CN113504803A - Circulating water culture variable-speed flow intelligent regulation and control system based on turbidity change model - Google Patents
Circulating water culture variable-speed flow intelligent regulation and control system based on turbidity change model Download PDFInfo
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- CN113504803A CN113504803A CN202110777465.8A CN202110777465A CN113504803A CN 113504803 A CN113504803 A CN 113504803A CN 202110777465 A CN202110777465 A CN 202110777465A CN 113504803 A CN113504803 A CN 113504803A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 90
- 230000008859 change Effects 0.000 title claims abstract description 15
- 238000009360 aquaculture Methods 0.000 claims abstract description 32
- 244000144974 aquaculture Species 0.000 claims abstract description 32
- 241000251468 Actinopterygii Species 0.000 claims abstract description 17
- 238000006213 oxygenation reaction Methods 0.000 claims description 12
- 230000003134 recirculating effect Effects 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 7
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 230000004069 differentiation Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 239000013589 supplement Substances 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims 2
- 230000029142 excretion Effects 0.000 abstract description 6
- 238000005265 energy consumption Methods 0.000 abstract description 5
- 230000037406 food intake Effects 0.000 abstract description 2
- 238000011084 recovery Methods 0.000 description 4
- 238000009395 breeding Methods 0.000 description 3
- 230000001488 breeding effect Effects 0.000 description 3
- 238000001914 filtration Methods 0.000 description 3
- 238000013178 mathematical model Methods 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000029087 digestion Effects 0.000 description 2
- 230000035611 feeding Effects 0.000 description 2
- 239000000945 filler Substances 0.000 description 2
- 235000013332 fish product Nutrition 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000036760 body temperature Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
- A01K63/04—Arrangements for treating water specially adapted to receptacles for live fish
- A01K63/042—Introducing gases into the water, e.g. aerators, air pumps
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
- A01K63/04—Arrangements for treating water specially adapted to receptacles for live fish
- A01K63/045—Filters for aquaria
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
- A01K63/04—Arrangements for treating water specially adapted to receptacles for live fish
- A01K63/047—Liquid pumps for aquaria
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Marine Sciences & Fisheries (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
Abstract
The invention discloses a variable-speed intelligent control system for circulating water aquaculture based on a turbidity change model, which comprises a culture pond, a reservoir, a biological filter, a water pump, a frequency converter, a turbidity sensor, a PLC (programmable logic controller), a constant-temperature heater and the like; the system firstly determines the turbidity threshold value of the system by analyzing the excretion rule of fish swarms after ingestion in the culture pond, and then utilizes the PID algorithm to carry out variable frequency real-time control on the circulating water flow rate in the culture system, so as to regulate and control the turbidity level in the pond, and greatly reduce the energy consumption of the system while ensuring the water quality. The invention provides an intelligent variable flow control system which is simple in structure, convenient to use, energy-saving and efficient.
Description
Technical Field
The invention relates to a variable-speed flow intelligent regulation and control device for recirculating aquaculture, in particular to a variable-speed flow intelligent regulation and control system for recirculating aquaculture based on a turbidity change model.
Background
The fish products are rich in nutrients required by human bodies, but with the increasing population and the problems of environmental pollution degradation and the like, the requirements of human beings on fishery resources cannot be met only by fishing, and the purpose of controlling the living environment of cultured organisms is achieved by comprehensively utilizing advanced scientific and technical means such as biology, environmentality, building science, information science, electromechanical engineering and the like in industrial circulating water culture, so that the fish products are considered to be one of the leading directions for the development of aquaculture industry in the future. The flow rate in the recirculating aquaculture has great influence on the growth and the water quality of the fishes, and the proper flow rate is also a necessary condition for realizing the welfare culture of the fishes. In a recirculating aquaculture system, the regulation and control of the flow rate is usually carried out by a water pump, and the water pump running in all weather is an important reason for increasing the production cost and resource consumption. The turbidity of the aquaculture water body is in a constantly changing state after the fish school ingests, and the flow speed is adjusted at the turbidity peak period of the fish school, so that the turbidity of the water body can be quickly reduced, the water quality of the aquaculture water body is ensured to be in a safe range, the growth of the fish school is promoted, the energy consumption caused by a water pump can be reduced, and the purposes of energy conservation, emission reduction and cost reduction are achieved.
