CN115344064A - Valve flow control method and device and electronic equipment - Google Patents
Valve flow control method and device and electronic equipment Download PDFInfo
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Abstract
The invention provides a valve flow control method, a valve flow control device and electronic equipment, wherein the method comprises the following steps: acquiring a first flow of a controlled medium, a first opening degree of a valve and a first pressure value of a valve outlet; based on a fuzzy algorithm and a PID algorithm, regulating the first flow to obtain a regulated second flow; calculating to obtain a second opening degree of the valve according to the second flow and the first pressure value; determining the initial expected opening degree of the valve based on the output work fitting relation of different valve displacement corresponding to different densities; based on a fuzzy algorithm, adjusting the initial expected opening according to the second opening to obtain the adjusted expected opening; and controlling the flow of the valve according to the adjusted expected opening and the first opening. The scheme of the invention solves the problem of low precision of the current control mode of the valve flow.
Description
Technical Field
The present invention relates to the field of information technology application technologies, and in particular, to a method and an apparatus for controlling a valve flow, and an electronic device.
Background
Along with the rapid development of the intelligent internet generation, the standard of industrial production is more strict, the product proportion is more strictly regulated, and the accurate control of the flow quality is particularly important, so the research and realization of the accurate control of the valve flow are not only scientific research requirements, but also production requirements of modern industry. At present, the control mode of the valve flow still stays in manual control or open-loop control of a controller, and the precision of the control mode is low.
Disclosure of Invention
The invention aims to provide a method and a device for controlling valve flow and electronic equipment, and aims to solve the problem that the current control mode for the valve flow is low in precision.
To achieve the above object, an embodiment of the present invention provides a method for controlling a valve flow, including:
acquiring a first flow of a controlled medium, a first opening degree of a valve and a first pressure value of a valve outlet; wherein the first flow rate is the volume flow rate or the mass flow rate of the controlled medium;
based on a fuzzy algorithm and a PID algorithm, adjusting the first flow to obtain an adjusted second flow;
calculating to obtain a second opening degree of the valve according to the second flow and the first pressure value;
determining the initial expected opening degree of the valve based on the output work fitting relation of different valve displacement corresponding to different densities;
based on a fuzzy algorithm, adjusting the initial expected opening according to the second opening to obtain an adjusted expected opening;
and controlling the flow of the valve according to the adjusted expected opening degree and the first opening degree.
Optionally, the adjusting the first flow based on a fuzzy algorithm and a PID algorithm to obtain an adjusted second flow includes:
calculating to obtain a flow average value based on a plurality of flows of the controlled medium acquired according to a preset time step;
determining a first difference between the average flow rate and a given desired flow rate, and determining a first rate of change of the first difference over time;
based on a fuzzy algorithm, obtaining a target proportional parameter, a target integral parameter and a target differential parameter according to the first difference and the first change rate;
and adjusting the first flow based on the PID algorithm of the target proportional parameter, the target integral parameter and the target differential parameter to obtain an adjusted second flow.
Optionally, the calculating a flow average value based on the flows of the multiple controlled media collected according to the preset time step includes:
calculating a standard deviation of a plurality of flows and an arithmetic mean of the plurality of flows based on the plurality of flows of the controlled medium acquired according to a preset time step;
if the standard deviation is less than or equal to the arithmetic mean, determining the arithmetic mean as the flow mean;
and if the standard deviation is larger than the arithmetic mean value, removing the maximum value and the minimum value in the plurality of flow rates, and determining the arithmetic mean value of the plurality of flow rates after the maximum value and the minimum value are removed as the flow rate mean value.
Optionally, the obtaining a target proportional parameter, a target integral parameter, and a target differential parameter according to the first difference and the first change rate based on a fuzzy algorithm includes:
fuzzification processing is carried out on the first difference value and the first change rate, and proportional parameter variation, integral parameter variation and differential parameter variation are obtained;
performing defuzzification processing on the proportional parameter variation, the integral parameter variation and the differential parameter variation;
and determining the target proportional parameter, the target integral parameter and the target differential parameter according to the proportional parameter variation, the integral parameter variation and the differential parameter variation after defuzzification processing, as well as the initial proportional parameter, the initial integral parameter and the initial differential parameter.
Optionally, the calculating a second opening degree of the valve according to the second flow rate and the first pressure value includes:
calculating to obtain a second opening degree of the valve according to the second flow and the first pressure value based on the output work fitting relation;
and the fitting relation based on the output work is related to the flow of the controlled medium, the opening degree of the valve and the pressure value of the outlet of the valve.
Optionally, the determining an initial expected opening degree of the valve based on the output work fitting relationship of different valve displacement amounts corresponding to different densities includes:
determining the valve opening corresponding to the minimum value of the output work based on the output work fitting relation of different valve displacement corresponding to different densities;
and determining the initial expected opening of the valve according to the smaller of the valve opening corresponding to the minimum output work value and the given valve opening.
Optionally, the adjusting the initial desired opening degree according to the second opening degree based on a fuzzy algorithm to obtain an adjusted desired opening degree includes:
determining a second difference between the second opening and the initial desired opening and determining a second rate of change of the second difference over time;
determining an adjusting value of the valve opening according to the second difference and the second change rate based on a fuzzy algorithm;
and adjusting the initial expected opening according to the valve opening adjustment value to obtain the adjusted expected opening.
Optionally, the determining, based on the fuzzy algorithm, an adjustment value of the valve opening according to the second difference and the second rate of change includes:
fuzzifying the second difference value and the second change rate to obtain a fuzzy value;
and performing defuzzification processing on the fuzzy value to obtain an adjusting value of the valve opening.
Optionally, the controlling the valve flow according to the adjusted desired opening degree and the first opening degree includes:
performing fuzzy processing on a third difference value between the adjusted expected opening degree and the first opening degree to determine a pulse signal;
outputting the pulse signal to a driving module of the valve; the pulse signal is used for driving the driving module to control the valve opening of the valve so as to control the valve flow.
