CN115672576B - Double-closed-loop operation control system of horizontal decanter centrifuge based on fuzzy self-adaption - Google Patents
Double-closed-loop operation control system of horizontal decanter centrifuge based on fuzzy self-adaption Download PDFInfo
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Abstract
The invention discloses a double closed-loop operation control system of a horizontal decanter centrifuge based on fuzzy self-adaption, which comprises the following components: the horizontal decanter centrifuge comprises a horizontal decanter centrifuge body, a double closed-loop control unit, a body parameter acquisition unit, a sludge data detection unit, a fault diagnosis analysis unit, a self-cleaning and repairing unit and a visual operation interaction unit; the horizontal decanter centrifuge unit is used for providing a horizontal decanter centrifuge for solid-liquid phase separation of sludge; the double closed-loop control unit is used for controlling and adjusting the horizontal decanter centrifuge in real time; the machine body parameter acquisition unit is used for acquiring machine body parameters in the running process of the horizontal decanter centrifuge; and the sludge data detection unit is used for detecting data information in the feeding and discharging processes of the sludge. According to the invention, through nonlinear changes of the horizontal decanter centrifuge on the sludge separation characteristics, separation physical properties and the like, a double closed-loop control system based on a fuzzy self-adaptive control model is constructed, and the rotating speed of a motor of the horizontal decanter centrifuge is regulated in real time, so that the differential rotating speed is changed, and the optimal separation effect is achieved.
Description
Technical Field
The invention relates to the technical field of horizontal decanter centrifuge control, in particular to a horizontal decanter centrifuge double-closed-loop operation control system based on fuzzy self-adaption.
Background
Along with the leap development of the technologies of the internet, big data, the internet of things and the like, the intelligent and intelligent product and intelligent manufacturing are widely applied to various industries. The remote intelligent control system based on the internet of things technology not only changes the traditional equipment management mode, but also further improves the intelligent level of equipment, and is an important direction of the development of large-scale equipment in various industries at present.
Centrifuges currently on the market are mechanical devices that utilize centrifugal force to separate components of liquids from solid particles or mixtures of liquids and liquids. Industrial centrifuges can be classified into a filtering centrifuge, a sedimentation centrifuge and a separator according to the structure and separation requirements. The horizontal spiral centrifugal machine is a high-efficiency centrifugal separation device with horizontal spiral unloading and continuous operation, and is widely used and popularized in the field of environmental protection. At present, part of horizontal decanter centrifuge controllers are still realized by adopting a traditional electric wiring control circuit and are controlled by adopting a control console; the automatic continuous control function of equipment operation is realized through the PLC control system, the hardware cost of the method is lower, the wiring is complex, the complex control of the centrifugal machine is difficult to realize, the automation degree is low, and a large lifting space still exists for the product under the market background of intelligent control.
CN209055843U discloses a DCS/PLC control switching system for a horizontal screw centrifugal unit, and provides a DCS/PLC control switching system for a horizontal screw centrifugal unit, which respectively writes configuration programs meeting process requirements for DCS and PLC to realize the same control function, and selects sources of output signals through DCS/PLC switches, so as to control the operation of each production component of the horizontal screw centrifugal unit, and the output of the complete set of units can maintain feedback values under the dual system.
CN200965629Y discloses a closed-loop control system based on the current of the centrifuge motor. The working current of the motor of the centrifugal machine is collected in real time to serve as a control signal, the control signal is compared with a set value through the display controller, the slurry supply pump controller is directly controlled according to the change of the current value of the main motor and the comparison result, the rotating speed of the motor of the slurry supply pump is directly changed, the liquid supply amount of the slurry supply pump is changed, the load of the centrifugal machine is controlled to form a closed cycle, and the purpose of controlling the processing amount of the centrifugal machine is achieved. When the parameters of liquid supply amount and drilling fluid are changed, the centrifugal machine is ensured to be always in the optimal working state, so that the constant slag discharging function is realized.
In order to meet market demands, the research and development design of the intelligent control system is required to be carried out on the basis of the existing decanter centrifuge, and double closed-loop control is realized on the sludge ring and the differential rotation speed ring, so that the functions of intelligent regulation, remote monitoring, working condition display, fault diagnosis and the like are realized, the separation effect, the operation stability and the intelligent level of the decanter centrifuge are comprehensively improved, the operation steps are simplified, and the operation and maintenance cost is reduced.
