Intelligent adjustment method, device and system for regulating valve

Abstract

The present invention relates to the field of regulating valve regulation technology, and specifically to an intelligent regulating method, device and system for regulating valves. The method comprises: obtaining the pressure value, flow value and opening value of a PID controller; analyzing the change of flow value under different opening values ​​to determine the corresponding flow deviation; comprehensively analyzing the difference between the pressure value change and the flow deviation change during the historical working process of the regulating valve to obtain the disturbance degree value of the pressure on the flow; determining the theoretical flow value according to the flow value under different opening values ​​and the corresponding flow change amplitude under different degrees of adjustment of the opening; using the disturbance degree value, the pressure value and flow value corresponding to the adjustment of the opening value at the current moment to determine the fitness evaluation value at the current moment, and then obtaining the optimal parameters of the PID controller and adjusting it. The present invention can perform intelligent regulation on the regulating valve, improve the control accuracy of the regulating valve and the stability of the system.

Description

Technical Field

[0001] The present invention relates to the technical field of regulating valves, and in particular to an intelligent regulating method, device and system for regulating valves. Background Art

[0002] In industrial automation and control systems, control valves are used to precisely control the flow of fluids. With the advancement of technology, the traditional methods of manually or setting fixed control valve parameters are gradually unable to meet the needs of modern industry for precise control, remote monitoring and adaptive regulation. Therefore, intelligent control methods, equipment and systems for control valves have been developed, integrating advanced sensor technology, microprocessor control, communication interfaces and advanced control algorithms such as proportional-integration-differentiation (PID) control. Intelligent control valves optimize process control, improve production efficiency and resource utilization efficiency, reduce energy consumption and maintenance costs, and provide an efficient, reliable and intelligent fluid control solution by monitoring sensor parameters in real time and automatically adjusting the valve opening.

[0003] Usually, the PID controller adjusts the valve opening according to the difference between the set value and the actual measured value to achieve automatic control of the flow. However, in actual applications, the operating conditions of the control valve often change, such as changes in external conditions such as flow, pressure, and temperature. If the changes are large, the fixed PID parameters cannot adapt to the dynamic changes, resulting in poor control effects; and when the operating conditions change drastically, different PID parameters may be required, and manual adjustment is time-consuming and inflexible. Summary of the invention

[0004] In order to solve the problem that the PID parameters of the existing method cannot adapt to dynamic changes when adjusting the control valve, the purpose of the present invention is to provide an intelligent adjustment method, device and system for the control valve. The technical solution adopted is as follows:

[0005] In a first aspect, the present invention provides an intelligent regulating method for a regulating valve, the method comprising the following steps:

[0006] Obtain the historical working process of the control valve and the pressure value, flow value and opening value of the PID controller at the current moment;

[0007] Analyze the changes in flow values ​​at different opening values ​​during the historical working process, and determine the flow deviation corresponding to each opening value under different degrees of adjustment; comprehensively consider the difference between the changes in pressure values ​​and flow deviation during the historical working process of the regulating valve, and obtain the value of the disturbance degree of pressure on flow; according to the flow values ​​at different opening values ​​during the historical working process and the flow change amplitude corresponding to the opening under different degrees of adjustment, determine the theoretical flow values ​​corresponding to different openings under different degrees of adjustment;

[0008] Using the disturbance degree value, the pressure value corresponding to the current opening value adjustment and the corresponding flow value, obtain the interference error corresponding to the current opening value; combining the theoretical flow value corresponding to the current opening value and the corresponding interference error to determine the fitness evaluation value at the current moment;

[0009] The optimal parameters of the PID controller are determined and adjusted based on the fitness evaluation value.

[0010] Preferably, the pressure value, flow value and opening value of the regulating valve's historical working process and the current moment's PID controller are obtained;

[0011] Analyze the changes in flow values ​​at different opening values ​​during the historical working process, and determine the flow deviation corresponding to each opening value under different degrees of adjustment; comprehensively consider the difference between the changes in pressure values ​​and flow deviation during the historical working process of the regulating valve, and obtain the value of the disturbance degree of pressure on flow; according to the flow values ​​at different opening values ​​during the historical working process and the flow change amplitude corresponding to the opening under different degrees of adjustment, determine the theoretical flow values ​​corresponding to different openings under different degrees of adjustment;

[0012] Using the disturbance degree value, the pressure value corresponding to the current opening value adjustment and the corresponding flow value, obtain the interference error corresponding to the current opening value; combining the theoretical flow value corresponding to the current opening value and the corresponding interference error to determine the fitness evaluation value at the current moment;

[0013] The optimal parameters of the PID controller are determined and adjusted based on the fitness evaluation value.

