CN114047696A - Fuzzy control system and control method of micro-nano bubble generating device - Google Patents
Fuzzy control system and control method of micro-nano bubble generating device Download PDFInfo
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- CN114047696A CN114047696A CN202111297324.2A CN202111297324A CN114047696A CN 114047696 A CN114047696 A CN 114047696A CN 202111297324 A CN202111297324 A CN 202111297324A CN 114047696 A CN114047696 A CN 114047696A
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- 239000002101 nanobubble Substances 0.000 title claims abstract description 60
- 238000000034 method Methods 0.000 title claims abstract description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 58
- 230000001105 regulatory effect Effects 0.000 claims abstract description 44
- 230000001276 controlling effect Effects 0.000 claims abstract description 12
- 238000013139 quantization Methods 0.000 claims description 3
- 230000000877 morphologic effect Effects 0.000 abstract description 4
- 239000007788 liquid Substances 0.000 abstract description 2
- 238000012986 modification Methods 0.000 description 2
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- 239000000126 substance Substances 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
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- 230000007547 defect Effects 0.000 description 1
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- 230000007717 exclusion Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000000746 purification Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000004065 wastewater treatment Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
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- Y02W10/10—Biological treatment of water, waste water, or sewage
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Abstract
The invention discloses a fuzzy control system of a micro-nano bubble generating device, which is used for controlling the micro-nano bubble generating device to work, wherein the micro-nano bubble generating device comprises a micro-nano bubble generating mechanism, a regulating valve and a water pump, and the regulating valve is arranged on a connecting pipeline between the water pump and the micro-nano bubble generating mechanism; the fuzzy control system comprises: a signal acquisition module; the central processing unit is used for calculating fuzzy control input quantity; the fuzzy control module is in data connection with the central processing unit; and the PID module is connected with the fuzzy control module. According to the fuzzy control system and the control method of the micro-nano bubble generation device, when the water pressure fluctuates and the gas-liquid two-phase exchange fluctuates, the size of the regulating valve and the rotating speed of the water pump are controlled through fuzzy control, the control convergence is good, and the micro-nano bubble generation device has good consistency on morphological characteristics of micro-nano bubbles.
Description
Technical Field
The invention relates to the technical field of micro-nano bubble generating equipment, in particular to a fuzzy control system of a micro-nano bubble generating device.
Background
Generally, bubbles having a diameter of ten to several tens of micrometers existing in water are called micro bubbles, bubbles having a size of several hundreds of nanometers or less are called nano bubbles, and a state in which bubbles existing between the two are mixed can be called micro-nano bubbles. The physical and chemical properties of the micro-nano bubbles as small as less than ten microns can be fundamentally changed, and the micro-nano bubbles have the advantages of strong suspended substance adsorption capacity, long retention time, good stability, large surface area, high mass transfer efficiency and the like. Therefore, the micro-nano bubbles are widely applied to the technical field of water treatment, such as industrial fields of oily wastewater treatment, fish culture and the like and household fields of household water purification and the like.
The micro-nano bubble generating device generates micro-nano bubbles, the generating effect of the micro-nano bubbles is easily influenced by water pressure, and the size of the bubbles is difficult to control. Namely, the morphological characteristics of the generated micro-nano bubbles are poor in consistency.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide a fuzzy control system and a fuzzy control method for a micro-nano bubble generating device, so that the defect of poor consistency of morphological characteristics of micro-nano bubbles generated by the micro-nano bubble generating device is overcome.
In order to achieve the purpose, the invention provides a fuzzy control system of a micro-nano bubble generating device, wherein the fuzzy control system is used for controlling the micro-nano bubble generating device to work, the micro-nano bubble generating device comprises a micro-nano bubble generating mechanism, a regulating valve and a water pump, and the regulating valve is arranged on a connecting pipeline between the water pump and the micro-nano bubble generating mechanism; the fuzzy control system comprises: the signal acquisition module comprises a pressure sensor, a torque sensor and a position sensor, wherein the pressure sensor is arranged at an inlet of the micro-nano bubble generation mechanism and is used for acquiring a pressure value at the inlet of the micro-nano bubble generation mechanism; the torque sensor is arranged on the water pump and used for acquiring torque data of the water pump; the position sensor is arranged on the regulating valve and used for acquiring opening data of the regulating valve; the central processing unit is in data connection with the pressure sensor, the torque sensor and the position sensor and is used for calculating fuzzy control input quantity; the fuzzy control module is in data connection with the central processing unit and is used for fuzzy control of input quantity of fuzzy control, obtaining output quantity of fuzzy control, performing fuzzy resolution on the output quantity of fuzzy control, and obtaining and outputting corresponding PID parameters; and the PID module is connected with the fuzzy control module and the water pump and the regulating valve, and is used for acquiring and outputting a control signal for controlling the size of the regulating valve and the rotating speed of the water pump based on PID control parameter operation.
