CN112727752A - Multi-pump confluence flow pulsation eliminating method and device - Google Patents

Multi-pump confluence flow pulsation eliminating method and device Download PDF

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CN112727752A
CN112727752A CN202011580642.5A CN202011580642A CN112727752A CN 112727752 A CN112727752 A CN 112727752A CN 202011580642 A CN202011580642 A CN 202011580642A CN 112727752 A CN112727752 A CN 112727752A
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pump
flow
auxiliary
angle position
main
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CN112727752B (en
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伍芬智
王亚平
王志成
徐必业
吴丰礼
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Guangdong Topstar Technology Co Ltd
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Guangdong Topstar Technology Co Ltd
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Priority to PCT/CN2021/098267 priority patent/WO2022142132A1/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
    • F04C14/00—Control of, monitoring of, or safety arrangements for, machines, pumps or pumping installations
    • F04C14/02—Control of, monitoring of, or safety arrangements for, machines, pumps or pumping installations specially adapted for several machines or pumps connected in series or in parallel
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
    • F04C14/00—Control of, monitoring of, or safety arrangements for, machines, pumps or pumping installations
    • F04C14/08—Control of, monitoring of, or safety arrangements for, machines, pumps or pumping installations characterised by varying the rotational speed

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  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Non-Positive-Displacement Pumps (AREA)
  • Details And Applications Of Rotary Liquid Pumps (AREA)
  • Control Of Positive-Displacement Pumps (AREA)

Abstract

The embodiment of the invention discloses a method and a device for eliminating flow pulsation of multi-pump confluence, wherein the method for eliminating the flow pulsation of the multi-pump confluence comprises the following steps: acquiring the rotating speed of a main pump and at least one auxiliary pump; adjusting the rotating speed of the auxiliary pump according to the rotating speed of the main pump and the rotating speed of the auxiliary pump, and controlling the mechanical angle position difference of the main pump and the auxiliary pump to reach a preset target angle position difference; the preset target angle position difference is an integral multiple of 2 pi/N, and N is the total number of the main pump and the auxiliary pump; and controlling the main pump and the auxiliary pump to synchronously operate based on the preset target angle position difference, and outputting the flow confluence when the pumps synchronously operate to obtain the total flow. The flow pulsation eliminating method and the flow pulsation eliminating device for multi-pump confluence provided by the embodiment of the invention can eliminate flow pulsation in the total flow of the multi-pump confluence.

Description

Multi-pump confluence flow pulsation eliminating method and device
Technical Field
The embodiment of the invention relates to a flow pulsation eliminating technology, in particular to a multi-pump confluence flow pulsation eliminating method and device.
Background
For high-power mechanical production equipment, because the power of a motor or the discharge capacity of an oil pump is limited, a hydraulic servo system for controlling a servo motor to drive a hydraulic pump by a single servo driver cannot meet the requirement, and the flow requirement of production can be met only by driving a hydraulic cylinder to be controlled in a mode of connecting a plurality of single-pump hydraulic servo systems in parallel. The hydraulic pump can generate flow pulsation in the operation process, and the normal operation of the system is influenced when the flow pulsation is serious.
At present, the existing multi-pump confluence flow pulsation eliminating method usually applies extra flow to compensate actual flow, reduces flow pulsation, and further reduces harm caused by the flow pulsation, but cannot guarantee that the flow pulsation is eliminated in the actually generated flow, and the reliability is low.
Disclosure of Invention
The embodiment of the invention provides a method and a device for eliminating flow pulsation in multi-pump confluence, which are used for eliminating flow pulsation in total flow of the multi-pump confluence.
In a first aspect, an embodiment of the present invention provides a method for eliminating flow pulsation in multi-pump confluence, including:
acquiring the rotating speed of a main pump and at least one auxiliary pump;
adjusting the rotating speed of the auxiliary pump according to the rotating speed of the main pump and the rotating speed of the auxiliary pump, and controlling the mechanical angle position difference of the main pump and the auxiliary pump to reach a preset target angle position difference; the preset target angle position difference is an integral multiple of 2 pi/N, and N is the total number of the main pump and the auxiliary pump;
and controlling the main pump and the auxiliary pump to synchronously operate based on the preset target angle position difference, and outputting the flow confluence when the pumps synchronously operate to obtain the total flow.
Optionally, the rotational speed of the secondary pump is adjusted according to the rotational speed of the primary pump and the rotational speed of the secondary pump, and the mechanical angle position difference of the primary pump and the secondary pump is controlled to reach a preset target angle position difference, including:
when the rotating speed of each pump is zero, setting the initial mechanical angle of the main pump to be zero;
and controlling the auxiliary pump to accelerate and decelerate, and adjusting the time of acceleration and deceleration until the mechanical angle position when the auxiliary pump decelerates to zero is a preset target angle position.
Optionally, the secondary pump includes a first secondary pump and a second secondary pump, the initial mechanical angle of the primary pump is zero, and the mechanical angle position difference between the first secondary pump and the primary pump is:
Figure BDA0002865888660000021
wherein the content of the first and second substances,
Figure BDA0002865888660000022
is the mechanical angular position, ω, of the first secondary pump1Angular frequency, ω, of fluctuation of flow for the first secondary pump1＝2πn1NL/60，NLThe number of blades or gears of the pump;
the mechanical angle position difference between the second auxiliary pump and the main pump is as follows:
Figure BDA0002865888660000023
wherein the content of the first and second substances,
Figure BDA0002865888660000024
mechanical angular position, ω, of the second secondary pump2Angular frequency, ω, of fluctuation of flow for the second secondary pump2＝2πn2NL/60。
Optionally, the rotational speed of the secondary pump is adjusted according to the rotational speed of the primary pump and the rotational speed of the secondary pump, and the mechanical angle position difference of the primary pump and the secondary pump is controlled to reach a preset target angle position difference, including:
when the rotating speed of each pump is greater than zero, controlling the auxiliary pump to operate at an accelerated speed;
and adjusting the time for the auxiliary pump to accelerate and decelerate until the speed of the auxiliary pump after acceleration and deceleration is the same as that of the main pump, wherein the mechanical angle position difference value of each auxiliary pump relative to the main pump is a preset target angle position difference.
