CN114510097B - Control system and control method for activation furnace - Google Patents

Control system and control method for activation furnace Download PDF

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CN114510097B
CN114510097B CN202210059493.0A CN202210059493A CN114510097B CN 114510097 B CN114510097 B CN 114510097B CN 202210059493 A CN202210059493 A CN 202210059493A CN 114510097 B CN114510097 B CN 114510097B
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control system
activation furnace
temperature
oxygen content
negative pressure
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CN114510097A (en
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朱传强
张亮
谢兴旺
茹晋波
孙亭亭
李渠
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Everbright Envirotech China Ltd
Everbright Environmental Protection Research Institute Nanjing Co Ltd
Everbright Environmental Protection Technology Research Institute Shenzhen Co Ltd
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Everbright Envirotech China Ltd
Everbright Environmental Protection Research Institute Nanjing Co Ltd
Everbright Environmental Protection Technology Research Institute Shenzhen Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
    • G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
    • C—CHEMISTRY; METALLURGY
    • C01—INORGANIC CHEMISTRY
    • C01B—NON-METALLIC ELEMENTS; COMPOUNDS THEREOF; METALLOIDS OR COMPOUNDS THEREOF NOT COVERED BY SUBCLASS C01C
    • C01B32/00—Carbon; Compounds thereof
    • C01B32/30—Active carbon
    • C01B32/39—Apparatus for the preparation thereof

Abstract

The invention discloses a control system and a control method of an activation furnace, comprising the following steps: the system comprises a temperature control system, a speed control system, a negative pressure control system, an oxygen content control system, a rotating speed sensor, a temperature transmitter, an oxygen content sensor, a pressure sensor and a fuzzy PID decoupling control module; the carbonized material is conveyed to an inlet of an activation furnace from a storage bin, the temperature control system controls the feeding speed, so that the temperature in the activation furnace is controlled, the carbonized material rotates from the inlet of the activation furnace through a kiln body in the furnace to perform pore-forming reaction, and each sensor is adopted to respectively collect the rotating speed, the temperature, the oxygen content and the negative pressure of the activation furnace; the acquired data are respectively transmitted to a fuzzy PID decoupling control module, and the fuzzy PID decoupling control module outputs the final control quantity of each control system; and after the carbonized material enters the tail end of the activation furnace, the activation furnace outputs an activated carbon finished product. The method provided by the invention can stably operate without manual intervention, and has good effect.

Description

Control system and control method for activation furnace
Technical Field
The invention belongs to the technical field of activated carbon production.
Background
Under the environment advocating low carbon and environmental protection, the utilization of biomass energy is continuously emphasized, and the resource utilization and high-value utilization approach of biomass energy are widely paid attention. The technology for preparing the activated carbon by biomass direct-fired coupling gasification is taken as a path for biomass energy high-valued conversion and starts to be popularized and applied gradually. Wherein the activation furnace is a key device for activating carbonized materials into the final product of activated carbon in the production line for preparing the activated carbon by biomass direct-fired coupled gasification. The carbonized material is fed into an activation furnace by an activation furnace feeding system, and is subjected to activation reaction with high-temperature steam to generate active carbon, and heat required by activation is provided by the combustion reaction of air distribution and activation gas. According to the activation process, relevant process parameters of the activation furnace, such as feeding stability, rotating speed, air distribution quantity and temperature control, are decisive factors for determining the quality of the activated carbon. Taking the temperature of an activation furnace as an example, the higher the temperature control precision in the activation process is, the higher the activation efficiency of carbonized materials is, and the better the quality of activated carbon is. If the temperature of the activation furnace is too low, the activated carbon is not fully activated, so that a rich pore structure cannot be formed, and the product quality cannot reach the standard; if the temperature of the activation furnace is too high, the activated carbon is easy to ablate, so that the productivity of the production line is reduced, the smoke amount is increased, the smoke temperature is increased, the induced draft fan is damaged, and the system is possibly stopped and maintained after long-time operation, so that economic loss is caused. Therefore, the automatic control performance of the activation furnace is improved, the safe and stable production of equipment is ensured, the continuous operation of the system is ensured, and the important effect is played in ensuring the stability of the process.
The control of the activation furnace is a typical large inertia, large hysteresis, nonlinear and time-varying complex process, and it is difficult to mathematically build an accurate mathematical model. The existing control method mainly stays in manual adjustment, and has the defects of high randomness, high working strength, low efficiency, production quality assurance, high burning loss rate and many potential safety hazards due to the manual adjustment operation.
