CN114786286A - UV-CIPP curing self-adaptive control system - Google Patents
UV-CIPP curing self-adaptive control system Download PDFInfo
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Abstract
The invention discloses a UV-CIPP curing self-adaptive control system, and belongs to the technical field of trenchless pipeline repair. The system comprises a data acquisition unit, a self-adaptive control unit and a mercury lamp dimming unit; the data acquisition unit is used for acquiring the RSSI value received by the RFID detection module and the ultraviolet illumination value obtained by the illumination sensor; the self-adaptive control unit is used for obtaining the average curing degree of the current resin hose by utilizing the RSSI value fed back by the data acquisition unit and adjusting the set value of the ultraviolet light intensity according to the real-time curing degree; the mercury lamp dimming unit changes an actual current flowing through the mercury lamp using a dimming amount. The method does not need to embed a curing degree sensor which influences the performance of the material, can greatly improve the practicability of the UV-CIPP curing on-line monitoring and control, realizes a high-efficiency self-adaptive control curing process, and obviously improves the curing and forming quality of the resin hose.
Description
Technical Field
The invention relates to the field of urban underground old pipeline repair, in particular to a UV-CIPP curing self-adaptive control system and a process for detecting the curing degree of a resin hose based on an RFID technology.
Background
The trenchless restoration technology of pipelines is recognized as an environment-friendly technology of underground facilities by the environmental agenda of the United nations. The technology has little influence on traffic environment, has lower social cost and environmental cost, and is the main direction for the development of the field of pipeline repair in China.
The in-situ curing ultraviolet curing technology in the trenchless repairing technology has the advantages of high construction speed, short construction period, high curing speed and short construction time, can be used for repairing a bent pipeline with a certain deformation part, and can be immediately put into use after the pipeline is repaired, so that the time for plugging and water transferring of the pipeline is greatly reduced; in addition, the inner lining pipe formed by the ultraviolet curing inner lining repairing technology has high strength, and the inner surface of the inner lining pipe formed after repairing is smooth.
However, the ultraviolet dynamic curing technology has problems of insufficient curing or reverse curing reaction, and the like, so that the resin which does not reach the curing degree cannot meet the requirements of underground pipelines after being molded, and therefore, in the process of curing the resin hose, the detection of the curing degree of the hose is very important. In the traditional industrial production process, a curing strategy with high safety factor is to keep a fixed temperature and time cycle unchanged, and the production capacity is reduced and sometimes the product does not reach the standard even if a long curing period is adopted; when the curing time is too short, partially or incompletely cured adhesives may contain unreacted compounds, resulting in reduced bond strength and poor durability, and these unreacted compounds may develop defects that migrate out of the cured adhesive over time, a phenomenon that is particularly detrimental to electrical, electronic and optical applications.
Disclosure of Invention
The invention aims to provide a UV-CIPP curing self-adaptive control system aiming at the problem that the curing degree is difficult to accurately monitor and control on line in the ultraviolet curing process of the existing pipeline non-excavation repair process. And controlling the ultraviolet light illumination value in real time by using a fuzzy PID algorithm according to the difference value between the ultraviolet light intensity set value and the real-time ultraviolet light illumination value, further changing the curing degree of the resin hose, and realizing the self-adaptive control of the illumination intensity and the curing degree. The invention not only can dynamically adjust the illumination intensity value and the curing degree in the whole curing process, but also can greatly reduce the operation and control actions of constructors, adjust the curing degree of the resin hose in real time and improve the curing and molding quality of the resin hose.
The purpose of the invention is realized by the following technical scheme:
a UV-CIPP solidifies the adaptive control system, the said system includes data acquisition unit, adaptive control unit, mercury lamp light modulating unit; the data acquisition unit is used for acquiring the RSSI value received by the RFID detection module and the ultraviolet illumination value obtained by the illumination sensor; the self-adaptive control unit is used for obtaining the average curing degree of the current resin hose by utilizing the RSSI value fed back by the data acquisition unit, adjusting the ultraviolet light intensity set value according to the real-time curing degree, and obtaining a PWM dimming coefficient through a fuzzy control algorithm according to the ultraviolet light intensity set value and the real-time ultraviolet light illumination value; the mercury lamp dimming unit changes the actual current flowing through the mercury lamp using a dimming coefficient.