Optionally, the rotation speed of the main pump is n0The auxiliary pump comprises a first auxiliary pump and a second auxiliary pump, and the mechanical angle position difference between each auxiliary pump and the main pump is as follows:
Figure BDA0002865888660000031
Figure BDA0002865888660000032
wherein the content of the first and second substances,
Figure BDA0002865888660000033
is the mechanical angular position, ω, of the first secondary pump1Angular frequency, ω, of fluctuation of flow for the first secondary pump1＝2πn1NL/60，
Figure BDA0002865888660000034
Is the mechanical angular position, omega, of the main pump0Is the main pump flow fluctuation angular frequency, omega0＝2πn0NL/60，
Figure BDA0002865888660000035
Mechanical angular position, ω, of the second secondary pump2Angular frequency, ω, of fluctuation of flow for the second secondary pump2＝2πn2NL/60，NLThe number of vanes or gears of the pump.
Optionally, if the rotation speed of each pump is zero, setting the initial mechanical angle of the main pump to be zero; based on predetermineeing the target angle position difference, control main pump and auxiliary pump synchronous operation includes:
taking the mechanical angle position of the main pump as a reference, and controlling a motor to distribute the initial mechanical angle position of each auxiliary pump through a servo driver of each pump; wherein, the initial mechanical angle position of the auxiliary pump is integral multiple of 2 pi/N, and N is the total number of the main pump and the auxiliary pump;
based on the initial mechanical angle position of each pump, adjusting the flow of each pump to enable the total flow to reach a preset flow value;
the mechanical angle position difference of each pump is controlled to be kept stable, so that the flow pulsation generated by each pump is eliminated.
Optionally, the secondary pump comprises a first secondary pump and a second secondary pump; based on predetermineeing the target angle position difference, control main pump and auxiliary pump synchronous operation includes:
starting a main pump, starting a first auxiliary pump when the flow of the main pump is less than the required flow, and controlling the flow of the first auxiliary pump to reach half of the required flow;
reducing the rotating speed of the main pump until the flow of the main pump is reduced to half of the required flow, and controlling the mechanical angle of the main pump to be synchronous with the mechanical angle of the first auxiliary pump after the rotating speed of the main pump and the rotating speed of the first auxiliary pump are synchronous, so that the mechanical angle position of the main pump and the mechanical angle position of the first auxiliary pump are uniformly distributed;
when three pumps are required to be combined, the second auxiliary pump is started, the flow of the second auxiliary pump is controlled to reach one third of the required flow, the rotating speed of the main pump and the rotating speed of the first auxiliary pump are reduced, and the flow of the main pump and the flow of the first auxiliary pump are both reduced to one third of the required flow;
controlling the mechanical angle of the main pump, the mechanical angle of the first auxiliary pump and the mechanical angle of the second auxiliary pump to be synchronous, so that the mechanical angle position of the main pump, the mechanical angle position of the first auxiliary pump and the mechanical angle position of the second auxiliary pump are uniformly distributed;
the mechanical angle position difference of each pump is controlled to be kept stable, so that the flow pulsation generated by each pump is eliminated.
Optionally, based on presetting the target angle position difference, control main pump and auxiliary pump synchronous operation, include:
determining preset target angle position differences of each auxiliary pump and the main pump according to the number and the number of the blades of the pump;
and determining the mechanical angle deviation according to the preset target angle position difference and the mechanical angle position of each pump during operation, and adjusting the mechanical angle position of each pump until the absolute value of the mechanical angle deviation is smaller than the preset maximum allowable deviation.
Alternatively, the mechanical angle deviation is delta,
Figure BDA0002865888660000041
Figure BDA0002865888660000042
the mechanical angular position of the ith sub-pump,
Figure BDA0002865888660000043
is the mechanical angular position of the main pump,
Figure BDA0002865888660000044
a preset target angular position difference;
the mechanical angle position difference between the ith auxiliary pump and the main pump in the multi-pump confluence is
Figure BDA0002865888660000045
Figure BDA0002865888660000046
Expressed as:
Figure BDA0002865888660000047
wherein N isLNumber of vanes of the pump, NaThe number of the pumps in the multi-pump confluence is shown.
In a second aspect, an embodiment of the present invention further provides a multi-pump confluence flow pulsation eliminating apparatus, including:
the rotating speed acquisition module is used for acquiring the rotating speeds of the main pump and the at least one auxiliary pump;
the position difference control module is used for adjusting the rotating speed of the auxiliary pump according to the rotating speed of the main pump and the rotating speed of the auxiliary pump and controlling the mechanical angle position difference of the main pump and the auxiliary pump to reach a preset target angle position difference; the preset target angle position difference is 2 pi/N, and N is the total number of the main pump and the auxiliary pump;
and the flow determining module is used for controlling the main pump and the auxiliary pump to synchronously operate based on the preset target angle position difference, and outputting the flow confluence when the pumps synchronously operate to obtain the total flow.
