Intelligent exhaust device control method

Abstract

The invention discloses an intelligent exhaust device control method, and belongs to the technical field of intelligent exhaust, a BMS (Battery Management System) master control board is controlled to open by acquiring real-time monitoring data of a data acquisition device, an exhaust device master control board receives a control instruction of the BMS master control board to open a stepping motor, and the opening and closing angle of a cover plate on an exhaust fan driven by the stepping motor is acquired; the air pressure value of the BMS master control board is detected, the exhaust device master control board adjusts the motor driving parameters of the stepping motor according to the air pressure value and controls the fan exhaust of the exhaust fan according to the motor driving parameters, the gas concentration and the cabin temperature can be monitored in real time, the situation that the real-time monitoring data is abnormal can be rapidly processed, field operation is not needed, and the working efficiency is improved. And the working safety of the energy storage system and the exhaust efficiency of the intelligent exhaust device are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent exhaust technology, and in particular relates to a control method for an intelligent exhaust device. Background Art

[0002] At present, electrochemical energy storage systems mainly adopt a modular design, from the integration of battery cells to modules, and then to the integration of large systems. Electrochemical energy storage systems have the characteristics of high energy density, high intelligence and high safety performance, which makes them widely used. Due to the inherent characteristics of electrochemical energy storage systems, thermal shock sources and chemical shock sources usually appear during the energy conversion process, causing the battery to release combustible gases such as CO, H2, and methane. In this use environment, most of these combustible gases need to be detected and discharged on site. When the concentration of combustible gas is too high or the temperature is too high, it is difficult to deal with it in a timely and effective manner, resulting in gas accumulation and great safety hazards. Therefore, there is an urgent need to provide an intelligent exhaust device control method to solve the above-mentioned technical problems. Summary of the Invention

[0003] In view of this, the present invention provides a method for controlling an intelligent exhaust device that can monitor gas concentration and cabin temperature in real time and quickly handle abnormalities in the real-time monitoring data without the need for on-site operation. This improves the operating safety of the energy storage system and the exhaust efficiency of the intelligent exhaust device. This is specifically achieved using the following technical solutions.

[0004] The present invention provides an intelligent exhaust device control method, which is applied to an energy storage system. The energy storage system includes an intelligent exhaust device, a BMS main control board, and a data acquisition device. The intelligent exhaust device includes an exhaust device main control board connected to the BMS main control board, an exhaust fan, and a stepper motor. The exhaust fan, the data acquisition device, and the stepper motor are all connected to the exhaust device main control board, and the data acquisition device is connected to the BMS main control board. The intelligent exhaust device control method includes the following steps:

[0005] Acquiring real-time monitoring data from the data acquisition device to control the BMS main control board to start, and the exhaust device main control board receiving a control instruction from the BMS main control board to start the stepper motor, wherein the real-time monitoring data includes the gas concentration in the energy storage system and the cabin temperature;

[0006] Obtaining the opening and closing angle of the cover on the exhaust fan driven by the stepper motor, and detecting the air pressure value where the BMS main control board is located;

[0007] The exhaust device main control board adjusts the motor drive parameters of the stepper motor according to the air pressure value, and controls the fan exhaust of the exhaust fan according to the motor drive parameters, wherein the motor drive parameters include rotation direction, rotation angle and motor step rate.

[0008] As a preferred embodiment of the above technical solution, the real-time monitoring data of the data acquisition device is obtained to control the BMS main control board to start, and the exhaust device main control board receives the control instruction of the BMS main control board to start the stepper motor, including:

[0009] When the BMS main control board receives a signal indicating that the gas concentration is greater than or equal to a first preset concentration and / or the cabin temperature is greater than or equal to a first preset temperature, the exhaust device main control board receives a closing signal from the BMS main control board;

[0010] The exhaust device main control board controls the stepping motor to rotate in a forward direction according to the closing signal to drive the cover plate to an opening angle, wherein the opening and closing angle includes an opening angle and a closing angle;

[0011] The main control board of the exhaust device adjusts the motor step rate of the stepper motor according to the air pressure value and the opening angle, and the exhaust fan receives the driving current corresponding to the motor step rate to control the fan exhaust.

[0012] As a preferred embodiment of the above technical solution, when the BMS main control board receives a signal indicating that the gas concentration is less than or equal to a second preset concentration and / or the cabin temperature is less than or equal to a second preset temperature, the exhaust device main control board receives a disconnection signal from the BMS main control board, wherein the second preset concentration is less than the first preset concentration, and the second preset temperature is less than the first preset temperature;

[0013] The exhaust device main control board controls the motor to rotate in the reverse direction according to the disconnection signal to drive the cover plate to a closed angle;

[0014] The exhaust device main control board controls the fan on the exhaust fan to stop exhausting according to the preset closing angle.

