CN118170192A - Control method and system for gas pressure and flow of two-stage pressure regulating pipeline - Google Patents
Control method and system for gas pressure and flow of two-stage pressure regulating pipeline Download PDFInfo
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Abstract
The invention belongs to the field of modeling and control of two-stage pressure regulating pipeline systems, and discloses a method and a system for controlling gas pressure and flow of a two-stage pressure regulating pipeline. According to the invention, a data mechanism fusion model of the two-stage pressure regulating system is established according to the aerodynamic mechanism and the test data, the modeling process of the system is relatively visual and simple, the model parameters have visual physical significance, and the model precision is higher. The invention adopts a feed-forward plus feedback control structure. And the feedforward control part adopts a rolling optimization strategy, comprehensively considers the data mechanism model and the actual state of the system, and avoids or reduces the control performance degradation caused by model deviation while realizing quick control by using the model. The invention designs a double-layer control method, which separates steady-state target solving and dynamic control and meets the cooperative control requirement of primary pipeline pressure and secondary pipeline flow.
Description
Technical Field
The invention relates to the field of modeling and control of two-stage pressure regulating pipeline systems, in particular to a method and a system for controlling gas pressure and flow of a two-stage pressure regulating pipeline.
Background
In air facilities such as wind tunnels, the process air is typically derived from a medium pressure air source. The pressure of the medium-pressure air source is higher and is generally 1-2.5 MPa; in contrast, the total operating pressure of part of the wind tunnel is not high, and meanwhile, the total operating pressure of the wind tunnel needs to be accurately controlled and regulated within a certain range, for example, the total operating pressure of the wind tunnel is 20 kPa-450 kPa. Because the air source pressure and the wind tunnel operating pressure are too different, the air inlet flow is difficult to realize good control by adopting a primary pipeline. In order to ensure accurate control of the air inflow of the wind tunnel, a two-stage pressure regulating pipeline is generally adopted, wherein a one-stage pipeline is mainly used for regulating pressure, the pressure of an air source is firstly reduced to a certain range, a foundation is laid for flow control, and a two-stage pipeline is mainly used for regulating flow.
Typical coupling control problems exist in a two-stage pressure regulating system, such as the coupling relation can greatly influence the flow control of a secondary pipeline in the primary pipeline pressure regulating process; conversely, the pressure control of the primary pipeline is also affected by the flow regulation of the secondary pipeline; some gas utilization equipment has a plurality of diode pipeline branches, so that the flow adjustment among different branches causes coupling to the pressure of the primary pipeline, and then the flow control of other branches is influenced, and the situation is more complicated. In addition, because the medium-pressure air source is shared by a plurality of wind tunnels, particularly the air consumption of certain large-scale equipment is huge, the medium-pressure air source has great fluctuation, and great interference is caused to the control of the pressure of the primary pipeline, so that the control of the flow of the secondary pipeline is influenced.
The air utilization equipment such as wind tunnels is precise equipment, and a large number of other equipment, meters and the like are arranged inside the equipment. In order to ensure the safety of the wind tunnel and the internal equipment and instruments thereof, and simultaneously comprehensively improve the wind tunnel cleaning efficiency, reduce the air consumption cost and other factors, the air inlet flow of the wind tunnel and the pressure rise rate of the wind tunnel have strict requirements. Therefore, the control system not only needs to realize the steady-state control of a single set value of the primary pipeline pressure and the secondary pipeline flow, but also needs to dynamically adjust target values of the primary pipeline pressure and the secondary pipeline flow according to the change of the wind tunnel pressure so as to realize the rapid tracking control of the pressure or the flow.
Disclosure of Invention
The invention aims to solve at least one problem in the background art and provides a method and a system for controlling the pressure and the flow of gas of a two-stage pressure regulating pipeline.
In order to achieve the above object, the first technical scheme adopted by the present invention is as follows:
The control method of the gas pressure and flow of the two-stage pressure regulating pipeline comprises the following steps:
Establishing a data mechanism fusion model of the target flow of the two-stage pipeline and the theoretical opening of the regulating valve;
calculating a primary pipeline gas process target pressure and a secondary pipeline gas process target flow according to a primary pipeline steady-state pressure control target, a secondary pipeline steady-state flow control target and dynamic characteristics of the two-stage pressure regulating pipeline;
Taking the target pressure of the primary pipeline gas process and the target flow of the secondary pipeline gas process as control target values, and adopting a feedforward control and data mechanism fusion model to obtain feedforward control input quantity;
Taking the primary pipeline gas process target pressure and the secondary pipeline gas process target flow as control target values, adopting feedback control to respectively dynamically control the primary pipeline gas pressure and the secondary pipeline gas flow, and obtaining feedback control input quantity;
and synthesizing the feedforward control input quantity and the feedback control input quantity to obtain the control input quantity of the two-stage pressure regulating pipeline, and controlling the gas pressure and the flow of the two-stage pressure regulating pipeline by using the control input quantity as an opening instruction of the regulating valve.
