CN206205105U - City intelligent drainage control system based on heterarchical architecture - Google Patents

Abstract

This application discloses an urban intelligent drainage control system based on a layered control structure, which consists of two relatively independent and interconnected upper-level network control systems and a lower-level PLC-based pumping station on-site control system; the utility model is aimed at large-scale systems. Design a hierarchical control structure with multiple control cores, construct an industrial computer with powerful computing power and convenient networking as the upper control core of the pumping station, establish a network-based remote control system, and measure the flow and water level of the global working condition in real time, and then according to The extreme value principle and optimization theory formulate appropriate optimization and coordination control strategies and scheduling methods; at the same time, with reliable performance PLC as the lower control core, build a local intelligent control system to ensure the long-term uninterrupted operation of the drainage system and realize the drainage of urban distributed pumping stations The intelligentization of the system improves the level of urban waterlogging prevention.

Description

Urban Intelligent Drainage Control System Based on Hierarchical Control Structure

technical field

The utility model belongs to the field of urban construction and planning, in particular to an urban intelligent drainage control system based on a layered control structure.

Background technique

In recent years, with the continuous acceleration of the urbanization process, the performance of the urban "heat island effect" has become more and more obvious. The frequent occurrence of sudden heavy rainfall weather has caused various degrees of waterlogging in major cities, and at least caused urban traffic. Congestion can lead to loss of personnel and property, and urban waterlogging has become the main disaster factor that plagues the stable development of cities. On July 21, 2012, Beijing suffered a torrential rainstorm, which caused 79 deaths, 163 immovable cultural relics were damaged to varying degrees, 10,660 houses collapsed, and 11.64 billion yuan in economic losses; the strong typhoon "Fitte" caused Wenzhou, Zhejiang Province, Heavy rains fell in Ningbo and Hangzhou, causing serious waterlogging in cities. Many scenic spots such as the West Lake in Hangzhou were flooded and could not be opened to tourists. "Every rain will be flooded" has brought great inconvenience to people's lives and caused huge losses to the safety of people's lives and property. How to prevent and control urban waterlogging has become an urgent livelihood issue that needs to be solved.

Urban drainage system is an engineering facility system that treats and removes urban rainwater and sewage. It is an important part of urban public facilities and an important link to achieve urban waterlogging safety and pollution control. The pumping station is a component unit of the urban drainage system. Its main function is to use high-power pumps to realize drainage, irrigation, shipping water replenishment and municipal water supply.

In order to realize the coordinated and optimized control of the urban drainage system, "smart drainage" came into being. In this context, it is particularly urgent and important to study the disadvantages of traditional drainage control systems and build intelligent drainage control systems.

The drainage pumping station control system is a comprehensive control system integrating mechanical equipment, electrical equipment and water conservancy projects. The high-power water pump unit is the main control object. According to statistics, most small pumping stations with a total installed capacity below 1000Kw in the 1980s used 24-hour Manual on-duty operation mode, manual recording of pump station operation data reports, manual control of the start and stop of grilles, gates and pump units, the level of automation is backward. In the 1990s, with the development of computer technology and control technology, the urban drainage control system experienced two stages of development: computer-aided control and computer decentralized control. The computer distributed control system can realize the collection, analysis and processing of the water level of the inlet pool and the inflow of sewage, control the action of the pump unit, record the operating parameters and status of the pumping station system in real time, and video monitor the scene and other functions. At present, urban drainage pumping stations generally adopt a decentralized control method based on local computers, which lacks information interaction between regional pumping stations. Entering the new century, due to the advancement of computer network transmission technology and remote control technology, the network-based distributed control system has developed rapidly due to its high stability, reliability and scalability. Since the advent of Honeywell's first distributed control system TDCS-2000, the distributed control system has been widely used in various fields of control, with its high reliability, convenient configuration software, rich Control algorithms and open networking capabilities have gradually become the mainstream of process automatic control, and naturally become the development direction of urban drainage control systems.

