CN114003065B - Dual-pressure transmitter redundancy design method based on air pressure prediction - Google Patents
Dual-pressure transmitter redundancy design method based on air pressure prediction Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D16/00—Control of fluid pressure
- G05D16/20—Control of fluid pressure characterised by the use of electric means
- G05D16/2006—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means
Abstract
The invention discloses a dual-pressure transmitter redundancy design method 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 output pressures of two sets of pressure transmitters for multiple times in a decision period, judging a pressure range, judging a pressure trend, carrying out multipoint average operation and judging the number of effective pressure points, judging whether the acquired pressure of the pressure transmitters is effective or not, and giving an effective pressure value P 1 And P 2 The method comprises the steps of carrying out a first treatment on the surface of the The air pressure prediction algorithm is based on the received inflation time t c Accumulated exhaust time t p Calculating predicted pressure value P after a decision period y The method comprises the steps of carrying out a first treatment on the surface of the The pressure decision algorithm is based on the effective pressure value P output by the receiving pressure judgment algorithm 1 、P 2 Predicted pressure value P output by air pressure prediction algorithm y And the decision pressure P of the system is output, compared with the traditional gas pressure control method, the method adopts two sets of pressure transmitters for redundant test, 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 method based on gas 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 the set pressure, takes the pressure deviation as an inflation control instruction, and controls the gas quantity filled into the gas storage device through the operation of the inflation control device so as to ensure that the pressure of the gas storage device is within a proper interval range.
The accuracy and reliability of the pressure control in the above scheme are greatly dependent on the accuracy and reliability of the pressure transmitter for collecting the pressure, but the pressure transmitter has the following problems that are difficult to avoid in actual operation:
the pressure is easy to be interfered by the outside, particularly under the electromagnetic interference environment and the mechanical environment conditions such as vibration, impact, centrifugation and the like, the output pressure data can be overlapped with large-amplitude random noise and impulse noise after the pressure transmitter is interfered by the outside, the signal to noise ratio is very low, the misoperation or the non-action of the inflation control device is easy to be caused, and the situation that the pressure of the gas storage device is too high or insufficient is caused.
Secondly, the pressure transmitter may have faults in the working process, for example, the electrical faults lead to the pressure transmitter to output lower than the electrical zero position or exceed the measuring range, the mechanical faults lead to abnormal pressure change trend, and effective pressure data cannot be output, so that the inflation control device cannot work according to the expected requirements, and the pressure of the gas storage device is disordered and uncontrolled.
How to obtain accurate and reliable pressure data becomes a bottleneck limiting the improvement of the accuracy and reliability of the gas pressure control system. The idea for improving the reliability is to add a redundant pressure transmitter, and the redundancy of the pressure test is realized by measuring the pressure in the same place through two sets of pressure transmitters, but when the output of the two sets of pressure transmitters is inconsistent, the data of which set of pressure transmitters is difficult to judge, if the effective pressure cannot be effectively judged and identified, the two sets of pressure transmitters may reduce the working reliability.
Disclosure of Invention
Compared with the traditional gas pressure control method, the method adopts two sets of pressure transmitters to test the pressure redundantly, introduces the predicted pressure to make an auxiliary decision, can cope with factors such as pressure interference, pressure transmitter faults and the like, can output accurate and reliable pressure under the conditions that both sets of pressure transmitters are effective, one set of pressure transmitters are invalid, both sets of pressure transmitters are invalid and the like, and can greatly improve the accuracy and reliability of a pressure control system.
