PID (Proportion Integration Differentiation) processing method, device, medium and equipment for parameter fluctuation of pipeline system

Abstract

The invention relates to the technical field of valve adjustment, and provides a PID processing method, device and equipment for parameter fluctuation of a pipeline system, and the method comprises the steps: S10, collecting the parameters of a valve core, and processing the parameters of the valve core to obtain first state data and second state data; s20, the first state data and the second state data are input into a valve element dynamic simulation model with a PID control system, and the flow and the flow velocity of the valve element and the overflowing area of the valve element are obtained through calculation; s30, the spring force and the fluid force of the valve element are calculated according to the valve element parameters, the flow, the flow speed and the overflowing area of the valve element; and S40, the PID control system applies external force to the valve element according to the spring force and the fluid force of the valve element so as to adjust the lift displacement of the valve element, and therefore flow fluctuation is controlled. According to the PID processing method for the parameter fluctuation of the pipeline system, the PID control system is added to suppress the flow fluctuation of the valve and reduce the vibration of the pipeline system, so that the reliability of the pipeline system is improved, and the service life of the pipeline system is prolonged.

Description

Technical Field

[0001] The present invention relates to the field of valve regulation technology, and in particular to a PID processing method, device medium and equipment for parameter fluctuations in a pipeline system. Background Art

[0002] With the development of industry, various industries require supporting systems that are more stable, safe, and economical. However, due to the complex structure and interaction between the spring-loaded control valve and the fluid, the valve core often experiences self-excited vibrations due to fluid-structure coupling during control operations. Furthermore, unsteady flow within the pipeline is a significant factor in causing severe vibrations within the valve body. This series of vibrations directly affects the control accuracy of the valve and, in severe cases, can even cause the valve stem to break, resulting in serious production accidents.

[0003] In the design and production of industrial equipment, whether it's a valve or a water pump, factory testing and inspection must ensure that the hydraulic performance and structural vibration indicators of each device are met. Therefore, during the operation of an actual piping system, the cause of persistent vibration of a single device (such as a valve) or the entire system (pump-pipe-valve) cannot be simply attributed to the unreasonable design of a single device. Instead, the coupled system must be analyzed as a whole. Previous studies of the dynamic characteristics of a single device failed to predict the true response of the valve in the piping system. Therefore, it is necessary to consider the actual piping system and valve coupling study, which is difficult to achieve during factory testing. Summary of the Invention

[0004] In order to solve the above-mentioned deficiencies in the prior art, the present invention provides a PID processing method for pipeline system parameter fluctuations, which is characterized by including S10, collecting valve core parameters, and processing the valve core parameters to obtain first state data and second state data; S20, inputting the first state data and the second state data into a valve core dynamics simulation model with a PID control system to calculate the flow rate, flow velocity, and flow area of the valve core; S30, calculating the spring force and fluid force of the valve core according to the valve core parameters, flow rate, flow velocity and flow area of the valve core; S40, the PID control system applies an external force to the valve core according to the spring force and fluid force of the valve core to adjust the valve core lift displacement, thereby controlling the flow fluctuation.

[0005] In one embodiment, the first state data is data of a non-fluctuating valve outlet pressure.

[0006] In one embodiment, the second data is data of a fluctuating valve core outlet pressure.

[0007] In one embodiment, the specific calculation process of the valve core dynamics simulation model in step S20 is: The calculation formula of the flow area of the valve core is:

[0008] in, is the valve seat diameter, is the flow area, Indicates the lift of the valve core. Indicates the gap between the lift valve seat and the valve seat, is the semi-cone angle of the valve core; The flow calculation formula of the valve core is:

[0009]

[0010] in, represents the fluid pressure, is the emission coefficient, and are the absolute pressures on the upstream and downstream sides of the poppet valve, is the density of the working medium inside the valve; The flow rate calculation formula of the valve core is:

[0011] in, is the valve inlet flow rate, is the cross section of the upstream channel of the valve, the flow rate of the valve core .

[0012] In one embodiment, the calculation formula of the fluid force in S30 is:

[0013] in, is the flow rate at the valve inlet, is the flow rate at the valve outlet.

[0014] The present invention further provides a PID processing device for pipeline system parameter fluctuations using the PID processing method for pipeline system parameter fluctuations of the above embodiment, comprising: An input module, configured to input first state data and second state data into a valve core dynamics simulation model with a PID control system; A flow calculation module is used to calculate the water flow at the valve core; A flow rate calculation module is used to calculate the water flow rate at the valve core; A flow area calculation module is used to calculate the flow area of the valve core; The spring force and fluid force calculation module is used to calculate the fluid force based on the flow rate, flow velocity and flow area of the valve core, and simulate the flow fluctuation of the first valve; The PID control module is used to operate the PID control system, apply external force to the valve core according to the flow fluctuation of the first valve, and adjust the valve core lift displacement to control the flow fluctuation.

