CN114047696B - 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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- CN114047696B CN114047696B CN202111297324.2A CN202111297324A CN114047696B CN 114047696 B CN114047696 B CN 114047696B CN 202111297324 A CN202111297324 A CN 202111297324A CN 114047696 B CN114047696 B CN 114047696B
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- 239000002101 nanobubble Substances 0.000 title claims abstract description 54
- 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 36
- 230000001276 controlling effect Effects 0.000 claims abstract description 10
- 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
- 230000004048 modification Effects 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005192 partition Methods 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
Classifications
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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
-
- 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
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W10/00—Technologies for wastewater treatment
- Y02W10/10—Biological treatment of water, waste water, or sewage
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 includes: a signal acquisition module; the central processing unit is used for calculating the fuzzy control input quantity; the fuzzy control module is in data connection with the central processing unit; and the PID module is in data connection with the fuzzy control module. According to the fuzzy control system and the control method of the micro-nano bubble generating device, when water pressure fluctuates and 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 consistency of morphological characteristics of micro-nano bubble generation is good.
Description
Technical Field
The invention relates to the technical field of micro-nano bubble generation equipment, in particular to a fuzzy control system of a micro-nano bubble generation device.
Background
Bubbles having diameters of ten to several tens of micrometers present in water are generally called microbubbles, bubbles having sizes of several hundreds of nanometers or less are called nanobubbles, and a mixed state of bubbles present in the middle of both are called micro-nanobubbles. The micro-nano bubbles with the size of less than ten micrometers have the advantages of being strong in suspended matter adsorption capacity, long in residence time, good in stability, large in surface area, high in mass transfer efficiency and the like. Therefore, the micro-nano bubbles are widely applied to the technical field of water treatment, such as the industrial fields of oil-containing wastewater treatment, fish culture and the like, and the household fields of household water purification and the like.
The generation effect of micro-nano bubbles generated by the micro-nano bubble generation device is easily influenced by water pressure, and the size of the bubbles is difficult to control. Namely, the uniformity of morphological characteristics of the generated micro-nano bubbles is poor.
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 of ordinary skill in the art.
Disclosure of Invention
The invention aims to provide a fuzzy control system and a fuzzy control method of 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 above object, the present invention provides a fuzzy control system of a micro-nano bubble generating device, 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, the regulating valve is arranged on a connecting pipeline between the water pump and the micro-nano bubble generating mechanism; the fuzzy control system includes: the signal acquisition module comprises a pressure sensor, a moment sensor and a position sensor, wherein the pressure sensor is arranged at the 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 moment sensor is arranged on the water pump and is used for acquiring moment data of the water pump; the position sensor is arranged on the regulating valve and is used for collecting opening data of the regulating valve; the central processing unit is in data connection with the pressure sensor, the moment 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 the fuzzy control input quantity, obtaining the fuzzy control output quantity and defuzzifying the fuzzy control output quantity, and obtaining and outputting corresponding PID parameters; and the PID module is in data connection with the fuzzy control module and is connected with the water pump and the regulating valve, and the PID module 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.
Preferably, in the above technical solution, the calculating the fuzzy control input amount includes: the obtained water pressure deviation and the derivative of the water pressure deviation, 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, the error is E, and the error change rate is Ec.
Preferably, in the above technical solution, the fuzzy control output 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 by [ -6,6], and the fuzzy control input quantity/fuzzy control output quantum set is represented by (NB, NS, ZO, PS, PB), where NB represents a negative large, NS represents a negative small, ZO represents zero, PS represents a positive small, and PB represents a positive large; the fuzzy control rules are as described in tables 1 to 3,
fuzzy control table of table 1Kp
Fuzzy control table of table 2Ki
Fuzzy control table of table 3Kd
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 generation mechanism, and obtaining a detected pressure value; moment data on the water pump are collected, and a change value of the frequency of the water pump is obtained; collecting opening data of an adjusting valve, and obtaining opening data of the adjusting 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 adjusting valve;
(3) Performing fuzzy control on the fuzzy control input quantity to obtain a fuzzy control output quantity;
(4) Deblurring is carried out based on the PID control parameter control output quantity, and PID control parameters are obtained;
(5) And PID operation is performed based on the PID control parameters, and control signals for controlling the size of the regulating valve and the rotating speed of the water pump are obtained and output.
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 cavitation generates bubbles, the size of the regulating valve and the rotating speed of the water pump are controlled through fuzzy control at the cavitation nozzle when the water pressure fluctuates and the gas-liquid two-phase exchange fluctuates, so that the control convergence is good, and the consistency of morphological characteristics of the micro-nano bubble generation is good.
Drawings
Fig. 1 is a flowchart of control of a fuzzy control system of a micro-nano bubble generating apparatus according to the present invention.
Detailed Description
The following detailed description of embodiments of the invention is, therefore, to be taken in conjunction with the accompanying drawings, and it is to be understood that the scope of the invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the term "comprise" or variations thereof such as "comprises" or "comprising", etc. will be understood to include the stated element or component without excluding other elements or components.
