CN107765716B - Double-ring control method of flow regulating valve - Google Patents
Double-ring control method of flow regulating valve Download PDFInfo
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- CN107765716B CN107765716B CN201610681144.7A CN201610681144A CN107765716B CN 107765716 B CN107765716 B CN 107765716B CN 201610681144 A CN201610681144 A CN 201610681144A CN 107765716 B CN107765716 B CN 107765716B
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D7/06—Control of flow characterised by the use of electric means
- G05D7/0617—Control of flow characterised by the use of electric means specially adapted for fluid materials
- G05D7/0629—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means
- G05D7/0635—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means by action on throttling means
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Abstract
The invention relates to a double-ring control method of a flow regulating valve, which comprises the following steps: performing slope processing on the set flow, obtaining initial set opening of the valve through a working curve of the flow regulating valve, setting response compensation to obtain final opening of the flow regulating valve, and opening the flow regulating valve; measuring the actual flow and the actual opening of the flow regulating valve; feeding back the actual flow and carrying out flow loop processing on the actual flow to obtain flow compensation, and simultaneously feeding back the actual opening and carrying out opening loop processing on the actual opening to obtain opening compensation; and controlling the initial set opening degree, the response compensation, the flow compensation and the opening degree compensation together to obtain the updated final opening degree of the flow regulating valve, controlling the opening degree of the flow regulating valve by using the updated final opening degree to obtain the updated actual flow and actual opening degree, and repeating the steps until the flow regulating valve finishes working. The invention improves the response speed and the precision of the flow regulating valve, is beneficial to the actual cooling effect of the steel plate and improves the quality of the steel plate.
Description
Technical Field
The invention relates to an automatic control technology of a flow regulating valve, in particular to a double-ring control method of the flow regulating valve.
Background
Currently, the ACC (laminar flow rapid cooling) technology has been widely used in the production of steel plates for shipbuilding, pipelines, buildings, bridges, pressure vessels, and the like. By using laminar cooling, cooling devices in some production plants also have high-speed cooling capacity, and can Directly Quench (DQ) rolled steel plates. Compared with the traditional quenching after heat treatment, the direct quenching not only can save energy, but also can obtain higher hardening degree on the premise of the same cooling speed, and can reduce the carbon content and carbon equivalent in steel, thereby improving the welding performance of steel plates, so most of advanced accelerated cooling devices have the capability of direct quenching, for example, the production process of the Bao steel thick plate consists of two parts of laminar flow and Direct Quenching (DQ).
With the increasing demands of users on the quality and performance of finished steel plates, higher demands are made on the response accuracy and the flow accuracy of the ACC flow control valve, and therefore, the new demands cannot be met by the structure of the existing thick plate cooling area flow control valve device.
The existing ACC flow regulating valve only has 'actual flow' feedback, cannot detect 'actual opening' information, can cause the problems of control of flow size and untimely response, and the phenomenon of uncontrollable state occurs, so that the problem of overall length uniformity of a steel plate is caused, the steel plate can be finally caused to generate quality performance defects, and the use level of the steel plate is reduced.