Establishing a reasonable description model for the control system is the basis for realizing the advanced control of the drainage system. The current model research of the drainage system mainly predicts and realizes overflow control through the rainwater management model. Determining factors such as the length and unit capacity of each station, uncertain factors of flow caused by heavy rainfall or crowd sewage, as well as the target water level of the pumping station and the height setting of the cofferdam gate, the displacement of the pump group, and the coordination and optimization of the flow between all levels and other human-controlled factors. Therefore, the mathematical model of the drainage control system of urban distributed pumping stations combined with machine-pump group control and coordinated optimal scheduling needs to be further explored. The urban drainage system spreads all over the city, and its flow has uncertainty, nonlinearity and hysteresis. At the same time, there are chain-level constraints between pumping stations, local control has limitations that are difficult to coordinate and optimize, and unreasonable discharge control methods cause sewage overflow. At the same time, it is accompanied by the problem of high energy consumption. Some studies have begun to pay attention to the global optimal control of the sewage discharge system. At present, the sewage discharge system of various countries in the world is still dominated by local response control (LRC). Although there are also researches on the overall optimal control of urban drainage systems, they are still in their infancy, and the control objectives and control methods are relatively single. They have not explored how to achieve coordinated optimal scheduling based on the interaction of pumping stations under the influence of regional working conditions and tributary disturbances. In order to make full use of the sewage discharge capacity of each pump station, so as to realize intelligent drainage and energy saving, and improve the level of urban waterlogging prevention and control.

To sum up, at present, the decentralized control method commonly used by various pumping stations operates drainage according to their respective working conditions, and it is difficult to achieve regional coordination without the necessary global information exchange. Moreover, this conventional centralized control method is subject to network signal interruption, blockage, and data loss. And other factors, the control effect is not ideal.

Utility model content

The purpose of this utility model is to solve the above-mentioned defects in the prior art, to provide an urban intelligent drainage control system based on a layered control structure, to realize the coordination and optimization of the intelligent network of the loop controller of the drainage system, and to balance the water intake of the pumping station and It is of great significance to pump out the volume, meet the dual requirements of urban daily drainage and enhance urban drainage and waterlogging prevention capabilities.

The utility model adopts following scheme:

The urban intelligent drainage control system based on layered control structure is composed of two relatively independent and interconnected upper-level network control systems and the lower-level pumping station field control system with PLC as the core;

The upper network control system uses Ethernet as the shared network platform. The on-site industrial computer of the pumping station obtains the water level and sewage flow of the pumping station’s inlet pool collected by the PLC through RS-232 serial direct connection, and then transmits the information to the central server and saves it in the The database and the central server realize the global coordination and optimization control of the drainage system through the global coordination and optimization decision-making knowledge base;

The on-site control system of the pump station includes PLC, water level sensor, flow sensor, digital input module, frequency converter, data acquisition card and digital output module, the water level sensor is connected to the analog input module through the signal transmitter, and the flow sensor is connected to the analog input module Input module connection, analog input module, digital input module connected with PLC, inverter, data acquisition card connected with analog output module, analog output module connected with PLC, digital output module directly connected with PLC, PLC and upper layer Network control system connection.

Further, the data acquisition card adopts 812PG data acquisition card.

Further, the signal transmitter is also connected with a water level display module.

Furthermore, the PLC has four AD analog sampling channels, which scan and control the peripheral sensors of the control system, the water level and flow signals collected by the transmitter, the output control quantity of the controller, and the current signal of the main circuit of the system.

The utility model designs a layered control structure with multiple control cores for large systems, constructs an industrial computer with powerful computing capabilities and convenient networking as the upper control core of the pump station, establishes a remote control system based on the network, and measures the overall working conditions in real time Flow and water level, and then according to the extreme value principle and optimization theory to formulate a suitable optimal coordination control strategy and scheduling method. At the same time, with the reliable PLC as the lower control core, a local intelligent control system is built to ensure the long-term uninterrupted operation of the drainage system, realize the intelligentization of the urban distributed pumping station drainage system, and improve the level of urban waterlogging prevention.