Disclosure of Invention
The invention aims to provide an energy-saving and environment-friendly circulating water aquaculture variable-speed flow intelligent control system which is simple in structure and convenient to use. According to the circulating water culture variable-speed flow intelligent regulation and control system based on the turbidity change model, an initial control strategy is determined by analyzing the excretion rule of fish swarms in the culture pond after ingestion, the circulating water flow rate in the culture system is controlled in real time by utilizing the PID algorithm frequency conversion, and then the turbidity level in the pond is regulated and controlled, so that the energy consumption of the system is greatly reduced and the circulating water culture cost is saved while the water quality is ensured.
In order to realize the purpose of the invention, the following technical scheme is adopted for realizing the purpose:
a variable-speed intelligent control system for circulating water culture based on a turbidity change model comprises a culture pond, a biological filter, a water pump, a frequency converter, a turbidity sensor, a PLC (programmable logic controller) and a constant-temperature heater, wherein the culture pond is connected with the biological filter;
the culture pond, the biological filter, the water pump and the oxygenation device form a circulating water culture system, the oxygenation device carries out oxygenation supplement on culture water in the culture pond, the culture water in the culture pond is firstly subjected to primary filtration through a micro-filter, then subjected to secondary filtration through the biological filter, and finally pumped back into the culture pond through the water pump, so that the whole circulating water culture system is formed; the culture pond, the biological filter and the water pump are all connected through water pipes;
the culture pond, the frequency converter, the turbidity sensor, the PLC and the water pump form a variable-speed intelligent flow regulation and control system of the circulating water culture system; the turbidity sensor is used for measuring the turbidity level of the aquaculture water body in real time and transmitting the measured data to the PLC, and the PLC regulates and controls the frequency converter in real time according to the turbidity level of the aquaculture water body so as to control the water outlet flow rate of the water pump and adjust the turbidity.
The control method of the system comprises the following steps:
before the system is operated, a biofilter and a microfilter in the system are cut off to enable the culture pond to be independent of the whole system, a turbidity sensor is arranged in the culture pond to analyze the excretion rule of fish schools, the time interval of two times of feeding of the fish schools is divided into four stages of feeding, digestion, excretion and recovery, the change of water turbidity in the interval of two times of feeding of the fish schools is recorded, the turbidity peak period after the fish schools are fed is determined, and the turbidity peak value is set as ZmaxTaking turbidity threshold value ZyIs 0.7Zmax-. The data read by the turbidity sensor is Z, and the turbidity error e is ZyZ, the output control frequency of the PLC controlled frequency converter is f, and the calculation formula is as follows:
wherein Kp、Ki、KdRespectively being a proportionality constant, an integral constant, a microAnd (4) dividing the constant.
The turbidity change model in the variable speed flow regulation and control system is a first-order inertia link with pure lag:
wherein K is the gain of the inertia element, T is a time constant, and tau is lag time.
Still further, for the proportional constant K set in the PLC controllerpIntegral constant KiDifferential constant KdPerforming parameter setting, taking a critical proportion method as a setting basis, taking a transfer function as the turbidity change mathematical model, setting the order of proportion, integration and differentiation, and firstly adjusting a proportionality constant KpThe rise time of the turbidity change curve is reduced (the rise time is less than 10% of the total regulation time), the overshoot is less than 5%, and then the proportionality constant K is firstly carried outpReduced to 90%, and then the integral constant K is adjustediIf the residual difference of the system is more than 0.4 and the curve deviates from the recovery slowly, the integral constant K is increasediIf the curve continues for the oscillation period, the differential constant K is decreaseddTo 50% of the original value, and finally regulating the differential constant K from small to largedTherefore, the system has better dynamic performance.
The invention has the beneficial effects that:
the system takes the turbidity in the aquaculture water body as a controlled object of the whole regulation and control system, takes a PID algorithm as a control strategy, takes the PLC as a controller, controls the circulating water flow rate in the aquaculture system in real time based on the turbidity change, further regulates and controls the turbidity level in the water pool, greatly reduces the energy consumption of the system while ensuring the water body quality, saves the circulating water aquaculture cost, has simple structure and low cost, can reduce the energy consumption caused by a water pump by 30 percent, simultaneously ensures the water quality of the aquaculture water body in a good state, and does not influence the growth of fish swarms.