As shown in fig. 1, a conventional control method for regulating the flow of an ACC flow regulating valve includes the following steps:
s11, setting the flow rate of the flow regulating valve (the flow rate of the cooling water), and performing ramp processing to reduce the influence on the system stability when the set flow rate changes suddenly, wherein the ramp processing refers to the time when the set flow rate changes from A to B (example 0-800 l/m)2Min), to avoid the ramp function added by the sudden change to the system, the change of the value of each scanning cycle is adjusted (specifically, for the change of the value from a to B, for example, 500 to 800, the change of 100 per cycle requires 3 program execution cycles to reach 800, and when the change reaches 800, the ramp processing is considered to be in place. In addition, the variation of each period can be adjusted in the ramp function parameters);
s12, obtaining the corresponding set opening value of the flow regulating valve through a working curve (the characteristic curve of the flow regulating valve, namely the flow curve corresponding to each opening calibrated by the flow regulating valve) of the set flow after slope processing, and controlling the flow regulating valve to open;
s13, after the flow regulating valve is opened, measuring the actual flow of the flow regulating valve;
s14, feeding back the actual flow rate to become a feedback flow rate;
s15, delaying for X seconds (X is 2-5 seconds and determined according to the actual response condition of the flow regulating valve) after the set flow in the step S11 is processed in place by a slope, and measuring the deviation value of the set flow and the feedback flow;
s16, calculating in real time by a PI regulator (proportional integral regulator) to obtain the flow compensation of the flow regulating valve according to the deviation value of the set flow and the feedback flow;
s17, measuring the sum of the set flow and the flow compensation to obtain real-time flow;
s18, obtaining a real-time opening value corresponding to the flow regulating valve through the working curve of the real-time flow, and controlling the opening of the flow regulating valve in real time to obtain an updated actual flow of the flow regulating valve;
and S19, repeating the steps S14-S18 after the updated actual flow of the flow regulating valve is obtained, until the flow regulating valve finishes working.
The disadvantages of the above control method:
1. the opening degree of the flow regulating valve is controlled only through a working curve in the opening process of the flow regulating valve, so that the response speed of the flow regulating valve in the opening process is limited;
2. the final set opening degree is selected from a working curve, and the working curve of the flow regulating valve fluctuates according to the change of the actual working condition, so that the actual using effect of the flow regulating valve fluctuates accordingly.
3. Only the 'actual flow' feedback is used, the 'actual opening degree' feedback is not applied, and the characteristic of the flow regulating valve is not utilized to the maximum extent.
At present, a new product of the flow regulating valve appears in the market, the feedback of the actual opening degree of the flow regulating valve is provided, and the information of the actual flow and the actual opening degree can be monitored simultaneously. In order to better utilize the advantage of the new product flow regulating valve, it is urgent in the industry to design a new regulating mode to improve the response accuracy and the flow accuracy of the ACC flow regulating valve in cooperation with the use of the new flow regulating valve.
Disclosure of Invention
The invention aims to overcome the problems in the prior art, fully utilizes the characteristics of opening and flow feedback of a new product flow regulating valve, provides an opening regulator model and a flow regulator model, and simultaneously provides a flow regulating valve opening process response compensation model, thereby realizing the double-ring control method of the flow regulating valve, which accelerates the response speed of the flow regulating valve and improves the steady-state flow precision of the flow regulating valve.
The purpose of the invention is realized by the following technical scheme:
a double-ring control method of a flow regulating valve comprises the following steps:
s1, setting the cooling water flow of the flow regulating valve, and performing slope processing on the set flow;
s2, the set flow after slope processing passes through the working curve of the flow regulating valve to obtain the initial set opening of the flow regulating valve, and meanwhile, response compensation is set;
s3, the final opening output controller of the flow regulating valve is controlled by the initial setting opening of the flow regulating valve and the response compensation together to obtain the final opening of the flow regulating valve, and the final opening of the flow regulating valve controls the opening of the flow regulating valve;
s4, after the flow regulating valve is opened, measuring the actual flow and the actual opening of the flow regulating valve;
s5, feeding back the measured actual flow of the flow regulating valve to form a feedback flow, and carrying out flow loop processing on the feedback flow to obtain the flow compensation of the flow regulating valve;
s6, performing step S5 and feedback of the actual opening degree of the flow rate adjustment valve measured in step S4 to obtain a feedback opening degree, and performing opening degree loop processing on the feedback opening degree to obtain an opening degree compensation of the flow rate adjustment valve;
s7, controlling the final opening output controller by the initial setting opening of the flow regulating valve, the response compensation, the flow compensation and the opening compensation together to obtain an updated final opening, and controlling the opening of the flow regulating valve by the updated final opening to obtain the updated actual flow and the actual opening of the flow regulating valve;
and S8, after the updated actual flow and the actual opening degree of the flow regulating valve are obtained, repeating the steps S5-S7 until the flow regulating valve finishes working.
