CN117270593B - Helium pressure control method, electronic device and readable storage medium - Google Patents
Helium pressure control method, electronic device and readable storage medium Download PDFInfo
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- 239000001307 helium Substances 0.000 title claims abstract description 158
- 229910052734 helium Inorganic materials 0.000 title claims abstract description 158
- SWQJXJOGLNCZEY-UHFFFAOYSA-N helium atom Chemical compound [He] SWQJXJOGLNCZEY-UHFFFAOYSA-N 0.000 title claims abstract description 158
- 238000000034 method Methods 0.000 title claims abstract description 56
- 230000001105 regulatory effect Effects 0.000 claims abstract description 69
- 230000008859 change Effects 0.000 claims abstract description 29
- 239000001257 hydrogen Substances 0.000 claims abstract description 28
- 229910052739 hydrogen Inorganic materials 0.000 claims abstract description 28
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 claims abstract description 27
- 230000001276 controlling effect Effects 0.000 claims abstract description 21
- 238000005057 refrigeration Methods 0.000 claims abstract description 14
- 230000006870 function Effects 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 11
- 238000012546 transfer Methods 0.000 claims description 8
- 238000013139 quantization Methods 0.000 claims description 6
- 238000013507 mapping Methods 0.000 claims description 5
- 239000007789 gas Substances 0.000 description 9
- 238000004891 communication Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000011084 recovery Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000802 evaporation-induced self-assembly Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
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- 230000007363 regulatory process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25J—LIQUEFACTION, SOLIDIFICATION OR SEPARATION OF GASES OR GASEOUS OR LIQUEFIED GASEOUS MIXTURES BY PRESSURE AND COLD TREATMENT OR BY BRINGING THEM INTO THE SUPERCRITICAL STATE
- F25J1/00—Processes or apparatus for liquefying or solidifying gases or gaseous mixtures
- F25J1/02—Processes or apparatus for liquefying or solidifying gases or gaseous mixtures requiring the use of refrigeration, e.g. of helium or hydrogen ; Details and kind of the refrigeration system used; Integration with other units or processes; Controlling aspects of the process
- F25J1/0243—Start-up or control of the process; Details of the apparatus used; Details of the refrigerant compression system used
- F25J1/0244—Operation; Control and regulation; Instrumentation
- F25J1/0254—Operation; Control and regulation; Instrumentation controlling particular process parameter, e.g. pressure, temperature
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- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Thermal Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Feedback Control In General (AREA)
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Abstract
The invention relates to the technical field of helium refrigeration and hydrogen liquefaction. The invention provides a helium pressure control method, an electronic device and a readable storage medium. The helium pressure control method is applied to a helium refrigerating and hydrogen liquefying system, the helium refrigerating and hydrogen liquefying system comprises a high-pressure helium pipeline and a low-pressure helium pipeline, the high-pressure helium pipeline and the low-pressure helium pipeline are connected to a helium buffer tank through an unloading regulating valve and a loading regulating valve respectively, and the unloading regulating valve and the loading regulating valve are configured to act in opposite directions. The helium pressure control method comprises the following steps: collecting a pressure error value and a pressure error change rate of the high-pressure helium pipeline; inputting the pressure error value and the pressure error change rate into a preset fuzzy PID controller, and outputting a valve control quantity; and forming a control signal for controlling the opening degree of the unloading regulating valve and the loading regulating valve in a stepping way based on the valve control amount.
Description
Technical Field
The invention relates to the technical field of helium refrigeration and hydrogen liquefaction, in particular to a helium pressure control method, electronic equipment and a readable storage medium.
Background
The helium refrigeration cycle pressure regulating effect is one of key factors of continuous and stable operation of the hydrogen liquefying device, and the helium pipeline pressure regulating system has the characteristics of nonlinearity and time variability, so that an accurate mathematical model is difficult to obtain.
At present, a relay controller based on a traditional PID control algorithm is often adopted in engineering practice, but the traditional PID control algorithm still has room for improvement in the aspects of response speed, control precision, anti-interference capability and the like.
In view of this, the present invention has been made.
Disclosure of Invention
The invention aims to solve the technical problems of at least overcoming the defects of the prior art and providing a helium pressure control method, wherein a preset fuzzy PID controller is used for outputting valve control quantity, and then control signals for controlling the opening of an unloading regulating valve and a loading regulating valve in a stepping way are formed based on the valve control quantity, so that the dynamic performance of a system can be effectively improved, and the anti-interference capability of the system can be improved.