To achieve the above object, an embodiment of the present invention provides a valve flow control apparatus, including:
the acquiring module is used for acquiring a first flow of a controlled medium, a first opening degree of a valve and a first pressure value of a valve outlet; wherein the first flow rate is the volume flow rate or the mass flow rate of the controlled medium;
the first adjusting module is used for adjusting the first flow based on a fuzzy algorithm and a PID algorithm to obtain an adjusted second flow;
the calculation module is used for calculating and obtaining a second opening degree of the valve according to the second flow and the first pressure value;
the determining module is used for determining the initial expected opening degree of the valve based on the output work fitting relation of different valve displacement quantities corresponding to different densities;
the second adjusting module is used for adjusting the initial expected opening degree according to the second opening degree based on a fuzzy algorithm to obtain an adjusted expected opening degree;
and the control module is used for controlling the flow of the valve according to the adjusted expected opening degree and the first opening degree.
Optionally, the first adjusting module comprises:
the first calculation submodule is used for calculating to obtain a flow average value based on a plurality of flows of the controlled medium acquired according to a preset time step;
a first determination submodule for determining a first difference between the average flow rate and a given desired flow rate, and for determining a first rate of change of the first difference over time;
the first processing submodule is used for obtaining a target proportional parameter, a target integral parameter and a target differential parameter according to the first difference and the first change rate on the basis of a fuzzy algorithm;
and the first adjusting submodule is used for adjusting the first flow based on a PID algorithm of the target proportional parameter, the target integral parameter and the target differential parameter to obtain an adjusted second flow.
Optionally, the first computation submodule includes:
the calculating unit is used for calculating the standard deviation of a plurality of flows and the arithmetic mean of the plurality of flows based on the plurality of flows of the controlled medium collected according to the preset time step;
a first processing unit configured to determine the arithmetic mean as the flow volume mean if the standard deviation is less than or equal to the arithmetic mean;
and a second processing unit configured to remove a maximum value and a minimum value of the plurality of flow rates if the standard deviation is larger than the arithmetic average value, and determine the arithmetic average value of the plurality of flow rates from which the maximum value and the minimum value are removed as the flow rate average value.
Optionally, the first processing sub-module includes:
the third processing unit is used for performing fuzzification processing on the first difference and the first change rate to obtain a proportional parameter change amount, an integral parameter change amount and a differential parameter change amount;
a fourth processing unit, configured to perform defuzzification processing on the proportional parameter variation, the integral parameter variation, and the differential parameter variation;
and the fifth processing unit is used for determining the target proportional parameter, the target integral parameter and the target differential parameter according to the proportional parameter variation, the integral parameter variation and the differential parameter variation after the defuzzification processing, as well as the initial proportional parameter, the initial integral parameter and the initial differential parameter.
Optionally, the calculation module comprises:
the second calculation submodule is used for calculating and obtaining a second opening degree of the valve according to the second flow and the first pressure value on the basis of an output work fitting relation;
and the output work fitting relation is related to the flow of the controlled medium, the valve opening and the pressure value of the valve outlet.
Optionally, the determining module includes:
the second determining submodule is used for determining the valve opening corresponding to the minimum value of the output work based on the output work fitting relation of different valve displacement corresponding to different densities;
and the third determining submodule is used for determining the initial expected opening of the valve according to the smaller of the valve opening corresponding to the minimum output work value and the given valve opening.
Optionally, the second adjusting module comprises:
a fourth determination submodule for determining a second difference between the second opening degree and the initial desired opening degree, and for determining a second rate of change of the second difference over time;
the second processing submodule is used for determining an adjusting value of the valve opening degree according to the second difference value and the second change rate based on a fuzzy algorithm;
and the second adjusting submodule is used for adjusting the initial expected opening degree according to the adjustment value of the valve opening degree to obtain the adjusted expected opening degree.
Optionally, the second processing sub-module includes:
a sixth processing unit, configured to perform fuzzification processing on the second difference and the second change rate to obtain a fuzzy value;
and the seventh processing unit is used for performing defuzzification processing on the fuzzy value to obtain an adjusting value of the valve opening.
Optionally, the control module comprises:
the third processing submodule is used for carrying out fuzzy processing on a third difference value between the adjusted expected opening degree and the first opening degree and determining a pulse signal;
the control submodule is used for outputting the pulse signal to a driving module of the valve; the pulse signal is used for driving the driving module to control the valve opening of the valve so as to control the valve flow.
To achieve the above object, an embodiment of the present invention provides an electronic device, which includes a transceiver, a processor, a memory, and a program or instructions stored in the memory and executable on the processor; the processor when executing the program or instructions implements the steps in the method of controlling valve flow as described above.
To achieve the above object, an embodiment of the present invention provides a readable storage medium, on which a program or instructions are stored, the program or instructions, when executed by a processor, implement the steps in the control method of the valve flow as described above.
The technical scheme of the invention has the following beneficial effects:
the embodiment adopts the fuzzy algorithm and the PID algorithm to adjust the flow of the valve input port, carries out the fuzzy adjustment of the expected valve opening degree based on the adjusted flow, the acquired pressure value of the output port, the valve opening degree and the like, realizes the real-time adjustment of the expected valve opening degree, combines the flow adjustment of the valve input port with the valve expected opening degree (or called displacement) of the output port through the fuzzy algorithm and the PID algorithm to carry out the combined regulation and control of the real-time adjustment, can improve the control precision of the valve flow, can also prolong the service life of the valve device, and has the advantages of stable control performance, strong applicability and high intelligent degree.
Drawings
FIG. 1 is a flow chart of a method of controlling valve flow in accordance with an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a data acquisition module according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a conversion circuit combining a multi-way switch and an analog-to-digital conversion chip according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a fuzzy adaptive PID controller according to an embodiment of the invention;
FIG. 5 is a flow chart of the combined control of the valve flow regulation in combination with the desired valve opening in real time based on the fuzzy algorithm and the PID algorithm in the embodiment of the present invention;
FIG. 6 is a block diagram of a valve flow control apparatus according to an embodiment of the present invention;
fig. 7 is a block diagram of an electronic device according to an embodiment of the invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B can be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may be determined from a and/or other information.