The invention patent application document CN1559893 discloses an automatic control system for an activated carbon preparation process, which is characterized in that a control system computer drives an air quantity adjusting valve of an air supply system of a carbonization furnace according to carbonization furnace temperature, activation furnace temperature and activation furnace steam flow process parameter signals acquired by a detection element and a certain program, and the activation furnace electric adjusting valve, the activation furnace electric steam valve, the activation furnace fire discharging valve, the activation furnace control and a flue gate valve perform corresponding actions to realize automatic control of the mutual conversion of the carbonization furnace temperature, the activation furnace steam flow, the activation time and the heating and cooling two half furnaces. The method introduces the constitution of a control system and also introduces an algorithm, wherein the algorithm is simple loop control, but the mutual influence of adjustment parameters is not considered, and the accurate adjustment of related parameters cannot be realized.
Disclosure of Invention
The invention aims to: in order to solve the problems in the prior art, the invention provides a control system and a control method of an activation furnace.
The technical scheme is as follows: the invention provides a control system of an activation furnace, which comprises: the system comprises a temperature control system, a speed control system, a negative pressure control system, an oxygen content control system, a rotating speed sensor, a temperature transmitter, an oxygen content sensor, a pressure sensor and a fuzzy PID decoupling control module;
the method comprises the steps that a feeding screw conveying device conveys carbonized materials to an inlet of an activation furnace from a storage bin, the feeding speed is adjusted by a temperature control system in a variable frequency mode, so that the temperature in the activation furnace is controlled, an activation furnace rotary kiln device moves the carbonized materials to a tail of the activation furnace from the inlet of the activation furnace through rotation of a kiln body in the activation furnace, steam is introduced in the process to perform pore-forming reaction, and a rotation speed sensor, a temperature transmitter and an oxygen content sensor are adopted, and the rotation speed of the activation furnace, the temperature in the activation furnace, the oxygen content in the activation furnace and the negative pressure in the activation furnace are respectively collected by a pressure sensor; the collected data are respectively transmitted to a fuzzy PID decoupling control module, and the fuzzy PID decoupling control module outputs the final control quantity of the temperature control system, the final control quantity of the oxygen content control system, the final control quantity of the negative pressure control system and the final control quantity of the speed control system, so that the adjustment of the rotating speed of the activation furnace, the temperature in the activation furnace, the negative pressure and the oxygen content in the activation process is realized; and after the carbonized material enters the tail end of the activation furnace, the activation furnace outputs an activated carbon finished product.
Further, the temperature control system adopts a feeding screw conveyor, the speed control system adopts a driving motor, the negative pressure control system adopts a draught fan, and the oxygen content control system adopts an air distribution fan.
Further, the flue gas generated by the activation reaction in the activation furnace is extracted into the waste heat boiler by the induced draft fan for recycling.
The control method of the activation furnace specifically comprises the following steps:
step 1: collecting the temperature, oxygen content and negative pressure in the activation furnace in real time and the rotating speed of the activation furnace;
step 2: according to the data acquired in the step 1, calculating to obtain the final control quantity of the temperature control system, the final control quantity of the oxygen content control system, the final control quantity of the negative pressure control system and the final control quantity of the speed control system by adopting a fuzzy PID algorithm and decoupling combination method; the method comprises the following steps:
step 2.1: setting the temperature to a value T and the oxygen content to a value O 2 Setting a negative pressure set value P and an activation furnace rotating speed set value S as inputs, and establishing a four-input four-output control system;
step 2.2: solving each channel of the control system in the step 2.1 by a fuzzy PID algorithm to obtain the regulating quantity of the temperature control system, the regulating quantity of the oxygen content control system, the regulating quantity of the negative pressure control system and the regulating quantity of the activation furnace rotating speed control system;
step 2.3: taking a channel about the rotating speed of the activation furnace in the four-input four-output control system as an independent channel, and taking the regulating quantity of the rotating speed control system of the activation furnace calculated in the step 2.2 as the final regulating quantity of the rotating speed control system of the activation furnace;
step 2.4: decoupling calculation is carried out on the three channels remained in the four-input four-output control system, and a feedforward compensation function W of the temperature is obtained 1 (S) feedforward Compensation function W for oxygen content 2 (S) feedforward Compensation function W of negative pressure 3 (S)；
Step 2.5: according to the adjustment amount and W of the temperature control system in 2.2 1 (S) obtaining a temperature control SystemAccording to the final adjustment amount of the oxygen content control system and W 2 (S) obtaining the final adjustment amount of the oxygen content control system according to the adjustment amount of the negative pressure control system and W 3 (S) obtaining the final adjustment quantity of the negative pressure control system.