Preferably, the method for establishing the data mechanism fusion model comprises the following steps:
establishing a steady-state mechanism model between the equivalent throttling area and the flow of the two-stage pipeline;
establishing a linear dynamic model of the pressure of the primary pipeline at the identification working point and the opening of the primary regulating valve, and establishing a linear dynamic model of the flow of the secondary pipeline at the identification working point and the opening of the secondary regulating valve;
establishing a data model of the opening degree of the regulating valve and the equivalent throttling area of the two-stage pipeline;
And according to the incoming flow temperature and pressure of the two-stage pipeline, fusing the steady-state mechanism model, the linear dynamic model and the data model.
Preferably, the formula of the data mechanism fusion model is as followsWhere g represents a functional relationship between the theoretical opening of the regulator valve and the gas temperature, pressure and mass flow rate, R v is the theoretical opening of the regulator valve, T 0 is the incoming gas temperature, P 0 is the incoming gas pressure, and q m is the mass flow rate.
Preferably, the steady-state mechanism model formula between the equivalent throttle area and the flow is as follows:
，
S c is equivalent throttling area, q m is mass flow, T 0 is incoming gas temperature, P 0 is incoming gas pressure, gamma is specific heat ratio, and R is gas constant.
Preferably, an identification method is adopted to obtain a linear dynamic model of the flow of the two-stage pipeline at the identification working point and the front pressure of the regulating valve, and the dynamic modelThe formula of (2) is: /(I)J=0, 1, G 0(s) is a linear dynamic model between the primary pipeline pressure and the equivalent throttle area of the primary pipeline regulating valve, G 1(s) is a linear dynamic model between the secondary pipeline flow and the equivalent throttle area of the secondary pipeline regulating valve, P 0 is the primary regulating valve front pressure, P 1 is the secondary regulating valve front pressure, P 0 is the primary regulating valve front pressure at the identifying operating point, P 1 * is the secondary regulating valve front pressure at the identifying operating point, G 0(s) is the primary pipeline on-identifying operating point linear dynamic model, and G 1(s) is the secondary pipeline on-identifying operating point linear dynamic model.
Preferably, the method for determining the feedforward control input amount includes:
if the actual flow of the pipeline is smaller than the target flow of the pipeline process and the theoretical opening of the regulating valve at the last moment is smaller than the theoretical opening of the regulating valve at the current moment, the theoretical opening of the regulating valve at the current moment is taken as a feedforward control input quantity;
if the actual flow of the pipeline is larger than the target flow of the pipeline and the theoretical opening of the regulating valve at the previous moment is larger than the theoretical opening of the regulating valve at the current moment, the theoretical opening of the regulating valve at the previous moment is taken as the feedforward control input quantity.
Preferably, a double-layer control method is adopted, and the upper layer realizes the calculation of the target pressure of the primary pipeline gas process and the target flow of the secondary pipeline gas process; the lower layer realizes the dynamic control of the gas pressure of the primary pipeline and the gas flow of the secondary pipeline.
Preferably, the primary pipeline gas process target pressureThe calculation formula of (2) is as follows:
，
wherein: As a function of the sign of the symbol,
；/>For the last steady-state primary pipeline gas steady-state pressure,/>Is the steady-state target pressure of the gas of the first-stage pipeline,/>、/>The target pressure change rate of the primary pipeline process is set, and t is time;
Target flow rate of diode gas process The calculation formula of (2) is as follows:
，
wherein: As a function of the sign of the symbol,
；/>For the steady-state flow of the gas of the diode circuit,/>For the steady-state target flow of the diode gas,/>，/>For the number of branch circuits of the diode circuit,/>，The flow rate is the target flow rate change rate of the diode process, and t is time.
