CN111853317A - Double-branch intelligent valve group control system, control method and flow transmission device - Google Patents
Double-branch intelligent valve group control system, control method and flow transmission device Download PDFInfo
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- CN111853317A CN111853317A CN202010737197.2A CN202010737197A CN111853317A CN 111853317 A CN111853317 A CN 111853317A CN 202010737197 A CN202010737197 A CN 202010737197A CN 111853317 A CN111853317 A CN 111853317A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D1/00—Pipe-line systems
- F17D1/02—Pipe-line systems for gases or vapours
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D3/00—Arrangements for supervising or controlling working operations
- F17D3/01—Arrangements for supervising or controlling working operations for controlling, signalling, or supervising the conveyance of a product
Abstract
An input current signal in the double-branch intelligent valve group control system is simultaneously input into two groups of valve control units, a feedback compensation unit acquires a valve position electric signal of each group and obtains a total feedback compensation current after the valve position electric signal is processed by the feedback unit, and the total feedback compensation current is processed and then fed back to a PID control unit to further control the degree of opening and closing of the valve. In the feedback compensation unit, the difference between the first feedback current compensation quantity and the second feedback current compensation quantity is calculated and divided into two parts, and meanwhile, the current balance compensation is carried out by assisting an adjusting factor, so that a total feedback current compensation signal is obtained. The invention can not only gradually reduce the actual opening degree of each branch pipe regulating valve and finally realize the purpose of consistent flow of each branch pipe, thereby achieving the effect of simultaneous opening and closing of the valves of the regulating valves, reducing the labor intensity of inspection workers, but also improving the anti-interference capability of a flow transmission pipeline system.
Description
Technical Field
The invention relates to the technical field of gas flow control, in particular to a control system, a control method and a flow transmission device for a double-branch intelligent valve set.
Background
Liquefied Natural Gas (LNG) is mainly composed of methane, and is colorless, odorless, nontoxic and noncorrosive, and its volume is about 1/600 of the same volume of gaseous natural gas, and its weight is only about 45% of the same volume of water, and its heat value is 52MMBtu/t (1MMBtu is 2.52 × 108 cal). Compared with fuel oil, natural gas has the advantages of large reserve, low cost, cleanness, environmental protection, high efficiency and the like.
For a ship, the flow transportation of a single storage tank is simple, the occupied space is small, but if the storage tank breaks down, the whole ship is inevitably in a 'paralysis' state, even huge economic loss is caused, meanwhile, the general high-pressure storage of the liquefied natural gas belongs to flammable and explosive products, and the liquefied gas needs to be stored in multiple storage tanks due to safety consideration.
The regulating valve is used as the throat for conveying the flow between the air source and the storage tank, and the safety and the stability of the technological process are directly influenced by the performance of the regulating valve. The intelligent valve is increasingly applied due to the characteristics of detecting the fluctuation amplitude of the valve rod/valve core, fluid pressure, flow and the like. The valve positioner on the market at present basically adopts the traditional control algorithm, and is very dependent on the accuracy of a controlled process or object-based mathematical model, and basically is a parameter-oriented control theory. However, in the field of actual engineering, besides the accurate knowledge of the accurate mathematical model of the system and the control signal which can be quantitatively described, there is a large part which cannot be quantitatively described by the accurate mathematical model. In the face of the complexity of a controlled object, a mathematical model has great uncertainty, and the traditional control method is difficult to meet the real control requirement.
In an actual ship flow transmission pipeline-valve body system, a working condition that two storage tanks with the same specification are simultaneously transmitted is always existed, when one container is completely transmitted, the other storage tank is not full, so that the inspection personnel time is wasted, and the coupling phenomenon of the flow transmission pipeline is aggravated. This is mainly due to the precision and tendency of the pneumatic membrane in the valve positioner to wear. Even if the same preset current is given by the valve positioner, the actual opening degree of the intelligent valve group is different, so that the flow transmission time is wasted, and the workload and the labor intensity of workers are increased. When the actual opening degrees of the two intelligent valves are different when the same current control signal is given, the feedback currents are different, and after the feedback currents and the set current are subjected to PID operation, the intelligent valves are independently controlled, so that the problem cannot be solved fundamentally. At present, the research of manufacturers and scholars of large intelligent valves on the control of the intelligent valves is 'one pipe and one valve', namely, one main pipe or branch pipe is provided with one intelligent valve, all the intelligent valves are almost not connected, and the systematic control research of the intelligent valves is blank.