[0015] In one embodiment, a displacement calculation module and a displacement change calculation module are further included, which are used to calculate the displacement amount and displacement change amount of the valve core at a preset time.

[0016] In one embodiment, the output end of the input module is connected to the output end of the flow area calculation module and the input end of the flow calculation module, the input end of the flow calculation module is connected to the input end of the flow velocity calculation module and the input end of the PID control module, the output end of the flow velocity calculation module and the output end of the PID control module are connected to the input end of the spring force and fluid force calculation module, and the output end of the spring force and fluid force calculation module is connected to the input end of the displacement change calculation module; The output end of the displacement calculation module is respectively connected to the input end of the flow area calculation module and the input end of the spring force and fluid force calculation module, the output end of the flow area calculation module and the output end of the spring force and fluid force calculation module are respectively connected to the input end of the displacement change calculation module, and the output end of the displacement change calculation module is connected to the input end of the displacement calculation module.

[0017] The present invention also provides a computer-readable storage medium storing computer instructions. When the computer instructions are executed by a processor, the PID processing method for pipeline system parameter fluctuations as described in any of the above embodiments is implemented.

[0018] The present invention also provides an electronic device comprising at least one processor and a memory communicatively connected to the processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the processor executes a PID processing method for pipeline system parameter fluctuations as described in any of the above embodiments.

[0019] Based on the above, compared with the existing technology, the present invention provides a PID processing method for pipeline system parameter fluctuations, which suppresses valve flow fluctuations and reduces the vibration of the pipeline system by adding a PID control system, thereby improving the reliability and life of the pipeline system.

[0020] Other features and beneficial effects of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The objectives and other beneficial effects of the present invention can be achieved and obtained by the structures particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work. The positional relationships described in the drawings in the following description are based on the directions of the components shown in the diagrams, unless otherwise specified.

[0022] Figure 1 Flowchart of the PID processing method for pipeline system parameter fluctuations provided in Example 1 of the present invention; Figure 2 A schematic diagram of the pipeline motion equation provided in Example 1 of the present invention; Figure 3 A schematic diagram of a pipeline continuity equation provided in Example 1 of the present invention; Figure 4 A schematic diagram of the valve core control threshold provided in the first embodiment of the present invention; Figure 5 A schematic structural diagram of a cone valve provided in Example 1 of the present invention; Figure 6 A schematic structural diagram of a cone valve provided in Example 1 of the present invention; Figure 7 A schematic diagram of the geometric structure of a cone valve provided in Example 1 of the present invention; Figure 8 A schematic diagram of a PID circuit provided in Example 1 of the present invention; Figure 9 Schematic diagram of the actuator structure of the PID control system provided in Example 1 of the present invention Figure 10 A schematic diagram of the structure of a PID processing device for pipeline system parameter fluctuations provided in the second embodiment of the present invention; Figure 11 The PID processing device for pipeline system parameter fluctuation provided in the second embodiment of the present invention does not include a model diagram of a PID control system; Figure 12 A model diagram of a PID control system including a PID processing device for pipeline system parameter fluctuations provided in the second embodiment of the present invention; Figure 13 A schematic diagram of the structure of an input module provided in the second embodiment of the present invention; Figure 14 A schematic diagram of the structure of a flow calculation module provided in the second embodiment of the present invention; Figure 15 A schematic diagram of the structure of a flow rate calculation module provided in the second embodiment of the present invention; Figure 16 A schematic diagram of the structure of a flow area calculation module provided in the second embodiment of the present invention; Figure 17 A schematic diagram of the structure of a spring force and fluid force calculation module provided in the second embodiment of the present invention; Figure 18 A schematic diagram of the structure of a PID control module provided in the second embodiment of the present invention; Figure 19 A schematic diagram of the structure of a displacement calculation module provided in the second embodiment of the present invention; Figure 20 A schematic diagram of the structure of a displacement change calculation module provided in the second embodiment of the present invention; Figure 21 This is a diagram showing the results of a dynamic simulation of a valve core with no outlet pressure fluctuations provided in the second embodiment of the present invention; Figure 22 A diagram showing the results of a dynamic simulation of a valve core with fluctuating outlet pressure provided in the second embodiment of the present invention; Figure 23 This is a diagram showing the dynamic simulation results of a valve core with no fluctuating outlet pressure under PID control provided in the second embodiment of the present invention; Figure 24 This is a diagram showing the results of a dynamic simulation of a valve core with fluctuating outlet pressure under PID control provided in the second embodiment of the present invention; Figure 25 A schematic diagram illustrating the effect of PID control on valve core displacement provided by the second embodiment of the present invention; Figure 26 This is a schematic diagram of the effect of PID control on fluid force provided in the second embodiment of the present invention.