[0015] As a preferred embodiment of the above technical solution, the exhaust device main control board controls the motor to rotate in the reverse direction according to the disconnection signal to drive the cover plate to a closed angle, including:

[0016] The stepping motor is reversed to drive the cover to rotate forward to 0 degrees;

[0017] adjusting the rotation rate of the stepper motor after a preset time interval;

[0018] When the stepper motor rotates in the forward direction at the rotation rate to a closing angle of -3 degrees, the intelligent exhaust device completes exhaust.

[0019] As a preferred embodiment of the above technical solution, the main control board of the exhaust device adjusts the motor drive parameters of the stepper motor according to the air pressure value, and controls the fan exhaust of the exhaust fan according to the motor drive parameters, including:

[0020] The active disturbance rejection control module is used to control the PWM value of the drive motor to maintain the cabin temperature within the optimal distillation temperature range, wherein the exhaust device main control board is connected to the active disturbance rejection control module, and the drive motor is connected to the fan;

[0021] The active disturbance rejection control module includes a tracking differentiator, an extended state observer, and a nonlinear feedback controller. The tracking differentiator is used to convert a sudden change input signal into a continuous and stable input signal. The extended state observer is used to expand the total disturbance into a new state variable of the entire system to output all states including the original state and the disturbance. The nonlinear feedback controller is used to perform nonlinear processing on the generated state error using a non-smooth feedback function to complete the PID control of the drive motor.

[0022] Among them, the discrete form of the tracking differentiator is:

[0023]

[0024] Where u = fhan(x1, x2, r, h), u is the fastest control synthesis function, x1(k) is the transition link arranged for v(k) at time k, x2(k) is the differential signal of the transition link at time k, v(k) is the input signal at time k, k represents time, and the expression of the fastest control synthesis function is:

[0025]

[0026] Where y represents the feedback value, h is the sampling period, r represents the tracking speed factor, sign() represents the sign function, and d is the step size. By adjusting the values ​​of r and h, the tracking differentiator can quickly achieve the goal of tracking the input value to reduce the overshoot of the active disturbance rejection control module.

[0027] According to formula (1) and formula (2), formula (3) is obtained:

[0028]

[0029] According to formula (3), x1 can quickly catch up with the output signal v without overshoot, and x2 serves as the differential signal of the output signal v.

[0030] As a preferred embodiment of the above technical solution, the active disturbance rejection control module converts the unknown disturbance into an extended state for estimation and simplifies the control strategy using an integral series method. Based on a single-input and single-output nth-order active disturbance rejection control module, the execution expression of the extended state observer is:

[0031]

[0032] Where u(t) is the control input, w(t) is the assumed total disturbance, and x (n) (t) represents the n-order input at time t, y(t) represents the controlled output, x represents the state variable, f is the total disturbance of the system, b is the gain of the active disturbance rejection control module, and the expression of u(t) is:

[0033] u(t)=f(x1,x2,...x n-1 ,ω,t) (5)

[0034] Where ω is the rotation frequency of the drive motor, x n-1 Represents the state variable. If the total disturbance is replaced by the new state variable x n+1 t form, then:

[0035]

[0036] The expression for establishing the linear extended state observer is:

[0037]

[0038] Where β1, β2, ...β n is an adjustable parameter, For the state observer, the state variables x1, x2...x n The estimated value of is the state variable of the linear extended state observer;

[0039] Add nonlinear function fal() for filtering, the corresponding expression is:

[0040]

[0041] Where α is the nonlinear factor and δ is the filtering factor.

[0042] As a preferred embodiment of the above technical solution, based on the tracking differentiator and the arrangement of the transition process to track the error signal generating the transition process, the error signal e1 and the error differential signal e2 are used to implement the PID control of the drive motor. The execution expression of the nonlinear feedback controller is:

[0043] u0=β1fal(e1,α1,δ1)+β2fal(e2,α2,δ2) (9)

[0044] Where e1 and e2 are the derivatives x1 and x2 in the transition process and the state variables observed by the extended state observer The error between them is 0<α1<1<α2.