Starting from the system planning, the utility model will improve the government's supervision level and emergency handling ability of public industries, solve the hidden dangers of urban drainage caused by the expansion of urban scale, reduce and eliminate economic costs such as safety, environmental protection, and maintenance; realize urban pipe network Intelligent management needs for early detection and early control of hidden dangers; providing platform support for cross-departmental and cross-agency information sharing; reducing public maintenance expenditures, improving the level of urban infrastructure renovation and construction; reducing emergencies, reducing the negative impact of construction repairs, and improving public satisfaction Spend.

The utility model integrates Internet of Things technology and control, forms a comprehensive management and control platform, integrates the work of multiple management departments, changes the way of planning thinking, avoids waste caused by division, and promotes urban planning from the source. The data analysis results are applied to water diversion and drainage to make the whole work systematized and standardized:

(1) Realize regional intelligent coordination, which is convenient for unified command and dispatch, and each mobile phone connected to the Internet can be a command center;

(2) It is conducive to promoting departmental integration, saving managers and operators, and improving efficiency;

(3) Promote planning in advance, put urban construction layout in the first place, build an urban structure with advanced planning, and fundamentally prevent heavy rainfall;

(4) Effectively prevent urban waterlogging caused by heavy rainfall, with advanced technology, and provide a demonstration effect for the transformation of the region and even the entire city.

In terms of economic benefits and industrialization prospects of the project, the successful development of the utility model will greatly promote the integrated planning of urban drainage, and the market prospect is very optimistic.

After the utility model is successfully developed, according to the average annual sales of 10 sets, it is estimated that the annual sales output value can reach about 10 million yuan, the annual profit can realize 3 million yuan, and the national tax can be turned over to 1 million yuan. It can be seen that our innovative urban intelligent drainage system has strong market development potential and good industrialization prospects.

Description of drawings

The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The schematic embodiments and descriptions of the application are used to explain the application and do not constitute an improper limitation to the application. In the attached picture:

Fig. 1 Schematic diagram of urban intelligent drainage system based on layered control structure;

Fig. 2 Block diagram of the hardware circuit composition of the on-site intelligent control system of the lower pumping station;

Fig. 3 Architecture diagram of the upper layer network control system;

Fig. 4 Working principle diagram of on-site intelligent optimization control of pumping station;

Figure 5 Schematic diagram of the urban distributed pumping station drainage system.

detailed description

The implementation of the present application will be described in detail below with reference to the accompanying drawings and examples, so as to fully understand and implement the implementation process of how the present application uses technical means to solve technical problems and achieve technical effects.

1. Research and development content

The utility model intends to build an urban intelligent drainage control system based on a layered control structure, using the existing pipe network and rivers, and adopting modern network control technology to build an upper-layer network coordination control system, and the pumping station can obtain the pumping station water collected by the PLC on site. Pool water level, sewage flow and other parameters, and transmit the parameter information to the central server through Ethernet with high transmission efficiency, and then, based on the urban distributed drainage system model, use optimization technology to solve the overall situation of the urban drainage system including comprehensive dispatching pumping stations Coordinate and optimize the optimal solution of water volume scheduling, and issue the command of water volume scheduling to the pumping station site through the network. At the same time, in order to solve the problem of blind area control during the period of network interruption, congestion, and data loss in conventional centralized control, a reliable PLC is used as the lower control core to build an on-site intelligent control system for the lower pumping station to ensure long-term uninterrupted operation of the drainage system. Therefore, the research and development content of the project needs to include:

(1) Research on the structure of urban drainage network control system with layered control structure

