CN113359880A - Control method for constant water level filtration of V-shaped filter tank, computer device and computer readable storage medium - Google Patents
Control method for constant water level filtration of V-shaped filter tank, computer device and computer readable storage medium Download PDFInfo
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Abstract
The invention provides a control method, a computer device and a computer readable storage medium for constant water level filtration of a V-shaped filter chamber, wherein the method comprises the steps of obtaining the liquid level height and the instantaneous water inlet flow of the filter chamber, and determining the control mode of the opening of a water filter valve according to the liquid level height and the instantaneous water inlet flow; if the liquid level height is greater than the upper threshold value of the liquid level height or the liquid level height is less than the lower threshold value of the liquid level height, the opening degree of the water filtering valve is adjusted in a start-stop control mode; if the liquid level is in the target range and the instantaneous flow of the inlet water changes suddenly, the opening degree of the water filtering valve is adjusted in a fuzzy control mode; and when the liquid level of the filter tank is moderate and the instantaneous water inlet flow is stable, the opening degree of the water filtering valve is adjusted by adopting a PID control mode. The invention also provides a computer device and a computer readable storage medium for realizing the method. The invention can realize the constant water level control effect of quickly and accurately adjusting the liquid level height of the filter tank on the premise of ensuring that the turbidity of the filtered water reaches the standard and is stable.
Description
Technical Field
The invention relates to the field of control of filter tanks, and particularly provides a control method for constant water level filtration of a V-shaped filter tank, a computer device for realizing the method and a computer readable storage medium.
Background
The V-shaped filter tank process is widely applied to the production of water works and is a key link of the production of drinking water, and the quality of the filtering of the V-shaped filter tank directly influences the quality of the drinking water. The V-shaped filter tank is named because the water inlet grooves on the two sides of the V-shaped filter tank are designed to be similar to a V shape, the V-shaped filter tank is a deep homogeneous filter material or homogeneous particle filter material filter tank, has the advantages of a fast filter tank and a coarse filter material filter tank, and has the advantages of strong sewage interception capability, good water quality after filtration, fast filtration speed, long running period, ideal backwashing effect, suitability for automatic transformation and running and the like.
The V-shaped filter tank has the following water filtering working principle: after the water to be filtered flowing in through the water inlet main channel flows in through the water inlet valve, the water flows over the weir crest and enters the V-shaped grooves on two sides through the side holes on two sides, simultaneously enters the inside of the pool body from the water distribution holes at the bottoms of the V-shaped grooves and the weir of the V-shaped grooves, is filtered by the homogeneous filter material filtering layer and then becomes clear water, the clear water flows to the bottom space from the filter head, then converges the gas-water distribution pipe channel from the square hole, and finally flows to the clear water pool through the pipe gallery water seal well, the water outlet weir and the clear water pipe. When the V-shaped filter tank works, the liquid level of the V-shaped filter tank needs to be kept at a certain level, namely, the constant water level needs to be controlled. However, the conventional constant water level filtration control system is difficult to avoid the problems that the filtration speed is suddenly changed, and finally the turbidity of the filtered water is unstable and even higher due to frequent action of the water filtration valve, overlarge adjustment range and the like. Therefore, the problem of uneven water distribution commonly exists in the traditional V-shaped filter tank process, and the dual defects that the surplus water purification capacity cannot be fully utilized and the turbidity of filtered water is high are easily caused are derived.
In order to control the liquid level, people consider adopting a plurality of different control modes to combine for control, for example, the Chinese utility model with the publication number of CN205593195U discloses a high-safety boiler liquid level control system, which comprises a liquid level measuring and transmitting unit for measuring the liquid level of a boiler, wherein the liquid level measuring and transmitting unit is connected with the input end of the system, the input end of the system is connected with an input switching device, and the input switching device is connected with a water inlet control valve for controlling the water inlet of the boiler; the input switching device is formed by connecting a PID controller and a fuzzy controller in parallel. However, this method only uses the combination of PID control and fuzzy control to perform liquid level control, and if the liquid level control is applied to the V-shaped filter, it is difficult to quickly adjust the liquid level of the V-shaped filter under the condition of high liquid level or low liquid level. In addition, the existing PID control mode is used for carrying out position type adjustment on the water filtering valve, so that the action error is large, and the opening adjustment precision of the water filtering valve is poor.
Disclosure of Invention
The invention aims to provide a control method for constant water level filtration of a V-shaped filter tank, which can quickly adjust the liquid level of the filter tank.
The second purpose of the invention is to provide a computer device for realizing the control method of the constant water level filtration of the V-shaped filter tank.
The third purpose of the invention is to provide a computer readable storage medium for realizing the control method of the constant water level filtration of the V-shaped filter tank.
In order to realize the first purpose of the invention, the control method of the constant water level filtration of the V-shaped filter tank comprises the steps of obtaining the liquid level height and the instantaneous water inlet flow of the filter tank, and determining the control mode of the opening of a water filter valve according to the liquid level height and the instantaneous water inlet flow; if the liquid level height is greater than the upper threshold value of the liquid level height or the liquid level height is less than the lower threshold value of the liquid level height, the opening degree of the water filtering valve is adjusted in a start-stop control mode; if the liquid level is in the target range and the instantaneous flow of the inlet water changes suddenly, the opening degree of the water filtering valve is adjusted in a fuzzy control mode; if the following conditions are met, the opening degree of the water filtering valve is adjusted by adopting a PID control mode: the liquid level is between the upper limit threshold and the lower limit threshold and is not in the target range; or the liquid level is in the target range, and the instantaneous flow of the inlet water is stable; wherein the target range is a portion of the range between the upper threshold and the lower threshold.
