CN115493277A - Solar fresh air temperature control system based on online anti-interference identifier - Google Patents
Solar fresh air temperature control system based on online anti-interference identifier Download PDFInfo
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Abstract
The invention discloses a solar fresh air temperature control system based on an online anti-interference identifier, which comprises: a solar fresh air temperature control system and a solar fresh air system; the solar fresh air temperature control system comprises a data acquisition unit, an anti-interference identifier and a sliding mode controller; the data collector acquires the temperature of fresh air input by the fan coil from the second temperature sensor, acquires the temperature of fresh air output by the fan coil from the fourth temperature sensor, acquires the flow rate of heat medium input by the fan coil from the third flow sensor, and acquires the temperature of heat medium output by the fan coil from the fifth temperature sensor; the anti-interference identifier identifies the controlled model according to the input heat medium water flow and the output heat medium water temperature data of the fan coil, and adjusts the heat medium water flow of the fourth electromagnetic valve according to the control rate of the sliding mode controller to adjust the output fresh air temperature. The invention utilizes the anti-interference identifier to compensate noise interference and determine the information of the controlled model, thereby overcoming the problem of instability of the solar fresh air system.
Description
Technical Field
The invention belongs to the technical field of solar heating, and particularly relates to a solar fresh air temperature control system based on an online anti-interference identifier.
Background
At present, coal is mainly combusted for heating in winter, and the generated sulfur dioxide and the inhalable particles cause great harm to the environment and the health of people. The solar heating mode can save coal resources and protect the atmospheric environment in winter. The adoption of the solar fresh air system ensures the suitability of indoor temperature in winter while updating indoor air. Due to the pursuit of environmental protection and a suitable living environment, the solar energy new style system gradually enters the daily life of people.
Solar energy has the unstable characteristics of heat supply as the heat supply source, and the operation of system receives the influence of environmental factors such as weather. Meanwhile, the system working mode conversion also causes the fluctuation of the temperature of the heating medium water, thereby influencing the stable output of the fresh air temperature. Therefore, a stable control system for the temperature of the solar fresh air is needed for the stable operation of the solar fresh air system. The fresh air temperature control system adopted at present mostly adopts a PID (proportional integral derivative) controller, and when the fresh air is actually controlled by the controller, the fresh air temperature can not be stably controlled due to the characteristics that the fresh air system is easily influenced by interference, the operation is unstable and the like.
Disclosure of Invention
The invention aims to provide a solar fresh air temperature control system based on an online anti-interference identifier, which is used for solving the problem of low system operation efficiency caused by interference of factors such as environment and the like in fresh air temperature control of the conventional system.
The invention adopts the following technical scheme: the utility model provides a solar energy new trend temperature control system based on online anti-interference recognizer, includes: solar energy new trend system and solar energy new trend temperature control system.
The solar fresh air temperature control system comprises a data acquisition unit, an anti-interference identifier and a sliding mode controller; the sliding mode controller is connected with the fourth electromagnetic valve, the anti-interference identifier and the data acquisition unit through a bus; the data collector acquires the temperature of fresh air input by the fan coil from the second temperature sensor, acquires the temperature of fresh air output by the fan coil from the fourth temperature sensor, acquires the flow rate of heat medium input by the fan coil from the third flow sensor, and acquires the temperature of heat medium output by the fan coil from the fifth temperature sensor; the disturbance rejection identifier identifies a controlled model according to input heat medium water flow and output heat medium water temperature data of the fan coil, the sliding mode controller acquires data information of a fourth temperature sensor provided by the data acquisition unit, sets fresh air temperature and identification model information according to input, and adjusts the heat medium water flow of a fourth electromagnetic valve according to the control rate of the sliding mode controller to adjust the output fresh air temperature.
Solar energy new trend temperature control system regards fan coil as controlled object, controls the new trend temperature of hot media water flow control follow fan coil output in fan coil through control input, and the control rate of slipform controller is:
u is the output of a sliding mode controller, namely the flow of the heat medium water input by the fan coil; n is the mathematical model order of the fan coil of the fresh air system; e is the error between the set fresh air temperature and the actual fresh air temperature; a. b is a fan coil model parameter; x is the number of d Setting a state quantity parameter of a fan coil model, wherein eta is a fresh air temperature approach rate parameter, and dt represents interference noiseSound; s (e) is a sliding mode function; c is sliding mode coefficient of sliding mode controller, C T A constant parameter matrix of a sliding mode surface; y is the output fresh air temperature of the fourth temperature sensor, y d Outputting the temperature of fresh air for setting; because the system is a first-order system, the designed controller is also a first-order system; according to the control algorithm, the controller calculates the flow of the heat medium of the input fan coil according to the set fresh air temperature, the fresh air temperature output by the fan coil, the fan coil model information and the interference noise borne by the system through the formula, and controls the fresh air temperature in a mode of controlling the flow of the heat medium.
