Magnetic suspension low-temperature waste heat generator set control method, device, equipment and medium

Abstract

The invention discloses a control method, device and equipment for a magnetic suspension low-temperature waste heat generator set and a medium, which are applied to the field of control, and comprise the following steps: optimizing the rotating speed of the magnetic suspension low-temperature waste heat generator set by utilizing a least square method based on the actual generating capacity and the expected generating capacity to obtain a rotating speed correction value; based on the rotation speed correction value, a variable universe self-adaptive fuzzy PID algorithm is used for calculation to obtain a control parameter; and the rotating speed of the magnetic suspension low-temperature waste heat generator set is adjusted and controlled based on the control parameters, so that the generating capacity under the current working condition reaches the expected generating capacity. The rotating speed of the magnetic suspension low-temperature waste heat generator set is intervened and controlled by using the least square method and the variable universe self-adaptive fuzzy PID, so that the magnetic suspension low-temperature waste heat generator set can quickly reach the maximum generating capacity under the current working condition, and the maximum efficiency value of the magnetic suspension low-temperature waste heat generator set under the current working condition is realized; and the working efficiency of the system is improved.

Description

Technical Field

[0001] The present invention relates to the field of control, and in particular to a control method, device, equipment and medium for a magnetically suspended low-temperature waste heat generator set. Background Art

[0002] With the development of magnetic levitation technology, magnetic levitation motors have begun to be used in low-temperature waste heat power generation. Since the magnetic levitation low-temperature waste heat power generation system has a wider adjustment range, optimizing the adaptation to the customer's on-site working conditions can better achieve the maximum power generation, that is, the maximum efficiency value of the magnetic levitation low-temperature waste heat generator under the current water temperature and flow rate. At the same time, considering the self-starting and self-adaptation problems of the on-site magnetic levitation low-temperature waste heat generator set, how to improve the operating efficiency and stability of the magnetic levitation low-temperature waste heat generator set while ensuring the normal operation of the magnetic levitation low-temperature waste heat generator set is a problem that needs to be solved urgently. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a control method, device, equipment and medium for a magnetic levitation low-temperature waste heat power generation set, which solves the problems of inefficiency and instability in the control of a magnetic levitation low-temperature waste heat power generation set while ensuring the normal operation of the magnetic levitation low-temperature waste heat power generation set in the prior art.

[0004] In order to solve the above technical problems, the present invention provides a control method for a magnetically suspended low-temperature waste heat power generation unit, comprising:

[0005] Obtain the actual power generation corresponding to a given speed and the expected power generation corresponding to the current operating conditions;

[0006] Based on the actual power generation and the expected power generation, the speed of the magnetic levitation low-temperature waste heat power generation unit is optimized by using the least square method to obtain a speed correction value;

[0007] Based on the speed correction value, the control parameters are calculated using the variable universe adaptive fuzzy PID algorithm;

[0008] The rotation speed of the magnetic levitation low-temperature waste heat power generation unit is adjusted and controlled based on the control parameters so that the power generation under the current operating conditions reaches the expected power generation.

[0009] Optionally, obtain the expected power generation corresponding to the current operating conditions, including:

[0010] Collecting the field operating data of the magnetic levitation low-temperature waste heat power generation unit, wherein the field operating data includes evaporation water inlet temperature, evaporation water outlet temperature, cooling water inlet temperature, cooling water outlet temperature, expander inlet pressure and expander outlet pressure;

[0011] The maximum power generation is calculated according to the on-site operating condition data, and the maximum power generation is used as the expected power generation.

[0012] Optionally, based on the actual power generation and the expected power generation, the speed of the magnetic levitation low-temperature waste heat power generation unit is optimized using a least squares method to obtain a speed correction value, including:

[0013] Obtaining a system error and an error change rate based on the actual power generation and the expected power generation;

[0014] Based on the system error and the error change rate, the rotation speed of the magnetic levitation low-temperature waste heat power generation unit is optimized by using the least square method to obtain the rotation speed correction value.

[0015] Optionally, based on the speed correction value, a control parameter is calculated using a variable universe adaptive fuzzy PID algorithm, including:

[0016] Based on the system error and the error change rate, an input-output domain is obtained through a primary regulation system;

[0017] Based on the input-output domain, the control parameters are obtained through a secondary regulation system.