According to the scheme, the opening of the water filtering valve is controlled by combining three control modes of start-stop control, PID control and fuzzy control, and particularly when the liquid level is larger than an upper limit threshold or smaller than a lower limit threshold, the start-stop control mode is adopted, so that the liquid level of the V-shaped filter tank can be quickly adjusted, and the situation that the liquid level of the V-shaped filter tank is suddenly changed is avoided.
Preferably, the step of obtaining the instantaneous inflow comprises the following steps: and (3) acquiring the liquid level change rate of the filter tank in a preset time period, if the liquid level change rate of the filter tank in the preset time period is greater than a liquid level change threshold value, confirming that the instantaneous inflow rate of the filter tank is suddenly changed, and otherwise, confirming that the instantaneous inflow rate of the filter tank is stable.
Therefore, whether the instantaneous water inflow flow rate changes suddenly or not is judged according to the change situation of the liquid level of the filter tank within a period of time, and the instantaneous water inflow rate of the filter tank can be effectively and accurately monitored.
The further scheme is that the step of adjusting the opening degree of the water filtering valve in a start-stop control mode comprises the following steps: if the liquid level is lower than the lower limit threshold of the liquid level, the opening degree of the water filtering valve is adjusted to be the minimum output quantity; if the liquid level height is larger than the upper limit threshold of the liquid level height and the instantaneous flow of the inlet water is suddenly changed, the opening degree of the water filtering valve is adjusted to be the maximum output quantity.
Therefore, the opening degree of the water filtering valve is adjusted in a mode of minimum output or maximum output, the water inflow of the filter tank can be rapidly changed, and the liquid level height of the filter tank can be rapidly adjusted.
Further, the adjusting the opening degree of the water filtering valve to the minimum output amount may include: adjusting the opening degree of the water filtering valve to 0; adjusting the opening degree of the water filtering valve to the maximum output amount includes: the opening of the water filter valve was adjusted to 70%.
Further, the step of adjusting the opening of the water filter valve by using a PID control mode comprises: and calculating the variable quantity of the opening degree of the water filtering valve after each action by adopting an incremental PID algorithm, and preferably, adopting a system deviation value of preset times as a calculation parameter of the incremental PID algorithm.
Therefore, the invention adopts the incremental PID algorithm to calculate the variable quantity of the opening of the water filtering valve after each action, compared with the position PID algorithm, the invention can more accurately control the opening of the water filtering valve, so that the liquid level regulation of the filter tank is more accurate.
Further, the step of adjusting the opening of the water filter valve by adopting a fuzzy control mode comprises the following steps: and determining a characteristic set of fuzzy control according to the liquid level height and the instantaneous water inlet flow, generating a fuzzy membership degree of the water filtering valve, and determining a control mode set of the fuzzy control according to the fuzzy membership degree.
Preferably, when the control mode set of the fuzzy control is determined, the maximum value, the intermediate value and the minimum value of the opening increment of the water filtering valve are used for adjustment.
Therefore, the fuzzy control can reduce the action times of the water filtering valve, avoid the frequent action of the water filtering valve and improve the efficiency of liquid level adjustment.
In order to achieve the second object, the present invention provides a computer device, which includes a processor and a memory, wherein the memory stores a computer program, and the computer program is executed by the processor to implement the steps of the control method for constant water level filtration in the V-shaped filter.
In order to achieve the third objective, the present invention provides a computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the steps of the control method for constant water level filtering in V-shaped filter.
Drawings
FIG. 1 is a block diagram of a control module of a control method for constant water level filtration of a V-shaped filter tank.
FIG. 2 is a flow chart of an embodiment of the control method for constant water level filtration in the V-shaped filter tank of the invention.
The invention is further explained with reference to the drawings and the embodiments.
Detailed Description
The control method of the constant water level filtration of the V-shaped filter tank is applied to the V-shaped filter tank, and particularly, one or more water filtering valves are arranged in the filter tank, the opening degrees of the water filtering valves are controlled by a controller, a processor and a memory are arranged in the controller, a computer readable storage medium is stored in the memory, and when the processor executes the computer readable storage medium, the control method of the constant water level filtration of the V-shaped filter tank can be realized.
The embodiment of the control method for constant water level filtration of the V-shaped filter tank comprises the following steps:
the method is mainly used for designing a multi-strategy control method applied to the V-shaped filter tank from correlation comprehensive analysis of turbidity change of the V-shaped filter tank after water filtration and multiple factors such as sudden change of water inflow and sudden change of water filtration speed, and the like, wherein the reason is that the turbidity of water after water filtration is higher. And starting-stopping control, fuzzy control or PID control are respectively adopted in different application conditions and application ranges, and a parameter self-adaptive function is given to the system. The intelligent switcher is controlled through multiple strategies to realize control among the zones, so that the three control modes can make full use of the advantages and avoid the disadvantages, and the optimal control effect is achieved in respective effective application ranges, so that the liquid level of the V-shaped filter tank is adjusted quickly, stably and accurately, the constant water level filtering control of the V-shaped filter tank is further realized, and the water turbidity after water filtration is ensured to be in a reasonable range.
