Switching control method, device and equipment for dual-channel choke manifold and medium

Abstract

The invention provides a switching control method, device and equipment for a dual-channel choke manifold and a medium, and the method comprises the steps that a return pressure control mathematical model of the dual-channel choke manifold is established, and the dual-channel choke manifold comprises a main channel loop and a standby channel loop; a fuzzy switching controller is established according to the return pressure control mathematical model, fuzzification processing, fuzzy reasoning and defuzzification processing are carried out on the first input factor and the second input factor through the fuzzy switching controller, output factors are obtained, the pressure deviation and the pressure deviation rate are the first input factor and the second input factor respectively, and the output factors are obtained. Taking the throttle valve opening coefficient of the main channel loop as an output factor; and confirming a first driving signal of the main channel loop and a second driving signal of the standby channel loop according to the output factor, and controlling the opening degrees of the throttle valves of the main channel loop and the standby channel loop according to the first driving signal and the second driving signal. Pipeline switching can be accurately controlled, and switching pressure fluctuation can be reduced.

Description

Technical Field

[0001] This invention relates to the field of controlled pressure drilling in oil and gas, and more specifically, to a switching control method for a dual-channel throttling manifold, a switching control device for a dual-channel throttling manifold, and an apparatus and computer-readable storage medium for implementing the switching control method for the dual-channel throttling manifold. Background Technology

[0002] In the field of controlled pressure drilling in oil and gas, dual-channel choke manifolds are widely used for pipeline pressure control. Dual-channel choke manifolds regulate pipeline pressure by switching the opening of the choke valves in two channels, and can also achieve pipeline fault switching through a primary and backup dual-pipeline configuration. This dual-channel choke manifold control method can improve pressure stability during drilling, reduce drilling risks, and increase drilling efficiency. However, current pressure control switching using dual-channel choke manifolds still faces some difficulties and problems: for example, due to the inertia and delay effects during the switching process, pressure fluctuations and switching errors are easily generated, resulting in limited switching accuracy. Furthermore, changes in fluid flow during the switching process can cause significant pressure fluctuations, affecting the stability and safety of drilling operations. Additionally, the control methods are often inadequate: current pressure control switching methods mostly employ manual switching and PID control, which are not ideal when dealing with complex operating conditions and real-time changes. To achieve smooth switching, current dual-channel throttling manifolds typically employ traditional PID control for automatic switching. However, this still relies on precise mathematical models, resulting in poor control performance for time-varying, nonlinear, and multivariable complex systems. Furthermore, the inability to accurately coordinate various parameters during switching leads to significant fluctuations in pressure and flow, which can still have adverse effects. Summary of the Invention

[0003] The purpose of this invention is to address at least one of the aforementioned shortcomings of the prior art. For example, one objective of this invention is to provide a switching control method for a dual-channel throttling manifold that can reduce pressure fluctuations and improve switching accuracy.

[0004] To achieve the above objectives, the present invention provides a switching control method for a dual-channel throttling manifold.

[0005] The switching control method for the dual-channel throttling manifold includes the following steps:

[0006] S1. Establish a mathematical model for backpressure control of a dual-channel throttling manifold, wherein the dual-channel throttling manifold includes a main channel circuit and a backup channel circuit.

[0007] S2. Establish a fuzzy switching controller based on the back pressure control mathematical model. Use the fuzzy switching controller to perform fuzzification, fuzzy inference, and defuzzification on the first input factor and the second input factor to obtain the output factor. The pressure deviation and pressure deviation rate are the first input factor and the second input factor, respectively, and the throttle valve opening coefficient of the main channel circuit is the output factor.

[0008] S3. Based on the output factor, confirm the first drive signal of the main channel circuit and the second drive signal of the backup channel circuit, and control the throttle valve opening of the main channel circuit and the backup channel circuit according to the first drive signal and the second drive signal.

[0009] In an exemplary embodiment of the switching control method for the dual-channel throttling manifold of the present invention, in step S1, establishing the backpressure control mathematical model of the dual-channel throttling manifold may include: constructing the open-loop transfer function of the dual-channel throttling manifold, wherein the open-loop transfer function may be:

[0010]

[0011] In equation (1), G(S) is the open-loop transfer function of the dual-channel throttling manifold; K a For voltage / current proportional amplifier gain, A / V; K V Δp is the gain coefficient of the proportional electromagnet, m / A; Δp is the pressure drop at the inlet and outlet of the throttle valve, MPa; K f V is the pressure sensor coefficient, v / p; s is the valve core displacement, m; ω V ξ is the natural frequency of the proportional electromagnet, in rad / s; V is the damping ratio of the proportional electromagnet.

