Flow regulation control method for emulsion pump station

Abstract

The invention discloses a flow regulation control method for an emulsion pump station, and relates to the technical field of pump station flow control, and the method comprises the steps: obtaining key characteristic parameters of a target emulsion pump station, analyzing the nonlinear characteristics of the pump station under different working conditions, and building a nonlinear dynamic model; matching an error function according to the nonlinear dynamic model, and designing an adaptive sliding mode surface according to the error function; designing and constructing a sliding mode controller based on the adaptive sliding mode surface; the real-time operation state of the target emulsion pump station is collected, and a real-time feedback signal is generated in combination with the error function; and according to the real-time feedback signal, pump station flow regulation control is executed through the sliding mode controller. The technical problem that an existing emulsion pump station flow control method is difficult to deal with non-linear characteristics and external disturbance, and system stability and adjusting precision are affected is solved, and the technical effect of improving emulsion pump station flow adjusting stability and adjusting precision through sliding mode control is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of pump station flow control, and particularly relates to a flow regulation control method for an emulsion pump station. Background Art

[0002] An emulsion pump station is a hydraulic power device widely used in mines, metallurgy and other industrial fields. Its main function is to provide emulsion for mechanical equipment for lubrication, cooling and transmission. However, during actual operation, the flow regulation system of the emulsion pump station is often affected by various non-linear factors, including pipeline resistance, pump performance attenuation, changes in the physical properties of the emulsion (such as viscosity and density changes), and external environmental disturbances (such as temperature fluctuations and load changes). These factors cause problems such as flow oscillation and pressure fluctuation in the system, thereby affecting the stable supply of emulsion and the normal operation of the equipment.

[0003] Although the traditional PID control method is simple and easy to use, it shows defects such as slow response speed, insufficient control accuracy and weak anti-disturbance ability when dealing with strong non-linear systems and complex working conditions. Especially when external disturbances are significant or system parameters change dynamically, it is difficult for the traditional control method to achieve rapid response and effective compensation. Summary of the Invention

[0004] The present application provides a flow regulation control method for an emulsion pump station, which is used to solve the technical problem that the existing flow control method for an emulsion pump station is difficult to cope with non-linear characteristics and external disturbances, resulting in flow oscillation and pressure fluctuation, and affecting the system stability and regulation accuracy.

[0005] The present application provides a flow regulation control method for an emulsion pump station. The method includes: obtaining key characteristic parameters of the target emulsion pump station, analyzing the non-linear characteristics of the pump station under different working conditions, and establishing a non-linear dynamic model; matching an error function according to the non-linear dynamic model, and designing an adaptive sliding surface according to the error function, where the error function includes a flow error function, a pressure error function and a pump speed error function; designing and constructing a sliding mode controller based on the adaptive sliding surface; collecting the real-time operation state of the target emulsion pump station, and generating a real-time feedback signal in combination with the error function; and performing pump station flow regulation control through the sliding mode controller according to the real-time feedback signal.

[0006] One or more technical solutions provided in the present application have at least the following technical effects or advantages: A flow regulation control method for an emulsion pump station provided by the present application relates to the technical field of pump station flow control. By collecting the characteristic parameters of the emulsion pump station, analyzing the nonlinear characteristics and establishing a dynamic model, matching the flow rate, pressure and pump speed error functions to design an adaptive sliding surface, constructing a sliding mode controller, and collecting the operating state in real time to generate a feedback signal, the flow regulation is dynamically adjusted through the sliding mode controller to ensure that the emulsion pump station achieves high-precision, stable and strong robust control under complex working conditions, solves the technical problem that the existing flow control method of the emulsion pump station is difficult to cope with nonlinear characteristics and external disturbances, resulting in flow oscillation and pressure fluctuation, affecting the system stability and regulation accuracy, and realizes the technical effect of improving the stability and regulation accuracy of the flow regulation of the emulsion pump station through sliding mode control, and enhancing the anti-disturbance ability and dynamic response performance of the control system under complex working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0008] Figure 1 It is a schematic flow chart of a flow regulation control method for an emulsion pump station provided by an embodiment of the present application; Figure 2 It is a schematic flow chart of performing pump station flow regulation control through the sliding mode controller in a flow regulation control method for an emulsion pump station provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0009] 009. The present application provides a flow regulation control method for an emulsion pump station to solve the technical problem that the existing flow control method of the emulsion pump station is difficult to cope with nonlinear characteristics and external disturbances, resulting in flow oscillation and pressure fluctuation, affecting the system stability and regulation accuracy.

