CN114003065A - Dual-pressure transmitter redundancy design algorithm based on air pressure prediction - Google Patents
Dual-pressure transmitter redundancy design algorithm based on air pressure prediction Download PDFInfo
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Abstract
The invention discloses a dual-pressure transmitter redundancy design algorithm based on air pressure prediction, which comprises a pressure judgment algorithm, an air pressure prediction algorithm and a pressure decision algorithm, wherein the pressure judgment algorithm is used for acquiring the output pressure of two sets of pressure transmitters for multiple times in a decision period, carrying out pressure range judgment, pressure trend judgment, multipoint average operation and effective pressure point number judgment, judging whether the acquired pressure of the pressure transmitters is effective or not, and giving an effective pressure value P1And P2(ii) a The air pressure prediction algorithm is based on the time t of receiving inflationcCumulative exhaust time tpCalculating a predicted pressure value P after a decision period by the air inflation amount and the air displacementy(ii) a The pressure decision algorithm judges the effective pressure value P output by the algorithm according to the received pressure1、P2And the predicted pressure value P output by the air pressure prediction algorithmyAnd outputting the system decision pressure P, compared with the traditional gasThe pressure control method adopts two sets of pressure transmitters to redundantly test the pressure, and can greatly improve the test precision and reliability.
Description
Technical Field
The invention relates to the technical field of gas pressure control, in particular to a dual-pressure transmitter redundancy design algorithm based on air pressure prediction.
Background
In the field of gas pressure control, it is often necessary to control the pressure in the gas storage device or the chamber within a required interval, and the working principle is as shown in fig. 8, specifically: the pressure transmitter collects the pressure of the gas storage device, compares the pressure with a set pressure, controls the amount of gas filled into the gas storage device through the operation of the gas filling control device by taking the pressure deviation as a gas filling control instruction, and ensures that the pressure of the gas storage device is within a proper interval range.
The precision and reliability of the pressure control of the scheme greatly depend on the precision and reliability of the pressure acquired by the pressure transmitter, but the pressure transmitter has the following problems difficult to avoid in actual work:
firstly, pressure easily receives external interference, especially under the mechanical environmental conditions such as electromagnetic interference environment and vibration, impact, centrifugation, pressure transmitter suffers external interference back, and the pressure data of output can superpose random noise and impulse noise by a wide margin, and the SNR is very low, easily causes gas charging control device's malfunction or does not move, and then leads to the gas storage device too high pressure or the not enough condition of pressure.
Secondly, the pressure transmitter may have a fault in the working process, for example, the output of the pressure transmitter is lower than the electric zero position or exceeds the measuring range due to an electrical fault, and the pressure change trend is abnormal due to a mechanical fault, so that effective pressure data cannot be output, the inflation control device cannot work according to the expected requirement, and the pressure of the gas storage device is disordered and uncontrolled.
How to acquire accurate and reliable pressure data becomes a bottleneck limiting the improvement of the precision and the reliability of the gas pressure control system. The idea of improving the reliability is that redundant pressure transmitters are added, the pressure in the same place is measured by two sets of pressure transmitters to realize the redundancy of pressure test, but when the output of the two sets of pressure transmitters is inconsistent, the data of which set of pressure transmitter is difficult to judge, if the effective pressure cannot be effectively judged and identified, the two sets of pressure transmitters can reduce the working reliability.
Disclosure of Invention
Aiming at the technical problems, the invention provides a dual-pressure transmitter redundancy design algorithm based on gas pressure prediction, compared with the traditional gas pressure control method, the algorithm adopts two sets of pressure transmitter redundancy test pressure, introduces the predicted pressure for auxiliary decision, can deal with factors such as pressure interference, pressure transmitter faults and the like, can output accurate and credible pressure under the conditions that two sets of pressure transmitters are effective, one set of pressure transmitter fails, two sets of pressure transmitters fail and the like, and can greatly improve the precision and reliability of a pressure control system.