[0023] Figure 27 A schematic diagram illustrating the effect of PID control on flow provided in the second embodiment of the present invention; Figure 28 A schematic diagram of the valve piping system structure of a PID processing device for piping system parameter fluctuations according to a third embodiment of the present invention; Figure 29 This is a structural diagram of an electronic device provided in Example 5 of the present invention. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions 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 part of the embodiments of the present invention, not all of the embodiments; the technical features designed in different implementation modes of the present invention described below can be combined with each other as long as they do not conflict with each other; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0025] In the description of the present invention, it should be noted that all terms used in the present invention (including technical terms and scientific terms) have the same meanings as those generally understood by ordinary technicians in the field to which the present invention belongs, and should not be understood as limiting the present invention; it should be further understood that the terms used in the present invention should be understood to have the same meanings as these terms in the context of this specification and the relevant field, and should not be understood in an idealized or overly formal sense, unless explicitly defined as such in the present invention.

[0026] Example 1 A PID processing method for pipeline system parameter fluctuations, such as Figure 1 Shown, including: S10 , collecting valve core parameters, and processing the valve core parameters to obtain first state data and second state data.

[0027] S20 , inputting the first state data and the second state data into a valve core dynamics simulation model with a PID control system to calculate the flow rate, flow velocity, and flow area of the valve core.

[0028] S30. Calculate the spring force and the fluid force based on the flow rate, flow velocity, and flow area of the valve core.

[0029] S40, the PID control system applies external force to the valve core according to the spring force and fluid force of the valve to adjust the valve core lift displacement, thereby controlling the flow fluctuation.

[0030] In a specific implementation, the first state data is data of a non-fluctuating valve outlet pressure; the second data is data of a fluctuating valve core outlet pressure, and the data is a sine wave with a certain frequency.

[0031] During initial operation, the PID control system does not act on the valve core. At this time, the valve core is only affected by the fluid force and spring force. At this time, the fluid force and spring force are calculated and transmitted to the PID control system. The PID system provides external force to the valve core according to the final state of the valve core. The system also monitors the state of the valve core in real time. The PID control system adjusts the external force applied in real time according to the state of the valve core, thereby keeping the valve core in a stable state and reducing valve core vibration.

[0032] S20, inputting the first state data and the second state data into a valve core dynamics simulation model with a PID control system to calculate the flow rate, flow velocity, and flow area of the valve core; S30, calculating the fluid force according to the flow rate, flow velocity and flow area of the valve core; Furthermore, the specific calculation process of the valve core dynamics simulation model in step S20 is: The flow rate calculation formula of the valve core is:

[0033] The calculation formula of the flow area of the valve core is:

[0034] The flow calculation formula of the valve core is:

[0035] .

[0036] Furthermore, the calculation formula of the fluid force in S30 is: .

[0037] Specifically, based on the collected valve core parameters, the valve core's flow rate, flow area, and flow rate are calculated. The fluid force is calculated based on the flow rate and flow meter's flow area. The valve spring force is also included, calculated based on the spring constant and elongation, and will not be further explained here.

[0038] The specific derivation process is as follows: The first is the study of the fluid in the pipe: When describing unsteady fluid dynamics in pipes, it's generally accepted to approximate the variation of variables in only one dimension: along the length of the pipe. The mathematical model for unsteady flows can be derived from the equations of motion and continuity. Before deriving the basic equations, the following assumptions about the flow are made: (1) One-dimensional flow with uniform velocity distribution across the flow cross section; (2) Linear elasticity of the wall and fluid, i.e. stress is proportional to strain; (3) The formula for calculating the resistance loss in the steady flow state is valid in the unsteady flow state.

[0039] Taking a micro-flow section for unsteady flow, applying Newton's second law and the principle of conservation of mass respectively, we can derive the equation of motion and continuity equation of unsteady flow.