According to the method and the device for eliminating the flow pulsation of the multi-pump confluence, provided by the embodiment of the invention, the rotating speeds of a main pump and at least one auxiliary pump are obtained; the rotating speed of the auxiliary pump is adjusted according to the rotating speed of the main pump and the rotating speed of the auxiliary pump, and the mechanical angle position difference between the main pump and the auxiliary pump is controlled to reach a preset target angle position difference; the preset target angle position difference is an integral multiple of 2 pi/N, and N is the total number of the main pump and the auxiliary pump; and then based on the preset target angle position difference, the main pump and the auxiliary pump are controlled to synchronously operate, and the flow during the synchronous operation of the pumps is converged and output to obtain the total flow. According to the method and the device for eliminating the flow pulsation of the multi-pump confluence, the rotating speed of the auxiliary pump is adjusted according to the obtained rotating speed of the main pump and the rotating speed of the auxiliary pump, the mechanical angle position difference of the main pump and the auxiliary pump is controlled to reach the preset target angle position difference, the main pump and the auxiliary pump are controlled to synchronously run based on the preset target angle position difference, the flow confluence output of the synchronous running of the pumps is output to obtain the total flow, the flow pulsation of the pumps is staggered in a specific phase when the multi-pump confluence outputs the flow, and the wave crest and the wave trough of the flow pulsation are superposed, so that the flow pulsation is eliminated in the total flow of the multi-pump confluence.
Drawings
Fig. 1 is a flowchart of a multi-pump confluence flow pulsation eliminating method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a variation in the rotational speed of the secondary pump according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a main pump and a sub-pump according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a variation in the rotational speed of the secondary pump in accordance with an embodiment of the present invention;
FIG. 5 is a flowchart of a multi-pump interflow flow pulsation cancellation method according to a second embodiment of the present invention;
FIG. 6 is a schematic diagram of an angular position adjustment closed-loop control provided in accordance with a second embodiment of the present invention;
fig. 7 is a block diagram of a flow pulsation eliminating apparatus with multiple pump confluence according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
For each single pump system, due to the structural characteristics of the hydraulic pump, the instantaneous flow rate is not uniform and changes with time during oil suction and pressure. When the hydraulic pump rotates continuously, the flow rate at each moment in each revolution changes repeatedly according to the same rule, and the phenomenon is called flow pulsation of the hydraulic pump. Taking a sine wave flow pulsation as an example, the simplified model of the flow pulsation is expressed by the formula:
Q＝asinωt+b
wherein Q is output flow, a and b are constants, omega is flow fluctuation frequency, and t is time. Besides causing system vibration and even noise pollution, the flow pulsation can weaken the control capability of the system, reduce the product quality and even damage components of the system.
Example one
Fig. 1 is a flowchart of a flow pulsation eliminating method for a multi-pump confluence according to an embodiment of the present invention, where this embodiment is applicable to aspects such as flow pulsation eliminating for the multi-pump confluence, and the method can be implemented by a flow pulsation eliminating apparatus for the multi-pump confluence, where the apparatus can be implemented by software and/or hardware, and the apparatus can be integrated in an electronic device such as a computer having a flow pulsation eliminating function for the multi-pump confluence, and the method specifically includes the following steps:
and step 110, acquiring the rotating speeds of the main pump and the at least one auxiliary pump.
The rotating speed of the main pump is greater than or equal to zero, the rotating speed of the auxiliary pump is greater than or equal to zero, the rotating speed of the main pump is the same as or different from that of the auxiliary pump, and the flow pulsation eliminating device for multi-pump confluence can acquire the rotating speed of each pump through a port which is arranged on the flow pulsation eliminating device and electrically connected with a motor of each pump.
And step 120, adjusting the rotating speed of the auxiliary pump according to the rotating speed of the main pump and the rotating speed of the auxiliary pump, and controlling the mechanical angle position difference of the main pump and the auxiliary pump to reach a preset target angle position difference.
The preset target angle position difference is an integral multiple of 2 pi/N, and N is the total number of the main pump and the auxiliary pump. Taking two auxiliary pumps as an example, if the initial mechanical angle of the main pump is set to be zero, the mechanical angle position difference between the two auxiliary pumps and the main pump needs to reach 2 pi/3, that is, the mechanical angle positions of the two auxiliary pumps are controlled to be 2 pi/3 and 4 pi/3 respectively, so as to control the flow rate of each pump.
