatic' control mode;
the selection switch 5.1 is arranged at the 'automatic' position, the logic arithmetic unit 5.2 carries out logic operation according to signals of the exhaust steam pressure sensor, the exhaust steam temperature sensor, the water inlet temperature sensor and the water outlet temperature sensor, judges the current system working condition and automatically outputs signals: when the steam exhaust amount is small, the pressure is less than 0.16MPa, the change is large, the temperature difference value of cold water is large and is more than 5 ℃, and the change is large, and the system possibly has an unstable state, the change-over switch 5.3 is switched to a 'mixed controller'; otherwise, the change-over switch 5.3 is switched to the PID controller;
s3, variable structure control;
s3.1, traditional PID control;
when the PID controller is selected in the step S2, the traditional PID control is carried out on the lithium bromide refrigerator by the PID controller 5.4;
s3.2, performing analytic mixed control;
when the mixing controller is selected in step S2, the mixing controller 5.5 performs analytic mixing control on the lithium bromide refrigerator;
s3.2.1, establishing a mathematical model;
obtaining a mathematical model of the controlled object through testing, and expressing the mathematical model as follows by a molecular analytic expression:
P＝(s-2)/s(s-1)
s3.2.2, calculating a sensitivity function S;
under the conditions of stability and performance constraint, namely | | T | | luminance∞<4 and S∞<4, acquiring an S function with optimal sensitivity;
s3.2.2.1, a set of reasonable closed-loop function T poles and partial zeros of an S function are given. Giving a pole-1, -0.3 and a zero point 0, 1;
s3.2.2.2. determining a group of constraint conditions including stability conditions and performance constraint conditions as interpolation conditions according to the system performance index requirements;
and S3.2.2.3, solving an S function through an interpolation method. Namely, a group of closed loop poles are searched in the D domain, and S function zeros which must be given are searched in the F domain, so that Min | | S | Y phosphor∞<4；
S＝s(s-1)(s+116.6)/(s+0.3)(s+1)(s+32.3)，||S||∞＝3.57<4, meeting the requirements;
s3.2.2.4, solving a T function;
T＝(-82s2+126.6s+9.7)/(s+0.3)(s+1)(s+32.3)
||T||∞＝3.67<4, meeting the requirements;
s3.2.3, calculating a transfer function C of the hybrid controller 5.5;
the P function, T function and S function obtained in the steps S3.2.1-S3.2.2 are used to obtain the C function according to the following formula,
C＝T/PS＝(-82s2+126.6s+9.7)/(s-2)(s+116.6)；
s3.2.4, calculating the fractional functions C1, C2 and C3 of the first controller 5.5.1, the second controller 5.5.2 and the third controller 5.5.3;
let the transfer function Cuv of the closed loop formed by C1 and C3 be (s +2)/0.3(s-2),
then C1 ═ s +2)/(s +0.8), C3 ═ -0.7;
C2＝(-24.6s2+38s+2.9)/(s+2)(s+116.6)；
s3.2.5, building a hybrid controller;
c has a right half-plane pole 2, C is an unstable controller, so a hybrid controller is built: c1 and C3 form a closed loop to realize the unstable part of C, and C2 realizes the rest part of C;
s3.2.6, the mixing controller 5.5 carries out analytic mixing control on the lithium bromide refrigerator 1;
the mixing controller 5.5 calculates an effective valve opening value by using a control algorithm according to the difference value between the given value of the outlet water temperature and the outlet water temperature sensor 10, controls the opening of the electric regulating valve 6, and regulates the exhaust steam quantity entering the lithium bromide refrigerator 1 until the cold water temperature reaches the given value and the system runs stably.
Details not described in the present specification are prior art known to those skilled in the art.
Claims (2)
1. The utility model provides a marine nuclear power marine lithium bromide refrigerator variable structure control system, includes lithium bromide refrigerator (1), exhaust steam pipeline (2), cold water import pipe (3), cold water outlet pipe (4) and programmable controller (5), its characterized in that: the exhaust steam pipeline (2) is connected with the lithium bromide refrigerator (1) through an electric regulating valve (6), an exhaust steam pressure sensor (7) and an exhaust steam temperature sensor (8) are arranged on the exhaust steam pipeline (2), a water inlet temperature sensor (9) is arranged on a cold water inlet pipe (3), a water outlet temperature sensor (10) is arranged on a cold water outlet pipe (4), the programmable controller (5) comprises a selector switch (5.1), a logic arithmetic unit (5.2), a switch (5.3), a PID controller (5.4) and a mixing controller (5.5), the mixing controller (5.5) comprises a first controller (5.5.1) and a third controller (5.5.3) which are used for forming closed-loop control and a second controller (5.5.2) which is used for ensuring the stability margin and the sensitivity of the system, the signal input end and the signal output end of the PID controller (5.4) are respectively connected with the switch (5.3), the signal output ends of the steam exhaust pressure sensor (7), the steam exhaust temperature sensor (8), the water inlet temperature sensor (9) and the water outlet temperature sensor (10) are respectively connected with the signal input end of the logic arithmetic unit (5.2), the signal output end of the logic arithmetic unit (5.2) is connected with the change-over switch (5.3), and the control signal input end of the electric regulating valve (6) is connected with the change-over switch (5.3).