[0040] The equation of motion for unsteady flow: Figure 2 As shown, the length of the unsteady flow is ds Microfluidics, coordinates s The axis takes the constant flow direction and the angle with the horizontal line is The force analysis of microfluidics includes gravity, fluid pressure at both ends of the microfluid flow, side fluid pressure and peripheral resistance. s Using Newton's second law on the axis:

[0041] Where, represents the fluid pressure, is the cross-sectional area of the pipe, is the wall shear stress, represents the fluid flow rate, Represents the fluid density.

[0042] Ignoring the higher-order partial derivatives, we can get:

[0043] Assuming that the unsteady flow resistance remains constant during steady flow, then:

[0044] Here, the absolute value of the velocity ensures that the resistance is always opposite to the flow direction; is the Darcy friction coefficient. Substitute equation (3) into equation (2) and assume that the pipeline is horizontal, that is, =0, then:

[0045] Where, is the fluid volume flow rate, ; represents the flow friction resistance term, is the inner diameter of the pipe, we have:

[0046] Continuity equation for unsteady flow: Take the length of the unsteady flow as ds Microfluidic segments, such as Figure 3 As shown. According to the law of mass conservation, the difference in mass between the inflow and outflow of the fluid in the microfluidic segment is equal to the total derivative of the mass increment with respect to time. Then:

[0047] Pipeline static , , substituting into formula (6) we get

[0048] After disassembly, it is sorted out:

[0049] Considering the compressibility of the fluid:

[0050]

[0051] Where, is the volume of the pipe cavity, represents the bulk elastic modulus of the fluid, represents the bulk elastic modulus of the pipe, represents the pipe wall thickness, Represents the Poisson's ratio of the pipe.

[0052] Substituting equation (9) into equation (8) yields

[0053] Pressure wave transmission velocity considering pipe wall deformation have:

[0054] Substituting the above formula (11) into (10), we can obtain:

[0055] Appropriate transformations are:

[0056] Equations (4) and (13) are the basic equations for unsteady flow in pipes, also known as wave equations. and , then equations (4) and (13) can be simplified as:

[0057]

[0058] Equations (14) and (15) are the dynamic models of the flow field inside the horizontal pipeline.

[0059] This paper introduces the method of constructing the dynamic model of the cone valve, a common spring regulating valve model. The dynamic models of other valve cores with complex structures can be derived and modified based on the theories of the above two valve core models.

[0060] The most important thing in establishing a valve core dynamic model is to obtain the force conditions of the valve core. For spring valves, the vibration is mainly along the axial direction of the valve stem, and the radial vibration is small and can be ignored. Therefore, the axial force of the valve core is considered. The force components of the valve core are relatively complex. The key and difficulty is the force of the fluid on the valve core. There are two conventional methods for calculating the fluid force on the valve core: the near-field method and the far-field method. The near-field method refers to the direct integration of the pressure and shear stress on the surface of the valve core. This is a conventional method in CFD (computational fluid dynamics); the far-field method refers to the velocity distribution of the fluid before and after the flow through the valve core to obtain the force conditions of the valve core. This method is more common in experimental practice. Due to the complex flow field around the valve, it is almost impossible to obtain an expression for the fluid force on the valve core through the near-field method. For this reason, the far-field method is used to derive the fluid force on the valve core.

[0061] The essence of the far-field method is the momentum theorem. When viewed from the perspective of fluid mechanics, when the valve core presses the fluid against the valve seat, the valve core will change the momentum of the fluid passing through the valve. When focusing on valve core dynamics, the information expressed is that when the momentum of the fluid passing through the valve changes, it will affect the force balance on the valve core. Based on this principle, the forces acting on objects in the flow field are analyzed, such as Figure 4 As shown, for an object immersed in a fluid, if it is impossible to directly calculate the fluid force S1 on the surface of the object , then a fluid control volume surrounding the object can be selected. If the force on the surface S2 of the control volume is The change in momentum of the fluid flowing through the control volume is known to be Knowing that, we can calculate the fluid force on the object according to the momentum formula (16) The expression:

[0062] When studying cone valves, you can choose Figure 5 and Figure 6 The control volume shown. On the control surface, the surface of the valve is S1, the valve inlet is S3, and the pressure on S3 is , the valve outlet pressure is atmospheric pressure, then the force on the valve core is It can be expressed as:

[0063] Where, is the pressure in the x direction of the pipeline; is the tangential force in the x direction of the pipe; is the surface force of the cone valve. On S2, it can be considered that , , and on S3, due to , , so we have:

[0064] The above formula contains multiple variables. To conveniently express the relationship between the variables and the change in the velocity of the fluid flowing through the valve, it is now necessary to define the flow area of the valve, such as Figure 7 As shown, the fluid flows upward in the flow channel and flows out through the gap between the poppet and the valve seat to reach the outlet. Indicates the valve seat diameter. The cross section of the upstream channel of the valve is consistent with the cross section of the valve seat. , so the valve inlet flow rate . Indicates the semi-cone angle of the lift valve, Indicates the lift of the valve core. Indicates the gap between the lift valve seat and the valve seat. The shape of the gap area is the side of the boss, and this area is defined as the flow area:

[0065] in, is the valve seat diameter, is the flow area, Indicates the lift of the valve core. Indicates the gap between the lift valve seat and the valve seat; Therefore, the flow rate out of the valve is , the flow relationship of the fluid flowing through the valve can be expressed as:

[0066]

[0067] in, represents the fluid pressure, is the emission coefficient, and are the absolute pressures on the upstream and downstream sides of the poppet valve, It is the density of the working medium inside the valve.

[0068] The present invention provides a method for numerical modeling of a pipe-valve system. The method first introduces a fluid dynamics model within a pipe. Then, based on a common valve structure model, the flow inside the valve and the force acting on the valve core are given, thereby deriving a valve core dynamics model. Based on the fluid dynamics model within the pipe and the valve core dynamics model, the method for establishing a mathematical model of the pipe-valve system and numerically solving the model is further introduced. Finally, a set of example calculations are performed based on experimental data to verify the correctness of the pipe-valve system dynamics numerical model and solution method.

[0069] S40, the PID control system applies external force to the valve core according to the spring force and fluid force of the valve to adjust the valve core lift displacement, thereby controlling the flow fluctuation.

[0070] Specifically, when the PID control system is not added, the valve core is only affected by the spring force that controls the lift displacement and the fluid force of the water flow. After adding the PID control system, the PID controller will control the actuator to apply an external force to act on the valve core. The three forces are combined to control the lift displacement of the valve core and thus control the water flow.

[0071] The specific process is as follows: In industrial process control, PID (PID control system) is a control system that uses the proportional, integral, and differential error generated by comparing the real-time data collected from the controlled object with a given value. PID control has the advantages of simple principle, strong robustness, and wide applicability. It is a mature and widely used control system.

[0072] The PID control system of the present invention uses the flow rate fed back by the valve system to apply a force to the valve system through the motor, rack displacement and hydraulic device under the PID controller, so as to suppress the fluctuation of the valve flow rate. Generally, the PID algorithm is to perform digital sampling of the analog quantity to be controlled and subtract the data obtained from the pre-desired data, perform integration, differentiation and proportional operations on the obtained difference, and then add the sum to obtain the control quantity, and implement PID through analog electronic circuits. The basic circuit diagram is as follows Figure 8 shown.

[0073] The input current differentiates the difference between the feedback voltage and the reference voltage through the capacitor, and integrates the difference with the help of the inductor. The input resistance plays the role of proportional operation, and the feedback resistor provides the adjustment gain. In fact, in order to avoid self-oscillation, the feedback resistor cannot be too large. This process uses a combination of capacitor and inductor as a control system as an example. The actual simulation results show that the system can play a control role for low-order systems.

[0074] The transfer function of the traditional analog PID control law is:

[0075] Where, Is the proportional coefficient. The introduction of proportional gain is to reflect the deviation signal of the control system in a timely manner; Is the integral coefficient, the integral control link can eliminate the system steady-state error; It is the differential coefficient, which mainly acts on the mid-frequency band of the system, can reduce the system overshoot, speed up the system response, and thus improve its dynamic performance; is the integration time constant, is the differential time constant.

[0076] The actuator is mainly composed of a motor, a rack displacement module, a hydraulic device spring, etc., thereby changing the force on the spring valve, such as Figure 9 shown.

[0077] The stronger the proportional link in PID control, the faster the system responds and the higher the adjustment accuracy. The introduction of proportional gain is to promptly reflect the deviation signal of the control system. When the system deviates, proportional adjustment can quickly reduce the system deviation. When the proportional gain is large, the PID controller can speed up the adjustment process, but too large a proportional gain will cause a large overshoot in the adjustment process, reducing the stability of the system and even causing system collapse in some cases. To address the problem that proportional gain may cause excessive system overshoot, the conventional PID control algorithm is modified to the following by introducing a weighting coefficient in proportional control:

[0078] in, By adjusting the proportional gain and reducing the corresponding proportional coefficient, the problem of large dynamic overshoot in the system is resolved. This improvement is based on the fact that the overshoot of the process is caused by the proportional action. For large lag and slow time-varying objects, the integral action has the most significant contribution to the overshoot.