The data acquisition unit includes: the system comprises an RFID detection module and a light intensity sensor; the RFID detection module comprises a reader, a target tag and a reference tag; the reader is used for sending access electromagnetic waves to tags within a certain range through an antenna; the target tag and the reference tag are used for receiving access electromagnetic waves sent by a reader, radiating unique coded identification information of a chip in the tag to the reader in an electromagnetic wave mode through a built-in tag antenna, and finally feeding back the coded identification information to the computer through a network cable after analog-to-digital conversion; the illuminance sensor is used for collecting a real-time illuminance intensity value in the curing process.
Further, the RFID detection module is used for online monitoring of the curing degree in the uv curing process, and the online monitoring method includes the following steps:
step 1: arranging an RFID reader: placing an RFID reader at the first section of the ultraviolet light chain so as to activate an RFID tag and receive an RSSI value;
and 2, step: arranging the RFID label: placing RFID labels at equal intervals between the impermeable membrane and the glass fiber layer of the resin hose to be cured, and feeding back a real-time RSSI value;
and step 3: fixing the resin hose: placing the hose in an underground pipeline to be repaired and injecting air to fully expand and expand the hose to be tightly attached to the inner wall of the pipeline to be repaired;
and 4, step 4: monitoring data in real time: and curing the resin hose according to a corresponding curing process, drawing a curve changing along with time according to the RSSI value fed back to the computer by the RFID reader, calculating the slope alpha of the curve in real time, and representing the real-time curing degree of the resin hose according to the alpha.
The adaptive control unit includes: the system comprises an RSSI value display module, a gradient value calculation module and a light modulation amount calculation module; the RSSI value display module is used for generating a real-time RSSI value-time curve according to the RSSI value fed back by the RFID detection system; the slope value calculation module is used for calculating the slope of a real-time curve according to the curve obtained by the RSSI value display module and representing the curing degree; and the dimming quantity calculation module is used for obtaining control quantity output, namely a PWM dimming coefficient, after fuzzy PID operation according to the difference value between the illumination intensity value acquired by the illumination sensor and the ultraviolet light intensity set value.
According to the mercury lamp dimming unit, the MOS tube is connected in series in the mercury lamp loop, and then PWM signals with different duty ratios are loaded to the grid electrode of the MOS tube according to different PWM dimming coefficients, so that the actual current flowing through the mercury lamp is adjusted, and further the ultraviolet illumination intensity is changed.
The invention also provides a UV-CIPP curing self-adaptive control method, which comprises the following steps:
s1, acquiring a real-time RSSI value and an illumination intensity value in the pipeline repairing process;
s2, generating a curve changing along with time according to the RSSI value, and obtaining the real-time curing degree in the curing process according to the generated curve;
s3, adjusting the set value of the ultraviolet light intensity according to the curing degree of the resin hose;
s4, utilizing fuzzy according to the ultraviolet light intensity set value and the current curing ultraviolet light illumination value LPID algorithm obtains dimming coefficient D required by mercury lamp light sourcedim；
S5, according to the dimming coefficient DdimThe actual effective current passing through the mercury lamp is adjusted to change the illumination intensity of the current mercury lamp light source, and further the curing degree of the resin hose is changed.
Further, the step S1 is specifically:
s11: arranging a reference tag, a reader and a target tag in a pipeline, wherein the position of the reference tag is known as (Xi, Yi), i 1.... N, and the position of the target tag is (x, y);
s12: obtaining the RSSI matrix R of the reference label and the target label as
Wherein Ril represents the RSSI of the ith reference tag received by the reader; defining the RSSI matrix r of the target tag as r ═ r11]；
S13: calculating Euclidean distance between the RSSI of the reference label and the RSSI of the target label, defining a correlation matrix E,
wherein Ei1Representing the Euclidean distance between the ith reference tag and the target tag RSSI;
s14: selecting K nearest reference labels and calculating the weight;
s15: calculating to obtain the position coordinates of the target label according to the weight and the position of the reference label;
s16: and outputting the position coordinates of the target tag, and acquiring the RSSI value at the designated position of the target tag.
Further, the step S4 is specifically:
determining the dimming coefficient of the mercury lamp by adopting fuzzy PID: according to the difference e between the set value and the feedback value of the illumination intensity and the corresponding change rate e of the differencecUsing the fuzzy system as the input of the fuzzy system, performing the fuzzy processing to the fuzzy system, and using the set fuzzyPasting a control rule and outputting a mercury lamp dimming coefficient;
for the difference e, the rate of change of the difference ecThe method is divided into 6 fuzzy subsets, namely NB (big negative), NM (middle negative), NS (small negative), ZO (zero), PS (small positive), PM (middle positive) and PB (big positive), and is characterized by a normal distribution membership function.