The intelligent electric valve can realize the automatic control of the valve flow, and can adopt the single-chip microcomputer technology to process signals and output control quantity to drive the alternating current motor to realize linear displacement. The mechanism has the advantages of low price, simplicity in operation, high integration level and the like, can be communicated with an upper computer, and can cause control delay and control failure in the face of complex working conditions.
The development of electric valve intelligence will focus on automatic regulation under complex conditions and digital remote communication combined with internet of things technology. The control method analysis is carried out when the multi-mode controller is in a controlled medium volume flow closed-loop control mode based on the accurate flow control valve, and the control method analysis mainly comprises a data acquisition module, a control module and a motor control module. The fuzzy self-adaptive algorithm is combined to optimize the traditional PID algorithm, the pulse signal is output, the received pulse signal is used for regulating and controlling the valve, the flow of the controlled medium is accurately controlled, the fuzzy self-adaptive algorithm is suitable for accurately controlling different media under complex working conditions, and the intelligent degree is higher by combining the networking technology.
As shown in fig. 1, a method for controlling a valve flow according to an embodiment of the present invention includes:
step 11: the method comprises the steps of obtaining a first flow of a controlled medium, a first opening degree of a valve and a first pressure value of a valve outlet.
Wherein the first flow rate is a volume flow rate or a mass flow rate of the controlled medium. That is, the valve flow rate in the embodiment of the present invention may be controlled by adjusting the valve opening degree based on the mass flow rate of the controlled medium, or by adjusting the valve opening degree based on the volume flow rate of the controlled medium.
Step 12: and adjusting the first flow based on a fuzzy algorithm and a PID algorithm to obtain an adjusted second flow.
Step 13: and calculating to obtain a second opening degree of the valve according to the second flow and the first pressure value.
Step 14: and determining the initial expected opening degree of the valve based on the output work fitting relation of different valve displacement quantities corresponding to different densities.
Step 15: and adjusting the initial expected opening degree according to the second opening degree based on a fuzzy algorithm to obtain the adjusted expected opening degree.
Step 16: and controlling the flow of the valve according to the adjusted expected opening and the first opening.
In the above scheme, the fuzzy algorithm and the PID algorithm are adopted for flow regulation of the valve input port, fuzzy regulation of the expected valve opening degree is carried out based on the regulated flow, the collected pressure value of the output port, the valve opening degree and the like, and real-time regulation of the expected valve opening degree is realized.
Wherein, obtaining the first flow of the controlled medium, the first opening degree of the valve, and the first pressure value of the valve outlet may include:
the method comprises the steps of obtaining a first flow of a controlled medium collected by a flow sensor, obtaining a first opening degree of a valve collected by an angle sensor, and obtaining a first pressure value of a valve outlet collected by a pressure sensor.
The flow sensor can be arranged in the controlled medium, the angle sensor can be arranged in the valve, and the pressure sensor can be arranged at the outlet position of the valve.
Optionally, the temperature of the controlled medium can be acquired through a temperature sensor, and when the density of the controlled medium changes along with the temperature, the density of the controlled medium can be regulated and controlled by combining the acquired temperature, so that the control precision is ensured.
The data acquisition and processing process of the embodiment of the present invention is described below with reference to the schematic structural diagram of the data acquisition module shown in fig. 2:
accurate data acquisition is the basis of realizing the accurate control of flow valve, therefore this data acquisition module can include: a temperature sensor, a flow sensor and an angle sensor arranged in the valve and arranged in the controlled medium.
The temperature sensor, the flow sensor and the angle sensor arranged in the valve are used for respectively acquiring signals, the temperature signal acquisition circuit is used for converting a resistance signal output by the temperature sensor into a voltage signal, and the flow signal acquisition circuit is used for converting a current signal output by the flow sensor into a voltage signal (the signal output by the angle sensor is the voltage signal, so that the signal output by the angle sensor can not be converted); and then, the obtained three voltage signals are selected through a multi-way switch (such as CD 4051), the selected voltage signals are transmitted to an analog-to-digital conversion chip (such as ADS 1110) through an output end, the analog-to-digital conversion chip can send the output signals to an execution main body (such as a CPU) for valve control so as to control the valve flow, and for example, the analog-to-digital conversion chip can output the converted signals to the CPU through an IIC communication protocol.
Specifically, the angle sensor is used for detecting the real-time opening of the valve and transmitting the real-time opening to the CPU through analog-to-digital conversion, so that accurate closed-loop control of the opening of the valve is realized. The density of the controlled medium needs to be selected in the experimental process, and the temperature sensor is selected to collect the temperature because the density changes along with the temperature. The flow sensor is used for collecting flow signals of a controlled medium and transmitting the flow signals to the CPU through analog-to-digital conversion.
Because the invention adopts multi-sensor signal input, the input channel can be selected through a multi-way switch. If the logic judgment chip CD4051 is selected as the multi-way switch, it is essentially a single-ended eight-channel switch. The package is SOIC-16/208mil, and has 3 address input terminals, 8 input channels, 1 output channel, and a pair of positive and negative power supply pins. Eight control modes can be realized by combining 3 addressing channels through binary, and the switches of 8 input channels and 1 output channel are correspondingly controlled.
The analog-to-digital conversion chip has the function of converting analog signals acquired by the sensor into digital signals which can be read by the CPU, and through the reasonable design of the analog-to-digital conversion chip, the accuracy of data acquisition is improved, so that the accurate control of the valve flow is ensured. As shown in fig. 3, a conversion circuit combining a multi-way switch and an analog-to-digital conversion chip is provided, for example, the conversion circuit is designed by using a CD4051 multi-way switch and an ADS1110 analog-to-digital conversion chip in a matching manner.