Disclosure of Invention
The invention aims to provide a control system, a control method and a flow transmission device for a double-branch intelligent valve group, and solves the problems that the robustness is poor and valves cannot be opened and closed simultaneously in a one-pipe one-valve mode adopted in a multi-storage-tank flow transmission pipeline-valve body system.
A dual branch intelligent valve set control system, comprising:
a gas source having a gas pressure signal;
inputting a current signal;
a valve control unit, the valve control unit comprising: the opening and closing degree of the valve of the regulating valve is regulated by a valve position electric signal; the PID control unit processes the valve position electric signal and/or the input current signal and outputs a current control signal; the I/P control unit converts the current control signal output by the PID control unit and the air pressure signal of the air source into a small air pressure signal; the air chamber and the execution unit convert the small air pressure signal into the valve position electric signal through a pneumatic amplifier and drive the regulating valve to open and close;
the feedback compensation unit acquires the valve position electric signals of the air chamber and the execution unit, calculates a total feedback current compensation signal by using the valve position electric signals, processes the total feedback current compensation signal and feeds the total feedback current compensation signal back to the PID control unit;
the double-branch intelligent valve group control system comprises two groups of valve control units, the feedback compensation unit collects valve position electric signals of the air chamber and the execution unit in each group of valve control units, the valve position electric signals are processed and then output a total feedback current compensation signal I ', and the total feedback current compensation signal I' is processed and then fed back to the PID control unit.
Further, the double-branch intelligent valve group control system comprises a first valve control unit and a second valve control unit;
the first valve control unit comprises a first regulating valve, a first PID control unit, a first I/P control unit, a first air chamber and an execution unit; the valve opening degree of the first regulating valve is regulated by a first valve position electric signal; the first PID control unit controls the first regulating valve to control a first current control signal OP1Output to the first I/P control unit; the first I/P control unit outputs the first current control signal output by the first PID control unit and the gas pressure signal P of the gas sourcesConverted into a first small pressure signal Pb1The first air chamber and the execution unit transmit the first small air pressure signal Pb through a pneumatic amplifier1The first valve position electric signal is converted and drives the first regulating valve to open and close;
the second valve control unit comprises a second regulating valve, a second PID control unit, a second I/P control unit, a second air chamber and an execution unit; the opening degree of the valve of the second regulating valve is regulated by a second valve position electric signal; the second PID control unit controls the second regulating valve to control a second current control signal OP2Output to the second I/P control unit; the second I/P control unit outputs the second current control signal output by the second PID control unit and the gas pressure signal P of the gas sourcesConverted into a second small pressure signal Pb2The second air chamber and the execution unit transmit the second small air pressure signal Pb through a pneumatic amplifier2And the second valve position electric signal is converted and drives the second regulating valve to open and close.
Further, the feedback compensation unit includesThe first feedback unit receives the first valve position electric signal and converts the first valve position electric signal into a first sub-feedback current compensation signal I1(ii) a The second feedback unit receives the second valve position electric signal and converts the second valve position electric signal into a second sub-feedback current compensation signal I2。
Furthermore, the double-branch intelligent valve group control system is connected to the flow transmission device and is used for respectively controlling the flow speed of the fluid in the two branches.
The invention also provides a control method adopting the double-branch intelligent valve control system, which comprises the following steps:
after a PID control unit in the valve control unit obtains an input current signal, a current control signal is output;
the I/P control unit acquires the current control signal and an air pressure signal Ps of a gas source, and converts the current control signal into a small air pressure signal capable of driving an air amplifier in the air chamber and the execution unit;
the pneumatic amplifier in the air chamber and the execution unit converts a small air pressure signal into a large air chamber air pressure and then outputs a valve position electric signal, and the valve position electric signal is used for driving and adjusting the opening and closing degree of the adjusting valve;
after the feedback compensation unit collects the valve position electric signal, the valve position electric signal is converted into a sub feedback current compensation signal through the feedback unit to obtain a feedback current compensation quantity delta I, a total feedback current compensation signal I 'is calculated through the sub feedback current compensation quantity, and the total feedback current compensation signal I' is transmitted to the PID control unit in the valve control unit after being processed;
the input current signals are simultaneously input into the two groups of valve control units, the feedback compensation unit collects the valve position electric signals in each group of valve control units, a total feedback current compensation signal I 'is obtained through the feedback unit, and the total feedback current compensation signal I' is processed and then fed back to the PID control unit.