Further, the expression of the four-input four-output control system in the step 2.1 is as follows:
Figure SMS_1
wherein M is 1 ，M 2 ，M 3 ，M 4 Are all the outputs of a four-input four-output control system, G 11 (s)，G 22 (s)，G 33 (s)，G 44 (s)，G 12 (s)，G 23 (s)，G 32 (s) are transfer functions.
Further, the expression of the three-way system remaining in the step 2.4 is as follows:
Figure SMS_2
identifying models of G11 (S), G12 (S), G22 (S), G23 (S), G32 (S) and G33 (S) by fitting, so as to obtain a characteristic equation of each transfer function;
feedforward compensation function W of temperature obtained after decoupling 1 (S) feedforward Compensation function W for oxygen content 2 (S) feedforward Compensation function W of negative pressure 3 The expression of (S) is as follows:
W 1 (s)＝[1 0 0]
Figure SMS_3
Figure SMS_4
wherein a=g 11 (s)G 22 (s)G 33 (s)-G 11 (s)G 23 (s)G 32 (s)。
Further, the fuzzy languages in the fuzzy PID control algorithm in the step 2.2 are respectively the deviation E, the deviation rate EC, the proportion Kp, the integral Ki and the differential Kd; the fuzzy subset is { ZO, NS, NL, NM, NH, NB }, the quantization level is { -5, -4, -3, -2, -1,0,1,2,3,4,5};
k in fuzzy rule p The membership changes are shown in table 1 below:
TABLE 1
Figure SMS_5
K in fuzzy rule i The membership change table is shown in table 2:
TABLE 2
Figure SMS_6
K in fuzzy rule d The membership change table is shown in table 3 below:
TABLE 3 Table 3
Figure SMS_7
The membership function in the fuzzy PID control algorithm adopts a triangle membership function.
Further, in the step 2.5: regulating the regulating variable of the temperature control system in 2.2 and W 1 (S) adding the final adjustment amount of the temperature control system to W 2 (S) adding to obtain the final adjustment quantity of the oxygen content control system, and adding the adjustment quantity of the negative pressure control system and W 3 (S) obtaining the final adjustment quantity of the negative pressure control system.
The beneficial effects are that: according to the invention, a set of control system of the activation furnace is firstly established, 4 single-loop fuzzy PID regulation models are established according to the technological requirements and characteristics of the activation furnace, and deviation of a fuzzy PID algorithm is counteracted through a decoupling link, namely a multi-loop fuzzy PID decoupling control algorithm, so that the aim of accurate control is achieved. The method provided by the invention can be verified through debugging and long-term operation results, can stably operate without manual intervention, and has good decoupling effect.
Drawings
Fig. 1 is a system block diagram of the present invention.
FIG. 2 is a flow chart of a method of fuzzy PID decoupling according to the present invention.
Fig. 3 is a control block diagram before decoupling.
Fig. 4 is a decoupling control block diagram.
Reference numerals illustrate: 1. a feed screw conveyor; 2. a driving motor; 3. an air distribution fan; 4. an induced draft fan; 5. a rotation speed sensor; 6. a temperature transmitter, 7. An oxygen content sensor; 8. a pressure sensor.
Detailed Description
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
As shown in fig. 1, the control system of the present embodiment includes: the system comprises a temperature control system, a speed control system, a negative pressure control system, an oxygen content control system, a rotating speed sensor 5, a temperature transmitter 6, an oxygen content sensor 7, a pressure sensor 8 and a fuzzy PID decoupling control module; in the embodiment, a temperature control system adopts a feeding screw conveyor 1, a speed control system adopts a driving motor 2, a negative pressure control system adopts a draught fan 4, and an oxygen content control system adopts an air distribution fan 3; the object is driven by the frequency converter to be connected into the PLC system for control.