[0010] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application.

[0011] It should be noted that the terms "first", "second", etc. in the description of this application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of this application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or server that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or modules that are not clearly listed or are inherent to these processes, methods, products or devices.

[0012] Embodiment 1, as Figure 1 shown, this application provides a flow regulation control method for an emulsion pump station, and the method includes: P10: Obtain the key characteristic parameters of the target emulsion pump station, analyze the nonlinear characteristics of the pump station under different working conditions, and establish a nonlinear dynamic model.

[0013] Furthermore, step P10 of the embodiment of this application further includes: P11: Collect the key characteristic parameters of the target emulsion pump station, where the key characteristic parameters include equipment operation parameters, external environment parameters, control signal parameters, and physical properties of the emulsion; P12: Based on the key characteristic parameters, analyze the nonlinear characteristics of the pump station under different working conditions, deduce and generate a nonlinear differential equation, and build the nonlinear dynamic model based on the nonlinear differential equation.

[0014] It should be understood that to obtain the key characteristic parameters of the pump station, analyze its nonlinear characteristics under complex working conditions, and establish a nonlinear dynamic model. First, it is necessary to comprehensively collect the key characteristic parameters of the pump station to accurately reflect its operating state and influencing factors. The key characteristic parameters may include equipment operation parameters, external environment parameters, control signal parameters, and physical properties of the emulsion. Among them, equipment operation parameters (such as pump speed, pump pressure, flow rate, and operating power) are the main indicators of the real-time state inside the pump station; external environment parameters (such as temperature, humidity, and pipeline resistance) reveal the influence of the external environment on the system operation; control signal parameters (such as target flow rate, feedback signal, and adjustment signal) reflect the control input and dynamic response characteristics of the pump station; the physical properties of the emulsion (such as density, viscosity, and surface tension) determine the flow characteristics of the fluid in the pipeline and its interaction with the equipment. Through high-precision sensors and data acquisition modules, the above parameters are collected and recorded in real time to provide comprehensive data information for subsequent analysis.

[0015] Based on the collected key characteristic parameters and combined with the working mechanism of the emulsion pump station, the nonlinear characteristics of the system under different working conditions are analyzed in detail. Nonlinear characteristics refer to the existence of a nonlinear relationship between the system output and input. For example, the regulation effect of pump speed on flow rate will change due to pressure fluctuations. In addition, external disturbances (such as temperature changes) will also cause significant nonlinear changes in fluid characteristics and pump station performance.

[0016] To accurately describe these characteristics, the method of mathematical modeling can be used to derive nonlinear differential equations. Specifically, by combining equipment operation parameters, external environment parameters, and the physical properties of the emulsion, the coupling relationship between flow rate, pressure, and pump speed is established through fluid mechanics and thermodynamics theories. For example, the flow equation of the emulsion in the pump station can be derived by combining the control equation with Bernoulli's equation, and nonlinear factors such as pipeline resistance are added to the differential equation.

[0017] On this basis, relying on the derived nonlinear differential equations, a nonlinear dynamic model of the system is constructed. This model can describe the dynamic behavior of the emulsion pump station under different working conditions in real time, providing a theoretical basis for the subsequent design of the controller. The accuracy of the nonlinear dynamic model is crucial for the performance of the sliding mode controller because the model error may directly affect the steady-state accuracy and dynamic response speed of the controller. Through the above steps, not only the accurate characterization of the nonlinear characteristics of the emulsion pump station is achieved, but also the data and model foundation for the implementation of the sliding mode control method are laid.

[0018] P20: Match the error function according to the nonlinear dynamic model, and design an adaptive sliding mode surface according to the error function. The error function includes a flow rate error function, a pressure error function, and a pump speed error function.

[0019] Furthermore, step P20 of the embodiment of the present application further includes: P21: Calculate the multi-variable error of the target emulsion pump station according to the nonlinear dynamic model, generate multiple error functions. The multi-variable error includes at least a flow rate error, a pressure error, and a liquid level error; P22: Perform weighted combination on the multiple error functions based on a weight factor to generate a target error function, and set an error dynamic change rate for the target error function.

