CN118642412A - An adaptive control system for unit sliding pressure optimization operation - Google Patents
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Abstract
Description
技术领域Technical Field
本发明涉及电力系统控制技术领域,具体为一种自适应调整的机组滑压优化运行控制系统。The present invention relates to the technical field of power system control, and in particular to a self-adaptively adjusted unit sliding pressure optimization operation control system.
背景技术Background Art
随着全球能源需求的不断增长以及环保法规的日益严格,电力行业正面临着提高发电效率和减少污染排放的双重压力。火电机组作为电力生产的主要方式之一,其运行效率和排放水平直接影响电力系统的整体效能和环境影响。因此,优化火电机组的运行控制策略,提高其经济性和环保性能,成为当前研究的热点。With the continuous growth of global energy demand and increasingly stringent environmental regulations, the power industry is facing the dual pressure of improving power generation efficiency and reducing pollution emissions. As one of the main ways of power production, the operating efficiency and emission level of thermal power units directly affect the overall efficiency and environmental impact of the power system. Therefore, optimizing the operation control strategy of thermal power units and improving their economic and environmental performance have become the hot topics of current research.
传统的火电机组滑压运行控制系统主要依赖预设的固定参数和简单的PID控制来实现对主蒸汽压力的调节,使汽轮机在不同负荷下保持高效运行。然而,这种方法存在多方面的局限性。首先,优化决策的实时性和综合性不足,传统系统通常采用单一目标优化,如最小化热耗率,难以综合考虑发电效率和排放目标。此外,优化决策往往基于固定模型,无法根据实时工况进行动态调整,导致运行效果不理想。The traditional sliding pressure operation control system of thermal power units mainly relies on preset fixed parameters and simple PID control to adjust the main steam pressure, so that the turbine can maintain efficient operation under different loads. However, this method has many limitations. First, the real-time and comprehensive nature of the optimization decision is insufficient. Traditional systems usually adopt single-objective optimization, such as minimizing the heat rate, which makes it difficult to comprehensively consider power generation efficiency and emission targets. In addition, optimization decisions are often based on fixed models and cannot be dynamically adjusted according to real-time operating conditions, resulting in unsatisfactory operating results.
针对上述问题,本发明提供了一种自适应调整的机组滑压优化运行控制系统。In view of the above problems, the present invention provides a self-adaptive adjustment unit sliding pressure optimization operation control system.
发明内容Summary of the invention
针对现有技术的不足,本发明提供了一种自适应调整的机组滑压优化运行控制系统,解决了传统火电机组滑压运行控制系统优化决策无法实时调整且目标单一、控制策略执行精确性和动态调整能力不足,以及控制策略优化和调整能力有限的问题。In view of the shortcomings of the prior art, the present invention provides an adaptively adjusted unit sliding pressure optimization operation control system, which solves the problems that the optimization decision of the sliding pressure operation control system of traditional thermal power units cannot be adjusted in real time and has a single target, the control strategy execution accuracy and dynamic adjustment capability are insufficient, and the control strategy optimization and adjustment capability is limited.
为实现以上目的,本发明通过以下技术方案予以实现:一种自适应调整的机组滑压优化运行控制系统,包括:To achieve the above objectives, the present invention is implemented through the following technical solutions: a self-adaptive adjustment unit sliding pressure optimization operation control system, comprising:
自适应数据采集模块,其用于高精度、多维度地采集和预处理机组运行数据;Adaptive data acquisition module, which is used to collect and pre-process unit operation data with high precision and multi-dimensionality;
实时状态监测模块,其与自适应数据采集模块连接,用于动态监测和估计机组运行状态,实时检测异常和变化;A real-time status monitoring module, which is connected to the adaptive data acquisition module, is used to dynamically monitor and estimate the unit's operating status and detect anomalies and changes in real time;
智能优化决策模块,其与高效执行控制模块连接,用于制定和优化滑压控制策略,使机组运行在最优状态;Intelligent optimization decision module, which is connected with the efficient execution control module, is used to formulate and optimize the sliding pressure control strategy to make the unit operate in the optimal state;
高效执行控制模块,其与实时状态监测模块和自学习反馈模块连接,用于实施精确的控制策略,动态调整关键运行参数;An efficient execution control module, which is connected to the real-time status monitoring module and the self-learning feedback module to implement precise control strategies and dynamically adjust key operating parameters;
自学习反馈模块,其与智能优化决策模块连接,用于持续监控和学习运行情况,优化和调整控制策略。The self-learning feedback module is connected to the intelligent optimization decision-making module to continuously monitor and learn the operating conditions, optimize and adjust the control strategy.
优选的,所述自适应数据采集模块包括:Preferably, the adaptive data acquisition module comprises:
动态采样单元,其用于根据机组运行状态和负荷变化动态调整采样频率和范围;Dynamic sampling unit, which is used to dynamically adjust the sampling frequency and range according to the unit operation status and load changes;
多源数据融合单元,其用于结合多种传感器数据实现对关键参数的全面监测;Multi-source data fusion unit, which is used to combine multiple sensor data to achieve comprehensive monitoring of key parameters;
智能预处理单元,其用于通过自适应滤波和噪声抑制算法清洗和处理原始数据。Intelligent pre-processing unit for cleaning and processing raw data through adaptive filtering and noise suppression algorithms.
优选的,所述实时状态监测模块包括:Preferably, the real-time status monitoring module includes:
状态估计单元,其用于利用卡尔曼滤波和粒子滤波方法估计机组的实时运行状态;A state estimation unit, which is used to estimate the real-time operating state of the unit using Kalman filtering and particle filtering methods;
异常检测单元,其用于采用统计方法和机器学习模型实时检测异常情况;Anomaly detection unit, which is used to detect anomalies in real time using statistical methods and machine learning models;
变化识别单元,其用于基于变化点检测算法识别负荷和工况的变化。A change identification unit is used to identify changes in load and operating conditions based on a change point detection algorithm.