In order to solve the technical problems, the invention adopts the basic conception of the technical scheme that:
the helium pressure control method is applied to a helium refrigeration hydrogen liquefaction system, the helium refrigeration hydrogen liquefaction system comprises a high-pressure helium pipeline and a low-pressure helium pipeline, the high-pressure helium pipeline and the low-pressure helium pipeline are respectively connected to a helium buffer tank through an unloading regulating valve and a loading regulating valve, and the unloading regulating valve and the loading regulating valve are configured to act in opposite directions;
the helium pressure control method comprises the following steps:
collecting a pressure error value and a pressure error change rate of the high-pressure helium pipeline;
inputting the pressure error value and the pressure error change rate into a preset fuzzy PID controller, and outputting a valve control quantity; and
and forming control signals for controlling the opening degree of the unloading regulating valve and the loading regulating valve in a stepping way based on the valve control quantity.
In some embodiments, the step of forming a control signal for controlling the opening degrees of the unloading regulating valve and the loading regulating valve in a stepwise manner based on the valve control amount includes:
forming a control signal Y1 for controlling the opening of the unloading regulating valve in a stepping way and a control signal Y2 for controlling the opening of the loading regulating valve in a stepping way according to the following formula:
Y1=min(max(-k*X+M,0),v01)；
Y2=min(max(k*X-N,0),v02)；
wherein X represents the valve control amount, k, M and N represent fitting coefficients corresponding to pressure setting values of the high-pressure helium line, respectively, and v01 and v02 represent upper opening limits of the unloading regulating valve and the loading regulating valve, respectively.
In some embodiments, the fitting coefficients k, M and N corresponding to the pressure set point of the high pressure helium line are obtained by:
collecting pressure data of the high-pressure helium pipeline in the debugging process of the helium refrigeration hydrogen liquefaction system; and
and analyzing the collected pressure data to obtain fitting coefficients k, M and N corresponding to the pressure set value of the high-pressure helium pipeline.
In some embodiments, the upper opening limit v01 of the unloading regulating valve is equal to the upper opening limit v02 of the loading regulating valve.
In some embodiments, the step of inputting the pressure error value and the pressure error change rate into a preset fuzzy PID controller and outputting the valve control amount includes:
inputting the pressure error value and the pressure error change rate into a preset fuzzy controller, and outputting a PID coefficient adjustment value;
obtaining a PID coefficient setting value based on the PID coefficient preset value and the PID coefficient adjustment value; and
and inputting the PID coefficient setting value into a preset PID controller, and outputting the valve control quantity.
In some embodiments, the step of inputting the pressure error value and the pressure error change rate into a preset fuzzy controller and outputting the PID coefficient adjustment value includes:
mapping the pressure error value and the pressure error change rate to a standard discourse domain according to a preset quantization factor;
dividing the numerical value on the standard discourse domain into the fuzzy subset by adopting a triangle membership function according to a preset fuzzy subset;
obtaining PID coefficient fuzzy quantity based on fuzzy quantity in the fuzzy subset according to a preset fuzzy rule; and
and de-blurring the PID coefficient blurring amount and outputting the PID coefficient adjusting value.
In some embodiments, the PID coefficient settings include a proportional coefficient setting, an integral coefficient setting, and a derivative coefficient setting;
the step of obtaining the PID coefficient setting value based on the PID coefficient preset value and the PID coefficient adjusting value comprises the following steps:
obtaining a proportional coefficient setting value based on the sum of a proportional coefficient preset value and a proportional coefficient adjustment value;
obtaining an integral coefficient setting value based on the sum of an integral coefficient preset value and an integral coefficient adjusting value; and
and obtaining the differential coefficient setting value based on the sum of the differential coefficient preset value and the differential coefficient adjustment value.
In some embodiments, the helium pressure control method further comprises:
collecting pressure data of the high-pressure helium pipeline in the debugging process of the helium refrigeration hydrogen liquefaction system; and
analyzing the collected pressure data to obtain a transfer function corresponding to a pressure set value of the high-pressure helium pipeline;
wherein after the step of forming the control signal for controlling the opening degrees of the unloading regulating valve and the loading regulating valve in a stepwise manner based on the valve control amount, the helium pressure control method further includes:
collecting pressure data of the high pressure helium line after the control signal is applied and forming a pressure curve based on the collected pressure data;
the validity of the control signal is determined from the formed pressure curve and the curve of the transfer function.