Drawings
FIG. 1 is a system block diagram of the present invention;
FIG. 2 is a view of the internal structure of the culture pond of the system;
FIG. 3 is a view of the internal structure of the reservoir of the system;
FIG. 4 is a block diagram of the control system of the present invention;
1. a culture pond; 2. a biological filter; 3. a frequency converter; 4. a PLC controller; 5. an air tube; 6. an oxygenation device; 7. a reservoir; 8. an ultraviolet sterilizer; 9. a water pipe; 21. a water inlet hole; 22. separating the net; 23. a water outlet; 24. a turbidity sensor; 31. a thermostat; 32. a water pump; 33. biological stuffing.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
According to the illustration in fig. 1, the system for intelligently regulating the variable flow of the recirculating aquaculture based on the turbidity variation model comprises an aquaculture pond 1, a biological filter 2, a water pump 32, a frequency converter 3, a turbidity sensor 24, a PLC controller 4 and an oxygenation device 6; breed 1, biological filter 2, water pump 32, oxygenation device 6 and constitute recirculating water aquaculture system, oxygenation device 6 is used for carrying out the oxygenation to the aquaculture water body in breeding 1 and supplements, the aquaculture water body in breeding 1 firstly carries out primary filtration through the microstrainer, passes through then biological filter 2 carries out secondary filter, finally by in the water pump 32 takes out the culture 1 to constitute whole recirculating water aquaculture system.
A water pipe 9 is fixed on the wall of the culture pond 1, a plurality of water inlet holes 21 are formed in the water pipe 9, a cylindrical separation net 22 is arranged in the pond, the separation net 22 is equal to the culture pond 1 in height, and a water outlet of the culture pond 1 is formed in the bottom of the separation net 22. The biological filter 2, the water pump 32 and the temperature regulator 31 are placed inside the water storage tank 7, the biological filter 2 comprises a plurality of cylindrical biological fillers 33, and the total volume of the biological fillers 33 accounts for 50% of the biological filter 2. The water pump 32 is fixed in 7 bottoms of cistern, the water pump 32 delivery port lead to pipe 9 with breed the inlet hole 21 in pond 1 and link to each other, water pipe 9 part is transparent, ultraviolet disinfector 8 is equipped with in the transparent portion water pipe outside, the 1/3 water depths of breeding pond 1 are arranged in to turbidity sensor 24, the pool wall of cistern 7 is arranged in to thermosistor 31 for adjust the aquaculture water body temperature.
The culture pond 1, the frequency converter 3, the turbidity sensor 24, the PLC 4 and the water pump 32 form a variable-speed intelligent flow regulation and control system of the circulating water culture system; the turbidity sensor 24 is used for measuring the turbidity level of the aquaculture water body in real time and transmitting the measured data to the PLC controller 4, and the PLC controller 4 regulates and controls the frequency converter 3 according to the turbidity level of the aquaculture water body in real time so as to control the water outlet flow rate of the water pump 32 and adjust the turbidity.
When the device is applied to the variable-speed intelligent regulation and control of the circulating water culture, the method comprises the following specific steps:
firstly, before the system runs, a biofilter 2 and a microfilter in the system need to be cut off, so that a culture pond 1 is independent of the whole system, a turbidity sensor 24 is arranged in the culture pond 1, the excretion rule of a fish school is analyzed, the time interval of two times of feeding of the fish school is divided into four stages of feeding, digestion, excretion and recovery, and the change of water turbidity in the two times of feeding interval of the fish school is recorded; determining the turbidity peak period after fish feeding, and setting the turbidity peak value as ZmaxTaking turbidity threshold value ZyIs 0.7Zmax. The data read by the turbidity sensor 24 is Z, and the turbidity error e is ZyZ, the output control frequency of the PLC controlled frequency converter 3 is f, and the calculation formula is as follows:
wherein Kp、Ki、KdRespectively, a proportionality constant, an integral constant and a differential constant.