The second technical scheme adopted by the invention is as follows:
a control system for gas pressure and flow in a two-stage pressure regulating circuit comprising:
the model building module is used for building a data mechanism fusion model of the target flow of the two-stage pipeline and the theoretical opening of the regulating valve;
the calculation module is used for calculating the primary pipeline gas process target pressure and the secondary pipeline gas process target flow according to the primary pipeline steady-state pressure control target, the secondary pipeline steady-state flow control target and the dynamic characteristics of the two-stage pressure regulating pipeline;
The first control module is used for obtaining feedforward control input quantity by taking the target pressure of the primary pipeline gas process and the target flow of the secondary pipeline gas process as control target values and adopting feedforward control and the data mechanism fusion model;
the second control module is used for taking the target pressure of the primary pipeline gas process and the target flow of the secondary pipeline gas process as control target values, adopting feedback control and respectively dynamically controlling the primary pipeline gas pressure and the secondary pipeline gas flow to obtain feedback control input quantity;
And the third control module is used for synthesizing the feedforward control input quantity and the feedback control input quantity to obtain the control input quantity of the two-stage pressure regulating pipeline, and controlling the pipeline gas pressure and flow as an opening instruction of the regulating valve.
Preferably, the calculation module is an upper steady-state target calculation module;
the first control module, the second control module and the third control module are lower-layer dynamic control modules and are used for realizing dynamic control of the gas pressure of the primary pipeline and the gas flow of the secondary pipeline.
Compared with the prior art, the application has the following beneficial effects:
(1) Aiming at the strong coupling and nonlinear characteristics of a two-stage pressure regulating system of a wind tunnel air inlet pipeline, the application establishes a data mechanism fusion model of the two-stage pressure regulating system by taking the equivalent throttling area as an intermediate parameter according to aerodynamic mechanism and test data. The modeling process of the system is relatively visual and simple, the model parameters have visual physical significance, and the model precision is high; meanwhile, compared with simple data modeling, the modeling workload is small, the experimental data for modeling which needs to be collected is small, and the modeling cost is saved.
(2) The application adopts a feed-forward plus feedback control structure, and can simultaneously meet the requirements of rapidness and high precision control; the feedforward part adopts a rolling optimization strategy, comprehensively considers the data mechanism fusion model and the actual state of the system, and avoids or reduces the control performance degradation caused by model deviation while realizing rapid control by using the model; and the feedback part adopts a slower control frequency for the primary pressure, so that oscillation caused by air source pressure fluctuation to primary pipeline pressure control is avoided, and further, the flow control oscillation of the secondary pipeline is avoided.
(3) Aiming at the requirements of primary pressure and secondary flow on quick load change control, the application adopts a double-layer control method, and the upper layer realizes process control target calculation and multi-target cooperative optimization; the lower layer is dynamic control, so that quick tracking control is realized. Compared with the traditional method, the parameter functions are relatively independent, the meaning is clear, and the setting according to the performance requirements is convenient.
Drawings
FIG. 1 is a schematic diagram of a two-stage pressure regulating circuit system;
FIG. 2 is a schematic flow chart of a control method of gas pressure and flow rate of a two-stage pressure regulating pipeline according to an embodiment of the application;
In fig. 3, a is a primary pipeline pressure control effect when all 3 branches of the secondary pipeline are put into operation, B is a secondary pipeline branch 1 flow control effect when all 3 branches of the secondary pipeline are put into operation, C is a secondary pipeline branch 2 flow control effect when all 3 branches of the secondary pipeline are put into operation, and D is a secondary pipeline branch 3 flow control effect when all 3 branches of the secondary pipeline are put into operation;
FIG. 4 is a graph showing the variation of the process air source pressure and the total pressure of the wind tunnel when all 3 branches of the secondary pipeline are put into use in an embodiment of the application;
In fig. 5, a is a dynamic tracking control effect of the first-stage pipeline pressure when the two branches 2 of the diode pipeline are put into operation, B is a dynamic tracking control effect of the flow of the two branches 1 of the diode pipeline when the two branches 2 of the diode pipeline are put into operation, and C is a dynamic tracking control effect of the flow of the two branches 2 of the diode pipeline when the two branches 2 of the diode pipeline are put into operation;
Fig. 6 is a schematic diagram of a control system for controlling gas pressure and flow rate of a two-stage pressure regulating pipeline according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The principle of the two-stage pressure regulating pipeline system is shown in figure 1. According to the air demand of a certain wind tunnel, the secondary pipeline is provided with a plurality of branches, and air source air is connected into the wind tunnel from different sections. The number of specific branches is adjusted according to the gas consumption requirement, for example, 3 branches can be used. Each stage of pipeline is provided with a regulating valve, the regulating valve of the first stage pipeline is hereinafter referred to as a first stage regulating valve, and the regulating valve of the second stage pipeline is hereinafter referred to as a second stage regulating valve.
In general, the pressure of the medium-pressure air source is 1-2.5 MPa, and the operating pressure range of the wind tunnel is 20-450 kPa. According to the requirements of the wind tunnel on safe operation and cleaning efficiency, the wind tunnel is in different pressure ranges, and the pressure of the primary pipeline and the flow of different branches of the secondary pipeline are required to be changed along with each other.