[0020] Optionally, match the error function through a non-linear dynamic model and design an adaptive sliding surface based on the error function to achieve precise control. First, combined with the non-linear dynamic model, calculate the multivariate errors of the target pumping station, including flow error, pressure error, liquid level error, etc. The flow error reflects the deviation between the actual flow and the target flow, and is an important indicator to measure the conveying capacity of the pumping station; the pressure error describes the difference between the actual outlet pressure and the target pressure of the pumping station, and is a key parameter to ensure the stable operation of the pumping station; the liquid level error is used to monitor the liquid storage state of the emulsion supply system to avoid system failure caused by insufficient or excessive liquid supply. By calculating these errors, the real-time operation deviation of the pumping station can be comprehensively characterized.

[0021] Subsequently, the above multiple error functions are weighted and combined to generate a target error function. The introduction of the weight factor is to reflect the importance of different errors in the operation of the pumping station. For example, under high-load operation, the flow error may have a more significant impact on the system performance, so a higher weight will be assigned to it. The setting of the weight factor can be dynamically adjusted according to empirical data, historical working conditions or optimization algorithms, so as to improve the robustness and adaptability of the target error function. In addition, in order to adapt to the dynamic changes of the emulsion pumping station under different working conditions, an error dynamic change rate is set for the target error function. By real-time tracking the change trend of the error, the stability of the system under complex working conditions is further enhanced.

[0022] Based on the target error function, design an adaptive sliding surface as the core part of the control system. The sliding surface is a dynamic plane used to guide the actual state of the pumping station to the target state and maintain stability within the plane. By dynamically adjusting the parameters of the sliding surface, it can adapt to different operating conditions and external disturbances, so as to ensure that the emulsion pumping station realizes accurate and efficient flow regulation control under various working conditions. This step provides a solid theoretical and technical support for the subsequent design and practical application of the controller through the close combination of the error function and the sliding surface.

[0023] Furthermore, step P20 of the embodiment of the present application further includes: P23: Perform a linear combination according to the error function to generate an adaptive sliding surface: ; where is the system state value, is the flow error, is the pressure error, is the pump speed error, , , are adaptive weight factors, and the adaptive sliding surface is a dynamically changing surface; P24: By introducing an adaptive mechanism, design adaptive parameters, and adjust the adaptive sliding surface in real time according to the change of the error function to perform dynamic response under complex working conditions.

[0024] In a possible embodiment of the present application, an adaptive sliding mode surface can be generated by linearly combining the aforementioned error functions (flow error, pressure error, and pump speed error). In this process, each component in the error function is weighted by different adaptive weight factors to form a composite error expression. Specifically, the system state value σ(t) is expressed as the flow error , the pressure error , and the pump speed error 's weighted combination: ; where is the system state value, is the flow error, is the pressure error, is the pump speed error, , , are the adaptive weight factors corresponding to each error term. The setting of the weight factors determines the relative importance of each error in generating the sliding mode surface. This weighted combination method can make the sliding mode surface more in line with the operation requirements of the emulsion pump station. Especially when facing complex working conditions, the sliding mode surface is adaptively adjusted to ensure the stability of the system.

[0025] Meanwhile, an adaptive mechanism can be introduced to design adaptive parameters. These adaptive parameters can dynamically adjust the sliding mode surface according to the real-time changes of the error function. When the pump station shows different nonlinear characteristics under different working conditions (such as temperature changes, load fluctuations, or external disturbances), the adaptive parameters will be adjusted according to the error values collected in real time to optimize the control effect. Specifically, these parameters can capture the dynamic changes of the system deviation in real time, so as to adjust the sliding mode surface according to the changes of the system state, enabling the control system to flexibly respond to the dynamic response requirements under complex working conditions. Through this mechanism, the sliding mode surface becomes a dynamically changing surface, ensuring that the system can maintain efficient response and stable control under any complex conditions.

[0026] P30: Based on the adaptive sliding mode surface, design and construct a sliding mode controller.