[0018] Optionally, obtaining an input-output domain through a primary regulation system based on the system error and the error change rate includes:

[0019] Obtaining a scaling factor according to the system error and the error change rate;

[0020] The input-output domain is calculated by multiplying the expansion factor with the initial proportional factor and the quantization factor of the fuzzy PID controller.

[0021] Optionally, based on the input-output domain, obtaining the control parameter through a secondary regulation system includes:

[0022] The input-output domain is used as the input domain of the secondary regulation system, and according to fuzzy control theory, self-adjustment is performed through fuzzy reasoning to output the three control parameters of PID.

[0023] The present invention also provides a control device for a magnetically suspended low-temperature waste heat power generation unit, comprising:

[0024] An acquisition module is used to obtain the actual power generation corresponding to a given speed and the expected power generation corresponding to the current operating conditions;

[0025] an optimization module, configured to optimize the rotation speed of the magnetic levitation low-temperature waste heat generator set based on the actual power generation and the expected power generation by using a least square method to obtain a rotation speed correction value;

[0026] A calculation module, used for calculating the control parameters based on the speed correction value by using a variable domain adaptive fuzzy PID algorithm;

[0027] A control module is used to adjust and control the rotation speed of the magnetic levitation low-temperature waste heat power generation unit based on the control parameters so that the power generation under the current operating conditions reaches the expected power generation.

[0028] Optionally, obtain modules, including:

[0029] A data acquisition unit, used to collect on-site operating data of the magnetic levitation low-temperature waste heat generator set, wherein the on-site operating data includes evaporation water inlet temperature, evaporation water outlet temperature, cooling water inlet temperature, cooling water outlet temperature, expander inlet pressure and expander outlet pressure;

[0030] A calculation unit is used to calculate the maximum power generation according to the on-site operating condition data, and use the maximum power generation as the expected power generation.

[0031] The present invention also provides a magnetic suspension low-temperature waste heat generator set control device, comprising:

[0032] Memory for storing computer programs;

[0033] The processor is used to implement the steps of the above-mentioned magnetic levitation low-temperature waste heat generator set control method when executing the computer program.

[0034] The present invention also provides a medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned method for controlling a magnetically suspended low-temperature waste heat power generation unit are implemented.

[0035] It can be seen that the present invention obtains the actual power generation corresponding to a given speed and the expected power generation corresponding to the current operating conditions; based on the actual power generation and the expected power generation, the speed of the magnetic levitation low-temperature waste heat generator set is optimized using the least squares method to obtain a speed correction value; based on the speed correction value, the control parameters are calculated using the variable domain adaptive fuzzy PID algorithm; based on the control parameters, the speed of the magnetic levitation low-temperature waste heat generator set is adjusted and controlled so that the power generation under the current operating conditions reaches the expected power generation. The present invention uses the least squares method and the variable domain adaptive fuzzy PID to intervene in the speed of the magnetic levitation low-temperature waste heat generator set, realizes on-site self-starting and adaptive control of the magnetic levitation low-temperature waste heat generator set, so that the magnetic levitation low-temperature waste heat generator set can quickly reach the maximum power generation under the current operating conditions, and realizes the maximum efficiency value of the magnetic levitation low-temperature waste heat generator under the current operating conditions, thereby improving the working efficiency of the system.

[0036] In addition, the present invention also provides a magnetic levitation low-temperature waste heat power generation unit control device, equipment and medium, which also have the above-mentioned beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0038] Figure 1 A flow chart of a control method for a magnetically suspended low-temperature waste heat power generation unit provided by an embodiment of the present invention;

[0039] Figure 2 A schematic diagram of a specific application scenario of a magnetic levitation low-temperature waste heat power generation system provided by an embodiment of the present invention;

[0040] Figure 3 A schematic diagram of a regulating system proposed in an embodiment of the present invention;

[0041] Figure 4 A schematic structural diagram of a magnetic levitation low-temperature waste heat generator set control device provided by an embodiment of the present invention;

[0042] Figure 5 A schematic structural diagram of a magnetically suspended low-temperature waste heat generator set control device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] With the progress of society and the development of science and technology, people have begun to pay attention to the energy that is not used in energy utilization equipment, that is, the excess and waste energy, which includes seven types of waste heat from high-temperature waste gas, waste heat from cooling medium, waste heat from waste steam and waste water, waste heat from high-temperature products and slag, waste heat from chemical reactions, waste heat from combustible waste gas, waste liquid and waste materials, and waste pressure from high-pressure fluids. According to the survey, the total waste heat resources of various industries account for about 17% to 67% of their total fuel consumption, and the recyclable waste heat resources account for about 60% of the total waste heat resources.