[0012] In an exemplary embodiment of the switching control method for the dual-channel throttling manifold of the present invention, in step S2, the fuzzy set, fuzzy universe of discourse, and linguistic value set of the first input factor, the second input factor, and the output factor can be confirmed based on the pressure error during the operation of the dual-channel throttling manifold.

[0013] In an exemplary embodiment of the switching control method for the dual-channel throttling manifold of the present invention, in step S2, the fuzzy inference can be based on a fuzzy switching rule table, which can be confirmed according to the first input factor, the second input factor, and the fuzzy switching controller.

[0014] In an exemplary embodiment of the switching control method for the dual-channel throttling manifold of the present invention, in step S3, when the output factor is within a preset range near the maximum value of the domain of the output factor, and the second driving signal is within a preset range near the minimum value of the domain of the output factor, the dual-channel throttling manifold can be controlled by the main channel loop; when the output factor and the first driving signal are smaller, and the second driving signal is larger, the throttling valve opening of the main channel loop can be gradually reduced and the throttling valve opening of the backup channel loop can be increased; when the output factor and the first driving signal are the minimum value of the domain of the output factor, the throttling valve opening of the main channel loop can be 0%, and the throttling valve opening of the backup channel loop can be 100%.

[0015] In an exemplary embodiment of the switching control method for the dual-channel throttling manifold of the present invention, step S3 further includes: inputting the output factor into a PID controller and using a weighted average method to confirm the first drive signal of the main channel loop and the second drive signal of the backup channel loop, wherein the first drive signal and the second drive signal are determined by the following formula (2):

[0016] U 主 (T)=Ki*U PID (T), U 备 (T)=(1-Ki)*U PID (T) Equation (2)

[0017] In equation (2), U 主 (T) is the voltage at time T where the throttle valve output of the main channel circuit is proportional to its opening degree; U 备 (T) is the voltage at time T where the throttle valve control output of the backup channel circuit is proportional to the opening degree; Ki is the throttle valve opening coefficient of the main channel circuit; U PID (T) represents the output voltage of the PID controller at time T.

[0018] In an exemplary embodiment of the switching control method for the dual-channel throttling manifold of the present invention, the dual-channel throttling manifold may include a control unit, a pressure sensor, a main channel circuit, and a backup channel circuit; wherein, the control unit may be connected to the main channel circuit and the backup channel circuit respectively, the main channel circuit and the backup channel circuit may be connected to the pressure sensor, the pressure sensor may be connected to the control unit, and each of the main channel circuit and the backup channel circuit may include at least one set of voltage / current proportional amplifier, electro-hydraulic proportional valve, hydraulic cylinder and throttling valve connected in sequence.

[0019] In another aspect, the present invention provides a switching control device for a dual-channel throttling manifold. The switching control device for the dual-channel throttling manifold includes a back pressure control mathematical model establishment module, a fuzzy switching controller establishment and usage module, and a throttling valve opening control module. The back pressure control mathematical model establishment module can be configured to determine the pressure deviation and pressure deviation rate of the dual-channel throttling manifold based on the back pressure control mathematical model. The dual-channel throttling manifold may include a main channel loop and a backup channel loop. The fuzzy switching controller establishment and usage module can be connected to the back pressure control mathematical model establishment module and can be configured to establish a fuzzy switching controller based on the back pressure control mathematical model. The fuzzy switching controller is used to perform fuzzification, fuzzy inference, and defuzzification on the first input factor and the second input factor to obtain the output factor. The pressure deviation and the pressure deviation rate are respectively the first input factor and the second input factor, and the throttling valve opening coefficient of the main channel loop is the output factor. The throttling valve opening control module can be connected to the fuzzy switching controller establishment and usage module and can be configured to confirm the first drive signal of the main channel loop and the second drive signal of the backup channel loop based on the output factor, and control the throttling valve opening of the main channel loop and the backup channel loop based on the first drive signal and the second drive signal.

[0020] In another aspect, the present invention provides a computer device, the computer device comprising:

[0021] The processor; the memory, which stores a computer program that, when executed by the processor, implements the dual-channel throttling manifold switching control method as described above.

[0022] In another aspect, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the dual-channel throttling manifold switching control method described above.