优选的,所述智能优化决策模块包括:Preferably, the intelligent optimization decision module includes:
自适应优化单元,其用于设计自适应动态规划算法实时优化滑压控制策略;An adaptive optimization unit, which is used to design an adaptive dynamic programming algorithm to optimize the sliding pressure control strategy in real time;
多目标优化单元,其用于同时考虑热耗率、发电效率和排放多个目标并采用进化算法进行优化;Multi-objective optimization unit, which is used to simultaneously consider multiple objectives such as heat rate, power generation efficiency and emissions and use evolutionary algorithms for optimization;
在线学习单元,其用于结合深度强化学习利用实时数据不断更新优化模型。Online learning unit, which is used to continuously update the optimization model using real-time data in combination with deep reinforcement learning.
优选的,所述高效执行控制模块包括:Preferably, the efficient execution control module includes:
自适应PID控制单元,其用于设计基于模型的自适应PID控制器动态调整控制参数;An adaptive PID control unit, which is used to design a model-based adaptive PID controller to dynamically adjust control parameters;
模糊逻辑控制单元,其用于结合模糊逻辑处理非线性和不确定性优化主蒸汽压力的调整;A fuzzy logic control unit for optimizing the adjustment of the main steam pressure by combining fuzzy logic to handle nonlinearity and uncertainty;
协调控制单元,其用于通过多变量控制策略实现锅炉、汽轮机和发电机的协同优化;A coordinated control unit for achieving coordinated optimization of boilers, turbines and generators through a multivariable control strategy;
区块链验证单元,其用于通过区块链技术进行控制指令的分布式存储和验证。A blockchain verification unit is used for distributed storage and verification of control instructions through blockchain technology.
优选的,所述自学习反馈模块包括:Preferably, the self-learning feedback module includes:
强化学习单元,其用于通过对运行数据的分析和学习不断优化控制策略;A reinforcement learning unit, which is used to continuously optimize the control strategy through analysis and learning of operating data;
数据驱动建模单元,其用于利用大数据分析技术和机器学习算法构建数据驱动的机组运行模型;A data-driven modeling unit, which is used to build a data-driven unit operation model using big data analysis technology and machine learning algorithms;
智能诊断单元,其用于结合专家系统和数字孪生技术对异常和故障进行智能诊断和处理。Intelligent diagnostic unit, which is used to combine expert system and digital twin technology to intelligently diagnose and process abnormalities and faults.
优选的,所述动态采样单元中动态采样频率调整公式为:Preferably, the dynamic sampling frequency adjustment formula in the dynamic sampling unit is:
,其中,是时间t的采样频率,是初始采样频率,是采样频率调整系数,是时间t的压力变化,是基准压力值。 ,in, is the sampling frequency at time t, is the initial sampling frequency, is the sampling frequency adjustment factor, is the change in pressure at time t, is the base pressure value.
优选的,所述自适应优化单元中自适应动态规划优化公式结合即时成本和未来期望成本,优化控制策略,其公式为:Preferably, the adaptive dynamic programming optimization formula in the adaptive optimization unit combines the immediate cost and the future expected cost to optimize the control strategy, and the formula is:
,其中,是动态s的最优值函数,是状态s和动态u的即时成本,是折扣因子,是在状态s采取动作u后转移到状态的概率。 ,in, is the optimal value function of the dynamic s, is the instantaneous cost of state s and dynamic u, is the discount factor, After taking action u in state s, the state is transferred to probability.
优选的,所述自适应PID控制单元中自适应PID控制参数调整公式为:Preferably, the adaptive PID control parameter adjustment formula in the adaptive PID control unit is:
) )
=(1+ = (1+
),其中,、、分别是时间t的比例、积分和微分增益,、、是初始增益,、、是增益调整系数,e(t)是时间t的误差值。 ),in, , , are the proportional, integral and derivative gains at time t, , , is the initial gain, , , is the gain adjustment coefficient, and e(t) is the error value at time t.
优选的,所述自适应PID控制单元中涉及到动态滑压设定值调整公式,其主要根据负荷和运行状态动态调整滑压设定值,保证机组运行在最佳工况,公式如下:Preferably, the adaptive PID control unit involves a dynamic sliding pressure setting value adjustment formula, which dynamically adjusts the sliding pressure setting value mainly according to the load and operating status to ensure that the unit operates in the best working condition. The formula is as follows:
,其中,是时间t的滑压设定值,是基准滑压值,是滑压调整系数,L(t)是时间t的负荷,是基准负荷。 ,in, is the sliding pressure setting value at time t, is the reference sliding pressure value, is the sliding pressure adjustment coefficient, L(t) is the load at time t, is the base load.
工作原理:当机组启动时,自适应数据采集模块立即开始工作。这个模块通过动态采样单元,根据当前的负荷和运行状态,调整数据采集的频率和范围,以确保所采集数据的实时性和准确性。多源数据融合单元接收来自多种传感器的数据,将其综合处理,以确保数据的完整性和准确性。然后,智能预处理单元通过自适应滤波和噪声抑制算法,对原始数据进行清洗和处理,去除噪声和异常值,从而保证数据质量。这些预处理后的数据被传输到实时状态监测模块。Working principle: When the unit starts, the adaptive data acquisition module starts working immediately. This module adjusts the frequency and range of data acquisition according to the current load and operating status through the dynamic sampling unit to ensure the real-time and accuracy of the collected data. The multi-source data fusion unit receives data from multiple sensors and processes them comprehensively to ensure the integrity and accuracy of the data. Then, the intelligent pre-processing unit cleans and processes the raw data through adaptive filtering and noise suppression algorithms to remove noise and outliers, thereby ensuring data quality. These pre-processed data are transmitted to the real-time status monitoring module.
实时状态监测模块接收到处理后的数据后,状态估计单元利用卡尔曼滤波和粒子滤波方法,实时估计机组的运行状态。异常检测单元通过统计方法和机器学习模型,实时检测数据中的异常情况,并及时报警。当检测到异常或状态变化时,变化识别单元基于变化点检测算法,识别并记录负荷和工况的变化。处理后的状态信息和异常检测结果传输到智能优化决策模块和高效执行控制模块。After the real-time status monitoring module receives the processed data, the state estimation unit uses Kalman filtering and particle filtering methods to estimate the operating status of the unit in real time. The anomaly detection unit uses statistical methods and machine learning models to detect anomalies in the data in real time and issue an alarm in time. When an anomaly or state change is detected, the change identification unit identifies and records the changes in load and operating conditions based on the change point detection algorithm. The processed state information and anomaly detection results are transmitted to the intelligent optimization decision module and the efficient execution control module.