The sliding mode controller calculates input fan coil heat medium water flow according to the set fresh air temperature, the fresh air temperature output by the fan coil, fan coil mathematical model parameters a and b and interference noise borne by the system through the formulas (1) to (3), and controls the fresh air temperature in a mode of controlling the heat medium water flow.
Adding a system information anti-interference identifier into a sliding mode controller, wherein random noise in a solar fresh air system comes from a system operation environment, and v (t) represents the random interference noise; another type is load disturbance noise, which is often time-varying and periodic, typically time-varying non-gaussian noise, when the system switches the heat supply source from solar collector to heat accumulator in changing operation modes, and the disturbance will cause fluctuations in the system output signal, where the time-varying load noise is denoted by ξ (t), and the noise signal can be expressed as:
dt(t)＝v(t)+ξ(t) (4)
the non-Gaussian noise seriously influences the accuracy of the controller, and the non-Gaussian noise signal is required to be compensated; the fan coil model parameters are determined by system characteristics, an anti-interference identifier is added into a fresh air temperature control system, and the identification principle of the anti-interference identifier is as follows:
discretizing a system state space expression system mathematical model into the following form:
wherein: u (k) is measurable input sampling data and the sampling period is t; z is a radical of -1 For backward shifting operator z -1 y (k) = y (k-1); polynomial A (z) -1 )＝1+az -1 、B(z -1 )＝bz -1 Determined by the inherent characteristics of the system, wherein the system order n a 、n b Known, the system parameters { a, b } are unknown; v (t) and xi (t) are noise interference signals borne by the system, and discrete models are converted into distinguishable forms:
y(k)＝φ T (k)θ(k)+v(k) (6)
θ(k)＝[a,b,ξ(k)] T (7)
φ(k)＝[-x(k-1),u(k-1),1] T (8)
in the formula, theta (k) = [ a, b, xi (k) ]] T Is a system parameter vector; phi (k) = [ -x (k-1), u (k-1), 1] T Compared with a common anti-interference identifier, the identification algorithm is characterized in that noise information xi (k) is added into an identification vector and an information vector, time-varying load noise is identified by increasing the information vector and a parameter vector and identifying time-varying parameters, the time-varying load noise suffered by a system is converted into unit output response of the system, the change of a load noise signal is converted into the change of the time-varying parameters, the purpose of identifying the time-varying load noise and the parameters of the system is achieved at the same time, and system state information and noise information are provided for a designed sliding mode controller at the same time.
The recognition criteria function is constructed from the above analysis:
then the function is related by alignment rule
And make it zero to obtainThe recursive recognition algorithm is as follows:
wherein, the first and the second end of the pipe are connected with each other,
is an identification value of the system model information,
estimating model information a, b for the immunity identifier;
the parameters comprise basic parameters a and b and identification values of interference noise xi (t); i represents recursion times, the value of i is from 1 to the current value times K, e (i) represents the error between the real model and the prediction model during the ith recursion identification, K is a gain matrix, and K is the recursion identification times; e.g. of the type 1 (k) Error between the identification model and the real data; lambda belongs to (0, 1)]Is a forgetting factor;
for expanding the estimated value of the information variable, including the negative number of the estimated value of the system output information
The input information u (k) and the unit 1,
k in the equation is the number of identification recursions.
Preferably, the solar fresh air system comprises a first temperature sensor, a second temperature sensor, a third flow sensor, a fourth temperature sensor, a fifth temperature sensor, a sixth temperature sensor, a first electromagnetic valve, a second electromagnetic valve, a third electromagnetic valve, a fourth electromagnetic valve, a water pump, a solar heat collector, a heat reservoir and a fan coil; the fourth electromagnetic valve is a bidirectional electromagnetic valve, and the first electromagnetic valve, the second electromagnetic valve and the third electromagnetic valve are one-way electromagnetic valves.
The solar heat collector is connected with the heat reservoir in parallel and then connected with the fan coil in parallel, and a second electromagnetic valve and a first temperature sensor are arranged on a water outlet main pipeline of the solar heat collector, which is connected with the heat reservoir and the fan coil; a first electromagnetic valve is arranged on a first water inlet branch pipeline of the heat reservoir, which is connected to the water outlet main pipeline, and a sixth temperature sensor and a water pump are arranged on a first water outlet branch pipeline of the heat reservoir; a third flow sensor is arranged on a second water inlet branch pipeline of the fan coil connected to the water outlet main pipeline, a second temperature sensor is arranged on an air inlet pipeline of the fan coil, a fourth temperature sensor is arranged on an air outlet pipeline of the fan coil, a second water outlet branch pipeline of the fan coil and a first water outlet branch pipeline of the heat reservoir are converged and connected to the water inlet main pipeline, a fifth temperature sensor and a fourth electromagnetic valve are arranged on a second water outlet branch pipeline of the fan coil, the first water outlet branch pipeline and the second water outlet branch pipeline are communicated through a third branch pipeline, a third electromagnetic valve is arranged on the third branch pipeline, and the third electromagnetic valve is connected with the water pump in parallel.