The present invention also provides an electronic device including:
a processor;
a memory having stored therein a computer program configured to be executed by the processor, the processor implementing the helium pressure control method as described above when executing the computer program.
The invention also provides a readable storage medium, on which a computer program is stored which, when executed by a processor, implements a helium pressure control method according to the above.
By adopting the technical scheme, compared with the prior art, the invention has the following beneficial effects.
According to the invention, the preset fuzzy PID controller is used for outputting the valve control quantity, and the control signal for controlling the opening of the unloading regulating valve and the loading regulating valve in a stepping way is formed based on the valve control quantity, so that the dynamic performance of the helium refrigerating hydrogen liquefying system can be effectively improved, and the anti-interference capability of the helium refrigerating hydrogen liquefying system can be improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. It is evident that the drawings in the following description are only examples, from which other drawings can be obtained by a person skilled in the art without the inventive effort. In the drawings:
FIG. 1 is a schematic flow chart of a helium pressure control method provided according to an exemplary embodiment of the present invention;
FIG. 2 is a schematic diagram of a portion of a helium cryogenic hydrogen liquefaction system provided according to an exemplary embodiment of the present invention;
fig. 3 is a flowchart of S120 according to an exemplary embodiment of the present invention;
FIG. 4 is a schematic diagram of a fuzzy PID controller according to an exemplary embodiment of the invention;
FIG. 5 is a graph of triangle membership functions according to an exemplary embodiment of the present invention;
FIG. 6 is a schematic diagram of a fuzzy rule according to an exemplary embodiment of the present invention;
FIG. 7 is a pressure profile of a high pressure helium line;
fig. 8 is a schematic structural view of an electronic device provided according to an exemplary embodiment of the present invention.
In the figure: 200. helium refrigeration hydrogen liquefaction system; 210. a high pressure helium line; 220. a low pressure helium line; 230. unloading the regulating valve; 240. a loading regulating valve; 250. a helium compressor; 260. a coarse bypass regulating valve; 270. a fine bypass regulating valve; 280. a helium buffer tank;
300. an electronic device; 301. a processor; 302. a memory; 303. a bus; 304. a communication interface.
It should be noted that these drawings and the written description are not intended to limit the scope of the inventive concept in any way, but to illustrate the inventive concept to those skilled in the art by referring to the specific embodiments.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention, and the following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.
In the description of the present invention, it should be noted that the positional or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the positional or positional relationship shown in the drawings, merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Fig. 1 illustrates a flow of a helium pressure control method 100 according to an exemplary embodiment of the present invention.
As shown in fig. 1, the helium pressure control method 100 is performed by:
s110, collecting a pressure error value and a pressure error change rate of the high-pressure helium pipeline;
s120, inputting the pressure error value and the pressure error change rate into a preset fuzzy PID controller, and outputting valve control quantity; and
s130, forming control signals for controlling the opening of the unloading regulating valve and the loading regulating valve in a stepping mode based on the valve control quantity.
It should be understood that the steps illustrated in helium pressure control method 100 are not exclusive and that helium pressure control method 100 may also include additional steps not illustrated and/or may omit illustrated steps, as the scope of the present invention is not limited in this respect. Step S110 to step S130 are described in detail below with reference to fig. 1 to 3.
S110
The helium refrigeration hydrogen liquefaction system adopts a helium reverse brayton cycle of liquid nitrogen precooling, and the helium is continuously compressed, cooled, expanded and rewarmed to provide the cold energy required by hydrogen liquefaction.
The helium refrigerating and hydrogen liquefying system generally comprises a cold box device, a press system, a pipeline system, a control system and the like, wherein an oil injection screw compressor in the press system compresses helium, and a low-temperature turbine expander in the cold box device expands the helium. Because helium is used as a refrigerating working medium of the helium refrigerating and hydrogen liquefying system to circularly flow in the pipeline, ensuring the relative stability of helium circuit pressure is critical to the continuous and stable operation of the helium refrigerating and hydrogen liquefying system.
