CN106763980B - A kind of control method of nozzle baffle type intelligent valve positioner - Google Patents
A kind of control method of nozzle baffle type intelligent valve positioner Download PDFInfo
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- CN106763980B CN106763980B CN201710100252.5A CN201710100252A CN106763980B CN 106763980 B CN106763980 B CN 106763980B CN 201710100252 A CN201710100252 A CN 201710100252A CN 106763980 B CN106763980 B CN 106763980B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K37/00—Special means in or on valves or other cut-off apparatus for indicating or recording operation thereof, or for enabling an alarm to be given
- F16K37/0025—Electrical or magnetic means
- F16K37/0041—Electrical or magnetic means for measuring valve parameters
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Feedback Control In General (AREA)
Abstract
The invention discloses a kind of control methods of nozzle baffle type intelligent valve positioner, comprising the following steps: valve position measured value is subtracted target value, is obtained valve position deviation e (k), V is the valve position measured value that current valve position measured value subtracts last time；When | e (k) | >=5%, it is controlled using maximum speed, when e (k) is positive, DA exports positive maximum speed, and when e (k) is negative, DA exports reversed maximum speed, and valve is allowed to enter next section；When 2%≤| e (k) | < 5%, using isolated PD control is integrated, the initial value of output is middling speed, using the isolated PD control of integral, first determines whether the movement velocity V value of valve, V value is excessive, then carries out brake processing, and V value is normal.For the present invention according to the deviation of measured value and mesh indicating value come demarcation interval, different sections uses different control algolithms, to guarantee the quick and accurate of control, in fine adjustment, it is controlled using accurate pid algorithm, while introducing gray discrete system algorithm, to correct minimum gas output.
Description
Technical field
The present invention relates to intelligent valve positioner technical field more particularly to a kind of nozzle baffle type intelligent valve positioners
Control method.
Background technique
In the industry fields such as petroleum, chemical industry, pharmacy, thermal technology, material and light industry, in order to temperature, flow, pressure, at
Equal controlled variables are divided stablize, accurately and fast control, it is necessary to use valve positioner.The control of intelligent valve positioner at present
Method processed is more fuzzy, and cannot be guaranteed the quick and accurate of control, is unable to satisfy the demand of people, we have proposed one thus
The control method of kind nozzle baffle type intelligent valve positioner.
Summary of the invention
Technical problems based on background technology, the invention proposes a kind of nozzle baffle type intelligent valve positioners
Control method.
A kind of control method of nozzle baffle type intelligent valve positioner proposed by the present invention, comprising the following steps:
Valve position measured value is subtracted into target value, is obtained valve position deviation e (k), V is the valve that current valve position measured value subtracts last time
Position measured value；
When | e (k) | >=5%, it is controlled using maximum speed, when e (k) is positive, DA exports positive maximum speed, when e (k) is
Negative, DA exports reversed maximum speed, and valve is allowed to enter next section；
When 2%≤| e (k) | < 5%, using isolated PD control is integrated, the initial value of output is middling speed, is divided using integral
From PD control, first determine whether the V value of valve, V value is excessive, then carries out brake processing, and V value is normal, then carries out PD control；Work as V >
3, e (k) are positive, and DA exports reversed middling speed value, and e (k) is negative, and DA exports positive middling speed value；When V≤3, e (k) are positive, DA is exported
Positive PD value, e (k) are negative, and DA exports reversed PD value, the calculation formula of PD value are as follows:
U (t)=U0+KP*[e(k)-e(k-1)]+Kd*[e(n)-2e(n-1)+e(n-2)]；
Wherein U0For middling speed value, valve is allowed to enter next section；
When 0.3%≤| e (k) | < 2%, using PID control, output amplitude is the incremental value that minimum speed adds PID,
This section increases the gray prediction function of controlling value, the size of minimum speed value is adjusted according to control effect；
DA output valve U (t)=U0+(Kp+Ki+Kd)*e(k)–(Kp+2Kd)e(k-1)+Kp*e(n-2)；
Valve is allowed to enter tolerance band, wherein U0For minimum speed value, because of the minimum gas output that minimum speed is IP module, IP
At the scene over time, gas output can change module, and minimum speed value should be adjusted accordingly, and just can guarantee the reality of control
When property and accuracy introduce gray prediction function, by judging valve in the starting time in this section, to predict minimum gas output
Whether become smaller, by judging whether valve controls overshoot in this section, to predict whether minimum gas output becomes larger, if same
Direction, continuous 3 starting time are both greater than 1000ms, indicate that IP minimum speed value is inadequate, need to increase, U0=U0+10；If same
One direction, continuous 3 secondary control overshoot indicate that IP minimum speed value is big, need to reduce, value U0=U0- 10, in control process
In adjust minimum speed value；
When | e (k) | < 0.3% valve enters in range of tolerable variance, adjusts in place, closes output.
