CN114234452A - Constant temperature control method of gas water heater based on feedforward fuzzy active disturbance rejection - Google Patents

Constant temperature control method of gas water heater based on feedforward fuzzy active disturbance rejection Download PDF

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CN114234452A
CN114234452A CN202111623685.1A CN202111623685A CN114234452A CN 114234452 A CN114234452 A CN 114234452A CN 202111623685 A CN202111623685 A CN 202111623685A CN 114234452 A CN114234452 A CN 114234452A
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temperature
disturbance rejection
active disturbance
water heater
constant temperature
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左海强
陈磊
邢文权
张忠岩
陆亚彪
王宗明
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China University of Petroleum East China
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24H—FLUID HEATERS, e.g. WATER OR AIR HEATERS, HAVING HEAT-GENERATING MEANS, e.g. HEAT PUMPS, IN GENERAL
    • F24H9/00—Details
    • F24H9/20—Arrangement or mounting of control or safety devices
    • F24H9/2007—Arrangement or mounting of control or safety devices for water heaters
    • F24H9/2035—Arrangement or mounting of control or safety devices for water heaters using fluid fuel

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Abstract

一种基于前馈模糊自抗扰的燃气热水器恒温控制方法，属于燃气热水器的恒温控制技术领域。包括如下步骤：步骤1001，根据预设定的时间间隔，周期性的检测参数；步骤1002，计算设定温度与出水温度和进水温度的温差；步骤1003，计算得到总热值U；步骤1004，计算得到燃气比例阀开度；步骤1005计算得到风机转速。通过本申请的基于前馈模糊自抗扰的燃气热水器恒温控制方法，缩短了燃气热水器的恒温调节时间，降低了燃气热水器的恒温超调，有效地改善了燃气热水器的恒温性能，解决了现有技术中燃气热水器恒温控制采用PID控制算法需要在不同模型下设定不同参数，以及PID控制在模型变换过程出现超调或者振荡的缺陷。

Figure 202111623685

The invention discloses a constant temperature control method for gas water heaters based on feedforward fuzzy active disturbance rejection, belonging to the technical field of constant temperature control of gas water heaters. It includes the following steps: Step 1001, periodically detect parameters according to a preset time interval; Step 1002, calculate the temperature difference between the set temperature and the outlet water temperature and the inlet water temperature; Step 1003, calculate the total calorific value U; Step 1004 , the opening degree of the gas proportional valve is obtained by calculation; step 1005 is calculated to obtain the fan speed. The constant temperature control method of the gas water heater based on the feedforward fuzzy active disturbance rejection of the present application shortens the constant temperature adjustment time of the gas water heater, reduces the constant temperature overshoot of the gas water heater, effectively improves the constant temperature performance of the gas water heater, and solves the problem of the existing gas water heater. In the technology, the PID control algorithm used in the constant temperature control of the gas water heater needs to set different parameters under different models, and the PID control has the defect of overshoot or oscillation during the model transformation process.

