CN118939019A - Intelligent control method and system of electric butterfly valve - Google Patents
Intelligent control method and system of electric butterfly valve Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D16/00—Control of fluid pressure
- G05D16/20—Control of fluid pressure characterised by the use of electric means
- G05D16/2006—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means
- G05D16/2013—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means using throttling means as controlling means
- G05D16/2026—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means using throttling means as controlling means with a plurality of throttling means
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Abstract
本发明涉及智能控制技术领域，尤其涉及一种电动蝶阀的智能控制方法及其系统包括获取设定压力值和实际压力数据；计算当前压力偏差；利用PID控制算法对当前压力偏差进行计算；根据PID输出的控制值确定蝶阀的开启度；根据开启度控制电动执行器调节对应的蝶阀；监测调节后的预测时间内的蝶阀位置和流体压力；根据蝶阀位置和流体压力评估PID控制算法的准确性；根据评估结果确定PID参数调整策略；监测调整策略后蝶阀的响应速度和响应后的压力超调量；根据响应速度和压力超调量对PID参数调整策略进行有效性验证；根据验证结果对PID参数调整策略进行优化；监测PI D参数调整策略优化后的蝶阀压力值，确定修正措施。本发明提高蝶阀控制的精度和稳定性。
The present invention relates to the field of intelligent control technology, and in particular to an intelligent control method and system of an electric butterfly valve, including obtaining a set pressure value and actual pressure data; calculating the current pressure deviation; calculating the current pressure deviation using a PID control algorithm; determining the opening degree of the butterfly valve according to the control value output by the PID; controlling an electric actuator to adjust the corresponding butterfly valve according to the opening degree; monitoring the butterfly valve position and fluid pressure within the predicted time after adjustment; evaluating the accuracy of the PID control algorithm according to the butterfly valve position and fluid pressure; determining a PID parameter adjustment strategy according to the evaluation result; monitoring the response speed of the butterfly valve after the adjustment strategy and the pressure overshoot after the response; verifying the effectiveness of the PID parameter adjustment strategy according to the response speed and the pressure overshoot; optimizing the PID parameter adjustment strategy according to the verification result; monitoring the butterfly valve pressure value after the PID parameter adjustment strategy is optimized, and determining correction measures. The present invention improves the accuracy and stability of butterfly valve control.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to an intelligent control method and system of an electric butterfly valve.
Background
The butterfly valve is a control valve widely used in fluid pipelines, has simple structure, rapid opening and closing and smaller fluid resistance. The butterfly valve has the operating principle that the flow of fluid is controlled by rotating the butterfly plate, so that the flow regulation and the interception control from medium caliber to large caliber can be realized. The butterfly valve is widely applied to the fields of chemical industry, petroleum, water treatment, heating, air conditioning and the like, and is common fluid control equipment. The operation principle of the existing butterfly valve is that the fluid flow is controlled through the rotary butterfly plate, so that in some applications requiring accurate control, the butterfly valve may not provide sufficiently accurate flow regulation, the butterfly valve has limited tolerance under severe working conditions, problems of thermal expansion, cold contraction, corrosion and the like may exist, inaccuracy of measured data is caused, and further accurate intelligent regulation and control of the butterfly valve cannot be achieved.
Chinese patent publication No.: CN110645376B discloses an intelligent butterfly valve, relates to butterfly valve technical field, including valve body, valve rod and valve plate, be equipped with the valve opening that is used for the fluid to pass through in the valve body, be equipped with the valve rod through-hole that is used for the valve rod to pass on the valve body, the valve plate passes through the valve rod location in the valve opening, and the valve rod drives the valve plate and makes positive and negative rotation, is equipped with valve plate rotation stop gear in the valve body, and when the valve plate is the closed condition, the valve plate separates into the valve opening into the air inlet chamber and gives vent to anger the chamber, the valve rod includes axle sleeve, upper shaft and lower shaft, be equipped with a locating shaft, a sliding shaft and a return spring in the axle sleeve, be equipped with at least one valve plate rotation stop gear in valve plate and the valve rod. The invention provides an intelligent butterfly valve which can reduce the shear stress on a valve rod when a valve plate is in a closed state and can ensure that the valve plate cannot be overturned destructively. However, the scheme does not consider the situation that the butterfly valve may not provide sufficiently accurate flow regulation in the application of accurate control, and the intelligent regulation accuracy of the butterfly valve is low.
Disclosure of Invention
Therefore, the invention provides an intelligent control method and system of an electric butterfly valve, which are used for solving the problem that the butterfly valve in the prior art cannot realize accurate intelligent regulation and control.