Under the condition of solar heat storage, a first electromagnetic valve, a second electromagnetic valve, a third electromagnetic valve and a fourth electromagnetic valve are opened, under the power provided by a water pump, heat medium water is conveyed from a heat reservoir to a solar heat collector to obtain heat, part of heat medium water passes through the valves after the heat medium water obtains the heat and enters a fan coil to heat fresh air, and the heat medium water is conveyed to the solar heat collector through the fourth electromagnetic valve, the third electromagnetic valve and the water pump after being output from the fan coil; part of the heat medium water is led to the heat reservoir through a first electromagnetic valve, the heat acquired from the solar heat collector is stored in the heat reservoir, and the heat medium water is conveyed to the solar heat collector through a water pump to continuously acquire the heat; if the valve is closed, the heat storage process is not carried out; the heat medium water is led to the fan coil from the solar heat collector and then returns to the solar heat collector through the valve and the water pump.
Under the condition that solar energy is not available, heat cannot be stored, sufficient heat cannot be provided, and the heat of the heat reservoir is utilized, the valve and the valve are closed, the first electromagnetic valve and the fourth electromagnetic valve are opened, and the heat medium water in the fan coil enters the heat reservoir under the action of the valve, enters the fan coil to be heated, is conveyed to the fan coil through the water pump and the valve, and returns to the heat reservoir through the valve to complete circulation.
The invention adopts another technical scheme that: a control method of a solar fresh air temperature control system based on an online anti-interference identifier comprises the following steps:
And 2, acquiring the flow of heat medium input by a fan coil acquired by a third flow sensor by a data acquisition unit, acquiring the data of a temperature acquisition sensor acquiring the temperature of fresh air output by the fan coil acquired by a fourth temperature sensor by the data acquisition unit according to the temperature information of the output fresh air acquired by the system, and identifying the mathematical model parameters a and b of the fan coil of the system and the interference xi (t) of the system on line by an anti-interference identifier according to the acquired data and providing the model parameters a and b of the fan coil and the interference xi (t) of the system with identification information for a fresh air temperature controller by the data acquisition unit.
And 3, the sliding mode controller acquires input fresh air temperature information through the data acquisition unit, calculates the flow of the required heating medium according to the system information provided by the anti-interference identifier and the output fresh air temperature of the setting system, and meets the requirement for heating the fresh air heating medium by adjusting a third electromagnetic valve switch.
And 4, if the temperature of the fresh air output by the solar fresh air temperature control system needs to be changed, returning to the step 1, and if the current fresh air temperature is maintained, returning to the step 2.
The beneficial effects of the invention are:
(1) According to the fresh air temperature controller designed by the invention, a control algorithm with strong stability is utilized, and an anti-interference identifier is added to compensate noise interference to update the controlled model information, so that the defects that a solar fresh air system is unstable and is easy to interfere are overcome; the anti-interference capability in the fresh air temperature control process is improved, the stability of fresh air temperature provided for a room is guaranteed, and the problem of poor indoor air quality in winter is solved.
(2) The technical scheme aims to design a stable temperature control system for the solar fresh air system, so that stable and suitable fresh air is provided indoors, and the purposes of improving the heat utilization rate of the system and facilitating the use of the system are achieved. The solar fresh air system anti-interference identifier is designed according to an anti-interference identification algorithm, system model parameter information and interference noise are identified simultaneously, system identification information is provided for the controller on line in a recursion mode, and the control performance of the fresh air control system is enhanced.
Drawings
FIG. 1 is a schematic structural diagram of a solar fresh air temperature control system based on an online disturbance rejection identifier according to the present invention;
FIG. 2 is a schematic structural view of a solar fresh air temperature control system according to the present invention;
FIG. 3 is a diagram illustrating the noise signal identification effect of the anti-interference identifier of the present invention;
FIG. 4 is a diagram showing the comparative effect of fresh air temperature control according to the present invention.
The system comprises a first temperature sensor 1, a second temperature sensor 2, a third flow sensor 3, a fourth temperature sensor 4, a fifth temperature sensor 5, a sixth temperature sensor 6, a first electromagnetic valve 7, a second electromagnetic valve 8, a third electromagnetic valve 9, a fourth electromagnetic valve 10, a water pump 11, a solar heat collector 12, a heat reservoir 13 and a fan coil 14.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, a solar fresh air temperature control system based on an online disturbance rejection identifier comprises: solar energy new trend system and solar energy new trend temperature control system.