Figure 202111623685

Description

Constant temperature control method of gas water heater based on feedforward fuzzy active disturbance rejection
Technical Field
A constant temperature control method of a gas water heater based on feedforward fuzzy active disturbance belongs to the technical field of constant temperature control of gas water heaters.
Background
The gas water heater control system has the characteristics of large time lag, weak anti-interference capability and large inertia. During the actual operation of the gas water heater, the fluctuation of the water flow rate can cause the change of the gas water heater model. In addition, in order to ensure the combustion efficiency of gas and avoid the insufficient combustion of gas to generate carbon monoxide with different concentrations and pollute the environment, the advanced gas water heater in the industry usually designs the fire discharging piece into a three-section type, and switches the opening and closing of the section valve according to different working conditions so as to control the combustion area of the fire discharging piece. By switching the segment valve, the combustion area of the fire discharge piece is changed, so that the model parameters of the gas water heater are changed, and the problem of manual and automatic control switching can occur in the process of switching the segment valve. Therefore, various disturbances exist in the actual gas water heater control, which requires the controller of the gas water heater system to have strong disturbance resistance.
Due to the complexity of actual working conditions, a mathematical model of the gas water heater system is difficult to accurately establish, most of controllers of the gas water heater system adopt PID controllers at present, but the controllers have large overshoot, long adjusting time and weak anti-interference capability. Particularly when a disturbance occurs to the gas water heater, the PID controller cannot respond quickly to this, resulting in system overshoot, oscillation, and even divergence.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the constant temperature control method overcomes the defects that different parameters need to be set under different models when the PID control algorithm is adopted for constant temperature control of the gas water heater in the prior art, and overshoot or oscillation occurs in the model transformation process of the PID control, shortens the constant temperature regulation time of the gas water heater, reduces the constant temperature overshoot of the gas water heater, and effectively improves the constant temperature performance of the gas water heater.
The technical scheme adopted by the invention for solving the technical problems is as follows: the constant temperature control method of the gas water heater based on the feedforward fuzzy active disturbance rejection is characterized by comprising the following steps: the method comprises the following steps:
1001, periodically detecting water flow, set temperature, water outlet temperature and water inlet temperature according to a preset time interval;
step 1002, calculating a temperature difference T between a set temperature and an outlet water temperature and a temperature difference T between the set temperature and an inlet water temperature1；
Step 1003, according to the temperature difference T between the set temperature and the outlet water temperature and the temperature difference T between the set temperature and the inlet water temperature1And the flow of the water flow executes a feedforward fuzzy active disturbance rejection constant temperature control flow, and a total heat value U is obtained through calculation;
1004, calculating the opening of the fuel gas proportional valve according to the total heat value U;
and 1005, calculating according to the opening degree of the fuel gas proportional valve to obtain the rotating speed of the fan.
Preferably, the feed-forward fuzzy active disturbance rejection constant temperature control process in step 1003 includes the following steps:
1003-1, selecting parameters of a feedforward fuzzy active disturbance rejection controller according to water flow;
step 1003-2, calculating a heat value U by the fuzzy active disturbance rejection controller according to the difference value T between the set temperature and the outlet water temperature and the parameters under the current water flow1；
Step 1003-3, according to the acquired temperature difference T between the set temperature and the inlet water temperature1And current water flow, calculating heat value U by performing feedforward control2；
Step 1003-4, calculating a heat value U according to the fuzzy active disturbance rejection controller1Calculated heat value U from feedforward control2Obtaining a total calorific value U: u is equal to U1+U2。
Preferably, the step 1003-2 includes the following steps:
step 1003-2-1, designing an active disturbance rejection controller, wherein a discrete Linear Extended State Observer (LESO) module and a linear state error feedback (LESF) expression of the active disturbance rejection controller are respectively as follows:
Figure BDA0003439057980000021
Figure BDA0003439057980000022