Further, it is characterized byThe feedback compensation unit collects the valve position electric signals in the two groups of valve control units, and the first feedback unit in the feedback compensation unit outputs a first sub-feedback current compensation signal I after collecting the valve position electric signals of the first valve control unit1A second feedback unit in the feedback compensation unit outputs a second sub-feedback current compensation signal I after acquiring the valve position electric signal of the second valve control unit2。
Further, the acquiring, by the feedback compensation unit, the valve position electrical signals in the two sets of valve control units specifically includes:
the feedback compensation unit obtains the valve position electric signals of the air chamber and the execution unit in the two groups of valve control units through the linear relation between the valve opening and closing degree of the regulating valve and the valve position electric signals;
and the feedback unit receives the valve position electric signal and processes the valve position electric signal to obtain the sub feedback current compensation signal.
Further, the step of the feedback compensation unit collecting the valve position electric signals in the two groups of valve control units comprises:
the feedback compensation unit calculates the difference value of the sub feedback current compensation signals in the two groups of valve control units as feedback current compensation quantity delta I, and the first sub feedback current compensation signal I1The second sub-feedback current compensation signal I2And the adjustment factor λ satisfies the following relationship:
and obtaining the feedback current compensation signal I' through the feedback current compensation quantity delta I, and processing to obtain an input current signal.
Further, the adjustment factor λ is a real number greater than 0 and equal to or less than 2.
The present invention also provides a fluid delivery device comprising:
the pump station is used for pumping fluid;
a reservoir for storing a fluid;
a valve control unit that controls a rate of fluid flow to the tank;
the pump station is connected with the valve control unit through a main pipe, and the main valve is mounted on the main pipe;
wherein the valve control unit is connected with the storage tank through a branch pipe;
wherein, the valve control unit is provided with two sets, and the pump station provides the defeated flow source for the storage tank.
The invention provides a valve group control system, a control method and a flow transmission device, which have the beneficial effects that: the input current signals in the double-branch intelligent valve group control system are simultaneously input into the two groups of valve control units, the feedback compensation unit acquires valve position electric signals of each group, the valve position electric signals are processed by the feedback unit to obtain total feedback compensation current, the total feedback compensation current is processed and then fed back to the PID control unit, and the opening degree of the valve is further controlled. In the feedback compensation unit, the difference between the first feedback current compensation quantity and the second feedback current compensation quantity is calculated and divided into two parts, and meanwhile, the current balance compensation is carried out by assisting an adjusting factor, so that a total feedback current compensation signal is obtained. The invention can not only gradually reduce the actual opening degree of each branch pipe regulating valve and finally realize the purpose of consistent flow of each branch pipe, thereby achieving the effect of simultaneous opening and closing of the valves of the regulating valves, reducing the labor intensity of inspection workers, but also improving the anti-interference capability of a flow transmission pipeline system.
Drawings
FIG. 1 is a schematic diagram of a system of valve control units according to an embodiment of the present invention;
FIG. 2 is a schematic diagram showing the linear relationship between the opening and closing degree of the valve and the electrical signal of the valve position in the embodiment of the present invention;
fig. 3 is a simplified schematic diagram of a fluid delivery device according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The terms first, second, third, fourth and the like in the description and in the claims of the present invention are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
FIG. 1 is a schematic diagram of a system of valve control units according to an embodiment of the present invention; FIG. 2 is a schematic diagram showing the linear relationship between the opening and closing degree of the valve and the electrical signal of the valve position in the embodiment of the present invention. Referring to fig. 1 and 2, the present invention provides a valve set control system, including:
a gas source having a pressure signal PsIn the present embodiment, the air pressure signal PsPreferably 0.3 MPa; inputting a current signal; a valve control unit, the valve control unit comprising: the system comprises a regulating valve, a PID control unit, an I/P control unit, an air chamber and an execution unit.