In addition, the diode-circuit branch has the following modes of use, depending on the test requirements: any branch is opened; any two branches are opened; three branches are opened simultaneously. In the test process, the branches put into use are dynamically adjusted and can be increased or decreased according to the requirements. Therefore, the application needs to realize the steady-state control of single set values of the primary pipeline pressure and the secondary pipeline flow, and also needs to dynamically adjust the target values of the primary pipeline pressure and the secondary pipeline flow according to the change of the wind tunnel pressure so as to realize the rapid tracking control of the pressure or the flow.
The first embodiment of the present application provides a method for controlling gas pressure and flow rate of a two-stage pressure regulating pipeline, and fig. 2 is a schematic flow chart of the method for controlling gas pressure and flow rate of the two-stage pressure regulating pipeline provided by the embodiment of the present application.
As shown in fig. 2, the control method for the gas pressure and flow rate of the two-stage pressure regulating pipeline comprises the following steps:
Step S201, a data mechanism fusion model of target flow of the two-stage pipeline and theoretical opening of the regulating valve is established.
The data mechanism fusion model is established based on aerodynamic mechanism and experimental data of a two-stage pressure regulating pipeline, and a steady-state and dynamic model of the two-stage pipeline system is established according to the linear relation between the equivalent throttling area of the pipeline and the pipeline flow; fitting the opening of the regulating valve and the equivalent throttle area under different flows through experimental data to obtain the corresponding relation between the equivalent throttle area and the theoretical opening of the regulating valve, so that the static nonlinear characteristic of the system is integrated into the model design, and the data mechanism integration model of the two-stage pressure regulating pipeline system is obtained.
Specifically, the method for establishing the data mechanism fusion model comprises the following steps:
And step S201-1, establishing a steady-state mechanism model between the equivalent throttle area and the flow of the two-stage pipeline according to the gas dynamics.
Assuming that the pressure of the pipeline gas before and after the regulating valve meets the interception condition (the test working condition basically meets the assumption), and compensating the control error caused by model deviation through the control strategy when the pressure is not met. According to the incoming flow gas temperature T 0, the incoming flow gas pressure P 0 and the mass flow q m of the pipeline, the steady-state relationship between the equivalent throttling area and the flow is calculated as follows:
（1） ,
Wherein: s c is equivalent throttling area, m 2;qm is mass flow, kg/S; t 0 is the temperature of the incoming gas, K; p 0 is the incoming gas pressure, pa; gamma is the specific heat ratio; r is the gas constant, J/(kg.K).
Step S201-2, a linear dynamic model of the pressure of the first-stage pipeline at the identification working point and the opening of the first-stage regulating valve is established, and a linear dynamic model of the flow of the second-stage pipeline at the identification working point and the opening of the second-stage regulating valve is established.
The method comprises the steps of obtaining a dotted linear dynamic model of a two-stage pipeline system under an identification working condition by using actual test data of a wind tunnel cleaning process and adopting an identification method，/>The linear dynamic model is a linear dynamic model of the primary pipeline in the identification working condition, G 0 is a linear dynamic model of the primary pipeline in the identification working condition, and G 1 is a linear dynamic model of the secondary pipeline in the identification working condition.
According to the proportional relation between the flow and the pressure before the regulating valve, a linear dynamic model of the flow of the two-stage pipeline at the identification working point and the pressure before the regulating valve is obtained：
（2）,
J=0, 1, G 0(s) is a linear dynamic model between the primary pipeline pressure and the equivalent throttle area of the primary pipeline regulating valve, G 1(s) is a linear dynamic model between the secondary pipeline flow and the equivalent throttle area of the secondary pipeline regulating valve, P 0 is the primary regulating valve front pressure, P 1 is the secondary regulating valve front pressure, P 0 is the primary regulating valve front pressure identifying the operating point, and P 1 * is the secondary regulating valve front pressure identifying the operating point.
Step S201-3: and establishing a data model of the opening degree of the regulating valve and the equivalent throttling area of the two-stage pipeline according to the actual test data of the wind tunnel cleaning process.
According to the test data, a data model of the opening degree of the pipeline regulating valve and the equivalent throttling area is obtained, and the data model is expressed by a function:
（3）,
Wherein: To adjust the valve opening.
Step S201-4: and according to the incoming flow temperature and pressure of the two-stage pipeline, fusing the steady-state mechanism model, the linear dynamic model and the data model to obtain a data mechanism fusion model.