The layered control system is composed of two relatively independent and interconnected upper-level network control systems and the lower-level pumping station field control system with PLC as the core. The Internet network with the advantages of protocol openness and wide application is selected as the shared network to form the outer ring of coordinated control of the upper layer network, track the water flow and water level changes of the pumping stations in each area of the pipe network, and realize the coordination and optimization of the drainage system. Scheduling decisions and parameters Coordination; at the same time, through the remote monitoring terminal to monitor the site of each lower pumping station in real time. According to the real-time working conditions and control requirements of the pumping station site, supervisory control and central coordination feedback control operate independently without interfering with each other. It can not only use the central server to realize information sharing and regional coordination and optimization control, but also make up for it through the pumping station on-site control system Control blind zone problem caused by network control system failure. The specific system structure is shown in Figure 1.

(2) On-site intelligent control system design of the lower pumping station

The upper-layer network control system has high-speed computing capabilities, and can realize complex network coordination control, so that the comprehensive drainage performance of regional pumping stations is optimal. However, any electronic device will have parts that wear out, which can lead to hardware failure. When hardware failures or control program errors occur in the upper control system, in order to ensure the uninterrupted operation of the drainage system, it is necessary to build an on-site control system with the lower PLC as the core to clear the blind spots of network control. The block diagram of the hardware circuit composition of the on-site intelligent control system of the lower pumping station is shown in Figure 2. It is mainly composed of various sensors, transmitters, PLCs, frequency converters, data boards, relays and other equipment. The software architecture of the field control system is mainly composed of two links: data acquisition and processing and local intelligent optimization control. The data acquisition and processing link collects water level, flow signal, controller output control quantity and system main circuit current signal in real time. When the local intelligent optimization control link detects an abnormality in the network control, the PLC obtains the system control right through the intelligent determination link, controls the drainage of the pumping station unit, and gives a network control system fault alarm at the same time.

(3) Research on Global Coordinated Optimization Control Technology of Distributed Pumping Station Drainage System

Most of the current urban drainage system models do not combine the basic control unit of the drainage machine pump group. The utility model is based on the machine-pump group, and determines factors such as the capacity of the distributed pump station and unit capacity, the flow uncertainty factors caused by heavy rainfall, as well as the target water level of the pump station, the displacement of the machine-pump group, and the flow rate between stages. The human control factors such as coordination and optimization of dispatch volume are described mathematically, and a kind of global coordination and optimization dispatch method of urban drainage system including comprehensive dispatch pumping stations is given to obtain the real-time optimal drainage of each pumping station.

2. Technical key

1. Software and hardware design of the on-site intelligent control system of the lower pumping station

In order to realize that when the upper layer control signal of the network is interrupted, the real-time control loop composed of data acquisition link, switching control link, frequency conversion adjustment output and other parts can adjust and control the sewage intelligence in the pumping station area according to the real-time flow and water level of the controlled drainage pumping station. emission. It is necessary to design a circuit for acquiring and converting data corresponding to the water level, which controls the pump according to the analysis of the corresponding data. Simultaneously, the intelligent control of various hardwares is realized by software, and the design and writing of software are also technical problems urgently needed to be solved in the design of the control system of the utility model.

2. Global coordination optimization algorithm design

The pumping stations of each chain level are coupled with each other, coupled with the uncertainty of the water discharge volume of the pumping station caused by heavy rain, etc., in order to solve the problem of excessive water delivery from the previous stage pumping station to a certain subsequent stage pumping station, causing the latter stage pumping station to overflow, causing To solve the problem of overflow and stagnant water, the optimization technology is used to solve the optimal coordinated dispatching of pump water for each chain-level pumping station under the constraints, so as to realize the intelligent drainage of the pumping station.

Implementation plan and technical route

(1) Upper layer network control architecture design

The structure of the upper network control system is shown in Figure 3. Ethernet with high transmission efficiency is selected as the shared network platform. The on-site industrial computer of the pumping station is directly connected through RS-232 serial to obtain the water level and sewage flow of the pumping station’s inlet pool collected by the PLC. and other parameters, and then transmit the information to the central server and save it in the database. The central server then realizes the global coordination and optimization control of the drainage system through the global coordination and optimization decision-making knowledge base.