The solar fresh air system comprises a first temperature sensor 1, a second temperature sensor 2, a third flow sensor 3, a fourth temperature sensor 4, a fifth temperature sensor 5, a sixth temperature sensor 6, a first electromagnetic valve 7, a second electromagnetic valve 8, a third electromagnetic valve 9, a fourth electromagnetic valve 10, a water pump 11, a solar heat collector 12, a heat reservoir 13 and a fan coil 14.
Wherein, the fourth electromagnetic valve 10 is a two-way electromagnetic valve, and the first electromagnetic valve 7, the second electromagnetic valve 8 and the third electromagnetic valve 9 are one-way electromagnetic valves; the first solenoid valve 7, the second solenoid valve 8, the third solenoid valve 9 and the fourth solenoid valve 10 are manually switched.
The solar heat collector 12 is connected with the heat reservoir 13 in parallel and then connected with the fan coil 14 in parallel, and the second electromagnetic valve 8 and the first temperature sensor 1 are arranged on a water outlet main pipeline of the heat reservoir 13 and the fan coil 14 to which the solar heat collector 12 is connected. The first water inlet branch pipeline of the heat reservoir 13 connected to the water outlet main pipeline is provided with a first electromagnetic valve 7, and the first water outlet branch pipeline is provided with a sixth temperature sensor 6 and a water pump 11. A third flow sensor 3 is arranged on a second water inlet branch pipeline of a fan coil 14 connected to a water outlet main pipeline, a second temperature sensor 2 is arranged on an air inlet pipeline of the fan coil 14, a fourth temperature sensor 4 is arranged on an air outlet pipeline of the fan coil 14, the second water outlet branch pipeline of the fan coil 14 and a first water outlet branch pipeline of a heat reservoir 13 are converged and connected to the water inlet main pipeline, a fifth temperature sensor 5 and a fourth electromagnetic valve 10 are arranged on the second water outlet branch pipeline of the fan coil 14, the first water outlet branch pipeline and the second water outlet branch pipeline are communicated through a third branch pipeline, a third electromagnetic valve 9 is arranged on the third branch pipeline, and the third electromagnetic valve 9 is connected with a water pump 11 in parallel.
Under the condition of solar heat storage, a first electromagnetic valve 7, a second electromagnetic valve 8, a third electromagnetic valve 9 and a fourth electromagnetic valve 10 are opened, under the power supplied by a water pump 11, heat medium water is conveyed from a heat reservoir 13 to a solar heat collector 12 to obtain heat, part of the heat medium water passes through a valve 8 after the heat medium water obtains the heat and enters a fan coil 14 to heat fresh air, and the heat medium water is conveyed to the solar heat collector 12 through the fourth electromagnetic valve 10, the third electromagnetic valve 9 and the water pump 11 after being output from the fan coil 14. A part of the heat medium water is led to the heat reservoir 13 through the first electromagnetic valve 7, the heat obtained from the solar heat collector 12 is stored in the heat reservoir 13, and the heat medium water is conveyed to the solar heat collector 12 through the water pump (11) to continuously obtain the heat. If the valve 7 is closed, the heat storage process is not carried out, and the heat medium water is led to the fan coil 14 from the solar heat collector 12 and then returns to the solar heat collector 12 through the valve 9 and the water pump 11.
Under the condition that solar energy is not available, heat cannot be stored, sufficient heat cannot be provided, and the heat of the heat reservoir is utilized, the valve 8 and the valve 9 are closed, the first electromagnetic valve 7 and the fourth electromagnetic valve 10 are opened, heat medium water in the fan coil 14 enters the heat reservoir 13 under the action of the valve 7, heat is obtained, the heat is conveyed to the fan coil 14 through the water pump 11 and the valve 10, fresh air is heated, and the fresh air returns to the heat reservoir 13 through the valve 7 to complete circulation.
As shown in fig. 2, the solar fresh air temperature control system comprises a data collector, an anti-interference identifier and a sliding mode controller; the sliding mode controller is connected with the fourth electromagnetic valve 10, the anti-interference identifier and the data collector through a bus. The data acquisition unit acquires the input fresh air temperature of the fan coil 14 from the second temperature sensor 2, acquires the output fresh air temperature of the fan coil 14 from the fourth temperature sensor 4, acquires the input hot medium water flow of the fan coil from the third flow sensor 3, acquires the output hot medium water temperature of the fan coil from the fifth temperature sensor 5, the anti-interference identifier identifies a controlled model according to the input hot medium water flow and the output hot medium water temperature data of the fan coil, the sliding mode controller acquires the information of the fourth temperature sensor 4 provided by the data acquisition unit, sets the fresh air temperature and the identification model information according to the input, and adjusts the hot medium water flow of the fourth electromagnetic valve 10 according to the control rate of the sliding mode controller to adjust the output fresh air temperature.