[0014] Preferably, the analysis of the change of flow values ​​at different opening values ​​during the historical working process to determine the flow deviation corresponding to each opening value under different degrees of adjustment includes:

[0015] Calculate the comprehensive flow value after the opening value to be analyzed is adjusted by x units in the historical working process of the regulating valve and the comprehensive flow value when the opening value to be analyzed is not adjusted in the historical working process of the regulating valve, and record the difference between the two comprehensive flow values ​​as the flow change value of the opening value to be analyzed; and take the ratio between the flow change value and x as the theoretical flow change amplitude corresponding to the opening value to be analyzed when the opening value to be analyzed is adjusted by x units;

[0016] The difference between the flow rate change amplitude corresponding to the adjustment of the opening value to be analyzed by x units in the historical working process and the theoretical flow rate change amplitude corresponding to the adjustment of the opening value to be analyzed by x units is taken as the flow rate deviation corresponding to the adjustment of the opening value to be analyzed by x units;

[0017] The opening value to be analyzed is any opening value.

[0018] Preferably, the difference between the pressure value change and the flow deviation change during the historical working process of the integrated regulating valve is used to obtain the disturbance degree value of the pressure on the flow, including:

[0019] The pressure values ​​at all the acquisition moments in the historical working process are curve-fitted to obtain the pressure curve; the flow deviation degree at all the acquisition moments in the historical working process is curve-fitted to obtain the flow deviation degree curve;

[0020] According to the difference between the slope of the pressure value at each acquisition moment in the historical working process on the pressure curve and the slope of the flow deviation at the same moment on the flow deviation curve, the disturbance degree value of the pressure on the flow is obtained, and the difference between the slopes is negatively correlated with the disturbance degree value.

[0021] Preferably, the method of determining the theoretical flow values ​​corresponding to different openings under different degrees of adjustment according to the flow values ​​under different opening values ​​in the historical working process and the flow change amplitudes corresponding to different degrees of adjustment of the openings comprises:

[0022] Calculate the sum of constant 1 and the flow deviation corresponding to the opening value to be analyzed when it is adjusted by x units, and take the product of the flow value corresponding to the opening value to be analyzed and the sum as the theoretical flow value corresponding to the opening value to be analyzed when it is adjusted by x units.

[0023] Preferably, the method of using the disturbance degree value, the pressure value corresponding to the adjustment of the opening value at the current moment, and the corresponding flow value to obtain the interference error corresponding to the opening value at the current moment includes:

[0024] The product of the pressure value corresponding to the current opening value during adjustment and the disturbance degree value of the pressure on the flow is normalized, and the product of the normalized result and the flow value corresponding to the current moment is taken as the interference error corresponding to the current opening value.

[0025] Preferably, the step of determining the fitness evaluation value at the current moment by combining the theoretical flow value corresponding to the opening at the current moment with the corresponding interference error includes:

[0026] The sum of the theoretical flow value corresponding to the opening value at the current moment and the interference error corresponding to the opening value at the current moment is recorded as the first eigenvalue; the negative correlation normalization result of the difference between the first eigenvalue and the preset output flow value is taken as the fitness evaluation value at the current moment.

[0027] Preferably, the step of respectively calculating the comprehensive flow value after the opening value to be analyzed in the historical working process of the regulating valve is adjusted by x units and the comprehensive flow value when the opening value to be analyzed in the historical working process of the regulating valve is not adjusted comprises:

[0028] The average of all flow values ​​after the opening value to be analyzed in the historical working process of the regulating valve is adjusted by x units is used as the comprehensive flow value after the opening value to be analyzed in the historical working process of the regulating valve is adjusted by x units;

[0029] The average of all flow values ​​when the opening value to be analyzed in the historical working process of the control valve is not adjusted is used as the comprehensive flow value when the opening value to be analyzed in the historical working process of the control valve is not adjusted.

[0030] Preferably, determining the optimal parameters of the PID controller based on the fitness evaluation value includes: determining the optimal parameters of the PID controller using a genetic algorithm based on the fitness evaluation value.

[0031] In a second aspect, the present invention provides an intelligent regulating device for a regulating valve, comprising a memory and a processor, wherein the processor executes a computer program stored in the memory to implement an intelligent regulating method for a regulating valve.

[0032] In a third aspect, the present invention further provides an intelligent regulating system for a regulating valve, the system comprising:

[0033] The data acquisition module is used to obtain the historical working process of the control valve and the pressure value, flow value and opening value of the PID controller at the current moment;

[0034] Theoretical flow value calculation module is used to analyze the change of flow value under different opening values ​​in the historical working process, determine the flow deviation corresponding to each opening value under different degrees of adjustment; comprehensively analyze the difference between the pressure value change and the flow deviation change in the historical working process of the regulating valve, and obtain the value of the disturbance degree of pressure on the flow; according to the flow value under different opening values ​​in the historical working process and the flow change amplitude corresponding to the opening under different degrees of adjustment, determine the theoretical flow value corresponding to different openings under different degrees of adjustment;

[0035] The fitness evaluation value calculation module is used to obtain the interference error corresponding to the opening value at the current moment by using the disturbance degree value, the pressure value corresponding to the opening value at the current moment and the corresponding flow value when the opening value is adjusted at the current moment; and determine the fitness evaluation value at the current moment by combining the theoretical flow value corresponding to the opening value at the current moment and the corresponding interference error;

[0036] The parameter adjustment module is used to determine the optimal parameters of the PID controller based on the fitness evaluation value and adjust them.