[0079] The integral control mechanism can eliminate system steady-state errors, primarily acting in the control system's low-frequency range to improve its steady-state performance. However, the integral mechanism can reduce system stability and slow dynamic response. When the system is in a closed-loop stable state, the output and error remain constant. The controller output is constant only when the dynamic error is zero. Integral regulation takes effect as long as the control system has dynamic error, and ceases when there is no error. The integral control output is a constant value, and the strength of the integral action depends on the value of the integral time constant: a smaller value indicates a stronger integral action, while a smaller value indicates a weaker integral action. The introduction of the integral action can reduce system stability and slow dynamic response. Therefore, in practice, the integral action is often combined with the other two control principles to form a PI controller or a PJD controller.

[0080] The differential link mainly acts on the mid-frequency band of the system, which can reduce the overshoot of the system, speed up the response of the system, and thus improve its dynamic performance. However, if the differential link is too strong, it will reduce the anti-interference ability of the system. The strength of the differential effect depends on the size of the differential time. The larger the value, the stronger the differential effect. When the differential value is appropriate, the overshoot and adjustment time of the system can be effectively reduced. From the perspective of the filter, the differential link is equivalent to a high-pass filter, so it has an amplifying effect on the interference noise and needs to be eliminated. Therefore, the differential link cannot be increased too strongly, which will have an adverse effect on the anti-interference of the control system. The differential link is related to the rate of change of the system. When the deviation value is a constant, the output of the differential link is 0. In view of the adverse effects of noise that may be introduced by the differential link, in practical applications, a deformed differential form is used to limit the maximum high-frequency gain, that is:

[0081] When the frequency , the gain of the differential link will not exceed N .

[0082] Example 2 A PID processing device for pipeline system parameter fluctuations, such as Figure 10 Shown, including: An input module, configured to input first state data and second state data into a valve core dynamics simulation model with a PID control system; A flow calculation module is used to calculate the water flow at the valve core; A flow rate calculation module is used to calculate the water flow rate at the valve core; A flow area calculation module is used to calculate the flow area of the valve core; The spring force and fluid force calculation module is used to calculate the fluid force based on the flow rate, flow velocity and flow area of the valve core, and simulate the flow fluctuation of the first valve; The PID control module is used to operate the PID control system, apply external force to the valve core according to the flow fluctuation of the first valve, and adjust the valve core lift displacement to control the flow fluctuation.

[0083] Specifically, Figure 11 The PID processing device for pipeline system parameter fluctuation provided by the present invention does not include a model diagram of a PID control system; Figure 12 Shown is a model diagram of a PID control system including a PID processing device for parameter fluctuations in a pipeline system according to the present invention; Figure 13 This is a structural diagram of the input module provided by the present invention, in which Ps is the fluctuation amount of the fluctuating valve core outlet pressure, and Ps0 is the direct flow amount without increasing the fluctuating valve core outlet pressure; Figure 14This is a schematic diagram of the structure of the flow calculation module provided by the present invention, in which r0 is the density of the working medium inside the valve, and × is the multiplication sign; Figure 15 This is a schematic diagram of the structure of the flow rate calculation module provided by the present invention, in which pi is 3.1415926; Figure 16 This is a schematic diagram of the structure of the flow area calculation module provided by the present invention, in which a is the sine value of the semi-cone angle and b is the cosine value of the semi-cone angle; Figure 17 This is a structural diagram of the spring force and fluid force calculation module provided by the present invention. In the figure, k is the spring stiffness, F1 is the external force applied by PID, F2 is the spring force, and Fflow is the fluid force. ; Figure 18 A schematic diagram of the structure of the PID control module provided by the present invention; Furthermore, the PID processing device for pipeline system parameter fluctuations also includes a displacement calculation module and a displacement change calculation module for calculating the displacement and displacement change of the valve core at a preset time, such as Figure 19 and Figure 20 As shown, Figure 19 Where x0 is the initial displacement, Figure 20 Where 1 / m is the reciprocal of mass, deltax is the displacement change, and Z -1 is the delay function.

[0084] The output end of the input module is connected to the output end of the flow area calculation module and the input end of the flow calculation module, the input end of the flow calculation module is connected to the input end of the flow velocity calculation module and the input end of the PID control module, the output end of the flow velocity calculation module and the output end of the PID control module are connected to the input end of the spring force and fluid force calculation module, and the output end of the spring force and fluid force calculation module is connected to the input end of the displacement change calculation module; The output end of the displacement calculation module is respectively connected to the input end of the flow area calculation module and the input end of the spring force and fluid force calculation module, the output end of the flow area calculation module and the output end of the spring force and fluid force calculation module are respectively connected to the input end of the displacement change calculation module, and the output end of the displacement change calculation module is connected to the input end of the displacement calculation module.