Specifically, a CD4051 single-end 8-channel multi-channel switch is adopted to realize multi-channel logic judgment, and a 16-bit ADS110 chip is adopted to replace an on-chip 12-bit analog-to-digital converter to improve data acquisition precision. Transmitting the collected temperature signal, flow signal and valve opening signal to channel 0, channel 1 and channel 2 of CD4051, namely, channel 0, channel 1 and channel 2 are input ends; the address end is controlled by a CPU, and the on-off control of the input end is realized through the combination of high and low levels; pin 3 is a common output terminal, and outputs a voltage signal of a turn-on channel to the ADS1110 analog-to-digital conversion chip; the ADS1110 chip is delivered to the CPU through the IIC communication protocol.
After data are acquired based on the data acquisition module, the fuzzy self-adaptive PID control algorithm is combined to realize valve flow control, so that the intellectualization and the accuracy of the valve flow control are achieved.
Specifically, the data acquisition module converts a valve opening signal acquired by the sensor, a flow signal of a controlled medium and a temperature signal into digital quantities and transmits the digital quantities to the CPU; if the CPU analyzes and processes the acquired data, a control signal is output to the motor driving module, and the motor driving function is realized; the CPU outputs a control signal to the FLASH storage module to realize the data storage function; the CPU outputs a control signal to the display screen module to realize a display function; the CPU outputs a control signal to the communication module of the Internet of things to realize the GPRS function and the GSM short message function.
Optionally, the adjusting the first flow rate based on a fuzzy algorithm and a PID algorithm to obtain an adjusted second flow rate includes:
calculating to obtain a flow average value based on a plurality of flows of the controlled medium collected according to a preset time step;
determining a first difference between the average flow rate and a given desired flow rate, and determining a first rate of change of the first difference over time;
based on a fuzzy algorithm, obtaining a target proportional parameter, a target integral parameter and a target differential parameter according to the first difference and the first change rate;
and adjusting the first flow based on the PID algorithm of the target proportional parameter, the target integral parameter and the target differential parameter to obtain an adjusted second flow.
As shown in fig. 4, a schematic diagram of a fuzzy adaptive PID controller is presented; the system flow error E and the system flow error change rate EC (De/Dt) are input variables, and the proportional parameter variation, the integral parameter variation, and the derivative parameter variation are output variables. Realizing the delta K by fuzzy processing of E and EC P 、ΔK I 、ΔK D Fuzzy control of (1), converting the fuzzy processed delta K P 、ΔK I 、ΔK D With the initial PID parameter K P0 、K I0 、K D0 PID parameter self-tuning is realized by combining, and the formulas are shown as 5-1, 5-2 and 5-3.
K P ＝K P0 +ΔK P (5-1)
K I ＝K I0 +ΔK I (5-2)
K D ＝K D0 +ΔK D (5-3)
Optionally, the calculating a flow average value based on the flows of the multiple controlled media collected according to the preset time step includes:
calculating standard deviations of a plurality of flow rates and arithmetic mean values of the plurality of flow rates based on the plurality of flow rates of the controlled medium collected according to a preset time step;
if the standard deviation is less than or equal to the arithmetic mean, determining the arithmetic mean as the flow mean;
and if the standard deviation is larger than the arithmetic mean value, removing the maximum value and the minimum value in the plurality of flow rates, and determining the arithmetic mean value of the plurality of flow rates after the maximum value and the minimum value are removed as the flow rate mean value.
Specifically, the value ranges of the input and output interfaces are determined, for example, the input and output values are determined by combining the control requirements of the system and the control experience in the actual operation. Optionally, the value range of the system error E is set to [ -8,8](ii) a Of the closed loop rate of system error ECThe value range is set as [ -0.2,0.2](ii) a Proportional parameter variation value delta K P Is set to the value range of [ -25,25](ii) a Integral parameter variation value delta K I Is set to the value range of [ -10,10](ii) a Differential parameter variation value delta K D Is set to the value range of [ -10,10]。
Assuming that data is acquired once in 10 seconds and 12 data are acquired in two minutes as a set of data, the set of data x is calculated 1 ,x 2 ,x 3 ……x 12 (all real numbers) standard deviation sigma, where the mean (arithmetic mean) is mu, N is 12, and the expected flow value is set to x Expectation of . Wherein, the calculation formula of the standard deviation sigma is as follows:
if the standard deviation sigma is less than or equal to mu, namely the standard deviation is small, the stability of the group of data is better, the systematic error E is taken as the average value mu and x of the group of data Expectation of The difference of (c). As in equations 5-4 below:
E＝μ-x expectation of (5-4)
If the standard deviation sigma is larger than mu, namely the standard deviation is larger, the stability of the group of data is poor, and the system error E is taken as the group of data x 1 ,x 2 ,x 3 ……x 12 Remove the maximum x max And minimum value x min The latter mean values μ' and x Expectation of The difference of (c). As in the following equations 5-5:
E＝μ’-x expectation of (5-5)
Optionally, domain of discourse partitioning: for convenience of calculation, the domains of the five variables input and output can be set to 13 levels such as { -6, -5, -4, -3, -2, -1,0,1,2,3,4,5,6 }.
Determination of fuzzy subsets: the fuzzy subsets of the five variables all adopt Positive Large (Positive Large), "Positive medium (Positive Small)," Positive Small, "" right (Zero), "Negative Small," "Negative medium (Negative Small)," and "Negative Large (Negative Large)," respectively.
Selecting a membership function: in combination with the operation experience, the triangular membership function is selected in this embodiment. For example, input interface E, EC and output interface delta K P 、ΔK I 、ΔK D Through the conversion of domain of discourse into 13 grades and through the triangle membership function, the membership function assigned table of each variable can be obtained, as shown in table 1.
TABLE 1 variable membership function value assignment table
Optionally, the obtaining a target proportional parameter, a target integral parameter, and a target differential parameter according to the first difference and the first change rate based on a fuzzy algorithm includes:
fuzzification processing is carried out on the first difference value and the first change rate, and proportional parameter variation, integral parameter variation and differential parameter variation are obtained;
performing defuzzification processing on the proportional parameter variation, the integral parameter variation and the differential parameter variation;
and determining the target proportional parameter, the target integral parameter and the target differential parameter according to the proportional parameter variation, the integral parameter variation and the differential parameter variation after defuzzification processing, as well as the initial proportional parameter, the initial integral parameter and the initial differential parameter.