[0027] Furthermore, step P30 of the embodiment of the present application further includes: P31: Based on the standard sliding mode control law, design and construct a sliding mode controller: ; where is the control signal, k is the control gain, is the sign function, which is used to guide the error on the sliding mode surface to zero.

[0028] It should be understood that based on the adaptive sliding mode surface of the previous design, a sliding mode controller is constructed to achieve precise control. To this end, P31 further clarifies the control law for designing the sliding mode controller. Based on the standard sliding mode control law, the control signal is defined as: ; where is the control signal, representing the real-time control input for regulating the flow rate of the pumping station. k is the control gain, which determines the response speed of the controller and the robustness of the system. is the sign function. The role of the sign function is to process the error on the sliding mode surface, guide the error on the sliding mode surface to zero, make the system state quickly tend to the sliding mode surface, and finally reach a stable state.

[0029] Specifically, the design of the controller utilizes the core idea of sliding mode control: by calculating the error between the real-time state of the system and the sliding mode surface in real time, guiding the error to quickly converge to zero. The sliding mode controller realizes nonlinear control through . Its effect is to ensure the stable operation of the pumping station system and reduce errors in the case of external disturbances or system parameter changes. The control gain k plays a crucial role in the performance of the controller. A larger gain can accelerate the system response, but it may also lead to higher control force and larger oscillations. Therefore, by adjusting the gain k, the dynamic response of the system can be optimized to ensure that the emulsion pump station can efficiently and stably regulate the flow rate under complex working conditions.

[0030] The introduction of this control law provides a theoretical basis for the flow rate regulation of the pumping station, enabling the controller to quickly and accurately respond to system deviations, and at the same time having strong robustness to effectively cope with external environmental disturbances.

[0031] P40: Collect the real-time operation state of the target emulsion pump station, and generate a real-time feedback signal in combination with the error function.

[0032] Furthermore, step P40 of the embodiment of the present application further includes: P41: Real-time collect the key parameter values of the target emulsion pump station, and the key parameter values at least include flow rate, pressure, and pump speed; P42: Based on the error function, compare the key parameter values with the target values, and calculate the error function value; P43: Generate the real-time feedback signal according to the error function value.

[0033] Specifically, by collecting the real-time operating state of the system and combining with the calculation of the error function, a real-time feedback signal required for control is generated to support the subsequent actions of the sliding mode controller. First, key parameter values of the pump station are obtained in real time through high-precision sensors and data acquisition modules. These parameters at least include flow rate, pressure, and pump speed. The flow rate reflects the conveying capacity of the emulsion in the pipeline and is the direct target of adjustment and control; the pressure reflects the working load and stability of the system and is an important indicator to ensure the safe operation of the pump station; the pump speed reflects the operating state of the pump station equipment and is the core driving factor for the adjustment of flow rate and pressure. These real-time parameters provide data support for subsequent error calculation.

[0034] Next, based on the pre-defined error function, the collected key parameter values are compared with the target values of the system to calculate the error function value. Specifically, the flow rate error represents the deviation between the actual flow rate and the target flow rate, reflecting whether the conveying capacity of the system reaches the expectation; the pressure error describes the difference between the actual pressure and the target pressure, reflecting the stability of the system operation; the pump speed error reflects the degree of deviation of the equipment operating state. Through the calculation of these errors, the deviation degree between the current state and the target state of the emulsion pump station can be comprehensively evaluated.

[0035] Finally, according to the calculated error function value, a real-time feedback signal is generated. The real-time feedback signal is the core input of the control system and directly drives the actions of the sliding mode controller. This signal is transmitted in digital form and contains the dynamic information of the flow rate, pressure, and pump speed errors, which can reflect the change trend of the system operating state in real time. Through the closed-loop control method, the feedback signal continuously corrects the operating state of the emulsion pump station, making the system deviation gradually approach zero, and ensuring the accuracy and stability of flow rate adjustment.

[0036] Through the above steps, the comprehensive monitoring and dynamic feedback of the real-time operating state of the emulsion pump station are realized, ensuring the high-efficiency control ability of the system under complex working conditions and providing reliable support for the stable operation of the sliding mode controller.

[0037] P50: According to the real-time feedback signal, the pump station flow rate adjustment control is performed by the sliding mode controller.