Specifically, as shown in fig. 2, the helium-refrigerating hydrogen liquefaction system 200 includes a high-pressure helium gas line 210 and a low-pressure helium gas line 220, the high-pressure helium gas line 210 and the low-pressure helium gas line 220 are connected to a helium buffer tank 280 through an unloading regulating valve 230 and a loading regulating valve 240, respectively, and the unloading regulating valve 230 and the loading regulating valve 240 are configured to act in opposite directions. Helium in low pressure helium line 220 is pressurized by helium compressor 250 and delivered to high pressure helium line 210. By controlling the opening degrees of the unloading adjusting valve 230 and the loading adjusting valve 240, on one hand, the total helium circulating in the high-pressure helium pipeline 210 and the low-pressure helium pipeline 220 can be adjusted according to the current operating liquid hydrogen yield and the current process flow requirement, and on the other hand, the pressure of the high-pressure helium pipeline 210 can be adjusted, so that the change of the helium refrigeration cycle loop pressure caused by the change of the cold box temperature in the same process can be prevented.
In some embodiments, the high pressure helium line 210 and the low pressure helium line 220 are also connected by a coarse bypass regulator valve 260 and a fine bypass regulator valve 270. When the coarse bypass regulating valve 260 and/or the fine bypass regulating valve 270 are/is opened, a part of helium in the high-pressure helium pipeline 210 enters the cold box to participate in the reverse brayton cycle refrigeration process, and the other part of helium returns to the helium compressor 250, so that the suction pressure meets the production requirement.
The relative stability of helium circuit pressure is realized through helium gas regulating system, and helium gas regulating system confirms the aperture of relevant valve according to the pressure of high low pressure helium circuit, makes the pressure of helium refrigeration cycle circuit not influenced by cold box temperature variation.
In step S110, when the helium-refrigerating-hydrogen liquefaction system 200 is operating normally, the pressure error value and the pressure error rate of the high-pressure helium line 210 are collected.
In particular implementations, the pressure of the high pressure helium line 210 may be monitored in real time by a pressure sensor or the like sensing element to determine the pressure error value and the rate of change of the pressure error of the high pressure helium line 210.
S120
In step S120, the pressure error value and the pressure error rate are input to a preset fuzzy PID controller, and a valve control amount is output.
In some embodiments, as shown in fig. 3, step S120 includes:
s121, inputting the pressure error value and the pressure error change rate into a preset fuzzy controller, and outputting a PID coefficient adjustment value;
s122, obtaining a PID coefficient setting value based on the PID coefficient preset value and the PID coefficient adjustment value; and
s123, inputting the PID coefficient setting value into a preset PID controller, and outputting the valve control quantity.
Specifically, as shown in fig. 4, the fuzzy PID controller includes a fuzzy controller and a PID controller.
The following formulas (1) and (2) show basic formulas of the fuzzy PID control:
where r (t) represents a pressure set value of the high pressure helium line 210, y (t) represents a pressure actual value of the high pressure helium line 210, e (t) represents an error between the pressure set value and the pressure actual value, i.e., a pressure error value (hereinafter, denoted as e), de (t)/dt represents a pressure error rate of change (hereinafter, denoted as ec), u (t) represents an output of the fuzzy PID controller, i.e., a valve control amount, K p 、K i 、K d Respectively representing a proportional coefficient setting value, an integral coefficient setting value and a differential coefficient setting value.
In step S121, as shown in fig. 4, the fuzzy controller may perform fuzzification processing on the input pressure error value e and the pressure error change rate ec, map the pressure error value e and the pressure error change rate ec to a standard domain according to a preset quantization factor, and divide the numerical value on the standard domain into the fuzzy subsets by using a triangle membership function according to a preset fuzzy subset. And obtaining PID coefficient fuzzy quantity based on the fuzzy quantity in the fuzzy subset according to a preset fuzzy rule. And finally, defuzzifying the PID coefficient fuzzy amount and outputting the PID coefficient adjustment value. The PID coefficient adjustment value includes a scaling coefficient adjustment value ΔK p Integral coefficient adjustment value ΔK i And differential coefficient adjustment value ΔK d 。
In detail, the blurring process of the pressure error value e and the pressure error change rate ec by the blurring controller is divided into two steps.