智能优化决策模块接收到状态信息后,自适应优化单元根据这些信息,应用自适应动态规划算法,实时优化滑压控制策略。多目标优化单元综合考虑热耗率、发电效率和排放目标,通过进化算法进行优化。在线学习单元结合深度强化学习方法,利用实时数据不断更新和改进优化模型,确保优化策略的准确性和实时性。生成的优化控制策略被传输到高效执行控制模块。After the intelligent optimization decision module receives the status information, the adaptive optimization unit applies the adaptive dynamic programming algorithm based on this information to optimize the sliding pressure control strategy in real time. The multi-objective optimization unit comprehensively considers the heat rate, power generation efficiency and emission targets, and optimizes through the evolutionary algorithm. The online learning unit combines the deep reinforcement learning method and uses real-time data to continuously update and improve the optimization model to ensure the accuracy and real-time performance of the optimization strategy. The generated optimized control strategy is transmitted to the efficient execution control module.
高效执行控制模块接收优化控制策略后,自适应PID控制单元根据实时误差,动态调整PID控制器的参数。模糊逻辑控制单元处理系统的非线性和不确定性,进行更精细的调节,优化主蒸汽压力的调整。协调控制单元通过多变量控制策略,协同优化锅炉、汽轮机和发电机的运行,确保各部分的协调和优化。区块链验证单元通过区块链技术进行控制指令的分布式存储和验证,确保数据的安全性和不可篡改性。同时,高效执行控制模块根据实时负荷和运行状态动态调整滑压设定值,以确保机组在不同负荷下运行在最佳状态。执行结果和反馈信息被传输到自学习反馈模块和实时状态监测模块。After the efficient execution control module receives the optimized control strategy, the adaptive PID control unit dynamically adjusts the parameters of the PID controller according to the real-time error. The fuzzy logic control unit handles the nonlinearity and uncertainty of the system, performs more refined adjustments, and optimizes the adjustment of the main steam pressure. The coordination control unit uses a multivariable control strategy to collaboratively optimize the operation of the boiler, turbine, and generator to ensure the coordination and optimization of each part. The blockchain verification unit uses blockchain technology to perform distributed storage and verification of control instructions to ensure the security and non-tamperability of data. At the same time, the efficient execution control module dynamically adjusts the sliding pressure set value according to the real-time load and operating status to ensure that the unit operates in the best state under different loads. The execution results and feedback information are transmitted to the self-learning feedback module and the real-time status monitoring module.
自学习反馈模块接收到执行结果和反馈信息后,通过强化学习单元,分析和学习这些数据,不断优化控制策略。数据驱动建模单元利用大数据分析和机器学习技术,构建和更新机组运行模型。智能诊断单元结合专家系统和数字孪生技术,对异常和故障进行智能诊断和处理。优化后的模型和策略信息被传输回智能优化决策模块,形成闭环反馈,从而确保系统能够在不同运行状态和负荷下持续优化。After receiving the execution results and feedback information, the self-learning feedback module analyzes and learns these data through the reinforcement learning unit to continuously optimize the control strategy. The data-driven modeling unit uses big data analysis and machine learning technology to build and update the unit operation model. The intelligent diagnosis unit combines expert systems and digital twin technology to intelligently diagnose and handle abnormalities and faults. The optimized model and strategy information are transmitted back to the intelligent optimization decision module to form a closed-loop feedback, thereby ensuring that the system can be continuously optimized under different operating conditions and loads.
本发明提供了一种自适应调整的机组滑压优化运行控制系统。具备以下有益效果:The present invention provides a self-adaptive adjustment unit sliding pressure optimization operation control system, which has the following beneficial effects:
1、本发明通过智能优化决策模块,结合自适应动态规划算法和多目标优化算法,实时优化滑压控制策略,并综合考虑热耗率、发电效率和排放目标,确保整体运行效果最优,解决了现有技术中的优化决策往往无法实时调整,且优化目标单一,缺乏综合考虑的问题。1. The present invention uses an intelligent optimization decision module, combined with an adaptive dynamic programming algorithm and a multi-objective optimization algorithm, to optimize the sliding pressure control strategy in real time, and comprehensively considers the heat consumption rate, power generation efficiency and emission targets to ensure the optimal overall operating effect. It solves the problem that the optimization decisions in the prior art often cannot be adjusted in real time, the optimization targets are single, and there is a lack of comprehensive consideration.
2、本发明通过高效执行控制模块,采用自适应PID控制和模糊逻辑控制,动态调整控制参数,实现对运行参数的精确控制和动态调整,确保机组运行在最佳状态,解决了现有技术中,控制策略执行的精确性和动态调整能力不足的问题。2. The present invention uses an efficient execution control module, adaptive PID control and fuzzy logic control, and dynamically adjusts control parameters to achieve precise control and dynamic adjustment of operating parameters, ensuring that the unit operates in the best state, thereby solving the problems of insufficient accuracy and dynamic adjustment capability of control strategy execution in the prior art.
3、本发明通过自学习反馈模块,利用强化学习和数据驱动建模,持续优化控制策略,结合专家系统和数字孪生技术,对异常和故障进行智能诊断和处理,提高了系统的自适应能力和优化效果,解决了现有技术中,控制策略的优化和调整能力有限,难以适应复杂多变的运行工况问题。3. The present invention uses a self-learning feedback module, reinforcement learning and data-driven modeling to continuously optimize the control strategy, and combines expert systems and digital twin technology to intelligently diagnose and process anomalies and faults, thereby improving the system's adaptability and optimization effect, and solving the problem in the prior art that the control strategy has limited optimization and adjustment capabilities and is difficult to adapt to complex and changeable operating conditions.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本发明系统的框架图;Fig. 1 is a framework diagram of the system of the present invention;
图2为本发明自适应数据采集模块的框架图;FIG2 is a framework diagram of an adaptive data acquisition module of the present invention;
图3为本发明实时状态监测模块的框架图;FIG3 is a framework diagram of a real-time status monitoring module of the present invention;
图4为本发明智能优化决策模块的框架图;FIG4 is a framework diagram of an intelligent optimization decision module of the present invention;
图5为本发明高效执行控制模块的框架图;FIG5 is a framework diagram of an efficient execution control module of the present invention;
图6为本发明自学习反馈模块的框架图。FIG6 is a framework diagram of the self-learning feedback module of the present invention.