In order to achieve the above purpose, the invention provides an intelligent control method of an electric butterfly valve. Comprising the following steps:
step S1, acquiring a set pressure value and acquiring actual pressure data of a pressure sensor at a butterfly valve;
s2, comparing the set pressure value with the actual pressure data, and calculating the current pressure deviation;
s3, calculating the current pressure deviation by using a PID control algorithm;
S4, determining the opening degree of the butterfly valve according to the control value output by the PID;
Step S5, controlling the electric actuator to adjust the corresponding butterfly valve according to the opening degree;
Step S6, monitoring the position of the butterfly valve and the fluid pressure in the regulated prediction time;
s7, evaluating the accuracy of a PID control algorithm according to the butterfly valve position and the fluid pressure;
S8, determining a PID parameter adjustment strategy according to the evaluation result, and controlling the electric actuator to adjust the corresponding butterfly valve;
Step S9, monitoring the response speed of the butterfly valve after the strategy adjustment and the pressure overshoot after the response;
step S10, verifying the validity of the PID parameter adjustment strategy according to the response speed and the pressure overshoot;
Step S11, optimizing the PID parameter adjustment strategy according to the verification result;
And step S12, monitoring the butterfly valve pressure value optimized by the PID parameter adjustment strategy, judging whether the butterfly valve pressure value reaches a set pressure value, and determining a correction measure according to a judging result.
Further, in the step S3, when calculating the current pressure deviation E by using a P ID control algorithm, a historical pressure deviation is obtained, the historical pressure deviation and the current pressure deviation are summed to obtain an integral term I, a differential term D is calculated according to the current pressure deviation and the previous pressure deviation, and a proportional term P is calculated according to a preset proportional parameter and the current pressure deviation;
and calculating a control value according to the current pressure deviation E, the proportional term P, the integral term I and the derivative term D, wherein the control value=P×E+I+D.
Further, in the step S4, when determining the opening degree of the butterfly valve according to the control value outputted by the PID, the control value a is determined to be positive or negative, wherein:
If A is more than 0, judging to increase the opening degree of the butterfly valve;
if A is less than 0, judging to reduce the opening degree of the butterfly valve;
if a=0, it is determined that the butterfly valve opening degree does not need to be adjusted.
Further, in the step S7, when the accuracy of the PID control algorithm is evaluated, the butterfly valve position standard deviation P and the fluid pressure standard deviation Q within a preset time are calculated, and the butterfly valve position standard deviation and the fluid pressure standard deviation are compared with the butterfly valve position standard deviation threshold value P0 and the fluid pressure standard deviation threshold value Q0, respectively, to determine whether the butterfly valve position and the fluid pressure are abnormal, wherein,
If P is more than P0, judging that the butterfly valve position frequently fluctuates;
If P is less than or equal to P0, judging that the butterfly valve is normal in position;
if Q > Q0, judging that the fluid pressure greatly fluctuates;
if Q is more than Q0, judging that the fluid pressure is normal;
and evaluating the accuracy of the PHD control algorithm according to the abnormal conditions of the butterfly valve position and the fluid pressure, wherein,
If the butterfly valve position and the fluid pressure are normal, judging that the PHD control algorithm is normal;
if the butterfly valve position frequently fluctuates and the fluid pressure greatly fluctuates, judging that the PID control algorithm is inaccurate;
If the butterfly valve position frequently fluctuates and the fluid pressure is normal, judging that the PID control algorithm is inaccurate;
if the butterfly valve is in a normal position and the fluid pressure greatly fluctuates, the abnormal state of the fluid is judged, and the temperature and the density of the fluid in the pipeline are detected.
Further, in the step S8, when determining the PID parameter adjustment strategy, the adjustment strategy is determined according to the factor when the PID control algorithm is inaccurate, where:
If the control value A=0 of the PID output, the actual differential term is increased, the adjustment coefficient v1 is set, the v1 is set to be more than or equal to 0.1 and less than or equal to 0.2, and the adjusted differential term Dv0=D+v1×D;
if the butterfly valve position frequently fluctuates and the fluid pressure greatly fluctuates, increasing an actual integral term, setting an adjustment coefficient v2, setting 0.1-0.2-0.5, and adjusting the integral term I v < 0 > = I+v2×I;
If the butterfly valve position frequently fluctuates and the fluid pressure is normal, an actual proportion term is increased, an adjustment coefficient v3 is set, v3 is set to be more than or equal to 0.1 and less than or equal to 0.5, and the adjusted proportion term pv0=p+v3×p.