Specifically, when the rotating speed of each pump is zero, the initial mechanical angle of the main pump is set to be zero, the auxiliary pump is controlled to accelerate and decelerate, and the time for accelerating and decelerating is adjusted until the mechanical angle position when the auxiliary pump decelerates to zero is the preset target angle position. FIG. 2 is a schematic diagram of the rotation speed variation of the auxiliary pump according to an embodiment of the present invention, and referring to FIG. 2, the first auxiliary pump is controlled at t0To t1Increasing the speed to n first in a time period1maxThen the speed is reduced to zero and the second secondary pump is controlled to be at t0To t2Increasing the speed to n first in a time period2maxAnd then decelerating to zero, and adjusting the acceleration and deceleration time of each auxiliary pump so as to ensure that the mechanical angle position when each auxiliary pump decelerates to zero is a preset target angle position. Fig. 3 is a schematic structural diagram of a main pump and a sub-pump according to a first embodiment of the present invention, taking the sub-pump includes a first sub-pump and a second sub-pump as an example, if an initial mechanical angle of the main pump is zero, a mechanical angle position difference between the first sub-pump and the main pump is:
Figure BDA0002865888660000071
wherein the content of the first and second substances,
Figure BDA0002865888660000072
is the mechanical angular position, ω, of the first secondary pump1Angular frequency, ω, of fluctuation of flow for the first secondary pump1＝2πn1NL/60，NL is the number of blades or gears of the pump; the mechanical angle position difference between the second auxiliary pump and the main pump is as follows:
Figure BDA0002865888660000081
wherein the content of the first and second substances,
Figure BDA0002865888660000082
mechanical angular position, ω, of the second secondary pump2Angular frequency, ω, of fluctuation of flow for the second secondary pump2＝2πn2NL/60。
In addition, when the rotating speed of each pump is greater than zero, the auxiliary pump is controlled to perform acceleration and deceleration operation, and the time for performing acceleration and deceleration on the auxiliary pump is adjusted until the speed after the acceleration and deceleration of the auxiliary pump is the same as the speed of the main pump, and the mechanical angle position difference of each auxiliary pump relative to the main pump is the preset target angle position difference. FIG. 4 is a schematic diagram of another variation of the rotation speed of the secondary pump according to the first embodiment of the present invention, referring to FIG. 4, the rotation speed of the primary pump is n0Mechanical angle position difference between each auxiliary pump and the main pump:
Figure BDA0002865888660000083
Figure BDA0002865888660000084
wherein the content of the first and second substances,
Figure BDA0002865888660000085
is the mechanical angular position, ω, of the first secondary pump1Angular frequency, ω, of fluctuation of flow for the first secondary pump1＝2πn1NL/60，
Figure BDA0002865888660000086
Is the mechanical angular position, omega, of the main pump0Is the main pump flow fluctuation angular frequency, omega0＝2πn0NL/60，
Figure BDA0002865888660000087
Mechanical angular position, ω, of the second secondary pump2Angular frequency, ω, of fluctuation of flow for the second secondary pump2＝2πn2NL/60，NLBeing vanes of pumpsNumber or gear number. The acceleration time and the deceleration time can be the same, two quantities of rotating speed and time need to be controlled when the acceleration time and the deceleration time are the same, the adjustment time can be set to be constant before one-time adjustment, and the maximum rotating speed n of each pump during adjustment is determined according to the preset target angular position difference1max、n2maxI.e. a one cycle planning.
And step 130, controlling the main pump and the auxiliary pump to synchronously operate based on the preset target angle position difference, and outputting the flow confluence when the pumps synchronously operate to obtain the total flow.
Specifically, after the mechanical angle position difference between the main pump and the auxiliary pump is controlled to reach the preset target angle position difference, the main pump and the auxiliary pump are controlled to synchronously operate, and if the actual output flow of the main pump is Q0，Q0＝a0sinω0t+b0The actual output flow of the first auxiliary pump is Q1，Q1＝a1sinω1t+b1The actual output flow of the second auxiliary pump is Q2，Q2＝a2sinω2t+b2The total flow rate of the merged output is Q, and Q is Q0+Q1+Q2＝a0sinω0t+a1sinω1t+a2sinω2t+b0+b1+b2(ii) a When the rotational speeds of the pumps are the same, ω0＝ω1＝ω2(ii) a The pumps have the same performance, then a0＝a1＝a2，b0＝b1＝b2(ii) a When the phase difference of the flow wave forms of the pumps is 2 pi/3, the total flow
Figure BDA0002865888660000091
Figure BDA0002865888660000092
It can be seen that the total flow of the combined output is 3b0That is, the flow rate pulsation of each pump is cancelled out in the total flow rate, thereby eliminating the flow rate pulsation in the multi-pump confluence.
The method for eliminating flow pulsation of multi-pump confluence according to the embodiment adjusts the rotation speed of an auxiliary pump according to the obtained rotation speed of a main pump and the obtained rotation speed of the auxiliary pump, controls the mechanical angle position difference of the main pump and the auxiliary pump to reach a preset target angle position difference, controls the main pump and the auxiliary pump to synchronously run based on the preset target angle position difference, outputs the flow confluence when the pumps synchronously run to obtain total flow, enables the flow pulsation of each pump to stagger a specific phase when the flow is output by the multi-pump confluence, and enables the wave crests and the wave troughs of the flow pulsation to be superposed, thereby eliminating the flow pulsation in the total flow of the multi-pump confluence.
Example two
Fig. 5 is a flowchart of a flow pulsation eliminating method for a multi-pump confluence according to a second embodiment of the present invention, where this embodiment is applicable to aspects such as flow pulsation eliminating for the multi-pump confluence, and the method can be implemented by a flow pulsation eliminating apparatus for the multi-pump confluence, where the apparatus can be implemented by software and/or hardware, and the apparatus can be integrated in an electronic device such as a computer having a flow pulsation eliminating function for the multi-pump confluence, and the method specifically includes the following steps:
step 210, acquiring the rotating speed of the main pump and the at least one auxiliary pump.
The auxiliary pump comprises a first auxiliary pump and a second auxiliary pump, the rotating speed of the main pump is the same as or different from that of the auxiliary pump, and the flow pulsation eliminating device for multi-pump confluence can acquire the rotating speed of each pump through a port which is arranged on the flow pulsation eliminating device and electrically connected with a motor of each pump.
And step 220, adjusting the rotating speed of the auxiliary pump according to the rotating speed of the main pump and the rotating speed of the auxiliary pump, and controlling the mechanical angle position difference of the main pump and the auxiliary pump to reach a preset target angle position difference.