The opening degree of the valve of the regulating valve is regulated by a valve position electric signal; the PID control unit controls the processing of the valve position electric signal and/or the input current signal and outputs a current control signal; in this embodiment, the valve set control system inputs the predetermined input current signal I first, and then inputs the total feedback current compensation signal I'. In the present embodiment, the predetermined input current signal I is 4 to 20 mA. The I/P control unit outputs the current control signal output by the PID control unit and the air pressure signal P of the air sourcesConverting into small air pressure signals; the air chamber and the execution unit convert the small air pressure signal into a valve position electric signal through a pneumatic amplifier and drive the regulating valve to open and close.
The feedback compensation unit 130 is used for acquiring valve position electric signals of the air chamber and the execution unit, calculating a total feedback current compensation signal I ' by using the valve position electric signals, processing the total feedback current compensation signal I ' and feeding the total feedback current compensation signal I ' back to the PID control unit; the dual-branch intelligent valve group control system 10 includes two groups of valve control units, the feedback compensation unit 130 collects valve position electrical signals of air chambers and execution units in each group of valve control units, processes the valve position electrical signals and outputs a total feedback current compensation signal I ', and the total feedback current compensation signal I' is processed and fed back to the PID control unit.
Specifically, the dual-branch intelligent valve group control system 10 includes a first valve control unit 110 and a second valve control unit 120; the first valve control unit 110 includes a first regulating valve 111, a first PID control unit 112, a first I/P control unit 113, and a first air chamber and execution unit 114; the valve opening and closing degree of the first regulating valve 111 is adjusted by the first PID control unit 112 through the first valve position electric signal to control the first regulating valve 111 to control the first current control signal OP1To the first I/P control unit 113. In the present embodiment, at the source air pressure PsUnder the condition of 0.3MPa, the first current control signal OP1With the first small pressure signal Pb1The corresponding relationship of (A) is as follows:
Pb1＝0.42OP1-0.04
wherein the control signal OP1In mA; small air pressure signal Pb1In MPa.
The first I/P control unit 113 outputs the first current control signal outputted from the first PID control unit 112 and the gas pressure signal P of the gas sourcesConverted into a first small pressure signal Pb1The first execution unit 113 sends the first small pressure signal Pb to the pneumatic amplifier1And the first valve position electric signal is converted and drives the first regulating valve 111 to open and close. In this embodiment, the first air chamber and execution unit 114 outputs the first small air pressure signal Pb through the pneumatic amplifier1Conversion to a large air chamber pressure Pout1And prompting to correct the valve position of the regulating valve, and establishing a one-to-one correspondence relationship between the first valve position electric signal output by the controller and the valve rod displacement signal of the regulating valve to obtain the valve position opening degree. In particular a small air pressure signal Pb1With atmospheric pressure signal Pout1The conversion of (2) is realized by a pneumatic amplifier, and the valve rod is pushed to move by the air inlet and outlet states of the pneumatic amplifier, and the relationship is as follows:
wherein, PsIs the air pressure of an air source; s1、S2、S3Respectively, the effective areas of the diaphragms in the pneumatic amplifier, S4is the effective bottom area of the valve core of the regulating valve S1-S4The parameters can be measured by the model selected by the specific pneumatic amplifier in the actual use process.
The second valve control unit 120 comprises a second regulating valve 121, a second PID control unit 122, a second I/P control unit 123 and a second air chamber and execution unit 124; the valve opening and closing degree of the second regulating valve 121 is regulated by a second valve position electric signal; the second PID control unit 122 controls the second regulator valve 121 to control the second current control signal OP2Output to the second I/P control unit 123; the second I/P control unit 123 converts the second current control signal outputted from the second PID control unit 122 and the gas pressure signal Ps of the gas source into a second small gas pressure signal Pb2The second air chamber and execution unit 124 sends the second small air pressure signal Pb through the pneumatic amplifier2Converts the electric signal into a second valve position signal and drives the second regulating valve 121 to open and close. Similarly, the second current control signal OP in the second valve control unit 1202And the second small air pressure signal Pb2The corresponding relationship between the second air chamber and the air inlet/outlet state of the pneumatic amplifier in the execution unit 124 drives the valve rod to move, and the description is omitted here.
Specifically, the feedback compensation unit 130 includes a first feedback unit 131 and a second feedback unit 132, and the first feedback unit 131 receives the first valve position electrical signal and converts the first valve position electrical signal into a first sub-feedback current compensation signal I1(ii) a The second feedback unit 132 receives the second valve position electrical signal and converts the second valve position electrical signal into a second sub-feedback current compensation signal I2。
Specifically, the dual-branch intelligent valve set control system 10 is connected to the fluid delivery device, and the dual-branch intelligent valve set control system 10 is used for controlling the flow rates of the fluids in the two branches respectively. In the present embodiment, the fluid is specifically liquefied natural gas, but is not a limitation of the present invention.