Specifically, fuzzy rules may be designed: the output variable Δ K can be adjusted, for example, by combining the control characteristics of the PID with experience summarized in actual operation P 、ΔK I 、ΔK D Setting the fuzzification rule corresponding to the input variable E, EC, including:
(1) Designing a fuzzy control programming table;
(2) Converting into computer sentences;
according to the fuzzy control rule table, the conditional statement can be converted into an IF-THEN conditional statement and introduced into a computer. For example: when E is positive and EC is positive, Δ K P Is negative large, Δ K I Is positive, Δ K D A positive big translates to an IF-THEN statement: if (E is PL) and (EC is PL) the [ Delta ] K P is NL)(ΔK I is PL)(ΔK D is PL)。
Design of defuzzification interface: the fuzzy output variable obtained by fuzzy inference is clarified, and a maximum membership decision method, a median decision method, a gravity center algorithm and the like can be selected. The embodiment of the invention adopts a gravity center algorithm to solve the ambiguity of the output variable, and the formula is as follows as 5-6:
wherein, K j0 For clarity; k ij Elements in the output-theoretic domain; mu.s C (K ij ) Membership of a fuzzy set of output quantities.
According to the formula, can be respectively corresponding to delta K P 、ΔK I 、ΔK D And resolving the ambiguity under E and EC with different membership degrees to obtain a decision table of each output variable.
PID control algorithm means that the output of the digital controller is only the increment delta mu of the control quantity k It can be derived by the following formulas 5 to 7:
the output value of the controller at the k-1 th sampling time can be obtained from equation 5-7, as equation 5-8:
subtracting the formula 5-7 from the formula 5-8, and then sorting to obtain the PID control algorithm formula, such as the formula 5-9:
Δu k ＝u k -u k-1 ＝K P Δe k +K I e k +K D (Δe k -Δe k-1 ) (5-9)
in the formula,. DELTA.e k ＝e k -e k-1 。
Of these, equations 5-9 are referred to as PID control algorithms, since typical computer control systems employ a constant sampling period T, once K is determined P 、K I 、K D The control amount can be obtained from the equations 5 to 9 by using the error of the three previous and subsequent measurements.
Optionally, the calculating a second opening degree of the valve according to the second flow rate and the first pressure value includes:
calculating to obtain a second opening degree of the valve according to the second flow and the first pressure value based on the output work fitting relation;
and the output work fitting relation is related to the flow of the controlled medium, the opening degree of the valve and the pressure value of the outlet of the valve.
Specifically, fitting a curve to draw: according to experiments, the output work W of the flow output port is calculated under different density measurements at different valve openings (or valve displacement and valve diameter values), and the relation between the output work and the valve diameter value (namely the valve opening) and the density value is fitted to obtain the relation between the output work of the output port and the diameter value and the density value.
Since W = mv 2 /2＝FS，m＝ρV，v＝h/t；
Wherein, W is output work, m is mass, ν is velocity, F is pressure value of output port, S is displacement (valve opening), ρ is density, V is volume, h is distance between input port and output port, t is time, and valve aperture value influences measurement value of valve flow volume.
In this way, the second opening degree of the valve can be calculated according to the obtained second flow rate and the first pressure value through the relationship among the flow rate of the controlled medium, the valve opening degree and the pressure value of the valve outlet based on the output work fitting.
Optionally, the determining an initial expected opening degree of the valve based on the output work fitting relationship of different valve displacement amounts corresponding to different densities includes:
determining the valve opening corresponding to the minimum value of the output work based on the output work fitting relation of different valve displacement corresponding to different densities;
and determining the initial expected opening of the valve according to the smaller of the valve opening corresponding to the minimum output work value and the given valve opening.
Specifically, the relationship between the flow rate of the controlled medium, the valve opening degree, and the pressure value at the valve outlet may be determined in advance according to an experiment based on the output work fitting, and then the valve opening degree corresponding to the minimum output work value may be determined based on the output work fitting relationship.
Optionally, the adjusting the initial desired opening degree according to the second opening degree based on a fuzzy algorithm to obtain an adjusted desired opening degree includes:
determining a second difference between the second opening angle and the initial desired opening angle, and determining a second rate of change of the second difference over time;
determining an adjusting value of the valve opening according to the second difference and the second change rate based on a fuzzy algorithm;
and adjusting the initial expected opening according to the adjustment value of the valve opening to obtain the adjusted expected opening.
Wherein the determining an adjustment value of the valve opening according to the second difference and the second rate of change based on the fuzzy algorithm includes:
fuzzifying the second difference and the second change rate to obtain a fuzzy value;
and performing defuzzification processing on the fuzzy value to obtain an adjusting value of the valve opening.
The specific fuzzy algorithm processing procedure is similar to the flow adjustment fuzzy processing algorithm procedure, and is not described herein again to avoid repetition.
Optionally, the controlling the valve flow according to the adjusted desired opening degree and the first opening degree includes:
performing fuzzy processing on a third difference value between the adjusted expected opening degree and the first opening degree to determine a pulse signal;
outputting the pulse signal to a driving module of the valve; the pulse signal is used for driving the driving module to control the valve opening of the valve so as to control the valve flow.
The embodiment of the invention aims at the high precision requirement of the current-stage industrial production on the valve quality flow control, and the combined regulation and control method for regulating the valve flow based on the fuzzy algorithm and the PID algorithm and carrying out real-time regulation by combining the expected opening (or referred to as displacement) of the valve has the advantages of high control precision, stable control performance, strong applicability and high intelligent degree.