The present invention according to the deviation of measured value and mesh indicating value come demarcation interval, calculated using different control by different sections
Method, in fine adjustment, is controlled, while introducing gray discrete system to guarantee the quick and accurate of control using accurate pid algorithm
Algorithm, to correct minimum gas output.
Detailed description of the invention
Fig. 1 is a kind of control flow chart of the control method of nozzle baffle type intelligent valve positioner proposed by the present invention.
Specific embodiment
Combined with specific embodiments below the present invention is made further to explain.
Referring to Fig.1, the control method of a kind of nozzle baffle type intelligent valve positioner proposed by the present invention, including following step
It is rapid:
Valve position measured value is subtracted into target value, is obtained valve position deviation e (k), V is the valve that current valve position measured value subtracts last time
Position measured value；
When | e (k) | >=5%, it is controlled using maximum speed, when e (k) is positive, DA exports positive maximum speed, when e (k) is
Negative, DA exports reversed maximum speed, and valve is allowed to enter next section；
When 2%≤| e (k) | < 5%, using isolated PD control is integrated, the initial value of output is middling speed, is divided using integral
From PD control, first determine whether the V value of valve, V value is excessive, then carries out brake processing, and V value is normal, then carries out PD control；Work as V >
3, e (k) are positive, and DA exports reversed middling speed value, and e (k) is negative, and DA exports positive middling speed value；When V≤3, e (k) are positive, DA is exported
Positive PD value, e (k) are negative, and DA exports reversed PD value, the calculation formula of PD value are as follows:
U (t)=U0+KP*[e(k)-e(k-1)]+Kd*[e(n)-2e(n-1)+e(n-2)]；
Wherein U0For middling speed value, valve is allowed to enter next section；
When 0.3%≤| e (k) | < 2%, using PID control, output amplitude is the incremental value that minimum speed adds PID,
This section increases the gray prediction function of controlling value, the size of minimum speed value is adjusted according to control effect；
DA output valve U (t)=U0+(Kp+Ki+Kd)*e(k)–(Kp+2Kd)e(k-1)+Kp*e(n-2)；
Valve is allowed to enter tolerance band, wherein U0For minimum speed value, because of the minimum gas output that minimum speed is IP module, IP
At the scene over time, gas output can change module, and minimum speed value should be adjusted accordingly, and just can guarantee the reality of control
When property and accuracy introduce gray prediction function, by judging valve in the starting time in this section, to predict minimum gas output
Whether become smaller, by judging whether valve controls overshoot in this section, to predict whether minimum gas output becomes larger, if same
Direction, continuous 3 starting time are both greater than 1000ms, indicate that IP minimum speed value is inadequate, need to increase, U0=U0+10；If same
One direction, continuous 3 secondary control overshoot indicate that IP minimum speed value is big, need to reduce, value U0=U0- 10, in control process
In adjust minimum speed value；
When | e (k) | < 0.3% valve enters in range of tolerable variance, adjusts in place, closes output.
In practical control, not overshoot in place, not surge, precision 0.3% are controlled within 2 to 4 seconds.Meet the control of high-end valve
System requires.
The present invention according to the deviation of measured value and mesh indicating value come demarcation interval, calculated using different control by different sections
Method, in fine adjustment, is controlled, while introducing gray discrete system to guarantee the quick and accurate of control using accurate pid algorithm
Algorithm, to correct minimum gas output.
