CN116125918B - Method for converting two-position type cut-off valve into multi-position type adjustment by using intelligent algorithm - Google Patents
Method for converting two-position type cut-off valve into multi-position type adjustment by using intelligent algorithm Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
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- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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Abstract
The invention discloses a method for converting a two-position type cut-off valve into multi-position type adjustment by using an intelligent algorithm, which is based on the original pneumatic cut-off valve and a control system connected with a pneumatic actuator of the pneumatic cut-off valve to control the action of the pneumatic cut-off valve, wherein the method comprises the steps of converting continuous control quantity OP output by the control system into discrete quantity of pulses, outputting high level or low level by a DO output module to drive the pneumatic cut-off valve, and controlling the position of the pneumatic cut-off valve by utilizing the output level pulse width. The invention utilizes the dynamic lag response time of the pneumatic actuator and the cut-off valve in the switching process, and controls the valve core position of the cut-off valve through the pulse width (frequency) of high and low level, so as to realize the function of multi-position adjustment, not only ensure that the valve has no leakage when being closed, but also realize the working process of continuous adjustment; and the equipment investment and the daily maintenance are reduced, and the occupied space of the factory is saved.
Description
Technical Field
The invention relates to the technical field of automatic control of chemical production in a process industry process, in particular to a method for converting a two-position type cut-off valve into a multi-position type adjustment by using an intelligent algorithm.
Background
The two-position cut-off valve belongs to an automatic element in industrial production process, and executes control command signals to cut off or switch media (liquid and gas) so as to meet the control requirements of the system on technological parameters such as temperature, pressure, liquid level, flow, components and the like. The two-position shut-off valve is simply a valve controlled in two states (on or off), and has a reversing valve with two valve positions (two-state working positions).
The pneumatic cut-off valve is provided with a pneumatic actuator, and the operation mode of the pneumatic cut-off valve can realize manual remote control and electromagnetic driving. The pneumatic actuator is characterized in that various accessories such as an electromagnetic valve, an air source processing triple piece, an action cylinder body, a travel switch, a positioner, a junction box and the like are arranged on the cut-off valve so as to realize remote centralized control, and the valve can be opened and closed in a control room.
When the action command received by the pneumatic cut-off valve is a level signal, namely a high level, the actuator is in a working state; and at low levels, the actuator is in another operating state. The pneumatic actuator receives the electric signal and electromagnetically drives the switching air source, and the air source rotates 90 degrees to close the tight shut-off valve (for example, a ball valve) with very small rotation moment. However, in the actual process industry, there are two working states of opening and closing, and there is an actual amount of adjustment, and the pneumatic shut-off valve cannot be completed.
In the process industry, if control of the quantity is to be performed, a regulating valve must be installed to achieve precise quantity control. However, the regulating valve allows a certain leakage amount (equipment index), and the shut-off valve is still needed to be additionally arranged, so that the environmental site of the working procedure is occupied, and the equipment investment and the maintenance of the equipment are increased. In addition, in each process of the flow industrial process, a large number of pneumatic shut-off valves are used, so that if the pneumatic shut-off valves can be utilized to realize flow regulation, the requirements of zero leakage and continuous regulation can be simultaneously met.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for converting a two-position type cut-off valve into a multi-position type adjustment by using an intelligent algorithm, which can not only realize the working process of completing continuous adjustment of a valve without an adjustment function, but also ensure that the valve is free from leakage when being closed.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows.
The method comprises the steps of converting continuous control quantity OP output by the control system into discrete quantity of pulses, outputting high level or low level by a DO output module to drive the pneumatic cut-off valve, and controlling the position of the pneumatic cut-off valve by utilizing the output level pulse width.
Preferably, the method specifically comprises the following steps:
S1, firstly, setting parameters: when the DO output module outputs and drives the pneumatic cut-off valve to open, the total dynamic lag response time of the opening stroke of the pneumatic cut-off valve is represented by t 00, and the time required by the opening stroke of the pneumatic cut-off valve is represented by t 01;
When the DO output module outputs and drives the pneumatic cut-off valve to close, the total dynamic hysteresis response time of the closing stroke of the pneumatic cut-off valve is represented by t 10, and the time required by the closing stroke of the pneumatic cut-off valve is represented by t 11;
S2, determining the level pulse width of the valve opening, and calculating as OP=t 00+x*t01 when the control system controls the pneumatic cut-off valve to act along the opening direction; during operation, the valve opening is calculated as op=t 00+△x*t01; wherein the value range of x is 0-1;
S3, determining the level pulse width of a valve closing, and calculating the output of an initial valve closing control system as OP=t 10+x*t11 when the control system controls the pneumatic cut-off valve to act along the closing direction; during operation, the valve closing calculation is op=t 10+△x*t11; wherein the value range of x is 0-1;
S4, driving the pneumatic cut-off valve to keep a corresponding valve position by a control signal of the output level pulse width OP of the control system according to the continuous control requirement of the valve; op=f (t 00*C,t10 ×c), and C is a number less than 1.