具体实施方式DETAILED DESCRIPTION
下面将结合本发明的附图,对本发明的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
请参阅附图1,本发明实施例提供一种自适应调整的机组滑压优化运行控制系统,包括:Referring to FIG. 1 , an embodiment of the present invention provides a self-adaptive adjustment unit sliding pressure optimization operation control system, comprising:
自适应数据采集模块,其用于高精度、多维度地采集和预处理机组运行数据;Adaptive data acquisition module, which is used to collect and pre-process unit operation data with high precision and multi-dimensionality;
实时状态监测模块,其与自适应数据采集模块连接,用于动态监测和估计机组运行状态,实时检测异常和变化;A real-time status monitoring module, which is connected to the adaptive data acquisition module, is used to dynamically monitor and estimate the unit's operating status and detect anomalies and changes in real time;
智能优化决策模块,其与高效执行控制模块连接,用于制定和优化滑压控制策略,使机组运行在最优状态;Intelligent optimization decision module, which is connected with the efficient execution control module, is used to formulate and optimize the sliding pressure control strategy to make the unit operate in the optimal state;
高效执行控制模块,其与实时状态监测模块和自学习反馈模块连接,用于实施精确的控制策略,动态调整关键运行参数;An efficient execution control module, which is connected to the real-time status monitoring module and the self-learning feedback module to implement precise control strategies and dynamically adjust key operating parameters;
自学习反馈模块,其与智能优化决策模块连接,用于持续监控和学习运行情况,优化和调整控制策略。The self-learning feedback module is connected to the intelligent optimization decision-making module to continuously monitor and learn the operating conditions, optimize and adjust the control strategy.
请参阅附图2,自适应数据采集模块包括:Please refer to Figure 2, the adaptive data acquisition module includes:
动态采样单元,其用于根据机组运行状态和负荷变化动态调整采样频率和范围;Dynamic sampling unit, which is used to dynamically adjust the sampling frequency and range according to the unit operation status and load changes;
多源数据融合单元,其用于结合多种传感器数据实现对关键参数的全面监测;Multi-source data fusion unit, which is used to combine multiple sensor data to achieve comprehensive monitoring of key parameters;
智能预处理单元,其用于通过自适应滤波和噪声抑制算法清洗和处理原始数据。Intelligent pre-processing unit for cleaning and processing raw data through adaptive filtering and noise suppression algorithms.
动态采样单元中动态采样频率调整公式为:The dynamic sampling frequency adjustment formula in the dynamic sampling unit is:
,其中,是时间t的采样频率,是初始采样频率,是采样频率调整系数,是时间t的压力变化,是基准压力值。 ,in, is the sampling frequency at time t, is the initial sampling frequency, is the sampling frequency adjustment factor, is the change in pressure at time t, is the base pressure value.
具体的,动态采样单元提高了数据采集的实时性和准确性,能够及时反映机组运行状态和负荷变化。Specifically, the dynamic sampling unit improves the real-time and accuracy of data collection, and can timely reflect the unit operating status and load changes.
其根据机组的实时运行状态和负荷变化,动态调整采样频率和范围,确保采集数据的时效性和精确性。It dynamically adjusts the sampling frequency and range according to the real-time operating status and load changes of the unit to ensure the timeliness and accuracy of the collected data.
该单元通过监测机组的运行状态和负荷变化,实时调整采样频率和范围。具体来说,当机组负荷变化较大或运行状态发生显著变化时,动态采样单元会提高采样频率,反之则降低采样频率,以节约资源并保证数据的有效性。The unit adjusts the sampling frequency and range in real time by monitoring the unit's operating status and load changes. Specifically, when the unit's load changes significantly or the operating status changes significantly, the dynamic sampling unit will increase the sampling frequency, and vice versa, it will reduce the sampling frequency to save resources and ensure the validity of the data.
动态采样频率调整公式:,其中,是时间t的采样频率,是初始采样频率,是采样频率调整系数,是时间t的压力变化,是基准压力值。Dynamic sampling frequency adjustment formula: ,in, is the sampling frequency at time t, is the initial sampling frequency, is the sampling frequency adjustment factor, is the change in pressure at time t, is the base pressure value.
多源数据融合单元增强了数据的完整性和可靠性,避免了单一传感器数据的误差,提高了监测精度。The multi-source data fusion unit enhances the integrity and reliability of the data, avoids the error of single sensor data, and improves the monitoring accuracy.
其结合多种传感器数据,全面监测机组的关键参数,提供准确的运行状态信息。It combines data from multiple sensors to comprehensively monitor the key parameters of the unit and provide accurate operating status information.
该单元通过融合来自不同传感器的数据,消除单一数据源的误差。每个传感器的数据经过加权处理后融合为一个综合数据,以提高监测的准确性。The unit fuses data from different sensors to eliminate the error of a single data source. The data from each sensor is weighted and fused into a comprehensive data to improve the accuracy of monitoring.
数据融合公式:X(t)= Data fusion formula: X(t)=
其中:in:
X(t)是时间t的融合数据,N是传感器数量,是时间t第i个传感器的数据权重,是时间t第i个传感器的数据。X(t) is the fused data at time t, N is the number of sensors, is the data weight of the ith sensor at time t, is the data of the i-th sensor at time t.
智能预处理单元提高了数据质量,减少了噪声和异常数据的影响,确保了后续分析和控制的准确性。The intelligent pre-processing unit improves data quality, reduces the impact of noise and abnormal data, and ensures the accuracy of subsequent analysis and control.
其通过自适应滤波和噪声抑制算法,对采集到的原始数据进行清洗和处理,去除噪声和异常值。It cleans and processes the collected raw data through adaptive filtering and noise suppression algorithms to remove noise and outliers.
该单元利用自适应滤波算法,根据实时数据的变化情况,自动调整滤波参数,优化数据平滑效果。同时,噪声抑制算法能够识别和去除数据中的噪声和异常值,提高数据的有效性和可靠性。The unit uses an adaptive filtering algorithm to automatically adjust filtering parameters and optimize data smoothing effects according to real-time data changes. At the same time, the noise suppression algorithm can identify and remove noise and outliers in the data, improving the validity and reliability of the data.