[0085] During specific implementation, the flow calculation module, flow velocity calculation module, flow area calculation module and spring force and fluid force calculation module jointly form a fluid force calculation channel, calculate the spring force and fluid force of the valve core in real time, and transmit the spring force and fluid force to the PID control module connected to the spring force and fluid force calculation module.

[0086] The output of the displacement calculation module is connected to the input of the flow area calculation module and the input of the spring force and fluid force calculation module, respectively. The output of the flow area calculation module and the output of the spring force and fluid force calculation module are respectively connected to the input of the displacement change calculation module. The output of the displacement change calculation module is connected to the input of the displacement calculation module, forming a displacement cycle calculation channel for calculating the lift displacement. The PID control module calculates the spring force, fluid force, and lift displacement of the valve core, and applies external force according to the preset state of the device to adjust the lift displacement, thereby causing the valve core to reach the preset state.

[0087] like Figure 11 As shown in the figure, it is a PID processing device for pipeline system parameter fluctuation without adding a PID control module. When there is no fluctuation in valve outlet pressure: when the valve core outlet pressure Ps is constant, the valve core displacement, valve core fluid force and system flow are constant, as shown in the figure. Figure 21 As shown, (a) is the valve core outlet pressure, (b) is the valve core displacement, (c) is the valve core fluid force, and (d) is the system flow. Fluctuating valve core outlet pressure: When the valve core outlet pressure Ps fluctuates (given a sinusoidal pressure fluctuation), at this time, the valve core displacement, valve core fluid force and system flow are constant, as shown in Figure 2. Figure 22 As shown, (a) is the valve core outlet pressure, (b) is the valve core displacement, (c) is the valve core fluid force, and (d) is the system flow.

[0088] like Figure 12 The PID processing device for the pipeline system parameter fluctuation of this application simulates the non-fluctuating valve outlet pressure. When the valve core outlet pressure Ps is constant, the valve core displacement, valve core fluid force and system flow are constant, such as Figure 23 As shown in Figure 1, (a) is the valve core outlet pressure, (b) is the valve core displacement, (c) is the valve core fluid force, and (d) is the system flow rate. If there is a fluctuating valve outlet pressure, after adding the PID control system, when the valve core outlet pressure Ps fluctuates (given a sinusoidal pressure fluctuation), the valve core displacement, valve core fluid force, and system flow rate are constants, as shown in Figure 1. Figure 24 As shown in the figure, (a) is the valve core outlet pressure, (b) is the valve core displacement, (c) is the valve core fluid force, and (d) is the system flow rate. Compared with the PID processing device for pipeline system parameter fluctuations without adding the PID control module, the influence of the PID control system on the valve core dynamic system is that after adding the PID control system, the fluctuation of the valve core displacement and the fluid flow rate in the valve is reduced, and the fluid force in the valve is reduced. Figure 25 、 26 , as shown in 27.

[0089] Example 3 like Figure 28As shown, the present invention also provides a valve piping system using the PID processing method and device for piping system parameter fluctuations in the above-mentioned embodiment, which includes a water tank, a pump, a spring valve, a PID controller, a stepping motor, a gear rack system, a flow sensor, a pipeline and other components to form a complete valve piping system. The parameters obtained by the flow sensor are input into the PID controller, and the PID outputs a current signal to the stepping motor. The motor rotates, driving the gear rack displacement structure to operate, and the rack is connected to the valve stem of the spring valve, thereby adjusting the valve flow.

[0090] Example 4 A computer-readable storage medium stores computer instructions, which, when executed by a processor, implement the PID processing method for pipeline system parameter fluctuations as described in any of the above embodiments.

[0091] Example 5 An electronic device, such as Figure 29 As shown, it includes at least one processor and a memory connected to the processor in communication, wherein the memory stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor to enable the processor to execute the PID processing method for pipeline system parameter fluctuations as described in any of the above embodiments.

[0092] In addition, those skilled in the art should understand that, although there are many problems in the prior art, each embodiment or technical solution of the present invention may be improved in only one or several aspects, without having to simultaneously solve all the technical problems listed in the prior art or background art. Those skilled in the art should understand that any content not mentioned in a claim should not be construed as limiting the claim.