Preferably, the specific method of step S4 is as follows:
s41, firstly, setting a control strategy:
Strategy 1: op=t 00+x*t01;
strategy 2: op=t 00+△x*t01;
Strategy 3: op=t 10+x*t11;
strategy 4: op=t 10+△x*t11;
Strategy 5: op=f (t 00*C,t10 x C);
s42, setting a switch state mark of a pneumatic cut-off valve:
the on state of the feedback signal of the travel switch on the pneumatic cut-off valve is K 1, and the off state is K 2;
s43, the position control method of the pneumatic cut-off valve comprises the following steps:
When K 2 =1, policy 1 is executed;
when K 1 =1, execute policy 3;
When OP t≠OPt-1, and OP t＞OPt-1, policy 2 is enforced;
When OP t≠OPt-1, and OP t＜OPt-1, policy 4 is enforced;
policy 5 is enforced when OP t＝OPt-1.
Preferably, the valve position feedback signal of the pneumatic cut-off valve is set to be F v, the correction coefficient of the 'on' direction is set to be T 1 and T 1＞t00, and the correction coefficient of the 'off' direction is set to be T 2 and T 2＞t10;
if OP t＝Fv,OPt+1＝OPt;
OP t+1＝t00+T1 if OP t＞Fv;
if OP t＜Fv, OP t+1＝t00+T2.
By adopting the technical scheme, the invention has the following technical progress.
The invention utilizes the dynamic lag response time of the pneumatic actuator and the cut-off valve in the switching process, and controls the valve core position of the cut-off valve through the pulse width (frequency) of high and low level, so as to realize the function of multi-position adjustment, not only ensure that the valve has no leakage when being closed, but also realize the working process of continuous adjustment; and the equipment investment and the daily maintenance are reduced, and the occupied space of the factory is saved.
The invention is suitable for the flow industrial process, has the function of converting the command of opening or closing sent by a program control system into a continuous regulation action process so as to meet the control requirement of the production process on various medium process parameters, and is suitable for an actuator without regulation to complete the continuous regulation function and a self-control and remote control system of various industrial production processes which are not allowed to leak when closed.
Drawings
FIG. 1 is a block diagram of the structure of the present invention;
FIG. 2 is a graph of dynamic response state upon valve opening according to the present invention;
FIG. 3 is a graph showing the dynamic response state of the valve according to the present invention;
FIG. 4 is a waveform diagram corresponding to the present invention in use;
FIG. 5 is a block diagram of the internal structure of a DCS according to the present invention.
Detailed Description
The invention will be described in further detail with reference to the drawings and the detailed description.
The method converts the continuous control quantity OP output by the control system into the discrete quantity of pulses by the intelligent algorithm, and outputs high level or low level to drive the pneumatic cut-off valve by the DO output module, and the position control of the pneumatic cut-off valve is realized by utilizing the pulse width.
In the practical application of the flow industrial process, the higher the automation degree is, the wider the application of the automatic valve is, the pneumatic cut-off valve is visible everywhere in the process, the application occasions are very wide, and the embodiment takes the pneumatic cut-off ball valve as an example, and specifically comprises the following steps:
S1, firstly setting parameters.
The pneumatic shut-off valve has the following opening and closing characteristics:
The dynamic response curves of the DCS (or PLC or intelligent regulator) control system DO output module when the dynamic response curves output high and low levels are described in the figures 2-3.
FIG. 2 is a graph showing the dynamic response state when the valve is opened, when the DO output module of the control system outputs a high (or low) level to drive the pneumatic cut-off valve to open, the pneumatic cut-off valve opening process has total (electromagnetic valve+cylinder charge, air leakage+resistance of valve rod and sealing filler) dynamic lag response time, which is denoted by t 00, due to the pneumatic cut-off valve itself; the time required for the pneumatic shut-off valve to open is denoted by t 01.
FIG. 3 is a graph showing the dynamic response state when the valve is closed, when the DO output module of the control system outputs a low (or high) level to drive the pneumatic cut-off valve to close, the pneumatic cut-off valve closing stroke has total (electromagnetic valve + cylinder leakage, inflation + resistance of valve rod and sealing filler) dynamic lag response time, which is represented by t 10, and the time required for the pneumatic cut-off valve closing stroke is represented by t 11 due to the pneumatic cut-off valve itself.