[0023] Compared with the prior art, the beneficial effects of the present invention include at least one of the following:

[0024] (1) This invention establishes a fuzzy switching controller based on a backpressure control mathematical model. Fuzzy control rules describe the relationship between input and output variables. While implementing fuzzy switching control, the parameters of the fuzzy rules (the first input factor pressure deviation and the second input factor pressure deviation rate) are adjusted according to the actual control effect. This process is continuously iteratively optimized to achieve the best control effect. Furthermore, when switching from the main channel to the backup channel or vice versa, the system does not change abruptly but rather gradually, thanks to the throttle valve opening coefficient. This reduces pressure fluctuations during the switching process, thus improving switching accuracy, enabling precise control of the throttle valve used for switching channels, and achieving smooth pressure switching during pipeline switching to reduce pressure fluctuations and maintain the stability and accuracy of drilling operations.

[0025] (2) The present invention can also monitor and adjust the pipeline pressure and throttle valve opening in real time to maintain the stability and accuracy of the dual-channel throttle manifold.

[0026] (3) The switching control method of the dual-channel throttling manifold of the present invention can effectively improve drilling efficiency and operational safety, and has important application value in the field of oil and gas pressure controlled drilling. Attached Figure Description

[0027] The above and other objects and / or features of the present invention will become clearer from the following description taken in conjunction with the accompanying drawings, in which:

[0028] Figure 1 A schematic diagram illustrating the switching control principle of a dual-channel throttling manifold is shown as an exemplary embodiment of the switching control method of the present invention.

[0029] Figure 2 The diagram illustrates the steps of a switching control method for a dual-channel throttling manifold, as shown in an exemplary embodiment of the present invention.

[0030] Figure 3 A schematic diagram of the working process of a dual-channel throttling manifold is shown as an exemplary embodiment of the switching control method for the dual-channel throttling manifold of the present invention.

[0031] Figure 4 A schematic diagram of a fuzzy controller principle is shown as an exemplary embodiment of the switching control method for the dual-channel throttling manifold of the present invention.

[0032] Figure 5 A schematic diagram of an exemplary embodiment of the switching control device for the dual-channel throttling manifold of the present invention is shown.

[0033] Figure 6A schematic diagram of the working principle of a two-dimensional fuzzy controller is shown as an example of the switching control device for the dual-channel throttling manifold of the present invention.

[0034] Figure 7 A schematic diagram of the membership function of pressure deviation and pressure deviation change rate is shown as an example of the switching control device for the dual-channel throttling manifold of the present invention.

[0035] Figure 8 A schematic diagram of the membership function of the throttle valve adjustment coefficient is shown as an example of the switching control device for the dual-channel throttle manifold of the present invention. Attached image description:

[0037] 100 - Back pressure control mathematical model establishment module; 101 - Fuzzy switching controller establishment and usage module; 102 - Throttling valve opening control module. Detailed Implementation

[0038] In the following sections, the switching control method, apparatus, device, and medium for the dual-channel throttling manifold of the present invention will be described in detail with reference to exemplary embodiments.

[0039] It should be noted that terms such as "first," "second," and "third" are used merely for ease of description and distinction, and should not be construed as indicating or implying relative importance. The terms "S1," "S2," and "S3" used in this invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0040] Currently, dual-channel throttling manifolds typically employ traditional PID control for automatic or manual switching. While relatively simple in signal processing, this approach may not adequately address the complex and variable control requirements of dual-channel throttling manifolds. This simplicity can lead to suboptimal control performance and inaccurate coordination under certain circumstances, resulting in significant fluctuations in pressure and flow within the manifold. Fuzzy control algorithms, on the other hand, offer excellent adaptability, handling complex systems such as nonlinear and time-varying systems without requiring precise models. Furthermore, they exhibit strong robustness to parameter variations and disturbances, maintaining good performance. However, compared to traditional precise control methods (such as PID control), fuzzy control may have relatively lower accuracy.

[0041] To address the aforementioned issues, the inventors proposed an automatic, worry-free switching control method for dual-channel throttling manifolds. This method combines fuzzy control algorithms with traditional PID control and applies them to the switching control of current dual-channel throttling manifolds. This achieves seamless switching of pipeline pressure, reduces pressure fluctuations, and improves switching accuracy, thereby enhancing the efficiency and safety of controlled-pressure drilling in oil and gas.

[0042] To achieve the above objectives, the present invention provides a switching control method for a dual-channel throttling manifold.

[0043] In an exemplary embodiment of the dual-channel throttling manifold switching control method of the present invention, the dual-channel throttling manifold switching control principle is as follows: Figure 1 As shown, Figure 1 The system includes a given pipeline pressure, pressure deviation Pe, pressure deviation rate Pec, a fuzzy switching controller, the throttle valve opening coefficient Ki of the main channel loop, the throttle valve opening coefficient 1-Ki of the standby channel loop, a PID controller, the main channel loop, the standby channel loop, and the pipeline outlet and output pipe port pressure P. Based on the output pipe port pressure P and the given pipeline pressure, the pressure deviation Pe and pressure deviation rate Pec are determined and input into the fuzzy switching controller to determine the throttle valve opening coefficient Ki of the main channel loop and the throttle valve opening coefficient 1-Ki of the standby channel loop. The PID controller controls the main channel loop and the standby channel loop based on the pressure deviation Pe, pressure deviation rate Pec, the throttle valve opening coefficient Ki of the main channel loop, and the throttle valve opening coefficient 1-Ki of the standby channel loop, and detects the output pipe port pressure P at the pipeline outlet, thereby achieving switching control of the dual-channel throttle manifold.