Further, in the step S10, when validating the PID parameter adjustment strategy, the response speed X and the pressure overshoot Y are compared with a response speed threshold X0 and a pressure overshoot threshold Y0, respectively, where:
if X is less than X0, judging that the response speed of the butterfly valve is too slow;
if X is more than or equal to X0, judging that the response speed of the butterfly valve is normal;
if Y is more than Y0, judging that the pressure overshoot of the butterfly valve is too large;
if Y is less than or equal to Y0, judging that the pressure overshoot of the butterfly valve is normal;
verifying the effectiveness of a PID parameter adjustment strategy according to abnormal conditions of the response speed and the pressure overshoot of the butterfly valve, wherein:
If the response speed and the pressure overshoot are normal, verifying that the PHD parameter adjustment strategy is valid;
if the response speed is too slow and the pressure overshoot is too large, judging that the environment factors cause the response speed to be too slow and the pressure overshoot to be too large, and detecting whether the electric actuator is damaged;
if the response speed is too slow and the pressure overshoot is normal, verifying that the PHD parameter adjustment strategy is invalid;
and if the response speed is normal and the pressure overshoot is excessive, verifying that the PHD parameter adjustment strategy is invalid.
Further, in the step S11, when the PID parameter adjustment strategy is optimized, optimization is performed according to the invalid result of the PID parameter adjustment strategy, where:
If the response speed is too slow and the pressure overshoot is normal, expanding the adjustment coefficient v3;
if the response speed is normal and the pressure overshoot is too large, the adjustment coefficient v3 is reduced
Further, in the step S12, when the butterfly valve pressure value optimized by the P ID parameter adjustment strategy is monitored, and whether the butterfly valve pressure value reaches the set pressure value is determined, the butterfly valve pressure value is compared with the set pressure value, and if the butterfly valve pressure value does not reach the set pressure value, it is determined that the environmental factor of the butterfly valve is abnormal.
Further, when the correction measure is determined according to the judgment result, if the environmental factor of the butterfly valve is abnormal, the temperature and the density of the fluid are detected, and whether the sensor fails is detected.
On the other hand, the invention also provides an intelligent control system of the electric butterfly valve, which comprises:
the acquisition module is used for acquiring a set pressure value and acquiring actual pressure data of a pressure sensor at the butterfly valve;
the processing module is used for comparing the set pressure value with the actual pressure data and calculating the current pressure deviation;
The calculation module is used for calculating the current pressure deviation by using a PHD control algorithm;
The control module is used for determining the opening degree of the butterfly valve according to the control value output by the PID;
the adjusting module is used for controlling the electric actuator to adjust the corresponding butterfly valve according to the opening degree;
the first monitoring module is used for monitoring the position of the butterfly valve and the fluid pressure in the regulated prediction time;
An evaluation module to evaluate accuracy of a PID control algorithm based on the butterfly valve position and the fluid pressure;
The determining module is used for determining a P ID parameter adjustment strategy according to the evaluation result and controlling the electric actuator to adjust the corresponding butterfly valve;
The second monitoring module is used for monitoring the response speed of the butterfly valve after the strategy adjustment and the pressure overshoot after the response;
The verification module is used for verifying the validity of the PID parameter adjustment strategy according to the response speed and the pressure overshoot;
the adjusting module is used for optimizing the PID parameter adjusting strategy according to the verification result;
and the analysis module is used for monitoring the butterfly valve pressure value after the PID parameter adjustment strategy is optimized, judging whether the butterfly valve pressure value reaches a set pressure value, and determining a correction measure according to a judging result.
Compared with the prior art, the butterfly valve control system has the advantages that the set pressure value and the actual pressure data are obtained, the pressure deviation is compared and calculated, the PID control algorithm is utilized to calculate the control value, the opening degree of the butterfly valve is determined, the butterfly valve is controlled according to the opening degree, the position of the butterfly valve is regulated and controlled, and the system is ensured to be capable of performing stable control according to the preset pressure value. And then, the position of the butterfly valve and the fluid pressure are monitored, the accuracy of a PID control algorithm is evaluated, whether the problems of butterfly valve position change, control oscillation and the like exist or not is found, and a basis and a foundation are provided for further optimizing a PID parameter adjustment strategy. And determining a PID parameter adjustment strategy according to the evaluation result, verifying the effectiveness of the adjustment strategy by checking the response speed and overshoot of the system, and further optimizing the PID parameter according to the verification result so as to improve the control precision and stability of the system. And finally, monitoring the regulated butterfly valve pressure value and determining a correction measure according to the result, wherein the correction measure is used for monitoring the running state of the system in real time, ensuring that the butterfly valve pressure value can accurately reach a set value, correcting in time so as to ensure the normal operation of the system, ensuring the accuracy of measured data and improving the accuracy of intelligent control of the butterfly valve.
Drawings
FIG. 1 is a schematic flow chart of an intelligent control method of an electric butterfly valve according to the embodiment;
fig. 2 is a schematic structural diagram of an intelligent control system of the electric butterfly valve according to the embodiment.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1, a flow chart of an intelligent control method of an electric butterfly valve according to the present embodiment is shown, the method is executed by electronic devices such as a computer or a server, and the method includes:
Step S1, acquiring a set pressure value and acquiring actual pressure data of a pressure sensor at a butterfly valve; a pressure sensor is provided at each butterfly valve.