Aiming at the problem of uneven water distribution of the V-shaped filter, the opening degree of a water filtering valve (namely the filtering speed of the filter) is used as a guide, the constant water level target value of each filter is set in a differentiation mode, and the water inflow of each filter is approximately equal under the control action of the constant water level by utilizing the water flow intercommunication characteristics among the filter bodies and the principle that water flows to the lower part.
Compared with the traditional control method, the embodiment further optimizes and stabilizes the quality of the leaving water by applying key technologies such as parameter self-adaption, multi-strategy control and the like. The parameter self-adaptation is that the control system of the filter tank can carry out on-line automatic optimization under the condition of following a specific rule in order to ensure that the system has the capability of keeping the performances of high response speed, high action precision, strong robustness and the like unchanged under uncertain disturbance. The logic basis of parameter optimization is that the characteristic quantity information of the control system is not changed, and the original optimal parameter combination is kept unchanged.
For a complex system with slowly time-varying parameters and affected by random interference, the conventional PID controlled parameters (proportional, integral, differential) are not easy to self-adjust on line, so that the application is limited. And the self-adaptive control algorithm is adopted, so that the on-line automatic realization can be realized only by the on-line identification process or the controller parameters.
The multi-strategy control adopted by the embodiment refers to that an ideal formula of a PID controller is deduced to form an incremental PID algorithm, and the incremental PID algorithm is combined with three control modes of start-stop control and fuzzy control to be respectively applied to the filter chamber constant water level filtration control system. Therefore, the embodiment provides a multi-strategy control intelligent switcher to realize the constant water level filtering task of the filter tank, and aims to enhance the robustness of the system, improve the adaptive capacity of the system under the condition of sudden change of parameters, and reduce the influence on the stability and the control precision of the system to the minimum.
According to the control target of the filter tank constant water level filtration control system, various factors influencing the filter tank process stability and effluent water quality in the control process are organically combined with a control algorithm for effectively solving the problems, and the following three control strategies are adopted in the embodiment: the method comprises start-stop control, fuzzy control and PID control, and utilizes a correlation function to design a multi-strategy control intelligent switcher, so that the filter tank process can be controlled in different zones by adopting different control algorithms under different water inflow conditions and different liquid level intervals.
Referring to fig. 1, the control system is provided with a control mode switching module 10, a start-stop control module 11, a fuzzy control module 12 and a PID control module 13, wherein the start-stop control module 11, the fuzzy control module 12 and the PID control module 13 are respectively used for controlling the opening degree of the water filtering valve, and the control mode switching module 10 is used for selecting between three control modes, that is, switching the control mode of the water filtering valve to any one of the start-stop control module 11, the fuzzy control module 12 and the PID control module 13.
When the system deviation of the V-shaped filter tank is large in water re-feeding, backwashing and the like after being emptied, a simple strategy is adopted, namely start-stop control is adopted for control, the start-stop control is also called as slamming control or Bang-Bang control, the control mode can greatly shorten the response time of the system, and the requirement on the rapidity of the system is met. The starting and stopping control is adopted, the system deviation is reduced to the applicable condition and the application range of the fuzzy control algorithm, the fuzzy control is adopted to approach the constant water level control target value in the transition stage with not too large deviation, the robustness of the fuzzy control is strong, and the dynamic characteristic and the anti-interference performance of the system can be improved after the fuzzy control is used. However, fuzzy control has the defect that steady-state errors of the system are difficult to eliminate, so that the system control accuracy is not ideal at a stage with small deviation, the system is often fluctuated around a given amount, and the elimination time is long. If a PID control algorithm which is good at eliminating steady-state errors is used at a stage when the system deviation is very small, the control accuracy of the system can be improved. Automatic switching between control algorithms is implemented by a multi-strategy control intelligent switcher. As shown in fig. 1, in this embodiment, the given quantity is a constant water level control target value e, the controller input quantity is a system deviation epsilon, i.e. the difference between the system control target value and the current liquid level height, and the output quantity is the valve opening y of the water filter valve.
The operation flow of the present embodiment will be described in detail with reference to fig. 2. Firstly, step S11 is executed to obtain characteristic information of the constant water level control system of the filter tank, specifically, to obtain the liquid level height and the instantaneous flow rate of the inlet water of the filter tank. In this embodiment, the instantaneous flow rate of the inlet water is the flow rate of water flowing into the filter per unit time, for example, the flow rate of water flowing into the filter in one minute. Let the current liquid level of the filter be r (t), t ═ {30, 60, 90}, e (t) be the variable of the liquid level of the filter recorded at time t, and the time measurement unit is second.
The target constant liquid level height value is set to e 35, the closed-loop control system error is set to e (k), and the system error e (k) is obtained by the following formula:
the time T is triggered and generated by a PLC internal timer according to a preset condition, and the initial value T of the time T period is made to be 90 s.