[0037] The present invention has at least the following beneficial effects:

[0038] The present invention first analyzes the change of flow values ​​under different opening values ​​in the historical working process of the regulating valve, obtains the flow deviation corresponding to each opening value under different degrees of adjustment, analyzes the disturbance degree of pressure on flow according to the difference between the change of pressure value and the change of flow deviation in the historical working process, obtains the disturbance degree value of pressure on flow, determines the theoretical flow value corresponding to each opening under different degrees of adjustment according to the flow value under different opening values ​​and the flow change amplitude corresponding to the opening under different degrees of adjustment, further determines the fitness evaluation value in combination with the theoretical flow value corresponding to the opening at the current moment and the corresponding interference error, and is used to evaluate the advantages and disadvantages of each parameter combination, can effectively perform dynamic adjustment according to the actual working situation of the regulating valve, can comprehensively analyze the data change after the opening adjustment and the evaluation result of the control valve opening effect based on the error between the flow and pressure data change caused by the opening change of the regulating valve in the historical data and the set value, and the influence between the pressure, flow and opening, further uses the fitness evaluation value to determine the optimal parameters of PID, so that the best control performance can be achieved under various working conditions, thereby improving the control accuracy of the regulating valve and the stability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A flow chart of an intelligent regulating method for a regulating valve provided by an embodiment of the present invention;

[0041] Figure 2 A structural block diagram of an intelligent regulating system for a regulating valve provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the following is a detailed description of an intelligent adjustment method, device and system for a regulating valve proposed in accordance with the present invention in combination with the accompanying drawings and preferred embodiments.

[0043] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0044] The specific scheme of an intelligent regulating method, device and system for a regulating valve provided by the present invention is described in detail below with reference to the accompanying drawings.

[0045] An embodiment of an intelligent regulating method for regulating valve:

[0046] This embodiment proposes an intelligent adjustment method for a regulating valve, such as Figure 1 As shown, an intelligent regulating method for a regulating valve in this embodiment includes the following steps:

[0047] Step S1, obtaining the historical working process of the regulating valve and the pressure value, flow value and opening value of the PID controller at the current moment.

[0048] First, install the pressure sensor on the pipes upstream and downstream of the regulating valve to collect the pressure on both sides of the valve, and install the flow sensor in the downstream pipe of the regulating valve to directly measure the flow through the valve. Install the opening sensor on the valve stem of the regulating valve to detect the opening angle of the valve. The signal collected by the sensor to the regulating valve is transmitted to the data acquisition module via a cable, or transmitted using a wireless sensor, and uploaded to the central server or cloud data platform through the network for storage and analysis. The raw data collected by the sensor may be interfered by noise, and a mean filtering algorithm is used to eliminate noise and ensure data accuracy.

[0049] In this embodiment, the collection frequency of the pressure value, flow value and opening value is set to be once per second, that is, a pressure value, a flow value and an opening value are collected every second. This embodiment obtains the pressure value, flow value and opening value of the regulating valve historical working process and the PID controller at the current moment.

[0050] Step S2, analyzing the changes in flow values ​​at different opening values ​​during the historical working process, and determining the flow deviation corresponding to each opening value under different degrees of adjustment; comprehensively considering the difference between the changes in pressure values ​​and the changes in flow deviation during the historical working process of the regulating valve, and obtaining the value of the disturbance degree of pressure on flow; and determining the theoretical flow values ​​corresponding to different openings under different degrees of adjustment according to the flow values ​​at different opening values ​​during the historical working process and the flow change amplitudes corresponding to different degrees of adjustment of the opening.

[0051] In order to adapt to the actual working conditions of the control valve, the genetic algorithm is used to optimize the PID control and dynamically adjust the parameter combination. First, the three parameters of the PID controller are used as individuals of the genetic algorithm, and then the fitness function is used to evaluate the pros and cons of each parameter combination. The performance of the control valve needs to be evaluated. The fitness calculation of the individual is based on the error between the flow and pressure data changes caused by the adjustment of the control valve opening in the historical data and the set value, as well as the influence relationship between pressure, flow and opening, and the stability of the changes in each data after the opening adjustment is analyzed, and then the evaluation results are integrated into the fitness evaluation value to judge the pros and cons of the PID parameter combination and guide the optimization direction of the genetic algorithm.