The set formula of the response compensation is as follows:
response compensation is (set flow variation multiplied by G)%, and the compensation amplitude limit is 0-1%;
wherein, the set flow variation is the variation value of the set flow in the front and back periods; g is a coefficient of a response compensation model, when the set flow rate is changed, G is 0.004, and when the set flow rate is delayed for X seconds after slope processing, G is 0; the compensation clip is a clip range responsive to the output of the compensation model.
The flow loop processing in step S5 includes:
s51, delaying for X seconds after the set flow in the step S1 is processed in place through a slope, and measuring a deviation value between the set flow and the feedback flow;
and S52, calculating the flow compensation of the flow regulating valve in real time by the PI regulator according to the deviation value between the set flow and the feedback flow.
The opening degree loop processing in step S6 includes:
s61, delaying X seconds after the set flow rate in step S1 is ramped in place, and measuring a deviation value between the final opening degree of the flow rate adjustment valve obtained in step S3 and the feedback opening degree;
and S62, calculating the opening compensation of the flow regulating valve in real time by the PC regulator according to the deviation value between the final opening and the feedback opening.
The X seconds are 2-5 seconds.
The X seconds are 2-5 seconds.
The invention has the beneficial effects that:
the double-ring control method of the flow regulating valve provided by the invention designs a method for regulating and controlling the flow of the flow regulating valve by opening deviation compensation and flow deviation compensation under the conditions of meeting the production process and ensuring the equipment safety, fully utilizes the characteristics of a new flow regulating valve product, improves the response speed and precision of the flow regulating valve, is beneficial to the actual cooling effect of a steel plate, and improves the quality of the steel plate.
The method of the invention has the following advantages over prior art components:
1. the initial opening process of the flow regulating valve is controlled by the output of a working curve and response compensation, so that the response speed of the opening process of the flow regulating valve can be increased as much as possible;
2. the working curve only defines the initial set opening, and the PI regulator and the PC regulator respectively regulate the actual flow deviation and the opening deviation in real time in the working process of the actual flow regulating valve, so that the overall control effect of the flow regulating valve is more stable;
3. meanwhile, the feedback of the actual flow and the actual opening is used, and the characteristics of the new flow regulating valve are utilized to the maximum extent.
To further illustrate the above objects, structural features and effects of the present invention, the present invention will be described in detail below with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic view of a control method of a conventional flow rate regulating valve;
FIG. 2 is a schematic view of a dual ring control method for the flow control valve of the present invention;
FIG. 3 is a flow chart of a dual-ring control method of the flow control valve of the present invention.
Detailed Description
The following describes in detail a specific embodiment of the present invention with reference to the drawings of the embodiment.