The invention also provides a control method adopting the double-branch intelligent valve group control system 10, which comprises the following steps:
after a PID control unit in the valve control unit obtains an input current signal, a current control signal is output;
the I/P control unit obtains a current control signal and a gas pressure signal P of a gas sourcesConverting the current control signal into a small air pressure signal capable of driving an air amplifier in the air chamber and the execution unit;
the pneumatic amplifier in the air chamber and the execution unit converts the small air pressure signal into the large air chamber air pressure to form a valve position electric signal for driving and adjusting the opening and closing degree of the adjusting valve;
the feedback compensation unit 130 acquires the valve position electric signal, converts the valve position electric signal into a sub feedback current compensation signal through the feedback unit to obtain a feedback current compensation amount delta I, calculates a total feedback current compensation signal I 'through the sub feedback current compensation amount, and transmits the total feedback current compensation signal I' to a PID control unit in the valve control unit after being processed;
wherein, the input current signal is simultaneously input to two groups of valve control units, the feedback compensation unit 130 collects the valve position electric signal in each group of valve control unit, obtains the total feedback compensation current through the feedback unit, and feeds back the total feedback compensation current to the PID control unit after processing.
Specifically, the feedback compensation unit 130 collects valve position electrical signals of two sets of valve control units, and the first feedback unit 131 of the feedback compensation unit 130 outputs the first sub-feedback current compensation signal I after collecting the valve position electrical signals of the first valve control unit 1101The second feedback unit 132 in the feedback compensation unit 130 collects the valve position electrical signal of the second valve control unit 120 and outputs a second sub-feedback current compensation signal I2。
Specifically, the step of acquiring the valve position electrical signals in the two sets of valve control units by the feedback compensation unit 130 specifically includes:
the feedback compensation unit 130 obtains valve position electric signals of the air chambers and the execution units in the two groups of valve control units through the linear relation between the valve opening and closing degree of the regulating valve and the valve position electric signals;
and the feedback unit receives the valve position electric signal and processes the valve position electric signal to obtain a sub-feedback current compensation signal.
Specifically, the steps of the feedback compensation unit 130 after collecting the valve position electrical signals in the two sets of valve control units include:
first sub-feedback compensation current I of first valve control unit 1101And a second sub-feedback compensation current I of the second valve control unit 1202The valve opening degree K of the first valve control unit 110 can be converted into1The valve opening degree of the second valve control unit 120 is K2The specific corresponding relation is as follows:
wherein K is more than or equal to 01≤100；0≤K2≤100；4mA≤I1≤20mA；4mA≤I2Less than or equal to 20 mA. Will K1/K2Respectively substituted into the above formula to obtain corresponding current signal values I1/I2。
The feedback compensation unit 130 calculates the difference between the sub-feedback current compensation signals in the two valve control units as the feedback current compensation amount Δ I, the first sub-feedback current compensation signal I1A second sub-feedback current compensation signal I2And the adjustment factor λ satisfies the following relationship:
where Δ I is a feedback current compensation amount.
The added feedback adjustment factor lambda can be debugged on site according to the actual engineering, and the robustness of the system is further improved.
Obtaining a feedback current compensation signal I 'through the feedback current compensation quantity delta I, and processing the feedback current compensation signal I' to obtain an input current signal If。
Calculating a feedback current compensation signal I' with the relation:
obtaining feedback current compensation through feedback current compensation quantity delta IThe compensation signal I ', the feedback current compensation signal I' and the preset input current signal I are differenced to obtain the input current signal IfInput current signal IfAnd respectively further controlling the valve control units:
specifically, the adjustment factor λ is a real number greater than 0 and equal to or less than 2.