A dual-pressure transmitter redundancy design algorithm based on air pressure prediction comprises a pressure judgment algorithm, an air pressure prediction algorithm and a pressure decision algorithm,
the pressure judgment algorithm is to collect the output pressure of two sets of pressure transmitters for multiple times in a decision period, judge the pressure range, the pressure trend, the multipoint average operation and the effective pressure point number, judge whether the pressure collected by the pressure transmitter is effective or not and give an effective pressure value P1And P2；
The air pressure prediction algorithm is based on the time t of receiving inflationcCumulative exhaust time tpCalculating a predicted pressure value P after a decision period by the air inflation amount and the air displacementy；
The pressure decision algorithm judges the effective pressure value P output by the algorithm according to the received pressure1、P2And the predicted pressure value P output by the air pressure prediction algorithmyOutputting a system decision pressure P according to the following algorithm:
when the pressure transmitter I and the pressure transmitter II are both effective and P1And P2At a set pressure threshold value Pm1Within, i.e. | P1-P2|≤Pm1When P is equal to (P)1+P2)/2，
When the pressure transmitter I and the pressure transmitter II are both effective and P1And P2Is not at the set pressure threshold Pm1Within, | P1-P2|≥Pm1Taking and predicting the pressure PyClose P1Or P2As a result of the decision pressure,
when the pressure transmitter I is effective, the pressure transmitterWhen II is invalid, taking P as P1，
When the pressure transmitter I is invalid and the pressure transmitter II is valid, taking P as P2，
When the pressure transmitter I and the pressure transmitter II are both ineffective, taking P as Py。
Preferably, in the above technical solution, the pressure judgment algorithm is to perform N times of sequential sampling on two sets of pressure transmitters in a decision period, sequentially perform pressure range judgment on the pressure P (k) measured at each sampling point, and when the pressure measured at the sampling point exceeds the pressure range, that is, P is the pressure range1(k)＞PmaxOr P1(k)＜PminThen, the sampling point is eliminated; the pressure trend of each sampling point is judged, and the pressure of the current sampling point is relative to the decision pressure P of the previous decision period0The difference exceeds a pressure threshold value Pm2I.e. | P (k) — P0|＞Pm1Then, the sampling point is eliminated; after sampling in a decision period is finished, calculating the average pressure P of effective sampling points1、P2And counting the number of effective sampling points, when the number N of the effective sampling points exceeds N/2 (N is more than N/2), judging that the pressure collected by the pressure transmitter is effective, and outputting the average pressure as the effective pressure
Preferably, the air pressure prediction algorithm adopts an incremental algorithm, and the pressure P is decided in the previous step0And (3) performing pressure prediction of the next decision period on the basis, wherein the specific algorithm is as follows: receiving the inflation time tcCalculating the inflation quality in a decision period
Receiving the accumulated exhaust time tpCalculating the exhaust mass in a decision period
Calculating the gas mass increment m in a decision periodc-mpCalculating one according to the gas equation of statePressure change Δ P ═ m in the decision periodc-mp)RgT/V, and then calculating the predicted pressure P by an incremental algorithmy＝P0+△P。
Preferably, the pressure threshold P is set to be equal to or less than a predetermined valuem1And taking the value as a constant according to 3-5 times of the pressure value corresponding to the comprehensive precision of the selected pressure transmitter.
Preferably, the sampling times N are constant, and the demand decision period t is a period of timejAnd a sampling time t suitable for hardware implementationsAccording to the formula N ═ tj/tsCalculating and determining; the pressure threshold value Pm2The value is constant and is taken according to 1.5-2 times of the maximum pressure variation in a decision period; the low voltage threshold value PminAnd a high voltage threshold value PmaxAnd taking values according to the lowest pressure and the highest pressure which can be reached in the normal working process of the system as constants.
Preferably, in the above aspect, R isgIs the gas constant, T is the gas temperature, V is the vessel volume,
For the mass flow of the produced gas,
The known constants are used for the exhaust mass flow during online calculation, and the value assignment is set during parameter initialization.
The invention has the beneficial effects that:
1. through the strategies of pressure range judgment, pressure trend judgment, multipoint average operation, effective pressure point number judgment and the like in the pressure judgment algorithm, random noise interference and pulse noise interference caused by an external electromagnetic environment and a mechanical environment on the pressure transmitter can be greatly reduced, meanwhile, the fault state of the pressure transmitter can be identified, and misjudgment caused by wrong pressure data is prevented.
2. The output pressure of the two sets of pressure transmitters is subjected to auxiliary decision by introducing the predicted pressure into the air pressure prediction algorithm, so that the problem of which set of pressure transmitter output pressure is to be informed when the output pressures of the two sets of pressure transmitters are inconsistent can be solved.
3. By means of the pressure decision algorithm, factors such as pressure interference and pressure transmitter faults can be responded, accurate and reliable pressure can be output under the conditions that two sets of pressure transmitters are effective, one set of pressure transmitter fails, two sets of pressure transmitters fail and the like, and the precision and the reliability of the pressure control system can be greatly improved.
