CN118131837A - Method and device for controlling feed tempering temperature, electronic equipment and storage medium - Google Patents
Method and device for controlling feed tempering temperature, electronic equipment and storage medium Download PDFInfo
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Abstract
The application relates to a method and a device for controlling a feed tempering temperature, electronic equipment and a storage medium, wherein the method comprises the following steps: the actual outlet temperature of the conditioner is acquired by a temperature sensor, and the actual set temperature of the granulator is determined; obtaining an error value between the actual outlet temperature and the actual set temperature, so as to utilize the error change rate of the tempering temperature of the error value; and carrying out fuzzification treatment on the error value and the error change rate to obtain control parameters of the PID controller, and controlling the PID controller to adjust the valve opening of the granulator based on the control parameters so as to adjust the current tempering temperature of the granulator by combining an actual control model, so that the current tempering temperature under the valve opening meets the preset optimal benefit condition. Therefore, the problems that in the related art, the overshoot of the system is large, the anti-interference performance is poor, the real-time response correction can not be made for the change of the feed formula in the production process, the accurate and stable control of the tempering temperature can not be performed and the like are solved.
Description
Technical Field
The application relates to the technical field of automatic control, in particular to a method and a device for controlling the hardening and tempering temperature of feed, electronic equipment and a storage medium.
Background
In the livestock and poultry pellet feed production process, because the working condition on the production site is more complicated, for example, the boiler air supply pressure is unstable, the flow and the pressure of steam can produce certain fluctuation, different factories are different to the heat preservation measure of steam pipeline, the quality of steam entering into the tempering ware is also different, in addition, the difference of the operation level of pelleting workers, the actual tempering temperature is difficult to stabilize near the optimal value, the tempering effect of materials can be influenced, even the blocking machine of the pelleting machine can be caused, in addition, because the operation personnel need to continuously adjust the tempering temperature, the waste of a large amount of production raw materials is caused.
In the related technology, the main motor current signal and the outlet temperature signal of the conditioner of the annular die granulator can be collected, and the corresponding control signals can be obtained through the feature identification information processing and reasoning mechanism of the expert control system and the corresponding control rules to respectively control the steam quantity and the feeding quantity of the annular die granulator. The tempering temperature can be free from the influence of materials of the tempering device, and reasonable steam quantity adjustment and feed quantity adjustment can be performed.
However, the tempering temperature control system in the related art is a typical nonlinear hysteresis system, the overshoot of the system is large, the anti-interference performance is poor, and the real-time response correction can not be made for the change of the feed formula in the production process, so that the accurate and stable control of the tempering temperature can not be realized, and the improvement is needed.
Disclosure of Invention
The application provides a control method, a device, electronic equipment and a storage medium for a feed tempering temperature, which are used for solving the technical problems that in the related art, the overshoot of a system is large, the anti-interference performance is poor, real-time response correction cannot be made for the change of a feed formula in the production process, the tempering temperature cannot be accurately and stably controlled, and the like.
An embodiment of the first aspect of the present application provides a method for controlling a conditioning temperature of a feed, wherein a temperature sensor is provided at an outlet of a conditioner of a granulator, and the method comprises the steps of: acquiring the actual outlet temperature of the conditioner by using the temperature sensor, reading the parameter input quantity of the granulator, and determining the actual set temperature of the granulator; comparing the actual outlet temperature with the actual set temperature to obtain an error value between the actual outlet temperature and the actual set temperature, so as to utilize the error change rate of the tempering temperature of the error value; and carrying out fuzzification processing on the error value and the error change rate to obtain control parameters of a PID controller, and controlling the PID controller to adjust the valve opening of the granulator based on the control parameters so as to adjust the current tempering temperature of the granulator by combining an actual control model, so that the current tempering temperature under the valve opening meets the preset optimal benefit condition.
Optionally, in one embodiment of the present application, before adjusting the current tempering temperature of the granulator in combination with the actual control model, the method further comprises: constructing an initial control model of the valve opening of the granulator and the tempering temperature; and solving parameters of the initial control model to obtain the actual control model, so as to determine the mapping relation between the valve opening and the current tempering temperature by using the actual control model.
Optionally, in one embodiment of the present application, the initial control model is:
wherein G(s) is a transfer function of the tempering temperature control system, K is a system gain, R is a system time constant, tau is a lag time, and s is a complex variable.
Optionally, in an embodiment of the present application, the solving the parameters of the initial control model to obtain an actual control model includes: acquiring response data of tempering temperature under the preset valve opening; an open loop step response curve is constructed based on the response data to calculate parameters of the initial control model using the open loop step response curve.
