Intelligent control method and system for laser particle counter

Abstract

The invention discloses an intelligent control method and system for a laser particle counter, and relates to the technical field of laser particle counting, and the method comprises the control of laser emission frequency and laser emission angle: obtaining the dynamic state information of a fluid, and adaptively adjusting the laser emission frequency based on the state; the dynamic state is judged by dynamically monitoring a Reynolds number change trend in a continuous time window, and the self-adaptive adjustment is controlled by a preset mapping model between the laser emission frequency and the fluid state; in laser emission angle control, self-adaptive PID control based on fluid flowing direction change is constructed, and a control signal for adjusting the laser emission angle is output; the PID control comprises the step of setting a proportional gain and an integral gain through an angle difference value between a laser emission direction and a fluid flowing direction; the PID control further includes adjusting a differential gain in conjunction with a rate of change in directional error between the predicted path and the actual path. The problem that a laser particle counter is not accurate in measurement in a complex fluid environment is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of laser particle counters, and more particularly to an intelligent control method and system for a laser particle counter. Background Art

[0002] A laser particle counter is an instrument used to measure the concentration of suspended particles in the air or other gases. It is widely used in various fields that require accurate monitoring of the concentration of particles, such as environmental monitoring, semiconductors, pharmaceuticals, industry, and scientific research.

[0003] Laser particle counters typically operate based on the photoelectric effect. When a laser beam strikes a surface or passes through the path of an object, the counter detects the interruption of the beam. Specifically, a laser particle counter emits a laser beam and receives the reflected or penetrating laser signal via a photodetector. If an object passes through the laser beam path, the laser light is blocked by the object, and the detector detects this interruption and counts the particles.

[0004] There are numerous types of laser particle counters available. Depending on the application scenario and accuracy requirements, the market offers various configurations, including handheld, fixed, online, and multi-channel. Choosing the right laser particle counter depends on specific application requirements, such as particle detection accuracy, detection range, real-time data processing capabilities, and sustainability.

[0005] For example, the invention patent with announcement number CN119644811A discloses an automated laser control method and system, which includes establishing a dynamic response model and a disturbance signal model, estimating the disturbance signal, and performing feedforward control; calculating the normal vector of the laser reflector, combining it with the incident laser direction vector to obtain the laser reflection direction vector; determining the laser landing point and analyzing the landing point error; and adjusting the laser emission direction based on the error analysis results. The present invention can improve the stability and accuracy of laser emission, especially in complex environments, ensuring that laser emission will not produce significant deviations due to external disturbances, and accurately calculating and adjusting the laser reflection direction to ensure that the laser reaches the target along the optimal path, thereby improving the control accuracy and energy utilization efficiency of the laser system, reducing emission errors, and significantly improving the reliability and control effect of the laser emission system in actual laser applications.

[0006] For example, the invention patent with announcement number CN115390453B discloses a method for linear control of a laser controller, including turning on all channels of the laser, obtaining the effective input range of the laser, measuring the data output of the laser within the effective input range based on the obtained effective input range, and integrating the input data and output data into a data table T1; under the premise that one or more groups of channels of the laser are turned on, measuring the data output of the laser within the effective input range, the output data range intersects with the data table T1 and the linear output interval ultimately desired to be controlled, and recording the input and output data table T2 and the corresponding channel information Ch; importing the data table T1 and the data table T2 into the laser controller, and calculating the linear parameters L1 and L2 of the laser control by linear fitting within the driver based on the imported data table T1 and the data table T2.

[0007] The above disclosed technical solutions have at least the following technical problems: Existing technologies often use fixed thresholds or simple rule-based triggering mechanisms to adjust laser emission frequency. These lack refined adjustment methods based on the actual fluid state, making them difficult to adapt to complex or dynamically changing flow environments. This results in insufficient particle detection accuracy and system response speed. Existing technologies also often use static settings or simple proportional feedback to control laser emission direction, failing to achieve adaptive setting and dynamic updating of proportional, integral, and differential gains, making it difficult to ensure that the laser beam remains effectively aligned with the fluid. To address these issues, the present invention proposes a solution. Summary of the Invention