[0044] like Figure 2 As shown, the switching control method for the dual-channel throttling manifold includes the following steps:

[0045] S1. Establish a mathematical model for backpressure control of a dual-channel throttling manifold, wherein the dual-channel throttling manifold includes a main channel circuit and a backup channel circuit.

[0046] More preferably, the dual-channel throttling manifold includes a control unit, a pressure sensor, a main channel circuit, and a backup channel circuit. The control unit is connected to both the main channel circuit and the backup channel circuit. The main channel circuit and the backup channel circuit are connected to the pressure sensor, which is in turn connected to the control unit. Each of the main channel circuit and the backup channel circuit includes at least one set of voltage / current proportional amplifier, electro-hydraulic proportional valve, hydraulic cylinder, and throttling valve connected in sequence. The operating procedures of the control unit, pressure sensor, main channel circuit, and backup channel circuit are as follows: Figure 3 As shown in the image.

[0047] More preferably, the control unit can be a PLC control system, which can process the signals collected at the drilling site, for example, it can calculate the pressure deviation, pressure deviation rate, etc. based on the output pipe port pressure and the set pipe inlet pressure.

[0048] More preferably, in step S1, establishing the backpressure control mathematical model of the dual-channel throttling manifold may include: constructing the open-loop transfer function of the dual-channel throttling manifold, wherein the open-loop transfer function is:

[0049]

[0050] In equation (1), G(S) is the open-loop transfer function of the dual-channel throttling manifold; K a For voltage / current proportional amplifier gain, A / V; K V Δp is the gain coefficient of the proportional electromagnet, m / A; Δp is the pressure drop at the inlet and outlet of the throttle valve, MPa; K f V is the pressure sensor coefficient, v / p; s is the valve core displacement, m; ω V ξ is the natural frequency of the proportional electromagnet, in rad / s; V is the damping ratio of the proportional electromagnet.

[0051] S2. Establish a fuzzy switching controller based on the back pressure control mathematical model. Use the fuzzy switching controller to perform fuzzification, fuzzy inference and defuzzification on the first input factor and the second input factor to obtain the output factor. Among them, the pressure deviation and the pressure deviation rate are the first input factor and the second input factor, respectively, and the throttle valve opening coefficient of the main channel circuit is the output factor.

[0052] More specifically, in step S2, as Figure 4 As shown, the pressure deviation Pe and pressure deviation rate Pec are fuzzified, fuzzy inferred, and defuzzified to obtain the throttle valve opening coefficient Ki of the main channel loop.

[0053] More preferably, in step S2, the fuzzy set, fuzzy universe of discourse, and linguistic value set of the first input factor, the second input factor, and the output factor can be confirmed based on the pressure error during the operation of the dual-channel throttling manifold.

[0054] More preferably, in step S2, fuzzy inference can be performed based on a fuzzy switching rule table, which can be confirmed according to the first input factor, the second input factor, and the fuzzy switching controller.

[0055] S3. Based on the output factor, confirm the first drive signal of the main channel circuit and the second drive signal of the backup channel circuit, and control the throttle valve opening of the main channel circuit and the backup channel circuit according to the first drive signal and the second drive signal.

[0056] More preferably, in step S3, when the output factor is within a preset range near the maximum value of the domain of the output factor, and the second drive signal is within a preset range near the minimum value of the domain of the output factor, the dual-channel throttling manifold can be controlled by the main channel loop; when the output factor and the first drive signal are smaller, and the second drive signal is larger, the throttling valve opening of the main channel loop can be gradually reduced and the throttling valve opening of the backup channel loop can be increased; when the output factor and the first drive signal are the minimum value of the domain of the output factor, the throttling valve opening of the main channel loop can be 0%, and the throttling valve opening of the backup channel loop can be 100%.