Optionally, in an embodiment of the present application, the blurring process is performed on the error value and the error change rate to obtain control parameters of a PID controller, including: obtaining a first control rule of the PID controller according to the current signal analog value, the error value and the error change rate of the PID controller; and carrying out fuzzification processing on the first control law to obtain a second control law so as to obtain control parameters of the PID controller based on the second control law.
Optionally, in an embodiment of the present application, the first control rule is:
Wherein u (t) is an analog value of the current signal at time t, e (t) is the error value, K p is a proportionality coefficient, K i is an integration coefficient, and K d is a differential coefficient.
Optionally, in an embodiment of the present application, the second control law is:
Wherein Δk p is a proportional coefficient after the blurring process, Δk i is an integral coefficient after the blurring process, Δk d is a differential coefficient after the blurring process, K p′i、Ki′j、Kd′i is a membership function value, and μ (Δk p′j)、μ(ΔKi′j) and μ (Δk d′j) are membership degrees of corresponding membership functions, respectively.
An embodiment of the second aspect of the present application provides a control device for conditioning temperature of feed, wherein a temperature sensor is disposed at an outlet of a conditioner of a granulator, and the device comprises: the acquisition module is used for acquiring the actual outlet temperature of the conditioner by using the temperature sensor, reading the parameter input quantity of the granulator and determining the actual set temperature of the granulator; the first calculation module is used for comparing the actual outlet temperature with the actual set temperature to obtain an error value between the actual outlet temperature and the actual set temperature so as to utilize the error change rate of the tempering temperature; the control module is used for carrying out fuzzification on the error value and the error change rate to obtain control parameters of a PID controller, and controlling the PID controller to adjust the valve opening of the granulator based on the control parameters so as to adjust the current tempering temperature of the granulator by combining an actual control model, so that the current tempering temperature under the valve opening meets the preset optimal benefit condition.
Optionally, in one embodiment of the present application, further includes: the construction module is used for constructing an initial control model of the valve opening of the granulator and the tempering temperature; and the second calculation module is used for solving the parameters of the initial control model to obtain the actual control model so as to determine the mapping relation between the valve opening and the current tempering temperature by using the actual control model.
Optionally, in one embodiment of the present application, the initial control model is:
wherein G(s) is a transfer function of the tempering temperature control system, K is a system gain, R is a system time constant, tau is a lag time, and s is a complex variable.
Optionally, in one embodiment of the present application, the second computing module includes: the acquiring unit is used for acquiring response data of the tempering temperature under the preset valve opening; and the first calculation unit is used for constructing an open-loop step response curve based on the response data so as to calculate the parameters of the initial control model by using the open-loop step response curve.
Optionally, in one embodiment of the present application, the control module includes: the second calculation unit is used for obtaining a first control rule of the PID controller according to the current signal analog value, the error value and the error change rate of the PID controller; and the third calculation unit is used for carrying out fuzzification processing on the first control rule to obtain a second control rule so as to obtain the control parameters of the PID controller based on the second control rule.
Optionally, in an embodiment of the present application, the first control rule is:
Wherein u (t) is an analog value of the current signal at time t, e (t) is the error value, K p is a proportionality coefficient, K i is an integration coefficient, and K d is a differential coefficient.
Optionally, in an embodiment of the present application, the second control law is:
Wherein Δk p is a proportional coefficient after the blurring process, Δk i is an integral coefficient after the blurring process, Δk d is a differential coefficient after the blurring process, K ' pi、K′ij、K′di is a membership function value, and μ (Δk ' pj)、μ(ΔK′ij) and μ (Δk ' dj) are membership degrees of the corresponding membership functions, respectively.
An embodiment of a third aspect of the present application provides an electronic device, including: the control method comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the control method of the feed tempering temperature.
An embodiment of a fourth aspect of the present application provides a computer-readable storage medium storing computer instructions for causing the computer to execute the method of controlling a fodder conditioning temperature as described in the above embodiment.