Fig. 3 is a simplified schematic diagram of a fluid delivery device according to an embodiment of the present invention. Referring to fig. 3, the present invention further provides a fluid transmission device, including: a pump station 40 for pumping fluid, a tank 50 for storing fluid, and a valve control unit; the valve control unit controls the rate of fluid flow to the reservoir 50; the main valve 60, the pump station 40 and the valve control unit are connected by a main pipe 71, and the main valve 60 is mounted on the main pipe 71. Preferably, the main valve 60 is a manual regulating valve, which is used to directly cut off the flow of the main pipe 71 and each branch pipe 72 when the branch pipe 72 fails, so as to provide safety. Wherein the valve control unit is connected with the storage tank 50 through a branch pipe 72; wherein the valve control unit is provided with 2 groups and the pump station 40 provides a source of flow for the storage tank 50.
Understandably, an input current signal of the double-branch intelligent valve group control system is simultaneously input into two groups of valve control units, a feedback compensation unit 130 acquires a valve position electric signal of each group, the valve position electric signal is processed by the feedback unit to obtain a total feedback compensation current, and the total feedback compensation current is fed back to a PID control unit to further control the degree of opening and closing of the valve. In the feedback compensation unit 130, a first feedback current compensation amount I is calculated1And a second feedback current compensation quantity I2The difference between the two is divided equally, and meanwhile, the current balance compensation is carried out by the aid of the adjusting factors to obtain a total feedback current compensation signal I ', the total feedback current compensation signal I' is processed to obtain an input current signal, the input current signal is input into the PID control unit again, the actual opening degree of each branch pipe adjusting valve is gradually reduced, and finally the purpose of keeping the flow of each branch pipe consistent is achievedTherefore, the effect of 'simultaneous opening and closing' of the valve of the regulating valve is achieved, the anti-interference capacity of the system is improved, and the labor intensity of inspection workers can be effectively reduced. The device is simple and easy to operate, and saves the flow conveying time of a plurality of storage tanks.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A dual branch intelligent valve set control system (10), comprising:
a gas source having a pressure signal (P)s)；
Inputting a current signal;
a valve control unit, the valve control unit comprising: the opening and closing degree of the valve of the regulating valve is regulated by a valve position electric signal; the PID control unit processes the valve position electric signal and/or the input current signal and outputs a current control signal; an I/P control unit which converts the current control signal output by the PID control unit and a gas pressure signal (Ps) of the gas source into a small gas pressure signal; the air chamber and the execution unit convert the small air pressure signal into the valve position electric signal through a pneumatic amplifier and drive the regulating valve to open and close;
the feedback compensation unit (130) collects the valve position electric signals of the air chamber and the execution unit, calculates a total feedback current compensation signal (I ') by using the valve position electric signals, processes the total feedback current compensation signal (I ') and feeds the total feedback current compensation signal (I ') back to the PID control unit;
the double-branch intelligent valve group control system (10) comprises two groups of valve control units, the feedback compensation unit (130) collects valve position electric signals of the air chamber and the execution unit in each group of valve control units, the valve position electric signals are processed and then output to the total feedback current compensation signal (I '), and the total feedback current compensation signal (I') is processed and then fed back to the PID control unit.
2. The dual branch intelligent valve block control system (10) of claim 1, wherein: the double-branch intelligent valve group control system (10) comprises a first valve control unit (110) and a second valve control unit (120);
the first valve control unit (110) comprises a first regulating valve (111), a first PID control unit (112), a first I/P control unit (113) and a first air chamber and execution unit (114); the opening degree of the first regulating valve (111) is regulated by a first valve position electric signal; the first PID control unit (112) controls the first regulator valve (111) to apply a first current control signal (OP)1) To the first I/P control unit (113); the first I/P control unit (113) outputs the first current control signal output by the first PID control unit (112) and a gas pressure signal (P) of the gas sources) Into a first small pressure signal (Pb)1) Said first air chamber and execution unit (114) sends said first small air pressure signal (Pb) through a pneumatic amplifier1) The first valve position electric signal is converted and drives the first regulating valve (111) to open and close;
the second valve control unit (120) comprises a second regulating valve (121), a second PID control unit (122), a second I/P control unit (123) and a second air chamber and execution unit (124); the opening degree of the second regulating valve (121) is regulated by a second valve position electric signal; the second PID control unit (122) controls the second regulating valve (121) to control a second current control signal (OP)2) To the second I/P control unit (123); the second I/P control unit (123) outputs the second current control signal output by the second PID control unit (122) and the gas pressure signal (P) of the gas sources) Into a second small pressure signal (Pb)2) The second air chamber and execution unit (124) sends the second small air pressure signal (Pb) through a pneumatic amplifier2) Is converted intoThe second valve position electric signal drives the second regulating valve (121) to open and close.