For the problems in the related art, no effective solution has been proposed at present.
Disclosure of Invention
Aiming at the problems in the related art, the invention provides a double closed-loop operation control system of a horizontal decanter centrifuge based on fuzzy self-adaption, which aims to overcome the technical problems in the prior art.
For this purpose, the invention adopts the following specific technical scheme:
a fuzzy self-adaptation based double closed loop operation control system of a decanter centrifuge, the system comprising: the horizontal decanter centrifuge comprises a horizontal decanter centrifuge body, a double closed-loop control unit, a body parameter acquisition unit, a sludge data detection unit, a fault diagnosis analysis unit, a self-cleaning and repairing unit and a visual operation interaction unit;
the horizontal decanter centrifuge unit is used for providing a horizontal decanter centrifuge for solid-liquid phase separation of sludge;
the double closed-loop control unit is used for controlling and adjusting the horizontal decanter centrifuge in real time;
the machine body parameter acquisition unit is used for acquiring machine body parameters in the running process of the horizontal decanter centrifuge;
the sludge data detection unit is used for detecting data information in the sludge feeding and discharging processes;
the fault diagnosis analysis unit is used for analyzing the body parameters to realize fault diagnosis;
the self-cleaning and repairing unit is used for providing automatic cleaning and repairing of the horizontal decanter centrifuge;
and the visual operation interaction unit is used for providing a man-machine interaction interface and input control logic.
Further, the double closed-loop control unit comprises a sludge loop module, a differential rotation speed loop module and a PLC core control module;
the sludge loop module is used as an outer loop and adopts a fuzzy self-adaptive PID control algorithm;
the differential rotation speed loop module is used as an inner loop and adopts an integral separation PID control algorithm;
the PLC core control module is used as a controller to electrically control the horizontal decanter centrifuge;
the control output of the sludge loop module serves as a given input to the differential speed module.
Further, the fuzzy adaptive PID control algorithm comprises the following steps:
detecting a concentration error and a concentration error change rate during sludge feeding, and using the concentration error and the concentration error change rate as input of a fuzzy self-adaptive PID control algorithm;
determining a fuzzy PID control rule according to a fuzzy relation between the concentration error and the concentration error change rate;
determining the corresponding relation between three parameters of proportion, integral and derivative and the concentration error change rate according to a fuzzy PID control rule, and determining a fuzzy self-adaptive PID control algorithm;
the fuzzy self-adaptive PID control algorithm optimizes the variable quantity of the three parameters and outputs the optimal PID parameters as control output.
Further, the fuzzy self-adaptive PID control algorithm optimizes the variation of three parameters and outputs the optimal PID parameters as control output, comprising the following steps:
and optimizing the three parameter variation amounts by using a fuzzy self-adaptive PID control algorithm, wherein the three parameter variation amounts are represented by the following formula:
K p (n)＝K p (n-1)+ΔK p ；
K i (n)＝K i (n-1)+ΔK i ；
K d (n)＝K d (n-1)+ΔK d ；
wherein K is p (n)、K i (n)、K d (n) represents the optimal setting values of three parameters;
K p representing a scaling factor;
K i representing an integral coefficient;
K d representing the differential coefficient;
ΔK p 、ΔK i 、ΔK d representing a fuzzy adaptive output variable;
K p (n-1)、K i (n-1)、K d (n-1) represents an initial PID setting value;
n represents the number of times of optimizing;
and performing inverse blurring processing on the output revision value by using a gravity center method, and determining the optimal PID parameter as the output quantity of control output, wherein the method comprises the following steps:
where u (k) represents the output of the fuzzy adaptive PID control algorithm in the kth sampling period;
e (k) represents the deviation at the kth sampling period;
e (j) represents the deviation at the jth sampling period;
t represents a sampling period.
Further, the fuzzy adaptive output variable ΔK p 、ΔK i 、ΔK d The fuzzy subset of (2) includes four linguistic variables { zero ZO, small positive PS, medium positive PM, large positive PB }, with the arguments {0,3}.