The preset target angle position difference is an integral multiple of 2 pi/N, and N is the total number of the main pump and the auxiliary pump. Taking two auxiliary pumps as an example, if the rotation speed of the main pump is zero, the initial mechanical angle of the main pump can be set to be zero, and the mechanical angle position difference between the two auxiliary pumps and the main pump needs to reach 2 pi/3, that is, the mechanical angle positions of the two auxiliary pumps are controlled to be 2 pi/3 and 4 pi/3 respectively, so as to control the flow of each pump. The adjusting processes when the rotating speed of the main pump is zero and not zero can refer to fig. 2 and 4, respectively, and the specific processes are described in the above embodiments and are not described herein again.
And step 230, starting the main pump, starting the first auxiliary pump when the flow of the main pump is less than the required flow, and controlling the flow of the first auxiliary pump to reach half of the required flow.
Specifically, if the rotating speed of each pump is zero, the main pump can be started first, when the flow of the main pump is smaller than the required flow, the first auxiliary pump is started, the speed of the first auxiliary pump can be adjusted to enable the flow of the first auxiliary pump to reach half of the required flow, and therefore the total flow output by the confluence of the main pump and the first auxiliary pump is not lower than the required flow.
And 240, reducing the rotating speed of the main pump until the flow of the main pump is reduced to half of the required flow, and controlling the mechanical angle of the main pump to be synchronous with the mechanical angle of the first auxiliary pump after the rotating speed of the main pump and the rotating speed of the first auxiliary pump are synchronous, so that the mechanical angle position of the main pump and the mechanical angle position of the first auxiliary pump are uniformly distributed.
Specifically, the flow of the first auxiliary pump reaches half of the required flow, and in order to avoid excessive waste of the flow, the rotating speed of the main pump can be reduced until the flow of the main pump is reduced to half of the required flow, so that the total flow output by the confluence of the main pump and the first auxiliary pump just reaches the required flow. And after the rotating speed of the main pump and the rotating speed of the first auxiliary pump are synchronous, controlling the mechanical angle of the main pump and the mechanical angle of the first auxiliary pump to be synchronous, namely controlling the mechanical angle position difference of the main pump and the first auxiliary pump to keep a preset target angle position difference, so that the mechanical angle position of the main pump and the mechanical angle position of the first auxiliary pump are uniformly distributed, and flow pulsation in total flow output by confluence of the main pump and the first auxiliary pump is eliminated.
And 250, when three pumps are required to be combined, starting the second auxiliary pump, controlling the flow of the second auxiliary pump to reach one third of the required flow, and reducing the rotating speed of the main pump and the rotating speed of the first auxiliary pump to reduce the flow of the main pump and the flow of the first auxiliary pump to one third of the required flow.
Specifically, after the second auxiliary pump is started, the flow of the second auxiliary pump can be controlled by adjusting the rotating speed of the second auxiliary pump, the flow of the second auxiliary pump is controlled to reach one third of the required flow, meanwhile, the rotating speed of the main pump and the rotating speed of the first auxiliary pump are reduced, the flow of the main pump and the flow of the first auxiliary pump are both reduced to one third of the required flow, the total flow output by confluence of the three pumps reaches the required flow, the requirement of actual flow is met, and waste caused by excessive flow is avoided.
And step 260, controlling the mechanical angle of the main pump, the mechanical angle of the first auxiliary pump and the mechanical angle of the second auxiliary pump to be synchronous, and enabling the mechanical angle position of the main pump, the mechanical angle position of the first auxiliary pump and the mechanical angle position of the second auxiliary pump to be uniformly distributed.
Specifically, referring to fig. 3, the mechanical angle position distribution of each pump in fig. 3 is uniform distribution, and the mechanical angle position of the main pump, the mechanical angle position of the first auxiliary pump, and the mechanical angle position of the second auxiliary pump are uniform distribution, that is, the mechanical angle position difference between the main pump and the first auxiliary pump is a preset target angle position difference, and the mechanical angle position difference between the main pump and the second auxiliary pump is a preset target angle position difference.
And step 270, controlling the mechanical angle position difference of each pump to keep stable, and eliminating flow pulsation generated by each pump.
Specifically, the preset target angle position difference of each auxiliary pump and the main pump can be determined through the number and the number of the blades of the pumps, the mechanical angle deviation delta is determined according to the preset target angle position difference and the mechanical angle position of each pump during operation, and the mechanical angle position of each pump is adjusted until the absolute value of the mechanical angle deviation is smaller than the preset maximum allowable deviation. FIG. 6 is a schematic diagram of an angular position adjustment closed-loop control provided by the second embodiment of the present invention, and referring to FIG. 6, the given mechanical angular position difference required to be achieved by the ith secondary pump and the main pump is
Figure BDA0002865888660000121
Deviation of mechanical angle
Figure BDA0002865888660000122
Figure BDA0002865888660000123
The mechanical angular position of the ith sub-pump,
Figure BDA0002865888660000124
is the mechanical angular position of the main pump,
Figure BDA0002865888660000125
in order to preset the target angular position difference,
Figure BDA0002865888660000126
NLnumber of vanes of the pump, NaThe number of the pumps in the multi-pump confluence is shown. When the pump and the motor connected with the pump are installed, the relative positions of the motor rotor and the shaft of the pump are fixed, and the fixing mode of each single pump system is the same as that of other single pump systems. The servo motor connected with the pump feeds back the mechanical angle position difference to the controller electrically connected with the servo motor, and the flow pulsation eliminating device for multi-pump confluence controls the servo motor to output the actual mechanical angle position difference of the auxiliary pump and the main pump through the controller
Figure BDA0002865888660000127
Until the absolute value of the mechanical angle deviation is less than the maximum allowable deviation delta0Therefore, closed-loop control is realized, and the mechanical angle deviation of each pump is ensured to be in a reasonable range, namely, the mechanical angle position difference of each pump is controlled to be kept stable, so that the flow pulsation generated by each pump in the output total flow is eliminated when the three pumps are combined.