Preferably, in the above technical solution, the calculating the fuzzy control input amount includes: the obtained water pressure deviation and the water pressure deviation derivative, the obtained opening error and the opening error change rate of the regulating valve, the obtained water pump frequency error and the water pump frequency error change rate are respectively obtained, the error is E, and the error change rate is Ec.
Preferably, in the above technical solution, the fuzzy control output quantity is PID control parameters Kp, Ki, Kd.
Preferably, in the above technical solution, the control mode of the fuzzy control module is a triangle membership control mode.
Preferably, in the above technical solution, the fuzzy control input quantity/fuzzy control output quantity set domain is represented as [ -6,6], and the fuzzy control input quantity/fuzzy control output quantity subset is represented as (NB, NS, ZO, PS, PB), where NB represents negative large, NS represents negative small, ZO represents zero, PS represents positive small, and PB represents positive large; the fuzzy control rules are as described in tables 1 to 3,
fuzzy control table of table 1 Kp
Fuzzy control table of table 2 Ki
TABLE 3 Kd fuzzy control Table
A control method of a fuzzy control system of a micro-nano bubble generating device comprises the following steps:
(1) collecting signals: collecting a pressure value at an inlet of the micro-nano bubble generating mechanism to obtain a detected pressure value; acquiring torque data on the water pump to obtain a change value of the frequency of the water pump; acquiring opening data of the regulating valve to obtain the opening data of the regulating valve;
(2) fuzzy quantization: calculating fuzzy control input quantity of the control method based on the detected pressure value, the change value of the water pump frequency and the regulating valve;
(3) carrying out fuzzy control on the fuzzy control input quantity to obtain a fuzzy control output quantity;
(4) controlling the output quantity based on the PID control parameter to perform ambiguity resolution to obtain the PID control parameter;
(5) and carrying out PID operation based on the PID control parameters, and acquiring and outputting control signals for controlling the size of the regulating valve and the rotating speed of the water pump.
Compared with the prior art, the invention has the following beneficial effects: according to the fuzzy control system and the control method of the micro-nano bubble generating device, when the micro-nano bubble generating device generates bubbles through cavitation, the size of the regulating valve and the rotating speed of the water pump are controlled through fuzzy control at a cavitation nozzle under the conditions of water pressure fluctuation and gas-liquid two-phase exchange fluctuation, the control convergence is good, and the morphological characteristics of micro-nano bubbles are better consistent.
Drawings
Fig. 1 is a flow chart of the control of the fuzzy control system of the micro-nano bubble generation device according to the present invention.
Detailed Description
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element or component but not the exclusion of any other element or component.
As shown in fig. 1, according to a fuzzy control system of a micro-nano bubble generating device according to an embodiment of the present invention, the fuzzy control system is configured to control the micro-nano bubble generating device to operate, the micro-nano bubble generating device includes a micro-nano bubble generating mechanism, a regulating valve and a water pump, and the regulating valve is disposed on a connection pipeline between the water pump and the micro-nano bubble generating mechanism.