From equation 1, it can be calculated that: t-30 s, E (1) -E (30) -35; t 60s, E (2) E (60) -35; t is 90s, E (3) is E (90) -35, and three variables E (1), E (2), and E (3) need to be updated in real time.
Then, the liquid level ascending and descending conditions of the filter tank are identified, namely the change state of the liquid level is described by using the acquired characteristic information, so that a plurality of conditions of the trend of the liquid level ascending and descending changes are identified. The present embodiment can be processed in the following three ways:
the first method is to divide the liquid level of the filter into five sections, for example, the unit of the liquid level is set to cm. Specifically, Q1 ═ { S | e (t) <20} may be set; q2 ═ S |20 ≦ e (t ≦ 30 }; q3 ═ { S |30< e (t) <40 }; q4 ═ S |40 ≦ e (t ≦ 45 }; q5 ═ { S |45< e (t); t ═ 30, 60, 90. In the section Q1, the liquid level is lower than the lower threshold of the liquid level, in the section Q5, the liquid level is higher than the upper threshold of the liquid level, in the section Q3, the liquid level is in the target range, wherein the target range is 30 to 40, and it can be seen that the target range is a range between the upper threshold of the liquid level and the lower threshold of the liquid level.
The second method is that the difference between t 90 seconds and the liquid level height variable value sampled by t 30 seconds is processed into an absolute value to obtain delta E ═ E (3) -E (1); let Y1 ═ { Y | Δ E ≧ Δ Et }; y2 ═ { Y | Δ E < Δ Et }; Δ Et is a rate of change in liquid level per unit time (60s) to determine whether or not there is a significant change in liquid level elevation during that time. If the water inflow suddenly changes, namely the instantaneous water inflow suddenly changes, the state of the filter tank belongs to Y1, otherwise, the instantaneous water inflow is considered to be stable, and the state of the filter tank belongs to Y2.
The third way is to initially obtain the following seven conditions by sorting the numerical values of E (1), E (2) and E (3):
N1＝{T|E(1)>E(2)>E(3)}；
N2＝{T|E(2)>E(1)，E(1)>E(3)}；
N3＝{T|E(3)>E(2)>E(1)}；
N4＝{T|E(3)>E(1)，E(1)>E(2)}；
n5 ═ T | E (1) ═ E (2) or (2) ═ E (3) or E (1) ═ E (2) ═ E (3) };
N6＝{T|E(2)>E(3)，E(3)>E(1)}；
N7＝{T|E(1)>E(3)，E(3)>E(2)}。
and (3) identifying the liquid level elevation change of the filter tank by combining the reality as follows: n1 and N2 belong to the situation that the liquid level is reduced quickly; n3 and N4 belong to the situation that the liquid level rises quickly; n5 belongs to the condition that the liquid level is relatively stable; the N6 belongs to the liquid level, and the liquid level is slowly raised and lowered; n7 belongs to the liquid level, and the liquid level is slowly reduced with rising. Among them, N6 and N7 belong to the situations that the ascending and descending trend cannot be determined due to severe fluctuation of the liquid level or interference of data sampling, and can be ignored, so the first five situations are only considered in the present embodiment.
Then, a correlation function is created, specifically, the system control state is brought into a specific mode according to the combination relation of five intervals of the liquid level height of the filter tank and the change rate of the liquid level height, so that the correlation function of the classification characteristic information of the system to various control strategy modes is created, and 4 modes can be obtained in a generalizing way:
M1＝{M|Q＝Q1 OR Q＝Q5}；
M2＝{M|(Q＝Q2 OR Q＝Q4)AND(Y＝Y1 OR Y＝Y2)}；
M3＝{M|(Q＝Q2 OR Q＝Q3 OR Q＝Q4)AND(Y＝Y1)}；
M4＝{M|(Q＝Q3 AND Y＝Y2}；
finally, the four modes are respectively matched with appropriate control strategies according to the characteristics of the intelligent switcher and the control requirements, so that the multi-strategy control intelligent switcher is designed, the identified modes are used as the basic basis for switching, and undisturbed switching among different control modes is realized. Specifically, the mode M is determined1Adapted start-stop control, for mode M2、M3Then fuzzy control is used, and for mode M4PID control is adopted.
In this embodiment, if the liquid level is greater than the upper threshold of the liquid level, or the liquid level is less than the lower threshold of the liquid level, the opening of the water filter valve is adjusted by a start-stop control mode; if the liquid level is in the target range and the instantaneous flow of the inlet water changes suddenly, the opening degree of the water filtering valve is adjusted in a fuzzy control mode; if the liquid level is between the upper limit threshold and the lower limit threshold and is not in the target range; or the liquid level is in the target range, and the instantaneous flow of the inlet water is stable, and the opening degree of the water filtering valve is adjusted by adopting a PID control mode.
Therefore, after the step S11 is executed, the step S12 is executed to determine whether the conditions of the start-stop control are satisfied, and if so, the step S13 is executed to control the opening degree of the water filter valve by the start-stop control method. Specifically, under the start-stop control, the system output is taken to be at a critical point of the allowable action range, that is, only the maximum and minimum extreme values are changed. Compared with a PID control mode, the start-stop control mode has the following superior performances: the dynamic performance of short transition period is achieved, and adverse system stability factors such as overshoot and oscillation can be eliminated. The time optimal control has significant meaning for objects with high requirements on maintaining production continuity, such as water purification process of water works and the like. Therefore, the control action of the system is maintained at the limit value, and on the premise of not influencing the effluent quality of the filter tank, the start-stop control is carried out within the range with large system deviation, the maximum force or the minimum force is output, the transition period time is shortened, and the ideal effect of time optimal control is achieved.