The double-ring control is a method for controlling the opening degree of the flow regulating valve in the opening process and the flow together. Referring to fig. 2, the double-ring control method of the flow control valve of the present invention includes the following steps:
s1, setting the cooling water flow of the flow regulating valve, and performing slope processing on the set flow;
s2, the set flow after slope processing passes through the working curve of the flow regulating valve to obtain the initial set opening of the flow regulating valve, and meanwhile, response compensation is set, wherein the response compensation is a compensation function for improving the response speed in the opening process of the flow regulating valve;
the setting formula of the response compensation is as follows: response compensation is (set flow variation multiplied by G)%, and the compensation amplitude limit is 0-1%;
the set flow rate variation is a variation of the set flow rate in the preceding and following cycles (for example, the flow rate is set from 200 l/m)2Min to 400l/m2Min, i.e. setting the flow variation to 200l/m2*min；
G is a coefficient of a response compensation model, when the set flow rate is changed, G is 0.004, when the set flow rate is subjected to ramp processing and is delayed for X seconds (X is 2-5 seconds), G is 0;
compensating amplitude limiting, namely an amplitude limiting range output by a response compensation model, wherein 0-1% refers to compensating amplitude limiting, namely, the upper limit of response compensation output is 1%, the lower limit is 0%, and compensating amplitude limiting refers to amplitude limiting of a response compensation formula, namely, the maximum and minimum numbers calculated by the response compensation formula are all in the amplitude limiting range, for example, the amplitude limiting is 0% -1%, the formula calculates 2%, but after amplitude limiting, the actual response compensation output is only 1%, the actual response compensation output is 0.5%, and the actual response compensation output is also 0.5%;
through response compensation, when the flow is set to change, the flow regulating valve is compensated by an opening degree in advance, so that the flow regulating valve can respond to the flow in place more quickly;
s3, the final opening of the flow regulating valve is controlled by the initial setting opening of the flow regulating valve and the response compensation together to output the controller T, the final opening of the flow regulating valve is obtained, and the final opening of the flow regulating valve controls the opening of the flow regulating valve;
s4, after the flow regulating valve is opened, measuring the actual flow and the actual opening of the flow regulating valve;
s5, feeding back the measured actual flow of the flow control valve to obtain a feedback flow, and performing a flow loop process on the feedback flow to obtain a flow compensation of the flow control valve, wherein the flow loop process includes:
s51, delaying for X seconds (X is 2-5 seconds) after the set flow rate is processed to the right position through the slope in the step S1, and measuring a deviation value of the set flow rate and the feedback flow rate;
s52, calculating in real time by the PI regulator to obtain flow compensation of the flow regulating valve according to the deviation value of the set flow and the feedback flow;
s6, at the same time as step S5, the actual opening degree of the flow rate adjustment valve measured in step S4 is fed back to be a feedback opening degree, and the feedback opening degree is subjected to an opening degree loop processing to obtain an opening degree compensation of the flow rate adjustment valve, the opening degree loop processing including:
s61, delaying for X seconds (X is 2-5 seconds) after the set flow rate in the step S1 is processed in place by a slope, and measuring the deviation value of the final opening degree of the flow regulating valve obtained in the step S3 and the feedback opening degree;
s62, calculating in real time by the PC regulator to obtain the opening compensation of the flow regulating valve according to the deviation value of the final opening and the feedback opening;
s7, controlling the final opening output controller by the initial setting opening, the response compensation, the flow compensation and the opening compensation of the flow control valve (corresponding to the four quantities of the initial setting opening, the flow compensation, the opening compensation and the response compensation are added, all the four compensation quantities are all calculated by percentage), obtaining the updated final opening, controlling the opening of the flow control valve by the updated final opening, obtaining the updated actual flow and the actual opening of the flow control valve
And S8, after the updated actual flow and the actual opening degree of the flow regulating valve are obtained, repeating the steps S5-S7 until the flow regulating valve finishes working.
In this embodiment: the delay X seconds after the ramp process all means a delay of 4 seconds.
After the implementation of the scheme of the invention, the performance of the new flow regulating valve equipment can be fully exerted, and the response speed of the flow regulating valve is effectively improved. Experimental data pairs such as table 1 (original valve refers to a flow regulating valve in the prior art, and new valve refers to a flow regulating valve of the present invention).
TABLE 1 flow control valve Dual-ring control Effect
In the double-ring dynamic control, the water flow is quickly responded and accurately adjusted in place, and the difference between the cooling stop temperature penetrating through the whole length of the steel plate and a target value is controlled within +/-25 ℃. Is beneficial to the production of high-performance steel plates and ensures the uniformity of the material.
It should be understood by those skilled in the art that the above embodiments are for illustrative purposes only and are not intended to limit the present invention, and that changes and modifications to the above embodiments may fall within the scope of the appended claims.