S2, comparing the set pressure value with the actual pressure data, and calculating the current pressure deviation; current pressure deviation = actual pressure data-set pressure value.
S3, calculating the current pressure deviation by using a PID control algorithm;
S4, determining the opening degree of the butterfly valve according to the control value output by the PID;
Step S5, controlling the electric actuator to adjust the corresponding butterfly valve according to the opening degree;
Step S6, monitoring the position of the butterfly valve and the fluid pressure in the regulated prediction time; and a position sensor is arranged on the butterfly valve, and real-time position data of the butterfly valve are collected and read through the sensor. Common position sensors include travel switches, hall sensors, and the like.
S7, evaluating the accuracy of a PID control algorithm according to the butterfly valve position and the fluid pressure; the PID calculation error can cause the butterfly valve to vibrate, and then the butterfly valve position is changed.
S8, determining a PID parameter adjustment strategy according to the evaluation result, and controlling the electric actuator to adjust the corresponding butterfly valve; and the strategy is to adjust which parameter corresponds to the adjustment amount, calculate the control value of the butterfly valve again according to the adjusted parameter to determine the opening degree of the butterfly valve, and control and adjust the opening degree of the butterfly valve.
Step S9, monitoring the response speed of the butterfly valve after the strategy adjustment and the pressure overshoot after the response;
Step S10, verifying the validity of the PID parameter adjustment strategy according to the response speed and the pressure overshoot;
Step S11, optimizing the PID parameter adjustment strategy according to the verification result;
And step S12, monitoring the butterfly valve pressure value optimized by the PID parameter adjustment strategy, judging whether the butterfly valve pressure value reaches a set pressure value, and determining a correction measure according to a judging result.
Specifically, the set pressure value and the actual pressure data are acquired, the pressure deviation is compared and calculated, the control value is calculated by utilizing a PID control algorithm, the opening degree of the butterfly valve is determined, the butterfly valve is controlled according to the opening degree, the position of the butterfly valve is regulated and controlled, and the system is ensured to perform stable control according to the preset pressure value. And then, the position of the butterfly valve and the fluid pressure are monitored, the accuracy of a PID control algorithm is evaluated, whether the problems of butterfly valve position change, control oscillation and the like exist or not is found, and a basis and a foundation are provided for further optimizing a PID parameter adjustment strategy. And determining a P ID parameter adjustment strategy according to the evaluation result, verifying the effectiveness of the adjustment strategy by checking the response speed and overshoot of the system, and further optimizing the PID parameter according to the verification result so as to improve the control precision and stability of the system. And finally, monitoring the regulated butterfly valve pressure value and determining a correction measure according to the result, wherein the correction measure is used for monitoring the running state of the system in real time, ensuring that the butterfly valve pressure value can accurately reach a set value, correcting in time so as to ensure the normal operation of the butterfly valve system, ensuring the accuracy of measured data and improving the accuracy of intelligent control of the butterfly valve.
Specifically, in the step S3, when calculating the current pressure deviation E by using a pid control algorithm, a historical pressure deviation is obtained, the historical pressure deviation and the current pressure deviation are summed to obtain an integral term I, a differential term D is calculated according to the current pressure deviation and the previous pressure deviation, and a proportional term P is calculated according to a preset proportional parameter and the current pressure deviation;
and calculating a control value according to the current pressure deviation E, the proportional term P, the integral term I and the derivative term D, wherein the control value=P×E+I+D.
Specifically, the historical deviation is the pressure deviation value calculated before the current moment, the last pressure deviation is the historical pressure deviation value closest to the current moment, the differential term d=the current pressure deviation-the last pressure deviation, the proportional term p=the preset proportional parameter x the current pressure deviation, the influences of the current pressure deviation, the historical pressure deviation and the preset proportional parameter are comprehensively considered, the actual state and the dynamic change of the system can be reflected more accurately through calculation of the integral term I and the differential term D, the control value of the system can be effectively adjusted through comprehensive calculation of the proportional term P, the integral term I and the differential term D, and accurate adjustment of the butterfly valve position is achieved.
Specifically, in the step S4, when the opening degree of the butterfly valve is determined based on the control value outputted by the PID, the control value a is determined to be positive or negative, wherein:
If A is more than 0, judging to increase the opening degree of the butterfly valve;
if A is less than 0, judging to reduce the opening degree of the butterfly valve;
if a=0, it is determined that the butterfly valve opening degree does not need to be adjusted.