[0045] With the development of magnetic levitation technology, magnetic levitation motors have begun to be used in low-temperature waste heat power generation. The magnetic levitation low-temperature waste heat generator uses magnetic levitation support technology, permanent magnet high-speed generator technology and organic Rankine cycle technology to convert the pressure energy and thermal energy of the organic medium gas into mechanical energy, and then convert the mechanical energy into electrical energy, so as to realize the collection, circulation and power generation of industrial low-temperature waste heat, and effectively improve the utilization rate of energy. Compared with ordinary steam turbine power generation, the magnetic levitation low-temperature waste heat generator set has a wider power generation range and compatibility from 10% of the rated power generation to 110% of the rated power generation. It has stronger adaptability to working conditions. Since the magnetic levitation low-temperature waste heat generator set uses a high-speed permanent magnet synchronous motor, the maximum speed can reach 20,000 rpm, and it can adapt to a wider range of working conditions by adjusting the speed.

[0046] Since the adjustment range of the magnetic levitation low-temperature waste heat power generation system is wider, optimizing the adaptation to the customer's on-site working conditions can better achieve the maximum power generation, that is, the maximum efficiency value of the magnetic levitation low-temperature waste heat generator under the current water temperature and flow rate. At the same time, taking into account the self-starting and self-adaptation problems of the on-site magnetic levitation low-temperature waste heat generator set, how to improve the operating efficiency and stability of the magnetic levitation low-temperature waste heat generator set while ensuring the normal operation of the magnetic levitation low-temperature waste heat generator set is an issue that needs to be solved urgently. This method is based on the least squares method and variable domain adaptive fuzzy PID for speed regulation and control, which can quickly, accurately and stably adjust the speed of the magnetic levitation low-temperature waste heat generator set, improve the efficiency of the entire system during actual operation, and control stably.

[0047] Please refer to Figure 1 , Figure 1 A flow chart of a control method of a magnetic levitation low-temperature waste heat generator set provided in an embodiment of the present invention. The method may include:

[0048] S101: Acquire the actual power generation corresponding to a given rotation speed and the expected power generation corresponding to the current operating conditions.

[0049] In this embodiment, a speed is first given to the magnetic suspension low-temperature waste heat generator set, and the magnetic suspension low-temperature waste heat generator set moves according to the given speed. At this time, the power generation obtained is the actual power generation corresponding to the given speed. According to the current working conditions, the maximum power generation, that is, the expected power generation, is calculated based on the current working conditions. In this embodiment, the maximum power generation corresponding to the working conditions can be set based on experience, or the maximum power generation corresponding to the working conditions can be formulated based on historical data. This embodiment does not limit the working conditions, for example, it can be working conditions data such as water temperature, flow rate and pressure; or it can also be other working conditions data that affect power generation. This embodiment also does not limit the way to obtain working conditions data. For example, the operating state (i.e. working conditions) of the magnetic suspension low-temperature waste heat generator set can be collected through the AM06 module of the PLC (programmable logic controller), and the collected data can mainly include pressure, temperature, flow rate in the on-site pipeline and pressure, temperature and other data in the unit, and the collected information is transmitted to the touch screen end through the network cable for real-time display, and further calculated according to the collected on-site working conditions The speed is adjusted adaptively.