The solar fresh air temperature control system is improved, so that the designed sliding mode controller can stably realize the control of the fresh air temperature.
In the temperature control of the solar fresh air temperature control system, the fan coil 14 is used as a controlled object, and the temperature of fresh air introduced into a room is controlled by controlling the flow of heat medium water input into the fan coil 14. First, the characteristics of the controlled object need to be analyzed, taking into account the following differential equations:
in the formula C fc Is the specific heat capacity, lambda, of the air handling unit a Is the heat transfer coefficient of the outer wall, T ao Is the outlet temperature, T, of the fresh air ai Inlet temperature of fresh air, ρ f Is the density of hot water, w f Is the flow rate of the hot media water, C f Is the specific heat capacity of water, T fi Is the inlet water temperature, T, of hot coal water fo The temperature of the outlet water of the heating medium water and q is other heat losses.
To facilitate the design of the control system, the above mathematical model can be converted into the following form:
wherein x is a state variable when the differential equation model is converted into a system state space expression; x is the number of (1) Is the first derivative of x; y is the fresh air output temperature; u is the input hot water flow; the parameters a and b are system model parameters determined by the characteristics of the system; dt is the interference noise to which the system is subjected.
The control rate of the sliding mode controller designed according to the system mathematical model is as follows:
u is the output of the sliding mode controller, namely the flow of the heat medium water input by the fan coil; n is the mathematical model order of the fan coil of the fresh air system; e is the error between the set fresh air temperature and the actual fresh air temperature; a. b is a fan coil model parameter; x is the number of d Setting a state quantity parameter of a fan coil model, wherein eta is a fresh air temperature approach rate parameter, and dt represents interference noise; s (e) is a sliding mode function; c is the sliding mode coefficient of the sliding mode controller, C T A constant parameter matrix of a sliding mode surface; y is the output fresh air temperature of the fourth temperature sensor, y d Outputting the temperature of fresh air for setting; since the system is a first order system, the controller is designed to be a first order system. According to the control algorithm, the controller calculates the flow of the heat medium water input into the fan coil according to the set fresh air temperature, the fresh air temperature output by the fan coil, the fan coil model information and the interference noise borne by the system through the formula, and controls the fresh air temperature in a mode of controlling the flow of the heat medium water.
The fresh air temperature output by the system is controlled by using the control algorithm of the sliding mode controller, and the control algorithm has stronger robustness on the change of the fan coil model parameters and the interference of external noise. However, sliding mode chattering is generated on the corresponding controller output, which seriously damages the service life of the control valve, and the control algorithm contains system model parameters and undetectable external noise dt. There is therefore room for improvement in such controllers as well.
Aiming at the problems, the sliding mode controller is improved, so that the sliding mode design controller can stably realize the control of the fresh air temperature, and an anti-interference identifier is added.
Firstly, the control algorithm needs to use the information of the interference noise suffered by the system, the control noise is not measurable, and the noise signal suffered by the system is often complex and can not be summarized by only one kind of white gaussian noise. One type of noise signals is random interference noise, the random noise in the solar fresh air system mainly comes from the system operation environment, for example, the temperature of hot media water in a fan coil jacket is always influenced by the ambient temperature, the random interference noise is time-varying and continuous and generally obeys Gaussian white noise with a mean value of zero, and v (t) is used for representing the random interference noise; another type is load disturbance noise, which tends to be time varying and periodic, typically time varying non-gaussian noise, where ξ (t) represents time varying load noise, as the system switches the heat supply from solar collector to heat accumulator in changing operating modes.
The noise signal can be represented as
dt(t)＝v(t)+ξ(t) (4)
The non-gaussian noise seriously affects the controller precision and needs to compensate the received non-gaussian noise signal.
The fan coil model parameters are determined by system characteristics, and the acquisition way is difficult. In order to meet the requirements of the control algorithm on the noise signal and the information of the system model parameters. Adding a system information disturbance rejection identifier into a sliding mode controller, and discretizing a system state space expression system mathematical model into the following form:
wherein: u (k) is measurable input sample data and the sampling period is t; z is a radical of -1 For backward shifting operator z -1 y (k) = y (k-1); polynomial A (z) -1 )＝1+az -1 、B(z -1 )＝bz -1 Determined by the inherent characteristics of the system, wherein the system order n a 、n b Known, the system parameters { a, b } are unknown; v (t) and xi (t) are noise interference signals borne by the system, and the discrete model is converted into a recognizable form:
y(k)＝φ T (k)θ(k)+v(k) (6)
θ(k)＝[a,b,ξ(k)] T (7)
φ(k)＝[-x(k-1),u(k-1),1] T (8)
in the formula, theta (k) = [ a, b, xi (k)] T Is a system parameter vector, the parameters include basic parameters a, b and interference noise; an identification value of ξ (t); phi (k) = [ -x (k-1), u (k-1), 1] T For the information vector of the system, it should be noted that compared with the common disturbance rejection identifier, the identification algorithm adopted in the invention adds noise information xi (k) in the identification vector and the information vector, identifies the time-varying parameter by means of broadening the information vector and the parameter vector, thereby realizing identification of the time-varying load noise, converts the time-varying load noise suffered by the system into unit output response of the system, converts the change of the load noise signal into the change of the time-varying parameter, realizes the purpose of identifying the time-varying load noise and the parameter of the system at the same time, and provides the system state information and the noise information for the designed controller at the same time.