Socket, also known as "socket", is used to describe the IP address and port. It is the API of the TCP/IP network. The Socket interface defines many functions to develop applications. The communication in the network control system of the utility model adopts a stream Socket (SoCKsTREAM) interface to realize sending a request to the network or responding to a network request. First, the central server uses ServerSocket to monitor the designated port and waits for the connection request from the lower pumping station. Then the industrial computer of each pumping station uses Socket to send a connection request to the port specified by the central server on the network. Once the connection is completed, a session can be generated to realize the pumping station parameters. At the same time, the server integrates the information of all pumping stations in the area, coordinates and optimizes the control commands for production, and sends the command information to the lower pumping station. At this time, a session of a cycle is completed, the server closes the connection and continues to monitor, and the client industrial computer is also closed. Socket ends this connection.

(2) Software architecture design of the on-site intelligent control system of the lower pumping station

When the network control system has a hardware failure or an error occurs in the control program, in order to ensure that the drainage system is still running, it is necessary to build an on-site intelligent control system. The software architecture of the on-site intelligent control system of the pumping station is mainly composed of the data acquisition and processing part and the local intelligent optimization control part.

A) Data acquisition and processing part

ORMONCPIH type PLC comes with four AD analog sampling channels, cyclically scans the peripheral sensors of the control system, the water level, flow signal collected by the transmitter, the output control value of the controller and the current signal of the main circuit of the system. Take the water level signal acquisition as an example to illustrate, use the Siemens ultrasonic sensor to convert the water level of the inlet pool into a standard 4-20mA electrical signal, connect it to the PLC analog input module through a double-strand shielded wire, and then write the data acquisition program to realize the electrical signal. Acquisition, conversion, storage and display. Among them, 200, W20, W102, W51, and 211 are PLC internal registers, the execution time of the transfer instruction (MOV) is 0.3us, and the execution time of the upper and lower limit control instructions (LMT) is 27.23 μs.

B) Local intelligent optimization control part

The local intelligent optimization control link consists of two parts: intelligent judgment of control rights and PLC segmental frequency conversion optimization control. The work flow chart of this part is shown in Figure 4. When the network control works normally, the control system performs network optimization and coordination control, and the lower PLC realizes periodic inspection. When the PLC detects that the industrial computer is abnormal, after the PLC obtains the control right of the system through the intelligent judgment sub-link, it performs segmental frequency conversion control, and at the same time gives an alarm for the industrial computer failure and continues periodic detection.

The PLC collects the current water level signal and compares it with the previous cycle water level stored in a register to judge the water level trend of the pumping station and calculate the rate of change of the water level. When the water level of the inlet tank is low, the current control frequency should not be changed or appropriately reduced to make the water level of the pumping station quickly rise to the optimal target water level; when the water level rises slightly lower than the target water level and is still in a rapid upward trend, it is necessary to increase the pump speed , reduce the rising rate of the water level and gently approach the target water level; when the water level is higher than the optimal water level but the water level is in a downward trend, the current control frequency can be kept unchanged; when the water level is lower than the target water level and continues to decrease, the current working frequency should be reduced frequency to ensure efficient operation of the pump. If the current water level value is higher than the upper threshold, the high water level alarm signal light will be turned on. On the contrary, when the water level is lower than the lower limit threshold, it is necessary to stop the pump.