Further, the integral separation PID control algorithm comprises the following steps:
presetting a threshold epsilon according to actual use parameters of the decanter centrifuge;
when u (k) < epsilon, adopting PD control to control the horizontal decanter centrifuge;
when u (k) is not less than epsilon, PID control is adopted to control the horizontal decanter centrifuge;
the output was calculated using the following formula:
where v (k) represents the output of the integral separation PID control algorithm in the kth sampling period;
t represents a sampling period;
K p representing a scaling factor;
K i representing an integral coefficient;
K d representing the differential coefficient;
e (k) represents the deviation at the kth sampling period;
e (j) represents the deviation at the jth sampling period;
u (k) represents the output of the fuzzy adaptive PID control algorithm in the kth sampling period.
Further, the PLC core control module is used as a controller to electrically control the decanter centrifuge, and comprises the following steps:
acquiring data information acquired and detected by the organism parameter acquisition unit and the sludge data detection unit;
the sludge loop module and the differential rotation speed loop module are called to carry out fuzzification treatment, and the output value is adjusted to obtain a control output quantity;
converting the control output quantity into analog quantity, amplifying, phase-shifting and outputting trigger pulse to control the motor speed of horizontal decanter centrifuge.
Further, the machine body parameter acquisition unit comprises a plurality of sensors for monitoring and acquiring machine body parameters in the running process of the horizontal decanter centrifuge unit in real time;
the machine body parameters comprise motor torque, differential rotation speed, temperature, nitrogen flow and vibration quantity.
Further, the sludge data detection unit comprises a sludge feeding detection module, a sludge discharging detection module and a differential rotation speed recommendation module;
the sludge feeding detection module is used for acquiring concentration data of sludge in a feeding process in real time;
the sludge discharge detection module is used for detecting the water content of the sludge solid-phase slag discharge and the concentration data of the liquid-phase waste liquid;
the differential rotation speed recommendation module is used for outputting the differential rotation speed adapted by the horizontal decanter centrifuge according to the initial sludge feed concentration.
Further, outputting the adaptive differential rotation speed of the decanter centrifuge according to the initial sludge feed concentration, comprising the following steps:
acquiring concentration data of a sludge feeding pipe;
acquiring the differential rotation speed of the horizontal decanter centrifuge with the concentration data being adapted based on a big data platform and a historical expert database;
and using the difference rotation speed data as an initial control input to drive the decanter centrifuge to operate.
The beneficial effects of the invention are as follows:
1. the method comprises the steps of constructing a double closed-loop control system based on a fuzzy self-adaptive control model through nonlinear changes of the horizontal decanter centrifuge on sludge separation characteristics, separation physical properties and the like, and adjusting the rotating speed of a motor of the horizontal decanter centrifuge in real time so as to change the differential rotating speed, thereby achieving the optimal separation effect; the PLC is used as a core to collect signals such as motor torque, rotating speed, temperature, nitrogen flow and vibration in real time, a double closed-loop PID control algorithm is adopted, and the rotating speed, torque and feeding speed of the main motor and the auxiliary motor are adjusted on line through the frequency converter, so that constant differential speed and constant torque control of the centrifugal machine under different sludge concentration conditions is realized, and the separation efficiency and stability of the centrifugal machine are effectively improved.
2. By constructing a double closed-loop control system of a sludge loop and a differential rotation speed loop, the sludge loop serving as a control outer loop adopts a fuzzy self-adaptive PID control algorithm, so that the control accuracy and response speed requirements of a machine body are met, and meanwhile, the flexibility and strong self-adaptability are ensured; the differential rotation speed loop used as the control inner loop adopts an integral separation PID control algorithm, so that whether the differential rotation speed loop participates in self-adaptive control can be determined by setting a threshold according to actual conditions, the system can have faster response while avoiding overlarge overshoot, and the differential rotation speed loop has the advantage of high control precision when being switched into PID control, thereby more meeting the functional characteristics of high-speed control and flexible configuration of the horizontal decanter centrifuge, ensuring the separation effect of sludge.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a system block diagram of a fuzzy adaptive-based decanter centrifuge dual closed loop operation control system in accordance with an embodiment of the present invention.