Drawings
FIG. 1 is a block diagram of an architecture for implementing the algorithm of the present invention.
FIG. 2 is a schematic diagram of a control algorithm of the present invention.
FIG. 3 is a flow chart of a control algorithm of the present invention.
Fig. 4 is a pressure curve of a simulated pressure transmitter i and a simulated pressure transmitter ii subjected to external random interference and impulse interference in an embodiment of the present invention.
Fig. 5 is a pressure curve for simulating a failure of pressure transmitter i and a random external disturbance of pressure transmitter ii in an embodiment of the present invention.
Fig. 6 is a pressure curve for simulating a failure of pressure transmitter ii and a random external disturbance to pressure transmitter i in an embodiment of the present invention.
FIG. 7 is a pressure curve of a simulated simultaneous failure of pressure transmitter I and pressure transmitter II in an embodiment of the present invention.
Fig. 8 is a schematic diagram of a conventional pressure control of a gas storage device in the related art.
Detailed Description
The technical scheme of the invention is clearly and completely described below by combining the attached drawings of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.
As shown in fig. 2 and 3, the dual-pressure transmitter redundancy design algorithm based on air pressure prediction includes a pressure judgment algorithm, an air pressure prediction algorithm and a pressure decision algorithm,
the pressure judgment algorithm is to collect two pressure data for multiple times in one decision periodThe output pressure of the pressure transmitter is subjected to pressure range judgment, pressure trend judgment, multipoint average operation and effective pressure point number judgment, whether the pressure acquired by the pressure transmitter is effective is judged, and an effective pressure value P is given1And P2；
The air pressure prediction algorithm is based on the time t of receiving inflationcCumulative exhaust time tpCalculating a predicted pressure value P after a decision period by the air inflation amount and the air displacementy；
The pressure decision algorithm judges the effective pressure value P output by the algorithm according to the received pressure1、P2And the predicted pressure value P output by the air pressure prediction algorithmyOutputting a system decision pressure P according to the following algorithm:
when the pressure transmitter I and the pressure transmitter II are both effective and P1And P2At a set pressure threshold value Pm1Within, i.e. | P1-P2|≤Pm1When P is equal to (P)1+P2)/2，
When the pressure transmitter I and the pressure transmitter II are both effective and P1And P2Is not at the set pressure threshold Pm1Within, | P1-P2|≥Pm1Taking and predicting the pressure PyClose P1Or P2As a result of the decision pressure,
when the pressure transmitter I is effective and the pressure transmitter II is ineffective, taking P as P1，
When the pressure transmitter I is invalid and the pressure transmitter II is valid, taking P as P2，
When the pressure transmitter I and the pressure transmitter II are both ineffective, taking P as Py。
In this embodiment, the pressure determination algorithm sequentially samples two sets of pressure transmitters N times in a decision period, sequentially determines a pressure range of a pressure P (k) measured at each sampling point, and determines whether the pressure measured at the sampling point exceeds the pressure range, that is, P is a pressure range1(k)＞PmaxOr P1(k)＜PminThen, the sampling point is eliminated; performing pressure trend on each sampling pointJudging that the pressure of the current sampling point is relative to the decision pressure P of the last decision period0The difference exceeds a pressure threshold value Pm2I.e. | P (k) — P0|＞Pm1Then, the sampling point is eliminated; after sampling in a decision period is finished, calculating the average pressure P of effective sampling points1、P2And counting the number of effective sampling points, when the number N of the effective sampling points exceeds N/2 (N is more than N/2), judging that the pressure collected by the pressure transmitter is effective, and outputting the average pressure as the effective pressure
In the embodiment, the air pressure prediction algorithm adopts an incremental algorithm, and the pressure P is decided in the last step0And (3) performing pressure prediction of the next decision period on the basis, wherein the specific algorithm is as follows: receiving the inflation time tcCalculating the inflation quality in a decision period
Receiving the accumulated exhaust time tpCalculating the exhaust mass in a decision period
Calculating the gas mass increment m in a decision periodc-mpCalculating the pressure change delta P ═ m (m) in a decision period according to a gas state equationc-mp)RgT/V, and then calculating the predicted pressure P by an incremental algorithmy＝P0+△P。
In the present embodiment, the pressure threshold value Pm1And taking the value as a constant according to 3-5 times of the pressure value corresponding to the comprehensive precision of the selected pressure transmitter.