The recognition criteria function is constructed from the above analysis:
then the function is taken about by alignment
And makes it zero, the recursive identification algorithm is obtained as follows:
wherein, the first and the second end of the pipe are connected with each other,
is an identification value of the system model information,
the parameters comprise identification values of basic parameters a and b and interference noise ξ (t); i represents recursion times, the value of i is from 1 to the current value times K, e (i) represents the error between the real model and the prediction model during the ith recursion identification, K is a gain matrix, and K is the recursion identification times; e.g. of the type 1 (k) Error between the identification model and the real data; lambda belongs to (0, 1)]Is a forgetting factor;
for expanding the estimated value of the information variable, including the negative number of the estimated value of the system output information
The input information u (k) and the unit 1,
k in the equation is the number of identification recursions.
The solar fresh air temperature control system consists of an anti-interference identifier, a sliding mode controller and a data acquisition unit, and the controlled object is a fan coil. In the control system, the non-Gaussian load noise is compensated due to the estimation of the time-varying non-Gaussian load noise, so that the identification accuracy can be improved, the generation of the sliding mode buffeting can be reduced, and a Gaussian white noise signal contained in a noise signal is overcome by the strong stability of the controller. The disturbance of a load interference signal to a system is eliminated by introducing the anti-interference identifier, the high-frequency buffeting of the controller is greatly avoided, and the control performance of the system is improved.
In order to demonstrate the tracking ability of the noise immunity identifier to the load noise signal, a noise immunity identifier to noise signal identification effect graph is provided, as shown in fig. 3, in which the solid line is the noise signal value and the dotted line is the noise value estimated by the identification algorithm; it can be known from the figure that the disturbance rejection identifier can accurately estimate the time-varying non-gaussian interference signal borne by the system, and the identification effect, the traditional PID temperature control is mostly adopted in the existing fresh air temperature control research, the control performance presented by the control mode facing disturbance and system characteristic change can not be compared with the control performance provided by the invention, and the control comparison effect figure is shown as 4.
A control method of a solar fresh air temperature control system based on an online anti-interference identifier comprises the following steps:
And 2, acquiring the flow of heat medium water input by a fan coil 14 by a third flow sensor 3 by a data acquisition unit, acquiring the temperature of fresh air output by the fan coil 14 by a fourth temperature sensor 4 by the data acquisition unit, acquiring the data of the temperature sensor, identifying mathematical model parameters a and b of the fan coil of the system and system interference xi (t) on line by an anti-interference identifier according to the acquired data according to the temperature information of the fresh air output acquired by the system, and providing the identification information of the mathematical model parameters a and b of the fan coil and the system interference xi (t) to a fresh air temperature controller by the data acquisition unit.
And 3, the sliding mode controller acquires input fresh air temperature information through the data acquisition unit, calculates the required heat medium water flow according to the system information provided by the anti-interference identifier and the output fresh air temperature of the setting system, and meets the requirement of heating fresh air heat medium water by adjusting the switch of the third electromagnetic valve 9.