自适应滤波公式:(t)x(t)+(1- Adaptive filtering formula: (t)x(t)+(1-
其中:是时间tt的滤波后数据,α(t)是时间t的自适应滤波系数,x(t)是时间t的原始数据。in: is the filtered data at time tt, α(t) is the adaptive filter coefficient at time t, and x(t) is the original data at time t.
通过自适应数据采集模块的动态采样单元、多源数据融合单元和智能预处理单元的协同工作,实现了高精度、多维度的机组运行数据采集和预处理,提高了数据的实时性、准确性和可靠性。这为后续的实时状态监测、智能优化决策和高效执行控制提供了坚实的数据基础,确保系统在各种工况下都能保持最优的运行状态.Through the coordinated work of the dynamic sampling unit, multi-source data fusion unit and intelligent pre-processing unit of the adaptive data acquisition module, high-precision, multi-dimensional unit operation data acquisition and pre-processing are achieved, improving the real-time, accuracy and reliability of the data. This provides a solid data foundation for subsequent real-time status monitoring, intelligent optimization decision-making and efficient execution control, ensuring that the system can maintain the optimal operating state under various working conditions.
请参阅附图3,实时状态监测模块包括:Please refer to Figure 3, the real-time status monitoring module includes:
状态估计单元,其用于利用卡尔曼滤波和粒子滤波方法估计机组的实时运行状态;A state estimation unit, which is used to estimate the real-time operating state of the unit using Kalman filtering and particle filtering methods;
异常检测单元,其用于采用统计方法和机器学习模型实时检测异常情况;Anomaly detection unit, which is used to detect anomalies in real time using statistical methods and machine learning models;
变化识别单元,其用于基于变化点检测算法识别负荷和工况的变化。A change identification unit is used to identify changes in load and operating conditions based on a change point detection algorithm.
具体的,状态估计单元提供高精度的实时运行状态估计,增强了系统的监测能力,确保了机组的稳定运行。Specifically, the state estimation unit provides high-precision real-time operation state estimation, enhances the monitoring capability of the system, and ensures the stable operation of the unit.
其利用卡尔曼滤波和粒子滤波方法,实时估计机组的运行状态,提供准确的状态信息用于后续处理和决策。It uses Kalman filtering and particle filtering methods to estimate the operating status of the unit in real time and provide accurate status information for subsequent processing and decision-making.
通过卡尔曼滤波和粒子滤波方法,对机组的传感器数据进行处理,估计机组的当前运行状态。卡尔曼滤波适用于线性系统,而粒子滤波则用于处理非线性和非高斯系统。两者结合可以提供更为准确的状态估计。The sensor data of the unit is processed through Kalman filtering and particle filtering methods to estimate the current operating state of the unit. Kalman filtering is suitable for linear systems, while particle filtering is used to process nonlinear and non-Gaussian systems. The combination of the two can provide more accurate state estimation.
卡尔曼滤波公式:Kalman filter formula:
预测步骤:Prediction Steps:
2、更新步骤:2. Update steps:
粒子滤波公式:Particle filter formula:
初始化粒子: Initialize particles:
粒子预测: Particle Prediction:
3、粒子加权: 3. Particle weighting:
4、粒子重采样: 4. Particle resampling:
异常检测单元及时发现和预警异常情况,防止故障扩展,提高了机组运行的安全性和可靠性。The abnormality detection unit promptly discovers and warns of abnormal conditions, preventing the expansion of faults and improving the safety and reliability of unit operation.
利用统计方法和机器学习模型,实时检测运行数据中的异常情况,识别潜在的故障和异常,及时发出预警。Utilize statistical methods and machine learning models to detect anomalies in operating data in real time, identify potential faults and anomalies, and issue early warnings in a timely manner.
异常检测单元通过统计方法(如Z-score)和机器学习模型(如孤立森林、支持向量机等),对实时数据进行分析,检测异常情况。当数据偏离正常范围或模式时,系统会发出警报。The anomaly detection unit analyzes real-time data to detect anomalies through statistical methods (such as Z-score) and machine learning models (such as isolation forest, support vector machine, etc.). When the data deviates from the normal range or pattern, the system will issue an alarm.
变化识别单元精确识别负荷和工况的变化,及时调整控制策略,确保机组的高效运行。The change recognition unit accurately identifies changes in load and operating conditions, and adjusts the control strategy in a timely manner to ensure efficient operation of the unit.
基于变化点检测算法,识别机组负荷和工况的变化,提供变化信息用于优化决策和控制调整。Based on the change point detection algorithm, the changes in unit load and operating conditions are identified, and the change information is provided for optimized decision-making and control adjustments.
变化识别单元通过变化点检测算法(如CUSUM、Pettitt检验等),对实时数据流进行分析,检测出数据的变化点,从而识别负荷和工况的变化。The change identification unit analyzes the real-time data stream through the change point detection algorithm (such as CUSUM, Pettitt test, etc.), detects the change points of the data, and thus identifies the changes in load and working conditions.
通过实时状态监测模块的状态估计单元、异常检测单元和变化识别单元的协同工作,实现了对机组运行状态的高精度估计、实时异常检测和负荷变化识别。这些功能为系统的智能优化决策和高效执行控制提供了准确的状态信息和预警能力,确保机组在各种工况下均能保持高效、安全的运行。Through the coordinated work of the state estimation unit, anomaly detection unit and change identification unit of the real-time state monitoring module, high-precision estimation of the unit's operating state, real-time anomaly detection and load change identification are achieved. These functions provide accurate state information and early warning capabilities for the system's intelligent optimization decision-making and efficient execution control, ensuring that the unit can maintain efficient and safe operation under various operating conditions.
请参阅附图4,智能优化决策模块包括:Please refer to Figure 4, the intelligent optimization decision module includes:
自适应优化单元,其用于设计自适应动态规划算法实时优化滑压控制策略;An adaptive optimization unit, which is used to design an adaptive dynamic programming algorithm to optimize the sliding pressure control strategy in real time;
多目标优化单元,其用于同时考虑热耗率、发电效率和排放多个目标并采用进化算法进行优化;Multi-objective optimization unit, which is used to simultaneously consider multiple objectives such as heat rate, power generation efficiency and emissions and use evolutionary algorithms for optimization;
在线学习单元,其用于结合深度强化学习利用实时数据不断更新优化模型。Online learning unit, which is used to continuously update the optimization model using real-time data in combination with deep reinforcement learning.