According to the embodiment of the application, the actual outlet temperature of the conditioner can be acquired by utilizing the temperature sensor, the actual set temperature of the granulator is determined according to the parameter input quantity of the granulator, the error value between the actual outlet temperature and the actual set temperature is further obtained, and the error change rate of the conditioning temperature is further obtained according to the error value, so that the parameter input quantity is subjected to fuzzification processing by utilizing the error value and the error change rate, the control parameter of the PID controller is obtained, the valve opening of the granulator is regulated, the current conditioning temperature of the granulator is regulated by combining with an actual control model, the current conditioning temperature under the valve opening meets the preset optimal benefit condition, the real-time response correction based on the feed formula change in the production process is realized, the accurate and stable control of the conditioning temperature is realized, the optimal production benefit of the granulator is ensured, and the method is convenient to popularize and apply. Therefore, the problems that in the related art, the overshoot of the system is large, the anti-interference performance is poor, the real-time response correction can not be made for the change of the feed formula in the production process, the accurate and stable control of the tempering temperature can not be performed and the like are solved.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic illustration of a steam piping system according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a tempering temperature control system according to an embodiment of the present application;
FIG. 3 is a flow chart of a method for controlling the tempering temperature of feed according to an embodiment of the application;
FIG. 4 is a schematic diagram of a fuzzy controller according to one embodiment of the present application;
FIG. 5 is a schematic illustration of a SIMULINK simulation according to an embodiment of the present application;
FIG. 6 is a diagram of PID simulation vs. schematic according to an embodiment of the application;
FIG. 7 is a flow chart of a method of controlling feed tempering temperature according to one embodiment of the application;
fig. 8 is a schematic structural diagram of a control device for fodder tempering temperature according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
The following describes a method, a device, an electronic device and a storage medium for controlling the temperature of conditioning of feed according to an embodiment of the present application with reference to the accompanying drawings. Aiming at the technical problems that in the related art mentioned in the background art, the overshoot of a system is large, the anti-interference performance is poor, the change of a feed formula in the production process cannot be corrected in real time, the accurate and stable control of the tempering temperature cannot be performed, and the like, the application provides a control method of the feed tempering temperature. Therefore, the problems that in the related art, the overshoot of the system is large, the anti-interference performance is poor, the real-time response correction can not be made for the change of the feed formula in the production process, the accurate and stable control of the tempering temperature can not be performed and the like are solved.
Before explaining the control method of the feed tempering temperature in the embodiment of the application, the system structure related to the embodiment of the application is explained.
It is understood that the tempering temperature is a very important parameter in the production process of the livestock pellet feed, the tempering temperatures of different feed varieties and different formulas are different, the tempering temperature of the livestock pellet feed is generally 75-85 ℃, the tempering temperature of the aquatic puffed feed is generally 80-100 ℃, and the tempering temperature is generally not more than 60 ℃ for some formulas containing heat-sensitive raw materials in order to ensure that the nutritional ingredients are not destroyed. The tempering temperature of each specific feed formula should have an optimal value, and the requirements of the quality of the feed products can be met to the greatest extent within the range.
Therefore, in order to improve the characteristic of unstable tempering temperature control, the embodiment of the application can be used for installing a temperature sensor at the outlet of a tempering device of a granulator and reconstructing and installing a steam pipeline system.
In particular, as shown in fig. 1, the steam piping system according to the embodiment of the present application may include: steam generator 1, ball valve 2, manometer 3, relief pressure valve 4, temperature sensor 5, stop valve 6, electromagnetic proportion control valve 7, vortex shedding flowmeter 8, regulator 9, relief valve 10, branch cylinder 11 and trap 12.
In the actual implementation process, the steam generated by the steam generator 1 passes through the separation cylinder 11, under the action of gravity and motion inertia, water is discharged from the bottom of the separation cylinder 11 through the drain valve 12 and discharged from the steam pipeline, and the steam is reduced from 0.7MPa to 0.3MPa through the pressure reducing valve 4. After the steam generator 1 runs stably, a tempering temperature value is set, the processor outputs a 4-20 mA current signal to control the electric actuator to generate axial thrust, and the flow area between the valve core and the valve seat is changed through the connecting rod, so that the steam flow entering the tempering device 9 is changed. The temperature sensor 5 is installed at the outlet of the conditioner 9, and can obtain the actual outlet temperature at the outlet of the conditioner 9 in real time.
As shown in fig. 2, a schematic structural diagram of a tempering temperature control system designed by the method for controlling the tempering temperature of the feed according to the embodiment of the application is shown.
Wherein, quenching and tempering temperature control system can include: the device comprises a temperature sensor 5, an electromagnetic proportional control valve 7, a vortex shedding flowmeter 8, an upper computer 13, a data acquisition module 14, a main controller 15, an analog input module 16, an analog output module 17, a pressure sensor 18, a frequency converter 19, a feeder 20, a conditioner 21 and a granulating chamber 22.
In the actual implementation process, the working principle of the tempering temperature control system is as follows.
