CN113578541A - Adjustable supersonic separation device and active disturbance rejection control method thereof - Google Patents

Adjustable supersonic separation device and active disturbance rejection control method thereof Download PDF

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Publication number
CN113578541A
CN113578541A CN202110694429.5A CN202110694429A CN113578541A CN 113578541 A CN113578541 A CN 113578541A CN 202110694429 A CN202110694429 A CN 202110694429A CN 113578541 A CN113578541 A CN 113578541A
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ball screw
cone
section
adjusting
adjustable
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CN113578541B (en
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丁红兵
王世伟
王超
孙春倩
梁真馨
赵亚菲
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Tianjin University
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Tianjin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
    • B04C—APPARATUS USING FREE VORTEX FLOW, e.g. CYCLONES
    • B04C9/00—Combinations with other devices, e.g. fans, expansion chambers, diffusors, water locks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01D—SEPARATION
    • B01D45/00—Separating dispersed particles from gases or vapours by gravity, inertia, or centrifugal forces
    • B01D45/12—Separating dispersed particles from gases or vapours by gravity, inertia, or centrifugal forces by centrifugal forces
    • B01D45/16—Separating dispersed particles from gases or vapours by gravity, inertia, or centrifugal forces by centrifugal forces generated by the winding course of the gas stream, the centrifugal forces being generated solely or partly by mechanical means, e.g. fixed swirl vanes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01D—SEPARATION
    • B01D53/00—Separation of gases or vapours; Recovering vapours of volatile solvents from gases; Chemical or biological purification of waste gases, e.g. engine exhaust gases, smoke, fumes, flue gases, aerosols
    • B01D53/002—Separation of gases or vapours; Recovering vapours of volatile solvents from gases; Chemical or biological purification of waste gases, e.g. engine exhaust gases, smoke, fumes, flue gases, aerosols by condensation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
    • B04C—APPARATUS USING FREE VORTEX FLOW, e.g. CYCLONES
    • B04C11/00—Accessories, e.g. safety or control devices, not otherwise provided for, e.g. regulators, valves in inlet or overflow ducting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
    • B04C—APPARATUS USING FREE VORTEX FLOW, e.g. CYCLONES
    • B04C3/00—Apparatus in which the axial direction of the vortex flow following a screw-thread type line remains unchanged ; Devices in which one of the two discharge ducts returns centrally through the vortex chamber, a reverse-flow vortex being prevented by bulkheads in the central discharge duct
    • B04C3/06—Construction of inlets or outlets to the vortex chamber
    • C—CHEMISTRY; METALLURGY
    • C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
    • C10L—FUELS NOT OTHERWISE PROVIDED FOR; NATURAL GAS; SYNTHETIC NATURAL GAS OBTAINED BY PROCESSES NOT COVERED BY SUBCLASSES C10G, C10K; LIQUEFIED PETROLEUM GAS; ADDING MATERIALS TO FUELS OR FIRES TO REDUCE SMOKE OR UNDESIRABLE DEPOSITS OR TO FACILITATE SOOT REMOVAL; FIRELIGHTERS
    • C10L3/00—Gaseous fuels; Natural gas; Synthetic natural gas obtained by processes not covered by subclass C10G, C10K; Liquefied petroleum gas
    • C10L3/06—Natural gas; Synthetic natural gas obtained by processes not covered by C10G, C10K3/02 or C10K3/04
    • C10L3/10—Working-up natural gas or synthetic natural gas
    • C10L3/101—Removal of contaminants
    • C—CHEMISTRY; METALLURGY
    • C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
    • C10L—FUELS NOT OTHERWISE PROVIDED FOR; NATURAL GAS; SYNTHETIC NATURAL GAS OBTAINED BY PROCESSES NOT COVERED BY SUBCLASSES C10G, C10K; LIQUEFIED PETROLEUM GAS; ADDING MATERIALS TO FUELS OR FIRES TO REDUCE SMOKE OR UNDESIRABLE DEPOSITS OR TO FACILITATE SOOT REMOVAL; FIRELIGHTERS
    • C10L3/00—Gaseous fuels; Natural gas; Synthetic natural gas obtained by processes not covered by subclass C10G, C10K; Liquefied petroleum gas
    • C10L3/06—Natural gas; Synthetic natural gas obtained by processes not covered by C10G, C10K3/02 or C10K3/04
    • C10L3/10—Working-up natural gas or synthetic natural gas
    • C10L3/101—Removal of contaminants
    • C10L3/106—Removal of contaminants of water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
    • B04C—APPARATUS USING FREE VORTEX FLOW, e.g. CYCLONES
    • B04C9/00—Combinations with other devices, e.g. fans, expansion chambers, diffusors, water locks
    • B04C2009/007—Combinations with other devices, e.g. fans, expansion chambers, diffusors, water locks with internal rotors, e.g. impeller, ventilator, fan, blower, pump
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Abstract

The invention relates to an adjustable supersonic separation device and an active disturbance rejection control method thereof. The mode of adjusting the axial position of the rectifier cone through the rectifier cone position adjusting module changes the diameter of the cone positioned in the center of the throat part, and the adjustment of the effective sectional area of the throat part is realized.