And 4, if the temperature of the fresh air output by the solar fresh air temperature control system needs to be changed, returning to the step 1, and if the current fresh air temperature is maintained, returning to the step 2.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (3)
1. The utility model provides a solar energy new trend temperature control system based on online anti-interference recognizer which characterized in that includes: the solar fresh air temperature control system and the solar fresh air system;
the solar fresh air temperature control system comprises a data acquisition unit, an anti-interference identifier and a sliding mode controller; the sliding mode controller is connected with a fourth electromagnetic valve (10), an anti-interference identifier and a data collector through a bus; the data acquisition unit acquires the input fresh air temperature of the fan coil (14) from the second temperature sensor (2), acquires the output fresh air temperature of the fan coil (14) from the fourth temperature sensor (4), acquires the input heat medium water flow of the fan coil from the third flow sensor (3), and acquires the output heat medium water temperature of the fan coil (14) from the fifth temperature sensor (5); the disturbance rejection identifier identifies a controlled model according to input heat medium water flow and output heat medium water temperature data of a fan coil (14), the sliding mode controller acquires data information of a fourth temperature sensor (4) provided by a data acquisition unit, sets fresh air temperature and identification model information according to input, and adjusts the heat medium water flow of a fourth electromagnetic valve (10) according to the control rate of the sliding mode controller to adjust the output fresh air temperature;
the solar fresh air temperature control system takes the fan coil (14) as a controlled object, controls the fresh air temperature output from the fan coil (14) by controlling the flow of hot medium water input into the fan coil (14), and has the following control rate:
u is sliding mode controllerOutputting, namely inputting the flow of the heat medium water into the fan coil (14); n is the mathematical model order of the fan coil of the fresh air system; e is the error between the set fresh air temperature and the actual fresh air temperature; a. b is a fan coil model parameter; x is a radical of a fluorine atom d Setting a fan coil model state quantity parameter, wherein eta is a fresh air temperature approach rate parameter, and dt represents interference noise; s (e) is a sliding mode function; c is the sliding mode coefficient of the sliding mode controller, C T Is a sliding mode surface constant parameter matrix; y is the output fresh air temperature of the fourth temperature sensor (4) d Outputting the temperature of fresh air for setting; because the system is a first-order system, the designed controller is also a first-order system; according to the control algorithm, the controller calculates the flow of heat medium water of the input fan coil according to the set fresh air temperature, the fresh air temperature output by the fan coil, model information of the fan coil and interference noise borne by the system by the formula, and controls the fresh air temperature in a mode of controlling the flow of the heat medium water;
the sliding mode controller calculates the flow of heat medium water input into the fan coil (14) according to the set fresh air temperature, the fresh air temperature output by the fan coil (14), the parameters a and b of a mathematical model of the fan coil and the interference noise borne by a system through the formulas (1) to (3), and controls the fresh air temperature in a mode of controlling the flow of the heat medium water;
adding a system information anti-interference identifier into a sliding mode controller, wherein random noise in a solar fresh air system comes from a system operation environment, and v (t) represents the random interference noise; another type is load disturbance noise, which is often time-varying and periodic, typically time-varying non-gaussian noise, when the system switches the heat supply source from solar collector to heat accumulator in changing operating modes, which causes fluctuations in the system output signal, where ξ (t) represents the time-varying load noise, which can be expressed as ξ (t)
dt(t)＝v(t)+ξ(t) (4)
The non-Gaussian noise seriously influences the accuracy of the controller, and the non-Gaussian noise signal is required to be compensated; the fan coil model parameters are determined by system characteristics, an anti-interference identifier is added into a fresh air temperature control system, and the identification principle of the anti-interference identifier is as follows:
discretizing a system state space expression system mathematical model into the following form:
wherein: u (k) is measurable input sample data and the sampling period is t; z is a radical of -1 For backward shifting operator z -1 y (k) = y (k-1); polynomial A (z) -1 )＝1+az -1 、B(z -1 )＝bz -1 Determined by the inherent characteristics of the system, wherein the system order n a 、n b Known, system parameters { a, b } are unknown; v (t) and xi (t) are noise interference signals borne by the system, and the discrete model is converted into a recognizable form:
y(k)＝φ T (k)θ(k)+v(k) (6)
θ(k)＝[a,b,ξ(k)] T (7)
φ(k)＝[-x(k-1),u(k-1),1] T (8)
in the formula, theta (k) = [ a, b, xi (k)] T Is a system parameter vector; phi (k) = [ -x (k-1), u (k-1), 1] T Compared with a common anti-interference identifier, the identification algorithm is adopted to add noise information xi (k) in the identification vector and the information vector, identify time-varying parameters by means of broadening the information vector and the parameter vector so as to identify the time-varying load noise, convert the time-varying load noise suffered by the system into unit output response of the system, convert the change of a load noise signal into the change of the time-varying parameters, achieve the purpose of identifying the time-varying load noise and the parameters of the system at the same time, and provide system state information and noise information for a designed sliding mode controller at the same time;
the recognition criteria function is constructed from the above analysis:
then the function is taken about by alignment
And makes it zero, the recursive identification algorithm is obtained as follows:
wherein, the first and the second end of the pipe are connected with each other,
is an identification value of the system model information,
estimating model information a, b for the immunity identifier;
the parameters comprise basic parameters a and b and identification values of interference noise xi (t); i represents recursion times, the value of i is from 1 to the current value times K, e (i) represents the error between the real model and the prediction model during the ith recursion identification, K is a gain matrix, and K is the recursion identification times; e.g. of the type 1 (k) Error between the identification model and the real data; lambda epsilon (0, 1)]Is a forgetting factor;
for expanding the estimated value of the information variable, the negative number of the estimated value of the output information of the system is included
Input information u (k) and a unit 1,
k in the equation is the number of identification recursions.