[0008] To overcome the aforementioned shortcomings of the prior art, embodiments of the present invention provide an intelligent control method and system for a laser particle counter. By introducing a dynamic frequency adjustment system and a PID control system, the method and system can dynamically adjust the emission frequency and angle of the laser particle counter in complex fluid environments, ensuring the stability and accuracy of particle counting. To achieve the above objectives, the present invention provides the following technical solutions: A method for intelligently controlling a laser particle counter includes controlling the laser emission frequency and the laser emission angle. The laser emission frequency control specifically includes obtaining dynamic state information of a fluid and adaptively adjusting the laser emission frequency based on the state information. The dynamic state information is obtained by dynamically monitoring the Reynolds number change trend within a continuous time window. The adaptive adjustment is controlled by a preset mapping model between the laser emission frequency and the fluid state. The laser emission angle control specifically includes constructing an adaptive PID controller, dynamically adjusting the gain parameters of the PID controller, generating an emission angle control signal based on the adjusted gain parameters, converting the control signal into a deflection torque of the laser emitter, and correcting the emission angle in real time. The gain parameters include proportional gain, integral gain, and differential gain. The proportional gain and integral gain are controlled and adjusted by the angular difference between the laser emission direction and the fluid flow direction. The differential gain is adjusted by combining the rate of change of the directional error between the predicted path and the actual path.

[0009] In a preferred embodiment, the dynamic state information is obtained by dynamically monitoring the Reynolds number change trend within a continuous time window, specifically: obtaining fluid environment data and fluid velocity and calculating the Reynolds number of the fluid, and collecting Reynolds number data at multiple moments within the continuous time window; analyzing the change trend of the Reynolds number data, and judging the real-time state of the fluid based on the Reynolds number change trend and the numerical range.

[0010] In a preferred embodiment, the adaptive adjustment is controlled by a preset mapping model between the laser emission frequency and the fluid state, specifically: based on real-time fluid state and fluid environment data, a mapping model between the laser emission frequency and the fluid state is constructed through a fuzzy control algorithm; through the mapping model, the system adjusts the laser emission frequency in real time; and the mapping model is dynamically compensated and online optimized based on historical operating data and real-time environmental parameters.

[0011] In a preferred embodiment, the proportional gain and integral gain are controlled and adjusted by the angular difference between the laser emission direction and the fluid flow direction, specifically: the integral gain and differential gain in the PID control system are set to zero, only the proportional gain is retained and initially adjusted; the minimum proportional gain allowed by the system is selected as the initial value, the real-time angular difference between the laser emission angle and the fluid flow direction is continuously monitored, and the proportional gain is gradually increased; when it is detected that the angle difference is first stably less than the set error threshold, the value of the proportional gain at this time is recorded as the optimal proportional gain of the system; on the basis of the above-mentioned optimal proportional gain, the integral gain is gradually increased to correct the steady-state deviation caused by the proportional control, and the changing trend of the angle difference is continuously monitored; when the system angle difference further decreases and tends to stabilize, and reaches the system preset convergence accuracy, the current integral gain value is recorded as the optimal integral gain of the system.

[0012] In a preferred embodiment, the differential gain is adjusted by combining the direction of the predicted path and the direction error change rate of the actual path, specifically: the motion trajectory generated by the virtual particle is used as the predicted fluid motion path; the motion direction of the actual fluid at each time point is obtained, and the direction error between the actual path and the predicted path is calculated; the rate of change of the direction error with respect to time is calculated, and an error change rate curve is generated; the differential gain parameter is dynamically adjusted with the error change rate as the feedback signal, and when the direction error change rate is stable and lower than the preset oscillation threshold, the current differential gain is locked as the optimal control parameter; and the gain parameter is continuously optimized based on the system response characteristics and trajectory error.

[0013] In a preferred embodiment, the direction of the predicted path is specifically as follows: constructing a fluid velocity and direction relationship model based on the Navier-Stokes equations; solving the model, obtaining the flow field velocity vector distribution, and constructing a velocity vector field; setting the laser emission point as the initial position in the velocity vector field, introducing virtual particles to establish a particle motion model; using a numerical integration method to iteratively solve the trajectory of the virtual particles in a time series to obtain the particle motion trajectory; and predicting the fluid flow direction based on the particle trajectory change trend.