In this embodiment, the sampling number N is a constant and is determined by the requirement decision period tjAnd a sampling time t suitable for hardware implementationsAccording to the formula N ═ tj/tsCalculating and determining; the pressure threshold value Pm2The value is constant and is taken according to 1.5-2 times of the maximum pressure variation in a decision period; the low voltage threshold value PminAnd a high voltage threshold value PmaxAnd taking values according to the lowest pressure and the highest pressure which can be reached in the normal working process of the system as constants.
In this embodiment, R isgIs the gas constant, T is the gas temperature, V is the vessel volume,
For the mass flow of the produced gas,
The known constants are used for the exhaust mass flow during online calculation, and the value assignment is set during parameter initialization.
The structure based on the dual-pressure transmitter redundancy design algorithm comprises an inflation device, a gas storage device, an exhaust device, an inflation controller, an exhaust controller and 2 sets of pressure transmitters, and is shown in figure 1. The inflation device is arranged at the air inlet part of the air storage device and receives an inflation instruction sent by the inflation controller to complete the inflation action; the exhaust device is arranged at the outlet of the gas storage device and receives an exhaust instruction sent by the exhaust controller to complete the exhaust action; 2 sets of pressure transmitters are arranged on a pressure measuring pipeline of the gas storage device, and the pressure output of the pressure transmitters is subjected to data acquisition through an analog-to-digital conversion module in the inflation controller; the exhaust controller calculates the cumulative exhaust time tpAnd the accumulated exhaust time t is measured in a CAN communication modepTo an inflation controller.
Sending decision pressure P of a dual-pressure transmitter redundancy design algorithm into an inflation judgment algorithm based on air pressure prediction, and outputting the decision pressure P when the decision pressure P is outputyGreater than a set threshold value Pm3When the air is inflated, the air inflation instruction is not sent; when the decision pressure P is lower than the set threshold value Pm3And when the air is inflated, an air inflation instruction is sent.
In the present embodiment, the pressure threshold Pm13MPa, pressure threshold Pm2Set the threshold value P at 3MPam37MPa, decision period tj0.1s, sample time ts0.005s, 20 sampling times N, and gas constant Rg297J/(kg K), gas temperature T423K, vessel volume V13L, gas production mass flowMeasurement of
Exhaust gas mass flow
Are all known constants and are bound externally at the initialization of the inflation controller.
Fig. 4 shows a pressure curve for simulating the external random disturbance and impulse disturbance of the pressure transmitter i and the pressure transmitter ii in the present embodiment and an output pressure curve of a dual pressure transmitter redundancy design algorithm based on air pressure prediction. As can be seen from the figure, when two sets of pressure transmitters are effective, the algorithm provided by the invention can effectively overcome the influence of random interference and pulse interference, output the pressure P with higher precision and obviously improve the pressure control precision of the air pressure control system.
Fig. 5 shows a pressure curve of the simulated pressure transmitter i in the present embodiment when it fails, the simulated pressure transmitter ii is subjected to external random disturbance, and an output pressure curve of the dual pressure transmitter redundancy design algorithm based on air pressure prediction. Fig. 6 shows a pressure curve of the simulated pressure transmitter ii in the present embodiment when the pressure transmitter i is subjected to external random disturbance and an output pressure curve of the dual pressure transmitter redundancy design algorithm based on air pressure prediction. As can be seen from the figure, when 1 set of pressure transmitter fails, the algorithm provided by the invention can identify the failed pressure transmitter, so that the two sets of pressure transmitters really and effectively play a role in redundancy backup, and the working reliability of the air pressure control system is greatly improved.