The overall control algorithm process is described below in conjunction with FIG. 5:
the process based on the volume flow control algorithm is introduced, and the specific steps are as follows:
step 501: at the valve inlet, a sample is taken. Feeding back the actual flow value of the input port controller to the input port controller by a volume flow acquisition program;
step 502: calculating E, namely calculating a difference value E between an actual output flow value and a set expected flow value through the formulas 5-4 and 5-5;
step 503: calculating EC, and calculating the change rate EC of the difference E according to time if the difference E is calculated;
step 504: the fuzzy input interface fuzzifies the E, EC value;
step 505: fuzzy setting parameters to obtain fuzzy self-adaptive output delta K P 、ΔK I 、ΔK D ；
Step 506: determining the parameter increment, and determining the delta K obtained in the step 505 P 、ΔK I 、ΔK D Defuzzification, and respectively mixing with initial K by using the above formulas 5-1, 5-2, 5-3 P0 、K I0 、K D0 Adding to obtain K output by fuzzy adaptive algorithm P 、K I 、K D ；
Step 507: PID control output, and K after algorithm optimization P 、K I 、K D Substituting the above formulas 5-9 to obtain an optimized PID control algorithm, and calculating Δ uI.e. the adjusted volume flow;
step 508: at the valve outlet, a sample is taken. Feeding back the actual pressure value of the output port controller to the output port controller by a pressure acquisition program;
step 509: calculating the expected displacement (i.e. the opening), such as according to different valve openings and output work fitting relations of flow under different densities, comparing the corresponding valve opening with the given opening when the output work is minimum, and taking the smaller value of the two as the expected valve displacement (i.e. the opening);
step 510: calculating a displacement difference EE, namely calculating the displacement according to the calculated output work and the acquired pressure value, and calculating the difference EE between the displacement and the expected displacement through the formulas 5-4 and 5-5; the calculated output work may be calculated from the relationship between the flow rate of the controlled medium based on the output work fitting, the valve opening degree, and the pressure value at the valve outlet, and the adjusted volume flow rate output in the step 507;
step 511: calculating EEC, if the EEC is based on the difference EE, calculating the change rate EECP of the difference EE according to time;
step 512: fuzzy processing and defuzzification processing, for example, according to a fuzzy processing rule, fuzzy calculation is carried out on the displacement to obtain a fuzzy value, and then defuzzification processing is carried out to obtain a displacement adjustment value;
step 513: and (3) regulating the displacement again, if the displacement is regulated according to the expected displacement, and when the conditions of regulating the displacement again are met after the environment such as the opening degree of the valve and the like changes, regulating the expected displacement again, so that the actual displacement is regulated again to obtain a readjustment value of the displacement, namely, the real-time regulation of the displacement is realized.
The following describes the control process of the valve flow according to the embodiment of the present invention: the data acquisition module acquires the opening degree of the valve through the angle sensor, the volume flow sensor acquires the flow of the controlled medium, and the temperature sensor acquires the temperature of the controlled medium. The collected data are transmitted to a CPU through a control module, a main control CPU of the control module obtains the mass flow of a controlled medium through calculation, PID control is carried out on a motor in a motor driving module, the control degree is adjusted, finally, a pulse signal is output by the CPU in the control module and transmitted to the motor driving module, and the opening of a valve is controlled through a speed reducer in the motor control module, so that the medium flow in a pipeline is changed. The method comprises the following specific steps:
the method comprises the following steps: a user connects the motor driving module with a valve in a pipeline, places a temperature sensor and a volume flow sensor in a controlled medium of the pipeline, installs an angle sensor in the valve and stores a density meter in a storage module;
step two: the temperature of the controlled medium is monitored through a temperature sensor, the volume flow sensor monitors the temperature of the controlled medium, the angle sensor monitors the opening degree of a valve, and then collected data are transmitted to a master control CPU through an A/D conversion module;
step three: according to the density table corresponding to the temperature of the controlled medium, the density of the controlled medium at the working temperature can be obtained, and the flow corresponding to the controlled medium can be obtained through a formula;
step four: the opening degree of the valve calculates the deviation through a PID control algorithm in a control module, a flow target value set by a user and a flow actual value measured by a flow sensor;
step five: calculating deviation according to the target valve opening value obtained in the step four set by the user and the actual valve opening value measured by the angle sensor, and performing fuzzy operation to obtain a PWM pulse signal value;
step six: and D, sending the pulse signal value obtained in the step five to an alternating current motor through a motor driving module, driving a speed reducer by the alternating current motor, controlling the opening degree of a valve and realizing flow control.
According to the embodiment of the invention, the fuzzy PID algorithm adjustment of the flow quality of the input port valve is combined with the combined regulation and control of the real-time adjustment of the displacement of the output port valve, so that the service life of the valve device can be prolonged, and the control precision of the flow can be improved. In the fuzzy regulation process of the flow of the input port valve, the collected data are subjected to grouping regulation, the difference value and the change rate of the difference value along with the time are calculated, and PID regulation is performed on the difference value and the change rate of the difference value along with the time; and in the process of adjusting the displacement of the output port valve in real time, acquiring a pressure value through the pressure sensor, calculating output power, calculating displacement, carrying out fuzzy calculation on the displacement, and then carrying out multiple times of adjustment, thereby further being beneficial to improving the control precision.
As shown in fig. 6, an embodiment of the present invention provides a valve flow control apparatus 600, including:
the acquiring module 610 is configured to acquire a first flow rate of a controlled medium, a first opening degree of a valve, and a first pressure value of a valve outlet; wherein the first flow rate is the volume flow rate or the mass flow rate of the controlled medium;
a first adjusting module 620, configured to adjust the first flow based on a fuzzy algorithm and a PID algorithm to obtain an adjusted second flow;
a calculating module 630, configured to calculate a second opening degree of the valve according to the second flow rate and the first pressure value;
the determining module 640 is configured to determine an initial expected opening degree of the valve based on output work fitting relationships of different valve displacement amounts corresponding to different densities;
a second adjusting module 650, configured to adjust the initial desired opening according to the second opening based on a fuzzy algorithm, so as to obtain an adjusted desired opening;
and a control module 660, configured to control a valve flow according to the adjusted desired opening degree and the first opening degree.
Optionally, the first adjusting module 620 includes:
the first calculation submodule is used for calculating to obtain a flow average value based on a plurality of flows of the controlled medium collected according to a preset time step;
a first determination submodule for determining a first difference between the average flow rate and a given desired flow rate, and for determining a first rate of change of the first difference over time;
the first processing submodule is used for obtaining a target proportional parameter, a target integral parameter and a target differential parameter according to the first difference and the first change rate on the basis of a fuzzy algorithm;
and the first adjusting submodule is used for adjusting the first flow based on a PID algorithm of the target proportional parameter, the target integral parameter and the target differential parameter to obtain an adjusted second flow.