[0050] This embodiment takes into account that the operating parameters of each device in the generator set are both independent and mutually influential. In order to achieve the maximum power generation under the operating conditions, it is necessary to coordinate the relationship between the operating parameters of each device. It should be noted that the operating parameters, operating status, operating parameters, operating data and operating conditions have the same meaning. Among them, the magnetic levitation low-temperature waste heat generator set mainly includes evaporators, condensers, heat exchangers, cooling towers, chilled water pumps and cooling water pumps and other equipment. The operating conditions mainly refer to the speed of the water pump, the speed of the cooling tower, the heat exchange effect of the heat exchanger, the current evaporation inlet and outlet water and the cooling inlet and outlet water, etc. You can refer to Figure 2 , Figure 2 A schematic diagram of a specific application scenario of a magnetic levitation low-temperature waste heat power generation system provided in an embodiment of the present invention.

[0051] Furthermore, in order for the magnetic levitation low-temperature waste heat power generation unit to improve its power generation efficiency based on the current operating conditions, the above-mentioned acquisition of the expected power generation corresponding to the current operating conditions may include the following steps:

[0052] Step 21: collecting on-site operating data of the magnetic levitation low-temperature waste heat power generation unit, the on-site operating data including evaporation water inlet temperature, evaporation water outlet temperature, cooling water inlet temperature, cooling water outlet temperature, expander inlet pressure and expander outlet pressure;

[0053] Step 22: Calculate the maximum power generation based on the on-site operating data, and use the maximum power generation as the expected power generation.

[0054] This embodiment screens the on-site operating data of the magnetic levitation low-temperature waste heat generator set, and retains the operating data that has a greater impact on the power generation efficiency of the magnetic levitation low-temperature waste heat generator set. The specific screening basis can be obtained based on the system structure and operation principle research and analysis of the magnetic levitation low-temperature waste heat generator set. Finally, this embodiment only needs to collect the evaporation water inlet temperature, evaporation water outlet temperature, cooling water inlet temperature, cooling water outlet temperature, expander inlet pressure and expander outlet pressure.

[0055] S102: Based on the actual power generation and the expected power generation, the speed of the magnetic levitation low-temperature waste heat power generation unit is optimized by using the least square method to obtain a speed correction value.

[0056] In this embodiment, the difference between the actual power generation and the expected power generation is used as the system error. Based on the system error, the speed of the magnetic levitation low-temperature waste heat power generation unit is optimized using the least squares method, and the output is the speed. The least squares method (also known as the least square method) is a mathematical optimization technique that finds the best function match for the data by minimizing the sum of squares of the error. The least squares method can be used to easily obtain unknown data and minimize the sum of squares of the error between the obtained data and the actual data. The formula of the least squares method can be referred to as follows:

[0057] ;

[0058] φ = ∑(Yi - Y) 2 =∑(Yi - a0 - a1 Xi) 2 ;

[0059] a0 and a1 are arbitrary real numbers, Xi is the speed, Y is the predicted power generation, Y=a0 + a1 Xi, Yi is the actual power generation. The function φ can be used to find the partial derivatives of a0 and a1, and these two partial derivatives are equal to zero, at which time ∑(Yi-Y) square is the smallest.

[0060] Further, for the accuracy of the calculation of the speed correction value, the speed of the magnetic levitation low-temperature waste heat power generation unit is optimized by the least square method based on the actual power generation and the expected power generation to obtain the speed correction value, which may include the following steps:

[0061] Step 31: Obtaining a system error and an error change rate based on the actual power generation and the expected power generation;

[0062] Step 32: Based on the system error and the error change rate, the speed of the magnetic levitation low-temperature waste heat generator set is optimized by using the least square method to obtain a speed correction value.

[0063] This embodiment can obtain the maximum power generation based on the operating condition data, that is, the expected power generation under the operating condition. However, there will always be a deviation between the actual power generation and the expected power generation. The difference between the two is calculated as the system error, and the error change rate is calculated. According to the system error and the error change rate, the speed of the magnetic levitation low-temperature waste heat power generation unit is optimized using the least squares method to obtain a speed correction value. The purpose is to enable the magnetic levitation low-temperature waste heat power generation unit to generate as much electricity as possible when operating at a certain speed or reach the expected power generation under the operating condition, so as to achieve maximum power generation efficiency.

[0064] S103: Based on the rotation speed correction value, the control parameters are calculated using the variable universe adaptive fuzzy PID algorithm.