2. A method for variable configuration control of a lithium bromide refrigerator for a marine nuclear powered craft using the control system of claim 1 comprising the steps of:
s1, selecting a switching mode;
-placing the selector switch (5.1) at "manual" or "automatic";
s2, selecting a control mode;
s2.1, manually selecting;
the selector switch (5.1) is arranged at a manual position, and an operator places the selector switch (5.3) at a PID controller or a hybrid controller according to the working condition and experience of the system;
s2.2, automatic selection is carried out;
the selection switch (5.1) is arranged at the 'automatic' position, the logic arithmetic unit (5.2) carries out logic operation according to signals of the exhaust steam pressure sensor, the exhaust steam temperature sensor, the water inlet temperature sensor and the water outlet temperature sensor, judges the working condition of the current system and automatically outputs signals: when the steam exhaust amount is small and the change is large, the cold water temperature difference value is large and the change is large, and the system is likely to have an unstable state, the change-over switch (5.3) is switched to a 'mixing controller'; otherwise, the change-over switch (5.3) is switched to the PID controller;
s3, variable structure control;
s3.1, traditional PID control;
when the PID controller is selected in step S2, the conventional PID control is performed on the lithium bromide refrigerator by the PID controller (5.4);
s3.2, performing analytic mixed control;
when the mixing controller is selected in step S2, the mixing controller (5.5) performs analytic mixing control on the lithium bromide refrigerator;
s3.2.1, establishing a mathematical model;
obtaining a mathematical model of the controlled object through testing, and expressing the mathematical model as follows by a molecular analytic expression:
P＝Kp(s+e1)(s+e2)…(s+eg)/(s+f1)(s+f2)…(s+fh)
in the formula: h is>g，ei(i is 1, 2, … g) is zero, f isj(j 1, 2, … h) is the pole, kpThe proportional coefficients are dimensionless coefficients, the input function of P is a valve opening function, and the output function is a cold water outlet temperature function;
s3.2.2, calculating a sensitivity function S;
acquiring an S function with optimal sensitivity under a stability condition and a performance constraint condition;
s3.2.2.1, a set of reasonable closed-loop function T poles and partial zeros of an S function are given. T and S are complementary functions, T is 1-S, T directly influences the stability of the system, S directly influences the sensitivity of the system, and the T and the S are restricted with each other;
s3.2.2.2. determining a group of constraint conditions including stability conditions and performance constraint conditions as interpolation conditions according to the system performance index requirements;
and S3.2.2.3, solving an S function through an interpolation method. Namely, a group of closed loop poles are searched in the D domain, and S function zeros which must be given are searched in the F domain, so that Min | | S | Y phosphor∞<q；
S3.2.2.4, solving a T function; T1-S, calculating | | | T | | non-woven phosphor∞And if the value meets the requirement, returning to the step S3.2.2.1, and resetting a set of reasonable closed-loop function T poles and partial zeros of the S function for calculation. Until an S function meeting the requirements is obtained;
s3.2.3, calculating a transfer function C of the hybrid controller (5.5);
the P function, T function and S function obtained in the steps S3.2.1-S3.2.2 are used to obtain the C function according to the following formula,
C＝T/PS；
s3.2.4, calculating the fractional functions C1, C2 and C3 of the first controller (5.5.1), the second controller (5.5.2) and the third controller (5.5.3);
the above-obtained C is represented by an analytical formula:
C＝KK(s+b1)(s+b2)...(s+bm)/(s+a1)(s+a2)...(s+an)
in the formula KKA constant, s is a variable, ai(i＝1、2、…n)、bj(j ═ 1, 2, … m) are poles and zeros, respectively, and n is>m；
Let the transfer function Cuv ═ s + a)/k (s-a) of the closed loop formed by C1 and C3,
C1＝k1(s+d)/(s+b),C3＝k2；
then d ═ a, k1 ═ 1, k2 ═ k-1, b ═ 2k +1) a, where k <1/2, k ≠ 0;
C2＝k*kk(s+b1)(s+b2)...(s+bm)/(s+a)(s+a2)...(s+an)；
s3.2.5, building a hybrid controller;
c has a right half-plane pole a, set to a1＝-a,a>And 0 and C are unstable controllers, so that a hybrid controller is built: c1 and C3 form a closed loop to realize the unstable part of C, and C2 realizes the rest part of C;
s3.2.6, carrying out analytic mixing control on the lithium bromide refrigerator (1) by using a mixing controller (5.5);
and the mixing controller (5.5) calculates an effective valve opening value by using a control algorithm according to the difference value between the given value of the outlet water temperature and the outlet water temperature sensor (10), controls the opening of the electric regulating valve (6), and regulates the exhaust steam entering the lithium bromide refrigerator (1) until the temperature of the cold water reaches the given value and the system runs stably.
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