Specifically, the opening degree of the butterfly valve can be adjusted in real time according to the actual state of the system by judging the positive and negative of the control value, the position of the butterfly valve is adjusted according to the magnitude of the control value, the effective adjustment of the system pressure is realized, the system is ensured to respond quickly and control stably, and when the control value is positive, the current pressure deviation is indicated that the opening degree of the butterfly valve needs to be increased so as to improve the output pressure of the system; when the control value is negative, the opening degree of the butterfly valve needs to be reduced to reduce the output pressure of the system; when the control value is zero, the pressure deviation value is generated, but the opening degree of the butterfly valve is not required to be regulated, the opening degree of the butterfly valve is regulated according to the control value output by the PID, the on-line automatic regulation of the control system can be realized, the control precision and the stability of the system are improved, and the system is ensured to accurately control according to the preset pressure value.
Specifically, in the step S7, when the accuracy of the PID control algorithm is evaluated, the butterfly valve position standard deviation P and the fluid pressure standard deviation Q within a preset time are calculated, and compared with the butterfly valve position standard deviation threshold value P0 and the fluid pressure standard deviation threshold value Q0, respectively, to determine whether the butterfly valve position and the fluid pressure are abnormal, wherein,
If P is more than P0, judging that the butterfly valve position frequently fluctuates;
If P is less than or equal to P0, judging that the butterfly valve is normal in position;
if Q > Q0, judging that the fluid pressure greatly fluctuates;
if Q is more than Q0, judging that the fluid pressure is normal;
and evaluating the accuracy of the PHD control algorithm according to the abnormal conditions of the butterfly valve position and the fluid pressure, wherein,
If the butterfly valve position and the fluid pressure are normal, judging that the PHD control algorithm is normal;
if the butterfly valve position frequently fluctuates and the fluid pressure greatly fluctuates, judging that the PID control algorithm is inaccurate;
If the butterfly valve position frequently fluctuates and the fluid pressure is normal, judging that the PID control algorithm is inaccurate;
if the butterfly valve is in a normal position and the fluid pressure greatly fluctuates, the abnormal state of the fluid is judged, and the temperature and the density of the fluid in the pipeline are detected.
Specifically, the standard deviation of the butterfly valve position is calculated according to three-dimensional coordinate data collected for a certain time, wherein the standard deviation comprises data points in X, Y, Z directions, the average value of the coordinate data in X, Y, Z directions is calculated respectively, namely all the data points are added and divided by the number of the data points to obtain the average value of X coordinates, the average value of Y coordinates and the average value of Z coordinates, the difference value of each data point and the average value is calculated, the step is carried out on the data in X, Y, Z directions respectively to obtain the difference value in the X direction, the difference value in the Y direction and the difference value in the Z direction, the square sum of the difference values in each direction is obtained, the total square sum is divided by the number of the data points, and the standard deviation of the three-dimensional coordinate data points is obtained after the result is divided. Through calculation and comparison of the standard deviation of the butterfly valve position and the standard deviation of the fluid pressure, the abnormal condition of frequent fluctuation of the butterfly valve position or great fluctuation of the fluid pressure can be timely found, the stability and the accuracy of a butterfly valve system are further judged, the reliability and the stability of a control butterfly valve are improved, when the accuracy of a PID control algorithm is evaluated, the possible system problems can be timely found according to the abnormal condition of the butterfly valve position and the fluid pressure, when the evaluation result shows that the butterfly valve position frequently fluctuates and the fluid pressure greatly fluctuates, the inaccuracy of the PID control algorithm can be judged, or the possible fault cause can be detected and repaired, and the normal operation and the accurate control of the control butterfly valve system are ensured.
Specifically, in the step S8, when determining the PID parameter adjustment strategy, the adjustment strategy is determined according to the factors when the PID control algorithm is inaccurate, where:
If the control value A=0 of the PID output, the actual differential term is increased, the adjustment coefficient v1 is set, the v1 is set to be more than or equal to 0.1 and less than or equal to 0.2, and the adjusted differential term Dv0=D+v1×D;
If the butterfly valve position frequently fluctuates and the fluid pressure greatly fluctuates, increasing an actual integral term, setting an adjustment coefficient v2, setting 0.1-0.2-0.5, and adjusting the integral term Iv0 = i+v2 x I;
If the butterfly valve position frequently fluctuates and the fluid pressure is normal, an actual proportion term is increased, an adjustment coefficient v3 is set, v3 is set to be more than or equal to 0.1 and less than or equal to 0.5, and the adjusted proportion term pv0=p+v3×p.
Specifically, PID parameters can be effectively regulated by increasing the actual differential term, the actual integral term or the actual proportional term and setting an adjustment coefficient, and a control algorithm is optimized according to actual conditions, so that the response capability of the system to dynamic changes is improved, the fluctuation and error of the system are reduced, the robustness and adaptability of the control system are improved, the accuracy of the algorithm is realized by increasing the weight of the differential term, the integral term or the proportional term, and effective support and guarantee are provided for the accurate control of the butterfly valve.