Optionally, the first computation submodule includes:
the calculating unit is used for calculating the standard deviation of a plurality of flows and the arithmetic mean of the plurality of flows based on the plurality of flows of the controlled medium collected according to the preset time step;
a first processing unit configured to determine the arithmetic mean as the flow volume mean if the standard deviation is less than or equal to the arithmetic mean;
and a second processing unit configured to remove a maximum value and a minimum value of the plurality of flow rates and determine an arithmetic average value of the plurality of flow rates from which the maximum value and the minimum value are removed as the flow rate average value, if the standard deviation is larger than the arithmetic average value.
Optionally, the first processing sub-module includes:
the third processing unit is used for performing fuzzification processing on the first difference and the first change rate to obtain a proportional parameter change amount, an integral parameter change amount and a differential parameter change amount;
the fourth processing unit is used for performing defuzzification processing on the proportional parameter variation, the integral parameter variation and the differential parameter variation;
and the fifth processing unit is used for determining the target proportional parameter, the target integral parameter and the target differential parameter according to the proportional parameter variation, the integral parameter variation and the differential parameter variation after the defuzzification processing, as well as the initial proportional parameter, the initial integral parameter and the initial differential parameter.
Optionally, the calculating module 630 includes:
the second calculation submodule is used for calculating to obtain a second opening degree of the valve according to the second flow and the first pressure value on the basis of an output work fitting relation;
and the output work fitting relation is related to the flow of the controlled medium, the valve opening and the pressure value of the valve outlet.
Optionally, the determining module 640 includes:
the second determining submodule is used for determining the valve opening corresponding to the minimum value of the output work based on the output work fitting relation of different valve displacement corresponding to different densities;
and the third determining submodule is used for determining the initial expected opening of the valve according to the smaller of the valve opening corresponding to the minimum output work value and the given valve opening.
Optionally, the second adjusting module 650 includes:
a fourth determination submodule for determining a second difference between the second opening degree and the initial desired opening degree, and for determining a second rate of change of the second difference over time;
the second processing submodule is used for determining an adjusting value of the valve opening according to the second difference and the second change rate based on a fuzzy algorithm;
and the second adjusting submodule is used for adjusting the initial expected opening according to the adjusting value of the valve opening to obtain the adjusted expected opening.
Optionally, the second processing sub-module includes:
a sixth processing unit, configured to perform fuzzification processing on the second difference and the second change rate to obtain a fuzzy value;
and the seventh processing unit is used for performing defuzzification processing on the fuzzy value to obtain an adjusting value of the valve opening.
Optionally, the control module 660 comprises:
the third processing submodule is used for carrying out fuzzy processing on a third difference value between the adjusted expected opening degree and the first opening degree and determining a pulse signal;
the control submodule is used for outputting the pulse signal to a driving module of the valve; the pulse signal is used for driving the driving module to control the valve opening of the valve so as to control the valve flow.
The valve flow control device of the embodiment of the invention can realize each process of the method embodiment and achieve the same technical effect, and is not repeated here for avoiding repetition.
An electronic device according to an embodiment of the present invention, as shown in fig. 7, includes a transceiver 710, a processor 700, a memory 720, and a program or instructions stored in the memory 720 and executable on the processor 700; when the processor 700 executes the program or the instructions, the processes of the valve flow control method are realized, and the same technical effects can be achieved, and for avoiding repetition, the details are not described here.
The transceiver 710 is used for receiving and transmitting data under the control of the processor 700.
Where in fig. 7, the bus architecture may include any number of interconnected buses and bridges, with various circuits being linked together, particularly one or more processors represented by processor 700 and memory represented by memory 720. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The transceiver 710 may be a number of elements including a transmitter and a receiver that provide a means for communicating with various other apparatus over a transmission medium. The processor 700 is responsible for managing the bus architecture and general processing, and the memory 720 may store data used by the processor 700 in performing operations.
The readable storage medium of the embodiment of the present invention stores a program or instructions thereon, and the program or instructions, when executed by the processor, implement the steps in the above-described method for controlling a valve flow, and can achieve the same technical effects, and in order to avoid repetition, the detailed description is omitted here.
Wherein the processor is as described in the above embodiments. . The processor(s) in (1). The readable storage medium includes a computer readable storage medium, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
It is further noted that the terminals described in this specification include, but are not limited to, smart phones, tablets, etc., and that many of the functional components described are referred to as modules in order to more particularly emphasize their implementation independence.
In embodiments of the present invention, modules may be implemented in software for execution by various types of processors. An identified module of executable code may, for instance, comprise one or more physical or logical blocks of computer instructions which may, for instance, be constructed as an object, procedure, or function. Nevertheless, the executables of an identified module need not be physically located together, but may comprise disparate instructions stored in different bits which, when joined logically together, comprise the module and achieve the stated purpose for the module.
Indeed, a module of executable code may be a single instruction, or many instructions, and may even be distributed over several different code segments, among different programs, and across several memory devices. Likewise, operational data may be identified within the modules and may be embodied in any suitable form and organized within any suitable type of data structure. The operational data may be collected as a single data set, or may be distributed over different locations including over different storage devices, and may exist, at least partially, merely as electronic signals on a system or network.
When a module can be implemented by software, considering the level of existing hardware technology, a module implemented by software may build a corresponding hardware circuit to implement a corresponding function, without considering cost, and the hardware circuit may include a conventional Very Large Scale Integration (VLSI) circuit or a gate array and an existing semiconductor such as a logic chip, a transistor, or other discrete components. A module may also be implemented in programmable hardware devices such as field programmable gate arrays, programmable array logic, programmable logic devices or the like.