The present invention is using isolated PD control is integrated, to guarantee valve from the steady reduction of speed in high velocity to precision regulatory region.Its
Using gray prediction function, to judge whether the minimum gas output of IP changes and adjust minimum speed in real time.Solve IP's
Time variation.The present invention also uses accurate PID control, calculates suitable gas output, and valve is made accurately to enter tolerance band and not breathe heavily
Vibration.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (1)
1. a kind of control method of nozzle baffle type intelligent valve positioner, which comprises the following steps:
Valve position measured value is subtracted into target value, is obtained valve position deviation e (k), V is the valve position survey that current valve position measured value subtracts last time
Magnitude；
As | e (k) | >=5%, it is controlled using maximum speed, when e (k) is positive, DA exports positive maximum speed, when e (k) is negative,
DA exports reversed maximum speed, and valve is allowed to enter next section；
When 2%≤| e (k) | < 5%, using isolated PD control is integrated, the initial value of output is middling speed, is separated using integral
PD control first determines whether the V value of valve, and V value is excessive, then carries out brake processing, and V value is normal, then carries out PD control；Work as V > 3, e
(k) it is positive, DA exports reversed middling speed value, and e (k) is negative, and DA exports positive middling speed value；When V≤3, e (k) are positive, DA output is positive
PD value, e (k) are negative, and DA exports reversed PD value, the calculation formula of PD value are as follows:
U (t)=U0+KP*[e(k)-e(k-1)]+Kd*[e(n)-2e(n-1)+e(n-2)]；
Wherein U0For middling speed value, valve is allowed to enter next section；
When 0.3%≤| e (k) | < 2%, using PID control, output amplitude is the incremental value that minimum speed adds PID, in this area
Between, increase the gray prediction function of controlling value, the size of minimum speed value is adjusted according to control effect；
DA output valve U (t)=U0+(Kp+Ki+Kd)*e(k)–(Kp+2Kd)e(k-1)+Kp*e(n-2)；
Valve is allowed to enter tolerance band, wherein U0For minimum speed value, because of the minimum gas output that minimum speed is IP module, IP module
At the scene over time, gas output can change, and minimum speed value should be adjusted accordingly, and just can guarantee the real-time of control
And accuracy, gray prediction function is introduced, by judging valve in the starting time in this section, whether to predict minimum gas output
Become smaller, by judging whether valve controls overshoot in this section, to predict whether minimum gas output becomes larger, if the same side
To the continuous 3 starting time is both greater than 1000ms, indicates that IP minimum speed value is inadequate, needs to increase, U0=U0+10；If same
A direction, continuous 3 secondary control overshoot indicate that IP minimum speed value is big, need to reduce, value U0=U0- 10, in control process
To adjust minimum speed value；
When | e (k) | < 0.3% valve enters in range of tolerable variance, adjusts in place, closes output.
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| CN201710100252.5A CN106763980B (en) | 2017-02-23 | 2017-02-23 | A kind of control method of nozzle baffle type intelligent valve positioner |
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| CN201710100252.5A CN106763980B (en) | 2017-02-23 | 2017-02-23 | A kind of control method of nozzle baffle type intelligent valve positioner |
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| CN112709859B (en) * | 2020-12-21 | 2022-07-19 | 广西中烟工业有限责任公司 | Valve opening control method and device, electronic equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5431182A (en) * | 1994-04-20 | 1995-07-11 | Rosemount, Inc. | Smart valve positioner |
| JP3724289B2 (en) * | 1999-11-11 | 2005-12-07 | 横河電機株式会社 | Valve positioner |
| CN101710245B (en) * | 2009-12-03 | 2011-07-20 | 徐州雷奥医疗设备有限公司 | PID control based self-focusing lens ion exchange temperature control method and device |
| CN101841295B (en) * | 2010-05-10 | 2012-08-22 | 湖南天安门业科技有限公司 | Linear motor motion control method based on fixed-step speed measurement |
| CN102052514B (en) * | 2010-12-17 | 2012-05-30 | 中环天仪股份有限公司 | Simple and easy control method of intelligent valve locator |
| CN102287572B (en) * | 2011-07-22 | 2012-08-22 | 中环天仪股份有限公司 | Pulse control method of intelligent valve positioning device |
| US20130068313A1 (en) * | 2011-09-21 | 2013-03-21 | Accutrol, LLC | Electronic Pressure Independent Controller For Fluid Flow Control Valve |
| CN103775712B (en) * | 2012-10-18 | 2017-02-01 | 柳曦 | Parameter rapidly self-adjusting method of intelligent valve positioner |
| CN104315219B (en) * | 2014-08-26 | 2016-07-06 | 北京易拓智谱科技有限公司 | A kind of ammonia refrigeration unit choke valve autocontrol method based on fuzzy principle |
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Address after: 435000 East Lake Development Zone, Wuhan, Hubei province 4 layers of Hubei information industry science and technology building, Wu Yu Road, Luo Yu Road. Applicant after: Wuhan Tuo you intelligent Limited by Share Ltd Address before: 435000 East Lake Development Zone, Wuhan, Hubei province 4 layers of Hubei information industry science and technology building, Wu Yu Road, Luo Yu Road. Applicant before: Wuhan top Control Technology Co., Ltd. |
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