Specifically, in the step S10, when validity verification is performed on the PID parameter adjustment strategy, the response speed X and the pressure overshoot Y are compared with a response speed threshold X0 and a pressure overshoot threshold Y0, respectively, where:
if X is less than X0, judging that the response speed of the butterfly valve is too slow;
if X is more than or equal to X0, judging that the response speed of the butterfly valve is normal;
if Y is more than Y0, judging that the pressure overshoot of the butterfly valve is too large;
if Y is less than or equal to Y0, judging that the pressure overshoot of the butterfly valve is normal;
verifying the effectiveness of a PID parameter adjustment strategy according to abnormal conditions of the response speed and the pressure overshoot of the butterfly valve, wherein:
if the response speed and the pressure overshoot are normal, verifying that the PID parameter adjustment strategy is effective;
if the response speed is too slow and the pressure overshoot is too large, judging that the environment factors cause the response speed to be too slow and the pressure overshoot to be too large, and detecting whether the electric actuator is damaged;
If the response speed is too slow and the pressure overshoot is normal, verifying that the PID parameter adjustment strategy is invalid;
And if the response speed is normal and the pressure overshoot is excessive, verifying that the PID parameter adjustment strategy is invalid.
Specifically, by comparing and judging the response speed and the pressure overshoot of the butterfly valve, the possible problems of the butterfly valve in the control process, such as too slow response speed or too large pressure overshoot, can be found in time, and the validity of the P ID parameter adjustment strategy can be accurately judged by analyzing the problems of the response speed and the pressure overshoot, so that optimization can be performed in time, and errors can be reduced.
Specifically, in the step S11, when the PID parameter adjustment strategy is optimized, optimization is performed according to the invalid result of the PID parameter adjustment strategy, where:
If the response speed is too slow and the pressure overshoot is normal, expanding the adjustment coefficient v3;
and if the response speed is normal and the pressure overshoot is too large, reducing the adjustment coefficient v3.
Specifically, if the response speed is too slow, it is necessary to increase the proportional term P to increase the sensitivity of the system or to adjust the integral term I to increase the correction speed of the system for the continuous error. If the overshoot is excessive, it indicates that the butterfly valve is over-regulated in the response process, and the proportional term P needs to be reduced, the integral term I needs to be adjusted to reduce the influence of the over-regulation, or the differential term D needs to be increased to inhibit the oscillation phenomenon of the system. Can be optimized continuously according to a certain multiple when expanding or contracting. Through further optimizing the PID parameter adjustment strategy, the PID parameter can be effectively adjusted, the response speed and stability of the system are improved, the overshoot and error of the butterfly valve system are reduced, and the control performance of the butterfly valve system is improved.
Specifically, in the step S12, when the butterfly valve pressure value optimized by the P ID parameter adjustment strategy is monitored, and whether the butterfly valve pressure value reaches the set pressure value is determined, the butterfly valve pressure value is compared with the set pressure value, and if the butterfly valve pressure value does not reach the set pressure value, it is determined that the environmental factor of the butterfly valve is abnormal.
Specifically, after the parameters of the PID algorithm are optimized and adjusted for multiple times, if the butterfly valve pressure value does not reach the set pressure value yet, the environment factors of the butterfly valve are required to be judged to be abnormal so as to ensure the normal operation and stability of the butterfly valve system.
Specifically, when the corrective measure is determined according to the determination result, if the environmental factor of the butterfly valve is abnormal, the temperature and density of the fluid are detected, and whether the sensor fails is detected.
Specifically, by detecting the temperature, the density and whether the sensor of the fluid is faulty, the possibility of abnormal butterfly valve pressure caused by environmental factors in the system can be eliminated, whether the system has the sensor fault or other problems can be further determined, the system fault can be found and solved in time, the normal operation of the system is ensured, the possibility of misjudgment and operation caused by sensor fault or inaccurate data, such as abnormal environmental factors and sensor fault and the like can be avoided, the problems of the system can be timely identified and corrected, the stability and the reliability of the system are improved, the possibility of fault occurrence is reduced, the normal operation of the system under various working conditions is ensured, the accuracy of measured data is ensured, and the accuracy of intelligent butterfly valve control is improved.