[0038] Further, as Figure 2 shown, step P50 of the embodiment of the present application further includes: P51: Input the real-time feedback signal into the sliding mode controller. The sliding mode controller identifies the characteristics of the working condition change and makes a motion adjustment on the adaptive sliding mode surface based on the characteristics of the working condition change to generate an adjustment control signal; P52: Send the adjustment control signal to the control unit of the target emulsion pump station to perform the pump station flow rate adjustment control.

[0039] Optionally, by combining the real-time feedback signal and the sliding mode controller, the flow rate of the pumping station can be accurately adjusted and the system can operate stably under complex working conditions.

[0040] Specifically, first, the real-time feedback signal is input into the sliding mode controller, and the controller is used to identify the characteristics of the working condition changes of the pumping station. The characteristics of the working condition changes are the dynamic manifestations of the system operation state. For example, the flow rate fluctuations, pressure changes, or pump speed deviations caused by external disturbances or changes in the pumping station parameters. The sliding mode controller judges the nonlinear characteristics and their change trends of the current working condition by monitoring the flow rate error, pressure error, and pump speed error in the feedback signal in real time. Based on this judgment, the sliding mode controller makes dynamic motion adjustments on the adaptive sliding mode surface, that is, by adjusting the parameters of the sliding mode surface, the system state can tend to the target value more quickly while maintaining strong robustness to disturbances. This adjustment process aims to generate a regulation control signal, which directly reflects the required control strength and direction of the system in the current state.

[0041] Subsequently, the regulation control signal is sent to the control unit of the target emulsion liquid pumping station to perform specific flow rate adjustment actions. The control unit adjusts the operation parameters of the pumping station according to the regulation signal. For example, it adjusts the pump speed to change the flow rate output, or controls the system pressure through a pressure regulating valve to ensure that the delivery of the emulsion liquid meets the expected requirements. Through the closed-loop control method, the operation state of the pumping station is continuously fed back to the sliding mode controller in real time to further optimize the control signal, thus forming an efficient dynamic regulation mechanism.

[0042] The core of this process lies in using the nonlinear regulation ability of the sliding mode controller, enabling the emulsion liquid pumping station to operate stably under complex working conditions and external disturbances. At the same time, the adaptive characteristics of the sliding mode controller effectively improve the accuracy and robustness of the control through the identification of the characteristics of the working condition changes and the dynamic adjustment of the sliding mode surface, providing technical support for the efficient and stable operation of the emulsion liquid pumping station. Through the above steps, the flow rate regulation of the pumping station not only achieves high-precision control but also significantly enhances the dynamic response ability and anti-interference ability of the system.

[0043] Furthermore, the embodiment of the present application further includes step P60, and step P60 further includes: P61: Introduce a predictive control mechanism into the sliding mode controller, and the predictive control mechanism depends on the pumping station behavior prediction model; P62: Perform future behavior prediction of the pumping station system through the pumping station behavior prediction model to generate a behavior trend prediction result; P63: And use the trend prediction result as the input of the sliding mode controller to perform pre-adjustment of the control signal.

[0044] Specifically, the forward-looking and precision of control can be further improved by introducing a predictive control mechanism to meet the requirements of complex working conditions and dynamic changes. Specifically, first, integrate the predictive control mechanism into the sliding mode controller. This mechanism relies on the pump station behavior prediction model, which uses historical data and real-time feedback data, combines the characteristics of fluid dynamics and system dynamics to build the behavior prediction ability of the pump station. The behavior prediction model can be trained by machine learning algorithms (such as time series prediction or regression models) to accurately capture the dynamic trends and future changes of the pump station operation state.

[0045] Next, the predictive control mechanism predicts the future behavior of the system based on the pump station behavior prediction model and generates the behavior trend prediction results. The trend prediction results can provide the dynamic evolution information of the pump station operation state, such as future changes in flow demand, pressure fluctuation trends, or pump speed adjustment requirements. Through these prediction results, potential abnormal working conditions or fluctuation trends can be identified in advance, providing a decision-making basis for control strategy adjustment.