The feeding screw conveyor conveys carbonized materials from the storage bin to the inlet of the activation furnace, the feeding speed is adjusted by frequency conversion of the feeding screw conveyor, closed-loop control is carried out with the temperature transmitter of the measuring instrument through the fuzzy PID decoupling control module, and the temperature of the inlet of the carbonization furnace is ensured to be within a reaction zone (400-600 ℃).
The inclination angle of the activation furnace is 1.5 degrees, the activation furnace rotary kiln device slowly moves carbonized materials from an activation furnace inlet to a furnace tail through kiln body rotation in the furnace, steam is introduced to perform activation pore-forming reaction along with the movement of the materials, and the rotation speed of the rotary kiln is regulated by a driving motor in a variable frequency manner as the steam quantity in unit time and the movement speed of the carbonized materials are in direct proportion to the rotation speed of the rotary kiln, and the rotary kiln is controlled in a closed loop manner by a fuzzy PID decoupling control module with a speed sensor arranged in the axial direction, so that the rotation speed of the rotary kiln is ensured to be matched with the steam quantity, and the activation pore-forming reaction time is met. The air distribution fan provides oxygen for the gasification reaction for the activation furnace, the concentration of the oxygen content is adjusted by the air distribution fan in a variable frequency mode, closed-loop control is carried out with the oxygen content sensor through the fuzzy PID decoupling control module, the oxygen content of the inlet is ensured to exceed 12%, the oxygen for the gasification reaction is sufficient, and the temperature of the middle section in the furnace is maintained conveniently. The induced draft fan provides a negative pressure environment for the activation furnace, the pressure is regulated by the induced draft fan in a variable frequency manner, closed-loop control is carried out with the pressure sensor through the fuzzy PID decoupling control module, the integral micro negative pressure in the furnace is ensured, activated smoke is not leaked, and the requirement of safe production is met.
Finally, the material enters the tail end after passing through the activation section, and the active carbon finished product is output and collected after being cooled. And the flue gas generated by the reaction is pumped away by an induced draft fan and enters a waste heat boiler for recycling.
The embodiment provides a control method of an activation furnace, which specifically comprises the following steps:
step 1: collecting the temperature, oxygen content and negative pressure in the activation furnace in real time and the rotating speed of the activation furnace;
step 2: according to the data acquired in the step 1, calculating to obtain the final control quantity of the temperature control system, the final control quantity of the oxygen content control system, the final control quantity of the negative pressure control system and the final control quantity of the speed control system by adopting a fuzzy PID algorithm and decoupling combination method; a flowchart of a method combining the fuzzy PID algorithm and decoupling is shown in fig. 2, specifically:
step 2.1: setting the temperature to a value T and the oxygen content to a value O 2 A set value P of negative pressure and a set value S of the rotating speed of the activation furnace are used as input,setting a four-input four-output control system;
step 2.2: solving each channel of the control system in the step 2.1 by adopting a fuzzy PID algorithm to obtain the regulating quantity of the temperature control system, the regulating quantity of the oxygen content control system, the regulating quantity of the negative pressure control system and the regulating quantity of the activation furnace rotating speed control system;
step 2.3: taking a channel about the rotating speed of the activation furnace in the four-input four-output control system as an independent channel, and taking the regulating quantity of the rotating speed control system of the activation furnace calculated in the step 2.2 as the final regulating quantity of the rotating speed control system of the activation furnace;
step 2.4: decoupling calculation is carried out on the three channels remained in the four-input four-output control system, and a feedforward compensation function W of the temperature is obtained 1 (S) feedforward Compensation function W for oxygen content 2 (S) feedforward Compensation function W of negative pressure 3 (S)；
Step 2.5: according to the adjustment amount and W of the temperature control system in 2.2 1 (S) obtaining the final adjustment amount of the temperature control system according to the adjustment amount of the oxygen content control system and W 2 (S) obtaining the final adjustment amount of the oxygen content control system according to the adjustment amount of the negative pressure control system and W 3 (S) obtaining the final adjustment quantity of the negative pressure control system.
The fuzzy PID algorithm in step 2.2 is: the 4 loops in the step 2.1 are respectively used for controlling the temperature of the feeding screw conveyor, controlling the oxygen content of the air distribution fan, controlling the negative pressure of the induced draft fan and controlling the rotating speed of the activation furnace by the driving motor.