In this embodiment, the mode M1 indicates that the current liquid level of the filter chamber is greatly deviated from the constant water level set value, and if the liquid level is adjusted back to the vicinity of the constant water level target value by the control of the maximum force in this mode, the advantage that PID control or fuzzy control cannot match is obtained. For this, the start-stop control may be divided into a minimum output control amount and a maximum output control amount, i.e., the opening degree of the water filter valve is adjusted to a minimum output amount and a maximum output amount, for example, using the following formula:
U1min＝{U|Q＝Q1}；
U1max＝{U|Q＝Q5 AND Y＝Y1}
U1min＝0％；U1max70 percent; (formula 2)
Wherein,U1min、U1maxrepresent the minimum output and the maximum output of system output respectively for the opening value of representation strainer valve, too big and lead to the filtration rate too fast for the opening of avoiding strainer valve, and then lead to straining back quality of water to become turbid, this embodiment limits the maximum opening value at 70%.
If the result of the determination in the step S12 is negative, a step S14 is performed to determine whether the condition for using the PID control mode is satisfied, and if so, a step S15 is performed to adjust the opening degree of the water filtering valve using the PID control method. Specifically, for the constant water level filtration control system, the change rate of the measured value is within a certain range, the PID parameter is reasonably set, the PID algorithm can eliminate the steady-state error of the system to the maximum extent, and the constant water level filtration control effect is obvious.
The PID can be classified into a position type and an incremental type according to its algorithm expression, and the incremental type is more suitable for the constant water level control. Therefore, the calculation formula of the PID controller adopted in this implementation is as follows:
where u (t) is the output of the controller, e (t) is the input of the controller, i.e. the deviation of the controlled quantity from the set value, e (t) ═ r (t) -e, KpFor the proportional amplification factor of the controller, TiIs the integration time of the controller, TdIs the controller's differential time.
Let u (k) be the controller output value of the k-th sampling time to obtain a discrete PID control formula:
wherein,
in order to be the integral coefficient of the light,
is a differential systemAnd (4) counting.
The value of u (k) is directly corresponding to the position of an actuator, such as the opening degree of a filter water filtering valve of a filter chamber. Using an incremental PID algorithm, the controller calculates the output as an increment of the system control quantity Δ u (k). For the present embodiment, Δ u (k) is an increment of a single change of the actuator position, i.e., an increment of a single change of the water filter valve opening, rather than a state quantity after the change, i.e., an actual opening of the water filter valve. It is therefore required that the actuator perform its precise adjustment action under the cumulative effect of the control output increments. The cumulative function or effect can be achieved either in hardware or by the design of a software algorithm, e.g. based on the formula u (k) ═ u (k-1) + Δ u (k), thus deriving a formula for incremental PID control: substituting equation 4 with equation Δ e (k) ═ e (k) — e (k-1) yields:
Δu(k)＝Kp[e(k)-e(k-1)]+Ki e(k)+Kd[e(k)-2e(k-1)+2e(k-2)](formula 5)
Since the sampling period T belongs to a time-invariant parameter in the system, K is set in the PID controllerp、Ti、TdAnd substituting the three measured system deviation values e (k), e (k-1) and e (k-2) into a formula 5 to calculate a control increment value.
Finally, substituting the characteristic variables E (1), E (2), E (3) of the control system into equation 5 yields:
Δu(k)＝Kp[e(3)-e(2)]+Ki e(3)+Kd[e(3)-2e(2)+2e(1)](formula 6)
As can be seen from equation 6, if the PLC program uses the internal timer T, for example, with a cycle period of 30 seconds, and sets the calculated values of E (k) to 30 seconds, 60 seconds, and 90 seconds, the values of E (1), E (2), and E (3) can be calculated, and finally the system control amount of equation 6 is obtained, thereby realizing the incremental PID control.
If the result of the determination in the step S14 is negative, step S16 is performed to determine whether the conditions of the fuzzy control are met, and if yes, step S17 is performed to adjust the opening degree of the water filtering valve by adopting the fuzzy control mode. The present embodiment employs a fuzzy controller to implement the calculation of the fuzzy control. The Fuzzy Controller is called as a Fuzzy Logic Controller (Fuzzy Logic Controller), is a language control rule based on Fuzzy conditional statement description, and mainly comprises four parts: fuzzy quantization, fuzzy control rules, fuzzy inference and deblurring. The design idea of this embodiment is to determine the input and output variables (i.e., the controlled variables) of the fuzzy controller, then obtain the fuzzy controlled variable based on the fuzzy inference synthesis rule according to the input fuzzy variables and fuzzy control rules, and finally calculate the accurate controlled variable by processing the fuzzy controlled variable.