Description

Adjustable supersonic separation device and active disturbance rejection control method thereof
Technical Field
The invention belongs to the technical field of multi-component mixed gas condensation cyclone separation, and particularly relates to an adjustable supersonic separation device.
Background
The produced natural gas contains heavy hydrocarbon, methane, moisture, hydrogen sulfide, carbon dioxide and other components, and the most important link at the beginning of conveying is dehydration so as to avoid forming hydrate in the conveying process to damage pipelines. The traditional dehydration method of natural gas comprises a membrane separation method, a solvent absorption method, a solid adsorption method and a low-temperature condensation separation method, and the technical process is complex, and the equipment cost and the maintenance cost are high.
In a coal power plant, flue gas discharged after wet desulphurization contains a large amount of pollutants such as water vapor, soluble salt, gel dust, micro particles and the like, and the pollutants are main causes for forming haze. The phenomenon of white smoke plume can be generated after the saturated smoke is directly discharged into the atmosphere, and great pollution is caused. Therefore, the smoke needs to be whitened before being discharged, water is saved, and pollution is reduced. The traditional flue gas de-whitening technology comprises a heating de-whitening technology, a condensation de-whitening technology and an electromagnetic de-whitening technology, and the methods all have the problems of large equipment volume, high manufacturing cost and large maintenance difficulty.
The supersonic cyclone separation device combines two technologies of cyclone separation and low-temperature condensation, not only can realize dehydration and dealkylation of natural gas, but also can effectively perform de-whitening treatment on flue gas. Under certain conditions, moisture-containing gas generates a rotating flow field through the rectifying cone, and is accelerated to cool after passing through the throat part of the supersonic speed spray pipe, so that water vapor in the gas is condensed and is discharged from the liquid separation port through cyclone separation, the gas retention time is short, the generation of hydrate is effectively inhibited, and the constant entropy mixing type gas generating device has the advantages of high constant entropy efficiency, simple structure, low investment cost, easiness in maintenance, no need of adding expensive additives and the like. Therefore, in the supersonic cyclone separation apparatus, the rectifying cone structure, the throat area and the size of the liquid separation port have a great influence on the separation efficiency. In actual industrial production, in order to improve the efficiency, the rectifying cone of the supersonic separation device has the characteristics of reliable structure and easy replacement of the blades; the throat area and the size of the liquid separation port meet the requirement of accurate adjustment.
The '3S' supersonic separator developed by Russian ENGO company, the twist I supersonic separator with the rear cyclone and the twist II supersonic separator with the front cyclone developed by twist BV company of Netherlands have been applied to industrial production. Various colleges and universities such as Tianjin university, Beijing aerospace university, China Petroleum university, university of great graduate, Florida university in the United states, Royal institute of technology in Sweden, and the like, have developed research on supersonic cyclone separation technology at home and abroad.