A dual-pressure transmitter redundancy design method 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 two sets of pressure transmitters for multiple times in one decision periodThe output pressure of the pressure transmitter is judged, the pressure range judgment, the pressure trend judgment, the multipoint average operation and the effective pressure point number judgment are carried out, whether the acquired pressure of the pressure transmitter is effective or not is judged, and an effective pressure value P is given 1 And P 2 ；
The air pressure prediction algorithm is based on the received inflation time t c Accumulated exhaust time t p Calculating predicted pressure value P after a decision period y ；
The pressure decision algorithm is based on the effective pressure value P output by the receiving pressure judgment algorithm 1 、P 2 Predicted pressure value P output by air pressure prediction algorithm y Outputting system decision pressure P according to the following algorithm:
when both the pressure transmitter I and the pressure transmitter II are effective and P 1 And P 2 Is at a set pressure threshold P m1 Within, i.e., |P 1 -P 2 |≤P m1 At the time, take p= (P 1 +P 2 )/2，
When both the pressure transmitter I and the pressure transmitter II are effective and P 1 And P 2 Is not at the set pressure threshold P m1 Within, |P 1 -P 2 |≥P m1 At the time, the pressure P is taken and predicted y Near P 1 Or P 2 As a result of the decision pressure,
when the pressure transmitter I is effective and the pressure transmitter II is ineffective, P=P is taken 1 ，
When the pressure transmitter I is invalid and the pressure transmitter II is valid, P=P is taken 2 ，
When both pressure transmitter i and pressure transmitter ii are inactive, p=p is taken y 。
As the optimization of the technical scheme, the pressure judgment algorithm is to sequentially sample the two sets of pressure transmitters N times in a decision period, and sequentially measure the pressure P at each sampling point 1 (k) Judging the pressure range, when the pressure measured by the sampling point exceeds the pressure range, namely the sampling value of the pressure transmitter I meets the requirement of P 1 (k)＞P max Or P 1 (k)＜P min At the time, or pressure transmissionThe sampling value of the II device meets P 2 (k)＞P max Or P 2 (k)＜P min When the sampling point is removed, the P is as follows min Is of low voltage threshold value, P max Is a high voltage threshold; judging the pressure trend of each sampling point, and determining the pressure P of the current sampling point relative to the decision pressure P of the previous decision period 0 The difference exceeds the pressure threshold P m2 I.e. |P 1 (k)-P 0 |＞P m2 Or |P 2 (k)-P 0 |＞P m2 When the sampling point is removed; after the sampling of a decision period is finished, calculating the average pressure P of the effective sampling point 1 、P 2 Counting the number of effective sampling points, judging that the pressure collected by the pressure transmitter is effective when the number N of the effective sampling points exceeds N/2 (N is more than N/2), and outputting the average pressure as an effective pressure value, namelyOr->
As the preferable choice of the technical proposal, the air pressure prediction algorithm adopts an incremental algorithm, and the pressure P is decided in the last step 0 And carrying out pressure prediction of the next decision period on the basis, wherein the specific algorithm is as follows: receive inflation time t c Calculating charge mass during a decision periodReceiving accumulated exhaust time t p Calculating the exhaust gas mass +.>Calculating the gas mass increment m in a decision period c -m p Calculating pressure change DeltaP= (m) in one decision period according to the gas state equation c -m p )R g T/V, and calculating the predicted pressure P by an incremental algorithm y ＝P 0 A + [ delta ] P, R is g Is the gas constant, T is the gas temperature, V is the container volume, +.>For gas production mass flow,/->For the exhaust mass flow, the on-line calculation is a known constant, and the assignment is established when the parameters are initialized.
Preferably, the pressure threshold value P m1 And taking the pressure value as a constant according to 3-5 times of the pressure value corresponding to the comprehensive precision of the selected pressure transmitter.
As a preferable mode of the above technical solution, the sampling number N is constant, and the period t is determined by the demand j And a sampling time t suitable for hardware implementation s According to the formula n=t j /t s Calculating and determining; the pressure threshold value P m2 Taking the maximum pressure variation as a constant and taking the value of 1.5-2 times of the maximum pressure variation in a decision period; the low pressure threshold value P min And a high voltage threshold P max Is constant and takes value according to the lowest pressure and the highest pressure which can be achieved in the normal working process of the system.
The invention has the beneficial effects that:
1. through strategies such as 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 impulse noise interference brought by an external electromagnetic environment and a mechanical environment to the pressure transmitter can be greatly reduced, meanwhile, the fault state of the pressure transmitter can be identified, and erroneous judgment caused by erroneous pressure data is prevented.
2. The predicted pressure is introduced into the air pressure prediction algorithm to carry out auxiliary decision on the output pressures of the two sets of pressure transmitters, so that the difficult problem that which set of pressure transmitters should be informed to output the pressure 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 dealt with, accurate and reliable pressure can be output under the conditions that two sets of pressure transmitters are effective, one set of pressure transmitters are invalid, two sets of pressure transmitters are invalid and the like, and accuracy and reliability of a pressure control system can be greatly improved.
Drawings
FIG. 1 is a block diagram of a configuration for implementing the algorithm of the present invention.
Fig. 2 is a schematic diagram of the control algorithm of the present invention.
FIG. 3 is a flow chart of the control algorithm of the present invention.