[0065] This embodiment takes into account that the least squares method cannot adjust the error factor, resulting in low efficiency in the speed adjustment process. Therefore, this embodiment introduces a variable domain adaptive fuzzy PID algorithm to improve the operating efficiency and robustness of the system, so that it can quickly reach the target speed while ensuring the stability of the system. The specific adjustment process can be referred to Figure 3 , Figure 3 A schematic diagram of a regulation system proposed in an embodiment of the present invention.

[0066] Further, in order to ensure the accuracy of control parameter adjustment, the control parameters are calculated based on the speed correction value using the variable universe adaptive fuzzy PID algorithm, which may include the following steps:

[0067] Step 41: obtaining the input-output domain through a primary regulation system based on the system error and the error change rate;

[0068] Step 42: Based on the input-output domain, the control parameters are obtained through the secondary regulation system.

[0069] This embodiment determines the control parameters for adjusting the speed correction value based on the system error and the error change rate. The specific implementation process includes a primary regulation system and a secondary regulation system. The output of the primary regulation system is used as the input of the secondary regulation system, that is, the input-output domain is the output of the primary regulation system, which is the input of the secondary regulation system, and finally the secondary regulation system outputs the control parameters. Through the self-adjustment of the primary and secondary parameters, the accuracy of the output parameters of the variable domain adaptive fuzzy PID controller can be improved, thereby improving the control accuracy of the entire magnetic levitation low-temperature waste heat generator control system, enhancing the dynamic and static characteristics of the system, and improving the adaptability of the system.

[0070] Further, in order to ensure the accuracy of the input-output domain, the above-mentioned obtaining the input-output domain through the primary adjustment system based on the system error and the error change rate may include the following steps:

[0071] Step 411: Obtain a scaling factor according to the system error and the error change rate;

[0072] Step 412: Multiply the scaling factor with the initial proportional factor and quantization factor of the fuzzy PID controller to calculate the input-output domain.

[0073] This step mainly explains the primary regulation system: first, the basic domain of variable domain control is obtained according to the simulation results of the magnetic levitation low-temperature waste heat generator system, and then the proportional factor is calculated according to the set domain, and the variable domain fuzzy control rules are set according to expert experience. Finally, the changes in the input variables e (system error) and ec (error change rate) are input to perform primary regulation to avoid the situation where most of the fuzzy control rules are not used when the basic domain is too large and the input is small, and the output of the controller cannot meet the system requirements when the basic domain is too small and the input is large. A more reasonable scaling factor is output, and the scaling factor is multiplied by the initially calculated proportional factor and quantization factor to output a reasonable input-output domain.

[0074] Furthermore, to ensure the accuracy of the control parameters, the control parameters are obtained through the secondary adjustment system based on the input-output domain, which may include the following steps:

[0075] Step 421: Use the input-output domain as the input domain of the secondary regulation system, perform self-adjustment through fuzzy reasoning according to fuzzy control theory, and output three control parameters of PID.

[0076] This step mainly explains the secondary control system: the reasonable input-output domain of the primary control system is used as the input domain of the secondary control system. According to the fuzzy control theory, fuzzy reasoning is used for self-adjustment, and the three control parameters of PID (Kp, Ki and Kd) are output. Finally, they can be multiplied with the input-output domain of the primary control system to obtain the control force.

[0077] S104: adjusting and controlling the rotation speed of the magnetic levitation low-temperature waste heat power generation unit based on the control parameters so that the power generation under the current operating conditions reaches the expected power generation.

[0078] In this embodiment, the speed of the magnetic suspension low-temperature waste heat generator set is adjusted and controlled based on the parameters adjusted by the variable domain adaptive fuzzy PID algorithm, so that the power generation under the current working conditions reaches the expected power generation. It should be noted that step S101 to step S104 is a process of continuously cyclically reducing the error.