If the rotation speeds of the pumps are all zero, the initial mechanical angle of the main pump is set to be zero, the initial mechanical angle position of each sub-pump is distributed by the servo driver control motor of each pump with the mechanical angle position of the main pump as a reference (the initial mechanical angle position of the sub-pump is an integral multiple of 2 pi/N, and N is the total number of the main pump and the sub-pump), the flow rate of each pump is adjusted based on the initial mechanical angle position of each pump to enable the total flow rate to reach a preset flow rate value, the mechanical angle position difference of each pump is controlled to be kept stable, and the flow pulsation generated by each pump is eliminated.
In the method for eliminating flow pulsation in multi-pump confluence provided by this embodiment, the mechanical angle of the main pump, the mechanical angle of the first sub-pump and the mechanical angle of the second sub-pump are controlled to be synchronous, so that the mechanical angle position of the main pump, the mechanical angle position of the first sub-pump and the mechanical angle position of the second sub-pump are uniformly distributed, the mechanical angle position difference of each pump is controlled to be stable, the flow pulsation of each pump is staggered by a specific phase when the multi-pump confluence outputs flow, and the peak and the valley of the flow pulsation are superposed, so that the flow pulsation is eliminated in the total flow of the multi-pump confluence.
EXAMPLE III
Fig. 7 is a block diagram of a multi-pump interflow flow pulsation eliminating apparatus according to a third embodiment of the present invention, where the apparatus includes a rotation speed obtaining module 310, a position difference control module 320, and a flow rate determining module 330; the rotating speed obtaining module 310 is configured to obtain rotating speeds of a main pump and at least one auxiliary pump; the position difference control module 320 is used for adjusting the rotating speed of the auxiliary pump according to the rotating speed of the main pump and the rotating speed of the auxiliary pump, and controlling the mechanical angle position difference of the main pump and the auxiliary pump to reach a preset target angle position difference; the preset target angle position difference is 2 pi/N, and N is the total number of the main pump and the auxiliary pump; the flow determination module 330 is configured to control the main pump and the auxiliary pump to operate synchronously based on the preset target angular position difference, and output the flow confluence when the pumps operate synchronously to obtain the total flow.
On the basis of the above embodiment, the position difference control module 320 includes an angle setting unit and a speed control unit; the angle setting unit is used for setting the initial mechanical angle of the main pump to be zero when the rotating speed of each pump is zero; the speed control unit is used for controlling the auxiliary pump to accelerate and decelerate, and adjusting the time of acceleration and deceleration until the mechanical angle position when the auxiliary pump decelerates to zero is a preset target angle position.
Preferably, the secondary pump comprises a first secondary pump and a second secondary pump, the initial mechanical angle of the main pump is zero, and the mechanical angle position difference between the first secondary pump and the main pump is:
Figure BDA0002865888660000131
wherein the content of the first and second substances,
Figure BDA0002865888660000132
is the mechanical angular position, ω, of the first secondary pump1Angular frequency, ω, of fluctuation of flow for the first secondary pump1＝2πn1NL/60，NLThe number of blades or gears of the pump;
the mechanical angle position difference between the second auxiliary pump and the main pump is as follows:
Figure BDA0002865888660000133
wherein the content of the first and second substances,
Figure BDA0002865888660000134
mechanical angular position, ω, of the second secondary pump2Angular frequency, ω, of fluctuation of flow for the second secondary pump2＝2πn2NL/60。
In one embodiment, the position difference control module 320 includes an acceleration and deceleration control unit and a time adjustment unit; the acceleration and deceleration control unit is used for controlling the auxiliary pump to perform acceleration and deceleration operation when the rotating speed of each pump is greater than zero; the time adjusting unit is used for adjusting the time for the auxiliary pump to accelerate and decelerate until the speed of the auxiliary pump after acceleration and deceleration is the same as that of the main pump, and the mechanical angle position difference value of each auxiliary pump relative to the main pump is a preset target angle position difference. Wherein the rotating speed of the main pump is n0The auxiliary pump comprises a first auxiliary pump and a second auxiliary pump, and the mechanical angle position difference between each auxiliary pump and the main pump is as follows:
Figure BDA0002865888660000141
Figure BDA0002865888660000142
wherein the content of the first and second substances,
Figure BDA0002865888660000143
is the mechanical angular position, ω, of the first secondary pump1Angular frequency, ω, of fluctuation of flow for the first secondary pump1＝2πn1NL/60，
Figure BDA0002865888660000144
Is the mechanical angular position, omega, of the main pump0Is the main pump flow fluctuation angular frequency, omega0＝2πn0NL/60，
Figure BDA0002865888660000145
Mechanical angular position, ω, of the second secondary pump2Angular frequency, ω, of fluctuation of flow for the second secondary pump2＝2πn2NL/60，NLThe number of vanes or gears of the pump.
In one embodiment, if the rotational speed of each pump is zero, the initial mechanical angle of the main pump is set to zero; the flow rate determination module 330 includes an angle distribution unit, a flow rate adjustment unit, and a pulsation elimination unit; the angle distribution unit is used for controlling the motor to distribute the initial mechanical angle position of each auxiliary pump through the servo driver of each pump by taking the mechanical angle position of the main pump as a reference; wherein, the initial mechanical angle position of the auxiliary pump is integral multiple of 2 pi/N, and N is the total number of the main pump and the auxiliary pump; the flow regulating unit is used for regulating the flow of each pump based on the initial mechanical angle position of each pump so as to enable the total flow to reach a preset flow value; the pulsation eliminating unit is used for controlling the mechanical angle position difference of each pump to keep stable, so that the flow pulsation generated by each pump is eliminated.