FIG. 4 is a graph showing pressure curves for an analog pressure transmitter I and a pressure transmitter II subjected to external random disturbances and impulse disturbances in an embodiment of the present invention.
FIG. 5 is a graph of pressure curves simulating a failure of pressure transmitter I and pressure transmitter II experiencing random external disturbances in an embodiment of the present invention.
FIG. 6 is a graph of pressure curves simulating a failure of pressure transmitter II and when pressure transmitter I is subject to external random disturbances in an embodiment of the invention.
FIG. 7 is a graph depicting pressure curves for an exemplary simultaneous failure of pressure transmitter I and pressure transmitter II in accordance with an embodiment of the present invention.
Fig. 8 is a schematic diagram of 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 with reference to the accompanying drawings. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
The dual pressure transmitter redundancy design method based on air pressure prediction as shown in fig. 2 and 3 comprises a pressure judgment algorithm, an air pressure prediction algorithm and a pressure decision algorithm,
the pressure judgment algorithm is to collect the output pressures of two sets of pressure transmitters for multiple times in a decision period, judge the pressure range, judge the pressure trend, calculate the average of multiple points and judge the number of effective pressure points, judge whether the collected pressure of the pressure transmitters is effective or not, and give an effective pressure value P 1 And P 2 ；
The air pressure prediction algorithm is based on the receivedTime of inflation t c Accumulated exhaust time t p Calculating predicted pressure value P after a decision period y ；
The pressure decision algorithm is based on the effective pressure value P output by the receiving pressure judgment algorithm 1 、P 2 Predicted pressure value P output by air pressure prediction algorithm y Outputting system decision pressure P according to the following algorithm:
when both the pressure transmitter I and the pressure transmitter II are effective and P 1 And P 2 Is at a set pressure threshold P m1 Within, i.e., |P 1 -P 2 |≤P m1 At the time, take p= (P 1 +P 2 )/2，
When both the pressure transmitter I and the pressure transmitter II are effective and P 1 And P 2 Is not at the set pressure threshold P m1 Within, |P 1 -P 2 |≥P m1 At the time, the pressure P is taken and predicted y Near P 1 Or P 2 As a result of the decision pressure,
when the pressure transmitter I is effective and the pressure transmitter II is ineffective, P=P is taken 1 ，
When the pressure transmitter I is invalid and the pressure transmitter II is valid, P=P is taken 2 ，
When both pressure transmitter i and pressure transmitter ii are inactive, p=p is taken y 。
In this embodiment, the pressure judgment algorithm is to sequentially sample the two sets of pressure transmitters N times in a decision period, and sequentially measure the pressure P at each sampling point 1 (k) Judging the pressure range, when the pressure measured by the sampling point exceeds the pressure range, namely the sampling value of the pressure transmitter I meets the requirement of P 1 (k)＞P max Or P 1 (k)＜P min When the sampling value of the pressure transmitter II meets P 2 (k)＞P max Or P 2 (k)＜P min When the sampling point is removed, the P is as follows min Is of low voltage threshold value, P max Is a high voltage threshold; judging the pressure trend of each sampling point, and determining the pressure P of the current sampling point relative to the decision pressure P of the previous decision period 0 The difference exceeds the pressure threshold P m2 I.e. |P 1 (k)-P 0 |＞P m2 Or |P 2 (k)-P 0 |＞P m2 When the sampling point is removed; after the sampling of a decision period is finished, calculating the average pressure P of the effective sampling point 1 、P 2 Counting the number of effective sampling points, judging that the pressure collected by the pressure transmitter is effective when the number N of the effective sampling points exceeds N/2 (N is more than N/2), and outputting the average pressure as an effective pressure value, namelyOr->
In this embodiment, the air pressure prediction algorithm adopts an incremental algorithm, and the pressure P is determined in the last step 0 And carrying out pressure prediction of the next decision period on the basis, wherein the specific algorithm is as follows: receive inflation time t c Calculating charge mass during a decision periodReceiving accumulated exhaust time t p Calculating the exhaust gas mass +.>Calculating the gas mass increment m in a decision period c -m p Calculating pressure change DeltaP= (m) in one decision period according to the gas state equation c -m p )R g T/V, and calculating the predicted pressure P by an incremental algorithm y ＝P 0 A + [ delta ] P, R is g Is the gas constant, T is the gas temperature, V is the container volume, +.>For gas production mass flow,/->For exhaust mass flow, in-line meterThe time is a known constant, and the assignment is established when the parameters are initialized.