Compared with the prior art, the invention has the excellent effects that:
1. the control system can monitor the curing degree of the resin hose in the trenchless ultraviolet curing process of the pipeline in real time, change the ultraviolet light intensity set value in real time according to the current curing degree, control the current ultraviolet light illumination value in real time according to the ultraviolet light intensity set value, change the ultraviolet light illumination value in the ultraviolet curing process in real time, further change the curing degree of the resin hose and realize the self-adaptive control of the curing degree.
2. The method for monitoring the curing degree on line by the RFID detection module does not need to embed any sensor into the resin hose, ensures the integrity and the mechanical property of the resin hose, and does not cause any damage to materials; meanwhile, the RFID detection module has low measurement cost, high precision and good reliability.
3. The method avoids the problem that the curing quality of the pipeline does not reach the standard due to the fact that the curing degree cannot be obtained in real time in the actual pipeline repairing process, provides a basis for real-time control and adjustment of the pipeline trenchless repairing process, and provides a solution for design and optimization of the resin hose composite curing process.
Drawings
FIG. 1 is a block diagram of a UV-CIPP curing adaptive control system of the present invention;
FIG. 2 is a schematic diagram of a UV-CIPP curing self-adaptive control method of the invention;
FIG. 3 is a schematic diagram of an embodiment of the UV-CIPP curing degree on-line self-monitoring method of the invention;
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The invention aims to provide a UV-CIPP curing self-adaptive control system, which is used for acquiring a real-time RSSI (received signal strength indicator) value and an illumination intensity value through a data acquisition unit in the ultraviolet curing process of repairing an underground pipeline so as to realize the online monitoring of the curing degree of a resin hose; the self-adaptive control of the illumination intensity and the curing degree is realized through the self-adaptive control unit and the mercury lamp dimming unit.
As shown in fig. 1, the present invention provides an adaptive control system for UV-CIPP curing, wherein the control system of the present invention comprises a plurality of sub-control units, each unit comprises a plurality of sub-modules, and each module automatically coordinates, and comprises: the device comprises an RFID detection module, an RSSI value display module, a slope value calculation module and a dimming quantity calculation module.
As shown in fig. 2, the invention provides a self-adaptive control method for UV-CIPP curing, comprising the following steps:
step S1: and acquiring a real-time RSSI value and an illumination intensity value in the pipeline repairing process by using the RFID detection module and the illumination sensor.
Step S2: and generating a curve changing along with time according to the RSSI value by using the RSSI value display module, and obtaining the slope of the curve according to the generated curve by using the slope value calculation module so as to represent the curing degree of the resin hose.
Step S3: adjusting the set value of the ultraviolet light intensity according to the curing degree of the resin hose;
step S4: according to the ultraviolet light intensity set value and the current ultraviolet light illumination value L, a mercury lamp dimming quantity calculation module is used for obtaining a dimming coefficient required by a mercury lamp light source;
step S5: the mercury lamp dimming unit is used for adjusting actual effective current passing through the mercury lamp according to the dimming coefficient to change the illumination intensity of the current mercury lamp light source, and further the curing degree of the resin hose is changed.
Example 1.
The embodiment is to apply the UV-CIPP curing self-adaptive control system in the urban underground old pipeline repairing process, wherein a pipeline to be repaired is formed by laying resin-based composite prepreg, and RFID tags are placed between an impermeable film and a glass fiber layer at equal intervals in the stacking process. The specific steps of this example are as follows:
step 1: arranging an RFID reader: placing an RFID reader at the first section of the ultraviolet light chain so as to activate the RFID tag and receive the RSSI value;
and 2, step: arranging the RFID label: placing RFID tags at equal intervals between the anti-seepage film and the glass fiber layer of the resin hose to be cured, and feeding back a real-time RSSI value;
and 3, step 3: fixing the resin hose: the hose is pulled into an underground pipeline to be repaired, a cushion film is laid in the original pipeline before the hose is pulled into the underground pipeline, the cushion film is placed at the bottom of the original pipeline, and the circumference of the pipeline, which is larger than 1/3, is covered. When the hose is pulled in, the hose impregnated with the resin is stably, flatly and slowly pulled into the original pipeline along the pad film at the bottom of the hose, and air is injected to fully expand and expand the hose to be closely attached to the inner wall of the pipeline to be repaired;
and 4, step 4: pulling in an ultraviolet lamp chain: after the binding head is opened after the inflation is stopped, the ultraviolet lamp holder is quickly placed into the binding head, the lamp chain is pulled into the lining tube, the pulling-in speed of the ultraviolet lamp holder is determined according to the tube diameter, the wall thickness and the lamp holder combination, the speed of the lamp holder is controlled to be half of the preset speed within 0.5m of the curing starting end, then the speed is increased to the preset speed, and when the curing terminal is 1.0m, the speed is reduced to be half of the preset speed until the terminal point.