[0079] The control method of the magnetic levitation low-temperature waste heat generator set provided by the embodiment of the present invention is applied, by obtaining the actual power generation corresponding to a given speed and the expected power generation corresponding to the current working condition; based on the actual power generation and the expected power generation, the speed of the magnetic levitation low-temperature waste heat generator set is optimized by the least square method to obtain a speed correction value; based on the speed correction value, the control parameters are calculated by the variable domain adaptive fuzzy PID algorithm; based on the control parameters, the speed of the magnetic levitation low-temperature waste heat generator set is adjusted and controlled so that the power generation under the current working condition reaches the expected power generation. This method uses the least square method and the variable domain adaptive fuzzy PID to intervene in the speed of the magnetic levitation low-temperature waste heat generator set, realizes the on-site self-starting and adaptive control of the magnetic levitation low-temperature waste heat generator set, so that the magnetic levitation low-temperature waste heat generator set can quickly reach the maximum power generation under the current working condition, and realizes the maximum efficiency value of the magnetic levitation low-temperature waste heat generator under the current working condition, thereby improving the working efficiency of the system.

[0080] The following is an introduction to a suspended low-temperature waste heat generator set control device provided in an embodiment of the present invention. The suspended low-temperature waste heat generator set control device described below and the suspended low-temperature waste heat generator set control method described above can be referenced to each other.

[0081] Please refer to Figure 4 , Figure 4 A structural schematic diagram of a suspension low-temperature waste heat power generation unit control device provided by an embodiment of the present invention may include:

[0082] The acquisition module 100 is used to acquire the actual power generation corresponding to a given speed and the expected power generation corresponding to the current working condition;

[0083] The optimization module 200 is used to optimize the rotation speed of the magnetic suspension low-temperature waste heat power generation unit based on the actual power generation and the expected power generation by using the least square method to obtain a rotation speed correction value;

[0084] A calculation module 300 is used to calculate the control parameters based on the speed correction value by using a variable universe adaptive fuzzy PID algorithm;

[0085] The control module 400 is used to adjust and control the rotation speed of the magnetic levitation low-temperature waste heat power generation unit based on the control parameters so that the power generation under the current operating conditions reaches the expected power generation.

[0086] Based on the above embodiment, the acquisition module 100 may include:

[0087] A data acquisition unit, used to collect on-site operating data of the magnetic levitation low-temperature waste heat generator set, wherein the on-site operating data includes evaporation water inlet temperature, evaporation water outlet temperature, cooling water inlet temperature, cooling water outlet temperature, expander inlet pressure and expander outlet pressure;

[0088] A calculation unit is used to calculate the maximum power generation according to the on-site operating condition data, and use the maximum power generation as the expected power generation.

[0089] Based on the above embodiment, the optimization module 200 may include the following steps:

[0090] an error calculation unit, configured to obtain a system error and an error change rate based on the actual power generation and the expected power generation;

[0091] The optimization unit is used to optimize the rotation speed of the magnetic levitation low-temperature waste heat generator set based on the system error and the error change rate and use the least square method to obtain the rotation speed correction value.

[0092] Based on the above embodiment, the calculation module 300 may include the following steps:

[0093] A primary regulation unit, used for obtaining an input-output domain through a primary regulation system based on the system error and the error change rate;

[0094] The secondary regulation unit is used to obtain the control parameter through the secondary regulation system based on the input-output domain.

[0095] Based on the above embodiment, the primary adjustment unit may include:

[0096] A scaling factor acquisition subunit, configured to obtain a scaling factor according to the system error and the error change rate;

[0097] The input-output domain acquisition subunit is used to multiply the scaling factor with the initial proportional factor and quantization factor of the fuzzy PID controller to calculate the input-output domain.

[0098] Based on the above embodiment, the secondary adjustment unit may include:

[0099] The input-output subunit is used to use the input-output domain as the input domain of the secondary regulation system, perform self-adjustment through fuzzy reasoning according to fuzzy control theory, and output the three control parameters of PID.

[0100] It should be noted that the order of the modules and units in the above-mentioned magnetic levitation low-temperature waste heat power generation unit control device can be changed before or after without affecting the logic.