wherein e (k) is the deviation between the set temperature and the effluent temperature, y (k) is the effluent temperature, U (k) is the calculated heat value U of the fuzzy active disturbance rejection controller1，v1(k) To set the temperature, z1(k) Tracking y (k), z2(k) For total disturbance estimation of the system, beta01、β02Is a discrete linear extended state observer LESO parameter, beta is a linear state error feedback LSEF parameter;
step 1003-2-2, designing a fuzzy active disturbance rejection controller, fuzzifying a parameter beta in an LESF module, selecting a triangular membership function as the membership function, wherein the fuzzy sets and universes of linguistic variables input and output by the fuzzy controller are respectively as follows:
Figure BDA0003439057980000023
Figure BDA0003439057980000024
wherein e represents the temperature difference between the set temperature and the outlet water temperature, ec represents the temperature difference change rate between the set temperature and the outlet water temperature, and beta' represents the change amount of the parameter beta;
step 1003-2-3, update the parameter β of the linear state error feedback LESF module, which is updated to the expression β ═ β + β'.
Preferably, inIn the step 1003-3, the calorific value U is2The calculation formula of (2) is as follows:
U2＝a*(v-c)*flow
wherein v is the set temperature, c is the inlet water temperature, flow is the water flow, and a is the adjustable parameter.
Preferably, the expression of the gas proportional valve opening out buff is as follows:
OutBuff＝(6*U-128)
wherein U represents the gross calorific value.
Preferably, the expression of the fan speed FanSpd is as follows:
FanSpd＝((19813000+87349*OutBuff)/10000)
wherein, OutBuff represents the opening degree of the gas proportional valve.
Compared with the prior art, the invention has the beneficial effects that:
1. by the constant temperature control method of the gas water heater based on the feedforward fuzzy active disturbance rejection, the constant temperature adjusting time of the gas water heater is shortened, the constant temperature overshoot of the gas water heater is reduced, the constant temperature performance of the gas water heater is effectively improved, and the defects that different parameters need to be set under different models when the PID control algorithm is adopted in the constant temperature control of the gas water heater in the prior art and the PID control overshoots or oscillates in the model transformation process are overcome.
2. The method and the device dynamically adjust the parameter beta of the LSEF according to the system working condition by using fuzzy control, and add a feedforward link to further accelerate the response speed of the system, thereby improving the performance of the original active disturbance rejection controller.
3. The constant temperature control method of the gas water heater based on the feedforward fuzzy active disturbance rejection is simple and feasible, and can effectively shorten the starting constant temperature time and overshoot of the gas water heater.
Drawings
FIG. 1 is a flow chart of a constant temperature control method of a gas water heater based on feed-forward fuzzy active disturbance rejection.
Fig. 2 is a diagram of a feed-forward fuzzy active disturbance rejection algorithm.
FIG. 3 is a PID-based gas water heater start-up thermostat diagram.
FIG. 4 is a diagram of the startup thermostat of a gas water heater based on feed-forward fuzzy active disturbance rejection.
FIG. 5 is a PID-based gas water heater thermostat diagram.
FIG. 6 is a gas water heater thermostat diagram based on feed forward fuzzy active disturbance rejection.
Detailed Description
Fig. 1 to 6 are preferred embodiments of the present invention, and the present invention will be further described with reference to fig. 1 to 6.
As shown in fig. 1, a constant temperature control method for a gas water heater based on feed-forward fuzzy active disturbance rejection comprises the following steps:
step 1001, start;
starting, executing a constant temperature control method of the gas water heater based on feedforward fuzzy active disturbance rejection, and periodically detecting water flow, set temperature, water outlet temperature and water inlet temperature according to a preset time interval after initialization;
step 1002, calculating an initial temperature difference value;
calculating the temperature difference T between the set temperature and the outlet water temperature and the temperature difference T between the set temperature and the inlet water temperature1。
Step 1003, calculating a total heat value;
according to the temperature difference T between the set temperature and the outlet water temperature and the temperature difference T between the set temperature and the inlet water temperature1And the flow of the water flow executes a feedforward fuzzy active disturbance rejection constant temperature control flow, and a total heat value U is obtained through calculation;
the method specifically comprises the following steps:
step 1003-1, compiling parameter arrays of the feedforward fuzzy active disturbance rejection controllers at different water flows, and compiling a program for automatically selecting the parameters of the feedforward fuzzy active disturbance rejection controllers according to the water flows;