And 5: monitoring data in real time: and curing the resin hose according to a corresponding curing process, drawing a curve changing along with time according to the RSSI value fed back to the computer by the RFID reader, calculating the slope alpha of the curve in real time, and representing the real-time curing degree of the resin hose according to the alpha.
Step 6: self-adaptive control: adjusting the set value of the ultraviolet light intensity according to the curing degree of the resin hose, and adjusting the set value of the ultraviolet light intensity according to the difference e between the set value of the illumination intensity and the feedback value and the corresponding change rate e of the differencecOutputting the dimming coefficient D of the mercury lamp by using the set fuzzy control ruledimAccording to the dimming coefficient DdimThe actual effective current passing through the mercury lamp is adjusted to change the illumination intensity of the current mercury lamp light source, so that the curing degree of the resin hose is changed, and the self-adaptive control of the curing degree is realized.
In the embodiment, the RSSI value is obtained through the RFID detection module, the real-time ultraviolet illumination value is obtained through the illumination sensor, a curve which changes along with time is drawn through the RSSI value, and the curing degree of the resin hose is judged through the slope of the curve, so that the set value of the ultraviolet light intensity is changed to meet the curing requirement. The ultraviolet light intensity set value is compared with the real-time ultraviolet light illumination value, so that the ultraviolet light illumination value is controlled in real time, the self-adaptive control of the illumination intensity is realized, the illumination intensity value and the curing degree in the whole curing process can be dynamically adjusted, the control behaviors of constructors can be greatly reduced, the curing degree of the resin hose can be monitored and controlled in real time, and the curing forming quality is improved.
Specifically, in the online self-monitoring method for the degree of curing, as shown in fig. 3, by integrating an RFID target tag and a reference tag between an impermeable film and a glass fiber layer of a resin hose, mechanical properties are not affected, and the online self-monitoring method can be used for generating induced current when the tag enters a working area of a reader antenna during gum dipping and curing, and the tag is activated by obtaining energy; the target tag will self-monitor. Meanwhile, the reader and the lamp chain are pulled into the underground pipeline to be repaired together, the reader transmits radio frequency signals, the information of the reader is transmitted to the reader, the reader feeds the obtained information back to the computer, and the collection of the signal strength RSSI value in the curing process is completed.
The accuracy of the RSSI value fed back by the reader can be influenced by the interference of the underground environment and the reflection of various signals, so that the reference tags are introduced around the target tag, the interference can be balanced on one hand, and on the other hand, the positioning can be carried out, so that the reader can acquire the information of the tag at a specified position, and meanwhile, the length of a repaired pipeline can be acquired, and the construction progress can be monitored in real time.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A UV-CIPP cure adaptive control system, comprising: the system comprises a data acquisition unit, a self-adaptive control unit and a mercury lamp dimming unit; the data acquisition unit is used for acquiring the RSSI value received by the RFID detection module and the ultraviolet illumination value obtained by the illumination sensor; the self-adaptive control unit is used for obtaining the average curing degree of the current resin hose by utilizing the RSSI value fed back by the data acquisition unit, adjusting the ultraviolet light intensity set value according to the real-time curing degree, and obtaining a PWM dimming coefficient through a fuzzy control algorithm according to the ultraviolet light intensity set value and the real-time ultraviolet light illumination value; the mercury lamp dimming unit changes the actual current flowing through the mercury lamp using a dimming coefficient.