The pneumatic cut-off valve has the air opening and the air closing, which is selected according to the position of the cut-off valve in the process requirement fault state, so the air charging and discharging time of the air cylinder are different, that is, the dynamic lag response time of the opening and closing of the pneumatic cut-off valve is different, the travel time is also different, namely: t 00≠t10,t01≠t11.
S2, determining the level pulse width of the valve.
When the control system controls the pneumatic cut-off valve to act along the opening direction, the output of the valve opening initial control system is calculated as OP=t 00+x*t01; during operation, the valve opening is calculated as op=t 00+△x*t01; wherein the value range of x is 0-1.
S3, determining the level pulse width of the valve.
When the control system controls the pneumatic cut-off valve to act in the closing direction, the valve closing initial control system output is calculated as OP=t 10+x*t11; during operation, the valve closing calculation is op=t 10+△x*t11; wherein the value range of x is 0-1.
S4, according to the continuous control requirement of the valve, a control signal of the level pulse width OP is output by the control system to drive the pneumatic cut-off valve to keep the corresponding valve position, wherein the calculation method is that the high (or low) level pulse width is a value of t 00 (or t 10) multiplied by less than 1; the low (or high) level pulse width is t 10 (or t 00) times a value less than 1; denoted by op=f (t 00*C,t10 ×c), C is a number less than 1 (the value of C depends on the actual test for different valve characteristics).
The specific method of the step S4 is as follows:
s41, firstly, setting a control strategy:
Strategy 1: op=t 00+x*t01;
strategy 2: op=t 00+△x*t01;
Strategy 3: op=t 10+x*t11;
strategy 4: op=t 10+△x*t11;
Strategy 5: op=f (t 00*C,t10 ×c).
The above strategy is described as follows:
strategy 1: opening the valve from the original fully closed state;
strategy 2: the intermediate state other than on and off opens the valve;
strategy 3: closing the valve from an original fully open state;
strategy 4: the intermediate state other than on and off closes the valve;
Strategy 5: the width (time) of the high and low level of the output is smaller than the dynamic response lag time of the valve opening and closing, so the position of the valve is kept unchanged.
S42, setting a switch state mark of a pneumatic cut-off valve:
the "on" state of the travel switch feedback signal on the pneumatic cut-off valve is K 1, and the "off" state is K 2;
S43, performing mathematical analysis and quantitative calculation on the position control of the pneumatic cut-off valve by adopting a fuzzy reasoning new model, namely a T-S fuzzy reasoning model, namely fuzzy quantity of fuzzy reasoning results, wherein the fuzzy control method comprises the following steps:
When K 2 =1, policy 1 is executed;
when K 1 =1, execute policy 3;
When OP t≠OPt-1, and OP t＞OPt-1, policy 2 is enforced;
When OP t≠OPt-1, and OP t＜OPt-1, policy 4 is enforced;
policy 5 is enforced when OP t＝OPt-1.
Wherein, OP t is the OP at the current time and OP t-1 is the OP at the previous time.
When the invention is used, the continuous control quantity OP output by the control system is converted into discrete quantity of the pulse, the DO output module outputs high level or low level to drive the pneumatic cut-off valve, and the pulse width is utilized to realize the position control of the pneumatic cut-off valve.
A waveform diagram shown in fig. 4 is a requirement of the opening degree changing state of the present embodiment for realizing continuous control by using a pneumatic shut-off valve. The control system outputs the corresponding relation between the level pulse width and the valve position of the pneumatic cut-off valve through the DO output module, and converts the two-position cut-off valve into a multi-position continuous adjusting action process. The method comprises the following steps: at time t 1, the pneumatic shut-off valve is in a closed state; at time t 2, valve 25% is opened; in the period t 3, the valve position is kept unchanged; at time t 4, opening the valve to 80%; in the period t 5, the valve position is kept unchanged; at time t 6, closing the valve to 75%; in the period t 7, the valve position is kept unchanged; at time t 8, the valve is closed.
The above-mentioned conversion control valve position is the open loop process, for more accurate operation valve position, establish correction control.
Let the valve position feedback signal of the pneumatic cut-off valve be F v, the "on" direction correction coefficient be T 1 and T 1＞t00, the "off" direction correction coefficient be T 2 and T 2＞t10, the closed loop correction control is as follows:
if OP t＝Fv,OPt+1＝OPt;
OP t+1＝t00+T1 if OP t＞Fv;
if OP t＜Fv, OP t+1＝t00+T2.
Wherein, OP t+1 is the OP of the next moment.