For supersonic separator structures, relatively representative patents include foreign US 6513345B 1, US 6524368B 2, US 7357825B2, US 2010/0147021 a1, US 6372019B1, WO 2003/092850 a1, WO 2004/020074 a1, US 2010/0147023 a1, etc., and domestic ZL 200910023458.8, ZL 201210003812.2, ZL 202010548769.2, ZL 201610578253.6, etc. The structure can not realize the interchangeability design of the multilayer swirl vanes, and can not meet the continuous adjustment requirements of the throat area and the size of the liquid separation port of the supersonic speed spray pipe under different working conditions.
Disclosure of Invention
One of the purposes of the invention is to provide a supersonic cyclone separation device which can be suitable for supersonic nozzle throat area continuously adjustable under different working conditions; the second purpose is to provide a supersonic cyclone separation device which can continuously adjust the throat area and the size of the liquid separation port at the same time. In addition, the supersonic cyclone separation device also provides an active disturbance rejection control method.
An adjustable supersonic separation device comprises an inlet section, a rectifying cone, a contraction section, a supersonic nozzle, an expansion section, a wet gas outlet section, a diffuser pipe, a dry gas output pipeline, a wet gas outlet and a liquid separation port, and is characterized in that the tail end of the rectifying cone is arranged in the center of a throat, and the diameter of the cone in the center of the throat is changed by adjusting the axial position of the rectifying cone through a rectifying cone position adjusting module, so that the effective sectional area of the throat is adjusted.
Furthermore, the inlet section is not connected with the adjacent connecting end of the contraction section, but is connected with the contraction section through flanges at two sides; the rectifying cone is connected with a rectifying cone position adjusting module positioned outside the inlet section and the contraction section through an adjusting bracket; the adjusting bracket comprises an outer shaft sleeve and a connecting end, two ends of the outer shaft sleeve are lapped at the connecting end of the inlet section and the contraction section, and sealing connection for ensuring sealing when the axial relative position changes is respectively arranged between the two ends of the outer shaft sleeve and the inlet section and between the two ends of the outer shaft sleeve and the contraction section; the rectifying cone position adjusting module comprises at least one set of ball screw adjusting mechanism connected between the flanges on the two sides, the connecting end of the adjusting support is connected to the ball screw adjusting mechanism, and the ball screw adjusting mechanism is used for adjusting the sliding of the outer shaft sleeve of the support along the connecting end of the inlet section and the contraction section.
Further, the ball screw adjusting mechanism comprises a motor, a bearing, a ball screw and a ball screw nut, and an output shaft of the motor is fixedly connected with the ball screw; the ball screw is connected with the flanges at the two sides through a bearing; the connecting end of the adjusting bracket is positioned through a ball screw nut.
Furthermore, the adjusting bracket also comprises an inner shaft sleeve fixedly connected with the rectifying cone.
Furthermore, the adjusting support comprises a plurality of connecting ends arranged on the circumference, each connecting end is fixedly connected with one set of ball screw adjusting mechanism of the rectifying cone position adjusting module, and the positioning and fastening of the flange connecting part of the inlet section and the contraction section are realized through the positioning sleeves and the stud bolts which are arranged in a crossed manner.
Furthermore, one end of the diffuser pipe is annularly nested in the wet gas outlet section, and the other end of the diffuser pipe is nested with the dry gas output pipeline and is reserved with an adjusting space.
Furthermore, the diffusion pipe is connected with the dry gas output pipeline through two side connecting flanges, a ball screw adjusting mechanism is arranged at the two side connecting flanges, one end of a ball screw is fixedly connected with one side connecting flange, the other end of the ball screw is fixedly connected with the motor output shaft and is connected with the other side connecting flange through a bearing, the axial position of the diffusion pipe is controlled, and the size of the liquid distribution port is adjusted.
Further, the adjustable supersonic separation device further comprises a post-cyclone which is fastened at the flanges of the expanding section and the wet gas outlet section.
Furthermore, the fairing cone comprises a fairing, a plurality of stages of swirl vanes and a cone core which are connected in sequence.