[0014] In a preferred embodiment, an adaptive PID controller is constructed, the gain parameters of the PID controller are dynamically adjusted, an emission angle control signal is generated according to the adjusted gain parameters, and the control signal is converted into a deflection torque of the laser emitter to correct the emission angle in real time. Specifically, the proportional gain, integral gain and differential gain that have been adaptively obtained are input as initial parameters of the controller to construct a PID control system containing three control components; the fluid direction vector is obtained in real time, and compared with the laser emission direction vector, and the angle difference between the two is calculated as the input angle deviation signal of the PID control system; the angle deviation signal is input into the PID controller, and the proportional, integral and differential operations are performed in sequence, and weighted superposition is performed to output an output control signal for adjusting the angle of the laser emission device; the control signal is converted into a deflection torque of the laser emitter, and the laser emitter is driven in real time to adjust the emission angle.

[0015] In a preferred embodiment, the PID control also includes dynamically updating the gain of the PID system based on the real-time angle error and the system control response. Specifically, the PID control system continuously obtains the dynamic changes in the fluid direction during operation, and continuously adjusts the control output signal of the PID control system according to the real-time angle error signal; based on the real-time angle error and the response of the PID control system, the PID control system gain is dynamically updated.

[0016] A laser particle counter intelligent control system includes a laser emission frequency control module for acquiring dynamic state information of a fluid and adaptively adjusting the laser emission frequency based on the state information; a laser emission angle control module for constructing an adaptive PID controller, dynamically adjusting the gain parameters of the PID controller, generating an emission angle control signal based on the adjusted gain parameters, and converting the control signal into a deflection torque of the laser emitter to correct the emission angle in real time.

[0017] The technical effects and advantages of the intelligent control method and system of a laser particle counter of the present invention are as follows: 1. Through the fluid state monitoring system and PID control system, the present invention can dynamically adjust the emission frequency and angle of the laser particle counter in complex fluid environments, ensuring that the laser beam is continuously and effectively aligned with the fluid direction, reducing the impact of the fluid on laser particle counting, and ensuring the stability and accuracy of particle counting.

[0018] 2. This invention achieves adaptive intelligent regulation of laser emission frequency by determining fluid state based on Reynolds number trends and, in conjunction with a fuzzy control algorithm, constructing a nonlinear mapping model between laser emission frequency and fluid state. This mapping model integrates real-time fluid state parameters and environmental variables, and features dynamic compensation and online optimization capabilities, enabling real-time adjustment of output frequency as flow field conditions change. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The figure is a flow chart of an intelligent control method of a laser particle counter according to the present invention.

[0020] Figure 2 This is a structural schematic diagram of an intelligent control system for a laser particle counter according to the present invention.

[0021] Figure 3 This is an example diagram of a PID control system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0023] Example 1, Figure 1 The present invention provides an intelligent control method for a laser particle counter, comprising the following steps: S1, obtain the dynamic state information of the fluid and adaptively adjust the laser emission frequency based on the state information.

[0024] In this embodiment, the dynamic state information of the fluid is obtained, specifically: Obtain fluid environment data and fluid velocity and calculate the Reynolds number of the fluid, and collect Reynolds number data at multiple moments in a continuous time window; analyze the changing trend of the Reynolds number data, and judge the real-time state of the fluid based on the Reynolds number changing trend and value range.

[0025] The formula for calculating the Reynolds number is:

[0026] in, is the flow rate of the fluid, is the acceleration due to gravity, is the radius of the measuring cavity, is the dynamic viscosity of the fluid. The density and dynamic viscosity of the fluid are known.

[0027] In order to accurately judge the dynamic change trend of the fluid state, the system sets up a continuous time sliding window. Within this window, the Reynolds number series calculated in real time is analyzed and processed, its first-order derivative information is extracted, and trend analysis is performed. The analysis process is as follows: When the Reynolds number fluctuation amplitude is Less than the set threshold , and the average value is lower than the first critical value , it is determined to be laminar flow; when Greater than the set threshold When the average value exceeds the second critical value , it is determined to be turbulent; If it is between the two, it is marked as a transition state.

[0028] It should be noted that the above real-time status information will serve as an important input to the downstream laser emission frequency adjustment module, driving the subsequent fuzzy controller to make adaptive response adjustments to the emission frequency.