First, fuzzy domain mapping is performed by multiplying quantization factorsAnd performing linear transformation, and mapping the pressure error value e and the pressure change rate ec to a standard discourse domain. The actual argument of the pressure error value e adopts the actual value range e E [ -5,5]The actual theory domain of the pressure change rate ec adopts the actual value range ec epsilon [ -1.5,1.5]The fuzzy theory domain of the pressure error value E adopts the commonly used value range E epsilon < -3 >, 3 []The fuzzy theory domain of the pressure change rate EC adopts the commonly used value range of EC epsilon < -3,3 >]The quantization factors corresponding to the pressure error value e and the pressure change rate ec are respectively K E =0.6 and K EC =2。
Then in step S121, fuzzy subset division is performed, and the numerical values on the standard discourse domain are divided into fuzzy subsets by calculating the membership degrees corresponding to the fuzzy subsets. Wherein, the fuzzy subsets { NB, NM, NS, ZO, PS, PM, PB } are used to represent negative big, negative medium, negative small, zero, positive small, median and positive big respectively, and the coverage area of each fuzzy subset is 1/3 of the standard discourse domain by adopting the triangle membership function as shown in figure 5.
The preset fuzzy rule is shown in fig. 6, and the PID coefficient fuzzy amount can be obtained based on the fuzzy amount in the fuzzy subset with reference to fig. 6.
Research shows that for the membership function of the fuzzy controller, the coverage of the fuzzy subset has larger influence on the control effect than the specific shape of the membership function. It is therefore necessary to select an appropriate coverage: too small a range may result in partial region rule vacancies affecting controller convergence; too large a range may cause regular overlapping of partial areas, affecting the response speed of the system.
For helium regulation systems, if the helium high pressure line pressure rises and overshoots, K is increased for quick callback p Reduce K i The method comprises the steps of carrying out a first treatment on the surface of the If helium high pressure line pressure drops below target, K needs to be reduced to eliminate steady state error p Increase K i The method comprises the steps of carrying out a first treatment on the surface of the If the deviation value and the change rate are medium, K p The value is smaller, K i The value is smaller, K d The value is moderate, so as to ensure the response speed of the system.
In step S121, the process of the PID coefficient blurring amount defuzzification processing is also divided into two steps. Firstly, making a fuzzy subset decision, and selecting a gravity center method proposed by a traditional fuzzy controller. The barycenter method is a method of making fuzzy decisions by weighted averaging, and for each fuzzy subset, the membership is a weight of the central value. And then carrying out actual domain mapping, and carrying out linear transformation by multiplying the quantization factor to map the adjustment value of the PID coefficient to the actual domain. The fuzzy controller outputs a scaling factor adjustment value delta K after deblurring p Integral coefficient adjustment value ΔK i And differential coefficient adjustment value ΔK d 。
In step S122, the scaling factor setting value is obtained based on the sum of the scaling factor preset value and the scaling factor adjustment value; obtaining an integral coefficient setting value based on the sum of an integral coefficient preset value and an integral coefficient adjusting value; and obtaining the differential coefficient setting value based on the sum of the differential coefficient preset value and the differential coefficient adjustment value.
Specifically, the PID coefficient setting value is obtained according to the following formula (3):
wherein K is p0 、K i0 、K d0 Respectively represent a proportional coefficient preset value, an integral coefficient preset value and a differential coefficient preset value, delta K p 、ΔK i 、ΔK d Respectively represent a proportional coefficient adjustment value, an integral coefficient adjustment value and a differential coefficient adjustment value, K p 、K i 、K d Respectively representing a proportional coefficient setting value, an integral coefficient setting value and a differential coefficient setting value.
The preset value K of the proportionality coefficient p0 Preset integral coefficient value K i0 And differential coefficient preset value K d0 Determined empirically for the engineer. Scaling factor adjustment value ΔK p Integral coefficient adjustment value ΔK i And differential coefficient adjustment value ΔK d Is derived from fuzzy reasoning in step S121 for the fuzzy controller. In addition, in practical engineering application, the adjustment value delta K of the proportional coefficient can be flexibly set p Integral coefficient adjustment valueΔK i And differential coefficient adjustment value ΔK d To ensure the safety and stability of the system operation.
In step S123, as shown in fig. 4, the proportional coefficient setting value, the integral coefficient setting value, and the differential coefficient setting value obtained in step S122 are input into a preset PID controller, and the valve control amount is output through a correlation operation.
S130
In step S130, control signals for controlling the opening degrees of the unloading regulator valve 230 and the loading regulator valve 240 in a stepwise manner are formed based on the valve control amounts.
In some embodiments, the control signal Y1 for controlling the opening degree of the unloading regulator valve 230 and the control signal Y2 for controlling the opening degree of the loading regulator valve 240 may be formed according to the following equations (4) and (5):
Y1=min(max(-k*X+M,0),v01) ④
Y2=min(max(k*X-N,0),v02) ⑤
where X represents the valve control amount obtained in step S120, k, M and N represent fitting coefficients corresponding to the pressure set values of the high-pressure helium line 210, and v01 and v02 represent the upper limits of the opening degrees of the unloading regulator valve 230 and the loading regulator valve 240, respectively.