[0052] When the valve is adjusted by the PID controller, fixed parameters are used. However, the actual working conditions vary. In order to realize intelligent control of the regulating valve, the PID parameters under the current working conditions are optimized according to the changes in the key parameters of the regulating valve, flow and pressure, which are monitored in real time, so as to control the opening of the regulating valve.

[0053] Traditional PID parameter optimization methods are prone to fall into local optimal solutions, while genetic algorithms are a global search algorithm that can explore the solution space through mechanisms such as population evolution, crossover and mutation to find the global optimal solution. At the same time, through the design of fitness functions, it can comprehensively consider multiple objectives, achieve multi-objective optimization, and then find the optimal PID parameter combination that balances various performance indicators.

[0054] The three parameters of the PID controller are used as individual genes in the genetic algorithm. Each individual represents a set of PID parameter combinations. In the initialization stage, a set of initial populations is randomly generated, and each individual contains different parameter combinations. Fitness is an indicator to evaluate the effect of the individual (PID parameter combination) on the adjustment of the control valve opening. The ideal situation is to control the control valve opening so that the flow reaches the preset level of the water plant or sewage plant. Therefore, the current individual, that is, the current PID parameter combination outputs the control signal to adjust the opening to determine whether the flow can reach the set value. When it is determined that the PID parameter combination sends a control signal to adjust the control valve opening, the smaller the error between the actual flow and the set value, the better the parameter combination and the higher the fitness of the individual. Therefore, before actually controlling the control valve, the theoretical value of the flow change corresponding to the adjustment of the control valve opening of the individual is evaluated first, and compared with the set value, so as to determine whether the individual is the best choice.

[0055] Since the larger the opening of the regulating valve, the larger the area through which the water flows, and the greater the flow rate, the corresponding change relationship is obtained based on the changes in the opening of the regulating valve and the changes in the flow rate in the historical data.

[0056] Specifically, any opening value is recorded as the opening value to be analyzed, and the average of all flow values ​​after the opening value to be analyzed is adjusted by x units in the historical working process of the regulating valve is used as the comprehensive flow value after the opening value to be analyzed is adjusted by x units in the historical working process of the regulating valve; the average of all flow values ​​when the opening value to be analyzed is not adjusted in the historical working process of the regulating valve is used as the comprehensive flow value when the opening value to be analyzed is not adjusted in the historical working process of the regulating valve; the difference between the two comprehensive flow values ​​is recorded as the flow change value of the opening value to be analyzed; the ratio between the flow change value and x is used as the theoretical flow change amplitude corresponding to the opening value to be analyzed when it is adjusted by x units. The theoretical flow change amplitude corresponding to the i-th opening value when it is adjusted by x units can be expressed as:

[0057]

[0058] in, It indicates the theoretical flow rate change range corresponding to the adjustment of the i-th opening value by x units. It indicates the comprehensive flow value of the i-th opening value after adjusting x units in the historical working process of the control valve. It indicates the comprehensive flow value when the i-th opening value is not adjusted during the historical operation of the control valve. Indicates the absolute value sign.

[0059] Indicates the flow change value of the i-th opening value, which is used to reflect the difference between the comprehensive flow value after the i-th opening value is adjusted by x units in the historical working process of the control valve and the comprehensive flow value when the i-th opening value is not adjusted; It is used to reflect the change in flow rate caused by adjusting the angle of the control valve based on the i-th opening value. The greater the difference between the comprehensive flow value after adjusting the i-th opening value by x units and the comprehensive flow value when the i-th opening value is not adjusted, the greater the impact of the opening adjustment on the flow rate, that is, the greater the change in theoretical flow rate corresponding to the adjustment by x units.

[0060] It should be noted that: in the present embodiment, when the opening value is adjusted, the angle of each unit is 5 degrees. As other implementations, it can also be 10 degrees, 15 degrees, etc. The size of each unit can be set according to the specific situation.

[0061] Next, the difference between the flow rate change amplitude corresponding to the adjustment of the opening value to be analyzed by x units in the historical working process and the theoretical flow rate change amplitude corresponding to the adjustment of the opening value to be analyzed by x units is obtained as the flow rate deviation corresponding to the adjustment of the opening value to be analyzed by x units.

[0062] According to the deviation of the flow rate adjusted by the opening of the regulating valve, the effect of pressure on the flow rate after the opening is analyzed, and the disturbance effect of pressure on the flow rate is obtained according to the change of the deviation of pressure and flow data at the corresponding moment in the historical data. The greater the water pressure upstream of the regulating valve and the greater the impact during the adjustment of the valve opening, the greater the deviation of the flow rate.