For further understanding of the method provided by the present invention, the following description is made:
In practical engineering applications, automatic valves are largely divided into two types:
1) And (3) regulating the valve. Receiving a continuous change value of 0-100%, wherein the international standard is 4-20 mA electric signals; the "multibit" mentioned in the present method. And (3) regulating valve: the valve consists of a valve body, an actuating mechanism, an air source device, a valve positioner and the like, wherein the valve body is provided with: the flow area of the pipe body through which the material flows is controlled by the valve core, and the flow is determined; the executing mechanism comprises: a driving device for changing the position of the valve core; and an air source device: dynamic energy (pneumatic); valve positioner: the received continuous signal is converted into a corresponding air pressure signal.
2) And a shut-off valve. Also known as a switching valve, a stop valve, a reversing valve, a switch valve, a two-position valve and the like, receives a discrete value of 0or1, namely a high level or a low level, the level is not uniform standard, generally adopts 0-5 VDC, 0-12 VDC, 0-24 VDC or 0-220 VAC and the like in engineering, and selects a signal according to working conditions. And (3) a cut-off valve: the valve consists of a valve body, a cylinder, a travel switch, an air source device, an electromagnetic valve and the like, wherein the valve body is provided with: the flow area of the pipe body through which the material flows is controlled by the valve core, and the maximum or minimum flow area is achieved; and (3) a cylinder: a driving device for changing two states of the valve core; and (3) a travel switch: feeding back on and off signals; and an air source device: dynamic energy (pneumatic); electromagnetic valve: and receiving the discrete signals, and performing pressurizing or depressurizing operation on the air cylinder.
Two data types are applied in DCS control systems: real and digital (or logical) forms. Real number type: the value range is 0-1, which can be understood as 0-100%; digital type: 0 or 1, T or F, can be understood as on or off, high or low.
In DCS, variables are defined in successive modules (e.g., PID operations) as: PV is an input variable (obtained by analog-to-digital conversion and called AI-I/O card), SP is a reference variable (given value), OP is an output variable (output by digital-to-analog conversion and called AO-I/O card).
In DCS, variable names are custom in discrete modules (e.g., logical operations).
A DCS internal structure block diagram applying the method is shown in FIG. 5, wherein:
AI conversion module: analog-digital conversion, converting the 4-20 mA signal output by the transmitting unit into a fixed point number (binary representation) recognized in a computer, wherein the number (dimensionless) of 0-1 is 0-100%, and then converting the fixed point number into a physical quantity through dimensionality; an AO conversion module: D/A conversion, converting the dimensionless fixed point number (0-1) into 4-20 mA through AO; DI module: the digital quantity input module converts signals (level height) of two external states into 0 or 1; DO module: and the digital quantity output module converts the digital quantity of 0 or 1 into signals in two states of high and low levels.
The method is to convert continuous signals into discrete signals through an intelligent algorithm to output and control the cut-off valve, simulate the action process of the regulating valve, and is similar to a valve positioner of the regulating valve, namely multi-position control.
The invention is based on original pneumatic cut-off valve of the craft, utilize customer's control system (hardware and software apparatus meeting the application requirement), according to the invention, use the intelligent algorithm to realize the method of multi-position type regulation to the two-position cut-off valve, carry on the programming configuration; the related parameters are tested and calculated through dynamic response, related data are determined, and the programming configuration software is controlled to be downloaded and debugged on line to achieve the expected effect; and adjusting and setting equipment parameters and control parameters, putting into a closed loop, performing online parameter setting, and putting into normal production operation after meeting the process and control requirements.
The invention carries out discrete to continuous conversion control on the pneumatic cut-off valve, carries out recognition, condition judgment and logic reasoning on the valve position change condition, has the characteristic of simulating part of intelligence, realizes the conversion method from the two-position cut-off valve to the multi-position adjustment, ensures that the valve is free from leakage when being closed, and can realize the working process of continuous adjustment; and the equipment investment and the daily maintenance are reduced, and the occupied space of the factory is saved.