In the present embodiment, the pressure threshold value P m1 And taking the pressure 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 frequency N is constant and is determined by the demand decision period t j And a sampling time t suitable for hardware implementation s According to the formula n=t j /t s Calculating and determining; the pressure threshold value P m2 Taking the maximum pressure variation as a constant and taking the value of 1.5-2 times of the maximum pressure variation in a decision period; the low pressure threshold value P min And a high voltage threshold P max Is constant and takes value according to the lowest pressure and the highest pressure which can be achieved in the normal working process of the system.
The structure based on the redundancy design method of the double pressure transmitter comprises an air charging device, an air storage device, an air discharging device, an air charging controller, an air discharging controller and 2 sets of pressure transmitters, as shown in figure 1. The air charging device is arranged at the air inlet of the air storage device and receives an air charging instruction sent by the air charging controller to complete the air charging action; the exhaust device is arranged at the outlet part of the gas storage device and receives an exhaust instruction sent by the exhaust controller to complete the exhaust action; the 2 sets of pressure transmitters are arranged on the 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 gas filling controller; the exhaust controller calculates an accumulated exhaust time t p And accumulated exhaust time t is obtained through CAN communication mode p To the inflation controller.
Decision pressure P of dual-pressure transmitter redundancy design method based on air pressure prediction is sent into an inflation judgment algorithm, and when the decision pressure P is output y Greater than the set threshold P m3 When the inflation instruction is not sent out; when the decision pressure P is lower than the set threshold P m3 And when the inflation instruction is sent out.
In the present embodiment, the pressure threshold value P m1 =3mpa, pressure threshold P m2 =3mpa, set threshold P m3 =7mpa, decision period t j =0.1 s, sampling time t s =0.005 s, number of samples n=20, gasBody constant R g =297J/(kg x K), gas temperature t=423K, vessel volume v=13l, gas mass flow rateExhaust gas mass flow->Are all known constants and are bound externally upon initialization of the inflation controller.
Fig. 4 shows pressure curves simulating the pressure curves of the pressure transmitter i and the pressure transmitter ii in the present embodiment when they are subjected to external random interference and impulse interference, and output pressure curves of the dual pressure transmitter redundancy design method 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 pressure P with higher precision, and obviously improve the pressure control precision of the air pressure control system.
FIG. 5 shows the output pressure curve of the dual pressure transmitter redundancy design method based on barometric pressure prediction, in this embodiment, for a pressure curve simulating a failure of pressure transmitter I and when pressure transmitter II is subject to external random disturbances. FIG. 6 shows the output pressure curve of the dual pressure transmitter redundancy design method based on barometric pressure prediction, as shown in this embodiment, for a pressure curve simulating a failure of pressure transmitter II, when pressure transmitter I is subject to external random disturbances. According to the graph, when 1 set of pressure transmitters fail, the algorithm provided by the invention can identify the failed pressure transmitters, 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 the output pressure curve of the dual pressure transmitter redundancy design method based on barometric pressure prediction, simulating the pressure transmitter I and the pressure transmitter II in this embodiment when they fail simultaneously. As can be seen from the figure, after 150s, two sets of pressure transmitters simultaneously fail and fail by means of the predicted pressure P y Realizing pressure closed-loop control, although the accuracy of the predicted pressure is reduced with time accumulation, the method still can meetThe pressure accuracy required by the pressure decision algorithm. The algorithm provided by the invention can still output pressure data with reliable precision even under the small probability time of simultaneous failure of two sets of pressure transmitters, so that failure disorder of a closed-loop system caused by no pressure availability is avoided, and the working reliability of the air pressure control system is further improved.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A redundant design method of a double-pressure transmitter based on air pressure prediction is characterized by comprising the following steps of: comprises a pressure judgment algorithm, an air pressure prediction algorithm and a pressure decision algorithm,
the pressure judgment algorithm is to collect the output pressures of two sets of pressure transmitters for multiple times in a decision period, judge the pressure range, judge the pressure trend, calculate the average of multiple points and judge the number of effective pressure points, judge whether the collected pressure of the pressure transmitters is effective or not, and give an effective pressure value P 1 And P 2 ；