[0063] Next, curve fitting is performed on the pressure values ​​at all the acquisition moments in the historical working process to obtain a pressure curve, where the horizontal coordinate of the pressure curve is the acquisition moment and the vertical coordinate is the pressure value; curve fitting is performed on the flow deviation at all the acquisition moments in the historical working process to obtain a flow deviation curve, where the horizontal coordinate of the flow deviation curve is the acquisition moment and the vertical coordinate is the flow deviation. According to the difference between the slope of the pressure value at each acquisition moment in the historical working process on the pressure curve and the slope of the flow deviation at the same moment on the flow deviation curve, the disturbance degree value of the pressure on the flow is obtained, and the difference between the slopes is negatively correlated with the disturbance degree value. Curve fitting and slope acquisition methods are both prior art and will not be elaborated here.

[0064] Among them, the negative correlation relationship means that the dependent variable will decrease as the independent variable increases, and the dependent variable will increase as the independent variable decreases. It can be a subtraction relationship, a division relationship, etc., which is determined by practical applications.

[0065] In this embodiment, a specific calculation formula for the disturbance degree value of pressure on flow is given, and the disturbance degree value of pressure on flow can be expressed as:

[0066]

[0067] Among them, Y represents the disturbance degree of pressure on flow, N represents the number of acquisition moments in the historical working process, Indicates the slope of the pressure value at the nth acquisition moment in the historical working process on the pressure curve, represents the slope of the flow deviation at the nth acquisition moment in the historical working process on the flow deviation curve, exp( ) represents an exponential function with a natural constant as the base, Indicates the absolute value sign.

[0068] It indicates the difference between the slope of the pressure value at the nth acquisition moment in the historical working process on the pressure curve and the slope of the flow deviation on the flow deviation curve. The larger the value, the greater the difference between the two. The smaller the difference between the slope of the pressure value on the pressure curve and the slope of the flow deviation on the flow deviation curve in the historical working process, the more similar the slopes of the two curves are, and the higher the consistency of the changes in pressure and flow deviation is. This reflects that when the water pressure upstream of the regulating valve increases, the flow is affected more by it, and the greater the deviation is, the stronger the disturbance effect of pressure on flow, that is, the greater the disturbance degree of pressure on flow.

[0069] Ideally, the opening of the regulating valve is adjusted to a certain angle, and the flow rate change is fixed. When the control signal of the PID controller is used to adjust the angle of the regulating valve opening, the theoretical flow rate value can be obtained by the corresponding flow rate change amplitude.

[0070] Specifically, the sum of the constant 1 and the flow deviation corresponding to the opening value to be analyzed when adjusted by x units is calculated, and the product of the flow value corresponding to the opening value to be analyzed and the sum is used as the theoretical flow value corresponding to the opening value to be analyzed when adjusted by x units.

[0071] In this embodiment, a specific calculation formula for the theoretical flow value is given. The theoretical flow value corresponding to the i-th opening value when adjusted by x units can be expressed as:

[0072]

[0073] in, It indicates the theoretical flow value corresponding to the i-th opening value when the regulating valve is adjusted by x units in the historical working process. It indicates the flow deviation corresponding to the i-th opening value when adjusting x units in the historical working process of the control valve. It indicates the flow value corresponding to the i-th opening value in the historical working process of the control valve.

[0074] It is the theoretical flow value after adjusting x units, calculated based on the change in flow caused by the opening adjustment. When the flow deviation corresponding to the i-th opening value when adjusted by x units is larger, the theoretical flow value corresponding to the i-th opening value when adjusted by x units is larger.

[0075] By adopting the above method, the theoretical flow value corresponding to each opening value under different degrees of adjustment can be obtained.

[0076] Step S3, using the disturbance degree value, the pressure value corresponding to the opening value at the current moment when it is adjusted, and the corresponding flow value, obtain the interference error corresponding to the opening value at the current moment; combine the theoretical flow value corresponding to the opening at the current moment and the corresponding interference error to determine the fitness evaluation value at the current moment.

[0077] In the actual factory control of regulating valves, there are also factors such as excessive water storage or temperature changes that cause pressure changes, and excessive impact when adjusting the opening of the regulating valve causes abnormal flow changes. Therefore, the disturbance effect of pressure on flow is combined to obtain the interference error when the opening is adjusted to different degrees.

[0078] Specifically, the product of the pressure value corresponding to the current opening value during adjustment and the disturbance degree value of the pressure on the flow rate is normalized, and the product of the normalized result and the flow rate value corresponding to the current moment is used as the interference error corresponding to the current opening value.

[0079] The interference error corresponding to the opening value at the current moment can be expressed as:

[0080]

[0081] in, Indicates the interference error corresponding to the opening value at the current moment, represents the flow value corresponding to the current moment, Y represents the disturbance degree of pressure on flow, It indicates the pressure value corresponding to the current opening value when it is adjusted, and sigmoid() indicates the normalization function.