The fuzzy languages of the variables are respectively the deviation E, the deviation rate EC and the proportion K p Integral K i Differential K d ；
E is the deviation, e=pv-SP, where PV is the current value, SP is the target setting EC is the deviation rate, ec= ΣΔpv
The quantization scale is { -5, -4, -3, -2, -1,0,1,2,3,4,5}, and each quantization interval is set by manual debugging.
The fuzzy subset is { ZO, NS, NL, NM, NH, NB }, and the fuzzy subset corresponds to PID adjustment parameters { K } p ,K i ,K d ' SThe output value is set by manual adjustment.
The membership function adopts a triangle membership function.
According to actual debugging and operation experience, a fuzzy rule table K is established p The membership changes are shown in Table 1 below
TABLE 1
Figure SMS_8
Figure SMS_9
K in fuzzy rule i The membership change table is shown in table 2:
TABLE 2
Figure SMS_10
K in fuzzy rule d The membership change table is shown in table 3 below:
TABLE 3 Table 3
Figure SMS_11
{ K obtained by fuzzy controller p ，K i ,K d The output value is input to a PID controller, the algorithm of which is as follows:
Figure SMS_12
e (t) represents the input of the PID controller; u (t) represents the output of the PID controller; t is sampling time; kp is the controller scaling factor.
Decoupling control design:
the variable pairing analysis, the actual engineering operation experience finds that the variable relation is obvious, and the variable relation of the system can be obtained without calculating the relative gain, as shown in the following table 4:
TABLE 4 Table 4
Figure SMS_13
Figure SMS_14
In Table 4, four is the master variable, Δ is the related variable, and-is the influence.
The following 4 single loops can be established for pairing through the pairing analysis;
1) Control object (input): a temperature control system; control parameters (output): the frequency of the feed screw conveyor;
2) Control object (input): an oxygen content control system; control parameters (output): the frequency of the air distribution fan;
3) Control object (input): a negative pressure control system; control parameters (output): the frequency of the induced draft fan;
4) Control object (input): the activation furnace rotating speed control system controls parameters (output): the frequency of the drive motor;
other control factors after pairing are taken as associated variables, and for the sake of understanding, as represented by a control block diagram in fig. 3, a control system model before decoupling is a four-input four-output control system, and is expressed by the following transfer function matrix:
Figure SMS_15
in the above formula, T is a temperature setting value; o (O) 2 Setting a value for oxygen content; p is a pressure setting value; s is a speed setting value; g 11 (S) is a transfer function between the temperature setting value and the actual temperature; g 12 (S) is a transfer function between the oxygen content setting and the actual temperature; g 22 (S) is a transfer function between the oxygen content setting and the actual oxygen content; g 23 (S) is a transfer function between the negative pressure setting and the oxygen content; g 32 (S) is a transfer function between the oxygen content setting value and the actual negative pressure; g 33 (S) is a transfer function between the negative pressure setting value and the actual negative pressure; g 44 (S) is a transfer function between the set value of the rotating speed of the activation furnace and the actual rotating speed; m is M 1 ，M 2 ，M 3 ，M 4 All are outputs of a four-input four-output control system, M 1 Control amount for the feeding screw conveyor; m2 is the control quantity of the air distribution fan; m3 is the control quantity of the induced draft fan; m4 is the control amount of the driving motor.
As can be seen from fig. 3, since the rotational speed is controlled only by the drive motor M4, the system can be split into a single-input single-output control system, and a three-input and three-output multivariable control system, which can be expressed by the following transfer function matrix:
Figure SMS_16
after the transfer function is obtained, the debugging operation data is collected, and G is matched with software 11 (S)、G 12 (S)、G 22 (S)、G 23 (S)、G 32 (S)、G 33 The model of (S) is identified, and the characteristic equation of each transfer function is obtained, and the method is as follows:
for G 11 (S) collecting debugging data: firstly, a frequency and temperature fuzzy PID regulating system of a feeding screw conveyor is established, a temperature setting value is set, after the system is stable, the frequency of an air distribution fan is manually regulated, and change data of the frequency and the temperature of the air distribution fan are recorded.
For G 12 (S) collecting debugging data: firstly, a frequency and temperature fuzzy PID regulating system of an air distribution fan is established, a temperature setting value is set, after the system is stable, the frequency of a feeding screw conveyor is manually regulated, and the change data of the frequency and the temperature of the feeding screw conveyor are recorded.