Referring to fig. 2, a schematic structural diagram of an intelligent control system of an electric butterfly valve according to the present embodiment is shown, where the system includes:
the acquisition module is used for acquiring a set pressure value and acquiring actual pressure data of a pressure sensor at the butterfly valve;
the processing module is used for comparing the set pressure value with the actual pressure data and calculating the current pressure deviation;
The calculation module is used for calculating the current pressure deviation by using a PID control algorithm;
The control module is used for determining the opening degree of the butterfly valve according to the control value output by the PID;
the adjusting module is used for controlling the electric actuator to adjust the corresponding butterfly valve according to the opening degree;
the first monitoring module is used for monitoring the position of the butterfly valve and the fluid pressure in the regulated prediction time;
An evaluation module to evaluate accuracy of a PID control algorithm based on the butterfly valve position and the fluid pressure;
The determining module is used for determining a P ID parameter adjustment strategy according to the evaluation result and controlling the electric actuator to adjust the corresponding butterfly valve;
The second monitoring module is used for monitoring the response speed of the butterfly valve after the strategy adjustment and the pressure overshoot after the response;
The verification module is used for verifying the validity of the PID parameter adjustment strategy according to the response speed and the pressure overshoot;
the adjusting module is used for optimizing the PID parameter adjusting strategy according to the verification result;
The analysis module is used for monitoring the butterfly valve pressure value optimized by the P ID parameter adjustment strategy, judging whether the butterfly valve pressure value reaches a set pressure value, and determining a correction measure according to a judging result.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
Claims (10)
1. An intelligent control method of an electric butterfly valve is characterized by comprising the following steps:
step S1, acquiring a set pressure value and acquiring actual pressure data of a pressure sensor at a butterfly valve;
s2, comparing the set pressure value with the actual pressure data, and calculating the current pressure deviation;
s3, calculating the current pressure deviation by using a PID control algorithm;
S4, determining the opening degree of the butterfly valve according to the control value output by the PID;
Step S5, controlling the electric actuator to adjust the corresponding butterfly valve according to the opening degree;
Step S6, monitoring the position of the butterfly valve and the fluid pressure in the regulated prediction time;
s7, evaluating the accuracy of a PID control algorithm according to the butterfly valve position and the fluid pressure;
S8, determining a PID parameter adjustment strategy according to the evaluation result, and controlling the electric actuator to adjust the corresponding butterfly valve;
Step S9, monitoring the response speed of the butterfly valve after the strategy adjustment and the pressure overshoot after the response;
step S10, verifying the validity of the PID parameter adjustment strategy according to the response speed and the pressure overshoot;
Step S11, optimizing the PID parameter adjustment strategy according to the verification result;
And step S12, monitoring the butterfly valve pressure value optimized by the PID parameter adjustment strategy, judging whether the butterfly valve pressure value reaches a set pressure value, and determining a correction measure according to a judging result.
2. The intelligent control method of an electric butterfly valve according to claim 1, wherein in the step S3, when calculating the current pressure deviation E by using a PID control algorithm, a historical pressure deviation is obtained, the historical pressure deviation and the current pressure deviation are summed to obtain an integral term I, a differential term D is calculated according to the current pressure deviation and the last pressure deviation, and a proportional term P is calculated according to a preset proportional parameter and the current pressure deviation;
and calculating a control value according to the current pressure deviation E, the proportional term P, the integral term I and the derivative term D, wherein the control value=P×E+I+D.
3. The intelligent control method of an electric butterfly valve according to claim 1, wherein in the step S4, when determining the opening degree of the butterfly valve according to the control value outputted by the PID, the control value a is determined to be positive or negative, wherein:
If A is more than 0, judging to increase the opening degree of the butterfly valve;
if A is less than 0, judging to reduce the opening degree of the butterfly valve;
if a=0, it is determined that the butterfly valve opening degree does not need to be adjusted.
4. The intelligent control method of an electric butterfly valve according to claim 1, wherein in the step S7, when evaluating accuracy of the PID control algorithm, a butterfly valve position standard deviation P and a fluid pressure standard deviation Q are calculated for a predetermined time, respectively, and the butterfly valve position standard deviation and the fluid pressure standard deviation are compared with a butterfly valve position standard deviation threshold value P0 and a fluid pressure standard deviation threshold value Q0, respectively, to determine whether the butterfly valve position and the fluid pressure are abnormal, wherein,
If P is more than P0, judging that the butterfly valve position frequently fluctuates;
If P is less than or equal to P0, judging that the butterfly valve is normal in position;
if Q > Q0, judging that the fluid pressure greatly fluctuates;
if Q is more than Q0, judging that the fluid pressure is normal;
and evaluating the accuracy of the PHD control algorithm according to the abnormal conditions of the butterfly valve position and the fluid pressure, wherein,
If the butterfly valve position and the fluid pressure are normal, judging that a PID control algorithm is normal;
if the butterfly valve position frequently fluctuates and the fluid pressure greatly fluctuates, judging that the PID control algorithm is inaccurate;
If the butterfly valve position frequently fluctuates and the fluid pressure is normal, judging that the PID control algorithm is inaccurate;
if the butterfly valve is in a normal position and the fluid pressure greatly fluctuates, the abnormal state of the fluid is judged, and the temperature and the density of the fluid in the pipeline are detected.