[0029] In this embodiment, the laser emission frequency is adaptively adjusted based on the state, specifically: Based on real-time fluid state and fluid environment data, a mapping model between laser emission frequency and fluid state is constructed through fuzzy control algorithm; Through the mapping model, the system calculates and intelligently adjusts the laser emission frequency in real time; The mapping model is dynamically compensated and optimized online based on historical operating data and real-time environmental parameters.

[0030] The mapping model uses a fuzzy control algorithm, using "fluid state indicators" and "environmental disturbance indicators" as input fuzzy variables and a "laser emission frequency adjustment coefficient" as the output control variable. Based on domain knowledge and the actual system response patterns, a pre-defined fuzzy membership function and rule base are used to quantify the appropriate laser emission frequency adjustment strategy for different fluid states.

[0031] In specific implementation, fuzzy control completes frequency output through the following steps: Fuzzy processing: convert the input fluid state index and environmental disturbance index into fuzzy quantities; Rule matching and reasoning: call the fuzzy rule library to perform fuzzy logic reasoning; Defuzzification: Convert the fuzzy output value into a specific transmission frequency adjustment coefficient.

[0032] The emission frequency output value is used to drive the laser control module to adjust the output frequency of the laser pulse in real time to adapt to the current fluid state.

[0033] The fluid state index is derived from the Reynolds number and its rate of change, and the mathematical formula is as follows:

[0034] The environmental disturbance index is comprehensively evaluated by the standard deviation or change rate of the environmental variables, and the mathematical formula is as follows:

[0035] The laser emission frequency adjustment coefficient is used to adjust the reference frequency to obtain the actual laser emission frequency. The mathematical formula is as follows:

[0036] in, It is an indicator of fluid state; is the experience weight coefficient; is the Reynolds number; is the rate of change of Reynolds number; is an indicator of environmental disturbance; For the The change per unit time of an environmental variable; is the actual laser emission frequency; is the laser emission frequency adjustment coefficient; is the reference frequency.

[0037] In addition, the system also uses historical operation data to Online optimization is performed with the fuzzy rule base to improve the long-term stability and dynamic response accuracy of the model.

[0038] When turbulent flow is detected and the environment is severely disturbed, the system automatically increases the transmission frequency to enhance particle detection accuracy; when laminar flow is detected and the environment is stable, the system reduces the transmission frequency to reduce energy consumption and signal interference.

[0039] To enhance the model's adaptability and robustness, the system also deploys an online learning and historical data compensation mechanism. This mechanism builds a state-frequency response database based on historical operating data. Combined with real-time monitored environmental parameters and fluid states, it uses minimum error backtracking to update fuzzy membership functions and rule weights, enabling dynamic compensation and online optimization of the model. This ensures the optimal laser launch strategy is consistently maintained under variable flow fields and complex operating conditions.

[0040] S2, constructs an adaptive PID controller, dynamically adjusts the gain parameters of the PID controller, generates a launch angle control signal based on the adjusted gain parameters, and converts the control signal into the deflection torque of the laser transmitter to correct the launch angle in real time.

[0041] In this embodiment, an adaptive PID controller is constructed to dynamically adjust the gain parameters of the PID controller, specifically: The PID control includes setting a proportional gain and an integral gain by an angular difference between the laser emission direction and the fluid flow direction; The PID control further includes adjusting the differential gain based on the direction of the predicted path and the rate of change of the direction error of the actual path; The PID control also includes dynamically updating the gain of the PID system according to the real-time angle error and the system control response.

[0042] Furthermore, the PID control includes setting the proportional gain and the integral gain by the angular difference between the laser emission direction and the fluid flow direction, specifically: Set the integral gain and differential gain in the PID control system to zero, retaining only the proportional gain and making initial adjustments; The minimum proportional gain allowed by the system is selected as the initial value, the real-time angle difference between the laser emission angle and the fluid flow direction is continuously monitored, and the proportional gain is gradually increased; When it is detected that the angle difference is first stably smaller than the set error threshold, the value of the proportional gain at this time is recorded as the optimal proportional gain of the system; Based on the above optimal proportional gain, gradually increase the integral gain to correct the steady-state deviation caused by proportional control, and continuously monitor the trend of the angle difference; When the system angle difference further decreases and tends to be stable, and reaches the system preset convergence accuracy, the current integral gain value is recorded as the optimal integral gain of the system.