Specifically, the input variable of the fuzzy controller is N according to the recognized lifting condition of the liquid leveliThe output variable is U3iAnd outputting variable to control the opening of the water filtering valve. Then, a fuzzy control strategy is determined, since the fuzzy control strategy of the present embodiment is only matched with Q2、Q3、Q4Three intervals of liquid level are related, therefore, the fuzzy linguistic variable of the water filter valve of the V-shaped filter is defined: the water filter valve belongs to the group of large, suitable, small and small. The liquid level can thus be obtained as an input variable NiI ═ 1,2,3,4,5, that is, there are five liquid level height changes, and there are liquid level height sections QxAnd x is {2,3,4}, namely three liquid level height intervals. A feature set W obtained by combining the twobAnd b is {1,2.. 14,15 }. The concrete steps are as follows:
W1＝{W|N＝N1 AND Q＝Q2}；
W2＝{W|N＝N1 AND Q＝Q3}；
W3＝{W|N＝N1 AND Q＝Q4}；
W4＝{W|N＝N2 AND Q＝Q2}；
W5＝{W|N＝N2 AND Q＝Q3}；
W6＝{W|N＝N2 AND Q＝Q4}；
W7＝{W|N＝N3 AND Q＝Q2}；
W8＝{W|N＝N3 AND Q＝Q3}；
W9＝{W|N＝N3 AND Q＝Q4}；
W10＝{W|N＝N4 AND Q＝Q2}；
W11＝{W|N＝N4 AND Q＝Q3}；
W12＝{W|N＝N4 AND Q＝Q4}；
W13＝{W|N＝N5 AND Q＝Q2}；
W14＝{W|N＝N5 AND Q＝Q3}；
W15＝{W|N＝N5 AND Q＝Q4}。
according to the feature pattern set WbTable 1 below shows the fuzzy membership of the corresponding strainer valve, where b is {1,2.. 14,15 }.
TABLE 1 fuzzy membership degree table for opening degree of water filtering valve
| Feature set | The opening degree is very large | The opening degree is larger | Suitable opening degree | The opening degree is smaller | Small opening degree |
| W1 | 1 | 0 | 0 | 0 | 0 |
| W2 | 0 | 0.7 | 0.3 | 0 | 0 |
| W3 | 0 | 0.3 | 0.7 | 0 | 0 |
| W4 | 0 | 0.8 | 0.2 | 0 | 0 |
| W5 | 0 | 0.3 | 0.7 | 0 | 0 |
| W6 | 0 | 0.4 | 0.6 | 0 | 0 |
| W7 | 0 | 0 | 1 | 0 | 0 |
| W8 | 0 | 0 | 0.2 | 0.8 | 0 |
| W9 | 0 | 0 | 0 | 0 | 1 |
| W10 | 0 | 0.7 | 0.3 | 0 | 0 |
| W11 | 0 | 0 | 0.8 | 0.2 | 0 |
| W12 | 0 | 0 | 0 | 0.7 | 0.3 |
| W13 | 0 | 0 | 0 | 0.6 | 0.4 |
| W14 | 0 | 0 | 1 | 0 | 0 |
| W15 | 0 | 0 | 0 | 0.8 | 0.2 |
According to table 1, a control rule set of the control system can be obtained, and the process of control decision is the mapping from the characteristic mode set to the control rule set to generate an inference rule set Zi. In addition, according to the fuzzy membership table of the water filtering valve, a fuzzy control algorithm control mode set U3 can be determinediI ═ 1,2,3,4,5,6,7, specifically as follows:
U31＝{U3|U3(k)＝U3(k-1)}；
U32＝{U3|U3(k)＝U3(k-1)+ΔU3min}；
U33＝{U3|U3(k)＝U3(k-1)-ΔU3min}；
U34＝{U3|U3(k)＝U3(k-1)+ΔU3mid}；
U35＝{U3|U3(k)＝U3(k-1)-ΔU3mid}；
U36＝{U3|U3(k)＝U3(k-1)+ΔU3max}；
U37＝{U3|U3(k)＝U3(k-1)-ΔU3max}; (formula 7)
Wherein, Δ U3max, Δ U3mid, and Δ U3min in equation 7 are respectively the maximum value, the intermediate value, and the minimum value of the opening increment of the water filter valve, and are adjusted in the actual operation debugging process. In this example, Zi、Wb、U3iThe inference logic relationship of (2) is shown in table 2.
TABLE 2 inference-feature-control logic relation table
| Set of inference rules Zi | Z1 | Z2 | Z3 | Z4 | Z5 | Z6 |
| Set of characteristic patterns Wb | W1 | W2 | W3 | W4 | W5 | W6 |
| Control mode set U3i | U37 | U33 | U31 | U35 | U31 | U31 |
| Set of inference rules Zi | Z7 | Z8 | Z9 | Z10 | Z11 | Z12 |
| Set of characteristic patterns Wb | W7 | W8 | W9 | W10 | W11 | W12 |
| Control mode set U3i | U31 | U32 | U36 | U35 | U31 | U34 |
| Set of inference rules Zi | Z13 | Z14 | Z15 | |||
| Set of characteristic patterns Wb | W13 | W14 | W15 | |||
| Control mode set U3i | U34 | U31 | U34 |
If the judgment result in the step S16 is no, executing step S18, and judging whether the sampling time is reached, in this embodiment, sampling the liquid level of the filter tank every 30 seconds and calculating the instantaneous flow rate of the inflow water, if the sampling time is reached, returning to execute step S11, acquiring the liquid level at the current time and calculating the instantaneous flow rate of the inflow water, if the sampling time is not reached, executing step S19, judging whether the control is finished, if so, finishing the control flow, otherwise, returning to execute step S18.