[0045] As a preferred embodiment of the above technical solution, the exhaust fan is provided with a fan control board connected to the fan, the fan control board is used to obtain the modal parameters of the fan, and the exhaust device main control board receives the modal parameters to control the operating state of the fan, including:

[0046] According to mechanical kinematics, the motion differential equation of a blade with n degrees of freedom under forced excitation is:

[0047] [M]{X”}+[C]{X'}+[K]{X}={F(t)} (10)

[0048] Where [M] is the mass matrix, [C] is the damping matrix, [K] is the stiffness matrix, {X'} is the acceleration vector of the component, {X'} is the velocity vector, {X} is the displacement vector, and {F(t)} is the exciting force vector. n (t)} T , {F(t)}={F1(t),F2(t),...,F n (t)} T ;

[0049] When the exciting force vector is zero, the blade is in a free vibration state, and the corresponding automatic vibration differential equation is:

[0050] [M]{X”}+[C]{X'}+[K]{X}={0} (11)

[0051] Ignoring the influence of blade structural damping on the calculation of natural frequency, the differential equation of the blade expressing the undamped free vibration differential equation is:

[0052] [M]{X″}+[X]{X}={0} (12)

[0053] According to formula (12), the expression of the blade displacement vector is:

[0054]

[0055] Substituting formula (11) and formula (15) into formula (10), we obtain:

[0056]

[0057] The necessary condition for the blade amplitude vector in formula (14) to have a non-zero solution is to satisfy the following expression:

[0058]

[0059] Where, n eigenvalues ​​are obtained by solving formula (15).

[0060] As a preferred embodiment of the above technical solution, the natural frequency of the blade in the undamped state is obtained according to the characteristic value. represents the i-th order natural frequency;

[0061] Will Substitute into formula (14) to obtain the non-zero solution A (i) , where, i=1,2,...,n,A (i) is the i-th order vibration mode of the fan in the undamped state.

[0062] The present invention provides a method for controlling an intelligent exhaust device. The method controls the opening of a BMS main control board by acquiring real-time monitoring data from a data acquisition device. The main control board of the exhaust device receives a control instruction from the BMS main control board to turn on a stepper motor, acquires the opening and closing angle of a cover on an exhaust fan driven by the stepper motor, and detects the air pressure value where the BMS main control board is located. The main control board of the exhaust device adjusts the motor drive parameters of the stepper motor according to the air pressure value, and controls the fan exhaust of the exhaust fan according to the motor drive parameters. The method can monitor the gas concentration and cabin temperature in real time, and quickly handle abnormal situations in the real-time monitoring data without the need for on-site operation, thereby improving the working safety of the energy storage system and the exhaust efficiency of the intelligent exhaust device. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0064] Figure 1 A structural block diagram of the energy storage system provided by the present invention;

[0065] Figure 2 A flow chart of the intelligent exhaust device control method provided by the present invention;

[0066] Figure 3 A flow chart of starting exhaust from the exhaust fan provided by the present invention;

[0067] Figure 4 A flow chart of the exhaust fan stopping exhaust provided by the present invention;

[0068] Figure 5 This is a diagram of the working principle of the intelligent exhaust device provided by the present invention.

[0069] The main component symbols are described as follows:

[0070] 100-intelligent exhaust device; 110-exhaust device main control board; 120-exhaust fan; 130-stepping motor; 140-BMS main control board; 150-data acquisition device. DETAILED DESCRIPTION

[0071] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0072] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. Conversely, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0073] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0074] See 1 and Figure 2 The present invention provides a method for controlling an intelligent exhaust device, which is applied to an energy storage system. The energy storage system includes an intelligent exhaust device 100, a BMS main control board 140, and a data acquisition device 150. The intelligent exhaust device 110 includes an exhaust device main control board 110 connected to the BMS main control board 140, an exhaust fan 120, and a stepper motor 130. The exhaust fan 120, the data acquisition device 150, and the stepper motor 130 are all connected to the exhaust device main control board 110, and the data acquisition device 150 is connected to the BMS main control board 140. The intelligent exhaust device control method includes the following steps:

[0075] S1: Acquire real-time monitoring data from the data acquisition device 150 to control the BMS main control board 140 to start, and the exhaust device main control board 110 receives the control instruction from the BMS main control board 140 to start the stepper motor 130, wherein the real-time monitoring data includes the gas concentration and cabin temperature in the energy storage system;

[0076] S2: Obtaining the opening and closing angle of the cover on the exhaust fan 120 driven by the stepper motor 130, and detecting the air pressure value where the BMS main control board 140 is located;

[0077] S3: The exhaust device main control board 110 adjusts the motor drive parameters of the stepper motor 130 according to the air pressure value, and controls the fan exhaust of the exhaust fan 120 according to the motor drive parameters, wherein the motor drive parameters include rotation direction, rotation angle and motor step rate.

