CN113156810A - Natural gas pressure regulating system based on fuzzy PID control - Google Patents
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Abstract
The invention relates to the technical field of gas pressure regulation control, in particular to a natural gas pressure regulating system based on fuzzy PID control, which comprises a natural gas pressure regulating mechanism, a fuzzy PID control mechanism and a control module, wherein the natural gas pressure regulating mechanism comprises a regulating valve and a sensor, the regulating valve is installed on a natural gas transmission pipeline, the rear end of the regulating valve is connected with one end of the sensor, the fuzzy PID control mechanism is used for carrying out pressure regulation control on the natural gas pressure regulating mechanism, and the fuzzy PID control mechanism is installed at the front end of the regulating valve; and the input signal end of the fuzzy PID control mechanism is connected with the other end of the sensor. The invention introduces a fuzzy PID control concept to form a fuzzy PID control mechanism, and adds the fuzzy PID control mechanism into the natural gas pressure control system, so that the natural gas pressure regulation is quicker and more stable.
Description
Technical Field
The invention relates to the technical field of natural gas pressure regulating control, in particular to a natural gas pressure regulating system based on fuzzy PID control.
Background
At present, the mainstream mode of regulating the pressure by the domestic natural gas pressure regulating station is a manual regulation mode, and the automation integration level is lower. The mode is continuously used in projects such as city gate stations and the like because the mode does not need wiring on site and has less investment in the early stage. But because there are many drawbacks, such as low control accuracy, indefinite reaction time, high later-stage operation cost, and real-time monitoring in the control room. The continuous development of science and technology requires that the regulation of natural gas pressure regulating station to pressure can reach the higher level of science and technology content, also requires that the reaction time is faster, fluctuation range is littleer to pressure stability. Then, the working mode of manual adjustment has been out of the era, and a new pressure adjusting mode should be developed to replace the current mode.
One of classical control methods in the control field is PID control, PID regulation has the advantages of easiness in operation, simple algorithm, wide application field and the like, and even though the method is still a place today in scientific rapid development. The setting of PID regulation has three parameters Kp, Ki and Kd, wherein Kp represents proportional regulation in PID control, Ki represents integral regulation in PID control, and Kd represents differential regulation in PID control; the control of PID regulation can be regulated and controlled only by setting the three parameters. The effect of the control of the PID regulation is determined by these three parameters. If one wants to change the PID control, only these three parameters need to be changed. If the pressure and the flow of the natural gas in the pipeline are changed, the parameters set by the PID are greatly influenced, and the parameters need to be updated in time to meet the requirement of stable operation. Therefore, the function to be completed can not be basically realized by simply adopting the conventional PID control.
The other control method in the control field is fuzzy control, which is different from the conventional control mode, the realization of the fuzzy control does not need to know fine mathematical logic, and the principle of the fuzzy control is compared with PID control, and the control mode has the characteristics of high response speed, short response time and the like. The field of fuzzy control applications is increasing and more common around us. The control rule is completed primarily by implementing fuzzy control, and the control rule is that human beings carry out an overall operation on the fuzzy control to be implemented. But when the controlled object faces the control process of nonlinearity, large time lag, serious disturbance and the like, the summary of the control rule is difficult to realize. Therefore, the fuzzy control is used alone to control the pressure regulating system, so that some disadvantages still exist, and the final effect is not very ideal.
Aiming at the characteristics of natural gas pressure, how to reasonably adjust the pressure is a key problem. If the PID regulation control mode is used independently, the response speed is slow due to the fact that parameters cannot be accurately set, and the desired result is difficult to achieve; if the fuzzy control mode is used alone, the elimination of the steady-state error is a difficult point.
Disclosure of Invention
In order to solve the technical problem, the invention discloses a control mode, the two control modes are combined, and the advantages of the control modes are combined to realize the reliability of the natural gas pressure regulation.
In order to achieve the purpose, the invention adopts the technical scheme that:
the natural gas pressure regulating system based on the fuzzy PID control comprises a natural gas pressure regulating mechanism, wherein the natural gas pressure regulating mechanism comprises a regulating valve and a sensor, the regulating valve is installed on a natural gas transmission pipeline, the rear end of the regulating valve is connected with one end of the sensor, the fuzzy PID control mechanism is used for carrying out pressure regulating control on the natural gas pressure regulating mechanism, and the fuzzy PID control mechanism is installed at the front end of the regulating valve; the input signal end of the fuzzy PID control mechanism is connected with the other end of the sensor.