自适应优化单元中自适应动态规划优化公式结合即时成本和未来期望成本,优化控制策略,其公式为:The adaptive dynamic programming optimization formula in the adaptive optimization unit combines the immediate cost and the future expected cost to optimize the control strategy. The formula is:
,其中,是动态s的最优值函数,是状态s和动态u的即时成本,是折扣因子,是在状态s采取动作u后转移到状态的概率。 ,in, is the optimal value function of the dynamic s, is the instantaneous cost of state s and dynamic u, is the discount factor, After taking action u in state s, the state is transferred to probability.
具体的,自适应优化单元提供了实时优化滑压控制策略的能力,能够在复杂多变的运行工况下保持机组的最优运行状态。Specifically, the adaptive optimization unit provides the ability to optimize the sliding pressure control strategy in real time, which can maintain the optimal operating state of the unit under complex and changeable operating conditions.
设计自适应动态规划算法,实时优化滑压控制策略,结合即时成本和未来期望成本,实现最优控制。An adaptive dynamic programming algorithm is designed to optimize the sliding pressure control strategy in real time, combining the immediate cost and future expected cost to achieve optimal control.
自适应优化单元通过自适应动态规划算法,在考虑即时成本和未来期望成本的基础上,动态优化控制策略。该算法能够根据实时数据,持续调整和优化控制策略,使系统在运行过程中始终保持最佳状态。The adaptive optimization unit dynamically optimizes the control strategy based on the consideration of immediate cost and future expected cost through the adaptive dynamic programming algorithm. The algorithm can continuously adjust and optimize the control strategy according to real-time data, so that the system always maintains the best state during operation.
自适应动态规划优化公式:,其中,是动态s的最优值函数,是状态s和动态u的即时成本,是折扣因子,是在状态s采取动作u后转移到状态的概率。Adaptive dynamic programming optimization formula: ,in, is the optimal value function of the dynamic s, is the instantaneous cost of state s and dynamic u, is the discount factor, After taking action u in state s, the state is transferred to probability.
多目标优化单元实现了多目标综合优化,能够同时考虑热耗率、发电效率和排放目标,确保整体运行效果最优。The multi-objective optimization unit realizes multi-objective comprehensive optimization, which can simultaneously consider heat rate, power generation efficiency and emission targets to ensure the optimal overall operating effect.
采用进化算法,综合优化多个目标,实现热耗率、发电效率和排放目标的平衡。An evolutionary algorithm is used to comprehensively optimize multiple objectives to achieve a balance among heat rate, power generation efficiency and emission targets.
多目标优化单元通过进化算法(如NSGA-II),对多个优化目标进行综合优化。该算法能够处理多个冲突目标,找到最优的平衡点,从而确保机组的整体运行效果最佳。The multi-objective optimization unit uses an evolutionary algorithm (such as NSGA-II) to comprehensively optimize multiple optimization objectives. The algorithm can handle multiple conflicting objectives and find the optimal balance point to ensure the best overall operation effect of the unit.
多目标优化公式:Multi-objective optimization formula:
minF(x)=[ minF(x)=[
其中:F(x)是目标函数向量,是第i个目标函数,m是目标函数的数量。Where: F(x) is the objective function vector, is the i-th objective function, and m is the number of objective functions.
在线学习单元提升了系统的自适应能力和优化效果,能够持续学习和改进控制策略,适应不断变化的运行工况。The online learning unit improves the system's adaptability and optimization effect, and can continuously learn and improve control strategies to adapt to changing operating conditions.
结合深度强化学习,利用实时数据不断更新优化模型,增强系统的自适应能力和优化效果。Combined with deep reinforcement learning, the optimization model is continuously updated using real-time data to enhance the system's adaptability and optimization effect.
在线学习单元通过深度强化学习(如DQN、DDPG等),利用实时数据不断更新和优化控制模型。该单元能够根据新的运行数据,持续改进控制策略,提高系统的运行性能。The online learning unit continuously updates and optimizes the control model using real-time data through deep reinforcement learning (such as DQN, DDPG, etc.). The unit can continuously improve the control strategy and improve the system's operating performance based on new operating data.
强化学习Q-Learning公式:Reinforcement learning Q-Learning formula:
Q(s,a)[r+ Q(s,a) [r+
其中:in:
Q(s,a)是状态s和动作a的Q值。Q(s,a) is the Q-value of state s and action a.
α是学习率。α is the learning rate.
r是即时奖励。r is the immediate reward.
γ是折扣因子。γ is the discount factor.
是下一状态。 is the next state.
通过智能优化决策模块的自适应优化单元、多目标优化单元和在线学习单元的协同工作,实现了实时优化滑压控制策略、多目标综合优化和持续学习改进控制策略。自适应优化单元通过自适应动态规划算法,实时优化控制策略;多目标优化单元通过进化算法,实现热耗率、发电效率和排放目标的平衡;在线学习单元通过深度强化学习,不断更新优化模型,提高系统的自适应能力和优化效果。这些功能确保了机组在复杂多变的运行工况下,始终保持最优运行状态。Through the collaborative work of the adaptive optimization unit, multi-objective optimization unit and online learning unit of the intelligent optimization decision module, real-time optimization of sliding pressure control strategy, multi-objective comprehensive optimization and continuous learning to improve control strategy are realized. The adaptive optimization unit optimizes the control strategy in real time through adaptive dynamic programming algorithm; the multi-objective optimization unit achieves the balance of heat rate, power generation efficiency and emission targets through evolutionary algorithm; the online learning unit continuously updates the optimization model through deep reinforcement learning to improve the system's adaptive ability and optimization effect. These functions ensure that the unit always maintains the optimal operating state under complex and changeable operating conditions.
请参阅附图5,高效执行控制模块包括:Please refer to FIG5 , the efficient execution control module includes:
自适应PID控制单元,其用于设计基于模型的自适应PID控制器动态调整控制参数;An adaptive PID control unit, which is used to design a model-based adaptive PID controller to dynamically adjust control parameters;
模糊逻辑控制单元,其用于结合模糊逻辑处理非线性和不确定性优化主蒸汽压力的调整;A fuzzy logic control unit for optimizing the adjustment of the main steam pressure by combining fuzzy logic to handle nonlinearity and uncertainty;
协调控制单元,其用于通过多变量控制策略实现锅炉、汽轮机和发电机的协同优化;A coordinated control unit for achieving coordinated optimization of boilers, turbines and generators through a multivariable control strategy;
区块链验证单元,其用于通过区块链技术进行控制指令的分布式存储和验证。A blockchain verification unit is used for distributed storage and verification of control instructions through blockchain technology.