[0043] It should be noted that the gain serves as the system's control parameter under the current fluid operating conditions, completing the adaptive PID early gain setting process based on the angle difference. This method requires no manual tuning and is suitable for rapid parameter matching under variable fluid conditions, improving the adaptability and steady-state accuracy of the laser control system.

[0044] Furthermore, the PID control also includes adjusting the differential gain based on the rate of change of the direction error between the predicted path and the actual path, specifically: Predict the future flow direction of the fluid, including: Construct a model of the relationship between fluid velocity and direction based on the Navier-Stokes equations; Solving the model, obtaining the velocity vector distribution of the flow field, and constructing the velocity vector field; The laser emission point is set as the initial position in the velocity vector field, and virtual particles are introduced to establish a particle motion model; The trajectory of virtual particles is solved by time series iteration using numerical integration method to obtain the particle motion trajectory; Predict the fluid flow direction based on the particle trajectory change trend.

[0045] The speed and direction relationship model is as follows:

[0046] The differential equation of the second velocity vector field at any time is:

[0047] The position of the virtual particle at any time is:

[0048] The specific calculation formula for the change trend is:

[0049] in, is the fluid velocity vector; For time; is the density of water; A water pressure vessel; is the kinematic viscosity of the fluid; is gravity; Over time The coordinates (positions) of the changing fluid particles; For fluid in position The velocity vector at ; is the time taken for the position change; is the initial position, For passing After the position, is the error between the trajectory of the virtual particle and the actual trajectory.

[0050] Adaptively adjust the differential gain based on the rate of change of the directional error between the predicted path and the actual path, including: The motion trajectory generated by the virtual particles is used as the predicted fluid motion path; Obtain the actual fluid movement direction at each time point and calculate the directional error between the actual path and the predicted path; Calculate the rate of change of the direction error with respect to time and generate an error change rate curve; The differential gain parameter is dynamically adjusted using the error change rate as the feedback signal. When the direction error change rate is stable and lower than the preset oscillation threshold, the current differential gain is locked as the optimal control parameter. Gain parameters are continuously optimized based on system response characteristics and trajectory errors.

[0051] The system adjusts the differential gain according to the following strategy: when the rate of change of the directional error is in a large fluctuation range, the system appropriately increases the differential gain to enhance the system's sensitivity and response speed to changing trends; when the rate of change of the directional error gradually decreases and is stably less than the set oscillation threshold for multiple consecutive sampling periods, it indicates that the system has become stable. At this time, the current differential gain value is locked as the optimal differential control parameter under the current working conditions.

[0052] Furthermore, the controller incorporates a dynamic optimization mechanism, combining the system's transient response curve and steady-state angular error characteristics, to fine-tune the selected differential gain value, balancing the system's response speed and stability. This approach provides the differential gain parameter with excellent adaptive adjustment capabilities, adapting to path disturbances and prediction deviations in complex fluid conditions, and improving the laser launch system's response accuracy and robustness to target directions.

[0053] In this embodiment, an emission angle control signal is generated according to the adjusted gain parameter, and the control signal is converted into a deflection torque of the laser transmitter to correct the emission angle in real time, specifically: The adaptively acquired proportional gain, integral gain, and differential gain are used as initial controller parameters to construct a PID control system containing three control components. The fluid direction vector is obtained in real time and compared with the laser emission direction vector, and the angle difference between the two is calculated as the input angle deviation signal of the PID control system; The angle deviation signal is input to the PID controller, which performs proportional, integral, and differential operations in sequence, and performs weighted superposition to output an output control signal for adjusting the angle of the laser emitting device; The angle of the laser emitting device is adjusted according to the output control signal to control the laser emitting direction.

[0054] The system collects the flow direction vector of the fluid at the current moment in real time through the sensor, and compares it with the current emission direction vector of the laser emission device to obtain the angle between the two and calculate the angle difference. , as the input error signal of the PID control system.

[0055] The angle error signal The error is input to the PID controller, which performs the following operations on the error: The proportional term determines the adjustment amplitude of the laser according to the current error. If the error is large, the laser adjustment amplitude is also large to correct the direction quickly. Determines the intensity of the reaction.