[0082] The interference error is used to reflect the flow deviation value caused by the pressure after the opening is adjusted. When the flow value corresponding to the i-th opening value is larger, the disturbance degree of the pressure on the flow is larger and the pressure value corresponding to the i-th opening value when it is adjusted by x units, the interference error of the i-th opening value when it is adjusted by x units is larger.

[0083] Next, the individual fitness will be evaluated by combining the theoretical flow value corresponding to the opening at the current moment and the flow value corresponding to the current moment. The smaller the difference between the theoretical flow value and the interference error and the set value, the better the individual effect is and the higher its fitness evaluation is.

[0084] The sum of the theoretical flow value corresponding to the opening value at the current moment and the interference error corresponding to the opening value at the current moment is recorded as the first eigenvalue; the negative correlation normalization result of the difference between the first eigenvalue and the preset output flow value is taken as the fitness evaluation value at the current moment.

[0085] In this embodiment, a specific calculation formula for the fitness evaluation value is given, and the fitness evaluation value at the current moment can be expressed as:

[0086]

[0087] in, Represents the fitness evaluation value at the current moment, Indicates the theoretical flow value corresponding to the opening value at the current moment. Indicates the interference error corresponding to the opening value at the current moment, It indicates the factory preset output flow value for the control valve, and exp( ) indicates an exponential function with a natural constant as the base.

[0088] Indicates the final estimated flow rate when the opening value at the current moment is adjusted, which is the combination of the theoretical flow rate and the error; It indicates the difference between the final flow rate estimate of the current opening value when adjusted and the factory required set value. The smaller the value, the more the opening adjustment meets the factory requirements, and the closer the adjusted flow rate is to the set value. It should be noted that the preset output flow value is set by the implementer according to the specific situation.

[0089] So far, this embodiment has obtained the fitness evaluation value at the current moment.

[0090] Step S4: determining and adjusting the optimal parameters of the PID controller based on the fitness evaluation value.

[0091] After obtaining the fitness evaluation value at the current moment, the optimal parameters of the PID controller are determined based on the fitness evaluation value at the current moment.

[0092] The fitness function is the core of the genetic algorithm, guiding the subsequent processing of the genetic algorithm (selection, crossover and mutation). The genetic algorithm mainly includes the following steps: Selection: According to the fitness evaluation value at the current moment, use roulette to select individuals with better performance; Crossover: Use the single-point crossover method to exchange and combine some genes (PID parameters) of the attached individuals into new offspring individuals; Mutation: In the newly generated individuals, random mutations are performed on individual genes (random increase or decrease of PID parameter combinations) to introduce randomness, increase the diversity of the population, and avoid falling into local optimality. The genetic algorithm is continuously iterated, and each generation generates a new population through selection, crossover and mutation. Each generation of individuals undergoes fitness evaluation, and the individuals with the highest fitness (optimal parameter combination) are retained. The iteration continues until the fitness difference between two adjacent generations of individuals is less than the threshold value of 0.1, and the final optimal PID parameter combination is obtained.

[0093] The PID controller obtains the optimal parameter combination through genetic algorithm, which are proportional control, integral control and differential control. The three values ​​are added to obtain a comprehensive control signal, which represents the adjustment range of the control valve opening, that is, the voltage signal is directly sent to the actuator of the control valve. After receiving the control signal, the actuator of the control valve adjusts the valve opening according to the size and direction of the signal. After the opening of the control valve changes, parameters such as flow and pressure will change accordingly. The new parameter value is fed back to the PID controller through the sensor. The PID controller recalculates the control signal according to the latest optimal parameter combination obtained by the genetic algorithm, continuously adjusts the valve opening, stabilizes the system near the set value, and realizes intelligent adjustment of the control valve.

[0094] This embodiment first analyzes the change of flow values ​​at different opening values ​​in the historical working process of the regulating valve, and obtains the flow deviation corresponding to each opening value under different degrees of adjustment. According to the difference between the change of pressure value and the change of flow deviation in the historical working process, the disturbance degree of pressure on flow is analyzed to obtain the disturbance degree value of pressure on flow. According to the flow values ​​at different opening values ​​and the flow change amplitude corresponding to the opening under different degrees of adjustment, the theoretical flow value corresponding to each opening under different degrees of adjustment is determined. Further, the theoretical flow value corresponding to the opening at the current moment is combined with the theoretical flow value corresponding to the opening at the current moment. The corresponding interference error determines the fitness evaluation value, which is used to evaluate the advantages and disadvantages of each parameter combination. It can effectively make dynamic adjustments according to the actual working conditions of the control valve. It can be based on the errors between the flow and pressure data changes caused by the changes in the control valve opening in the historical data and the set values, as well as the influence between pressure, flow and opening. It can comprehensively analyze the data changes after the opening adjustment and the evaluation results of the control valve opening effect. The fitness evaluation value is further used to guide the optimization direction of the genetic algorithm to ensure that the PID parameter combination can achieve the best control performance under various working conditions, thereby improving the control accuracy of the control valve and the stability of the system.