[0101] The control device for the magnetic suspension low-temperature waste heat generator set provided by the embodiment of the present invention is used to obtain the actual power generation corresponding to a given speed and the expected power generation corresponding to the current working condition through the acquisition module 100; the optimization module 200 is used to optimize the speed of the magnetic suspension low-temperature waste heat generator set by using the least square method based on the actual power generation and the expected power generation to obtain a speed correction value; the calculation module 300 is used to calculate the control parameters based on the speed correction value by using the variable universe adaptive fuzzy PID algorithm; the control module 400 is used to adjust and control the speed of the magnetic suspension low-temperature waste heat generator set based on the control parameters so that the power generation under the current working condition reaches the expected power generation. This device uses the least square method and the variable universe adaptive fuzzy PID to intervene in the speed of the magnetic suspension low-temperature waste heat generator set, realizes the on-site self-starting and adaptive control of the magnetic suspension low-temperature waste heat generator set, so that the magnetic suspension low-temperature waste heat generator set can quickly reach the maximum power generation under the current working condition, and realizes the maximum efficiency value of the magnetic suspension low-temperature waste heat generator under the current working condition, thereby improving the working efficiency of the system.

[0102] The following is an introduction to the magnetic levitation low-temperature waste heat generator set control device provided in an embodiment of the present invention. The magnetic levitation low-temperature waste heat generator set control device described below and the magnetic levitation low-temperature waste heat generator set control method described above can be referenced to each other.

[0103] Please refer to Figure 5 , Figure 5 A structural schematic diagram of a magnetic levitation low-temperature waste heat power generation set control device provided in an embodiment of the present invention may include:

[0104] A memory 10, used for storing computer programs;

[0105] The processor 20 is used to execute a computer program to implement the above-mentioned control method of the magnetic levitation low-temperature waste heat power generation unit.

[0106] The memory 10 , the processor 20 , and the communication interface 31 all communicate with each other via the communication bus 32 .

[0107] In the embodiment of the present invention, the memory 10 is used to store one or more programs, and the program may include program code, and the program code includes computer operation instructions. In the embodiment of the present invention, the memory 10 may store programs for implementing the following functions:

[0108] Obtain the actual power generation corresponding to a given speed and the expected power generation corresponding to the current operating conditions;

[0109] Based on the actual power generation and expected power generation, the speed of the magnetic levitation low-temperature waste heat power generation unit is optimized using the least square method to obtain the speed correction value;

[0110] Based on the speed correction value, the control parameters are calculated using the variable universe adaptive fuzzy PID algorithm;

[0111] The speed of the magnetic levitation low-temperature waste heat generator set is adjusted and controlled based on the control parameters so that the power generation under the current operating conditions reaches the expected power generation.

[0112] In a possible implementation, the memory 10 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function, etc.; the data storage area may store data created during use.

[0113] In addition, the memory 10 may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include an NVRAM. The memory stores an operating system and operating instructions, executable modules or data structures, or a subset thereof, or an extended set thereof, wherein the operating instructions may include various operating instructions for implementing various operations. The operating system may include various system programs for implementing various basic tasks and processing hardware-based tasks.

[0114] The processor 20 may be a central processing unit (CPU), an application specific integrated circuit, a digital signal processor, a field programmable gate array or other programmable logic device, a microprocessor or any conventional processor, etc. The processor 20 may call a program stored in the memory 10 .

[0115] The communication interface 31 may be an interface of a communication module, and is used to connect to other devices or systems.

[0116] Of course, it should be noted that Figure 5 The structure shown does not constitute a limitation on the control device of the magnetic suspension low-temperature waste heat generator set in the embodiment of the present invention. In actual applications, the control device of the magnetic suspension low-temperature waste heat generator set may include Figure 5 More or fewer components than shown, or combinations of certain components.

[0117] The medium provided by the embodiment of the present invention is introduced below. The medium described below and the control method of the magnetic levitation low-temperature waste heat power generation unit described above can be referred to each other.

[0118] The present invention also provides a medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned method for controlling a magnetically suspended low-temperature waste heat power generation unit are implemented.

[0119] The medium may be a computer-readable storage medium, and may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0120] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0121] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0122] Finally, it should be noted that, in this article, relationships such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0123] The above is a detailed introduction to the control method, device, equipment and storage medium of a magnetic levitation low-temperature waste heat power generation unit provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A control method for a magnetically suspended low-temperature waste heat power generation unit, characterized in that: include: Obtain the actual power generation corresponding to a given speed and the expected power generation corresponding to the current operating conditions; Based on the actual power generation and the expected power generation, the speed of the magnetic levitation low-temperature waste heat power generation unit is optimized by using the least square method to obtain a speed correction value; Based on the speed correction value, a control parameter is calculated using a variable universe adaptive fuzzy PID algorithm; The rotation speed of the magnetic levitation low-temperature waste heat power generation unit is adjusted and controlled based on the control parameters so that the power generation under the current operating conditions reaches the expected power generation.