[0093] Although this document frequently uses terms such as valve core parameters, first state data, second state data, PID control system, valve core dynamics simulation model, flow rate, flow velocity, flow area, fluid force, external force, valve core lift displacement, data on non-fluctuating valve outlet pressure, and data on fluctuating valve core outlet pressure, it does not exclude the possibility of using other terms. These terms are used only to more conveniently describe and explain the essence of the present invention; interpreting them as any additional limitations is contrary to the spirit of the present invention; the terms "first", "second", etc. (if any) in the description and claims of the embodiments of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A PID processing method for pipeline system parameter fluctuations, characterized in that: include S10, collecting valve core parameters, and processing the valve core parameters to obtain first state data and second state data; S20, inputting the first state data and the second state data into a valve core dynamics simulation model with a PID control system to calculate the flow rate, flow velocity, and flow area of the valve core; S30, calculating the spring force and fluid force of the valve core according to the valve core parameters, flow rate, flow velocity and flow area of the valve core; S40 , the PID control system applies an external force to the valve core according to the spring force and fluid force of the valve core to adjust the lift displacement of the valve core, thereby controlling the flow fluctuation.

2. The PID processing method for pipeline system parameter fluctuation according to claim 1, characterized in that: The first state data is data of a non-fluctuating valve outlet pressure.

3. The PID processing method for pipeline system parameter fluctuation according to claim 1, characterized in that: The second data is data of a fluctuating valve core outlet pressure.

4. The PID processing method for pipeline system parameter fluctuation according to claim 1, characterized in that: The specific calculation process of the valve core dynamics simulation model in step S20 is: The calculation formula of the flow area of the valve core is: in, is the valve seat diameter, is the flow area, Indicates the lift of the valve core. Indicates the gap between the lift valve seat and the valve seat, is the semi-cone angle of the valve core; The flow calculation formula of the valve core is: in, Indicates the fluid pressure, is the emission coefficient, and are the absolute pressures on the upstream and downstream sides of the poppet valve, is the density of the working medium inside the valve; The flow rate calculation formula of the valve core is: in, is the valve inlet flow rate, is the cross section of the upstream channel of the valve, the flow rate of the valve core .

5. The PID processing method for pipeline system parameter fluctuation according to claim 4, characterized in that: The calculation formula of fluid force in S30 is: in, is the flow rate at the valve inlet, is the flow rate at the valve outlet.

6. A PID processing device for pipeline system parameter fluctuations using the PID processing method for pipeline system parameter fluctuations according to any one of claims 1 to 5, characterized in that: include: An input module, configured to input the first state data and the second state data into a valve core dynamics simulation model with a PID control system; A flow calculation module is used to calculate the water flow at the valve core; A flow rate calculation module is used to calculate the water flow rate at the valve core; A flow area calculation module is used to calculate the flow area of the valve core; The spring force and fluid force calculation module is used to calculate the fluid force based on the flow rate, flow velocity and flow area of the valve core, and simulate the flow fluctuation of the first valve; The PID control module is used to operate the PID control system, apply external force to the valve core according to the flow fluctuation of the first valve, and adjust the valve core lift displacement to control the flow fluctuation.

7. The PID processing device for pipeline system parameter fluctuation according to claim 6, characterized in that: It also includes a displacement calculation module and a displacement change calculation module, which are used to calculate the displacement and displacement change of the valve core at a preset time.

8. The PID processing device for pipeline system parameter fluctuation according to claim 7, characterized in that: The output end of the input module is connected to the output end of the flow area calculation module and the input end of the flow calculation module, the input end of the flow calculation module is connected to the input end of the flow velocity calculation module and the input end of the PID control module, the output end of the flow velocity calculation module and the output end of the PID control module are connected to the input end of the spring force and fluid force calculation module, and the output end of the spring force and fluid force calculation module is connected to the input end of the displacement change calculation module; The output end of the displacement calculation module is respectively connected to the input end of the flow area calculation module and the input end of the spring force and fluid force calculation module, the output end of the flow area calculation module and the output end of the spring force and fluid force calculation module are respectively connected to the input end of the displacement change calculation module, and the output end of the displacement change calculation module is connected to the input end of the displacement calculation module.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and when the computer instructions are executed by a processor, the PID processing method for pipeline system parameter fluctuations according to any one of claims 1 to 5 is implemented.

10. An electronic device, characterized in that: The system comprises at least one processor and a memory communicatively connected to the processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the processor executes the PID processing method for pipeline system parameter fluctuations as described in any one of claims 1 to 5.

Images