The invention also provides a displacement control method of the adjustable supersonic separation device based on the active disturbance rejection controller, each motor is a closed-loop stepping motor, a two-phase stepping motor driver is utilized to respectively drive the closed-loop stepping motor of the rectifying cone position adjusting module and the closed-loop stepping motor of the liquid separating port position adjusting module, the rotation angle of the output shaft of each closed-loop stepping motor is controlled by taking the displacement to be adjusted as a reference, an active disturbance rejection controller is arranged in each displacement control loop, the active disturbance rejection controller and the displacement feedback information form a closed-loop active disturbance rejection control system, and the feedback quantity of the displacement is detected by an absolute position encoder arranged at the output shaft of the closed-loop stepping motor; each active disturbance rejection controller comprises an Extended State Observer (ESO) which uniformly treats internal model uncertainty, namely internal disturbance, parameter perturbation and actual displacement information, as external disturbance for processing, a nonlinear state error feedback control law (NLSEF) determined according to errors, a transition process for arranging an expected displacement value, a Nonlinear Tracking Differentiator (NTD) for improving the system robustness, and a disturbance estimation value is used for compensating an error feedback control quantity.
Drawings
FIG. 1: three-dimensional model diagram of continuous adjustable separation device for throat part and liquid separation port
FIG. 2: mechanical structure diagram of throat and liquid separation port continuous adjustable separation device
FIG. 3: structure of rectifier cone
FIG. 4: structure of adjusting bracket
FIG. 5: section view of rectifying cone position adjusting module
FIG. 6: liquid separation port position adjusting module structure diagram
FIG. 7: ADRC control system structure diagram
Detailed Description
In order to further understand the features and technical means of the present invention and achieve specific objects and functions, the following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings.
In order to realize the continuous adjustment of the throat area of the supersonic nozzle in the separator, the tail end of the rectifying cone is nested in the center of the throat in a pipeline nesting mode, and the diameter of the cone nested in the center of the throat is changed by adjusting the axial position of the rectifying cone, so that the effective sectional area of the throat is adjusted. The drive is exerted through the mode of equipartition motor on flange, radially fixed with ball and motor output shaft, and on the ball nut was fixed in the fairing cone and adjusts the support, rotates through motor drive ball, adjusts the fairing cone position, realizes the continuous regulation of throat area. The selected motor in the adjusting mechanism is a closed-loop motor capable of feeding back the rotation information of the main shaft.
In order to enhance the rotating strength of a flow field and enable the swirl vanes in the separator to bear high pressure, the invention combines the front-mounted rectifying cone and the rear-mounted swirler, and designs the front-mounted rectifying cone and the rear-mounted swirler into a multi-layer vane overlapping assembly mode, thereby facilitating the timely replacement when the swirl vanes have problems.
In the supersonic separation device, the size of the liquid separation port has great influence on the separation efficiency, and in order to realize the continuous adjustment of the size of the liquid separation port, the dry gas output pipeline is fixed, the diffuser pipe and the dry gas output pipeline are nested and installed, and an adjustment space is reserved. The driving is exerted in a mode that the motors are uniformly distributed on the connecting flange, the ball screw and the motor output shaft are radially fixed, the ball screw nut is fixed on the connecting flange of the diffuser pipe, the ball screw is driven by the motors to rotate, the axial position of the diffuser pipe is controlled, and the size of the liquid separating port is continuously adjusted. The selected motor in the adjusting mechanism is a closed-loop motor capable of feeding back the rotation information of the main shaft.
Aiming at the problem of control accuracy reduction caused by unknown disturbance of a system under the actual working condition, the invention designs the ADRC controller to effectively estimate the unknown disturbance of the system, actively inhibits the system disturbance before the disturbance obviously affects the system output, and realizes high-accuracy control of the throat area and the size of a liquid separation port.