The embodiment of the application can input a set tempering temperature value into the upper computer 13, transmit the tempering temperature value to the main controller 15, open the electromagnetic proportional control valve 7 and the frequency converter 19 through the analog output module 17, enable the feeder 20, the tempering device 21 and the granulating chamber 22 to enter a working state, respectively collect the tempering temperature, the steam pressure and the steam flow through the temperature sensor 5, the pressure sensor 18 and the vortex shedding flowmeter 8, feed back the tempering temperature, the steam pressure and the steam flow to the main controller 15 through the analog input module 16, carry out operation processing on data through the main controller, output the valve opening degree and the motor frequency of the electric proportional control valve, enable the tempering temperature to be stable within a set value range, and finally store the collected data in the data acquisition module 14.
Specifically, fig. 3 is a schematic flow chart of a method for controlling the tempering temperature of feed according to an embodiment of the application.
As shown in fig. 3, the control method of the conditioning temperature of the feed comprises the following steps:
In step S301, the actual outlet temperature of the conditioner is acquired by using a temperature sensor, and the parameter input amount of the granulator is read to determine the actual set temperature of the granulator.
In the actual execution process, the embodiment of the application can obtain the actual outlet temperature of the conditioner by using the temperature sensor arranged at the outlet of the conditioner, and read the parameter input quantity of the granulator in the feed production process, thereby obtaining the actual set temperature of the granulator, namely the conditioning temperature value set by the control system of the granulator according to the parameter input quantity.
In step S302, the actual outlet temperature and the actual set temperature are compared to obtain an error value between the actual outlet temperature and the actual set temperature, so as to utilize the error rate of change of the tempering temperature.
Further, the embodiment of the application can compare and calculate the actual outlet temperature and the actual set temperature to obtain an error value e between the actual set temperature and the actual outlet temperature, namely an error value e of the tempering temperature between the set value and the acquired value, and can obtain the error change rate ec of the tempering temperature by performing differential calculation on the error value e.
In step S303, the error value and the error change rate are subjected to blurring processing to obtain control parameters of the PID controller, and the PID controller is controlled to adjust the valve opening of the granulator based on the control parameters, so as to adjust the current tempering temperature of the granulator in combination with the actual control model, so that the current tempering temperature under the valve opening meets the preset optimal benefit condition.
As a possible implementation manner, as shown in fig. 4, the embodiment of the present application may form a fuzzy PID controller by using a fuzzy control system and PID control, so as to perform real-time optimization setting on PID parameters according to a fuzzy rule.
According to the embodiment of the application, the error value e and the error change rate ec of the tempering temperature can be sent to a PLC (Programmable Logic Controller ) processor, the input quantity, namely the error value and the error change rate are subjected to fuzzification processing through a fuzzy PID controller, the control parameter K p、Ki、Kd of the PID is obtained, and the obtained control parameter is input to the PID controller for adjustment.
According to the embodiment of the application, the control parameters of the PID controller can be continuously adjusted according to the error value and the error change rate, and according to the adjustment result of the control parameters, the PID controller outputs an analog quantity signal to the electric proportional control valve to adjust the valve opening to control the steam flow in the steam pipeline by comparing the result obtained by combining the proportional, integral and derivative of the actual set temperature and the actual outlet temperature difference, so that the real-time adjustment of the tempering temperature is realized, and the current tempering temperature and the feed quantity under the valve opening and the valve opening can meet the preset optimal benefit condition.
Wherein, the preset optimal benefit conditions can be set by the skilled in the art according to the parameters of feed amount, feed formula, tempering temperature and the like, and the preset optimal benefit conditions are not particularly limited.
Optionally, in an embodiment of the present application, the blurring process is performed on the parameter input quantity by using the error value and the error change rate to obtain a control parameter of the PID controller, including: obtaining a first control rule of the PID controller according to the current signal analog value, the error value and the error change rate of the PID controller; and carrying out fuzzification processing on the first control law to obtain a second control law so as to obtain control parameters of the PID controller based on the second control law, wherein the first control law is as follows:
Where u (t) is the analog value of the current signal at time t, e (t) is the error value, K p is the scaling factor, K i is the integration factor, and K d is the differential factor.
The second control rule is as follows:
Wherein Δk p is a proportional coefficient after the blurring process, Δk i is an integral coefficient after the blurring process, Δk d is a differential coefficient after the blurring process, K ' pi、K′ij、K′di is a membership function value, and μ (Δk ' pj)、μ(ΔK′ij) and μ (Δk ' dj) are membership degrees of the corresponding membership functions, respectively.