5. The intelligent control method of an electric butterfly valve according to claim 4, wherein in the step S8, when determining the PID parameter adjustment strategy, the adjustment strategy is determined according to a factor when the PID control algorithm is inaccurate, wherein:
If the control value A=0 of the PID output, the actual differential term is increased, the adjustment coefficient v1 is set, the v1 is set to be more than or equal to 0.1 and less than or equal to 0.2, and the adjusted differential term Dv0=D+v1×D;
If the butterfly valve position frequently fluctuates and the fluid pressure greatly fluctuates, increasing an actual integral term, setting an adjustment coefficient v2, setting 0.1-0.2-0.5, and adjusting the integral term Iv0 = i+v2 x I;
If the butterfly valve position frequently fluctuates and the fluid pressure is normal, an actual proportion term is increased, an adjustment coefficient v3 is set, v3 is set to be more than or equal to 0.1 and less than or equal to 0.5, and the adjusted proportion term pv0=p+v3×p.
6. The intelligent control method of an electric butterfly valve according to claim 1, wherein in the step S10, when validity verification is performed on the PID parameter adjustment strategy, the response speed X and the pressure overshoot Y are compared with a response speed threshold X0 and a pressure overshoot threshold Y0, respectively, wherein:
if X is less than X0, judging that the response speed of the butterfly valve is too slow;
if X is more than or equal to X0, judging that the response speed of the butterfly valve is normal;
if Y is more than Y0, judging that the pressure overshoot of the butterfly valve is too large;
if Y is less than or equal to Y0, judging that the pressure overshoot of the butterfly valve is normal;
verifying the effectiveness of a PID parameter adjustment strategy according to abnormal conditions of the response speed and the pressure overshoot of the butterfly valve, wherein:
if the response speed and the pressure overshoot are normal, verifying that the PID parameter adjustment strategy is effective;
if the response speed is too slow and the pressure overshoot is too large, judging that the environment factors cause the response speed to be too slow and the pressure overshoot to be too large, and detecting whether the electric actuator is damaged;
If the response speed is too slow and the pressure overshoot is normal, verifying that the PID parameter adjustment strategy is invalid;
And if the response speed is normal and the pressure overshoot is excessive, verifying that the PID parameter adjustment strategy is invalid.
7. The intelligent control method according to claim 6, wherein in the step S11, when the PID parameter adjustment strategy is optimized, the optimization is performed according to the invalid result of the PID parameter adjustment strategy, wherein:
If the response speed is too slow and the pressure overshoot is normal, expanding the adjustment coefficient v3;
and if the response speed is normal and the pressure overshoot is too large, reducing the adjustment coefficient v3.
8. The intelligent control method of an electric butterfly valve according to claim 1, wherein in the step S12, when the butterfly valve pressure value optimized by the monitoring PID parameter adjustment strategy is determined, and whether the butterfly valve pressure value reaches the set pressure value is determined, the butterfly valve pressure value is compared with the set pressure value, and if the butterfly valve pressure value does not reach the set pressure value, it is determined that the environmental factor of the butterfly valve is abnormal.
9. The intelligent control method of an electric butterfly valve according to claim 8, wherein when the corrective measure is determined based on the determination result, if the environmental factor of the butterfly valve is abnormal, the temperature and density of the fluid are detected, and whether the sensor is faulty is detected.
10. A system for application to the intelligent control method of an electric butterfly valve according to any one of claims 1 to 9, comprising:
the acquisition module is used for acquiring a set pressure value and acquiring actual pressure data of a pressure sensor at the butterfly valve;
the processing module is used for comparing the set pressure value with the actual pressure data and calculating the current pressure deviation;
The calculation module is used for calculating the current pressure deviation by using a PID control algorithm;
The control module is used for determining the opening degree of the butterfly valve according to the control value output by the PID;
the adjusting module is used for controlling the electric actuator to adjust the corresponding butterfly valve according to the opening degree;
the first monitoring module is used for monitoring the position of the butterfly valve and the fluid pressure in the regulated prediction time;
An evaluation module to evaluate accuracy of a PID control algorithm based on the butterfly valve position and the fluid pressure;
The determining module is used for determining a PID parameter adjustment strategy according to the evaluation result and controlling the electric actuator to adjust the corresponding butterfly valve;
The second monitoring module is used for monitoring the response speed of the butterfly valve after the strategy adjustment and the pressure overshoot after the response;
The verification module is used for verifying the validity of the PID parameter adjustment strategy according to the response speed and the pressure overshoot;
the adjusting module is used for optimizing the PID parameter adjusting strategy according to the verification result;
The analysis module is used for monitoring the butterfly valve pressure value optimized by the P ID parameter adjustment strategy, judging whether the butterfly valve pressure value reaches a set pressure value, and determining a correction measure according to a judging result.
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