Example 1:
is the best embodiment. Fig. 1 shows a three-dimensional model of a continuously adjustable supersonic separation device with a throat part and a liquid separation port, fig. 2 shows a mechanical structure thereof, which includes an inlet section 1, a fairing cone 2, a fairing cone position adjusting module 3, a contraction section 4, a supersonic nozzle 5, an expansion section 6, a post-cyclone 7, a wet gas outlet section 8, a diffuser pipe 9, a liquid separation port position adjusting module 10, a dry gas output pipeline 11, a wet gas outlet 12, and a liquid separation port 13.
The front end to-be-treated gas pipeline is connected with the inlet section 1, the inlet section 1 is connected with the contraction section 4, the expansion section 6 is connected with the moisture outlet section 8, the diffuser pipe 9 is connected with the dry gas output pipeline 11, and the dry gas output pipeline 11 is connected with the subsequent gas conveying pipeline through flanges.
FIG. 3 shows a structure diagram of a fairing cone, which includes a fairing 201, a tuning support 202, a first stage swirl vane 203, a second stage swirl vane 204, a third stage swirl vane 205, a flat key 206, a fourth stage swirl vane 207, and a cone core 208.
Keyways which can be provided with flat keys 206 are formed in the adjusting bracket 202, the first-stage disc type cyclone blades 203, the second-stage disc type cyclone blades 204, the third-stage disc type cyclone blades 205, the fourth-stage disc type cyclone blades 207 and the conical core 208, so that the radial relative positions of the key slots are fixed, and relative rotation is avoided. The rear end of the fairing 201 is provided with a bolt which is matched with a threaded hole at the front end of the conical core 208, and the axial fastening of each component is realized by applying a certain pretightening force. The outer diameter of the joint of each part is the same as the maximum outer diameter of the cone core, so that the additional influence of the structure on the flow field is reduced. The designed assembly form of the multistage disc type cyclone blade tandem can effectively reduce pneumatic load, enables the blades to resist high pressure and provides centrifugal force required by separation for airflow. All easy dismouting of blade at different levels, when certain blade damages or need use the blade of different forms to different operating modes, unpack the threaded connection of radome fairing 201 apart, can change the blade of new. All the disc type swirl blades are arc-shaped blades or straight blades, and the multi-stage swirl blades are not limited to 4 stages.
The structure of the adjusting bracket 202 is shown in fig. 4, which includes a connecting end 2021, an outer sleeve 2022, a rib plate 2023, and an inner sleeve 2024. The four circumferentially arranged connection ends 2021 are fixedly connected to the four ball screw nuts 304 of the fairing cone position adjustment module 3 by bolts.
The structure of the fairing cone position adjustment module 3 is shown in fig. 5, and comprises a motor 301, a bearing 302, a ball screw 303, a ball screw nut 304, a positioning sleeve 305, an O-ring 306 and a stud 307. 4 sets of ball screw adjusting mechanisms are uniformly arranged on the circumference of the integral connecting part so as to uniformly apply torque when the position of the fairing cone is adjusted, and 4 groups of stud bolts 307 with positioning sleeves 305, which are uniformly arranged in a crossed mode, are used for positioning and fastening the flange connecting part of the inlet section 1 and the contraction section 4.
The motor 301 and the flange plate of the inlet section 1 are fixed through bolts, and the output shaft of the motor is connected with the ball screw 303 through a flat key so as to ensure synchronous rotation; the ball screw 303 is connected with the flange plates at two sides through a bearing 304 to ensure that relative rotation is realized; the ball screw nut 304 is connected with the connecting end 2021 of the adjusting bracket 202 through a bolt; the outer contour of the connecting end of the inlet section 1 and the contraction section 4 is provided with a groove for installing an O-shaped sealing ring 306, so that the sealing between the outer shaft sleeve 2022 and the inlet section 1 and the contraction section 4 is realized.
When the throat section area of the supersonic nozzle 5 needs to be adjusted, the motor 301 drives the ball screw 303 to rotate, drives the ball screw nut 304 matched with the motor to move along the axial direction, and drives the rectifier cone 2 to move synchronously along the axial direction, so that the throat area is continuously adjusted.