In the figure:
1. a decanter centrifuge unit; 2. a double closed loop control unit; 201. a sludge loop module; 202. a differential rotation speed ring module; 203. a PLC core control module; 3. a body parameter acquisition unit; 4. a sludge data detection unit; 401. a sludge data detection unit; 402. a sludge discharge detection module; 403. a differential rotation speed recommendation module; 5. a fault diagnosis analysis unit; 6. a self-cleaning and repairing unit; 7. and visualizing the operation interaction unit.
Detailed Description
For the purpose of further illustrating the various embodiments, the present invention provides the accompanying drawings, which are a part of the disclosure of the present invention, and which are mainly used to illustrate the embodiments and, together with the description, serve to explain the principles of the embodiments, and with reference to these descriptions, one skilled in the art will recognize other possible implementations and advantages of the present invention, wherein elements are not drawn to scale, and like reference numerals are generally used to designate like elements.
According to the embodiment of the invention, a double closed-loop operation control system of a horizontal decanter centrifuge based on fuzzy self-adaption is provided.
The invention will now be further described with reference to the accompanying drawings and detailed description, as shown in fig. 1, a fuzzy self-adaptive-based double closed-loop operation control system for a decanter centrifuge according to an embodiment of the invention, the system comprising: the horizontal decanter centrifuge comprises a horizontal decanter centrifuge body 1, a double closed-loop control unit 2, a body parameter acquisition unit 3, a sludge data detection unit 4, a fault diagnosis analysis unit 5, a self-cleaning and repairing unit 6 and a visual operation interaction unit 7;
the horizontal decanter centrifuge unit 1 is used for providing a horizontal decanter centrifuge for solid-liquid phase separation of sludge;
the main components of the horizontal screw centrifuge are a rotary drum, a screw conveyer, a differential mechanism, an overload protection device, a slag discharging device and the like. The rotary drum is connected with the spiral conveyor through two concentric bearings, the rotary drum is connected with the shell of the differential mechanism through a hollow shaft at the left bearing, and the output shaft of the differential mechanism drives the spiral conveyor to rotate in the same direction with the rotary drum, but the rotating speeds are different. The suspension is continuously fed into the conveyor from the central feeding pipe at the right end, and enters the rotary drum through the feeding hole of the feeding compartment of the inner cylinder of the screw conveyor. Under the action of centrifugal force, an annular liquid pool is formed in the rotary drum, heavy phase solid particles centrifugally settle to the inner surface of the rotary drum to form sediment, and the sediment is pushed to the small end of the rotary drum by the spiral blades, is sent out of the liquid level and is thrown out from the slag discharging holes. A plurality of overflow holes are arranged on the large end cover of the rotary drum, and the clarified liquid flows out from the overflow holes and is discharged through a liquid discharge chamber of the casing.
Thanks to the high-efficiency centrifugal function of the horizontal decanter centrifuge, the invention is widely applied to the field of environmental protection, and the horizontal decanter centrifuge is utilized to separate and centrifuge sludge, thereby realizing solid-liquid phase separation, and the principle comprises: when the sludge enters the cavity of the centrifuge drum, the high-speed rotating drum generates strong centrifugal force, and the density of the sludge particles is high, so that the centrifugal force is also high, and the sludge is thrown and stuck on the inner wall of the drum to form a solid ring layer; the density of water is smaller, the centrifugal force is also smaller, and a liquid ring layer can only be formed inside the solid ring layer. Because the rotating speeds of the spiral and the rotating drum are different, relative movement (namely differential rotating speed) exists between the spiral and the rotating drum, sludge deposited on the inner wall of the rotating drum is pushed to the outlet of the small end of the rotating drum to be discharged, and separated water is discharged from the other end of the rotating drum. The differential mechanism is used for forming a certain rotation speed difference between the rotary drum and the spiral; and a flocculating agent is added into the sludge to generate flocculation, so that dispersed sludge particles are gathered to generate larger floccules, and mud-water separation is accelerated.
The factors influencing the solid-liquid separation effect of the horizontal decanter centrifuge are mainly as follows: separation factors, length/diameter ratio (i.e., the ratio of the total length of the fermented soybean to the inner diameter), differential rotational speed, throughput, drum rotational speed, drum half cone angle, helical pitch and lead of the helical blade, etc. In the prior art, the adjustment of the differential rotation speed is carried out mostly by virtue of manual experience, and a scientific theoretical basis and an intelligent control algorithm are lacked, so that the invention selects the intelligent control of the differential rotation speed to change and realize the sludge separation effect.