自适应PID控制单元中自适应PID控制参数调整公式为:The adaptive PID control parameter adjustment formula in the adaptive PID control unit is:
) )
=(1+ = (1+
),其中,、、分别是时间t的比例、积分和微分增益,、、是初始增益,、、是增益调整系数,e(t)是时间t的误差值。 ),in, , , are the proportional, integral and derivative gains at time t, , , is the initial gain, , , is the gain adjustment coefficient, and e(t) is the error value at time t.
自适应PID控制单元中涉及到动态滑压设定值调整公式,其主要根据负荷和运行状态动态调整滑压设定值,保证机组运行在最佳工况,公式如下:The adaptive PID control unit involves a dynamic sliding pressure set value adjustment formula, which mainly dynamically adjusts the sliding pressure set value according to the load and operating status to ensure that the unit operates in the best working condition. The formula is as follows:
,其中,是时间t的滑压设定值,是基准滑压值,是滑压调整系数,L(t)是时间t的负荷,是基准负荷。 ,in, is the sliding pressure setting value at time t, is the reference sliding pressure value, is the sliding pressure adjustment coefficient, L(t) is the load at time t, is the base load.
具体的,自适应PID控制单元提高了控制精度和响应速度,能够动态适应运行工况的变化,实现对主蒸汽压力和滑压设定值的精确控制。Specifically, the adaptive PID control unit improves the control accuracy and response speed, can dynamically adapt to changes in operating conditions, and achieves precise control of the main steam pressure and sliding pressure set values.
设计基于模型的自适应PID控制器,动态调整控制参数,确保系统在不同工况下运行在最佳状态。Design a model-based adaptive PID controller to dynamically adjust control parameters to ensure that the system operates in the best state under different working conditions.
原理:principle:
自适应PID控制单元通过实时监测误差,根据当前系统状态动态调整PID控制参数,实现对控制系统的精确调节。PID控制器的参数调整公式如下:The adaptive PID control unit monitors the error in real time and dynamically adjusts the PID control parameters according to the current system status to achieve precise regulation of the control system. The parameter adjustment formula of the PID controller is as follows:
) )
=(1+ = (1+
),其中,、、分别是时间t的比例、积分和微分增益,、、是初始增益,、、是增益调整系数,e(t)是时间t的误差值。 ),in, , , are the proportional, integral and derivative gains at time t, , , is the initial gain, , , is the gain adjustment coefficient, and e(t) is the error value at time t.
动态滑压设定值调整公式:Dynamic sliding pressure setting value adjustment formula:
,其中,是时间t的滑压设定值,是基准滑压值,是滑压调整系数,L(t)是时间t的负荷,是基准负荷。 ,in, is the sliding pressure setting value at time t, is the reference sliding pressure value, is the sliding pressure adjustment coefficient, L(t) is the load at time t, is the base load.
模糊逻辑控制单元能够处理非线性和不确定性问题,提高了系统的稳定性和控制效果。The fuzzy logic control unit can handle nonlinear and uncertain problems, improving the stability and control effect of the system.
结合模糊逻辑处理非线性和不确定性,优化主蒸汽压力的调整,确保系统运行平稳。Fuzzy logic is combined to handle nonlinearity and uncertainty, optimize the adjustment of main steam pressure and ensure smooth system operation.
原理:principle:
模糊逻辑控制单元利用模糊集合和模糊规则,根据当前系统状态和运行参数,进行模糊推理和决策,优化主蒸汽压力的控制。The fuzzy logic control unit uses fuzzy sets and fuzzy rules to perform fuzzy reasoning and decision-making according to the current system status and operating parameters to optimize the control of the main steam pressure.
模糊控制规则公式:u= Fuzzy control rule formula: u=
其中:in:
u是控制输出。u is the control output.
是第i个规则的权重。 is the weight of the ith rule.
是输入x对第i个规则的隶属度。 is the membership of input x to the i-th rule.
协调控制单元实现了锅炉、汽轮机和发电机的协同优化,提高了整体运行效率和稳定性。The coordinated control unit realizes the coordinated optimization of boilers, turbines and generators, improving the overall operating efficiency and stability.
通过多变量控制策略,实现对锅炉、汽轮机和发电机的协调控制和优化,确保各部分协同工作。Through multivariable control strategies, coordinated control and optimization of boilers, turbines and generators are achieved to ensure that all parts work together.
原理:principle:
协调控制单元利用多变量控制策略,综合考虑各部分的运行状态和需求,通过优化算法实现协同控制。The coordinated control unit uses a multivariable control strategy, comprehensively considers the operating status and needs of each part, and realizes coordinated control through an optimization algorithm.
协调控制优化公式:Coordinated control optimization formula:
minJ= minJ=
其中:in:
J是目标函数。J is the objective function.
是权重系数。 is the weight coefficient.
是第i个子系统的运行状态函数。 is the operating state function of the ith subsystem.
区块链验证单元提高了控制指令的安全性和不可篡改性,确保系统运行的可靠性和数据的完整性。The blockchain verification unit improves the security and tamper-proofness of control instructions, ensuring the reliability of system operation and the integrity of data.
通过区块链技术进行控制指令的分布式存储和验证,防止数据篡改和未经授权的修改。Blockchain technology is used to distribute and verify control instructions to prevent data tampering and unauthorized modification.
原理:principle:
区块链验证单元将控制指令和运行数据以区块的形式存储在分布式账本中,通过共识机制和加密技术,确保数据的安全性和不可篡改性。The blockchain verification unit stores control instructions and operating data in the form of blocks in a distributed ledger, and ensures the security and immutability of the data through consensus mechanisms and encryption technologies.
区块链共识公式:H( Blockchain consensus formula: H(
其中:in:
H(是区块i的哈希值。H( is the hash value of block i.
是前一区块。 It is the previous block.
是当前区块的数据。 It is the data of the current block.