Specifically, the embodiment of the application can send the error value e and the error change rate ec of the tempering temperature to a PLC processor, and carry out fuzzification processing on the input quantity through a fuzzy PID controller to determine the fuzzy language value and the corresponding membership function of the input quantity; and carrying out fuzzy reasoning on the input quantity according to the fuzzy rule, carrying out non-blurring on the fuzzy value after reasoning to obtain a control parameter K p、Ki、Kd of the PID, and inputting the obtained parameter into a PID controller for adjustment.
According to the embodiment of the application, PID parameters can be continuously adjusted according to e and the error change rate ec, and according to the PID parameter adjustment result, the PID controller outputs an analog quantity signal to the electric proportional control valve by comparing the result obtained by combining the proportional, integral and derivative of the actual set temperature and the actual outlet temperature difference value, and the opening degree of the valve is adjusted to control the steam flow in the steam pipeline, so that the tempering temperature of the feed is finally controlled, wherein the first control rule of the PID controller is as follows:
Where u (t) is the analog value of the current signal at time t, e (t) is the error value, K p is the scaling factor, K i is the integration factor, and K d is the differential factor.
The second control law of the PID controller, namely the control law of the fuzzy PID controller is as follows:
Wherein μ (Δk 'pj)、μ(ΔK′ij) and μ (Δk' dj) are the membership degrees of the corresponding membership functions, respectively, and the calculation formula of the 3 parameters of the PID controller is finally obtained:
Wherein, K p0、Ki0、Kd0 is the initial value of K p、Ki、Kd respectively.
In the actual execution process, as shown in fig. 5, the embodiment of the application can establish a simple simulation model according to the tempering temperature control model by combining the design function of the simple simulation platform, and set the tempering temperature and the sampling time to obtain a simulation curve of fuzzy PID control shown in fig. 6, wherein the overshoot and the response time of the fuzzy PID are obviously lower than those of the conventional PID control, and the control effect of the fuzzy PID is better.
Optionally, in one embodiment of the present application, before adjusting the current tempering temperature of the granulator, the method further comprises: constructing an initial control model of valve opening and tempering temperature of the granulator; solving parameters of an initial control model to obtain an actual control model so as to determine a mapping relation between the valve opening and the current tempering temperature by using the actual control model, wherein the initial control model is as follows:
wherein G(s) is a transfer function of the tempering temperature control system, K is a system gain, R is a system time constant, tau is a lag time, and s is a complex variable.
In some embodiments, the embodiment of the application can be constructed by adopting a method combining mechanism modeling and model identification, and an initial control model of the valve opening degree and the tempering temperature of the granulator is constructed, and because the tempering process is that mixed particles and saturated steam perform heat convection, the initial control model, namely the tempering temperature control model belongs to a first-order later model:
wherein G(s) is a transfer function of the tempering temperature control system, K is a system gain, R is a system time constant, tau is a lag time, and s is a complex variable.
Further, the embodiment of the application can solve the initial control model to obtain an actual control model, so that the mapping relation between the valve opening and the current tempering temperature is determined by utilizing the actual control model, and the valve opening, the current tempering temperature under the valve opening and the feed amount can meet the preset optimal benefit condition.
Optionally, in an embodiment of the present application, solving parameters of the initial control model to obtain the actual control model includes: acquiring response data of tempering temperature under the preset valve opening; an open loop step response curve is constructed based on the response data to calculate parameters of the initial control model using the open loop step response curve.
For example, the embodiment of the application can solve the parameters of the initial control model by adopting an open loop step response test, collect response data of the tempering temperature when the opening of the valve is 30%, construct an open loop step response curve, calculate the parameter values of the model by adopting a two-point method, and obtain the actual control model, namely the control model of the tempering temperature is:
The working principle of the method for controlling the tempering temperature of the feed according to the embodiment of the application is described in detail with reference to fig. 1, 2 and 4 to 7.
It can be appreciated that the control method of the feed tempering temperature in the embodiment of the application can be realized based on the structure shown in fig. 1 and 2 in the application process.
As shown in fig. 7, taking a lactating sow feed tempering temperature of 80 ℃ as an example, the embodiment of the application can comprise the following steps:
Step S701: and constructing an initial control model between the valve opening and the tempering temperature. The embodiment of the application can be constructed by adopting a method combining mechanism modeling and model identification, and an initial control model of the valve opening degree and the tempering temperature of the granulator is constructed, and because the tempering process is that mixed particles and saturated steam perform convective heat exchange, the initial control model, namely the tempering temperature control model belongs to a first-order later model:
wherein G(s) is a transfer function of the tempering temperature control system, K is a system gain, R is a system time constant, tau is a lag time, and s is a complex variable.