Combining the formulas (1), (2) and (3), and obtaining a mechanism data fusion model of the theoretical opening of the regulating valve and the target flow of the pipeline according to the incoming gas temperature T 0 and the incoming gas pressure P 0: g represents the theoretical opening of the regulator valve as a function of the gas temperature, pressure and mass flow. The specific formula is as follows: /(I) Wherein a and b are undetermined parameters.
The mechanism data fusion model of the primary pipeline and the secondary pipeline has the same form, and the incoming flow temperature, the pressure, the target flow and the theoretical opening of the regulating valve of each pipeline are respectively calculated to realize control in the subsequent calculation and control processes.
Step S202, calculating the primary pipeline gas process target pressure and the secondary pipeline gas process target flow according to the primary pipeline steady-state pressure control target, the secondary pipeline steady-state flow control target and the dynamic characteristics of the two-stage pressure regulating pipeline.
Specifically, the calculation method of the primary pipeline gas process target pressure and the secondary pipeline gas process target flow is as follows:
Target pressure of primary pipeline gas process The calculation formula of (2) is as follows:
，
wherein: as a sign function,/> ；/>For the last steady-state primary pipeline gas steady-state pressure,/>Is the steady-state target pressure of the gas of the first-stage pipeline,/>、/>The target pressure change rate of the primary pipeline process is set, and t is time;
Target flow rate of diode gas process The calculation formula of (2) is as follows:
，
wherein: As a function of the sign of the symbol,
；/>For the steady-state flow of the gas of the diode circuit,/>For the steady-state target flow of the diode gas,/>，/>For the number of branch circuits of the diode circuit,/>，/>The flow rate is the target flow rate change rate of the diode process, and t is time.
And step 203, taking the primary pipeline gas process target pressure and the secondary pipeline gas process target flow as control target values, and obtaining feedforward control input quantity by adopting feedforward control and the data mechanism fusion model.
It will be appreciated that control rapidity can be achieved by feed forward control. The feedforward control input quantity is essentially the optimal theoretical opening degree of the regulating valve, the input quantity is adjusted in real time according to the change condition of the pipeline gas in the control process, the optimal calculation of the theoretical opening degree of the regulating valve considers the actual pressure and flow of the gas, and the control performance degradation caused by the model deviation is avoided or lightened while the quick control is realized by using the model.
The feedforward control input quantity, namely the optimal theoretical opening degree of the regulating valve, is determined by the following steps:
if the actual flow of the pipeline is smaller than the target flow of the pipeline process and the theoretical opening of the regulating valve at the last moment is smaller than the theoretical opening of the regulating valve at the current moment, the theoretical opening of the regulating valve at the current moment is taken as a feedforward control input quantity;
If the actual flow of the pipeline is larger than the target flow of the pipeline process and the theoretical opening of the regulating valve at the last moment is larger than the theoretical opening of the regulating valve at the current moment, the theoretical opening of the regulating valve at the current moment is taken as a feedforward control input quantity;
otherwise, the theoretical opening of the regulating valve at the previous moment is used as the feedforward control input quantity.
Specifically, the current time is recordedThe theoretical opening degree of the regulating valve is/>Last moment/>The theoretical opening degree of the regulating valve is/>The actual flow of the pipeline is/>Pipeline target flow is/>The feedforward control input quantity at the last moment isThe optimized feedforward control input is/>。
According to the target flow rateAnd the incoming flow temperature T 0 and the pressure P 0 are calculated by using a mechanism data fusion model。
If it is%And/>) Or (/ >)And/>) Then/>; Otherwise,/>。
. At the same time/>The following constraints must be satisfied: /(I)，。
Wherein,For regulating the minimum opening of the valve,/>For regulating the maximum opening of the valve,/>For regulating valve minimum Guan Sulv (note valve closing direction as negative),/>To adjust the maximum opening rate of the valve.
And S204, taking the primary pipeline gas process target pressure and the secondary pipeline gas process target flow as control target values, and adopting feedback control to dynamically control the primary pipeline gas pressure and the secondary pipeline gas flow respectively to obtain feedback control input quantities.
It can be appreciated that by adopting closed-loop control, the deviation of the actual flow of the pipeline can be adjusted, so that the actual flow meets the control precision requirement.
The specific feedback control method is not particularly limited, and the present application can be implemented by a closed loop control method commonly used in the art, for example, PID control may be adopted, including a modification method such as a segmented PID control.
Step S205, the feedforward control input quantity and the feedback control input quantity are integrated to obtain the control input quantity of the two-stage pressure regulating pipeline, and the control input quantity is used as an opening instruction of a regulating valve to control the pipeline gas pressure and flow.