Fig. 7 shows a pressure curve when the simulated pressure transmitter i and the simulated pressure transmitter ii fail simultaneously and an output pressure curve of the dual-pressure-transmitter redundancy design algorithm based on the air pressure prediction in this embodiment. As can be seen, after 150s, both sets of pressure transmitters failed simultaneously, relying on the predicted pressure PyAnd pressure closed-loop control is realized, and although the predicted pressure precision is reduced along with time accumulation, the pressure precision required by a pressure decision algorithm can be met. Indicating failure even if two sets of pressure transmitters fail simultaneouslyUnder the condition of small probability time, the algorithm provided by the invention can still output pressure data with credible precision, thereby ensuring that the closed-loop system does not have failure disorder due to no pressure availability, and further improving the working reliability of the air pressure control system.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides a two pressure transmitter redundancy design algorithm based on atmospheric pressure prediction which characterized in that: comprises a pressure judgment algorithm, an air pressure prediction algorithm and a pressure decision algorithm,
the pressure judgment algorithm is to collect the output pressure of two sets of pressure transmitters for multiple times in a decision period, judge the pressure range, the pressure trend, the multipoint average operation and the effective pressure point number, judge whether the pressure collected by the pressure transmitter is effective or not and give an effective pressure value P1And P2；
The air pressure prediction algorithm is based on the time t of receiving inflationcCumulative exhaust time tpCalculating a predicted pressure value P after a decision period by the air inflation amount and the air displacementy；
The pressure decision algorithm judges the effective pressure value P output by the algorithm according to the received pressure1、P2And the predicted pressure value P output by the air pressure prediction algorithmyOutputting a system decision pressure P according to the following algorithm:
when the pressure transmitter I and the pressure transmitter II are both effective and P1And P2At a set pressure threshold value Pm1Within, i.e. | P1-P2|≤Pm1When P is equal to (P)1+P2)/2，
When the pressure transmitter I and the pressure transmitter II are both effective and P1And P2Is not at the set pressure threshold Pm1Within, | P1-P2|≥Pm1Taking and predicting the pressure PyClose P1Or P2As a result of the decision pressure,
when the pressure transmitter I is effective and the pressure transmitter II is ineffective, taking P as P1，
When the pressure transmitter I is invalid and the pressure transmitter II is valid, taking P as P2，
When the pressure transmitter I and the pressure transmitter II are both ineffective, taking P as Py。
2. The dual pressure transmitter redundancy design algorithm of claim 1, wherein: the pressure judgment algorithm is to perform N times of sequential sampling on two sets of pressure transmitters in a decision period, sequentially perform pressure range judgment on the pressure P (k) measured by each sampling point, and when the pressure measured by the sampling points exceeds the pressure range, namely P1(k)＞PmaxOr P1(k)＜PminThen, the sampling point is eliminated; the pressure trend of each sampling point is judged, and the pressure of the current sampling point is relative to the decision pressure P of the previous decision period0The difference exceeds a pressure threshold value Pm2I.e. | P (k) — P0|＞Pm1Then, the sampling point is eliminated; after sampling in a decision period is finished, calculating the average pressure P of effective sampling points1、P2And counting the number of effective sampling points, when the number N of the effective sampling points exceeds N/2 (N is more than N/2), judging that the pressure collected by the pressure transmitter is effective, and outputting the average pressure as the effective pressure
3. The dual pressure transmitter redundancy design algorithm of claim 1, wherein: the air pressure prediction algorithm adopts an incremental algorithm, and the pressure P is decided in the last step0And (3) performing pressure prediction of the next decision period on the basis, wherein the specific algorithm is as follows: receiving the inflation time tcCalculating the inflation quality in a decision period
Receiving the accumulated exhaust time tpCalculating the exhaust mass in a decision period
Calculating the gas mass increment m in a decision periodc-mpCalculating the pressure change delta P ═ m (m) in a decision period according to a gas state equationc-mp)RgT/V, and then calculating the predicted pressure P by an incremental algorithmy＝P0+△P。
4. The dual pressure transmitter redundancy design algorithm of claim 1, wherein: the pressure threshold value Pm1And taking the value as a constant according to 3-5 times of the pressure value corresponding to the comprehensive precision of the selected pressure transmitter.
5. The dual pressure transmitter redundancy design algorithm of claim 2, wherein: the sampling times N are constant and are determined by a demand decision period tjAnd a sampling time t suitable for hardware implementationsAccording to the formula N ═ tj/tsCalculating and determining; the pressure threshold value Pm2The value is constant and is taken according to 1.5-2 times of the maximum pressure variation in a decision period; the low voltage threshold value PminAnd a high voltage threshold value PmaxAnd taking values according to the lowest pressure and the highest pressure which can be reached in the normal working process of the system as constants.
6. The dual pressure transmitter redundancy design algorithm of claim 1, wherein: the R isgIs the gas constant, T is the gas temperature, V is the vessel volume,
For the mass flow of the produced gas,
The known constants are used for the exhaust mass flow during online calculation, and the value assignment is set during parameter initialization.
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| CN112267949A (en) * | 2020-09-28 | 2021-01-26 | 中国北方发动机研究所(天津) | Fault-tolerant control method and control system for atmospheric pressure sensor of diesel engine |
| CN112731982A (en) * | 2020-12-30 | 2021-04-30 | 中国长江电力股份有限公司 | Self-adaptive control method of pressure maintenance system |
| CN112943913A (en) * | 2021-02-26 | 2021-06-11 | 北京理工大学 | AMT (automated mechanical transmission) gear engaging process redundancy control method based on decision tree algorithm |
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