(3) Global coordinated optimization control algorithm design of distributed pumping station drainage system

The urban drainage system consists of many lifting pumping stations distributed throughout the city and pipe networks with different pipe diameters. Figure 5 shows the structural diagram of the urban distributed pumping station drainage system, in which the pumping stations S1-S5 are divided into comprehensive dispatching Pumping stations and non-integrated dispatching pumping stations are represented by double rings and single rings respectively. The solid line with arrows indicates the direction of water flow, and the dotted line indicates that there can be many other distributed chain-level pumping stations between the regional pumping station and the discharge terminal station. The structure of the urban drainage system is a series and parallel compound structure including the upper and lower chain pumping stations. The flow time delay between the pumping stations has uncertain characteristics. Considering the inertia time constant T _0i of the pumping station control system i, it can be obtained The differential equation of the regional pumping station i with chain-level action is

In the formula, h _si (t), q _i (t) (i=1,2,...,N) are the static head and displacement of the pumping station respectively, N is the total number of pumping stations, N _si ≤N; 0≤D _ij ≤ 1 is the flow correlation parameter from pumping station j to pumping station i, which is related to factors such as the amount of sewage dispatched between pumping stations and seepage; the tributary disturbance d _i (t) is affected by factors such as rainfall and crowd sewage, and is random and unpredictable. Measurement; is the pipeline transmission delay from q _j (t) of pumping station j to pumping station i, which is mainly affected by q _j (t), and at the same time, the distance from the water outlet to the lower pumping station, the viscosity of sewage, the roughness of the pipe wall, etc. Factors are related, for the convenience of analysis, it is assumed here that it is a definite quantity

Perform a pull transformation on the differential equation (1):

In the formula

Expanding (2) and ignoring the influence of higher-order items on the system, we can get

In the formula

Furthermore, the sampling period and network delay are considered, and the discretization knowledge is used to discretize the continuous system model to derive the state equation and output equation expressions of the system. And the real-time displacement of each pumping station is obtained by convex optimization method. Therefore, the central coordination controller can send the flow scheduling solution obtained from the optimization problem to each pumping station in real time through the Internet network.

(4) Establish a simulation test system

Integrate each functional module and software terminal provided by the control system into the intelligent drainage system, and test the sub-module functions. The test system needs to go through hardware design and software debugging, network interface layer, system debugging, etc. Simulate the actual pumping station drainage for testing. If the simulation test meets the technical requirements, carry out the integration test of each functional module of the intelligent drainage system.

The above description shows and describes several preferred embodiments of the present utility model, but as mentioned above, it should be understood that the present utility model is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used In various other combinations, modifications and environments, and can be modified by the above teachings or skills or knowledge in related fields within the scope of the utility model concept described herein. However, changes and changes made by those skilled in the art do not depart from the spirit and scope of the utility model, and should all be within the protection scope of the appended claims of the utility model.

Claims (4)

1. An urban intelligent drainage control system based on a layered control structure, characterized in that it consists of two relatively independent and interconnected upper-level network control systems and a lower-level PLC-based pumping station on-site control system; The upper network control system uses Ethernet as the shared network platform. The on-site industrial computer of the pumping station obtains the water level and sewage flow of the pumping station’s inlet pool collected by the PLC through RS-232 serial direct connection, and then transmits the information to the central server and saves it in the The database and the central server realize the global coordination and optimization control of the drainage system through the global coordination and optimization decision-making knowledge base; The on-site control system of the pump station includes PLC, water level sensor, flow sensor, digital input module, frequency converter, data acquisition card and digital output module, the water level sensor is connected to the analog input module through the signal transmitter, and the flow sensor is connected to the analog input module Input module connection, analog input module, digital input module connected with PLC, inverter, data acquisition card connected with analog output module, analog output module connected with PLC, digital output module directly connected with PLC, PLC and upper layer Network control system connection. 2. The urban intelligent drainage control system based on layered control structure according to claim 1, wherein the data acquisition card is an 812PG data acquisition card. 3. The urban intelligent drainage control system based on layered control structure according to claim 1, wherein the signal transmitter is also connected with a water level display module. 4. the urban intelligent drainage control system based on layered control structure according to claim 1, is characterized in that, PLC carries four AD analog sampling passages, the water level that cycle scanning control system peripheral sensor, transmitter gather, Flow signal, controller output control quantity and system main circuit current signal.