It can be understood that in the embodiment of the present application, the control input amount, i.e., the control rate, of the two-stage voltage regulating pipeline is composed of two parts, i.e., the feedforward control input amount in step S203Feedback control input quantity/>, step 204The method comprises the following steps:，/> As an opening command of the regulator valve.
At the same time, the method comprises the steps of,The following constraints must be satisfied:
。
since the flow of gas from the secondary conduit is ideally equal to the flow of gas from the gas source into the primary conduit, this condition can be exploited for pressure regulation of the primary conduit. Therefore, the data mechanism fusion model is utilized, the flow of the primary pipeline and the secondary pipeline can be roughly regulated through the optimized theoretical opening of the regulating valve, and then the flow can be precisely regulated through feedback control.
According to the embodiment of the application, the primary pipeline gas process target pressure and the secondary pipeline gas process target flow are used as control targets, and the process target pressure or the process target flow is obtained by optimizing and calculating the steady-state target pressure or the steady-state target flow according to the characteristics and the control requirements of the two-stage pressure regulating pipeline system. Through optimization calculation, balance is carried out between tracking performance and disturbance rejection performance, coordination of primary pipeline pressure and secondary pipeline flow targets is realized, and influence of adjustment of one control variable on other control variables is avoided or reduced; and then the dynamic tracking control is realized by taking the process target pressure or the process target flow as a control target. By the method, steady-state target calculation and dynamic tracking control are separated, so that control target realization and control parameter setting are facilitated.
In some preferred embodiments, a double-layer control strategy is adopted to solve the problem of strong coupling between primary pipeline pressure control and secondary pipeline flow control and between different branch pipeline flow control of the secondary pipeline, the upper layer realizes process control target calculation, the lower layer realizes dynamic control, the process control target calculation of primary pipeline pressure and secondary pipeline flow is separated from the dynamic control, and the cooperation between a plurality of targets such as dynamic tracking performance and disturbance rejection performance is realized.
The final control objective of the application is the flow of the secondary pipeline, in order to reduce the mutual coupling action between two stages of pipelines, the control of the pressure of the primary pipeline mainly considers the rapidity of the control objective tracking, the control action is mainly based on a feedforward part, and a feedback part adopts smaller control parameters, so that the convergence time of system adjustment can be properly prolonged, but the steady-state control of the pressure is not a key index of the two-stage pressure regulating pipeline system examination, and the extension of the convergence time of the pressure adjustment can not directly influence the final performance realization of the system; meanwhile, the weak feedback control function is adopted, so that frequent fluctuation and even overshoot of pressure can be avoided, the stability of the whole control process can be realized, and a foundation is laid for controlling the flow of the diode.
On the basis of realizing quick and stable control of the primary pipeline pressure, the control law design of the secondary pipeline flow control utilizes the steady-state and dynamic models obtained in the prior art, adopts a self-adaptive control or model-based control method to realize quick, stable and high-precision control, and meets the control performance index requirements.
Referring to fig. 3 to 5, the control method of the embodiment of the application achieves good control effect and meets the technical index requirements. Fig. 3-4 show the steady-state control result of the two-stage pressure regulating pipeline system with 3 branches in the secondary pipeline, fig. 3 shows the pressure and flow control effect when all the 3 branches are put into use, fig. 4 shows the process air source pressure and the total pressure change curve of the wind tunnel, and the experimental result shows that the primary pipeline pressure is controlled stably under the condition that the upstream air source pressure and the downstream wind tunnel pressure change greatly, and the control precision of the secondary pipeline flow reaches +/-0.2 kg/s. Fig. 5 shows the dynamic tracking effect of the system when the two-stage pressure regulating pipeline system has 2 branches, and it can be seen from the figure that the system has good dynamic tracking performance no matter the pressure set value of the one-stage pipeline changes or the flow set value of the two-stage pipeline changes, the dynamic regulating process is stable, and no phenomena such as overshoot and oscillation occur.
From the above, it can be seen that the embodiment of the present application can rapidly and accurately control the two-stage voltage regulating pipeline system. Because the two-stage pressure regulating pipeline system has complex characteristics and high difficulty in establishing a simple mechanism model or a data model, the application uses the equivalent throttling area as an intermediate parameter to construct a data mechanism fusion model of the two-stage pressure regulating system, has clear modeling logic and relatively simple modeling process, and is convenient for operation, popularization and application; the adopted control method meets the requirements of single control target quick and accurate control and multi-target cooperative control, and has good control effect.
In a second embodiment of the present application, a control system for gas pressure and flow rate of a two-stage pressure regulating pipeline is provided, and fig. 6 is a schematic structural diagram of a control system for gas pressure and flow rate of a two-stage pressure regulating pipeline provided in an embodiment of the present application.