Step S702: and solving parameters of the initial control model to obtain an actual control model. For example, the embodiment of the application can solve the parameters of the initial control model by adopting an open loop step response test, collect response data of the tempering temperature when the opening of the valve is 30%, construct an open loop step response curve, calculate the parameter values of the model by adopting a two-point method, and obtain the actual control model, namely the control model of the tempering temperature is:
Step S703: and comparing and calculating the actual set temperature and the actual outlet temperature to obtain an error value of the tempering temperature, and according to the error value, obtaining a corresponding error change rate. The embodiment of the application can compare and calculate the actual outlet temperature and the actual set temperature to obtain the error value e between the actual set temperature and the actual outlet temperature, namely the error value e of the tempering temperature between the set value and the acquisition value, and can obtain the error change rate ec of the tempering temperature by performing differential calculation on the error value e.
Step S704: and carrying out fuzzification processing on the error value and the error change rate to obtain control parameters of the PID controller. According to the embodiment of the application, the error value e and the error change rate ec of the tempering temperature can be sent to a PLC processor, the input quantity is subjected to fuzzification processing through a fuzzy PID controller, and the fuzzy language value and the corresponding membership function of the input quantity are determined; and carrying out fuzzy reasoning on the input quantity according to the fuzzy rule, carrying out non-blurring on the fuzzy value after reasoning to obtain a control parameter K p、Ki、Kd of the PID, and inputting the obtained parameter into a PID controller for adjustment.
Step S705: and repeating the step S703 and the step S704, adjusting the control parameters of the PID controller, and adjusting the opening of the valve according to the adjusted control parameters and the actual control model. According to the embodiment of the application, PID parameters can be continuously adjusted according to e and the error change rate ec, and according to the PID parameter adjustment result, the PID controller outputs an analog quantity signal to the electric proportional control valve by comparing the result obtained by combining the proportional, integral and derivative of the actual set temperature and the actual outlet temperature difference value, and the opening degree of the valve is adjusted to control the steam flow in the steam pipeline, so that the tempering temperature of the feed is finally controlled, wherein the first control rule of the PID controller is as follows:
Where u (t) is the analog value of the current signal at time t, e (t) is the error value, K p is the scaling factor, K i is the integration factor, and K d is the differential factor.
The second control law of the PID controller, namely the control law of the fuzzy PID controller is as follows:
wherein μ (Δk p′j)、μ(ΔKi′j) and μ (Δk d′j) are the membership degrees of the corresponding membership functions, respectively, and the calculation formula of the 3 parameters of the PID controller is finally obtained:
Wherein, K p0、Ki0、Kd0 is the initial value of K p、Ki、Kd respectively.
In the actual execution process, as shown in fig. 5, the embodiment of the application can establish a simple simulation model according to the tempering temperature control model by combining the design function of the simple simulation platform, and set the tempering temperature and the sampling time to obtain a simulation curve of fuzzy PID control shown in fig. 6, wherein the overshoot and the response time of the fuzzy PID are obviously lower than those of the conventional PID control, and the control effect of the fuzzy PID is better.
According to the control method for the feed tempering temperature, provided by the embodiment of the application, the actual outlet temperature of the tempering device can be acquired by utilizing the temperature sensor, the actual set temperature of the granulator is determined according to the parameter input quantity of the granulator, the error value between the actual outlet temperature and the actual set temperature is further obtained, the error change rate of the tempering temperature is obtained according to the error value, the parameter input quantity is subjected to fuzzy processing by utilizing the error value and the error change rate, the control parameter of the PID controller is obtained, the valve opening of the granulator is regulated, the current tempering temperature of the granulator is regulated by combining with an actual control model, the current tempering temperature under the valve opening meets the preset optimal benefit condition, the real-time response correction based on the feed formula change in the production process is realized, the accurate and stable control of the tempering temperature is realized, the optimal production benefit of the granulator is ensured, and the method is convenient to popularize and apply. Therefore, the problems that in the related art, the overshoot of the system is large, the anti-interference performance is poor, the real-time response correction can not be made for the change of the feed formula in the production process, the accurate and stable control of the tempering temperature can not be performed and the like are solved.
Next, a control device for a fodder tempering temperature according to an embodiment of the present application will be described with reference to the accompanying drawings.
FIG. 8 is a block schematic diagram of a control device for fodder tempering temperature according to an embodiment of the present application.
As shown in fig. 8, the control device 100 for conditioning temperature of feed is provided with a temperature sensor at the outlet of a conditioner of a granulator, wherein the device 100 comprises: the system comprises an acquisition module 101, a first calculation module 102 and a control module 103.