The exemplary embodiments described above are described with reference to the drawings, and many different forms and embodiments of the invention may be made without departing from the spirit and teaching of the invention, therefore, the invention is not to be construed as limited to the exemplary embodiments set forth herein. Rather, these exemplary embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, the size and relative sizes of elements may be exaggerated for clarity. The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Unless otherwise indicated, a range of values, when stated, includes the upper and lower limits of the range and any subranges therebetween.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (12)
1. A method of controlling valve flow, comprising:
acquiring a first flow of a controlled medium, a first opening degree of a valve and a first pressure value of a valve outlet; wherein the first flow rate is the volume flow rate or the mass flow rate of the controlled medium;
based on a fuzzy algorithm and a PID algorithm, adjusting the first flow to obtain an adjusted second flow;
calculating to obtain a second opening degree of the valve according to the second flow and the first pressure value;
determining the initial expected opening degree of the valve based on the output work fitting relation of different valve displacement corresponding to different densities;
based on a fuzzy algorithm, adjusting the initial expected opening degree according to the second opening degree to obtain an adjusted expected opening degree;
and controlling the flow of the valve according to the adjusted expected opening degree and the first opening degree.
2. The method of claim 1, wherein the adjusting the first flow rate based on a fuzzy algorithm and a PID algorithm to obtain an adjusted second flow rate comprises:
calculating to obtain a flow average value based on a plurality of flows of the controlled medium acquired according to a preset time step;
determining a first difference between the average flow rate and a given desired flow rate, and determining a first rate of change of the first difference over time;
based on a fuzzy algorithm, obtaining a target proportional parameter, a target integral parameter and a target differential parameter according to the first difference and the first change rate;
and adjusting the first flow based on the PID algorithm of the target proportional parameter, the target integral parameter and the target differential parameter to obtain an adjusted second flow.
3. The method of claim 2, wherein calculating the flow average based on the flows of the plurality of controlled media collected according to the preset time step comprises:
calculating a standard deviation of a plurality of flows and an arithmetic mean of the plurality of flows based on the plurality of flows of the controlled medium acquired according to a preset time step;
if the standard deviation is less than or equal to the arithmetic mean, determining the arithmetic mean as the flow mean;
and if the standard deviation is larger than the arithmetic mean value, removing the maximum value and the minimum value in the plurality of flow rates, and determining the arithmetic mean value of the plurality of flow rates after the maximum value and the minimum value are removed as the flow rate mean value.
4. The method according to claim 2, wherein the obtaining a target proportional parameter, a target integral parameter and a target differential parameter according to the first difference and the first change rate based on the fuzzy algorithm comprises:
fuzzification processing is carried out on the first difference value and the first change rate, and proportional parameter variation, integral parameter variation and differential parameter variation are obtained;
performing defuzzification processing on the proportional parameter variation, the integral parameter variation and the differential parameter variation;
and determining the target proportional parameter, the target integral parameter and the target differential parameter according to the proportional parameter variation, the integral parameter variation and the differential parameter variation after defuzzification processing, as well as the initial proportional parameter, the initial integral parameter and the initial differential parameter.
5. The method of claim 1, wherein calculating a second opening of the valve based on the second flow rate and the first pressure value comprises:
calculating to obtain a second opening degree of the valve according to the second flow and the first pressure value based on the output work fitting relation;
and the output work fitting relation is related to the flow of the controlled medium, the opening degree of the valve and the pressure value of the outlet of the valve.
6. The method of claim 1, wherein determining an initial desired opening of the valve based on a work-fit relationship of outputs at different densities for different amounts of valve displacement comprises:
determining the valve opening corresponding to the minimum value of the output work based on the output work fitting relation of different valve displacement corresponding to different densities;
and determining the initial expected opening of the valve according to the smaller of the valve opening corresponding to the minimum output work value and the given valve opening.
7. The method of claim 1, wherein the adjusting the initial desired opening degree according to the second opening degree based on a fuzzy algorithm to obtain an adjusted desired opening degree comprises:
determining a second difference between the second opening angle and the initial desired opening angle, and determining a second rate of change of the second difference over time;
determining an adjusting value of the valve opening according to the second difference and the second change rate based on a fuzzy algorithm;
and adjusting the initial expected opening according to the valve opening adjustment value to obtain the adjusted expected opening.
8. The method of claim 7, wherein determining the adjustment value for the valve opening based on the second difference and the second rate of change based on a fuzzy algorithm comprises:
fuzzifying the second difference value and the second change rate to obtain a fuzzy value;
and performing defuzzification processing on the fuzzy value to obtain an adjusting value of the valve opening.
9. The method of claim 1, wherein said controlling valve flow based on said adjusted desired opening and said first opening comprises:
performing fuzzy processing on a third difference value between the adjusted expected opening degree and the first opening degree to determine a pulse signal;
outputting the pulse signal to a driving module of the valve; the pulse signal is used for driving the driving module to control the valve opening of the valve so as to control the valve flow.
10. A valve flow control apparatus, comprising:
the acquiring module is used for acquiring a first flow of a controlled medium, a first opening degree of a valve and a first pressure value of a valve outlet; wherein the first flow rate is the volume flow rate or the mass flow rate of the controlled medium;
the first adjusting module is used for adjusting the first flow based on a fuzzy algorithm and a PID algorithm to obtain an adjusted second flow;
the calculation module is used for calculating to obtain a second opening degree of the valve according to the second flow and the first pressure value;
the determining module is used for determining the initial expected opening degree of the valve based on the output work fitting relation of different valve displacement quantities corresponding to different densities;
the second adjusting module is used for adjusting the initial expected opening degree according to the second opening degree based on a fuzzy algorithm to obtain an adjusted expected opening degree;
and the control module is used for controlling the flow of the valve according to the adjusted expected opening degree and the first opening degree.
11. An electronic device, comprising: a transceiver, a processor, a memory, and a program or instructions stored on the memory and executable on the processor; characterised in that the processor, when executing the program or instructions, carries out the steps of the method for controlling the flow of a valve according to any one of claims 1 to 9.
12. A readable storage medium on which a program or instructions are stored, which program or instructions, when executed by a processor, carry out the steps in the method of controlling the flow of a valve according to any one of claims 1 to 9.
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