[0078] In this embodiment, Figure 5 As shown, the data acquisition device 150 primarily includes a gas detector and a temperature sensor. The gas detector is connected to the BMS main control board 140, and the temperature sensor is connected to the exhaust system main control board 110. The exhaust system main control board 110 is also connected to a power module. The exhaust system main control board 110 receives control commands from the BMS main control board 140. The exhaust system main control board 110 is provided with multiple terminals for connecting various modules or units. The control commands include turning on and off the stepper motor and controlling the temperature sensor to collect the temperature of the cabin where the BMS main control board 140 is located. The gas detector can detect at least one of the combustible gases such as carbon monoxide, hydrogen, and methane. The exhaust fan 120 is provided with a cover plate on the chassis. The cover plate is a hinge plate. The hinge plate is linked to the motor shaft of the stepper motor 130. The initial state of the exhaust fan 120 is: the cover plate is closed, and the closing angle is -3 degrees, that is, the clamping state. The BMS main control board 140 receives the gas concentration sent by the gas detector. The gas concentration can be a mixed gas concentration, such as CO concentration. When the CO concentration exceeds the gas concentration threshold, the BMS main control board 140 closes and establishes an electrical connection with the exhaust device main control board 110. The exhaust device main control board 110 receives the gas concentration from the gas detector. The CS+ and DCS- interfaces receive a closing signal or a disconnecting signal from the BMS main control board 140; or, when the temperature sensor senses that the cabin temperature exceeds a temperature threshold, the exhaust device main control 110 controls the stepper motor 130 to open, and the stepper motor 130 drives the cover to rotate, thereby controlling the fan of the exhaust fan 120 to exhaust air; at the same time, the air pressure value outside the chassis (BMS main control board) at this time is detected. The air pressure value will affect the driving current of the exhaust fan 120 and the motor step rate of the stepper motor 130, thereby improving the exhaust efficiency.

[0079] It should be noted that the BMS main control board 140 is controlled to be turned on by obtaining real-time monitoring data from the data acquisition device 150, and the exhaust device main control board 110 receives the control instruction of the BMS main control board 140 to turn on the stepper motor 130, obtains the opening and closing angle of the cover on the exhaust fan 120 driven by the stepper motor 130, and detects the air pressure value where the BMS main control board 140 is located. The exhaust device main control board 110 adjusts the motor drive parameters of the stepper motor 130 according to the air pressure value, and controls the fan exhaust of the exhaust fan 120 according to the motor drive parameters. It can monitor the gas concentration and cabin temperature in real time, and quickly handle abnormal situations in the real-time monitoring data without the need for on-site operation, thereby improving the working safety of the energy storage system and the exhaust efficiency of the intelligent exhaust device.

[0080] Optionally, see Figure 3 , obtaining the real-time monitoring data of the data acquisition device to control the BMS main control board to start, and the exhaust device main control board receiving the control instruction of the BMS main control board to start the stepper motor, including:

[0081] S10: When the BMS main control board receives a signal indicating that the gas concentration is greater than or equal to a first preset concentration and / or the cabin temperature is greater than or equal to a first preset temperature, the exhaust device main control board receives a closing signal from the BMS main control board;

[0082] S11: the exhaust device main control board controls the stepping motor to rotate in a forward direction according to the closing signal to drive the cover to an opening angle, wherein the opening and closing angle includes an opening angle and a closing angle;

[0083] S12: The main control board of the exhaust device adjusts the motor step rate of the stepper motor according to the air pressure value and the opening angle, and the exhaust fan receives the driving current corresponding to the motor step rate to control the fan exhaust.

[0084] In this embodiment, the first preset concentration may be 100 ppm, the first preset temperature may be 80°C, and the opening angle may be 80 degrees. When the BMS main control board receives a CO concentration C ≥ 100 ppm from the gas detector, the exhaust device main control board receives a closing signal from the BMS main control board via the GCS+ and DCS- interfaces, or when the exhaust device main control board receives a cabin temperature T ≥ 80°C detected by the temperature sensor, the exhaust device main control board controls the opening stepper motor to rotate 83 degrees in the forward direction at a motor step rate of 1500 pps, i.e., the stepper motor drives the cover to open to an angle of 80 degrees. At the same time, the exhaust device main control board controls the fan control board to detect the effect of external atmospheric pressure on the driving current of the stepper motor. Under standard atmospheric pressure, the driving current of the stepper motor is 600mA; when the external airflow (i.e. the location of the BMS main control board) affects the atmospheric pressure to increase (i.e. exceeds the standard atmospheric pressure), so that the driving current of the stepper motor is greater than or equal to 700mA, the motor step rate is adjusted to 1250pps; as the air pressure continues to increase so that the driving current is greater than or equal to 800mA, the motor step rate is adjusted to 1000pps; the motor step rate is adjusted in sequence, and when the air pressure value of the external airflow continues to increase so that the driving current of the stepper motor is greater than or equal to 1100mA, the motor step rate is adjusted to 250pps. At this time, the exhaust device main control board outputs 24V voltage to the exhaust fan for power supply, and the exhaust fan starts to exhaust, thereby increasing the exhaust rate of the combustible gas.