As shown in fig. 1, according to a specific embodiment of the present invention, a fuzzy control system of a micro-nano bubble generating device is used for controlling the micro-nano bubble generating device to work, where 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 connecting 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 used as control objects 5. The signal acquisition module 1 comprises a pressure sensor 11, a moment sensor 12 and a position sensor 13, wherein the pressure sensor 11 is arranged at the inlet of the micro-nano bubble generation mechanism and is used for acquiring the pressure value at the inlet of the micro-nano bubble generation mechanism. The torque sensor 12 is arranged on the water pump and is used for collecting torque data of the water pump. The position sensor 13 is provided on the regulating valve for acquiring 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 quantity of fuzzy control. The fuzzy control module 3 is in data connection with the central processing unit 2, receives data transmitted by the central processing unit 2, and the fuzzy control module 3 is used for fuzzy control of fuzzy control input quantity, obtaining fuzzy control output quantity, defuzzifying the fuzzy control output quantity 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: the pressure sensor 11 is arranged at the inlet of the micro-nano bubble generation mechanism, and the pressure value at the inlet of the micro-nano bubble generation mechanism is collected and acquired to obtain the detected pressure value. A moment sensor 12 is arranged on the water pump, moment data on the water pump are collected, and a change value of the frequency of the water pump is obtained. The position sensor 13 is arranged at the position of the regulating valve, and the opening data of the regulating valve are acquired to obtain the opening data of the regulating valve.
2. The collected data are transmitted to a central processing unit 2, and the central processing unit is used for collecting signals of the pressure sensor, signals of the valve position sensor and signals of the flexible water pump moment sensor, and calculating fuzzy control input quantity. The calculating the fuzzy control input quantity includes: the obtained water pressure deviation and the derivative of the water pressure deviation, 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, the error is E, and the error change rate is Ec.
3. The central processing unit 2 transmits data to the fuzzy control module 3, and the fuzzy control module 3 receives signals of the central processing unit 2 and sequentially performs fuzzification, rule base, fuzzy reasoning and defuzzification so as to acquire PID control parameters. The fuzzy quantization is carried out on the data, and the fuzzy control input quantity of the control method is calculated based on the detected pressure value, the change value of the water pump frequency and the opening of the regulating valve;
(1) Blurring based on the detected pressure value
The deviation Ke of the feedback inlet pressure and the set pressure and the derivative thereof are respectively input into a fuzzy controller and a PID regulator, and the fuzzy controller divides the deviation Ke into 5 fuzzy grades: negative large (NB), negative Small (NS), zero (O), positive Small (PS), positive large (PB); the differential derivative dKe was divided into seven classes-3, -2, -1,0, +1, +2, +3, resulting in a pressure change fuzzy table as shown in Table 1.
TABLE 1
(2) Fuzzification of variable values based on water pump frequency
The change of the frequency of the water pump is divided into five fuzzy sets: negative large (NB), negative Small (NS), zero (ZO), positive Small (PS), positive large (PB). And the range of variation is divided into nine classes: -4, -3, -2, -1,0, +1, +2, +3, +4. And obtaining a fuzzy dividing table of the control quantity as the same as the control valve opening. As shown in table 2.
TABLE 2
(3) Fuzzification based on adjusting a value of a change in valve opening
The change of the opening 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 range of variation is divided into nine classes: -4, -3, -2, -1,0, +1, +2, +3, +4. A control amount fuzzy partition table is obtained as shown in table 3.
TABLE 3 Table 3
4. Performing 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 control mode.
The fuzzy control input/fuzzy control output set domain is represented as [ -6,6], the fuzzy control input/fuzzy control output quantum set is represented as (NB, NS, ZO, PS, PB), wherein NB represents a negative large, NS represents a negative small, ZO represents zero, PS represents a positive small, PB represents a positive large; 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
Fuzzy control table of table 6 Kd
5. And (5) performing deblurring based on the PID control parameter control output quantity 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 are 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 the specific principles of the invention and its practical application to thereby enable one skilled in the art to make and utilize the invention in various exemplary embodiments and with various 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 (3)
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 includes:
the signal acquisition module comprises a pressure sensor, a moment sensor and a position sensor, wherein the pressure sensor is arranged at the 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 moment sensor is arranged on the water pump and is used for acquiring moment data of the water pump; the position sensor is arranged on the regulating valve and is used for collecting opening data of the regulating valve;
the central processing unit is in data connection with the pressure sensor, the moment 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 the fuzzy control input quantity, obtaining the fuzzy control output quantity and defuzzifying the fuzzy control output quantity, and obtaining and outputting corresponding PID parameters; and
the PID module is in data connection with the fuzzy control module and is connected with the water pump and the regulating valve, and the PID module 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 calculating the fuzzy control input quantity includes: the obtained water pressure deviation and the derivative of the water pressure deviation, the obtained opening error and the opening error change rate of the regulating valve, the obtained frequency error of the water pump and the frequency error change rate of the water pump, wherein the error is E, and the error change rate is Ec;
the fuzzy control output quantity is PID control parameters Kp, ki and Kd;
the fuzzy control input/fuzzy control output set domain is represented as [ -6,6], the fuzzy control input/fuzzy control output quantum set is represented as (NB, NS, ZO, PS, PB), wherein NB represents a negative large, NS represents a negative small, ZO represents zero, PS represents a positive small, PB represents a positive large; the fuzzy control rules are as described in tables 1 to 3,
table 1Kp fuzzy control table
Table 2Ki fuzzy control table
Table 3Kd fuzzy control table
2. The fuzzy control system of the micro-nano bubble generating device according to claim 1, wherein the control mode of the fuzzy control module is a triangle membership control mode.
3. A control method of a fuzzy control system of a micro-nano bubble generating apparatus according to claim 1, comprising the steps of:
(1) Collecting signals: collecting a pressure value at an inlet of the micro-nano bubble generation mechanism, and obtaining a detected pressure value; moment data on the water pump are collected, and a change value of the frequency of the water pump is obtained; collecting opening data of an adjusting valve, and obtaining opening data of the adjusting 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) Performing fuzzy control on the fuzzy control input quantity to obtain a fuzzy control output quantity;
(4) Deblurring is carried out based on the PID control parameter control output quantity, and PID control parameters are obtained;
(5) And PID operation is performed based on the PID control parameters, and control signals for controlling the size of the regulating valve and the rotating speed of the water pump are obtained and output.
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