[0095] An embodiment of an intelligent regulating device for regulating valve:

[0096] An intelligent regulating device for a regulating valve in this embodiment includes a memory and a processor, and the processor executes a computer program stored in the memory to implement the above-mentioned intelligent regulating method for a regulating valve.

[0097] An embodiment of an intelligent regulating system for regulating valves:

[0098] like Figure 2 As shown, the figure shows a structural block diagram of an intelligent regulating system for regulating valves, the system includes a data acquisition module, a theoretical flow value calculation module, a fitness evaluation value calculation module and a parameter adjustment module;

[0099] The data acquisition module is used to obtain the historical working process of the regulating valve and the pressure value, flow value and opening value of the PID controller at the current moment;

[0100] Theoretical flow value calculation module is used to analyze the change of flow value under different opening values ​​in the historical working process, determine the flow deviation corresponding to each opening value under different degrees of adjustment; comprehensively analyze the difference between the pressure value change and the flow deviation change in the historical working process of the regulating valve, and obtain the value of the disturbance degree of pressure on the flow; according to the flow value under different opening values ​​in the historical working process and the flow change amplitude corresponding to the opening under different degrees of adjustment, determine the theoretical flow value corresponding to different openings under different degrees of adjustment;

[0101] The fitness evaluation value calculation module is used to obtain the interference error corresponding to the opening value at the current moment by using the disturbance degree value, the pressure value corresponding to the opening value at the current moment and the corresponding flow value when the opening value is adjusted at the current moment; and determine the fitness evaluation value at the current moment by combining the theoretical flow value corresponding to the opening value at the current moment and the corresponding interference error;

[0102] The parameter adjustment module is used to determine the optimal parameters of the PID controller based on the fitness evaluation value and adjust them.

[0103] It should be understood that Figure 2 The structural block diagram of an intelligent regulating system for regulating valves and its modules shown can be implemented in various ways. For example, in some embodiments, the system and its modules can be implemented by hardware, software, or a combination of software and hardware. Among them, the hardware part can be implemented using dedicated logic; the software part can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated design hardware. Those skilled in the art can understand that the above-mentioned method and system can be implemented using computer executable instructions and / or included in a processor control code, for example, such codes are provided on a carrier medium such as a disk, CD or DVD-ROM, a programmable memory such as a read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The system and its modules of this specification can not only be implemented by hardware circuits such as ultra-large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., but can also be implemented by software executed by various types of processors, and can also be implemented by a combination of the above-mentioned hardware circuits and software (for example, firmware).

[0104] For more details about the above modules, please refer to other places in this manual and will not be repeated here.

[0105] In other embodiments, a medium is also provided, which stores at least one program executable by a computer. When the at least one program is executed by a computer, the computer executes the steps of the intelligent control method for a regulating valve in the above-mentioned embodiment. The medium may be a computer-readable storage medium.