The fuzzy control system comprises a signal acquisition module 1, a central processing unit 2, a fuzzy control module 3 and a PID module 4, and a regulating valve and a water pump are control objects 5. The signal acquisition module 1 comprises a pressure sensor 11, a torque sensor 12 and a position sensor 13, wherein the pressure sensor 11 is arranged at an inlet of the micro-nano bubble generation mechanism and used for acquiring a pressure value at the inlet of the micro-nano bubble generation mechanism. The torque sensor 12 is arranged on the water pump and used for collecting torque data of the water pump. The position sensor 13 is arranged on the regulating valve and used for collecting opening data of the regulating valve. The central processing unit 2 is in data connection with the signal acquisition module 1, receives the data signal of the signal acquisition module 1, and is used for calculating the data volume of the fuzzy control. The fuzzy control module 3 is in data connection with the central processing unit 2 and receives data transmitted by the central processing unit 2, and the fuzzy control module 3 is used for fuzzy control of input quantity, obtaining output quantity of the fuzzy control, performing fuzzy solution on the output quantity of the fuzzy control, and obtaining and outputting corresponding PID parameters. The fuzzy control module 3 is in data connection with the PID module 4, the PID module 4 is connected with the water pump and the regulating valve, and the PID module 4 is used for acquiring and outputting control signals for controlling the size of the regulating valve and the rotating speed of the water pump based on PID control parameter operation.
A control method of a fuzzy control system of a micro-nano bubble generating device comprises the following steps:
1. collecting signals: be equipped with pressure sensor 11 at micro-nano bubble generation mechanism entrance, gather the pressure value of gathering micro-nano bubble generation mechanism entrance, acquire the pressure value that detects. A torque sensor 12 is arranged on the water pump, and is used for collecting torque data on the water pump and acquiring a change value of the frequency of the water pump. And a position sensor 13 is arranged at the position of the regulating valve, and is used for acquiring the opening data of the regulating valve and acquiring the opening data of the regulating valve.
2. And transmitting the acquired data to a central processing unit 2, wherein the central processing unit is used for acquiring signals of a pressure sensor, signals of a regulating valve position sensor and signals of a flexible water pump torque sensor and calculating fuzzy control input quantity. The calculating the fuzzy control input amount comprises: the obtained water pressure deviation and the water pressure deviation derivative, the obtained opening error and the opening error change rate of the regulating valve, the obtained water pump frequency error and the water pump frequency error change rate are respectively obtained, the error is E, and the error change rate is Ec.
3. The central processing unit 2 transmits the data to the fuzzy control module 3, and the fuzzy control module 3 receives the signal of the central processing unit 2, and performs fuzzification, rule base, fuzzy inference and fuzzy solution in sequence to obtain the PID control parameters. Carrying out fuzzy quantization on the data, and calculating fuzzy control input quantity of the control method based on the detected pressure value, the change value of the water pump frequency and the opening degree of the regulating valve;
(1) fuzzification based on the detected pressure values
The deviation Ke of the feedback inlet pressure from the set pressure and its derivative are input to a fuzzy controller and a PID regulator, respectively, the fuzzy controller divides the deviation Ke into 5 fuzzy levels: negative large (NB), Negative Small (NS), zero (O), Positive Small (PS), positive large (PB); the deviation derivative dKe is divided into seven levels-3, -2, -1, 0, +1, +2, +3, resulting in a pressure change fuzzy table, as shown in Table 1.
TABLE 1
(2) Fuzzification of variation values based on water pump frequency
The change in water pump frequency is divided into five fuzzy sets: negative large (NB), Negative Small (NS), Zero (ZO), Positive Small (PS), positive large (PB). And the variation range is divided into nine grades: -4, -3, -2, -1,0, +1, +2, +3, +4. And obtaining a fuzzy division table of the control quantity as the opening of the regulating valve. As shown in table 2.
TABLE 2
(3) Fuzzification of variation values based on opening of regulating valve
The variation of the opening degree of the regulating valve is divided into five fuzzy sets: negative large (NB), Negative Small (NS), Zero (ZO), Positive Small (PS), positive large (PB). And the variation range is divided into nine grades: -4, -3, -2, -1,0, +1, +2, +3, +4. A control amount fuzzy division table was obtained as shown in table 3.
TABLE 3
4. Carrying out fuzzy control on the fuzzy control input quantity to obtain a fuzzy control output quantity;
the fuzzy control output quantity is PID control parameters Kp, Ki and Kd. The control mode of the fuzzy control module is a triangle membership degree control mode.