The control system 600 for gas pressure and flow of the two-stage pressure regulating pipeline comprises a model building module 601, a calculating module 602, a first control module 603, a second control module 604 and a third control module 605, and is specifically as follows:
The model building module 601 is used for building a data mechanism fusion model of the target flow of the two-stage pipeline and the theoretical opening of the regulating valve;
A calculating module 602, configured to calculate a primary pipeline gas process target pressure and a secondary pipeline gas process target flow according to a primary pipeline steady-state pressure control target, a secondary pipeline steady-state flow control target, and a dynamic characteristic of the two-stage pressure regulating pipeline; the first control module 603 uses the primary pipeline gas process target pressure and the secondary pipeline gas process target flow as control target values, and adopts feedforward control and the data mechanism fusion model to obtain feedforward control input quantity; the second control module 604 is configured to dynamically control the primary pipeline gas pressure and the secondary pipeline gas flow by using the primary pipeline gas process target pressure and the secondary pipeline gas process target flow as control target values and adopting feedback control to obtain feedback control input values;
And the third control module 605 is used for synthesizing the feedforward control input quantity and the feedback control input quantity to obtain the control input quantity of the two-stage pressure regulating pipeline, and controlling the pipeline gas pressure and flow as a regulating valve opening instruction.
Based on the above embodiments, the present invention further provides a non-transitory computer readable storage medium storing computer instructions for causing the computer to execute the control method for gas pressure and flow of the two-stage pressure regulating pipeline disclosed in the embodiments of the present invention.
Based on the above embodiments, the present invention further provides a computer program product, including a computer program, which when executed by a processor, implements the steps of the method for controlling gas pressure and flow of a two-stage pressure regulating pipeline disclosed in the embodiments of the present invention.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that modifications may be made to the technical solutions described in the foregoing embodiments or equivalents may be substituted for some of the technical features thereof, and that such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application in essence of the corresponding technical solutions.
Claims (10)
1. The control method of the gas pressure and flow of the two-stage pressure regulating pipeline is characterized by comprising the following steps:
Establishing a data mechanism fusion model of the target flow of the two-stage pipeline and the theoretical opening of the regulating valve;
calculating a primary pipeline gas process target pressure and a secondary pipeline gas process target flow according to a primary pipeline steady-state pressure control target, a secondary pipeline steady-state flow control target and dynamic characteristics of the two-stage pressure regulating pipeline;
Taking the target pressure of the primary pipeline gas process and the target flow of the secondary pipeline gas process as control target values, and adopting a feedforward control and data mechanism fusion model to obtain feedforward control input quantity;
Taking the primary pipeline gas process target pressure and the secondary pipeline gas process target flow as control target values, adopting feedback control to respectively dynamically control the primary pipeline gas pressure and the secondary pipeline gas flow, and obtaining feedback control input quantity;
And synthesizing the feedforward control input quantity and the feedback control input quantity to obtain the control input quantity of the two-stage pressure regulating pipeline, and controlling the pipeline gas pressure and flow by taking the control input quantity as an opening instruction of the regulating valve.
2. The method for controlling the pressure and the flow rate of the gas in the two-stage pressure regulating pipeline according to claim 1, wherein the method for establishing the data mechanism fusion model comprises the following steps:
establishing a steady-state mechanism model between the equivalent throttling area and the flow of the two-stage pipeline;
establishing a linear dynamic model of the pressure of the primary pipeline at the identification working point and the opening of the primary regulating valve, and establishing a linear dynamic model of the flow of the secondary pipeline at the identification working point and the opening of the secondary regulating valve;
establishing a data model of the opening degree of the regulating valve and the equivalent throttling area of the two-stage pipeline;
And according to the incoming flow temperature and pressure of the two-stage pipeline, fusing the steady-state mechanism model, the linear dynamic model and the data model.
3. The method for controlling the gas pressure and the gas flow of the two-stage pressure regulating pipeline according to claim 1 or 2, wherein the formula of the data mechanism fusion model is as followsWhere g represents a functional relationship between the theoretical opening of the regulator valve and the gas temperature, pressure and mass flow rate, R v is the theoretical opening of the regulator valve, T 0 is the incoming gas temperature, P 0 is the incoming gas pressure, and q m is the mass flow rate.
4. The method for controlling the gas pressure and the flow of the two-stage pressure regulating pipeline according to claim 2, wherein a steady-state mechanism model formula between the equivalent throttling area and the flow is as follows:，
Wherein S c is equivalent throttling area, q m is mass flow, T 0 is incoming gas temperature, P 0 is incoming gas pressure, gamma is specific heat ratio, and R is gas constant.