[0057] More preferably, in step S3, the output factor is input to the PID controller and the first drive signal of the main channel loop and the second drive signal of the backup channel loop are confirmed using a weighted average method, wherein the first drive signal and the second drive signal are determined by the following formula (2):

[0058] U 主 (T)=Ki*U PID (T), U 备 (T)=(1-Ki)*U PID (T) Equation (2)

[0059] In equation (2), Umain(T) is the voltage at time T where the output of the throttle valve in the main channel circuit is proportional to the opening degree; Umain 备 (T) represents the voltage at time T where the throttle valve control output of the standby channel circuit is proportional to the opening degree; Ki is the throttle valve opening coefficient of the main channel circuit; U PID (T) represents the output voltage of the PID controller at time T.

[0060] In an exemplary embodiment of the switching control device for a dual-channel throttling manifold according to the present invention, such as Figure 5 As shown, the switching control device for the dual-channel throttling manifold includes a back pressure control mathematical model establishment module 100, a fuzzy switching controller establishment and usage module 101, and a throttling valve opening control module 102.

[0061] The backpressure control mathematical model establishment module 100 can be configured to confirm the pressure deviation and pressure deviation rate of the dual-channel throttling manifold based on the backpressure control mathematical model. The dual-channel throttling manifold may include a main channel circuit and a backup channel circuit.

[0062] The fuzzy switching controller establishment and usage module 101 can be connected to the back pressure control mathematical model establishment module 100. It can be configured to establish a fuzzy switching controller based on the back pressure control mathematical model. The fuzzy switching controller is used to perform fuzzification, fuzzy inference, and defuzzification on the first input factor and the second input factor to obtain the output factor. The pressure deviation and pressure deviation rate are the first input factor and the second input factor, respectively, and the throttle valve opening coefficient of the main channel circuit is the output factor.

[0063] Additionally, the throttle valve opening control module 102 can be connected to the fuzzy switching controller establishment and use module 101, and can be configured to confirm the first drive signal of the main channel loop and the second drive signal of the backup channel loop according to the output factor, and control the throttle valve opening of the main channel loop and the backup channel loop according to the first drive signal and the second drive signal.

[0064] In an exemplary embodiment of a computer device for a switching control method based on a dual-channel throttling manifold according to the present invention, a computer device is also provided. The computer device includes a processor and a memory. The memory stores a computer program. The computer program is executed by the processor, causing the processor to execute the computer program for the switching control method of the dual-channel throttling manifold according to the present invention.

[0065] A computer-readable storage medium storing a computer program is included in a switching control method based on a dual-channel throttling manifold according to the present invention. The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to execute the switching control method of the dual-channel throttling manifold according to the present invention. The computer-readable storage medium is any data storage device capable of storing data read from a computer system. Examples of computer-readable storage media include: read-only memory, random access memory, read-only optical disc, magnetic tape, floppy disk, optical data storage device, and carrier waves (such as data transmission via the Internet through wired or wireless transmission paths).

[0066] To better understand the exemplary embodiments of the present invention described above, further explanation is provided below with reference to specific examples and accompanying drawings.

[0067] Example 1

[0068] The switching control method for the dual-channel throttling manifold in this example includes the following steps:

[0069] Step 1: Perform system modeling: Perform system modeling of the dual-channel throttling manifold, including key parameters related to pipeline pressure, throttling valve opening, and switching signals.

[0070] The specific model may include the system's open-loop transfer function, which is established based on the transfer function of the voltage / current proportional amplifier, the transfer function of the electro-hydraulic proportional valve, the transfer function of the pressure sensor, and the mathematical model of the throttle valve opening and pressure drop.

[0071] The voltage / current proportional amplifier can be a VT-5005 type proportional amplifier, whose voltage / current proportional amplification factor is K. a The transfer function can be expressed as equation (1):

[0072]

[0073] In the above formula, G a (s) is the transfer function of the voltage / current proportional amplifier; K a is the gain of the voltage / current proportional amplifier, A / V; I(s) is the output current of the voltage / current proportional amplifier; U(s) is the analog voltage signal converted from the output of the control unit.

[0074] The transfer function of an electro-hydraulic proportional valve describes the relationship between the control current and the flow rate of the fluid in the pipeline. The input is the current signal of the solenoid valve, and the output is the valve core displacement signal, which can be expressed as the following formula (2):

[0075]

[0076] In the above formula, W pν This represents the relationship between current and valve spool displacement in an electro-hydraulic proportional valve; X V I(s) represents the valve core displacement of the electro-hydraulic proportional valve, in meters; I(s) represents the output current of the proportional controller, in amperes (A); K V ω is the gain coefficient of the proportional electromagnet, m / A; V ξ is the natural frequency of the proportional electromagnet, in rad / s; V is the damping ratio of the proportional electromagnet; s is the displacement of the valve core, in meters.