[0106] Among them, the provided equipment, system, and medium are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0107] It should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent regulating method for a regulating valve, characterized in that: The method comprises the following steps: Obtain the historical working process of the control valve and the pressure value, flow value and opening value of the PID controller at the current moment; Analyze the changes in flow values ​​at different opening values ​​during the historical working process, and determine the flow deviation corresponding to each opening value under different degrees of adjustment; comprehensively consider the difference between the changes in pressure values ​​and flow deviation during the historical working process of the regulating valve, and obtain the value of the disturbance degree of pressure on flow; according to the flow values ​​at different opening values ​​during the historical working process and the flow change amplitude corresponding to the opening under different degrees of adjustment, determine the theoretical flow values ​​corresponding to different openings under different degrees of adjustment; Using the disturbance degree value, the pressure value corresponding to the current opening value adjustment and the corresponding flow value, obtain the interference error corresponding to the current opening value; combining the theoretical flow value corresponding to the current opening value and the corresponding interference error to determine the fitness evaluation value at the current moment; Determine and adjust the optimal parameters of the PID controller based on the fitness evaluation value; The analysis of the change of flow values ​​at different opening values ​​during the historical working process and determining the flow deviation corresponding to each opening value under different degrees of adjustment include: Calculate the comprehensive flow value after the opening value to be analyzed is adjusted by x units in the historical working process of the regulating valve and the comprehensive flow value when the opening value to be analyzed is not adjusted in the historical working process of the regulating valve, and record the difference between the two comprehensive flow values ​​as the flow change value of the opening value to be analyzed; and take the ratio between the flow change value and x as the theoretical flow change amplitude corresponding to the opening value to be analyzed when the opening value to be analyzed is adjusted by x units; The difference between the flow rate change amplitude corresponding to the adjustment of the opening value to be analyzed by x units in the historical working process and the theoretical flow rate change amplitude corresponding to the adjustment of the opening value to be analyzed by x units is taken as the flow rate deviation corresponding to the adjustment of the opening value to be analyzed by x units; The opening value to be analyzed is any opening value; Determining the theoretical flow values ​​corresponding to different openings under different degrees of adjustment according to the flow values ​​under different opening values ​​in the historical working process and the flow change amplitudes corresponding to different degrees of adjustment of the openings includes: Calculate the sum of the constant 1 and the flow deviation corresponding to the opening value to be analyzed when it is adjusted by x units, and take the product of the flow value corresponding to the opening value to be analyzed and the sum as the theoretical flow value corresponding to the opening value to be analyzed when it is adjusted by x units; The difference between the pressure value change and the flow deviation change during the historical working process of the comprehensive regulating valve is used to obtain the disturbance degree value of the pressure on the flow, including: The pressure values ​​at all the acquisition moments in the historical working process are curve-fitted to obtain the pressure curve; the flow deviation degree at all the acquisition moments in the historical working process is curve-fitted to obtain the flow deviation degree curve; According to the difference between the slope of the pressure value at each acquisition moment in the historical working process on the pressure curve and the slope of the flow deviation at the same moment on the flow deviation curve, the disturbance degree value of the pressure on the flow is obtained, and the difference between the slopes is negatively correlated with the disturbance degree value; The method of obtaining the interference error corresponding to the opening value at the current moment by using the disturbance degree value, the pressure value corresponding to the opening value at the current moment when the opening value is adjusted, and the corresponding flow value includes: Normalize the product of the pressure value corresponding to the current opening value when adjusting and the disturbance degree value of the pressure on the flow rate, and take the product of the normalized result and the flow rate value corresponding to the current moment as the interference error corresponding to the opening value at the current moment; The step of combining the theoretical flow value corresponding to the opening at the current moment with the corresponding interference error to determine the fitness evaluation value at the current moment includes: The sum of the theoretical flow value corresponding to the opening value at the current moment and the interference error corresponding to the opening value at the current moment is recorded as the first eigenvalue; the negative correlation normalization result of the difference between the first eigenvalue and the preset output flow value is taken as the fitness evaluation value at the current moment.

2. The intelligent regulating method for regulating valve according to claim 1, characterized in that: The method of respectively calculating the comprehensive flow value after the opening value to be analyzed in the historical working process of the regulating valve is adjusted by x units and the comprehensive flow value when the opening value to be analyzed in the historical working process of the regulating valve is not adjusted includes: The average of all flow values ​​after the opening value to be analyzed in the historical working process of the regulating valve is adjusted by x units is used as the comprehensive flow value after the opening value to be analyzed in the historical working process of the regulating valve is adjusted by x units; The average of all flow values ​​when the opening value to be analyzed in the historical working process of the control valve is not adjusted is used as the comprehensive flow value when the opening value to be analyzed in the historical working process of the control valve is not adjusted.

3. The intelligent regulating method for regulating valve according to claim 1, characterized in that: Determining the optimal parameters of the PID controller based on the fitness evaluation value includes: determining the optimal parameters of the PID controller using a genetic algorithm based on the fitness evaluation value.

4. An intelligent regulating device for a regulating valve, comprising a memory and a processor, characterized in that: The processor executes the computer program stored in the memory to implement the intelligent regulating method for a regulating valve according to any one of claims 1 to 3.

5. An intelligent regulating system for a regulating valve, characterized in that: The system implements the intelligent regulating method for regulating valve according to any one of claims 1 to 3, and the system comprises: The data acquisition module is used to obtain the historical working process of the control valve and the pressure value, flow value and opening value of the PID controller at the current moment; Theoretical flow value calculation module is used to analyze the change of flow value under different opening values ​​in the historical working process, determine the flow deviation corresponding to each opening value under different degrees of adjustment; comprehensively analyze the difference between the pressure value change and the flow deviation change in the historical working process of the regulating valve, and obtain the value of the disturbance degree of pressure on the flow; according to the flow value under different opening values ​​in the historical working process and the flow change amplitude corresponding to the opening under different degrees of adjustment, determine the theoretical flow value corresponding to different openings under different degrees of adjustment; The fitness evaluation value calculation module is used to obtain the interference error corresponding to the opening value at the current moment by using the disturbance degree value, the pressure value corresponding to the opening value at the current moment and the corresponding flow value when the opening value is adjusted at the current moment; and determine the fitness evaluation value at the current moment by combining the theoretical flow value corresponding to the opening value at the current moment and the corresponding interference error; The parameter adjustment module is used to determine the optimal parameters of the PID controller based on the fitness evaluation value and adjust them.

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