The double closed-loop control unit 2 is used for controlling and adjusting the horizontal decanter centrifuge in real time;
the double closed-loop control unit 2 comprises a sludge loop module 201, a differential rotation speed loop module 202 and a PLC core control module 203;
the sludge loop module 201 is used as an outer loop and adopts a fuzzy self-adaptive PID control algorithm;
the fuzzy self-adaptive PID control algorithm comprises the following steps:
s2011, detecting concentration errors and concentration error change rates during sludge feeding, and using the concentration errors and the concentration error change rates as input of a fuzzy self-adaptive PID control algorithm;
s2012, determining a fuzzy PID control rule according to the fuzzy relation between the concentration error and the concentration error change rate, as shown in tables 1, 2 and 3;
table 1: ΔK p Is a fuzzy rule table of (a)
Table 2: ΔK i Is a fuzzy rule table of (a)
Table 3: ΔK d Is a fuzzy rule table of (a)
In the table, each combination represents { negative large NB, negative medium NM, negative small NS, zero Z0, positive small PS, medium PM, positive large PB }, respectively.
S2013, determining the corresponding relation between three parameters of proportion, integral and derivative, concentration error and concentration error change rate according to the fuzzy PID control rule, and determining a fuzzy self-adaptive PID control algorithm;
s2014, optimizing the variable quantity of the three parameters by the fuzzy self-adaptive PID control algorithm, and outputting the optimal PID parameters as control output, wherein the method comprises the following steps of:
s20141, optimizing three parameter variation amounts by using a fuzzy self-adaptive PID control algorithm, wherein the three parameter variation amounts are represented by the following formula:
K p (n)＝K p (n-1)+ΔK p ；
K i (n)＝K i (n-1)+ΔK i ；
K d (n)＝K d (n-1)+ΔK d ；
wherein K is p (n)、K i (n)、K d (n) represents the optimal setting values of three parameters;
K p representing a scaling factor;
K i representing an integral coefficient;
K d representing the differential coefficient;
ΔK p 、ΔK i 、ΔK d representing a fuzzy adaptive output variable;
K p (n-1)、K i (n-1)、K d (n-1) represents an initial PID setting value;
n represents the number of times of optimizing;
s20142, performing inverse blurring processing on the output revision value by using a gravity center method, and determining the optimal PID parameter as the output quantity of control output, wherein the method comprises the following steps:
where u (k) represents the output of the fuzzy adaptive PID control algorithm in the kth sampling period;
e (k) represents the deviation at the kth sampling period;
e (j) represents the deviation at the jth sampling period;
t represents a sampling period.
In addition, the fuzzy adaptive output variable ΔK p 、ΔK i 、ΔK d The fuzzy subset of (2) includes four linguistic variables { zero ZO, small positive PS, medium positive PM, large positive PB }, with the arguments {0,3}.
The fuzzy subset of the traditional fuzzy self-adaptive output variable is composed of 7 language variable values, wherein the fuzzy subset comprises { negative big NB, negative medium NM, negative small NS, zero Z0, positive small PS, medium PM and positive big PB }, and the domain is { -3,3}; whereas since the PID controller parameters are positive, the modeDifferential parameter variable ΔK output by paste controller d The control requirements are met by exceeding the initial parameters of the PID controller. If the domain of positive and negative symmetry is still adopted, negative values of the derivative parameters of the PID controller can be caused.
The invention will therefore output the variable ΔK p 、ΔK i 、ΔK d The fuzzy subset of (2) takes 4 language variable values to form { zero ZO, positive small PS, positive PM and positive large PB }, and the argument is {0,3}, thereby not only meeting the control requirement of the system, but also ensuring the rationality of the parameters of the PID controller.
The differential rotation speed loop module 202 is used as an inner loop and adopts an integral separation PID control algorithm;
the integral separation PID control algorithm comprises the following steps:
s2021, presetting a threshold epsilon according to actual use parameters of the decanter centrifuge;
s2022, when u (k) < epsilon, adopting PD control to control the horizontal decanter centrifuge;
s2023, when u (k) is not less than epsilon, controlling the horizontal decanter centrifuge by adopting PID control;
s2024, calculating the output by using the following formula:
where v (k) represents the output of the integral separation PID control algorithm in the kth sampling period;
t represents a sampling period;
K p representing a scaling factor;
K i representing an integral coefficient;
K d representing the differential coefficient;
e (k) represents the deviation at the kth sampling period;
e (j) represents the deviation at the jth sampling period;
u (k) represents the output of the fuzzy adaptive PID control algorithm in the kth sampling period.