A turbidity change mathematical model in the variable speed flow regulation and control system is considered to be a first-order inertia link with pure lag, wherein K is the gain of the inertia link, T is a time constant, and tau is lag time.
For the proportional constant K set in the PLC 4pIntegral constant KiDifferential constant KdPerforming parameter setting, taking a critical proportion method as a setting basis, taking a transfer function as the turbidity change mathematical model, setting the order of proportion, integration and differentiation, and firstly adjusting a proportionality constant KpThe rise time of the system response curve is small, the overshoot is small, and then the proportionality constant K is firstly addedpReduced to 90%, and then the integral constant K is adjustediIf the residual difference of the system is larger and the curve deviates from the recovery slowly, the integral constant K is increasediThe period of oscillation of the curve is long, the differential constant K is reduceddFinally, the differential constant K is adjusted from small to largedTherefore, the system has better dynamic performance.
After the PID parameters are initially set by the critical proportion method, the set parameters can be finely adjusted by a trial and error method according to the finally required control requirements to obtain the final proportional, integral and differential constants, so that the variable speed flow control system has better rapidity, stability and accuracy.
The above disclosure is only for the specific embodiment of the present invention, but the present invention is not limited thereto, and it should be understood by those skilled in the art that the modifications made without departing from the present invention shall fall within the protection scope of the present invention.
Claims (2)
1. A variable-speed flow intelligent regulation and control system for recirculating aquaculture based on a turbidity change model is characterized by comprising an aquaculture pond, a reservoir, a biological filter, a water pump, a frequency converter, a turbidity sensor, a PLC (programmable logic controller) and an oxygenation device;
the culture pond, the biological filter, the water pump, the oxygenation device and the reservoir form a circulating water culture system, and the oxygenation device is used for carrying out oxygenation supplement on culture water in the culture pond; the culture water in the culture pond is pumped into a reservoir by a water pump, is firstly filtered primarily by a micro-filter, is filtered secondarily by the biological filter, and is finally pumped back into the culture pond by the water pump, so that the whole recirculating aquaculture system is formed;
the culture pond, the frequency converter, the turbidity sensor, the PLC and the water pump form a variable-speed intelligent flow regulation and control system of the circulating water culture system; the turbidity sensor is used for measuring the turbidity level of the aquaculture water body in real time and transmitting the measured data to the PLC, and the PLC regulates and controls the frequency converter in real time according to the turbidity level of the aquaculture water body so as to control the water outlet flow rate of the water pump and adjust the turbidity.
2. The variable speed intelligent regulation and control system for recirculating aquaculture based on turbidity variation model as claimed in claim 1, wherein the method for performing variable speed intelligent regulation and control of recirculating aquaculture comprises:
cutting off the biological filter and the micro-filter in the system, monitoring the turbidity level of the fish between two times of feeding, and setting the turbidity peak value as Z according to the monitoring valuemaxTurbidity threshold value ZyIs 0.7Zmax；
Regulating and controlling the frequency f of the frequency converter according to the turbidity in the aquaculture water body, wherein the frequency f of the frequency converter is regulated and controlled by a PLC (programmable logic controller) by adopting a PID (proportion integration differentiation) control algorithm; the data read by the turbidity sensor is Z, and the turbidity error e is Zy-Z; the mathematical expression of the frequency f of the frequency converter is
Wherein Kp、Ki、KdRespectively, a proportionality constant, an integral constant and a differential constant.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110777465.8A CN113504803A (en) | 2021-07-09 | 2021-07-09 | Circulating water culture variable-speed flow intelligent regulation and control system based on turbidity change model |
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| CN202110777465.8A CN113504803A (en) | 2021-07-09 | 2021-07-09 | Circulating water culture variable-speed flow intelligent regulation and control system based on turbidity change model |
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2021
- 2021-07-09 CN CN202110777465.8A patent/CN113504803A/en active Pending
Patent Citations (6)
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|---|---|---|---|---|
| JP2002307094A (en) * | 2001-04-13 | 2002-10-22 | Toshiba Corp | Sewage treatment system |
| CN104133413A (en) * | 2014-07-22 | 2014-11-05 | 光大环保（中国）有限公司 | Method for controlling aeration system of leachate aerobic reaction pool |
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