[0046] Subsequently, the behavior trend prediction results are used as the input of the sliding mode controller to pre-adjust the control signal. Pre-adjustment means that before receiving the actual feedback signal, the sliding mode controller combines the prediction results to optimize the control signal in advance, enabling the control system to actively adjust the flow rate, pressure, or pump speed before potential changes occur, thereby achieving a more accurate dynamic response. In this way, the sliding mode controller can not only handle real-time working conditions but also prevent adverse changes that may occur in the future, improving the regulation efficiency and stability of the system.

[0047] By introducing the predictive control mechanism, the dynamic regulation ability and forward-looking of the sliding mode control are further enhanced, making the control of the emulsion pump station more intelligent and proactive under complex working conditions. This mechanism can effectively reduce the system response delay, improve the overall control performance, and ensure the long-term stable operation of the pump station under various working conditions.

[0048] Furthermore, the embodiment of the present application further includes step P70, and step P70 further includes: The real-time feedback signal further includes the frequency analysis result of the flow rate fluctuation. Based on the frequency analysis result, the dynamic response frequency of the sliding mode controller is automatically adjusted.

[0049] In a possible embodiment of the present application, the frequency analysis result of the flow rate fluctuation can be further introduced as key feedback information to optimize the dynamic response frequency of the sliding mode controller and enhance the adaptability of the system to complex working conditions. Specifically, in addition to including the flow rate error, pressure error, and pump speed error, the real-time feedback signal can also extract the frequency information of the flow rate fluctuation through a frequency analysis module. The frequency of the flow rate fluctuation is a key indicator of the dynamic change of the system, which reflects the fluid characteristics of the emulsion pump station and the change rate of external disturbances. For example, in a high-frequency fluctuation environment, the fluid fluctuates faster and with a smaller amplitude, while low-frequency fluctuations are usually accompanied by larger system deviations.

[0050] Based on the frequency analysis result of the flow rate fluctuation, the sliding mode controller can dynamically adjust its response frequency. The dynamic response frequency of the controller refers to its sensitivity to the change of the input signal. A higher response frequency can quickly follow the system fluctuation and is suitable for high-frequency disturbances; while a lower response frequency can smooth the response and avoid over-regulation or chattering of the system. By taking the frequency analysis result as an input parameter, the sliding mode controller can adaptively adjust the control parameters (such as the control gain k or the slope of the sliding mode surface) according to the characteristics of the flow rate fluctuation, thereby optimizing its dynamic response.

[0051] This dynamic adjustment mechanism enables the sliding mode controller to maintain the best control effect under different frequency disturbances. For example, in the case of large low-frequency fluctuations, the controller can reduce the response frequency to reduce system jitter and adjust smoothly; while under small high-frequency disturbances, the controller will increase the response frequency to quickly compensate for the fluctuations and restore stability. Through this adaptive frequency adjustment, the sensitivity and stability of the sliding mode controller are further improved, enabling the emulsion pump station to more efficiently handle the flow rate fluctuation problem under complex working conditions and achieve precise regulation and continuous stable operation.

[0052] In summary, the embodiments of the present application at least have the following technical effects: In the present application, by collecting the key characteristic parameters of the emulsion pump station, analyzing its non-linear characteristics and establishing a non-linear dynamic model; based on the model, matching the flow rate, pressure, and pump speed error functions, designing an adaptive sliding mode surface; constructing a sliding mode controller and real-time collecting the operation state of the pump station, generating a feedback signal in combination with the error function; using the sliding mode controller to dynamically adjust the flow rate regulation according to the feedback signal, realizing the high-precision, strong robustness, and stable operation of the emulsion pump station under complex working conditions.

[0053] It achieves the technical effects of improving the stability and regulation accuracy of the flow rate regulation of the emulsion pump station through sliding mode control, and enhancing the anti-disturbance ability and dynamic response performance of the control system under complex working conditions.

[0054] It should be noted that the above order of the embodiments of the present application is only for description and does not represent the superiority or inferiority of the embodiments. In addition, the specific embodiments of this specification have been described. Further, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0055] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

[0056] This specification and the drawings are only exemplary descriptions of the present application and are considered to have covered any and all modifications, variations, combinations, or equivalents within the scope of the present application. Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present application and its equivalent technologies, the present application is intended to include these changes and modifications.