the concrete mode is as follows: determining initial parameters of the feedforward fuzzy active disturbance rejection controller under a certain water flow (for example, 5L/min), adjusting the parameters according to the experimental effect to enable the experimental effect to be optimal under the water flow (5L/min), and further determining the controller parameters under the water flow (5L/min). The same method is used to establish the optimal parameters for determining the feedforward fuzzy active disturbance rejection controller under other flow rates. Therefore, the corresponding optimal parameters can be selected according to the water flow.
Step 1003-2, calculating a heat value U by the fuzzy active disturbance rejection controller according to the difference value T between the set temperature and the outlet water temperature and the parameters under the current water flow1The method specifically comprises the following calculation steps:
referring to fig. 2, step 1003-2-1, the design of the active disturbance rejection controller, whose discrete Linear Extended State Observer (LESO) module and linear state error feedback (LESF) expression are respectively:
Figure BDA0003439057980000041
Figure BDA0003439057980000042
wherein e (k) is the deviation between the set temperature and the effluent temperature, y (k) is the effluent temperature, U (k) is the calculated heat value U when the fuzzy active disturbance rejection controller does not include the feedforward loop1，v1(k) To set the temperature, z1(k) Is an estimate of y (k), z2(k) For total disturbance estimation of the system, beta01、β02For the discrete linear extended state observer LESO parameter, beta is the linear state error feedback LSEF parameter, z1(k +1) denotes the k +1 th estimation of y (k +1), z2(k +1) represents the k +1 estimation of the total disturbance of the subsystem, b is the compensation coefficient, u0(k) Denotes a feedback error control amount, u (k) denotes a final control amount, and h denotes an integration step.
Step 1003-2-2, designing a fuzzy active disturbance rejection controller, fuzzifying a parameter beta in an LESF module, selecting a triangular membership function as the membership function, wherein the fuzzy sets and universes of linguistic variables input and output by the fuzzy controller are respectively as follows:
Figure BDA0003439057980000043
Figure BDA0003439057980000051
where e represents the temperature difference between the set temperature and the outlet water temperature, ec represents the rate of change in the temperature difference between the set temperature and the outlet water temperature, and β' represents the amount of change in the parameter β.
Step 1003-2-3, update the parameter β of the linear state error feedback LESF module, which is updated to the expression β ═ β + β'.
Step 1003-3, according to the acquired temperature difference T between the set temperature and the inlet water temperature1And current water flow, calculating heat value U by performing feedforward control2Calculating a heat value U2The calculation formula of (2) is as follows:
U2＝a*(v-c)*flow
wherein v is the set temperature, c is the temperature of intaking, and flow is water flow size, and a is adjustable parameter, and the accessible is experimental to be adjusted actually, and the value of a is 1/24 in this embodiment.
Step 1003-4, calculating a heat value U according to the fuzzy active disturbance rejection controller1Calculated heat value U from feedforward control2Obtaining a total calorific value U: u is equal to U1+U2。
1004, calculating the opening of the fuel gas proportional valve according to the total heat value U;
the expression for proportional valve opening OutBuff is:
OutBuff＝(6*U-128)
wherein U represents the gross calorific value.
Step 1005, calculating according to the opening degree of the fuel gas proportional valve to obtain the rotating speed of the fan;
the fan speed FanSpd expression is as follows:
FanSpd＝((19813000+87349*OutBuff)/10000)
wherein, OutBuff represents the opening degree of the gas proportional valve.
Therefore, the heat value is calculated by the feedforward fuzzy active disturbance rejection method, the proportional valve opening OutBuff of the fan is calculated, and the rotating speed FanSpd of the fan achieves the purpose of controlling the gas quantity, so that the water temperature of the gas water heater is controlled, the constant temperature adjusting time of the gas water heater is shortened, the constant temperature overshoot of the gas water heater is reduced, and the constant temperature performance of the gas water heater is effectively improved.
By the constant temperature control method of the gas water heater based on the feedforward fuzzy active disturbance, a startup constant temperature diagram and a temperature-regulating constant temperature diagram of the gas water heater based on the feedforward fuzzy active disturbance are obtained, and are shown in fig. 4 and 6. Conventional PID control start-up thermostat map and thermostat map, see fig. 3 and 5.
The foregoing is directed to preferred embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. However, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the protection scope of the technical solution of the present invention.