The rear cyclone 7 is similar to the structure of the fairing cone 2, and the difference lies in that the bracket of the rear cyclone does not need to be adjusted in position and is fastened at the flanges of the expansion section 6 and the moisture outlet section 8, the inner wall surface is ensured to be flush, and the outer wall surface is sealed through an O-shaped ring.
The diffuser pipe 9 is annularly nested in the moisture outlet section 8, and the connecting part ensures reliable sealing when the axial relative position changes through an O-shaped ring. The size of the liquid separation port 13 can be adjusted by adjusting the axial relative position of the moisture outlet section 8 and the diffuser pipe 9.
The continuously adjustable structure of the liquid separation port is shown in fig. 6, which comprises a ball screw nut 101, a screw 102, a bearing 103, a motor 104 and stud bolts 105, wherein 4 sets of ball screw adjusting mechanisms are uniformly arranged on the circumference of the whole connecting part so as to uniformly apply torque when the position of the fairing cone is adjusted, and 4 sets of stud bolts 105 are uniformly arranged and crossed with the fairing cone and used for assisting in fixing the diffuser pipe 9 and the dry gas output pipeline 11.
The dry gas output pipeline 11 is connected with a subsequent pipeline through a flange, the position is kept fixed, and the motor 104 and a flange plate of the dry gas output pipeline 11 are fixed through bolts. The output shaft of the motor is connected with the ball screw 102 through a flat key to ensure synchronous rotation; the ball screw 102 is connected with a connecting flange of the dry gas output pipeline 11 through a bearing 103 so as to ensure that relative rotation is realized; the ball screw nut 101 is connected with a flange of the diffuser pipe through a bolt; the nesting position of the fixed diffuser pipe 9 and the dry gas output pipeline 11 is provided with a groove for installing an O-shaped sealing ring 106 to realize sealing during axial movement.
When the size of the liquid distribution port 13 needs to be adjusted, firstly, 4 groups of auxiliary stud bolts 105 for assisting in fixing the diffuser pipe 9 and the dry gas output pipeline 11 are manually loosened to ensure the movement space required by the diffuser pipe, and then the motor 104 drives the ball screw 102 to rotate, so that the ball screw nut 101 matched with the motor is driven to move along the axial direction, the diffuser pipe 9 is driven to move along the axial direction synchronously, the continuous adjustment of the size of the liquid distribution port 13 is realized, after the required adjustment position is reached, the auxiliary stud bolts 105 are pre-tightened, and the safe and reliable operation of equipment is ensured.
The separation performance is improved in the embodiment through the mode that the front-mounted rectifying cone is combined with the rear-mounted swirler. The structure of multilayer blade stack assembly can bear the high pressure, and each layer blade is easily changed, in time maintains when guaranteeing to damage.
Example 2
Different from the embodiment 1, the front-mounted rectifying cone in the embodiment 2 is adjustable, and the liquid separation port 13 is not adjustable.
Example 3
Unlike example 2, example 3 does not have a post-cyclone.
In practical industrial application, when the supersonic separation device with the continuously adjustable throat and the liquid separation port operates, a control system of the supersonic separation device is influenced by a plurality of uncertain factors, such as uncertain factors inside the system and unknown disturbance outside the system, and the disturbance influences the stability of the control system, so that the control precision is reduced. Although the PID control method is widely used in industry, the suppression effect on unknown disturbances is limited, and when the unknown disturbances exceed a certain range, the unknown disturbances cannot be effectively suppressed.