The air pressure prediction algorithm is based on the received inflation time t c Accumulated exhaust time t p Calculating predicted pressure value P after a decision period y ；
The pressure decision algorithm is based on the effective pressure value P output by the receiving pressure judgment algorithm 1 、P 2 Predicted pressure value P output by air pressure prediction algorithm y Outputting system decision pressure P according to the following algorithm:
when both the pressure transmitter I and the pressure transmitter II are effective and P 1 And P 2 Is at a set pressure threshold P m1 Within, i.e., |P 1 -P 2 |≤P m1 At the time, take p= (P 1 +P 2 )/2，
When both the pressure transmitter I and the pressure transmitter II are effective and P 1 And P 2 Is not at the set pressure threshold P m1 Within, |P 1 -P 2 |≥P m1 At the time, the pressure P is taken and predicted y Near P 1 Or P 2 As a result of the decision pressure,
when the pressure transmitter I is effective and the pressure transmitter II is ineffective, P=P is taken 1 ，
When the pressure transmitter I is invalid and the pressure transmitter II is valid, P=P is taken 2 ，
When both pressure transmitter i and pressure transmitter ii are inactive, p=p is taken y 。
2. The dual pressure transmitter redundancy design method of claim 1, wherein: the pressure judgment algorithm is to sequentially sample two sets of pressure transmitters for N times in a decision period, and sequentially measure the pressure P at each sampling point 1 (k) Judging the pressure range, when the pressure measured by the sampling point exceeds the pressure range, namely the sampling value of the pressure transmitter I meets the requirement of P 1 (k)＞P max Or P 1 (k)＜P min When the sampling value of the pressure transmitter II meets P 2 (k)＞P max Or P 2 (k)＜P min When the sampling point is removed, the P is as follows min Is of low voltage threshold value, P max Is a high voltage threshold; judging the pressure trend of each sampling point, and determining the pressure P of the current sampling point relative to the decision pressure P of the previous decision period 0 The difference exceeds the pressure threshold P m2 I.e. |P 1 (k)-P 0 |＞P m2 Or |P 2 (k)-P 0 |＞P m2 When the sampling point is removed; after the sampling of a decision period is finished, calculating the average pressure P of the effective sampling point 1 、P 2 Counting the number of effective sampling points, judging that the pressure collected by the pressure transmitter is effective when the number N of the effective sampling points exceeds N/2 (N is more than N/2), and outputting the average pressure as an effective pressure value, namelyOr->
3. The dual pressure transmitter redundancy design method of claim 1, wherein: the air pressure prediction algorithm adopts an incremental algorithm, and the pressure P is decided in the last step 0 And carrying out pressure prediction of the next decision period on the basis, wherein the specific algorithm is as follows: receive inflation time t c Calculating charge mass during a decision periodReceiving accumulated exhaust time t p Calculating the exhaust gas mass +.>Calculating the gas mass increment m in a decision period c -m p Calculating pressure change DeltaP= (m) in one decision period according to the gas state equation c -m p )R g T/V, and calculating the predicted pressure P by an incremental algorithm y ＝P 0 A + [ delta ] P, R is g Is the gas constant, T is the gas temperature, V is the container volume, +.>For gas production mass flow,/->For the exhaust mass flow, the on-line calculation is a known constant, and the assignment is established when the parameters are initialized.
4. The dual pressure transmitter redundancy design method of claim 1, wherein: the pressure threshold value P m1 And taking the pressure value as a constant according to 3-5 times of the pressure value corresponding to the comprehensive precision of the selected pressure transmitter.
5. According to claimThe dual pressure transmitter redundancy design method of claim 2, wherein: the sampling frequency N is a constant and is determined by a demand decision period t j And a sampling time t suitable for hardware implementation s According to the formula n=t j /t s Calculating and determining; the pressure threshold value P m2 Taking the maximum pressure variation as a constant and taking the value of 1.5-2 times of the maximum pressure variation in a decision period; the low pressure threshold value P min And a high voltage threshold P max Is constant and takes value according to the lowest pressure and the highest pressure which can be achieved in the normal working process of the system.
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| CN113391655A (en) * | 2020-03-13 | 2021-09-14 | 株式会社岛津制作所 | Ejector and vacuum valve |
| CN111966449A (en) * | 2020-07-17 | 2020-11-20 | 苏州浪潮智能科技有限公司 | Virtual machine backup management method, system, terminal and storage medium |
| CN112177803A (en) * | 2020-08-26 | 2021-01-05 | 湖北三江航天红林探控有限公司 | Time-sharing ignition control method and system based on air pressure prediction |
| 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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