2. The solar fresh air temperature control system based on the online disturbance rejection identifier according to claim 1, wherein the solar fresh air system comprises a first temperature sensor (1), a second temperature sensor (2), a third flow sensor (3), a fourth temperature sensor (4), a fifth temperature sensor (5), a sixth temperature sensor (6), a first electromagnetic valve (7), a second electromagnetic valve (8), a third electromagnetic valve (9), a fourth electromagnetic valve (10), a water pump (11), a solar thermal collector (12), a heat reservoir (13) and a fan coil (14); wherein the fourth electromagnetic valve (10) is a two-way electromagnetic valve, and the first electromagnetic valve (7), the second electromagnetic valve (8) and the third electromagnetic valve (9) are one-way electromagnetic valves;
the solar heat collector (12) is connected with the heat reservoir (13) in parallel and then connected with the fan coil (14) in parallel, and a second electromagnetic valve (8) and a first temperature sensor (1) are arranged on a water outlet main pipeline of the heat reservoir (13) and the fan coil (14) to which the solar heat collector (12) is connected; a first electromagnetic valve (7) is arranged on a first water inlet branch pipeline of the heat reservoir (13) connected to the water outlet main pipeline, and a sixth temperature sensor (6) and a water pump (11) are arranged on a first water outlet branch pipeline of the heat reservoir; a third flow sensor (3) is arranged on a second water inlet branch pipeline of the fan coil (14) connected to a water outlet main pipeline, a second temperature sensor (2) is arranged on an air inlet pipeline of the fan coil (14), a fourth temperature sensor (4) is arranged on an air outlet pipeline of the fan coil (14), the second water outlet branch pipeline of the fan coil (14) and a first water outlet branch pipeline of the heat reservoir (13) are converged and connected to the water inlet main pipeline, a fifth temperature sensor (5) and a fourth electromagnetic valve (10) are arranged on the second water outlet branch pipeline of the fan coil (14), the first water outlet branch pipeline and the second water outlet branch pipeline are communicated through a third branch pipeline, a third electromagnetic valve (9) is arranged on the third branch pipeline, and the third electromagnetic valve (9) is connected with the water pump (11) in parallel;
under the condition of solar heat storage, a first electromagnetic valve (7), a second electromagnetic valve (8), a third electromagnetic valve (9) and a fourth electromagnetic valve (10) are opened, under the power provided by a water pump (11), heat medium water is conveyed from a heat reservoir (13) to a solar heat collector (12) to obtain heat, part of heat medium water passes through a valve (8) to enter a fan coil (14) to heat fresh air after the heat medium water obtains the heat, and the heat medium water is conveyed to the solar heat collector (12) through the fourth electromagnetic valve (10), the third electromagnetic valve (9) and the water pump (11) after being output from the fan coil (14); a part of heat medium water is led to the heat reservoir (13) through the first electromagnetic valve (7), heat obtained from the solar heat collector (12) is stored in the heat reservoir (13), and the heat medium water is conveyed to the solar heat collector (12) through the water pump (11) to continuously obtain the heat; if the valve (7) is closed, the heat storage process is not carried out; the heat medium water is led to the fan coil (14) from the solar heat collector (12) and then returns to the solar heat collector (12) through the valve (9) and the water pump (11);
under the condition that solar energy is not used for heat storage and sufficient heat cannot be provided to utilize the heat of the heat reservoir, the valve (8) and the valve (9) are closed, the first electromagnetic valve (7) and the fourth electromagnetic valve (10) are opened, and heat medium water in the fan coil (14) enters the heat reservoir (13) under the action of the valve (7) to obtain heat, is conveyed to the fan coil (14) through the water pump (11) and the valve (10) to heat fresh air and returns to the heat reservoir (13) through the valve (7) to complete circulation.
3. The control method of the solar fresh air temperature control system based on the online disturbance rejection identifier as claimed in claim 1 or 2, comprising the following steps:
step 1, setting a solar fresh air temperature control system to output a fresh air temperature y;
step 2, a data collector acquires the flow of heat medium water input by a fan coil (14) acquired by a third flow sensor (3), acquires the temperature information of output fresh air acquired by a system according to the data of a temperature acquisition sensor acquiring the temperature of the fresh air output by the fan coil (14) acquired by a fourth temperature sensor (4), and an anti-interference identifier identifies the parameters a and b of a mathematical model of the fan coil of the system and the interference xi (t) borne by the system on line according to the acquired data and provides the identification information of the parameters a and b of the fan coil model and the interference xi (t) borne by the system to a fresh air temperature controller;
step 3, the sliding mode controller acquires input fresh air temperature information through the data acquisition unit, calculates the required heat medium water flow according to the system information provided by the anti-interference identifier and the output fresh air temperature of the setting system, and meets the requirement of heating fresh air heat medium water by adjusting a switch of a third electromagnetic valve (9);
and 4, if the temperature of the fresh air output by the solar fresh air temperature control system needs to be changed, returning to the step 1, and if the current fresh air temperature is maintained, returning to the step 2.
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