The PLC core control module 203 is used as a controller to electrically control the decanter centrifuge, and comprises the following steps:
s2031, acquiring data information acquired and detected by the organism parameter acquisition unit 3 and the sludge data detection unit 4;
s2032, calling the sludge loop module 201 and the differential rotation speed loop module 202 to carry out fuzzification treatment, and adjusting an output value to obtain a control output quantity;
s2033, converting the control output quantity into an analog quantity, performing amplification and phase shift treatment, and outputting trigger pulse to control the motor rotation speed of the horizontal decanter centrifuge.
The control output of the sludge loop module 201 is given as input to the differential speed module 202.
The machine body parameter acquisition unit 3 is used for acquiring machine body parameters in the running process of the horizontal decanter centrifuge;
the machine body parameter acquisition unit 3 comprises a plurality of sensors for monitoring and acquiring machine body parameters in the running process of the horizontal decanter centrifuge unit 1 in real time;
the machine body parameters comprise motor torque, differential rotation speed, temperature, nitrogen flow and vibration quantity.
The sludge data detection unit 4 is used for detecting data information in the sludge feeding and discharging processes;
the sludge data detection unit 4 comprises a sludge feeding detection module 401, a sludge discharging detection module 402 and a differential rotation speed recommendation module 403;
the sludge feeding detection module 401 is used for acquiring concentration data of sludge in a feeding process in real time;
the sludge discharge detection module 402 is used for detecting the water content of the sludge solid-phase slag discharge and the concentration data of the liquid-phase waste liquid;
the differential rotation speed recommendation module 403 is configured to output a differential rotation speed adapted to the decanter centrifuge according to an initial sludge feed concentration, and includes the following steps:
s4031, acquiring concentration data of a sludge feeding pipe;
s4032, acquiring the differential rotation speed of the horizontal decanter centrifuge with the concentration data adaptation based on a big data platform and a historical expert database;
s4033, using the difference rotation speed data as initial control input to drive the decanter centrifuge to operate.
The fault diagnosis analysis unit 5 is used for analyzing the body parameters to realize fault diagnosis;
in the running process of the horizontal decanter centrifuge, the change of the running sound and the vibration condition of the centrifuge are particularly noted, and the abnormality is found and checked in time. Therefore, the fault diagnosis and analysis unit 5 monitors and obtains signals of motor torque, differential rotation speed, temperature, nitrogen flow and vibration quantity by acquiring the machine body parameter acquisition unit 3, comprehensively monitors and diagnoses the machine body safely, and when a certain signal value is larger than a safety threshold value, sends out an early warning signal to the visual operation interaction unit 7 for timely feedback, so that timely detection of faults is ensured. And the fasteners are checked regularly, and the centrifugal machine is required to be stopped periodically to clean accumulated materials in the large cover and fill lubricating grease, so that corresponding parts (including a scraper, a baffle plate, an overflow weir plate and the like) are checked during each stopping.
The self-cleaning and repairing unit 6 is used for providing automatic cleaning and repairing of the horizontal decanter centrifuge;
the visual operation interaction unit 7 is used for providing a man-machine interaction interface and input control logic.
The user can observe the equipment state and the sludge centrifugation in real time through the unit, check whether the equipment is in a normal running state, and can debug and operate parameters. When fault diagnosis and early warning occur, a user can check the cause of fault alarm on an alarm picture and perform corresponding alarm processing.
When the equipment is actually operated, before the equipment is started, an engineer sets relevant operation parameters and upper and lower limit alarm limit values according to the actual condition of the site, and the data can be stored as a starting default value; because the centrifugal machine has longer stop time, a one-key stop is directly selected when the centrifugal machine needs to be stopped, an operator does not need to wait aside for complete stop, and the system can automatically operate the stop flow; one-key cleaning, an operator only needs to set cleaning times in advance according to the condition of sludge, a one-key cleaning button is selected to start a one-key cleaning function, and a shutdown program is automatically started by the system after cleaning is finished; when the centrifugal machine is started, the top cover of the centrifugal machine is covered, and then the centrifugal machine can be started slowly; when the centrifuge cover is required to be opened, the centrifuge is ensured to be stopped firstly, and after the centrifuge is completely stopped, the centrifuge cover can be opened, and the movement of the centrifuge can not be forced to be stopped by external force.