The invention provides a displacement control method based on an active disturbance rejection controller, which utilizes a two-phase stepping motor driver to respectively drive four closed-loop stepping motors of a rectifying cone position adjusting module and four closed-loop stepping motors of a liquid separating port position adjusting module. And controlling the rotation angle of the output shaft of each closed-loop stepping motor by taking the displacement required to be regulated as a reference, wherein an active disturbance rejection controller is arranged in each displacement control loop, and the active disturbance rejection controller and displacement feedback information form a closed-loop active disturbance rejection control system. The feedback quantity of the displacement is detected and obtained by an absolute position encoder arranged at the output shaft of the closed-loop stepping motor. Each active disturbance rejection controller comprises an Extended State Observer (ESO) which uniformly treats internal model uncertainty (internal disturbance), parameter perturbation and actual displacement information as external disturbance for processing, a nonlinear state error feedback control law (NLSEF) which is determined according to errors and a Nonlinear Tracking Differentiator (NTD) which arranges a transition process for an expected displacement value and improves the system robustness, and the disturbance estimation value is used for compensating error feedback control quantity. The method comprises the following specific steps:
aiming at the problem of control accuracy reduction when the system is subjected to unknown disturbance under actual working conditions, an ADRC control system is designed as shown in figure 7, wherein a Nonlinear Tracking Differentiator (NTD) is used for arranging a transition process, the robustness of the controller is improved,
the algorithm is shown in formula (1):
Figure RE-GDA0003277114240000061
wherein r is a velocity factor for determining the tracking velocity, and h is a productFractional step size, h0A filter factor for filtering; nonlinear function fhan (e, v)2R, h) is:
Figure RE-GDA0003277114240000062
where sign (a) is a sign function, fsg (a, d) is shown in equation (3):
fsg(a,d)＝[sign(a+d)-sign(a-d)]/2 (3)
a and d are shown as formula (4):
Figure RE-GDA0003277114240000063
parameters a, h0Is the pending parameter in NTD.
An Extended State Observer (ESO) algorithm is shown in a formula (5), and the ESO uniformly considers the internal and external disturbances of the system as total disturbance and expands the total disturbance into state information of the system for observation.
Figure RE-GDA0003277114240000064
Wherein:
Figure RE-GDA0003277114240000071
β01,β02,β03and b0For a parameter to be set of the system, δ is the width of a linear region of the nonlinear function fal near the zero point, and the value of δ is selected according to the error range of the system, and is generally taken as δ being 0.1.
The algorithm of the nonlinear state error feedback control law (NLSEF) is shown in the formula (7), and uncertain disturbance of the system can be effectively suppressed.
Figure RE-GDA0003277114240000072
Wherein 0 is not less than alpha01≤1≤α02Usually taken as α01＝0.25,α02＝1.5；δ0Is a parameter related to the range of the controlled quantity and the control precision, and is generally taken as delta0＝0.02。kpAnd kdIs a parameter to be set.
By disturbance compensation, the control quantity u can be:
Figure RE-GDA0003277114240000073
wherein b is0Are parameters to be determined.
The system control object is a selected closed-loop motor, the motor output shaft feeds back actual distance information y for the control system through an encoder, and a desired value v is used as system input. The control system can uniformly regard internal uncertainty and external disturbance as state variables of the system, after the state variables are observed through the ESO, the state variables are actively eliminated by using control signals before the disturbance obviously affects the output of the system, various internal and external disturbances are effectively inhibited, and the control precision of the system is improved.
The above-mentioned embodiments are intended to explain the technical solutions of the theoretical innovations and embodiments of the present invention in detail, and the present invention is not limited to the above-mentioned implementation routines, but it should be understood that modifications and substitutions based on the above-mentioned principles and spirit by those skilled in the art are included in the protection scope of the present invention.

Claims (10)

1. An adjustable supersonic separator is composed of inlet segment, rectifying cone, contracting segment, supersonic nozzle, expanding segment, wet gas outlet segment, diffuser pipe, dry gas output pipeline, wet gas outlet and liquid separating port, and features that the tail end of rectifying cone is arranged at the center of throat. The mode of adjusting the axial position of the rectifier cone through the rectifier cone position adjusting module changes the diameter of the cone positioned in the center of the throat part, and the adjustment of the effective sectional area of the throat part is realized.