It should be noted that when the pressure set point for the high pressure helium line 210 is different, the fitting coefficients k, M, and N are also different.
In some embodiments, pressure data for high pressure helium line 210 may be collected during commissioning of helium cryogenic hydrogen liquefaction system 200 and then analyzed to obtain fitting coefficients k, M, and N corresponding to the pressure set point for high pressure helium line 210.
In a practical example, the collected pressure data may be analyzed using an identification toolbox of the MATLAB system to generate fitting coefficients k, M, and N.
By the above formula, the valve opening changes of the unloading and loading regulating valves 230 and 240 are not completely linear, so that helium pressure can be stabilized while equipment loss is reduced. The upper limit of the opening of the unloading regulating valve 230 and the loading regulating valve 240 exists when the helium regulating system is automatically operated, so that the pressure is uniformly changed along with the setting; when the actual pressure of the pipeline is similar to the set pressure of the system, whether the actual pressure is regulated through the valve is judged, and the frequent switching is avoided, so that the sealing performance of the valve is prevented from being reduced.
As an example, the upper limit v01 of the opening degree of the unloading regulator valve 230 is equal to the upper limit v02 of the loading regulator valve 240. Alternatively, the upper opening limit v01 of the unloading regulator valve 230 and the upper opening limit v02 of the loading regulator valve 240 are half of the maximum valve opening values thereof.
For example, when the valve opening of the unloading adjusting valve 230 and the loading adjusting valve 240 is 100 at the maximum, the opening upper limit v01 of the unloading adjusting valve 230 and the opening upper limit v02 of the loading adjusting valve 240 are 50.
In some embodiments, when the helium cryogenic hydrogen liquefaction system 200 is commissioned, pressure data of the high pressure helium line 210 may also be collected and then analyzed to obtain a transfer function corresponding to the pressure set point of the high pressure helium line 210.
Specifically, the high-pressure helium line 210, the low-pressure helium line 220, the unloading regulating valve 230, the loading regulating valve 240, the helium buffer tank 280, and the like are all regarded as controlled objects, and the controlled amount is the high-pressure helium line pressure and the controlled amount is a valve control signal. Based on experimental data recorded during the tuning of helium cryogenic hydrogen liquefaction system 200, different typical conditions during pressure regulation, such as different pressure settings of high pressure helium line 210, are selected. And analyzing the collected pressure data by utilizing a Matlab system identification tool box to obtain a discrete transfer function and a corresponding continuous transfer function.
Then, after the step of forming the control signal for the step of controlling the opening degrees of the unloading and loading regulating valves 230 and 240 based on the valve control amount, pressure data of the high pressure helium line 210 after the control signal is applied may be collected, a pressure curve may be formed based on the collected pressure data, and the validity of the control signal may be determined according to the formed pressure curve and the curve of the transfer function.
The actual control effect of the helium pressure control method of the present invention on the pressure of the high-pressure helium line 210 will be described below with reference to fig. 7.
The dashed line in fig. 7 represents the pressure set point for the high pressure helium line 210. The chain line indicates the measured pressure value of the high-pressure helium line 210 when the PID algorithm is used to form the control signal for controlling the opening of the unloading regulator valve 230 and the loading regulator valve 240. The solid line represents the measured pressure value of the high-pressure helium line 210 when the control signal for controlling the opening degree of the unloading regulator valve 230 and the loading regulator valve 240 in a branched manner is formed by using the fuzzy PID algorithm.
As can be seen in fig. 7, after system start-up, the pressure set point for the high pressure helium line 210 is 10 bar at 0 s. The traditional PID algorithm is adopted for the branch control, the maximum deviation is about 2.37bar, the overshoot is about 47.4%, and the adjustment time is about 186.5s; the fuzzy PID algorithm is adopted for split control, the maximum deviation is about 1.57bar, the overshoot is about 31.4%, and the system adjustment time is about 83.3s. As can be seen, the pressure overshoot of the high pressure helium line 210 is reduced by 34% and the conditioning time is reduced by 55% compared to the conventional PID algorithm.