2. The control method of the magnetic levitation low-temperature waste heat power generation unit according to claim 1 is characterized in that: Obtain the expected power generation corresponding to the current operating conditions, including: Collecting the field operating data of the magnetic levitation low-temperature waste heat power generation unit, wherein the field operating data includes evaporation water inlet temperature, evaporation water outlet temperature, cooling water inlet temperature, cooling water outlet temperature, expander inlet pressure and expander outlet pressure; The maximum power generation is calculated according to the on-site operating condition data, and the maximum power generation is used as the expected power generation.

3. The control method of the magnetic levitation low-temperature waste heat power generation unit according to claim 1 is characterized in that: Based on the actual power generation and the expected power generation, the speed of the magnetic levitation low-temperature waste heat power generation unit is optimized by using the least square method to obtain a speed correction value, including: Obtaining a system error and an error change rate based on the actual power generation and the expected power generation; Based on the system error and the error change rate, the rotation speed of the magnetic levitation low-temperature waste heat power generation unit is optimized by using the least square method to obtain the rotation speed correction value.

4. The control method of the magnetic levitation low-temperature waste heat power generation unit according to claim 3 is characterized in that: Based on the speed correction value, the control parameters are calculated using the variable universe adaptive fuzzy PID algorithm, including: Based on the system error and the error change rate, an input-output domain is obtained through a primary regulation system; Based on the input-output domain, the control parameters are obtained through a secondary regulation system.

5. The control method of the magnetic levitation low-temperature waste heat power generation unit according to claim 4 is characterized in that: Based on the system error and the error change rate, an input-output domain is obtained through a primary regulation system, including: Obtaining a scaling factor according to the system error and the error change rate; The input-output domain is calculated by multiplying the expansion factor with the initial proportional factor and the quantization factor of the fuzzy PID controller.

6. The control method of the magnetic levitation low-temperature waste heat power generation unit according to claim 5 is characterized in that: Based on the input-output domain, the control parameters are obtained through a secondary regulation system, including: The input-output domain is used as the input domain of the secondary regulation system, and according to fuzzy control theory, self-adjustment is performed through fuzzy reasoning to output the three control parameters of PID.

7. A control device for a magnetically suspended low-temperature waste heat power generation unit, characterized in that: include: An acquisition module is used to obtain the actual power generation corresponding to a given speed and the expected power generation corresponding to the current operating conditions; an optimization module, configured to optimize the rotation speed of the magnetic levitation low-temperature waste heat generator set based on the actual power generation and the expected power generation by using a least square method to obtain a rotation speed correction value; A calculation module, used for calculating the control parameters based on the speed correction value by using a variable domain adaptive fuzzy PID algorithm; A control module is used to adjust and control the rotation speed of the magnetic levitation low-temperature waste heat power generation unit based on the control parameters so that the power generation under the current operating conditions reaches the expected power generation.

8. The control device for a magnetically suspended low-temperature waste heat power generation unit according to claim 7, characterized in that: Get modules, including: A data acquisition unit, used to collect on-site operating data of the magnetic levitation low-temperature waste heat generator set, wherein the on-site operating data includes evaporation water inlet temperature, evaporation water outlet temperature, cooling water inlet temperature, cooling water outlet temperature, expander inlet pressure and expander outlet pressure; A calculation unit is used to calculate the maximum power generation according to the on-site operating condition data, and use the maximum power generation as the expected power generation.

9. A magnetic levitation low-temperature waste heat generator control device, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the method for controlling a magnetically suspended low-temperature waste heat generator set as claimed in any one of claims 1 to 6 when executing the computer program.

10. A medium, characterized in that The medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for controlling a magnetically suspended low-temperature waste heat power generation unit according to any one of claims 1 to 6 are implemented.

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