Claims (2)
1. The method for converting the two-position type cut-off valve into multi-position type adjustment by using the intelligent algorithm is based on the original pneumatic cut-off valve and a control system which is connected with a pneumatic actuator of the pneumatic cut-off valve to control the action of the pneumatic cut-off valve, and is characterized in that: converting a continuous control quantity OP output by a control system into a discrete quantity of pulses, outputting a high level or a low level by a DO output module to drive a pneumatic cut-off valve, and controlling the position of the pneumatic cut-off valve by utilizing the output level pulse width;
the method specifically comprises the following steps:
s1, firstly, setting parameters: when the DO output module outputs digital quantity to drive the pneumatic cut-off valve to open, the total dynamic lag response time of the opening stroke of the pneumatic cut-off valve is represented by t 00, and the time required by the opening stroke of the pneumatic cut-off valve is represented by t 01;
When the DO output module outputs digital quantity to drive the pneumatic cut-off valve to close, the total dynamic hysteresis response time of the closing stroke of the pneumatic cut-off valve is represented by t 10, and the time required by the closing stroke of the pneumatic cut-off valve is represented by t 11;
S2, determining the level pulse width of the valve opening, and calculating as OP=t 00+x*t01 when the control system controls the pneumatic cut-off valve to act along the opening direction; during operation, the valve opening is calculated as op=t 00+△x*t01; wherein the value range of x is 0-1;
S3, determining the level pulse width of a valve closing, and calculating the output of an initial valve closing control system as OP=t 10+x*t11 when the control system controls the pneumatic cut-off valve to act along the closing direction; during operation, the valve closing calculation is op=t 10+△x*t11; wherein the value range of x is 0-1;
S4, according to the continuous control requirement of the valve, the control system outputs a control signal with corresponding level pulse width to drive the pneumatic cut-off valve to keep a corresponding valve position; op=f (t 00*C,t10 ×c), C being a number less than 1;
the specific method of the step S4 is as follows:
s41, firstly, setting a control strategy:
Strategy 1: op=t 00+x*t01;
strategy 2: op=t 00+△x*t01;
Strategy 3: op=t 10+x*t11;
strategy 4: op=t 10+△x*t11;
Strategy 5: op=f (t 00*C,t10 x C);
s42, setting a switch state mark of a pneumatic cut-off valve:
the on state of the feedback signal of the travel switch on the pneumatic cut-off valve is K 1, and the off state is K 2;
s43, the position control method of the pneumatic cut-off valve comprises the following steps:
When K 2 =1, policy 1 is executed;
when K 1 =1, execute policy 3;
When OP t≠OPt-1, and OP t＞OPt-1, policy 2 is enforced;
When OP t≠OPt-1, and OP t＜OPt-1, policy 4 is enforced;
When OP t＝OPt-1, policy 5 is executed;
wherein, OP t is the OP at the current time and OP t-1 is the OP at the previous time.
2. The method for converting a two-position shut-off valve into a multi-position adjustment using an intelligent algorithm of claim 1, wherein: setting valve position feedback signals of the pneumatic cut-off valves as F v, setting the correction coefficients of the "on" direction as T 1 and T 1＞t00 and setting the correction coefficients of the "off" direction as T 2 and T 2＞t10;
if OP t＝Fv,OPt+1＝OPt;
OP t+1＝t00+T1 if OP t＞Fv;
OP t+1＝t00+T2 if OP t＜Fv;
wherein, OP t+1 is the OP of the next moment.
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| JPH06108896A (en) * | 1992-09-29 | 1994-04-19 | Unisia Jecs Corp | Fuel feed control device for internal combustion engine with assist air feeding device |
| JP2000018426A (en) * | 1998-07-01 | 2000-01-18 | Ricoh Elemex Corp | Cutoff valve driving and controlling device |
| CN101802335A (en) * | 2007-04-24 | 2010-08-11 | 耶鲁安全公司 | Door closer assembly |
| JP2013002460A (en) * | 2011-06-13 | 2013-01-07 | Asahi Kokusai Techneion Co Ltd | Electric valve drive system |
| CN104583656A (en) * | 2012-08-22 | 2015-04-29 | 维金热引擎有限公司 | Pulse-width-regulating valve |
| JP2015537165A (en) * | 2012-08-22 | 2015-12-24 | バイキング ヒート エンジンズ エーエス | Pulse width adjusting valve and operation method of pulse width adjusting valve |
| DE102013205588A1 (en) * | 2013-03-28 | 2014-10-02 | Siemens Aktiengesellschaft | valve system |
| CN110985747A (en) * | 2019-08-09 | 2020-04-10 | 浙江中控技术股份有限公司 | Piezoelectric valve positioner and rapid positioning method thereof |
| CN114909510A (en) * | 2022-05-07 | 2022-08-16 | 陕西科技大学 | Electric valve positioning compensation control system and control method |
| CN115163910A (en) * | 2022-06-30 | 2022-10-11 | 杭州电子科技大学 | Method for dynamically optimizing and adjusting control parameters of intelligent valve positioner |
| CN115097721A (en) * | 2022-07-04 | 2022-09-23 | 中广核工程有限公司 | Accurate control method and system for pulse type electric regulating valve |
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