[0077] The transfer function of the pressure sensor can be expressed as equation (3):

[0078]

[0079] In the above formula, G f (s) is the transfer function of the pressure sensor; U f (s) is the pressure feedback voltage; P(s) is the detection point pressure at the outlet of the dual-channel throttling manifold; K f It is the pressure sensor coefficient, v / p.

[0080] The mathematical model for the relationship between throttle valve opening and pressure drop can be expressed as follows (4):

[0081]

[0082] In the above formula, Δp is the pressure drop at the inlet and outlet of the throttle valve, in MPa; Q is the flow rate in the throttle valve channel, in m³. 3 / s; ρ is the drilling fluid density, kg / m³ 3 A f The minimum flow area of ​​drilling fluid in the throttle valve, in mm. 2 , D is the outlet diameter of the drilling fluid, in mm; A is the area of ​​the flow channel in the throttle valve seat, in mm². 2 .

[0083] The open-loop transfer function of the system can be expressed as equation (5):

[0084]

[0085] In the above formula, G(S) is the open-loop transfer function of the dual-channel throttling manifold; K a For voltage / current proportional amplifier gain, A / V; K VΔp is the gain coefficient of the proportional electromagnet, m / A; Δp is the pressure drop at the inlet and outlet of the throttle valve, MPa; K f V is the pressure sensor coefficient, v / p; s is the valve core displacement, m; ω V ξ is the natural frequency of the proportional electromagnet, in rad / s; V is the damping ratio of the proportional electromagnet.

[0086] Step 2: Design a fuzzy switching controller: Design a fuzzy switching controller based on the system model. The inputs of the controller are the pressure deviation Pe and the pressure deviation rate Pec of the throttling manifold, and the output is the valve opening coefficient Ki of the main channel throttling valve to ensure that the gain remains constant during the system control process.

[0087] The fuzzy switching controller is a two-dimensional fuzzy controller with two input variables (Pe, Pec) and one output variable (Ki). The structural relationship of the fuzzy switching controller is as follows: Figure 6 As shown, there are two input variables (Pe, Pec) and one output variable (Ki). In the figure, Pe(7) and Pec(7) represent that the fuzzy sets of the two input variables (Pe, Pec) can be divided into 7 types, and Ki(5) represents that the fuzzy sets of the output variable (Ki) can be divided into 5 types. There are 49 different combinations of the two input variables (i.e., 49 rules), and finally there are 5 fuzzy sets of the output variable (Ki).

[0088] Step 3: Formulate fuzzy rules. Based on the current pipeline pressure and switching signal, formulate a set of appropriate membership functions and fuzzy rules.

[0089] Among them, based on the pressure error [-6MPa, 6MPa] when the dual-channel throttling manifold system is working, the domain of the pressure deviation and pressure deviation rate is denoted as [-6, 6], and the domain of the throttling valve opening coefficient is denoted as [0, 1]. Meanwhile, the membership functions are selected as uniformly distributed triangular membership functions, so their universe of discourse and fuzzy subsets can be represented as follows: The fuzzy sets, fuzzy universes, and linguistic values ​​of the throttle tube pressure deviation Pe and pressure deviation rate Pec are: Fuzzy set: {negative large, negative medium, negative small, zero, positive small, positive medium, positive large}; Fuzzy universe of discourse: {NB, NM, NS, O, PS, PM, PB}; Linguistic value: {-6, -4, -2, 0, 2, 4, 6}; The fuzzy set, fuzzy universe of discourse, and linguistic value of the main channel throttle valve opening coefficient Ki are: Fuzzy set: {zero, small, medium, large, maximum}; Fuzzy universe of discourse: {O, S, M, B, LB}; Linguistic value: {0, 0.2, 0.4, 0.6, 0.8, 1}.

[0090] The membership functions of the pressure deviation Pe, pressure deviation change rate Pec, and throttle valve adjustment coefficient Ki controlled by the dual-channel throttling manifold system are respectively as follows: Figure 7 and8 As shown, these are all membership functions of triangles. Figure 7 and 8 The horizontal axis (x-axis) represents the range of values ​​for elements or input variables in the fuzzy set. Each point on this axis can represent an element or a possible input value in the fuzzy set. The vertical axis (y-axis) represents the membership degree of each element or input value. The membership degree ranges from [0,1], representing the relative degree of an element in the fuzzy set. If the membership degree is 1, it means that the element completely belongs to the fuzzy set; if it is 0, it means that the element does not belong to the fuzzy set at all; if it is a value between 0 and 1, it represents the relative degree of the element in the fuzzy set, with a larger value indicating a higher membership degree and vice versa.