Furthermore, the fuzzy PID control mechanism comprises a fuzzy control module and a PID control module, wherein the fuzzy control module utilizes three parameters K of the PID control modulep、Ki、KdEstablishing fuzzy relation between the control deviation e and the deviation change rate ec, and controlling the PID control K according to the fuzzy control principlep、Ki、KdThree parameters are corrected in real time.
Further, a torque-air pressure conversion coefficient W is input into the fuzzy PID control mechanism20.4; coefficient of proportionality K117; when the given input signal is 4mA-20mA, the valve opening of the regulating valve is 0-100%.
Further, when the given input signal is 4mA, the opening of the regulating valve is 0%, and no pressure exists after the valve; when the given input signal is 20mA, the regulating valve is in a full-open state.
Furthermore, the regulating valve comprises a valve, a valve positioner and an electromagnetic valve, wherein the valve positioner is connected with the regulating type pneumatic actuating mechanism; the regulating valve gives an input 4-20mA signal, outputs a 4-20mA signal and an electromagnetic valve signal; the valve positioner receives a 4-20mA signal and outputs a 0-6bar air pressure signal to the adjusting type pneumatic actuating mechanism of the adjusting valve.
Further, the regulating valve is in the form of a pneumatic membrane.
Further, the valve form of governing valve in the natural gas pressure regulating mechanism is stop valve, and the size of valve is 6 inches, and the pressure rating is 300 #.
Further, the moment air pressure conversion coefficient W input in the fuzzy PID control mechanism20.4; coefficient of proportionality K1The calculation procedure for 17 is as follows:
s1: carrying out mathematical modeling on a regulating valve component in the natural gas pressure regulating mechanism;
s2: calculating the valve damping coefficient characteristic;
s3: calculating the pressure-flow characteristic of the pipeline;
s4: obtaining a torque-air pressure conversion coefficient and a proportionality coefficient;
s5: and carrying out simulation verification on a regulating valve component in the natural gas pressure regulating mechanism.
Compared with the prior art, the invention has the beneficial effects that:
because the pressure regulation of the natural gas pressure regulating station is relatively irregular regulation, the pressure regulation is more rapid and stable after a fuzzy PID control concept is introduced; fuzzy PID control is to adjust PID control parameters, combines the advantages of respective control modes, makes up the defects of pure fuzzy control and PID control, and changes the parameters of fuel when the system is in emergency, so that the control system is more flexible.
Drawings
FIG. 1 shows a schematic structural view of the present invention;
FIG. 2 shows a damper coefficient curve of a damper valve in a natural gas pressure regulating mechanism;
FIG. 3 shows a mathematical model of the established regulator valve;
FIG. 4 shows a simulation model of a regulator valve built in a Simulink environment;
FIG. 5 shows a simulated configuration of a valve positioner and pneumatic regulator valve actuator;
FIG. 6 shows a mathematical model of the pressure-flow characteristic;
FIG. 7 is a graph showing the output signal of the regulator valve at 4 mA;
FIG. 8 is a graph showing the output signal of the regulator valve at an input signal of 12 mA;
FIG. 9 is a graph showing the output signal of the regulator valve at 20 mA;
wherein in the figure: i: an analog input signal; w is a1: a current moment conversion coefficient; m is1: inputting electromagnetic torque; m is2: feeding back a torque; Δ m: deviation value of moment; w is a2: a moment-to-air pressure conversion coefficient; p: the amplifier outputs a pressure signal; w is a3: a displacement moment feedback coefficient; f1: a thrust of the implement configuration; l: the stroke of the valve stem; f: considering the roughness and the non-constant pressure of the instrument tube; k1：A proportionality coefficient; k3: the proportional amplification factor of displacement and thrust; ps: actual parameters; p1 is the pressure before the valve is adjusted; p2 is the post-regulator pressure.
Detailed Description
As shown in fig. 1, the natural gas pressure regulating system based on the fuzzy PID control provided by the present invention comprises a natural gas pressure regulating mechanism, wherein the natural gas pressure regulating mechanism comprises a regulating valve and a sensor, the regulating valve is installed on a natural gas transmission pipeline, the rear end of the regulating valve is connected with one end of the sensor, the natural gas pressure regulating system based on the fuzzy PID control further comprises a fuzzy PID control mechanism, the fuzzy PID control mechanism performs pressure regulating control on the natural gas pressure regulating mechanism, and the fuzzy PID control mechanism is installed at the front end of the regulating valve; the input signal end of the fuzzy PID control mechanism is connected with the other end of the sensor.