Preferably, the flow determining module 330 includes a first starting unit, a flow control unit, a second starting unit, an angle control unit and a position difference control unit; the starting unit is used for starting the main pump, starting the first auxiliary pump when the flow of the main pump is smaller than the required flow, and controlling the flow of the first auxiliary pump to reach half of the required flow; the flow control unit is used for reducing the rotating speed of the main pump until the flow of the main pump is reduced to half of the required flow, and controlling the mechanical angle of the main pump to be synchronous with the mechanical angle of the first auxiliary pump after the rotating speed of the main pump and the rotating speed of the first auxiliary pump are synchronous, so that the mechanical angle position of the main pump and the mechanical angle position of the first auxiliary pump are uniformly distributed; the second starting unit is used for starting the second auxiliary pump when three pumps are required to be combined, controlling the flow of the second auxiliary pump to reach one third of the required flow, reducing the rotating speed of the main pump and the rotating speed of the first auxiliary pump, and reducing the flow of the main pump and the flow of the first auxiliary pump to be one third of the required flow; the angle control unit is used for controlling the mechanical angle of the main pump, the mechanical angle of the first auxiliary pump and the mechanical angle of the second auxiliary pump to be synchronous, so that the mechanical angle position of the main pump, the mechanical angle position of the first auxiliary pump and the mechanical angle position of the second auxiliary pump are uniformly distributed; the position difference control unit is used for controlling the mechanical angle position difference of each pump to keep stable, so that the flow pulsation generated by each pump is eliminated.
In one embodiment, the flow determination module 330 includes a position difference determination unit and an angular deviation determination unit; the position difference determining unit is used for determining preset target angle position differences of each auxiliary pump and the main pump according to the number and the number of the blades of the pump; the angle deviation determining unit is used for determining mechanical angle deviation according to the preset target angle position difference and the mechanical angle position when each pump runs, and adjusting the mechanical angle position of each pump until the absolute value of the mechanical angle deviation is smaller than the preset maximum allowable deviation. Wherein the mechanical angle deviation is delta,
Figure BDA0002865888660000151
Figure BDA0002865888660000152
the mechanical angular position of the ith sub-pump,
Figure BDA0002865888660000153
is the mechanical angular position of the main pump,
Figure BDA0002865888660000154
a preset target angular position difference; the mechanical angle position difference between the ith auxiliary pump and the main pump in the multi-pump confluence is
Figure BDA0002865888660000155
Figure BDA0002865888660000156
Expressed as:
Figure BDA0002865888660000157
wherein N isLNumber of vanes of the pump, NaThe number of the pumps in the multi-pump confluence is shown.
The flow pulsation eliminating device for multi-pump confluence provided by the embodiment and the flow pulsation eliminating method for multi-pump confluence provided by any embodiment of the invention belong to the same inventive concept, have corresponding beneficial effects, and detailed technical details in the embodiment are not shown in the flow pulsation eliminating method for multi-pump confluence provided by any embodiment of the invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A method for eliminating flow pulsation of multi-pump confluence is characterized by comprising the following steps:
acquiring the rotating speed of a main pump and at least one auxiliary pump;
adjusting the rotating speed of the auxiliary pump according to the rotating speed of the main pump and the rotating speed of the auxiliary pump, and controlling the mechanical angle position difference of the main pump and the auxiliary pump to reach a preset target angle position difference; the preset target angle position difference is an integral multiple of 2 pi/N, and N is the total number of the main pump and the auxiliary pump;
and controlling the main pump and the auxiliary pump to synchronously operate based on the preset target angle position difference, and outputting the flow confluence when the pumps synchronously operate to obtain the total flow.
2. The method for eliminating flow pulsation at a multi-pump confluence according to claim 1, wherein said controlling a mechanical angular position difference of said main pump and said sub-pump to a preset target angular position difference by adjusting a rotation speed of said sub-pump according to a rotation speed of said main pump and a rotation speed of said sub-pump comprises:
when the rotating speed of each pump is zero, setting the initial mechanical angle of the main pump to be zero;
and controlling the auxiliary pump to accelerate and decelerate, and adjusting the time of acceleration and deceleration until the mechanical angle position when the auxiliary pump decelerates to zero is a preset target angle position.
3. The method of eliminating flow pulsation at a multi-pump confluence according to claim 2, wherein the sub-pumps comprise a first sub-pump and a second sub-pump, and when the initial mechanical angle of the main pump is zero, the difference in mechanical angular positions between the first sub-pump and the main pump is:
Figure FDA0002865888650000011
wherein the content of the first and second substances,
Figure FDA0002865888650000012
is the mechanical angular position, ω, of said first secondary pump1An angular frequency, ω, of fluctuation of the flow rate of the first secondary pump1＝2πn1NL/60，NLThe number of blades or gears of the pump;
the mechanical angle position difference between the second auxiliary pump and the main pump is as follows:
Figure FDA0002865888650000013
wherein the content of the first and second substances,
Figure FDA0002865888650000021
is the mechanical angular position, ω, of said second secondary pump2An angular frequency, ω, of fluctuation of the flow rate of the second secondary pump2＝2πn2NL/60。
4. The method for eliminating flow pulsation at a multi-pump confluence according to claim 1, wherein said controlling a mechanical angular position difference of said main pump and said sub-pump to a preset target angular position difference by adjusting a rotation speed of said sub-pump according to a rotation speed of said main pump and a rotation speed of said sub-pump comprises:
when the rotating speed of each pump is greater than zero, controlling the auxiliary pump to carry out acceleration and deceleration operation;
and adjusting the time for the auxiliary pump to accelerate and decelerate until the speed after the auxiliary pump is accelerated and decelerated is the same as the speed of the main pump, wherein the mechanical angle position difference of each auxiliary pump relative to the main pump is a preset target angle position difference.