Specifically, the collection module 101 is configured to collect an actual outlet temperature of the conditioner by using a temperature sensor, and read a parameter input amount of the granulator to determine an actual set temperature of the granulator.
The first calculation module 102 is configured to compare the actual outlet temperature with the actual set temperature to obtain an error value between the actual outlet temperature and the actual set temperature, so as to utilize the error rate of change of the tempering temperature.
And the control module 103 is used for carrying out fuzzification processing on the error value and the error change rate to obtain control parameters of the PID controller, and controlling the PID controller to adjust the valve opening of the granulator based on the control parameters so as to adjust the current tempering temperature of the granulator by combining an actual control model, so that the current tempering temperature under the valve opening meets the preset optimal benefit condition.
Optionally, in one embodiment of the present application, the control device 100 for controlling a feed tempering temperature further includes: a building module and a second computing module.
The construction module is used for constructing an initial control model of the valve opening degree and the tempering temperature of the granulator.
And the second calculation module is used for solving the parameters of the initial control model to obtain an actual control model so as to determine the mapping relation between the valve opening and the current tempering temperature by using the actual control model.
Optionally, in one embodiment of the present application, the initial control model is:
wherein G(s) is a transfer function of the tempering temperature control system, K is a system gain, R is a system time constant, tau is a lag time, and s is a complex variable.
Optionally, in one embodiment of the present application, the second computing module includes: an acquisition unit and a first calculation unit.
The acquiring unit is used for acquiring response data of the tempering temperature under the preset valve opening.
And the first calculation unit is used for constructing an open-loop step response curve based on the response data so as to calculate parameters of the initial control model by using the open-loop step response curve.
Optionally, in one embodiment of the present application, the control module 300 includes: a second calculation unit and a third calculation unit.
The second calculation unit is used for obtaining a first control rule of the PID controller according to the current signal analog value, the error value and the error change rate of the PID controller.
And the third calculation unit is used for carrying out fuzzification processing on the first control rule to obtain a second control rule so as to obtain the control parameters of the PID controller based on the second control rule.
Optionally, in one embodiment of the present application, the first control law is:
Where u (t) is the analog value of the current signal at time t, e (t) is the error value, K p is the scaling factor, K i is the integration factor, and K d is the differential factor.
Optionally, in an embodiment of the present application, the second control law is:
Wherein Δk p is a proportional coefficient after the blurring process, Δk i is an integral coefficient after the blurring process, Δk d is a differential coefficient after the blurring process, K ' pi、K′ij、K′di is a membership function value, and μ (Δk ' pj)、μ(ΔK′ij) and μ (Δk ' dj) are membership degrees of the corresponding membership functions, respectively. It should be noted that the explanation of the foregoing embodiment of the method for controlling the tempering temperature of the feed is also applicable to the control device for controlling the tempering temperature of the feed in this embodiment, and will not be repeated here.
According to the control device for the feed tempering temperature, provided by the embodiment of the application, the actual outlet temperature of the tempering device can be acquired by using the temperature sensor, the actual set temperature of the granulator is determined according to the parameter input quantity of the granulator, the error value between the actual outlet temperature and the actual set temperature is further obtained, the error change rate of the tempering temperature is obtained according to the error value, the parameter input quantity is subjected to fuzzy processing by using the error value and the error change rate, the control parameter of the PID controller is obtained, the valve opening of the granulator is regulated, the current tempering temperature of the granulator is regulated by combining with an actual control model, the current tempering temperature under the valve opening meets the preset optimal benefit condition, the real-time response correction based on the feed formula change in the production process is realized, the accurate and stable control of the tempering temperature is realized, the optimal production benefit of the granulator is ensured, and the control device is convenient to popularize and apply. Therefore, the problems that in the related art, the overshoot of the system is large, the anti-interference performance is poor, the real-time response correction can not be made for the change of the feed formula in the production process, the accurate and stable control of the tempering temperature can not be performed and the like are solved.
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device may include:
memory 901, processor 902, and a computer program stored on memory 901 and executable on processor 902.
The processor 902 implements the control method of the fodder tempering temperature provided in the above embodiment when executing the program.
Further, the electronic device further includes:
a communication interface 903 for communication between the memory 901 and the processor 902.
Memory 901 for storing a computer program executable on processor 902.
Memory 901 may comprise high-speed RAM memory or may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 901, the processor 902, and the communication interface 903 are implemented independently, the communication interface 903, the memory 901, and the processor 902 may be connected to each other through a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (PERIPHERAL COMPONENT, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 9, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 901, the processor 902, and the communication interface 903 are integrated on a chip, the memory 901, the processor 902, and the communication interface 903 may communicate with each other through internal interfaces.