Preferably, the fuzzy PID control mechanism comprises a fuzzy control module and a PID control module, and the fuzzy control module utilizes three parameters K of the PID control modulep、Ki、KdEstablishing a fuzzy relation between the control deviation e and the deviation change rate ec, and controlling the PID control K according to the fuzzy control principlep、Ki、KdThree parameters are corrected in real time.
Preferably, a torque-air pressure conversion coefficient W is input in the fuzzy PID control mechanism20.4; coefficient of proportionality K117; when the given input signal is 4mA-20mA, the valve opening of the regulating valve is 0-100%.
Preferably, the regulating valve comprises a valve, a valve positioner and an electromagnetic valve, wherein the valve positioner is connected with the regulating type pneumatic actuating mechanism; the regulating valve gives an input 4-20mA signal, outputs a 4-20mA signal and an electromagnetic valve signal; the valve positioner receives a 4-20mA signal and outputs a 0-6bar air pressure signal to the adjusting type pneumatic actuating mechanism of the adjusting valve.
The pressure regulation of the natural gas pressure regulating station is accomplished by a regulating valve on the pipeline, which is in the form of a pneumatic membrane. Before actual operation, a large number of experiments and mathematical models are required to be established according to the fuzzy PID control mode of the performance set of the valve of the pressure regulating valve.
Mathematical modeling is carried out on natural gas pressure regulating mechanism
1. And carrying out mathematical modeling on an adjusting valve component, wherein the adjusting valve mainly comprises a valve, a pneumatic adjusting valve actuating mechanism and a valve positioner component.
(1) Valve positioner
The valve positioner is a core component of the regulating valve, receives a 4-20mA current signal, and outputs a 0-6bar air pressure signal to a pneumatic regulating valve actuating mechanism part of the regulating valve, so that the opening accuracy of the regulating valve can be ensured.
The main given signals of the regulating valve are three, namely an input 4-20mA signal, an output 4-20mA signal and an electromagnetic valve signal. Generally, firstly, after the electromagnetic valve is electrified, the instrument is communicated with air, and the normal work of the regulating valve is ensured, which is the primary key point for driving the regulating valve. Secondly, a valve positioner is arranged on the regulating valve, and the valve positioner can receive and feed back a 4-20mA signal, and the valve positioner is used for controlling the action of the regulating valve and displaying the valve position of the regulating valve. When the input current is increased, the valve rod of the regulating valve moves upwards, the opening degree is increased, and the feedback rod moves reversely. Conversely, the input current decreases.
(2) Pneumatic control valve actuating mechanism
The pneumatic control valve driving part is mainly divided into a transmission part, an electric-pneumatic conversion part and a driving part.
Air pressure conversion unit
According to the structure of the actuator, the balance formula of the flow is as follows:
wherein Q isaIs the inlet flow of compressed air; qbIs the outflow rate of the compressed air; p2Is the pressure that the diaphragm receives; c is the total capacity of the diaphragm and instrumentation tube of the regulator valve.
Since the pressure of the compressed air is relatively constant, the pressure difference of the gas and the flow rate can be considered as a linear relation, and the formula is as follows:
wherein Q is1Is the input flow of gas, P1Is the inlet pressure; p2Is the pressure that the diaphragm receives; r is the air resistance of the circulation pipeline.
Since the coating inside the control valve has a closed structure, the flow rate inside the control valve can be regarded as zero. The following formula is derived:
wherein, TvRC, which refers to the operating time of the actuator; p0Is the post-regulator pressure.
Through the action time formula of the actuating mechanism, the transfer function is obtained as follows:
wherein G isv1(S) is a transfer function; p1(S) rate of change of inlet pressure, P2(S) rate of change of outlet pressure.
The above formula is ideal, but in actual conditions, special conditions, such as roughness and insufficient pressure, occur on the surface of the instrument tube, so the above formula is solved as follows:
wherein, T1And T2Is a time constant; t is the time lag, G1(S) is a coefficient of the transfer function that produces an error.
(ii) conversion of capabilities
The process of converting the gas pressure in the instrumentation tube to thrust is as follows:
F＝MP (6)
wherein: f is the thrust, and M is the effective area of the skin, which theoretically is a linear relationship. However, in actual operation, the deformation may occur due to the stress, and the change may occur.