2. The tunable supersonic separation apparatus of claim 1, wherein the inlet section is disconnected from adjacent connection ends of the convergent section, but connected by two side flanges; the rectifying cone is connected with a rectifying cone position adjusting module positioned outside the inlet section and the contraction section through an adjusting bracket; the adjusting bracket comprises an outer shaft sleeve and a connecting end, two ends of the outer shaft sleeve are lapped at the connecting end of the inlet section and the contraction section, and sealing connection for ensuring sealing when the axial relative position changes is respectively arranged between the two ends of the outer shaft sleeve and the inlet section and between the two ends of the outer shaft sleeve and the contraction section; the rectifying cone position adjusting module comprises at least one set of ball screw adjusting mechanism connected between the flanges on the two sides, the connecting end of the adjusting support is connected to the ball screw adjusting mechanism, and the ball screw adjusting mechanism is used for adjusting the sliding of the outer shaft sleeve of the support along the connecting end of the inlet section and the contraction section.
3. The adjustable supersonic separation device according to claim 2, wherein the ball screw adjustment mechanism comprises a motor, a bearing, a ball screw and a ball screw nut, and an output shaft of the motor is fixedly connected with the ball screw; the ball screw is connected with the flanges at the two sides through a bearing; the connecting end of the adjusting bracket is positioned through a ball screw nut.
4. The adjustable supersonic separation apparatus according to claim 2, wherein said adjustable mount further comprises an inner bushing for fixedly attaching a fairing cone.
5. The adjustable supersonic separation device according to claim 2, wherein the adjusting bracket comprises a plurality of connection ends arranged on a circumference, each connection end is fixedly connected with a ball screw adjusting mechanism of the fairing cone position adjusting module, and the flange connection of the inlet section and the contraction section is positioned and fastened through positioning sleeves and stud bolts which are arranged in a crossed manner.
6. The adjustable supersonic separation apparatus according to claim 2, wherein one end of the diffuser pipe is annularly nested in the wet gas outlet section, and the other end of the diffuser pipe is nested with the dry gas output pipeline, and a regulation space is reserved.
7. The adjustable supersonic separation device according to claim 6, wherein the diffuser pipe is connected to the dry gas output pipeline via two side connection flanges, a ball screw adjusting mechanism is disposed at the two side connection flanges, one end of the ball screw is fixedly connected to one side connection flange, the other end of the ball screw is fixedly connected to the output shaft of the motor and is connected to the other side connection flange via a bearing, and the axial position of the diffuser pipe is controlled to adjust the size of the liquid separation port.
8. The adjustable supersonic separation apparatus according to any one of claims 1 to 6, further comprising a post cyclone secured to the flanges of the diverging section and the wet gas outlet section.
9. The adjustable supersonic separation apparatus according to any one of claims 1 to 6, wherein said fairing cone comprises a fairing, a plurality of swirl vanes and a cone core connected in series.
10. The displacement control method of the adjustable supersonic separation device according to claim 6, which is implemented based on an active disturbance rejection controller, wherein each motor is a closed-loop stepping motor, the closed-loop stepping motor of the rectification cone position adjustment module and the closed-loop stepping motor of the liquid separation port position adjustment module are respectively driven by two-phase stepping motor drivers, the rotation angle of the output shaft of each closed-loop stepping motor is controlled by taking the displacement to be adjusted as a reference, an active disturbance rejection controller is arranged in each displacement control loop, the active disturbance rejection controller and displacement feedback information form a closed-loop active disturbance rejection control system, and the feedback amount of the displacement is detected by an own absolute position encoder at the output shaft of the closed-loop stepping motor; each active disturbance rejection controller comprises an Extended State Observer (ESO) which uniformly treats internal model uncertainty, namely internal disturbance, parameter perturbation and actual displacement information, as external disturbance for processing, a nonlinear state error feedback control law (NLSEF) determined according to errors, a transition process for arranging an expected displacement value, a Nonlinear Tracking Differentiator (NTD) for improving the system robustness, and a disturbance estimation value is used for compensating an error feedback control quantity.
CN202110694429.5A 2021-06-22 2021-06-22 Adjustable supersonic separation device and active disturbance rejection control method thereof Active CN113578541B (en)

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