[0091] Based on the structure of the two-dimensional fuzzy controller, the pressure deviation and pressure deviation rate are used as inputs. The fuzzy control rule table is obtained through fuzzification, fuzzy inference and defuzzification. The fuzzy switching rules are shown in Table 1 below.

[0092] Table 1 Fuzzy Switching Rules Table

[0093]

[0094] Step 4: Switching control strategy: Determine the control strategy for switching channels based on the output of the fuzzy switching controller, and gradually switch the throttle valve openings of the two channels to achieve smooth switching of pipeline pressure.

[0095] Pe and Pec are used as input parameters of the fuzzy switching controller. After fuzzy inference, the fuzzy switching factor (i.e., the throttle valve opening coefficient of the main channel loop) Ki is output. This Ki is used to control the outputs of the two PID controllers to obtain the drive signals U for the throttle valves of the main channel loop and the standby channel loop. 主 and U 备 Where the universe of discourse of Ki is {0, 1}, and since the range of Ki is [0, 1], the throttle valve opening coefficient of the main channel loop is Ki, and the throttle valve opening coefficient of the standby channel is 1-Ki. Using a weighted average method, the control output of the main channel throttle valve at time T is:

[0096] U 主 (T)=Ki*U PID (T).

[0097] At time T, the control output of the standby channel throttle valve is:

[0098] U 备 (T)=(1-Ki)*U PID (T).

[0099] In the above formula, U 主(T) represents the voltage at time T where the output of the throttle valve in the main channel circuit is proportional to its opening degree; U 备 (T) represents the voltage at time T where the throttle valve control output of the standby channel circuit is proportional to the opening degree; Ki is the throttle valve opening coefficient of the main channel circuit; U PID (T) represents the output voltage of the PID controller at time T.

[0100] According to fuzzy switching rule table 1, when both pressure deviation and pressure deviation rate are simultaneously at NB or PB, the throttle valve opening coefficient Ki of the main channel circuit is 1. Furthermore, the closer the pressure deviation and pressure deviation rate are to these two values, the closer the throttle valve opening coefficient Ki of the main channel circuit will be to 1. At this time, U 备 Also near 0, the system is controlled by the main channel loop. When the pressure deviation is PB and the pressure deviation rate is NB, or the pressure deviation is NB and the pressure deviation rate is PB, and the closer the pressure deviation and pressure deviation rate are to the above two values, the closer the throttle valve opening coefficient Ki of the main channel loop will be to 0. This can be considered a fault in the main channel loop. The greater the degree of fault, the closer U will be to 0. 主 The smaller U is 备 The larger it is, the more pressure and flow it increases. At this time, the main channel circuit is gradually closed, and the backup channel circuit is gradually connected to perform pressure and flow compensation. When Ki is 0, U... 主 When the value is also 0, the main channel loop is completely shut down, and the system is entirely controlled by the backup channel loop. Two PID controllers adjust the parameters of the main channel and backup channel loops respectively. Due to the existence of the valve opening coefficient, the system does not change suddenly, but is a slow and gradual process, which reduces pressure fluctuations during the switching process, thus achieving seamless switching of pipeline pressure when switching between the two channels.

[0101] Step 5: Real-time monitoring and adjustment: Monitor pipeline pressure and throttle valve opening in real time, and make adjustments and corrections according to the actual situation to maintain the stability and accuracy of the system.

[0102] Although the present invention has been described above in conjunction with exemplary embodiments and accompanying drawings, those skilled in the art should understand that various modifications can be made to the above embodiments without departing from the spirit and scope of the claims.

Claims

1. A switching control method for a dual-channel throttling manifold, characterized in that, The method includes the following steps: S1. Establish a mathematical model for back pressure control of a dual-channel throttling manifold, wherein the dual-channel throttling manifold includes a main channel circuit and a backup channel circuit; S2. Establish a fuzzy switching controller based on the back pressure control mathematical model. Use the fuzzy switching controller to perform fuzzification, fuzzy inference, and defuzzification on the first and second input factors to obtain the output factor. The pressure deviation and pressure deviation rate are respectively the first and second input factors, and the throttle valve opening coefficient of the main channel loop is the output factor. S3. Based on the output factor, confirm the first drive signal of the main channel circuit and the second drive signal of the backup channel circuit, and control the throttle valve opening of the main channel circuit and the backup channel circuit according to the first drive signal and the second drive signal.