Claims

1. A flow regulation control method for an emulsion pump station, characterized in that: The method comprises: Obtain key characteristic parameters of the target emulsion pumping station, analyze the nonlinear characteristics of the pumping station under different working conditions, and establish a nonlinear dynamic model; Matching an error function according to the nonlinear dynamic model, and designing an adaptive sliding surface according to the error function, wherein the error function includes a flow error function, a pressure error function, and a pump speed error function; Based on the adaptive sliding surface, a sliding mode controller is designed and constructed; Collecting the real-time operating status of the target emulsion pump station and generating a real-time feedback signal in combination with the error function; According to the real-time feedback signal, the pump station flow regulation control is performed by the sliding mode controller.

2. A flow rate regulation control method for an emulsion pump station as claimed in claim 1, characterized in that: Obtain the key characteristic parameters of the target emulsion pump station, analyze the nonlinear characteristics of the pump station under different working conditions, and establish a nonlinear dynamic model, including: Collect key characteristic parameters of the target emulsion pump station, wherein the key characteristic parameters include equipment operation parameters, external environment parameters, control signal parameters and emulsion physical properties; Based on the key characteristic parameters, the nonlinear characteristics of the pump station under different working conditions are analyzed, a nonlinear differential equation is derived and generated, and the nonlinear dynamic model is constructed based on the nonlinear differential equation.

3. A flow rate regulation control method for an emulsion pump station as claimed in claim 1, characterized in that: According to the nonlinear dynamic model matching error function, it includes: According to the nonlinear dynamic model, the multivariate errors of the target emulsion pump station are calculated to generate multiple error functions, wherein the multivariate errors at least include flow error, pressure error and liquid level error; The multiple error functions are weightedly combined based on the weight factor to generate a target error function, and a dynamic error change rate is set for the target error function.

4. A flow rate regulation control method for an emulsion pump station as claimed in claim 1, characterized in that: According to the error function, an adaptive sliding surface is designed, including: According to the linear combination of the error functions, an adaptive sliding surface is generated: ； in, is the system status value, is the flow error, is the pressure error, is the pump speed error, , , is an adaptive weight factor, and the adaptive sliding surface is a dynamically changing surface; By introducing an adaptive mechanism and designing adaptive parameters, the adaptive sliding surface is adjusted in real time according to changes in the error function to perform dynamic responses under complex working conditions.

5. A flow rate regulation control method for an emulsion pump station as claimed in claim 1, characterized in that: Based on the adaptive sliding surface, a sliding mode controller is designed and constructed, including: Based on the standard sliding mode control law, a sliding mode controller is designed and constructed: ； in, is the control signal, k is the control gain, is a sign function used to guide the error on the sliding surface to zero.

6. A flow rate regulation control method for an emulsion pump station as claimed in claim 1, characterized in that: The real-time operation status of the target emulsion pump station is collected to generate a real-time feedback signal, including: Collect key parameter values ​​of the target emulsion pump station in real time, wherein the key parameter values ​​at least include flow rate, pressure and pump speed; Based on the error function, the key parameter value is compared with the target value to calculate the error function value; The real-time feedback signal is generated according to the error function value.

7. A flow rate regulation control method for an emulsion pump station as claimed in claim 1, characterized in that: According to the real-time feedback signal, the pump station flow regulation control is performed by the sliding mode controller, including: The real-time feedback signal is input into the sliding mode controller, and the sliding mode controller identifies the characteristics of the operating condition change, and performs motion adjustment on the adaptive sliding mode surface based on the characteristics of the operating condition change to generate an adjustment control signal; The regulation control signal is sent to the control unit of the target emulsion pump station to execute the pump station flow regulation control.

8. A flow rate regulation control method for an emulsion pump station as claimed in claim 1, characterized in that: The method further comprises: Introducing a predictive control mechanism into the sliding mode controller, the predictive control mechanism being attached to a pump station behavior prediction model; The future behavior of the pumping station system is predicted by the pumping station behavior prediction model to generate a behavior trend prediction result; The trend prediction result is used as the input of the sliding mode controller to perform pre-adjustment of the control signal.

9. A flow rate regulation control method for an emulsion pump station as claimed in claim 1, characterized in that: The real-time feedback signal also includes a frequency analysis result of flow fluctuations, and the dynamic response frequency of the sliding mode controller is automatically adjusted based on the frequency analysis result.

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