The fuzzy control input quantity/fuzzy control output quantity set domain is represented as [ -6,6], the fuzzy control input quantity/fuzzy control output quantity subset is represented as (NB, NS, ZO, PS, PB), wherein NB represents negative big, NS represents negative small, ZO represents zero, PS represents positive small, and PB represents positive big; the fuzzy control rules are as described in tables 4 to 6,
fuzzy control table of table 4 Kp
Fuzzy control table of table 5 Ki
TABLE 6 Kd fuzzy control chart
5. And controlling the output quantity based on the PID control parameter to perform ambiguity resolution to obtain the PID control parameter.
6. The fuzzy control module 3 is in data connection with the PID module 4, the PID module 4 is connected with the water pump and the regulating valve, and the PID module 4 is used for acquiring and outputting control signals for controlling the size of the regulating valve and the rotating speed of the water pump based on PID control parameter operation.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (6)
1. The fuzzy control system of the micro-nano bubble generating device is characterized in that the fuzzy control system is used for controlling the micro-nano bubble generating device to work, the micro-nano bubble generating device comprises a micro-nano bubble generating mechanism, a regulating valve and a water pump, and the regulating valve is arranged on a connecting pipeline between the water pump and the micro-nano bubble generating mechanism; the fuzzy control system comprises:
the signal acquisition module comprises a pressure sensor, a torque sensor and a position sensor, wherein the pressure sensor is arranged at an inlet of the micro-nano bubble generation mechanism and is used for acquiring a pressure value at the inlet of the micro-nano bubble generation mechanism; the torque sensor is arranged on the water pump and used for acquiring torque data of the water pump; the position sensor is arranged on the regulating valve and used for acquiring opening data of the regulating valve;
the central processing unit is in data connection with the pressure sensor, the torque sensor and the position sensor and is used for calculating fuzzy control input quantity;
the fuzzy control module is in data connection with the central processing unit and is used for fuzzy control of input quantity of fuzzy control, obtaining output quantity of fuzzy control, performing fuzzy resolution on the output quantity of fuzzy control, and obtaining and outputting corresponding PID parameters; and
and the PID module is connected with the fuzzy control module and the water pump and the regulating valve, and is used for acquiring and outputting a control signal for controlling the size of the regulating valve and the rotating speed of the water pump based on PID control parameter operation.
2. The fuzzy control system of the micro-nano bubble generating device according to claim 1, wherein the calculating of the fuzzy control input comprises: the obtained water pressure deviation and the water pressure deviation derivative, the obtained opening error and the opening error change rate of the regulating valve, the obtained water pump frequency error and the water pump frequency error change rate are respectively obtained, the error is E, and the error change rate is Ec.
3. The fuzzy control system of the micro-nano bubble generating device according to claim 1, wherein the fuzzy control output is PID control parameters Kp, Ki, Kd.
4. The fuzzy control system of the micro-nano bubble generating device according to claim 1, wherein the fuzzy control module is controlled in a triangular membership control manner.
5. The fuzzy control system of the micro-nano bubble generation device according to claim 1, wherein the fuzzy control input/output set domain is represented as [ -6,6], and the fuzzy control input/output subset is represented as (NB, NS, ZO, PS, PB), wherein NB represents negative large, NS represents negative small, ZO represents zero, PS represents positive small, and PB represents positive large; the fuzzy control rules are as described in tables 1 to 3,
fuzzy control table of table 1 Kp
Fuzzy control table of table 2 Ki
TABLE 3 Kd fuzzy control Table
6. A control method of a fuzzy control system of a micro-nano bubble generating device is characterized by comprising the following steps:
(1) collecting signals: collecting a pressure value at an inlet of the micro-nano bubble generating mechanism to obtain a detected pressure value; acquiring torque data on the water pump to obtain a change value of the frequency of the water pump; acquiring opening data of the regulating valve to obtain the opening data of the regulating valve;
(2) fuzzy quantization: calculating fuzzy control input quantity of the control method based on the detected pressure value, the change value of the water pump frequency and the regulating valve;
(3) carrying out fuzzy control on the fuzzy control input quantity to obtain a fuzzy control output quantity;
(4) controlling the output quantity based on the PID control parameter to perform ambiguity resolution to obtain the PID control parameter;
(5) and carrying out PID operation based on the PID control parameters, and acquiring and outputting control signals for controlling the size of the regulating valve and the rotating speed of the water pump.
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