Claims (6)

1.一种基于前馈模糊自抗扰的燃气热水器恒温控制方法，其特征在于：包括如下步骤：1. a gas water heater constant temperature control method based on feedforward fuzzy active disturbance rejection, is characterized in that: comprise the steps: 步骤1001，根据预设定的时间间隔，周期性的检测水流量、设定温度、出水温度和进水温度；Step 1001: Periodically detect water flow, set temperature, outlet water temperature and inlet water temperature according to a preset time interval; 步骤1002，计算设定温度与出水温度的温差T以及设定温度与进水温度的温差T1；Step 1002, calculate the temperature difference T between the set temperature and the water outlet temperature and the temperature difference T 1 between the set temperature and the inlet water temperature; 步骤1003，根据设定温度与出水温度的温差T、设定温度与进水温度的温差T1以及水流量的大小flow执行前馈模糊自抗扰恒温控制流程，计算得到总热值U；Step 1003, according to the temperature difference T between the set temperature and the water outlet temperature, the temperature difference T 1 between the set temperature and the inlet water temperature, and the size flow of the water flow, execute the feedforward fuzzy active disturbance rejection constant temperature control process, and calculate the total calorific value U; 步骤1004，根据总热值U计算得到燃气比例阀开度；Step 1004, calculating the opening degree of the gas proportional valve according to the total calorific value U; 步骤1005，根据燃气比例阀开度计算得到风机转速。Step 1005: Calculate the fan speed according to the opening degree of the gas proportional valve. 2.根据权利要求1所述的基于前馈模糊自抗扰的燃气热水器恒温控制方法，其特征在于：步骤1003中所述的前馈模糊自抗扰恒温控制流程，包括如下步骤：2. The constant temperature control method for gas water heater based on feedforward fuzzy active disturbance rejection according to claim 1, characterized in that: the feedforward fuzzy active disturbance rejection constant temperature control process described in step 1003 comprises the following steps: 步骤1003-1，依据水流量大小选取前馈模糊自抗扰控制器参数；Step 1003-1, select the parameters of the feedforward fuzzy active disturbance rejection controller according to the size of the water flow; 步骤1003-2，根据设定温度与出水温度的差值T以及当前水流量下的参数，执行模糊自抗扰控制器计算热值U1；Step 1003-2, according to the difference T between the set temperature and the outlet water temperature and the parameters under the current water flow, execute the fuzzy active disturbance rejection controller to calculate the calorific value U 1 ; 步骤1003-3，根据采集的设定温度与进水温度的温差T1以及当前水流量的大小，执行前馈控制计算热值U2；Step 1003-3, according to the collected temperature difference T1 between the set temperature and the inlet water temperature and the magnitude of the current water flow, perform feedforward control to calculate the calorific value U2 ; 步骤1003-4，根据模糊自抗扰控制器计算出的热值U1和前馈控制计算的热值U2，得到总热值U：U＝U1+U2。Step 1003-4, according to the calorific value U 1 calculated by the fuzzy active disturbance rejection controller and the calorific value U 2 calculated by the feedforward control, obtain the total calorific value U: U=U 1 +U 2 . 3.根据权利要求2所述的基于前馈模糊自抗扰的燃气热水器恒温控制方法，其特征在于：所述的步骤1003-2，包括如下步骤：3. The method for constant temperature control of a gas water heater based on feedforward fuzzy active disturbance rejection according to claim 2, wherein the step 1003-2 comprises the following steps: 步骤1003-2-1，自抗扰控制器的设计，其离散线性扩张状态观测器(LESO)模块、线性状态误差反馈(LESF)表达式分别为：Step 1003-2-1, the design of the active disturbance rejection controller, the discrete linear extended state observer (LESO) module and the linear state error feedback (LESF) expressions are respectively:
Figure FDA0003439057970000011
Figure FDA0003439057970000011
Figure FDA0003439057970000012
Figure FDA0003439057970000012
 其中，e(k)为设定温度与出水温度的偏差，y(k)是出水温度，u(k)为模糊自抗扰控制器计算热值U1，v1(k)为设定温度，z1(k)跟踪y(k)，z2(k)为系统的总扰动估计，β01、β02为离散线性扩张状态观测器LESO参数，β为线性状态误差反馈LSEF参数；Among them, e(k) is the deviation between the set temperature and the outlet water temperature, y(k) is the outlet water temperature, u(k) is the calorific value U 1 calculated by the fuzzy active disturbance rejection controller, and v 1 (k) is the set temperature , z 1 (k) tracks y(k), z 2 (k) is the total disturbance estimate of the system, β 01 and β 02 are discrete linear extended state observer LESO parameters, and β is the linear state error feedback LSEF parameter; 步骤1003-2-2，模糊自抗扰控制器的设计，对LESF模块中参数β的模糊化，隶属函数选择三角形隶属函数，其模糊控制器输入、输出的语言变量模糊集和论域分别为：Step 1003-2-2, the design of the fuzzy active disturbance rejection controller, the fuzzification of the parameter β in the LESF module, the membership function selects the triangular membership function, and the fuzzy set and universe of language variables input and output by the fuzzy controller are respectively: :
Figure FDA0003439057970000021
Figure FDA0003439057970000021
Figure FDA0003439057970000022
Figure FDA0003439057970000022
 其中，e表示设定温度和出水温度的温差，ec表示设定温度和出水温度的温差变化率，β’表示参数β的变化量；Among them, e represents the temperature difference between the set temperature and the outlet water temperature, ec represents the rate of change of the temperature difference between the set temperature and the outlet water temperature, and β' represents the variation of the parameter β; 步骤1003-2-3，更新线性状态误差反馈LESF模块的参数β，其更新为表达式β＝β+β’。Step 1003-2-3, update the parameter β of the linear state error feedback LESF module, which is updated to the expression β=β+β'. 4.根据权利要求2所述的基于前馈模糊自抗扰的燃气热水器恒温控制方法，其特征在于：在所述的步骤1003-3中，热值U2的计算公式为：4. The constant temperature control method for a gas water heater based on feedforward fuzzy active disturbance rejection according to claim 2, characterized in that: in the step 1003-3, the calculation formula of the calorific value U 2 is: U2＝a*(v-c)*flowU 2 =a*(vc)*flow 其中，v为设定温度，c为进水温度，flow为水流量大小，a为可调参数。Among them, v is the set temperature, c is the inlet water temperature, flow is the water flow size, and a is an adjustable parameter. 5.根据权利要求1所述的基于前馈模糊自抗扰的燃气热水器恒温控制方法，其特征在于：所述燃气比例阀开度OutBuff的表达式为：5. The gas water heater thermostatic control method based on feedforward fuzzy active disturbance rejection according to claim 1, is characterized in that: the expression of described gas proportional valve opening OutBuff is: OutBuff＝(6*U-128)OutBuff=(6*U-128) 其中，U表示总热值。where U is the total calorific value. 6.根据权利要求1所述的基于前馈模糊自抗扰的燃气热水器恒温控制方法，其特征在于：所述风机转速FanSpd表达式为：6. The gas water heater constant temperature control method based on feedforward fuzzy active disturbance rejection according to claim 1, is characterized in that: described fan speed FanSpd expression is: FanSpd＝((19813000+87349*OutBuff)/10000)FanSpd=((19813000+87349*OutBuff)/10000) 其中，OutBuff表示燃气比例阀开度。Among them, OutBuff represents the opening degree of the gas proportional valve.
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