[0056] The mathematical expression of the proportional term output is:

[0057] The integral term is used to eliminate long-term system errors. If there are persistent small errors in the angle, the integral control will gradually accumulate and adjust the laser angle to ensure that the system accurately aligns with the fluid direction for a long time. Controls the impact of the integral.

[0058] The mathematical expression of the integral term output is:

[0059] The differential term is used to predict the trend of fluid direction change, make adjustments in advance, and reduce overshoot or oscillation caused by rapid fluid changes. Controls the strength of the differential reaction.

[0060] The mathematical expression of the differential term output is:

[0061] The above three control outputs are weighted and superimposed to obtain the final output control signal. The mathematical formula is as follows:

[0062] in, It is the final control signal used to adjust the emission angle of the laser.

[0063] This control signal is used to drive the laser emission angle adjustment and adjust the emission direction of the laser emission device in real time.

[0064] Furthermore, the PID control also includes dynamically updating the gain of the PID system based on the real-time angle error and the system control response, including: The PID control system continuously obtains dynamic changes in the fluid direction during operation and continuously adjusts the control output signal of the PID control system based on the real-time angle error signal; Based on the real-time angle error and the response of the PID control system, the gain of the PID control system is dynamically updated.

[0065] During system operation, the system continuously acquires real-time fluid direction data, periodically updates the angle error signal, and continuously outputs new control signals based on the PID algorithm to achieve continuous, smooth and precise tracking control of the laser emission direction.

[0066] The gain update process is iteratively optimized with a preset step size, and upper and lower bounds are set to prevent over-adjustment that could cause system oscillation or instability. The updated gain value is automatically fed back to the PID controller as an input parameter for the next round of control calculations, achieving closed-loop optimization control.

[0067] Through this dynamic gain adjustment mechanism, the PID control system can continuously optimize its own parameters according to the actual operating status and control effect, thereby improving its adaptability and control accuracy in complex fluid environments.

[0068] Example 2, Figure 2 The present invention provides an intelligent control system for a laser particle counter, comprising: A laser emission frequency control module is used to obtain dynamic state information of the fluid and adaptively adjust the laser emission frequency based on the state information; The laser emission angle control module is used to build an adaptive PID controller, dynamically adjust the gain parameters of the PID controller, generate an emission angle control signal based on the adjusted gain parameters, and convert the control signal into the deflection torque of the laser transmitter to correct the emission angle in real time.

[0069] The above formulas are all dimensionless and numerical calculations. The formulas are obtained by collecting a large amount of data and performing software simulation to obtain the most recent real situation. The preset parameters in the formulas are set by technicians in this field according to actual conditions.

[0070] The above embodiments may be implemented in whole or in part through software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments may be implemented in whole or in part in the form of a computer program product.

[0071] Those skilled in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0072] In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0073] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0074] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A laser particle counter intelligent control method, characterized in that: Including the control of laser emission frequency and laser emission angle, among which, The control of laser emission frequency includes: Acquiring dynamic state information of the fluid and adaptively adjusting the laser emission frequency based on the state information, wherein the dynamic state information is obtained by dynamically monitoring the Reynolds number change trend within a continuous time window, and the adaptive adjustment is controlled by a preset mapping model between the laser emission frequency and the fluid state; The control of laser emission angle includes: An adaptive PID controller is constructed to dynamically adjust the gain parameters of the PID controller. An emission angle control signal is generated based on the adjusted gain parameters, and the control signal is converted into a deflection torque of the laser emitter to correct the emission angle in real time. The gain parameters include proportional gain, integral gain, and differential gain. The proportional gain and integral gain are controlled and adjusted by the angular difference between the laser emission direction and the fluid flow direction, and the differential gain is adjusted by combining the direction error change rate of the predicted path and the actual path.

2. The laser particle counter intelligent control method according to claim 1, characterized in that: The dynamic state information is obtained by dynamically monitoring the Reynolds number change trend in a continuous time window, specifically: Obtain fluid environment data and fluid velocity and calculate the Reynolds number of the fluid, and collect Reynolds number data at multiple moments in a continuous time window; analyze the changing trend of the Reynolds number data, and judge the real-time state of the fluid based on the Reynolds number changing trend and value range.