通过高效执行控制模块的自适应PID控制单元、模糊逻辑控制单元、协调控制单元和区块链验证单元的协同工作,实现了对机组运行参数的精确控制和动态调整。自适应PID控制单元通过动态调整PID参数和滑压设定值,确保系统运行在最佳状态;模糊逻辑控制单元处理非线性和不确定性,优化主蒸汽压力的控制;协调控制单元实现了锅炉、汽轮机和发电机的协同优化;区块链验证单元确保了控制指令的安全性和不可篡改性。这些功能共同确保了机组在各种工况下的高效、稳定运行。Through the coordinated work of the adaptive PID control unit, fuzzy logic control unit, coordination control unit and blockchain verification unit of the efficient execution control module, precise control and dynamic adjustment of the unit operating parameters are achieved. The adaptive PID control unit ensures that the system operates in the best state by dynamically adjusting the PID parameters and sliding pressure set values; the fuzzy logic control unit handles nonlinearity and uncertainty and optimizes the control of the main steam pressure; the coordination control unit realizes the coordinated optimization of the boiler, turbine and generator; the blockchain verification unit ensures the security and non-tamperability of the control instructions. These functions together ensure the efficient and stable operation of the unit under various operating conditions.
请参阅附图6,自学习反馈模块包括:Please refer to Figure 6, the self-learning feedback module includes:
强化学习单元,其用于通过对运行数据的分析和学习不断优化控制策略;A reinforcement learning unit, which is used to continuously optimize the control strategy through analysis and learning of operating data;
数据驱动建模单元,其用于利用大数据分析技术和机器学习算法构建数据驱动的机组运行模型;A data-driven modeling unit, which is used to build a data-driven unit operation model using big data analysis technology and machine learning algorithms;
智能诊断单元,其用于结合专家系统和数字孪生技术对异常和故障进行智能诊断和处理。Intelligent diagnostic unit, which is used to combine expert system and digital twin technology to intelligently diagnose and process abnormalities and faults.
具体的,强化学习单元不断优化控制策略,提高系统的自适应能力和运行效率,确保系统在不同工况下均能保持最佳状态。Specifically, the reinforcement learning unit continuously optimizes the control strategy, improves the system's adaptability and operating efficiency, and ensures that the system can maintain the best state under different working conditions.
通过对运行数据的分析和学习,利用强化学习算法持续优化控制策略,提升系统的响应能力和优化效果。By analyzing and learning the operating data, the control strategy is continuously optimized using reinforcement learning algorithms to improve the system's responsiveness and optimization effects.
原理:principle:
强化学习单元利用强化学习算法(如Q-learning、深度Q网络DQN等),从历史和实时数据中学习最佳控制策略。通过奖励和惩罚机制,算法不断调整策略以最大化长期回报。The reinforcement learning unit uses reinforcement learning algorithms (such as Q-learning, deep Q network DQN, etc.) to learn the best control strategy from historical and real-time data. Through the reward and punishment mechanism, the algorithm continuously adjusts the strategy to maximize long-term returns.
数据驱动建模单元构建高精度的机组运行模型,提高预测和优化的准确性,增强系统的智能化和精细化管理能力。The data-driven modeling unit constructs a high-precision unit operation model, improves the accuracy of prediction and optimization, and enhances the system's intelligent and refined management capabilities.
利用大数据分析技术和机器学习算法,构建和更新数据驱动的机组运行模型,为优化决策提供可靠的数据基础。Utilize big data analysis technology and machine learning algorithms to build and update data-driven unit operation models, providing a reliable data foundation for optimized decision-making.
原理:principle:
数据驱动建模单元通过收集和分析大量历史运行数据,利用机器学习算法(如回归分析、神经网络等)构建机组运行模型。这些模型能够捕捉系统的复杂动态特性,为实时优化和控制提供支持。The data-driven modeling unit collects and analyzes a large amount of historical operating data and builds unit operation models using machine learning algorithms (such as regression analysis, neural networks, etc.). These models can capture the complex dynamic characteristics of the system and provide support for real-time optimization and control.
智能诊断单元提高故障诊断的准确性和及时性,减少故障处理时间和维护成本,增强系统的可靠性和安全性。The intelligent diagnosis unit improves the accuracy and timeliness of fault diagnosis, reduces fault handling time and maintenance costs, and enhances system reliability and safety.
结合专家系统和数字孪生技术,对异常和故障进行智能诊断和处理,提供准确的故障定位和诊断结果。Combining expert systems and digital twin technology, intelligent diagnosis and processing of anomalies and faults can be performed to provide accurate fault location and diagnosis results.
原理:principle:
智能诊断单元利用专家系统的规则和知识库,结合数字孪生技术,建立虚拟机组模型。通过对比实际运行数据和虚拟模型,及时发现异常和故障,并进行智能诊断和处理。The intelligent diagnosis unit uses the rules and knowledge base of the expert system and combines digital twin technology to establish a virtual machine group model. By comparing the actual operation data with the virtual model, it can promptly detect anomalies and faults, and perform intelligent diagnosis and processing.
通过自学习反馈模块的强化学习单元、数据驱动建模单元和智能诊断单元的协同工作,实现了对系统控制策略的持续优化、精确建模和智能诊断。强化学习单元通过分析运行数据,不断优化控制策略,提升系统的自适应能力;数据驱动建模单元利用大数据分析和机器学习,构建高精度的运行模型,提供可靠的预测和优化基础;智能诊断单元结合专家系统和数字孪生技术,对异常和故障进行智能诊断和处理,提高了系统的可靠性和安全性。这些功能共同确保了机组在各种工况下的高效、稳定运行。Through the collaborative work of the reinforcement learning unit, data-driven modeling unit and intelligent diagnosis unit of the self-learning feedback module, continuous optimization, accurate modeling and intelligent diagnosis of the system control strategy are achieved. The reinforcement learning unit continuously optimizes the control strategy and improves the system's adaptive ability by analyzing the operating data; the data-driven modeling unit uses big data analysis and machine learning to build a high-precision operating model to provide a reliable prediction and optimization basis; the intelligent diagnosis unit combines expert systems and digital twin technology to intelligently diagnose and process abnormalities and faults, improving the reliability and safety of the system. These functions together ensure the efficient and stable operation of the unit under various operating conditions.
尽管已经示出和描述了本发明的实施例,对于本领域的普通技术人员而言,可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型,本发明的范围由所附权利要求及其等同物限定。Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
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