According to the characteristics of constant water level control and strategy attributes, the parameter self-adaption function is implemented on two strategies, namely fuzzy control and PID control, and the parameters are mainly setting and freely switching of values of delta Et (liquid level height change rate in unit time), delta U3max, delta U3mid and delta U3min (maximum value, middle value and minimum value of valve opening increment) in a fuzzy control mode and P, I, D (proportion, integral and differential) in a PID control mode on different system input quantities (water inflow of the V-shaped filter tank).
In practical application, the total water inflow of the V-shaped filter tank is increased and decreased along with the change of production conditions, and the specific water inflow depends on the running quantity of units of a water taking pump station in a plant and the height of the liquid level of river water. There are two common cases, about A (5000) m3/h and B (10000) m 3/h. Therefore, it is preferable to set the parameter Δ Et to determine whether the water inflow is abrupt, and calculate the values 3 and 6 of Δ Et according to a formula by combining the characteristics of the process object. Therefore, the setting and switching rule of Δ Et (rate of change of liquid level per unit time) may be: if the A case is satisfied, the argument of Δ Et is selected to be 3, and if the B case is satisfied, the argument of Δ Et is selected to be 6.
In a fuzzy control mode, parameter selection of the delta U3max, the delta U3mid and the delta U3min needs to be combined with the characteristics of a process object and the specific values of the delta U3max, the delta U3mid and the delta U3min are calculated according to a formula. For example, two sets of data, Δ U3max being 12%, Δ U3mid being 9%, Δ U3min being 6%, and Δ U3max being 9%, Δ U3mid being 6%, and Δ U3min being 3%, may be determined according to the characteristics of the present system. Therefore, the setting and switching rules of Δ U3max, Δ U3mid, and Δ U3min are as follows: if the a case is satisfied, Δ U3max is 12%, Δ U3mid is 9%, and Δ U3mid is 6%, and if the B case is satisfied, Δ U3max is 9%, Δ U3mid is 6%, and Δ U3mid is 3%.
And the proportion, the integral and the differential parameters in the PID control mode are combined with the characteristics of the process object and calculated according to the formula to obtain two groups of data, namely P16, I0.35, D0.05, P30, I0.20 and D0.05. Therefore, P, I, D set and switch rules are as follows: if the A condition is met, P, I, D three parameters respectively take the values of 16, 0.35 and 0.05, and if the B condition is met, P, I, D three parameters respectively take the values of 30, 0.20 and 0.05.
Preferably, a database is designed on the upper computer system, and working condition information such as the action interval time, the action speed, the action times in unit time, the average action amplitude of each time and the like of the water filtering valves of each filter tank is collected for comparative analysis, so that the working condition information is used for judging the good and bad conditions of the current filter tank working condition to further adjust strategy parameters, and finally parameter self-adaptation is realized.
Combining the above analysis, the adaptive rule is defined as follows: the working condition of the filter is CiI ═ 1,2,3,4 }; averaging the time interval t between each action; the total action times N in unit time; the amplitude M of each action is averaged. Setting the values of t ', N ' and M ' by the process object as a judgment basis for the auxiliary analysis of whether the operation parameters of the filter tank belong to good or bad in each hour, thereby obtaining the good or bad result of the operation condition of the filter tank in the past hour: c1 ═ T | T<t'AND N>N'AND M>M'}；C2＝{T|(t<t'+N>N'+M>M')＝2}；C3＝{T|(t<t'+N>N'+M>M')＝1}；C4＝{T|t>t'AND N<N'AND M<M'}。
By combining the characteristics of process objects and the practical operation conditions, four filter tank working condition distinguishing modes with different degrees of superiority and inferiority can be known as the working conditions C1 are poor, C2 is poor, C3 is general and C4 is good. Depending on the characteristic information displayed by the mode, the policy parameters may be adjusted, for example: the action is more frequent, the single action amplitude is larger, and measures such as properly reducing the single output quantity are taken.
In the embodiment, a system solution is provided from the correlation comprehensive analysis of the water turbidity change after water filtration and multiple factors such as sudden change of water inflow and sudden change of water filtration speed to cause the high turbidity of the filtered water, so that a parameter self-adaption and multi-strategy control method applied to the V-shaped filter tank is provided, and the problems that a common constant water level filtration control system is difficult to avoid the conditions of frequent action, overlarge adjustment range and the like of a water filtration valve, further, sudden change of the filtration speed occurs, and finally the unstable even high turbidity of the filtered water is caused are effectively solved.
And the opening degree of the water filtering valve and the filtering speed of the filtering pool are used as guidance, system parameters such as a constant water level target value of each filtering pool are set individually, and the water inflow of each filtering pool is equalized under the control action of the constant water level by utilizing the characteristics of water flow intercommunication among the filtering pools and the principle that water flows to a lower position. The embodiment can achieve the purpose of load balancing operation of the V-shaped filter tank without changing the process building structure of the filter tank.