3. The laser particle counter intelligent control method according to claim 2, characterized in that: The adaptive adjustment is controlled by a preset mapping model between the laser emission frequency and the fluid state, specifically: Based on real-time fluid state and fluid environment data, a mapping model between laser emission frequency and fluid state is constructed through fuzzy control algorithm; Through the mapping model, the system adjusts the laser emission frequency in real time; The mapping model is dynamically compensated and optimized online based on historical operating data and real-time environmental parameters.

4. The laser particle counter intelligent control method according to claim 1, characterized in that: The proportional gain and integral gain are controlled and adjusted by the angular difference between the laser emission direction and the fluid flow direction, specifically: Set the integral gain and differential gain in the PID control system to zero, retaining only the proportional gain and making initial adjustments; The minimum proportional gain allowed by the system is selected as the initial value, the real-time angle difference between the laser emission angle and the fluid flow direction is continuously monitored, and the proportional gain is gradually increased; When it is detected that the angle difference is first stably smaller than the set error threshold, the value of the proportional gain at this time is recorded as the optimal proportional gain of the system; Based on the above optimal proportional gain, gradually increase the integral gain to correct the steady-state deviation caused by proportional control, and continuously monitor the trend of the angle difference; When the system angle difference further decreases and tends to be stable, and reaches the system preset convergence accuracy, the current integral gain value is recorded as the optimal integral gain of the system.

5. The laser particle counter intelligent control method according to claim 4, characterized in that: The differential gain is adjusted by combining the direction error change rate of the predicted path and the actual path, specifically: The motion trajectory generated by the virtual particles is used as the predicted fluid motion path; Obtain the actual fluid movement direction at each time point and calculate the directional error between the actual path and the predicted path; Calculate the rate of change of the direction error with respect to time and generate an error change rate curve; The differential gain parameter is dynamically adjusted using the error change rate as the feedback signal. When the direction error change rate is stable and lower than the preset oscillation threshold, the current differential gain is locked as the optimal control parameter. Gain parameters are continuously optimized based on system response characteristics and trajectory errors.

6. The laser particle counter intelligent control method according to claim 5, characterized in that: The direction of the predicted path is specifically: Construct a model of the relationship between fluid velocity and direction based on the Navier-Stokes equations; Solving the model, obtaining the velocity vector distribution of the flow field, and constructing the velocity vector field; The laser emission point is set as the initial position in the velocity vector field, and virtual particles are introduced to establish a particle motion model; The trajectory of virtual particles is solved by time series iteration using numerical integration method to obtain the particle motion trajectory; Predict the fluid flow direction based on the particle trajectory change trend.

7. The laser particle counter intelligent control method according to claim 6, characterized in that: The adaptive PID controller is constructed, the gain parameter of the PID controller is dynamically adjusted, the emission angle control signal is generated according to the adjusted gain parameter, and the control signal is converted into the deflection torque of the laser transmitter to correct the emission angle in real time, specifically: The adaptively acquired proportional gain, integral gain, and differential gain are used as initial controller parameters to construct a PID control system containing three control components. The fluid direction vector is obtained in real time and compared with the laser emission direction vector, and the angle difference between the two is calculated as the input angle deviation signal of the PID control system; The angle deviation signal is input to the PID controller, which performs proportional, integral, and differential operations in sequence, and performs weighted superposition to output an output control signal for adjusting the angle of the laser emitting device; The control signal is converted into a deflection torque of the laser emitter, and the laser emitter is driven in real time to adjust the emission angle.

8. The laser particle counter intelligent control method according to claim 7, characterized in that: The dynamic adjustment of the gain parameters of the PID controller is specifically: The PID control system continuously obtains dynamic changes in the fluid direction during operation and continuously adjusts the control output signal of the PID control system based on the real-time angle error signal; Based on the real-time angle error and the response of the PID control system, the gain of the PID control system is dynamically updated.

9. A system using the laser particle counter intelligent control method according to any one of claims 1 to 8, characterized in that: include: A laser emission frequency control module is used to obtain dynamic state information of the fluid and adaptively adjust the laser emission frequency based on the state information; The laser emission angle control module is used to build an adaptive PID controller, dynamically adjust the gain parameters of the PID controller, generate an emission angle control signal based on the adjusted gain parameters, and convert the control signal into the deflection torque of the laser transmitter to correct the emission angle in real time.

Images