Claims (4)
1. A double-ring control method of a flow regulating valve is characterized by comprising the following steps:
s1, setting the cooling water flow of the flow regulating valve, and performing slope processing on the set flow;
s2, the set flow after slope processing passes through the working curve of the flow regulating valve to obtain the initial set opening of the flow regulating valve, and meanwhile, response compensation is set;
s3, the final opening output controller of the flow regulating valve is controlled by the initial setting opening of the flow regulating valve and the response compensation together to obtain the final opening of the flow regulating valve, and the final opening of the flow regulating valve controls the opening of the flow regulating valve;
s4, after the flow regulating valve is opened, measuring the actual flow and the actual opening of the flow regulating valve;
s5, feeding back the measured actual flow of the flow regulating valve to form a feedback flow, and carrying out flow loop processing on the feedback flow to obtain the flow compensation of the flow regulating valve;
s6, performing step S5 and feedback of the actual opening degree of the flow rate adjustment valve measured in step S4 to obtain a feedback opening degree, and performing opening degree loop processing on the feedback opening degree to obtain an opening degree compensation of the flow rate adjustment valve;
s7, controlling the final opening output controller by the initial setting opening of the flow regulating valve, the response compensation, the flow compensation and the opening compensation together to obtain an updated final opening, and controlling the opening of the flow regulating valve by the updated final opening to obtain the updated actual flow and the actual opening of the flow regulating valve;
s8, after the updated actual flow and actual opening of the flow regulating valve are obtained, the steps S5-S7 are repeated until the flow regulating valve finishes working,
the set formula of the response compensation is as follows:
response compensation is (set flow variation multiplied by G)%, and the compensation amplitude limit is 0-1%;
wherein, the set flow variation is the variation value of the set flow in the front and back periods; g is a coefficient of a response compensation model, when the set flow rate is changed, G is 0.004, and when the set flow rate is delayed for X seconds after slope processing, G is 0; the compensation clip is a clip range responsive to the output of the compensation model,
the opening degree loop processing in step S6 includes:
s61, delaying X seconds after the set flow rate in step S1 is ramped in place, and measuring a deviation value between the final opening degree of the flow rate adjustment valve obtained in step S3 and the feedback opening degree;
and S62, calculating the opening compensation of the flow regulating valve in real time by the PC regulator according to the deviation value between the final opening and the feedback opening.
2. The double-loop control method of a flow rate adjustment valve according to claim 1, wherein the flow loop processing in step S5 includes:
s51, delaying for X seconds after the set flow in the step S1 is processed in place through a slope, and measuring a deviation value between the set flow and the feedback flow;
and S52, calculating the flow compensation of the flow regulating valve in real time by the PI regulator according to the deviation value between the set flow and the feedback flow.
3. A double-ring control method of a flow rate adjustment valve according to any one of claims 1 to 2, characterized in that:
the X seconds are 2-5 seconds.
4. A double-ring control method of a flow rate adjustment valve according to claim 3, characterized in that:
the X seconds are taken to be 4 seconds.
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109667973B (en) * | 2019-01-16 | 2020-08-04 | 苏州仁甬得物联科技有限公司 | High-precision flow valve control system |
| CN111765287A (en) * | 2020-06-29 | 2020-10-13 | 瑞纳智能设备股份有限公司 | Valve with embedded artificial intelligence computing module and adjusting method thereof |
| CN113883910B (en) * | 2021-10-19 | 2023-05-16 | 攀钢集团西昌钢钒有限公司 | Method for controlling regulating valve by control system when throttle flowmeter is in dead zone |
| CN117226224B (en) * | 2023-11-16 | 2024-01-23 | 苏芯物联技术(南京)有限公司 | Welding protection air flow real-time intelligent control method |
| CN117686042B (en) * | 2024-02-02 | 2024-05-24 | 成都秦川物联网科技股份有限公司 | Valve control linkage method, system and equipment for ultrasonic water meter of Internet of things |
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