The processor 902 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or an Application SPECIFIC INTEGRATED Circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the application.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of controlling a feed tempering temperature as described above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer cartridge (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (10)
1. A control method of fodder tempering temperature, characterized in that a tempering device outlet of a granulator is provided with a temperature sensor, wherein the method comprises the following steps:
Acquiring the actual outlet temperature of the conditioner by using the temperature sensor, reading the parameter input quantity of the granulator, and determining the actual set temperature of the granulator;
Comparing the actual outlet temperature with the actual set temperature to obtain an error value between the actual outlet temperature and the actual set temperature, so as to utilize the error change rate of the tempering temperature of the error value;
And carrying out fuzzification processing on the error value and the error change rate to obtain control parameters of a PID controller, and controlling the PID controller to adjust the valve opening of the granulator based on the control parameters so as to adjust the current tempering temperature of the granulator by combining an actual control model, so that the current tempering temperature under the valve opening meets the preset optimal benefit condition.
2. The method of claim 1, further comprising, prior to adjusting the current tempering temperature of the granulator in conjunction with the actual control model:
constructing an initial control model of the valve opening of the granulator and the tempering temperature;
And solving parameters of the initial control model to obtain the actual control model, so as to determine the mapping relation between the valve opening and the current tempering temperature by using the actual control model.
3. The method of claim 2, wherein the initial control model is:
wherein G(s) is a transfer function of the tempering temperature control system, K is a system gain, R is a system time constant, tau is a lag time, and s is a complex variable.
4. The method of claim 2, wherein said solving parameters of said initial control model to obtain an actual control model comprises:
Acquiring response data of tempering temperature under the preset valve opening;
an open loop step response curve is constructed based on the response data to calculate parameters of the initial control model using the open loop step response curve.
5. The method according to claim 1, wherein said blurring the error value and the error rate to obtain control parameters of a PID controller, includes:
obtaining a first control rule of the PID controller according to the current signal analog value, the error value and the error change rate of the PID controller;
And carrying out fuzzification processing on the first control law to obtain a second control law so as to obtain control parameters of the PID controller based on the second control law.
6. The method of claim 5, wherein the first control law is:
Wherein u (t) is an analog value of the current signal at time t, e (t) is the error value, K p is a proportionality coefficient, K i is an integration coefficient, and K d is a differential coefficient.
7. The method of claim 5, wherein the second control law is:
Wherein Δk p is a proportional coefficient after the blurring process, Δk i is an integral coefficient after the blurring process, Δk d is a differential coefficient after the blurring process, K p ′ i、Ki ′ j、Ld ′ i is a membership function value, and μ (Δk p ′ j)、μ(ΔKi ′ j) and μ (Δk d ′ j) are membership degrees of corresponding membership functions, respectively.
8. A control device for conditioning temperature of feed, characterized in that the conditioner outlet of the granulator is provided with a temperature sensor, wherein the device comprises:
the acquisition module is used for acquiring the actual outlet temperature of the conditioner by using the temperature sensor, reading the parameter input quantity of the granulator and determining the actual set temperature of the granulator;
the calculation module is used for comparing the actual outlet temperature with the actual set temperature to obtain an error value between the actual outlet temperature and the actual set temperature so as to utilize the error change rate of the tempering temperature of the error value;
The control module is used for carrying out fuzzification on the error value and the error change rate to obtain control parameters of a PID controller, and controlling the PID controller to adjust the valve opening of the granulator based on the control parameters so as to adjust the current tempering temperature of the granulator by combining an actual control model, so that the current tempering temperature under the valve opening meets the preset optimal benefit condition.
9. An electronic device, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of controlling the conditioning temperature of a feed as claimed in any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for realizing the control method of the feed tempering temperature according to any one of claims 1-7.
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|---|---|---|---|
| CN202410057550.0A CN118131837A (en) | 2024-01-15 | 2024-01-15 | Method and device for controlling feed tempering temperature, electronic equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410057550.0A CN118131837A (en) | 2024-01-15 | 2024-01-15 | Method and device for controlling feed tempering temperature, electronic equipment and storage medium |
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| CN118131837A true CN118131837A (en) | 2024-06-04 |
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| CN202410057550.0A Pending CN118131837A (en) | 2024-01-15 | 2024-01-15 | Method and device for controlling feed tempering temperature, electronic equipment and storage medium |
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| CN (1) | CN118131837A (en) |
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