[0085] Optionally, see Figure 4 , also includes:

[0086] S13: When the BMS main control board receives a signal indicating that the gas concentration is less than or equal to a second preset concentration and / or the cabin temperature is less than or equal to a second preset temperature, the exhaust device main control board receives a disconnection signal from the BMS main control board, wherein the second preset concentration is less than the first preset concentration, and the second preset temperature is less than the first preset temperature;

[0087] S14: the exhaust device main control board controls the motor to rotate in the reverse direction according to the disconnection signal to drive the cover plate to a closed angle;

[0088] S15: The main control board of the exhaust device controls the fan on the exhaust fan to stop exhausting according to the preset closing angle.

[0089] In this embodiment, the exhaust device main control board controls the reverse rotation of the motor to drive the cover to a closed angle according to the disconnection signal, including: the stepper motor reverses to drive the cover to rotate forward to 0 degrees; the rotation rate of the stepper motor is adjusted after a preset time interval; when the stepper motor rotates forward at the rotation rate and the closing angle is -3 degrees, the intelligent exhaust device completes the exhaust. The second preset concentration can be 0 to 10 ppm, preferably 0 ppm, and the second preset temperature can be 50°C, that is, when the BMS main control board receives the CO concentration C = 0 ppm from the gas detector, the exhaust device main control board receives the disconnection signal of the BMS main control board through the GCS+ and DCS- interfaces, and the air pressure value detection process is the same as S10 to S12 above. The exhaust device main control board disconnects the 24V power supply of the exhaust fan, the fan stops exhausting, and the exhaust device main control board is turned on through the 2.6V-2+ and 2.6V-2- interfaces. The stepper motor rotates in the opposite direction by 0 degrees, and the motor step rate is 1500pps, that is, the stepper motor drives the cover to rotate forward to 0 degrees (closing angle). After pausing for 1 second (preset time interval), the main control board of the exhaust device adjusts the rotation rate of the stepper motor to 100pps, and the stepper motor rotates forward by -3 degrees at a rate of 100pps, that is, the stepper motor drives the cover to rotate in the opposite direction to -3 degrees for the clamping state. The exhaust work of the intelligent exhaust device is completed, which improves the stepper motor's ability to accurately control the opening and closing angles of the cover and saves electricity.

[0090] Optionally, the exhaust device main control board adjusts the motor drive parameters of the stepper motor according to the air pressure value, and controls the fan exhaust of the exhaust fan according to the motor drive parameters, including:

[0091] The active disturbance rejection control module is used to control the PWM value of the drive motor to maintain the cabin temperature within the optimal distillation temperature range, wherein the exhaust device main control board is connected to the active disturbance rejection control module, and the drive motor is connected to the fan;

[0092] The active disturbance rejection control module includes a tracking differentiator, an extended state observer, and a nonlinear feedback controller. The tracking differentiator is used to convert a sudden change input signal into a continuous and stable input signal. The extended state observer is used to expand the total disturbance into a new state variable of the entire system to output all states including the original state and the disturbance. The nonlinear feedback controller is used to perform nonlinear processing on the generated state error using a non-smooth feedback function to complete the PID control of the drive motor.

[0093] Among them, the discrete form of the tracking differentiator is:

[0094]

[0095] Where u = fhan(x1, x2, r, h), u is the fastest control synthesis function, x1(k) is the transition link arranged for v(k) at time k, x2(k) is the differential signal of the transition link at time k, v(k) is the input signal at time k, k represents time, and the expression of the fastest control synthesis function is:

[0096]

[0097] Where y represents the feedback value, h is the sampling period, r represents the tracking speed factor, sign() represents the sign function, and d is the step size. By adjusting the values ​​of r and h, the tracking differentiator can quickly achieve the goal of tracking the input value to reduce the overshoot of the active disturbance rejection control module.

[0098] According to formula (1) and formula (2), formula (3) is obtained:

[0099]

[0100] According to formula (3), x1 can quickly catch up with the output signal v without overshoot, and x2 serves as the differential signal of the output signal v.

[0101] In this embodiment, the active disturbance rejection control module converts the unknown disturbance into an extended state for estimation and simplifies the control strategy using an integral series method. Based on a single-input and single-output nth-order active disturbance rejection control module, the execution expression of the extended state observer is:

[0102]

[0103] Where u(t) is the control input, w(t) is the assumed total disturbance, and x (n) (t) represents the n-order input at time t, y(t) represents the controlled output, x represents the state variable, f is the total disturbance of the system, b is the gain of the active disturbance rejection control module, and the expression of u(t) is:

[0104] u(t)=f(x1,x2,...x n-1 ,ω,t) (5)

[0105] Where ω is the rotation frequency of the drive motor, x n-1 Represents the state variable. If the total disturbance is replaced by the new state variable x n+1 t form, then:

[0106]

[0107] The expression for establishing the linear extended state observer is:

[0108]

[0109] Where β1, β2, ...β n is an adjustable parameter, For the state observer, the state variables x1, x2... xn The estimated value of is the state variable of the linear extended state observer;

[0110] Add nonlinear function fal() for filtering, the corresponding expression is:

[0111]

[0112] Where α is the nonlinear factor and δ is the filtering factor.