The embodiment of the computer device comprises:
the computer device of the embodiment is a control device for controlling the opening degree of the filter water valve of the V-shaped filter tank, and the computer device comprises a processor, a memory and a computer program which is stored in the memory and can run on the processor, and when the processor executes the computer program, the steps of the V-shaped filter tank constant water level filtration control method are realized.
For example, a computer program may be partitioned into one or more modules that are stored in a memory and executed by a processor to implement the modules of the present invention. One or more of the modules may be a series of computer program instruction segments capable of performing certain functions, which are used to describe the execution of the computer program in the terminal device.
The Processor may be a Central Processing Unit (CPU), or may be other general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. The general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center of the terminal device and connecting the various parts of the entire terminal device using various interfaces and lines.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the terminal device by running or executing the computer programs and/or modules stored in the memory and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Computer-readable storage medium embodiments:
the computer program stored in the computer device may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the flow in the method according to the above embodiments may be implemented by a computer program, which may be stored in a computer readable storage medium and used by a processor to implement the steps of the smart card writing method.
Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, in accordance with legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunications signals.
Finally, it should be emphasized that the present invention is not limited to the above-mentioned embodiments, such as the change of the condition for switching the three control modes, or the change of various parameters in the PID control mode, etc., and the change of various parameters in the fuzzy control mode, and these changes should be included in the protection scope of the claims of the present invention.
Claims (10)
- The control method for constant water level filtration of the V-shaped filter tank is characterized by comprising the following steps:acquiring the liquid level height and the instantaneous water inlet flow of the filter tank, and determining the control mode of the opening of the water filter valve according to the liquid level height and the instantaneous water inlet flow;if the liquid level height is greater than the upper liquid level height threshold or the liquid level height is less than the lower liquid level height threshold, adjusting the opening of the water filtering valve in a start-stop control mode;if the liquid level is in the target range and the instantaneous flow of the inlet water changes suddenly, the opening degree of the water filtering valve is adjusted in a fuzzy control mode;and if the following conditions are met, adjusting the opening degree of the water filtering valve in a PID control mode: the liquid level height is between an upper limit threshold and a lower limit threshold and is not within a target range; or the liquid level is in the target range, and the instantaneous flow of the inlet water is stable;wherein the target range is a portion of the range between the upper threshold and the lower threshold.
- 2. The control method for constant water level filtration of the V-shaped filter tank according to claim 1, characterized in that:acquiring the intake water instantaneous flow rate comprises: and obtaining the liquid level height change rate of the filter tank in a preset time period, if the liquid level height change rate of the filter tank in the preset time period is greater than a liquid level height change threshold value, determining that the instantaneous flow of the inlet water is suddenly changed, otherwise, determining that the instantaneous flow of the inlet water is stable.
- 3. The control method for constant water level filtration of the V-shaped filter tank according to claim 1 or 2, characterized in that:adopting the start-stop control mode to adjust the aperture of the water filtering valve comprises the following steps: if the liquid level is less than the lower limit threshold of the liquid level, the opening degree of the water filtering valve is adjusted to be the minimum output quantity; and if the liquid level height is larger than the upper limit threshold of the liquid level height and the instantaneous flow of the inlet water is suddenly changed, adjusting the opening degree of the water filtering valve to be the maximum output quantity.
- 4. The control method for constant water level filtration of the V-shaped filter tank according to claim 3, characterized in that:adjusting the opening degree of the water filtering valve to a minimum output amount includes: adjusting the opening degree of the water filtering valve to 0;adjusting the opening degree of the water filtering valve to a maximum output amount includes: and adjusting the opening degree of the water filtering valve to 70%.
- 5. The control method for constant water level filtration of the V-shaped filter tank according to claim 1 or 2, characterized in that:adopting PID control mode to adjust the aperture of drainage valve includes: and calculating the variable quantity of the opening degree of the water filtering valve after each action by adopting an incremental PID algorithm.
- 6. The control method for constant water level filtration of the V-shaped filter tank according to claim 5, characterized in that:the step of calculating the variation of the opening degree of the water filtering valve after each action by adopting an incremental PID algorithm comprises the following steps: and adopting the system deviation value of preset times as a calculation parameter of the incremental PID algorithm.
- 7. The control method for constant water level filtration of the V-shaped filter tank according to claim 1 or 2, characterized in that:adopting fuzzy control mode to adjust the aperture of the water filter valve includes: and determining a characteristic set of fuzzy control according to the liquid level height and the instantaneous water inflow flow, generating a fuzzy membership degree of the water filtering valve, and determining a control mode set of fuzzy control according to the fuzzy membership degree.
- 8. The control method for constant water level filtration of the V-shaped filter tank according to claim 7, characterized in that:and when a control mode set of fuzzy control is determined, the maximum value, the intermediate value and the minimum value of the opening increment of the water filtering valve are used for adjusting.
- 9. Computer arrangement, characterized in that it comprises a processor and a memory, said memory having stored thereon a computer program which, when being executed by said processor, carries out the steps of the control method of V-bank constant water level filtration according to any one of claims 1 to 8.
- 10. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program is executed by a processor to realize the steps of the control method of the V-shaped filter chamber constant water level filtration according to any one of claims 1 to 8.
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