(iii) Stroke conversion
When the elasticity of the spring is considered as a constant factor, the relationship between the displacement and the thrust can be approximated as a linear relationship, and the formula is as follows:
F＝TL (7)
wherein F is thrust; t is the coefficient of the spring; l is the distance the valve stem is displaced.
Analysis of each component of the pneumatic regulating valve actuator can obtain the transfer function of the actuator, as follows:
wherein G isv1(S) is the transfer function of the actuator.
2. Valve damping coefficient characteristic
Calculating according to a formula, and regulating the flow rate C of the valvevThe relationship between the value and the resistance coefficient R of the regulating valve is as follows:
wherein, CvIs the flow rate of the regulating valve; r is the resistance coefficient of the regulating valve.
The opening degree of the valve is in inverse proportion to the damping coefficient of the valve, and when the valve is developed to be larger, the damping coefficient of the valve is smaller. The simulation was performed in MATLAB according to the above mentioned data, defining the opening as x-axis and the inverse of the damping coefficient as y-axis, and the graph is shown in fig. 2, and the following formula is obtained according to the curve:
y＝-38.8366X5+114.832X4-88.6X3+26.7203X2-2.6312X+0.01 (10)
3. pressure-flow characteristic of pipeline
Setting P1Is the pre-valve pressure, P2R is a resistance coefficient, and the formula is as follows:
c is the capacity parameter of the pressure regulating valve, and the formula is as follows:
according to the definition of the gas flow dynamic balance equation, the damping coefficient and the capacity coefficient, the dynamic balance formula obtained by the method is as follows:
wherein C is a capacity parameter of the pressure regulating valve; q is the volumetric flow rate of natural gas; p1 is the pressure before the valve is adjusted; p2 is the post-regulator pressure.
As can be seen from equation 13 above, the volumetric flow of natural gas is dependent on the difference between the pressure before the regulator valve and the pressure after the regulator valve.
When the natural gas passes through the pressure regulating unit of the pressure regulating station, the pressure before the valve fluctuates when the natural gas passes through the regulating valve for the first time, and the pressure is caused by sudden change of the flow capacity. But after a short time, the pre-valve pressure will slowly stabilize.
A mathematical model of the regulating valve is established based on the above analysis of the valve positioner, the pneumatic regulating valve actuator and the flow capacity of the conduit, as shown in figure 3.
Secondly, modeling verification is carried out on the natural gas pressure regulating mechanism
After the mathematical model is built, the correctness of the mathematical model needs to be verified through simulation. The establishment of the simulation model is completed in a Simulink environment, and the overall structure is shown in FIG. 4.
1. Valve positioner and pneumatic control valve actuating mechanism simulation model
The simulation of the valve positioner and the pneumatic regulating valve actuator is realized in Subsystem, and the corresponding parameters are obtained through the mathematical modeling analysis as follows: moment-air pressure conversion coefficient W20.4; coefficient of proportionality K117; the simulated structure is shown in fig. 5.
According to the design scheme, the regulating valve is required to be fully closed to be 4mA, and the valve is required to be fully opened to be 20 mA. Since the mathematical model is established in a linear relationship, the fully-closed state in the model is 0mA, and the fully-closed state of the regulating valve is 4mA, so that some deviation exists, and some correction is carried out on the curve in order to eliminate the error.
2. Simulation model for damping coefficient of pressure regulating valve
Fcn1 is a functional relationship derived from equation (2.12) and is of the form:
Fcn1：-49.6966*(u[1]^5+115.8832*(u[1]^4-88.6000*(u[1]^3+26.7203*(u[1]^2-2.6312*(u[1])+0.0155
(14)
where u is a given amount and Fcn1 is the resulting opening.
The saturation is verified to verify the bearing capacity of the model, and the lower limit of the display on the display screen cannot be 0. The practical lower limit is greater than 0 and the upper limit is the maximum of eight bits on the display screen as a conclusion is obtained through simulation experiments.
3. Pressure-flow simulation model
The pressure-flow simulation is built into one module, as shown in fig. 6.
Where Fcn2 is a function derived from equation 6, and is of the form:
where u is the controlled object and Fcn2 is the flow simulation result.
The conclusion obtained is: as shown in fig. 7, when the input signal is 4mA, the opening of the regulator valve is 0%, and there is no pressure after the valve. As shown in fig. 8, when the input signal is 12mA, the opening degree of the regulator valve is 50%, and the valve is in a steady state at this time. When the pressure of the inlet fluctuates, the opening degree of the regulating valve is changed along with the fluctuation in order to ensure the pressure to be stable after the valve. As shown in fig. 9, when the input signal is 20mA, the regulating valve is in a fully open state, and the pressures before and after the regulating valve are the same, so that no pressure reduction effect occurs.