[0113] It should be noted that, based on the tracking differentiator and the arrangement of the transition process to track the error signal generating the transition process, the error signal e1 and the error differential signal e2 are used to implement the PID control of the drive motor. The execution expression of the nonlinear feedback controller is:

[0114] u0=β1fal(e1,α1,δ1)+β2fal(e2,α2,δ2) (9)

[0115] Where e1 and e2 are the derivatives x1 and x2 in the transition process and the state variables observed by the extended state observer The error between them is 0<α1<1<α2.

[0116] It should be noted that active disturbance rejection control (ADRC) is based on a relatively simple integral series type. It treats all parts of the system dynamics that are different from the basic type (including system uncertainties and disturbances) as a total disturbance (including internal and external disturbances). Through the extended state observer (ESO), the real-time situation of the total disturbance is estimated, and the disturbance is cleared at the same time, thereby reducing the controlled object full of disturbances, uncertainties and nonlinear changes to the basic integral series type, thereby making the design of the entire control system from complex to simple, from abstract to intuitive. By linearly simplifying the nonlinear ADRC, linearizing the extended state observer, and then introducing bandwidth to connect the parameters of the extended state observer, the proportional gain coefficient of the feedback rate and the integral gain coefficient in series, the number of adjustable parameters is reduced, making the control of the main control board of the entire exhaust device simpler and reducing the difficulty of parameter adjustment.

[0117] The tracking differentiator (TD) is a crucial component of ADRC control. Its proposed design addresses the practical challenges of properly tracking and differentiating discontinuous or noisy measurement signals, thereby improving overall control quality and simplifying control strategy design. The tracking differentiator (TD) transforms conflicting input signals into continuous and stable ones. Its inclusion enables rapid tracking of commands with minimal overshoot during the closed-loop system's transition process, achieving a balance between overshoot and rapidity, thereby improving the robustness of the control strategy. To minimize overshoot, mechanism defaults, and unnecessary energy loss caused by large fluctuations in the given amplitude, it is necessary to design an appropriate transition process based on the control objective and the object's tolerance, while also providing a differential signal for the transition process. The nonlinear feedback controller suppresses unknown disturbances in the controlled object, reduces overshoot in the exhaust system's main control board, and achieves higher convergence efficiency.

[0118] Optionally, the exhaust fan is provided with a fan control board connected to the fan, the fan control board is used to obtain modal parameters of the fan, and the exhaust device main control board receives the modal parameters to control the operating state of the fan, including:

[0119] According to mechanical kinematics, the motion differential equation of a blade with n degrees of freedom under forced excitation is:

[0120] [M]{X”}+[C]{X'}+[K]{X}={F(t)} (10)

[0121] Where [M] is the mass matrix, [C] is the damping matrix, [K] is the stiffness matrix, {X'} is the acceleration vector of the component, {X'} is the velocity vector, {X} is the displacement vector, and {F(t)} is the exciting force vector. n (t)} T , {F(t)}={F1(t),F2(t),...,F n (t)} T ;

[0122] When the exciting force vector is zero, the blade is in a free vibration state, and the corresponding automatic vibration differential equation is:

[0123] [M]{X”}+[C]{X'}+[K]{X}={0} (11)

[0124] Ignoring the influence of blade structural damping on the calculation of natural frequency, the differential equation of the blade expressing the undamped free vibration differential equation is:

[0125] M]{X″}+[K]{X}={0} (12)

[0126] According to formula (12), the expression of the blade displacement vector is:

[0127]

[0128] Substituting formula (11) and formula (15) into formula (10), we obtain:

[0129]

[0130] The necessary condition for the blade amplitude vector in formula (14) to have a non-zero solution is to satisfy the following expression:

[0131]

[0132] Where, n eigenvalues ​​are obtained by solving formula (15).

[0133] In this embodiment, the natural frequency of the blade in the undamped state is obtained according to the characteristic value. represents the i-th order natural frequency; Substitute into formula (14) to obtain the non-zero solution A (i) , where, i=1,2,...,n,A (i) is the i-th order vibration mode of the fan in the undamped state.