2. The adaptive control system for UV-CIPP curing according to claim 1, wherein the data acquisition unit comprises: the system comprises an RFID detection module and a light intensity sensor;
the RFID detection module comprises a reader, a target tag and a reference tag; the reader is used for sending access electromagnetic waves to tags within a certain range through the antenna; the target tag and the reference tag are used for receiving access electromagnetic waves sent by a reader, radiating unique coded identification information of a chip in the tag to the reader in an electromagnetic wave mode through a built-in tag antenna, and finally feeding back the coded identification information to the computer through a network cable after analog-to-digital conversion; the RFID detection module is used for on-line monitoring of the curing degree in the ultraviolet curing process, and the on-line monitoring method comprises the following steps:
step 1: arranging an RFID reader: placing an RFID reader at the first section of the ultraviolet light chain so as to activate the RFID tag and receive the RSSI value;
and 2, step: arranging the RFID label: placing RFID tags at equal intervals between the anti-seepage film and the glass fiber layer of the resin hose to be cured, and feeding back a real-time RSSI value;
and 3, step 3: fixing the resin hose: placing the hose in an underground pipeline to be repaired and injecting air to fully expand and expand the hose to be tightly attached to the inner wall of the pipeline to be repaired;
and 4, step 4: monitoring data in real time: curing the resin hose according to a corresponding curing process, drawing a curve changing along with time according to an RSSI value fed back to a computer by an RFID reader, calculating the slope alpha of the curve in real time, and representing the real-time curing degree of the resin hose according to the alpha;
and the illuminance sensor is used for acquiring a real-time illumination intensity value in the curing process.
3. A UV-CIPP curing adaptive control system according to claim 1, wherein the adaptive control unit comprises: the system comprises an RSSI value display module, a gradient value calculation module and a light modulation amount calculation module;
the RSSI value display module is used for generating a real-time RSSI value-time curve according to the RSSI value fed back by the RFID detection module;
the slope value calculation module is used for calculating the slope of a real-time curve according to the curve obtained by the RSSI value display module and representing the curing degree;
and the dimming quantity calculation module is used for obtaining control quantity output, namely a PWM dimming coefficient, after fuzzy PID operation according to the difference value between the illumination intensity value acquired by the illumination sensor and the ultraviolet light intensity set value.
4. The UV-CIPP curing adaptive control system according to claim 1, characterized in that the mercury lamp dimming unit is used for adjusting actual current flowing through a mercury lamp by serially connecting an MOS (metal oxide semiconductor) tube in a mercury lamp loop and then loading PWM (pulse width modulation) signals with different duty ratios to a grid electrode of the MOS tube according to different PWM dimming coefficients so as to change ultraviolet illumination intensity.
5. The UV-CIPP curing adaptive control method based on claim 2, characterized in that: comprises the following steps:
s1, acquiring a real-time RSSI value and an illumination intensity value in the pipeline repairing process;
s2, generating a curve changing along with time according to the RSSI value, and obtaining the real-time curing degree in the curing process according to the generated curve;
s3, adjusting the set value of the ultraviolet light intensity according to the curing degree of the resin hose;
s4, obtaining the dimming coefficient D needed by the mercury lamp light source by using the fuzzy PID algorithm according to the ultraviolet light intensity set value and the current ultraviolet light illumination value Ldim；
S5, according to the dimming coefficient DdimThe actual effective current passing through the mercury lamp is adjusted to change the illumination intensity of the current mercury lamp light source, and further the curing degree of the resin hose is changed.
6. The adaptive control method for UV-CIPP curing according to claim 5, wherein the step S1 is specifically as follows:
s11: arranging a reference tag, a reader and a target tag in the pipeline, wherein the position of the reference tag is known as (Xi, Yi), i is 1, … …, N, and the position of the target tag is (x, y);
s12: obtaining the RSSI matrix R of the reference label and the target label as
Wherein Ri1 represents the RSSI of the ith reference tag received by the reader; defining the RSSI matrix r of the target tag as r ═ r11]；
S13: calculating Euclidean distance between the RSSI of the reference label and the RSSI of the target label, defining a correlation matrix E,
wherein Ei1Representing the Euclidean distance between the ith reference tag and the target tag RSSI;
s14: selecting K nearest reference labels and calculating the weight;
s15: calculating to obtain the position coordinates of the target label according to the weight and the position of the reference label;
s16: and outputting the position coordinates of the target tag, and acquiring the RSSI value at the designated position of the target tag.
7. The adaptive control method for UV-CIPP curing according to claim 5, wherein the step S4 is specifically as follows:
determining the dimming coefficient of the mercury lamp by adopting fuzzy PID: according to the difference e between the set value of the illumination intensity and the feedback value and the corresponding change rate e of the differencecThe fuzzy control algorithm is used as the input of a fuzzy system, fuzzification processing is carried out on the fuzzy control algorithm, and a mercury lamp dimming coefficient is output by utilizing a set fuzzy control rule;
for the difference e, the rate of change of the difference ecThe method is divided into 6 fuzzy subsets, namely NB (big negative), NM (middle negative), NS (small negative), ZO (zero), PS (small positive), PM (middle positive) and PB (big positive), and is characterized by a normal distribution membership function.
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