5. The method of eliminating flow pulsation at a multi-pump confluence according to claim 4, wherein said main pump rotates at a speed n0The secondary pump comprises a first secondary pump and a second secondary pump, each secondary pump having a mechanical angle position difference with the main pump:
Figure FDA0002865888650000022
Figure FDA0002865888650000023
wherein the content of the first and second substances,
Figure FDA0002865888650000024
is the mechanical angular position, ω, of said first secondary pump1An angular frequency, ω, of fluctuation of the flow rate of the first secondary pump1＝2πn1NL/60，
Figure FDA0002865888650000025
Is the mechanical angular position, omega, of the main pump0Is the main pump flow fluctuation angular frequency, omega0＝2πn0NL/60，
Figure FDA0002865888650000026
Is the mechanical angular position, ω, of said second secondary pump2An angular frequency, ω, of fluctuation of the flow rate of the second secondary pump2＝2πn2NL/60，NLThe number of vanes or gears of the pump.
6. The method of eliminating flow pulsation at a multi-pump confluence according to claim 1, wherein if the rotation speed of each pump is zero, the initial mechanical angle of the main pump is set to zero; the controlling the main pump and the auxiliary pump to synchronously run based on the preset target angle position difference comprises:
taking the mechanical angle position of the main pump as a reference, and controlling a motor to distribute the initial mechanical angle position of each auxiliary pump through a servo driver of each pump; wherein, the initial mechanical angle position of the auxiliary pump is integral multiple of 2 pi/N, and N is the total number of the main pump and the auxiliary pump;
based on the initial mechanical angle position of each pump, adjusting the flow of each pump to enable the total flow to reach a preset flow value;
the mechanical angle position difference of each pump is controlled to be kept stable, so that the flow pulsation generated by each pump is eliminated.
7. The multi-pump combined flow pulsation cancellation method of claim 1, wherein said secondary pump comprises a first secondary pump and a second secondary pump; the controlling the main pump and the auxiliary pump to synchronously run based on the preset target angle position difference comprises:
starting a main pump, starting the first auxiliary pump when the flow of the main pump is less than the required flow, and controlling the flow of the first auxiliary pump to reach half of the required flow;
reducing the rotating speed of the main pump until the flow of the main pump is reduced to half of the required flow, and controlling the mechanical angle of the main pump and the mechanical angle of the first auxiliary pump to be synchronous after the rotating speed of the main pump and the rotating speed of the first auxiliary pump are synchronous, so that the mechanical angle positions of the main pump and the mechanical angle positions of the first auxiliary pump are uniformly distributed;
when three pumps are required to be combined, the second auxiliary pump is started, the flow of the second auxiliary pump is controlled to reach one third of the required flow, the rotating speed of the main pump and the rotating speed of the first auxiliary pump are reduced, and the flow of the main pump and the flow of the first auxiliary pump are both reduced to one third of the required flow;
controlling the mechanical angle of the main pump, the mechanical angle of the first auxiliary pump and the mechanical angle of the second auxiliary pump to be synchronous, so that the mechanical angle position of the main pump, the mechanical angle position of the first auxiliary pump and the mechanical angle position of the second auxiliary pump are uniformly distributed;
the mechanical angle position difference of each pump is controlled to be kept stable, so that the flow pulsation generated by each pump is eliminated.
8. The method of eliminating flow pulsation at a multi-pump confluence according to claim 1, wherein said controlling the main pump and the sub-pump to operate synchronously based on the preset target angular position difference comprises:
determining preset target angle position differences of each auxiliary pump and the main pump according to the number and the number of the blades of the pump;
and determining mechanical angle deviation according to the preset target angle position difference and the mechanical angle position of each pump during operation, and adjusting the mechanical angle position of each pump until the absolute value of the mechanical angle deviation is smaller than a preset maximum allowable deviation.
9. The method of eliminating flow pulsation at multiple pump interflow according to claim 8, wherein said mechanical angle deviation is δ,
Figure FDA0002865888650000041
Figure FDA0002865888650000042
the mechanical angular position of the ith sub-pump,
Figure FDA0002865888650000043
is the mechanical angular position of the main pump,
Figure FDA0002865888650000044
setting the preset target angle position difference as the preset target angle position difference;
the mechanical angle position difference between the ith auxiliary pump and the main pump in the multi-pump confluence is
Figure FDA0002865888650000045
Figure FDA0002865888650000046
Expressed as:
Figure FDA0002865888650000047
wherein N isLNumber of vanes of the pump, NaThe number of the pumps in the multi-pump confluence is shown.
10. A multi-pump confluence flow pulsation reducing apparatus, comprising:
the rotating speed acquisition module is used for acquiring the rotating speeds of the main pump and the at least one auxiliary pump;
the position difference control module is used for adjusting the rotating speed of the auxiliary pump according to the rotating speed of the main pump and the rotating speed of the auxiliary pump and controlling the mechanical angle position difference of the main pump and the auxiliary pump to reach a preset target angle position difference; the preset target angle position difference is 2 pi/N, and N is the total number of the main pump and the auxiliary pump;
and the flow determining module is used for controlling the main pump and the auxiliary pump to synchronously operate based on the preset target angle position difference, and outputting the flow confluence when the pumps synchronously operate to obtain the total flow.
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