At 500s after system start-up, the pressure in the high pressure helium line 210 fluctuates. The traditional PID algorithm is adopted for the branch control, the difference between the highest pressure and the lowest pressure is about 1.93bar, and the recovery time of the system is about 255s; the fuzzy PID algorithm is adopted for split control, the difference between the maximum pressure and the minimum pressure is about 1.60bar, and the recovery time of the system is about 81s. It can be seen that the use of the fuzzy PID algorithm reduces the difference between the highest and lowest pressures of the high pressure helium line 210 by 17% and shortens the recovery time of the system by 68% as compared to the use of the conventional PID algorithm.
It can be seen that the helium gas regulating system based on the fuzzy PID algorithm has smaller overshoot, shorter regulating time and stable regulating process transition, and has better dynamic performance and anti-interference capability while meeting the requirement of regulating the helium gas pressure of the high-pressure helium gas pipeline 210.
The present invention further provides an electronic device, referring to a schematic structural diagram of an electronic device 300 shown in fig. 8, where the electronic device 300 includes a processor 301 and a memory 302 communicatively connected to the processor 301, where the memory 302 is configured to store one or more computer programs, and the one or more computer programs are executed by the processor 301 to implement the method 100 described above.
The electronic device 300 shown in fig. 8 further comprises a bus 303 and a communication interface 304, the processor 301, the communication interface 304 and the memory 302 being connected by the bus 303.
The Memory 302 may include a high-speed random access Memory (RAM, random Access Memory), and may further include a Non-Volatile Memory 302 (Non-Volatile Memory), such as at least one magnetic disk Memory. The communication connection between the system network element and at least one other network element is implemented via at least one communication interface 304 (which may be wired or wireless), and may use the internet, a wide area network, a local network, a metropolitan area network, etc. Bus 303 may be an ISA bus, a PCI bus, an EISA bus, or the like. The bus 303 may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, only one bi-directional arrow is shown in fig. 8, but not only one bus 303 or one type of bus 303.
The processor 301 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry of hardware in the processor 301 or instructions in the form of software. The processor 301 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (DigitalSignal Processor, DSP for short), application specific integrated circuits (ApplicationSpecific IntegratedCircuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor 301 may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory 302, and the processor 301 reads the information in the memory 302, and in combination with its hardware, performs the steps of the method of the previous embodiment.
The exemplary embodiments of the present invention also provide a computer readable storage medium storing a computer program, which when invoked and executed by the processor 301, causes the processor 301 to implement the helium pressure control method 100 described above, and the specific implementation may be referred to as a method embodiment, which is not described herein.
The helium pressure control method 100 and the computer program product of the electronic device 300 provided in the embodiments of the present invention include a computer readable storage medium storing program codes, and instructions included in the program codes may be used to execute the method in the foregoing method embodiment, and specific implementation may refer to the method embodiment and will not be described herein.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus and/or the electronic device described above may refer to the corresponding process in the foregoing method embodiment, which is not described in detail herein.
The foregoing description is only illustrative of the preferred embodiment of the present invention, and is not to be construed as limiting the invention, but is to be construed as limiting the invention to any simple modification, equivalent variation and variation of the above embodiments according to the technical matter of the present invention without departing from the scope of the invention.
Claims (7)
1. The helium pressure control method is applied to a helium refrigerating and hydrogen liquefying system and is characterized in that the helium refrigerating and hydrogen liquefying system comprises a high-pressure helium pipeline and a low-pressure helium pipeline, the high-pressure helium pipeline and the low-pressure helium pipeline are respectively connected to a helium buffer tank through an unloading regulating valve and a loading regulating valve, and the unloading regulating valve and the loading regulating valve are configured to act in opposite directions;
the helium pressure control method comprises the following steps:
collecting a pressure error value and a pressure error change rate of the high-pressure helium pipeline;
inputting the pressure error value and the pressure error change rate into a preset fuzzy PID controller, and outputting a valve control quantity; and
forming control signals for controlling the opening of the unloading regulating valve and the loading regulating valve in a stepping way based on the valve control quantity;
wherein the step of forming a control signal for controlling the opening degrees of the unloading regulating valve and the loading regulating valve in a stepwise manner based on the valve control amount includes:
forming a control signal Y1 for controlling the opening of the unloading regulating valve in a stepping way and a control signal Y2 for controlling the opening of the loading regulating valve in a stepping way according to the following formula:
Y1=min(max(-k*X+M,0),v01)；
Y2=min(max(k*X-N,0),v02)；
wherein X represents the valve control amount, k, M and N represent fitting coefficients corresponding to pressure set values of the high-pressure helium pipeline respectively, and v01 and v02 represent opening upper limits of the unloading regulating valve and the loading regulating valve respectively;
fitting coefficients k, M and N corresponding to the pressure set point of the high pressure helium line are obtained by:
collecting pressure data of the high-pressure helium pipeline in the debugging process of the helium refrigeration hydrogen liquefaction system; and
analyzing the collected pressure data to obtain fitting coefficients k, M and N corresponding to the pressure set value of the high-pressure helium pipeline;
the helium pressure control method further comprises the steps of:
collecting pressure data of the high-pressure helium pipeline in the debugging process of the helium refrigeration hydrogen liquefaction system; and
analyzing the collected pressure data to obtain a transfer function corresponding to a pressure set value of the high-pressure helium pipeline;
wherein after the step of forming the control signal for controlling the opening degrees of the unloading regulating valve and the loading regulating valve in a stepwise manner based on the valve control amount, the helium pressure control method further includes:
collecting pressure data of the high pressure helium line after the control signal is applied, forming a pressure curve based on the collected pressure data;
the validity of the control signal is determined from the formed pressure curve and the curve of the transfer function.