5. The method for controlling gas pressure and flow of two-stage pressure regulating pipeline according to claim 2, wherein the linear dynamic model of the two-stage pipeline flow and the pressure before the regulating valve at the identification working point is obtained by adopting an identification method, and the dynamic modelThe formula of (2) is: /(I)J=0, 1, G 0(s) is a linear dynamic model between the primary pipeline pressure and the equivalent throttle area of the primary pipeline regulating valve, G 1(s) is a linear dynamic model between the secondary pipeline flow and the equivalent throttle area of the secondary pipeline regulating valve, P 0 is the primary regulating valve front pressure, P 1 is the secondary regulating valve front pressure, P 0 is the primary regulating valve front pressure at the identifying operating point, P 1 * is the secondary regulating valve front pressure at the identifying operating point, G 0(s) is the primary pipeline on-identifying operating point linear dynamic model, and G 1(s) is the secondary pipeline on-identifying operating point linear dynamic model.
6. The method for controlling gas pressure and flow rate of two-stage pressure regulating pipeline according to claim 1, wherein the method for determining feedforward control input quantity is as follows:
if the actual flow of the pipeline is smaller than the target flow of the pipeline process and the theoretical opening of the regulating valve at the last moment is smaller than the theoretical opening of the regulating valve at the current moment, the theoretical opening of the regulating valve at the current moment is taken as a feedforward control input quantity;
If the actual flow of the pipeline is larger than the target flow of the pipeline process and the theoretical opening of the regulating valve at the last moment is larger than the theoretical opening of the regulating valve at the current moment, the theoretical opening of the regulating valve at the current moment is taken as a feedforward control input quantity; otherwise, the theoretical opening of the regulating valve at the previous moment is used as the feedforward control input quantity.
7. The method for controlling the pressure and the flow of the two-stage pressure regulating pipeline gas according to claim 1, wherein a double-layer control method is adopted, and the calculation of the target pressure of the primary pipeline gas process and the target flow of the secondary pipeline gas process is realized by an upper layer; the lower layer realizes the dynamic control of the gas pressure of the primary pipeline and the gas flow of the secondary pipeline.
8. The method for controlling the pressure and the flow rate of gas in a two-stage pressure regulating pipeline according to claim 1, wherein,
Target pressure of primary pipeline gas processThe calculation formula of (2) is as follows:
，
wherein: As a function of the sign of the symbol,
；/>For the last steady-state primary pipeline gas steady-state pressure,/>Is the steady-state target pressure of the gas of the first-stage pipeline,/>、/>The target pressure change rate of the primary pipeline process is set, and t is time;
Target flow rate of diode gas process The calculation formula of (2) is as follows:
，
wherein: As a function of the sign of the symbol,
；/>For the steady-state flow of the gas of the diode circuit,/>For the steady-state target flow of the diode gas,/>，/>For the number of branch circuits of the diode circuit,/>，/>The flow rate is the target flow rate change rate of the diode process, and t is time.
9. Control system of two-stage pressure regulating pipeline gas pressure and flow, characterized by comprising:
the model building module is used for building a data mechanism fusion model of the target flow of the two-stage pipeline and the theoretical opening of the regulating valve;
the calculation module is used for calculating the primary pipeline gas process target pressure and the secondary pipeline gas process target flow according to the primary pipeline steady-state pressure control target, the secondary pipeline steady-state flow control target and the dynamic characteristics of the two-stage pressure regulating pipeline;
The first control module is used for obtaining feedforward control input quantity by taking the target pressure of the primary pipeline gas process and the target flow of the secondary pipeline gas process as control target values and adopting feedforward control and the data mechanism fusion model;
the second control module is used for taking the target pressure of the primary pipeline gas process and the target flow of the secondary pipeline gas process as control target values, adopting feedback control and respectively dynamically controlling the primary pipeline gas pressure and the secondary pipeline gas flow to obtain feedback control input quantity;
And the third control module is used for synthesizing the feedforward control input quantity and the feedback control input quantity to obtain the control input quantity of the two-stage pressure regulating pipeline, and controlling the pipeline gas pressure and flow as an opening instruction of the regulating valve.
10. The control system of two-stage pressure regulating pipeline gas pressure and flow according to claim 9, wherein the calculation module is an upper steady state target calculation module;
the first control module, the second control module and the third control module are lower-layer dynamic control modules and are used for realizing dynamic control of the gas pressure of the primary pipeline and the gas flow of the secondary pipeline.
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