2. The switching control method for the dual-channel throttling manifold according to claim 1, characterized in that, In step S1, establishing the backpressure control mathematical model for the dual-channel throttling manifold includes: constructing the open-loop transfer function of the dual-channel throttling manifold, wherein the open-loop transfer function is: In equation (1), G(S) is the open-loop transfer function of the dual-channel throttling manifold; K a For voltage / current proportional amplifier gain, A / V; K V Δp is the gain coefficient of the proportional electromagnet, m / A; Δp is the pressure drop at the inlet and outlet of the throttle valve, MPa; K f V is the pressure sensor coefficient, v / p; s is the valve core displacement, m; ω V ξ is the natural frequency of the proportional electromagnet, in rad / s; V is the damping ratio of the proportional electromagnet.

3. The switching control method for the dual-channel throttling manifold according to claim 1, characterized in that, In step S2, the fuzzy set, fuzzy universe of discourse, and linguistic value set of the first input factor, the second input factor, and the output factor are confirmed based on the pressure error during the operation of the dual-channel throttling manifold.

4. The switching control method for the dual-channel throttling manifold according to claim 1, characterized in that, In step S2, the fuzzy inference is performed based on a fuzzy switching rule table, which is confirmed according to the first input factor, the second input factor, and the fuzzy switching controller.

5. The switching control method for the dual-channel throttling manifold according to claim 1, characterized in that, In step S3, when the output factor is within a preset range near the maximum value of the universe of discourse of the output factor, and the second driving signal is within a preset range near the minimum value of the universe of discourse of the output factor, the dual-channel throttling manifold is controlled by the main channel loop. When the output factor and the first drive signal are smaller, and the second drive signal is larger, the throttle valve opening of the main channel circuit is gradually reduced and the throttle valve opening of the backup channel circuit is increased. When the output factor and the first drive signal are the minimum values ​​of the universe of discourse of the output factor, the opening degree of the throttle valve of the main channel circuit is 0%, and the opening degree of the throttle valve of the backup channel circuit is 100%.

6. The switching control method for the dual-channel throttling manifold according to claim 1, characterized in that, Step S3 further includes: inputting the output factor into the PID controller and using a weighted average method to confirm the first drive signal of the main channel loop and the second drive signal of the backup channel loop, wherein the first drive signal and the second drive signal are determined by the following formula (2): U 主 I(T) = Ki * U PID I(T), U 备 I(T) = (1 - Ki) * U PID Equation (2) of I(T) In equation (2), U 主 (T) is the voltage at time T where the throttle valve output of the main channel circuit is proportional to its opening degree; U 备 (T) is the voltage at time T where the throttle valve control output of the backup channel circuit is proportional to the opening degree; Ki is the throttle valve opening coefficient of the main channel circuit; U PID (T) represents the output voltage of the PID controller at time T.

7. The switching control method for the dual-channel throttling manifold according to claim 1, characterized in that, The dual-channel throttling manifold includes a control unit, a pressure sensor, a main channel circuit, and a backup channel circuit; wherein, the control unit is connected to the main channel circuit and the backup channel circuit respectively, the main channel circuit and the backup channel circuit are connected to the pressure sensor, the pressure sensor is connected to the control unit, and each of the main channel circuit and the backup channel circuit includes at least one set of voltage / current proportional amplifier, electro-hydraulic proportional valve, hydraulic cylinder and throttling valve connected in sequence.

8. A switching control device for a dual-channel throttling manifold, characterized in that, The switching control device for the dual-channel throttling manifold includes a back pressure control mathematical model establishment module, a fuzzy switching controller establishment and usage module, and a throttling valve opening control module, wherein... The back pressure control mathematical model establishment module is configured to establish a back pressure control mathematical model for a dual-channel throttling manifold, wherein the dual-channel throttling manifold includes a main channel loop and a backup channel loop. The fuzzy switching controller establishment and usage module is connected to the back pressure control mathematical model establishment module and is configured to establish a fuzzy switching controller based on the back pressure control mathematical model. The fuzzy switching controller is used to perform fuzzification, fuzzy inference, and defuzzification processing on the first and second input factors to obtain an output factor. The pressure deviation and pressure deviation rate are respectively the first and second input factors, and the throttle valve opening coefficient of the main channel loop is the output factor. The throttle valve opening control module is connected to the fuzzy switching controller establishment and usage module and is configured to confirm the first drive signal of the main channel circuit and the second drive signal of the backup channel circuit according to the output factor, and control the throttle valve opening of the main channel circuit and the backup channel circuit according to the first drive signal and the second drive signal.

9. A computer device, characterized in that, The computer device includes: At least one processor; and A memory storing program instructions configured to be executed by the at least one processor, the program instructions including instructions for performing the switching control method of the dual-channel throttling manifold according to any one of claims 1 to 7.

10. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When the computer program instructions are executed by the processor, they implement the switching control method for the dual-channel throttling manifold as described in any one of claims 1 to 7.

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