2. A helium pressure control method according to claim 1,
the upper opening limit v01 of the unloading regulating valve is equal to the upper opening limit v02 of the loading regulating valve.
3. A helium pressure control method according to any one of claim 1 or 2,
the pressure error value and the pressure error change rate are input into a preset fuzzy PID controller, and the step of outputting the valve control quantity comprises the following steps:
inputting the pressure error value and the pressure error change rate into a preset fuzzy controller, and outputting a PID coefficient adjustment value;
obtaining a PID coefficient setting value based on the PID coefficient preset value and the PID coefficient adjustment value; and
and inputting the PID coefficient setting value into a preset PID controller, and outputting the valve control quantity.
4. A helium pressure control method according to claim 3,
the pressure error value and the pressure error change rate are input into a preset fuzzy controller, and the step of outputting the PID coefficient adjustment value comprises the following steps:
mapping the pressure error value and the pressure error change rate to a standard discourse domain according to a preset quantization factor;
dividing the numerical value on the standard discourse domain into the fuzzy subset by adopting a triangle membership function according to a preset fuzzy subset;
obtaining PID coefficient fuzzy quantity based on fuzzy quantity in the fuzzy subset according to a preset fuzzy rule; and
and de-blurring the PID coefficient blurring amount and outputting the PID coefficient adjusting value.
5. A helium pressure control method according to claim 3,
the PID coefficient setting value comprises a proportional coefficient setting value, an integral coefficient setting value and a differential coefficient setting value;
the step of obtaining the PID coefficient setting value based on the PID coefficient preset value and the PID coefficient adjusting value comprises the following steps:
obtaining a proportional coefficient setting value based on the sum of a proportional coefficient preset value and a proportional coefficient adjustment value;
obtaining an integral coefficient setting value based on the sum of an integral coefficient preset value and an integral coefficient adjusting value; and
and obtaining the differential coefficient setting value based on the sum of the differential coefficient preset value and the differential coefficient adjustment value.
6. An electronic device, comprising:
a processor;
a memory having stored therein a computer program configured to be executed by the processor, the processor implementing the helium pressure control method according to any one of claims 1 to 5 when the computer program is executed.
7. A readable storage medium, characterized in that a computer program is stored on the readable storage medium, which computer program, when being executed by a processor, implements the helium pressure control method according to any one of claims 1 to 5.
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| CN110597312A (en) * | 2019-09-29 | 2019-12-20 | 万华化学集团股份有限公司 | Gas pressure control method, storage medium, electronic device, and apparatus |
| CN115016253A (en) * | 2022-07-05 | 2022-09-06 | 吴晓刚 | Helium compressor pressure control system and method |
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| CN104317322A (en) * | 2014-10-24 | 2015-01-28 | 北京精密机电控制设备研究所 | Automatic pressure regulating type high-pressure helium control system |
| CN107246390A (en) * | 2017-05-25 | 2017-10-13 | 中国科学院合肥物质科学研究院 | A kind of control method of large-scale helium compressor station multistage pressure |
| US10152834B1 (en) * | 2017-08-24 | 2018-12-11 | GM Global Technology Operations LLC | Combustion engine airflow management systems and methods |
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