In summary, by means of the technical scheme, the double closed-loop control system based on the fuzzy self-adaptive control model is constructed through nonlinear changes of the horizontal decanter centrifuge on the sludge separation characteristics, separation physical properties and the like, and the rotating speed of the motor of the horizontal decanter centrifuge is adjusted in real time, so that the difference rotating speed is changed, and the optimal separation effect is achieved; the PLC is used as a core to collect signals such as motor torque, rotating speed, temperature, nitrogen flow and vibration in real time, a double closed-loop PID control algorithm is adopted, and the rotating speed, torque and feeding speed of the main motor and the auxiliary motor are adjusted on line through the frequency converter, so that constant differential speed and constant torque control of the centrifugal machine under different sludge concentration conditions is realized, and the separation efficiency and stability of the centrifugal machine are effectively improved.
By constructing a double closed-loop control system of a sludge loop and a differential rotation speed loop, the sludge loop serving as a control outer loop adopts a fuzzy self-adaptive PID control algorithm, so that the control accuracy and response speed requirements of a machine body are met, and meanwhile, the flexibility and strong self-adaptability are ensured; the differential rotation speed loop used as the control inner loop adopts an integral separation PID control algorithm, so that whether the differential rotation speed loop participates in self-adaptive control can be determined by setting a threshold according to actual conditions, the system can have faster response while avoiding overlarge overshoot, and the differential rotation speed loop has the advantage of high control precision when being switched into PID control, thereby more meeting the functional characteristics of high-speed control and flexible configuration of the horizontal decanter centrifuge, ensuring the separation effect of sludge.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (8)
1. Double closed-loop operation control system of horizontal decanter centrifuge based on fuzzy self-adaption, which is characterized by comprising: the horizontal decanter centrifuge comprises a horizontal decanter centrifuge body, a double closed-loop control unit, a body parameter acquisition unit, a sludge data detection unit, a fault diagnosis analysis unit, a self-cleaning and repairing unit and a visual operation interaction unit;
the horizontal decanter centrifuge body is used for providing a horizontal decanter centrifuge for solid-liquid phase separation of sludge;
the double closed-loop control unit is used for controlling and adjusting the horizontal decanter centrifuge in real time;
the machine body parameter acquisition unit is used for acquiring machine body parameters in the running process of the horizontal decanter centrifuge;
the sludge data detection unit is used for detecting data information in the sludge feeding and discharging processes;
the fault diagnosis analysis unit is used for analyzing the body parameters to realize fault diagnosis;
the self-cleaning and repairing unit is used for providing automatic cleaning and repairing of the horizontal decanter centrifuge;
the visual operation interaction unit is used for providing a man-machine interaction interface and input control logic;
the double closed-loop control unit comprises a sludge loop module, a differential rotation speed loop module and a PLC core control module;
the sludge loop module is used as an outer loop and adopts a fuzzy self-adaptive PID control algorithm;
the differential rotation speed loop module is used as an inner loop and adopts an integral separation PID control algorithm;
the PLC core control module is used as a controller for electrically controlling the horizontal decanter centrifuge;
the control output of the sludge loop module is used as a given input of the differential rotation speed module; the fuzzy self-adaptive PID control algorithm comprises the following steps:
detecting a concentration error and a concentration error change rate during sludge feeding, and using the concentration error and the concentration error change rate as input of a fuzzy self-adaptive PID control algorithm;
determining a fuzzy PID control rule according to the fuzzy relation between the concentration error and the concentration error change rate;
determining the corresponding relation between three parameters of proportion, integral and derivative and the concentration error change rate according to the fuzzy PID control rule, and determining a fuzzy self-adaptive PID control algorithm;
and the fuzzy self-adaptive PID control algorithm optimizes the variable quantity of the three parameters and outputs the optimal PID parameters as control output.
