CN114234452A - Constant temperature control method of gas water heater based on feedforward fuzzy active disturbance rejection - Google Patents
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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
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Abstract
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. The method comprises the following steps: 1001, periodically detecting parameters according to a preset time interval; step 1002, calculating the temperature difference between the set temperature and the outlet water temperature and the inlet water temperature; step 1003, calculating to obtain a total heat value U; step 1004, calculating to obtain the opening of the gas proportional valve; and step 1005, calculating to obtain the rotating speed of the fan. 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.
Description
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:
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:
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:
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:
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. A constant temperature control method of a gas water heater based on 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.
2. The feed-forward fuzzy active disturbance rejection based gas water heater constant temperature control method according to claim 1, characterized in that: the feed-forward fuzzy active disturbance rejection constant temperature control process in the 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。
3. The feed-forward fuzzy active disturbance rejection based gas water heater constant temperature control method according to claim 2, characterized in that: 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:
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、β02For the discrete linear extended state observer LESO parameters, β is the linear stateError feedback LSEF parameters;
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:
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'.
4. The feed-forward fuzzy active disturbance rejection based gas water heater constant temperature control method according to claim 2, characterized in that: in said 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.
5. The feed-forward fuzzy active disturbance rejection based gas water heater constant temperature control method according to claim 1, characterized in that: the expression of the opening of the gas proportional valve OutBuff is as follows:
OutBuff＝(6*U-128)
wherein U represents the gross calorific value.
6. The feed-forward fuzzy active disturbance rejection based gas water heater constant temperature control method according to claim 1, characterized in that: the fan speed FanSpd expression is as follows:
FanSpd＝((19813000+87349*OutBuff)/10000)
wherein, OutBuff represents the opening degree of the gas proportional valve.
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Application publication date: 20220325 |