[0134] It should be noted that the fan can be an axial flow fan. During rotation, the axial flow fan is subjected to the coupling of centrifugal force and flow field aerodynamic force. These forces cause the fan to vibrate. The vibration of the shaft system may excite the blades to vibrate to varying degrees. At the same time, blade mass imbalance and rotor misalignment can also cause impeller vibration. Modes are inherent vibration characteristics of mechanical structures. Each order mode corresponds to a certain natural frequency, damping ratio, and modal vibration shape. Modal analysis is performed to obtain the modal parameters of the structure. Modal parameters are obtained through finite element calculation, thereby obtaining modal parameters such as natural frequency, damping coefficient, and modal vibration shape. By performing modal analysis on the fan structure, the inherent vibration characteristics of the fan components (including each order natural frequency, modal vibration shape, and damping coefficient) can be obtained, and the vibration state and vibration response of the fan blades within a specific excitation force frequency range can be inferred. This provides a basis and parameter support for optimizing the fan's dynamic performance, improving its structure, and diagnosing and predicting vibration faults, thereby improving the operating reliability of the intelligent exhaust device.

[0135] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not limiting, and thus other examples of the exemplary embodiments may have different values.

[0136] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0137] The above-described embodiments merely illustrate several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that variations and modifications are possible without departing from the scope of the present invention, and such variations and modifications are fully within the scope of protection of the present invention.

Claims

1. A method for controlling an intelligent exhaust device, characterized in that: Applied to an energy storage system, the energy storage system includes an intelligent exhaust device, a BMS main control board and a data acquisition device. The intelligent exhaust device includes an exhaust device main control board connected to the BMS main control board, an exhaust fan and a stepper motor. The exhaust fan, the data acquisition device and the stepper motor are all connected to the exhaust device main control board, and the data acquisition device is connected to the BMS main control board. The intelligent exhaust device control method includes the following steps: Acquiring real-time monitoring data from the data acquisition device to control the BMS main control board to start, and the exhaust device main control board receiving a control instruction from the BMS main control board to start the stepper motor, wherein the real-time monitoring data includes the gas concentration in the energy storage system and the cabin temperature; Obtaining the opening and closing angle of the cover on the exhaust fan driven by the stepper motor, and detecting the air pressure value where the BMS main control board is located; The exhaust device main control board adjusts the motor drive parameters of the stepper motor according to the air pressure value, and controls the fan exhaust of the exhaust fan according to the motor drive parameters, wherein the motor drive parameters include rotation direction, rotation angle and motor step rate.

2. The intelligent exhaust device control method according to claim 1, characterized in that: Acquiring real-time monitoring data from the data acquisition device to control the BMS main control board to start, and the exhaust device main control board receiving a control instruction from the BMS main control board to start the stepper motor, including: When the BMS main control board receives a signal indicating that the gas concentration is greater than or equal to a first preset concentration and / or the cabin temperature is greater than or equal to a first preset temperature, the exhaust device main control board receives a closing signal from the BMS main control board; The exhaust device main control board controls the stepping motor to rotate in a forward direction according to the closing signal to drive the cover plate to an opening angle, wherein the opening and closing angle includes an opening angle and a closing angle; The main control board of the exhaust device adjusts the motor step rate of the stepper motor according to the air pressure value and the opening angle, and the exhaust fan receives the driving current corresponding to the motor step rate to control the fan exhaust.

3. The intelligent exhaust device control method according to claim 2, characterized in that: Also includes: When the BMS main control board receives a signal indicating that the gas concentration is less than or equal to a second preset concentration and / or the cabin temperature is less than or equal to a second preset temperature, the exhaust device main control board receives a disconnection signal from the BMS main control board, wherein the second preset concentration is less than the first preset concentration, and the second preset temperature is less than the first preset temperature; The exhaust device main control board controls the motor to rotate in the reverse direction according to the disconnection signal to drive the cover plate to a closed angle; The exhaust device main control board controls the fan on the exhaust fan to stop exhausting according to the preset closing angle.

4. The intelligent exhaust device control method according to claim 3, characterized in that: The exhaust device main control board controls the motor to rotate in the reverse direction according to the disconnection signal to drive the cover plate to a closed angle, including: The stepping motor is reversed to drive the cover to rotate forward to 0 degrees; adjusting the rotation rate of the stepper motor after a preset time interval; When the stepper motor rotates in the forward direction at the rotation rate to a closing angle of -3 degrees, the intelligent exhaust device completes exhaust.