In the practical work of the invention, firstly, a torque-air pressure conversion coefficient W is input into a fuzzy PID controller20.4; coefficient of proportionality K1When natural gas flows through the natural gas pipeline, different pressures are generated at the front end and the rear end of the regulating valve, the sensor transmits a pressure signal to the fuzzy PID control mechanism part, and the pressure signal is controlled, adjusted and regulated by the fuzzy PID control mechanism partThe opening degree of the valve is 0% when the input signal is 4 mA; when the input signal is 12mA, the opening of the regulating valve is 50%, and the valve is in a stable state at the moment; when the pressure of the inlet fluctuates, the opening degree of the regulating valve is changed in order to ensure the pressure to be stable after the valve. When the input signal is 20mA, the regulating valve is in a full-open state.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in the embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. Natural gas pressure regulating system based on fuzzy PID control, including natural gas pressure regulating mechanism, natural gas pressure regulating mechanism includes governing valve and sensor, the governing valve is installed on natural gas transmission pipeline, and governing valve rear end is connected its characterized in that with sensor one end: the system also comprises a fuzzy PID control mechanism, wherein the fuzzy PID control mechanism is used for carrying out pressure regulation control on the natural gas pressure regulating mechanism, and the fuzzy PID control mechanism is arranged at the front end of the regulating valve; the input signal end of the fuzzy PID control mechanism is connected with the other end of the sensor.
2. The fuzzy PID control-based natural gas pressure regulating system of claim 1, wherein: the fuzzy PID control mechanism comprises a fuzzy control module and a PID control module, wherein the fuzzy control module utilizes three parameters K of the PID control modulep、Ki、KdEstablishing fuzzy relation between the control deviation e and the deviation change rate ec, and controlling the PID control K according to the fuzzy control principlep、Ki、KdThree parameters are corrected in real time.
3. The fuzzy PID control based natural gas pressure regulating system of claim 2, wherein: inputting a torque-air pressure conversion coefficient W in the fuzzy PID control mechanism20.4; coefficient of proportionality K117; when the given input signal is 4mA-20mA, the valve opening of the regulating valve is 0-100%.
4. The fuzzy PID control based natural gas pressure regulating system of claim 3, wherein: when the given input signal is 4mA, the opening of the regulating valve is 0%, and no pressure exists after the valve; when the given input signal is 20mA, the regulating valve is in a full-open state.
5. The fuzzy PID control-based natural gas pressure regulating system of claim 1, wherein: the regulating valve comprises a valve, a valve positioner and an electromagnetic valve, wherein the valve positioner is connected with the regulating pneumatic actuating mechanism; the regulating valve gives an input 4-20mA signal, outputs a 4-20mA signal and an electromagnetic valve signal; the valve positioner receives a 4-20mA signal and outputs a 0-6bar air pressure signal to the adjusting type pneumatic actuating mechanism of the adjusting valve.
6. The fuzzy PID control-based natural gas pressure regulating system of claim 1, wherein: the regulating valve is in the form of a pneumatic membrane.
7. The fuzzy PID control-based natural gas pressure regulating system of claim 1, wherein: the valve form of the regulating valve in the natural gas pressure regulating mechanism is a stop valve, the size of the valve is 6 inches, and the pressure grade is 300 #.
8. The fuzzy PID control based natural gas pressure regulating system of claim 3, wherein: moment and air pressure conversion coefficient W input in the fuzzy PID control mechanism20.4; coefficient of proportionality K1The derivation procedure for 17 is as follows:
s1: carrying out mathematical modeling on a regulating valve component in the natural gas pressure regulating mechanism;
s2: calculating the valve damping coefficient characteristic;
s3: calculating the pressure-flow characteristic of the pipeline;
s4: obtaining a torque-air pressure conversion coefficient and a proportionality coefficient;
s5: and carrying out simulation verification on the opening of a regulating valve in the natural gas pressure regulating mechanism.
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| CN114167716A (en) * | 2021-12-03 | 2022-03-11 | 江苏海博流体控制有限公司 | Regulation type electric execution method and mechanism based on flow control |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114167716A (en) * | 2021-12-03 | 2022-03-11 | 江苏海博流体控制有限公司 | Regulation type electric execution method and mechanism based on flow control |
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