2. The double closed-loop operation control system of the horizontal decanter centrifuge based on fuzzy self-adaption according to claim 1, wherein the fuzzy self-adaption PID control algorithm optimizes the variable quantity of three parameters and outputs the best PID parameter as control output, and the method comprises the following steps:
and optimizing the three parameter variation amounts by using a fuzzy self-adaptive PID control algorithm, wherein the three parameter variation amounts are represented by the following formula:
；
；
；
in the method, in the process of the invention,、/>、/>the optimizing setting values of the three parameters are represented;
representing a scaling factor;
representing an integral coefficient;
representing the differential coefficient;
、/>、/>representing a fuzzy adaptive output variable;
、/>、/>representing an initial PID setting value;
nrepresenting the number of times of optimizing;
and performing inverse blurring processing on the output revision value by using a gravity center method, and determining the optimal PID parameter as the output quantity of control output, wherein the method comprises the following steps:
；
in the method, in the process of the invention,represent the firstkThe output quantity of the fuzzy self-adaptive PID control algorithm in each sampling period;
represent the firstkDeviation in sampling period;
represent the firstjDeviation in sampling period;
t represents a sampling period.
3. A fuzzy adaptive decanter centrifuge dual closed loop operation control system according to claim 2, wherein said fuzzy adaptive output variable、/>、/>The fuzzy subset of (2) includes four linguistic variables { zero ZO, small positive PS, medium positive PM, large positive PB }, with the arguments {0,3}.
4. A fuzzy adaptive decanter centrifuge dual closed loop operation control system according to claim 3, wherein said integral separation PID control algorithm comprises the steps of:
presetting a threshold according to actual use parameters of the decanter centrifuge；
When (when)When the PD control is adopted to control the horizontal decanter centrifuge;
when (when)When the horizontal decanter centrifuge is controlled by PID control;
the output was calculated using the following formula:
；
；
in the method, in the process of the invention,represent the firstkThe output quantity of the integral separation PID control algorithm in a sampling period;
Trepresenting a sampling period;
representing a scaling factor;
representing an integral coefficient;
representing the differential coefficient;
represent the firstkDeviation in sampling period;
represent the firstjDeviation in sampling period;
represent the firstkAnd blurring the output quantity of the adaptive PID control algorithm in a sampling period.
5. The fuzzy self-adaptive decanter centrifuge double closed loop operation control system according to claim 4, wherein the PLC core control module as a controller electrically controls the decanter centrifuge, comprising the steps of:
acquiring data information acquired and detected by the organism parameter acquisition unit and the sludge data detection unit;
calling the sludge loop module and the differential rotation speed loop module to carry out fuzzification treatment, and adjusting an output value to obtain a control output quantity;
converting the control output quantity into an analog quantity, amplifying and phase-shifting, and outputting trigger pulse to control the motor rotation speed of the horizontal decanter centrifuge.
6. The double closed-loop running control system of the decanter centrifuge based on fuzzy self-adaption according to claim 1, wherein the machine body parameter acquisition unit comprises a plurality of sensors for monitoring and acquiring machine body parameters in the running process of the decanter centrifuge unit in real time;
the machine body parameters comprise motor torque, differential rotation speed, temperature, nitrogen flow and vibration quantity.
7. The double closed-loop operation control system of the horizontal decanter centrifuge based on fuzzy self-adaption according to claim 1, wherein the sludge data detection unit comprises a sludge feeding detection module, a sludge discharging detection module and a differential rotation speed recommendation module;
the sludge feeding detection module is used for acquiring concentration data of sludge in a feeding process in real time;
the sludge discharge detection module is used for detecting the water content of the sludge solid-phase slag discharge and the concentration data of the liquid-phase waste liquid;
the differential rotation speed recommendation module is used for outputting the differential rotation speed of the horizontal decanter centrifuge according to the initial sludge feeding concentration.
8. The fuzzy self-adaptive decanter centrifuge double closed loop operation control system according to claim 7, wherein said outputting the adapted differential rotational speed of the decanter centrifuge according to the initial sludge feed concentration comprises the steps of:
acquiring concentration data of a sludge feeding pipe;
acquiring the differential rotation speed of the horizontal decanter centrifuge with the concentration data being adapted based on a big data platform and a historical expert database;
and using the difference rotation speed data as an initial control input to drive the decanter centrifuge to operate.
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