5. The intelligent exhaust device control method according to claim 1, characterized in that: The exhaust device main control board adjusts the motor drive parameters of the stepper motor according to the air pressure value, and controls the fan exhaust of the exhaust fan according to the motor drive parameters, including: The active disturbance rejection control module is used to control the PWM value of the drive motor to maintain the cabin temperature within the optimal distillation temperature range, wherein the exhaust device main control board is connected to the active disturbance rejection control module, and the drive motor is connected to the fan; The active disturbance rejection control module includes a tracking differentiator, an extended state observer, and a nonlinear feedback controller. The tracking differentiator is used to convert a sudden change input signal into a continuous and stable input signal. The extended state observer is used to expand the total disturbance into a new state variable of the entire system to output all states including the original state and the disturbance. The nonlinear feedback controller is used to perform nonlinear processing on the generated state error using a non-smooth feedback function to complete the PID control of the drive motor. Among them, the discrete form of the tracking differentiator is: Where u = fhan(x1, x2, r, h), u is the fastest control synthesis function, x1(k) is the transition link arranged for v(k) at time k, x2(k) is the differential signal of the transition link at time k, v(k) is the input signal at time k, k represents time, and the expression of the fastest control synthesis function is: Where y represents the feedback value, h is the sampling period, r represents the tracking speed factor, sign() represents the sign function, and d is the step size. By adjusting the values ​​of r and h, the tracking differentiator can quickly achieve the goal of tracking the input value to reduce the overshoot of the active disturbance rejection control module. According to formula (1) and formula (2), formula (3) is obtained: According to formula (3), x1 can quickly catch up with the output signal b without overshoot, and x2 serves as the differential signal of the output signal v.

6. The intelligent exhaust device control method according to claim 5, characterized in that: The active disturbance rejection control module converts the unknown disturbance into an extended state for estimation and simplifies the control strategy using an integral series method. Based on a single-input and single-output n-order active disturbance rejection control module, the execution expression of the extended state observer is: Where u(t) is the control input, w(t) is the assumed total disturbance, and x (n) (t) represents the n-order input at time t, y(t) represents the controlled output, x represents the state variable, f is the total disturbance of the system, b is the gain of the active disturbance rejection control module, and the expression of u(t) is: u(t)=f(x1,x2,...x n-1 ,ω,t) (5) Where ω is the rotation frequency of the drive motor, x n-1 Represents the state variable. If the total disturbance is replaced by the new state variable x n+1 t form, then: The expression for establishing the linear extended state observer is: Where β1, β2, ...β n is an adjustable parameter, For the state observer, the state variables x1, x2...x n The estimated value of is the state variable of the linear extended state observer; Add nonlinear function fal() for filtering, the corresponding expression is: Where α is the nonlinear factor and δ is the filtering factor.

7. The intelligent exhaust device control method according to claim 6, characterized in that: Based on the tracking differentiator and the arrangement of the transition process to track the error signal of the transition process, the error signal e1 and the error differential signal e2 are used to implement the PID control of the drive motor. The execution expression of the nonlinear feedback controller is: u0=β1fal(e1,α1,δ1)+β2fal(e2,α2,δ2) (9) Where e1 and e2 are the derivatives x1 and x2 in the transition process and the state variables observed by the extended state observer The error between them is 0<α1<1<α2.

8. The intelligent exhaust device control method according to claim 5, characterized in that: The exhaust fan is provided with a fan control board connected to the fan, the fan control board is used to obtain the modal parameters of the fan, and the exhaust device main control board receives the modal parameters to control the operating state of the fan, including: According to mechanical kinematics, the motion differential equation of a blade with n degrees of freedom under forced excitation is: [M]{X”}+[C]{X'}+[K]{X}={F(t)} (10) Where [M] is the mass matrix, [C] is the damping matrix, [K] is the stiffness matrix, {X'} is the acceleration vector of the component, {X'} is the velocity vector, {X} is the displacement vector, and {F(t)} is the exciting force vector. n (t)} T , {F(t)}={F1(t),F2(t),...,F n (t)} T ; When the exciting force vector is zero, the blade is in a free vibration state, and the corresponding automatic vibration differential equation is: [M]{X”}+[C][X’}+[K]{X}={0} (11) Ignoring the influence of blade structural damping on the calculation of natural frequency, the differential equation of the blade expressing the undamped free vibration differential equation is: M]{X″}+[K]{X}={0} (12) According to formula (12), the expression of the blade displacement vector is: Substituting formula (11) and formula (15) into formula (10), we obtain: The necessary condition for the blade amplitude vector in formula (14) to have a non-zero solution is to satisfy the following expression: Where, n eigenvalues ​​are obtained by solving formula (15).

9. The intelligent exhaust device control method according to claim 8, characterized in that: Also includes: According to the characteristic value, the natural frequency of the blade in the undamped state is obtained represents the i-th order natural frequency; Will Substitute into formula (14) to obtain the non-zero solution A (i) , where, i=1,2,...,n,A (i) is the i-th order vibration mode of the fan in the undamped state.

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