For G 22 (S) collecting debugging data: firstly, establishing a frequency and oxygen content fuzzy PID (proportion integration differentiation) regulating system of an air distribution fan, and setting the oxygen contentAnd setting a value, manually adjusting the frequency of the induced draft fan after the system is stable, and recording the frequency of the induced draft fan and the change data of the oxygen content.
For G 23 (S) collecting debugging data: firstly, a frequency and oxygen content fuzzy PID regulating system of the induced draft fan is established, an oxygen content set value is set, after the system is stable, the frequency of the air distribution fan is manually regulated, and change data of the frequency and the oxygen content of the air distribution fan are recorded.
For G 32 (S) collecting debugging data: firstly, a frequency and negative pressure fuzzy PID regulating system of the air distribution fan is established, a negative pressure setting value is set, after the system is stable, the frequency of the induced draft fan is manually regulated, and the frequency and negative pressure change data of the induced draft fan are recorded.
For G 33 (S) collecting debugging data: firstly, a frequency and negative pressure fuzzy PID regulating system of the induced draft fan is established, a negative pressure setting value is set, after the system is stable, the frequency of the air distribution fan is manually regulated, and the frequency and negative pressure change data of the air distribution fan are recorded.
Due to G 23 (S) and G 32 The essence of (S) is that the association relation between two loops, namely the coupling channel, can be compensated by decoupling, the invention adopts feedforward compensation method to realize, and the transfer function of feedforward of each branch is set as W 1 (S)、W 2 (S)、W 3 And (S) the transfer function array is as follows:
Figure SMS_17
the compensated expected equivalent transfer function matrix is:
Figure SMS_18
is obtained by combining the formula 3 and the formula 4
Figure SMS_19
Then
Figure SMS_20
From equation 6, it can be found:
W 1 (s)＝[1 0 0]
Figure SMS_21
Figure SMS_22
wherein a=g 11 (s)G 22 (s)G 33 (s)-G 11 (s)G 23 (s)G 32 (s)。
From the above analysis, a decoupling control block diagram can be obtained as shown in fig. 4: data calculated after decoupling are also W 1 (s)，W 2 (s)，W 3 And(s) adding the PID regulating value, converting the PID regulating value into an analog standard signal through a PLC system, and respectively outputting the regulating value to a screw conveyor, an air distribution fan, a draught fan and a driving motor M4 driven by a frequency converter through the PLC system to control (the regulating value of the activation furnace rotating speed control system obtained through fuzzy PID calculation is used as the final regulating value of the activation furnace rotating speed control system).
In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. The various possible combinations of the invention are not described in detail in order to avoid unnecessary repetition.

Claims (5)

1. A control method of a control system of an activation furnace, characterized in that the control system of the activation furnace comprises: the system comprises a temperature control system, a speed control system, a negative pressure control system, an oxygen content control system, a rotating speed sensor, a temperature transmitter, an oxygen content sensor, a pressure sensor and a fuzzy PID decoupling control module;
the method comprises the steps that a feeding screw conveying device conveys carbonized materials to an inlet of an activation furnace from a storage bin, the feeding speed is adjusted by a temperature control system in a variable frequency mode, so that the temperature in the activation furnace is controlled, an activation furnace rotary kiln device moves the carbonized materials to a tail of the activation furnace from the inlet of the activation furnace through rotation of a kiln body in the activation furnace, steam is introduced in the process to perform pore-forming reaction, and a rotation speed sensor, a temperature transmitter and an oxygen content sensor are adopted, and the rotation speed of the activation furnace, the temperature in the activation furnace, the oxygen content in the activation furnace and the negative pressure in the activation furnace are respectively collected by a pressure sensor; the collected data are respectively transmitted to a fuzzy PID decoupling control module, and the fuzzy PID decoupling control module outputs the final control quantity of the temperature control system, the final control quantity of the oxygen content control system, the final control quantity of the negative pressure control system and the final control quantity of the speed control system, so that the adjustment of the rotating speed of the activation furnace, the temperature in the activation furnace, the negative pressure and the oxygen content in the activation process is realized; after the carbonized material enters the tail end of the activation furnace, the activation furnace outputs an activated carbon finished product; the method specifically comprises the following steps:
step 1: collecting the temperature, oxygen content and negative pressure in the activation furnace in real time and the rotating speed of the activation furnace;
step 2: according to the data acquired in the step 1, calculating to obtain the final control quantity of the temperature control system, the final control quantity of the oxygen content control system, the final control quantity of the negative pressure control system and the final control quantity of the speed control system by adopting a fuzzy PID algorithm and decoupling combination method; the method comprises the following steps:
step 2.1: setting the temperature to a value T and the oxygen content to a value O 2 Setting a negative pressure set value P and an activation furnace rotating speed set value S as inputs, and establishing a four-input four-output control system;
step 2.2: solving each channel of the control system in the step 2.1 by a fuzzy PID algorithm to obtain the regulating quantity of the temperature control system, the regulating quantity of the oxygen content control system, the regulating quantity of the negative pressure control system and the regulating quantity of the activation furnace rotating speed control system;
step 2.3: taking a channel about the rotating speed of the activation furnace in the four-input four-output control system as an independent channel, and taking the regulating quantity of the rotating speed control system of the activation furnace calculated in the step 2.2 as the final regulating quantity of the rotating speed control system of the activation furnace;
step 2.4: decoupling calculation is carried out on the three channels remained in the four-input four-output control system, and a feedforward compensation function W of the temperature is obtained 1 (s) feedforward Compensation function W for oxygen content 2 (s) feedforward Compensation function W of negative pressure 3 (s)；
Step 2.5: according to the adjustment amount and W of the temperature control system in 2.2 1 (s) obtaining the final adjustment of the temperature control system according to the adjustment of the oxygen content control system and W 2 (s) obtaining the final adjustment amount of the oxygen content control system according to the adjustment amount of the negative pressure control system and W 3 (s) obtaining a final adjustment of the negative pressure control system;
the expression of the four-input four-output control system in the step 2.1 is as follows:
Figure QLYQS_1
wherein M is 1 ，M 2 ，M 3 ，M 4 Are all the outputs of a four-input four-output control system, G 11 (s)，G 22 (s)，G 33 (s)，G 44 (s)，G 12 (s)，G 23 (s)，G 32 (s) are transfer functions;
the expression of the three-way system remaining in step 2.4 is as follows:
Figure QLYQS_2
by fitting to G 11 (s)、G 12 (s)、G 22 (s)、G 23 (s)、G 32 (s)、G 33 Identifying the model of(s) to obtain a characteristic equation of each transfer function;
feedforward compensation function W of temperature obtained after decoupling 1 (s) feedforward Compensation function W for oxygen content 2 (s) feedforward Compensation function W of negative pressure 3 Table of(s)The expression is as follows:
W 1 (s)＝[1 0 0]
Figure QLYQS_3
Figure QLYQS_4
wherein a=g 11 (s)G 22 (s)G 33 (s)-G 11 (s)G 23 (s)G 32 (s)。
2. The method for controlling a control system of an activation furnace according to claim 1, wherein the temperature control system adopts a feeding screw conveyor, the speed control system adopts a driving motor, the negative pressure control system adopts a draught fan, and the oxygen content control system adopts an air distribution fan.
3. The control method of a control system of an activation furnace according to claim 2, wherein the flue gas generated by the activation reaction in the activation furnace is extracted into a waste heat boiler by an induced draft fan for recycling.
4. The method according to claim 1, wherein the fuzzy languages in the fuzzy PID control algorithm in step 2.2 are deviation E, deviation rate EC, and proportion K, respectively p Integral K i Differential K d The method comprises the steps of carrying out a first treatment on the surface of the The fuzzy subset is { Z0, NS, NL, NM, NH, NB }, the quantization scale is { -5, -4, -3, -2, -1,0,1,2,3,4,5};
k in fuzzy rule p The membership changes are shown in table 1 below:
TABLE 1
Figure QLYQS_5
K in fuzzy rule i The membership change table is shown in table 2: TABLE 2
Figure QLYQS_6
K in fuzzy rule d The membership change table is shown in table 3 below: TABLE 3 Table 3
Figure QLYQS_7
Figure QLYQS_8
The membership function in the fuzzy PID control algorithm adopts a triangle membership function.
5. The control method of a control system of an activation furnace according to claim 1, wherein in the step 2.5: regulating the regulating variable of the temperature control system in 2.2 and W 1 (s) adding the final adjustment amount of the temperature control system to W 2 (s) adding to obtain the final adjustment of the oxygen content control system, adding the adjustment of the negative pressure control system to W 3 (s) obtaining the final adjustment of the negative pressure control system.
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