3. The dual branch intelligent valve block control system (10) of claim 2, wherein: the feedback compensation unit (130) comprises a first feedback unit (131) and a second feedback unit (132), the first feedback unit (131) receives the first valve position electric signal and converts the first valve position electric signal into a first sub-feedback current compensation signal (I)1) (ii) a The second feedback unit (132) receives the second valve position electrical signal and converts the second valve position electrical signal into a second sub-feedback current compensation signal (I)2)。
4. The dual branch intelligent valve block control system (10) of claim 1, wherein: the double-branch intelligent valve group control system (10) is connected to the flow conveying device, and the double-branch valve group control system (10) is used for controlling the flow speed of fluid in the two branches respectively.
5. A control method for a dual branch intelligent valve block control system (10) as claimed in any one of claims 1 to 4, wherein said control method comprises the steps of:
after a PID control unit in the valve control unit obtains an input current signal, a current control signal is output;
the I/P control unit acquires the current control signal and a gas pressure signal (Ps) of a gas source, and converts the current control signal into a small gas pressure signal capable of driving a gas amplifier in the gas chamber and the execution unit;
the pneumatic amplifier in the air chamber and the execution unit converts a small air pressure signal into a large air chamber air pressure and then outputs a valve position electric signal, and the valve position electric signal is used for driving and adjusting the opening and closing degree of the adjusting valve;
after the feedback compensation unit (130) collects the valve position electric signal, the valve position electric signal is converted into a sub feedback current compensation signal through the feedback unit to obtain a feedback current compensation amount (delta I), a total feedback current compensation signal (I ') is calculated through the sub feedback current compensation amount, and the total feedback current compensation signal (I') is transmitted to the PID control unit in the valve control unit after being processed;
the input current signals are simultaneously input into the two groups of valve control units, the feedback compensation unit (130) collects the valve position electric signals in each group of valve control units, a total feedback current compensation signal I 'is obtained through the feedback unit, and the total feedback current compensation signal I' is processed and then fed back to the PID control unit.
6. The control method according to claim 5, characterized in that: the feedback compensation unit (130) collects the valve position electric signals in the two groups of valve control units, and a first feedback unit (131) in the feedback compensation unit (130) collects the valve position electric signals of a first valve control unit (110) and then outputs a first sub-feedback current compensation signal (I)1) The second feedback unit (132) in the feedback compensation unit (130) collects the valve position electric signal of the second valve control unit (120) and outputs a second sub-feedback current compensation signal (I)2)。
7. The control method according to claim 6, wherein the step of acquiring the valve position electrical signals in the two sets of valve control units by the feedback compensation unit (130) comprises:
the feedback compensation unit (130) obtains the valve position electric signals of the air chamber and the execution unit in the two groups of valve control units through the linear relation between the valve opening and closing degree of the regulating valve and the valve position electric signals;
and the feedback unit receives the valve position electric signal and processes the valve position electric signal to obtain the sub feedback current compensation signal.
8. The control method of claim 7, wherein the step of the feedback compensation unit (130) after acquiring the valve position electrical signals of the two sets of valve control units comprises:
the feedback compensation unit (130) calculates the values of two sets of the valve control unitsThe difference of the sub feedback current compensation signals is used as the feedback current compensation quantity (delta I), and the first sub feedback current compensation signal (I)1) The second sub-feedback current compensation signal (I)2) And the adjustment factor (λ) satisfies the following relationship:
by the feedback current compensation quantity (Δ I) and the first sub-feedback current compensation signal (I)1) And obtaining the feedback current compensation signal (I ') by difference, and processing the feedback current compensation signal (I') to obtain an input current signal.
9. The control method according to claim 8, characterized in that: the adjustment factor (λ) is a real number greater than 0 and equal to or less than 2.
10. A fluid delivery device, comprising:
a pump station (40) for pumping fluid;
a reservoir (50) for storing a fluid;
a valve control unit controlling the rate of fluid flow to the tank (50);
the pump station (40) is connected with the valve control unit through a main pipe (71), and the main valve (60) is installed on the main pipe (71);
wherein the valve control unit is connected with the storage tank (50) through a branch pipe (72);
wherein, the valve control unit is provided with two groups, and the pump station (40) provides a flow source for the storage tank (50).
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