A water supply coagulation intelligent real-time control system based on whale algorithm optimization PID controller
Patent Information
- Application Number
- CN202610695517.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-05-20
- Publication Date
- 2026-08-18
AI Technical Summary
[0003]然而，混凝过程具有显著的非线性、大时滞和时变特性，原水水质（如浊度、pH、温度）波动频繁，且从混凝剂投加到出水浊度变化之间存在数分钟甚至更长的纯滞后时间；在这种情况下，参数固定的常规PID控制器在面对原水浊度突变等扰动时，往往无法动态平衡响应速度与超调抑制，容易导致出水浊度剧烈波动、超调量大、恢复时间长，既影响供水水质稳定性，又造成药剂和电能的严重浪费
本发明的WOA离线优化参数配置单元通过鲸鱼算法为两个PID控制器提供全局寻优后的固定最优参数；前馈补偿模块与反馈回路构成前馈-反馈复合控制结构，能快速响应并精确补偿进水浊度扰动；本发明解决了传统固定参数PID控制器响应慢、超调大、抗扰动能力弱的问题，可显著降低出水浊度在进水突变时的动态偏差与恢复时间，同时实现了降低药剂和电耗、减少碳排放的效果。
Smart Images
Figure FT_1
Abstract
Description
Technical Field
[0001] This invention relates to the field of water treatment automatic control technology, specifically to a real-time intelligent control system for feedwater coagulation based on a PID controller optimized by the whale algorithm. PID stands for Proportional-Integral-Derivative Controller; the whale algorithm is abbreviated as WOA. Background Technology
[0002] Coagulation is the core process of water treatment, and its effect directly affects the quality of effluent and operating costs. In existing technologies, the dosing control of coagulation generally adopts the traditional PID controller, whose parameters are usually fixed after being tuned once by empirical methods such as the critical proportional method.
[0003] However, the coagulation process has significant nonlinear, large time delay, and time-varying characteristics. The quality of raw water (such as turbidity, pH, and temperature) fluctuates frequently, and there is a pure time delay of several minutes or even longer between the addition of coagulant and the change in effluent turbidity. Under such circumstances, conventional PID controllers with fixed parameters often cannot dynamically balance response speed and overshoot suppression when faced with disturbances such as sudden changes in raw water turbidity. This can easily lead to drastic fluctuations in effluent turbidity, large overshoot, and long recovery time, which not only affects the stability of water supply quality but also causes serious waste of reagents and electricity.
[0004] In addition, existing systems often lack effective fusion of feedforward disturbance information and global parameter optimization configuration for large hysteresis characteristics, and control accuracy and disturbance rejection capability need to be improved. Summary of the Invention
[0005] The purpose of this invention is to overcome the shortcomings of existing technologies and provide an intelligent real-time control system for water supply coagulation based on a whale algorithm-optimized PID controller. This system aims to solve the following existing problems: Conventional PID controllers suffer from large overshoot and long recovery time in effluent turbidity when faced with fluctuations in influent water quality, leading to unstable water quality.
[0006] The large hysteresis characteristic of the coagulation process can easily cause system regulation oscillations, which are difficult to effectively suppress with conventional controllers.
[0007] 3. The dosage of reagents and the energy consumption of stirring are too high during system operation. There is a lack of an integrated control hardware architecture that can structurally guarantee rapid response, stable anti-interference and energy saving.
[0008] To achieve the above objectives, this invention provides a smart real-time control system for water supply coagulation based on a PID controller optimized using a whale algorithm. Addressing the shortcomings of existing systems, this invention provides a smart real-time control system for water supply coagulation based on a PID controller optimized using a whale algorithm. This system aims to solve the following existing problems: Conventional PID controllers suffer from large overshoot and long recovery time in effluent turbidity when faced with fluctuations in influent water quality, leading to unstable water quality.
[0009] The large hysteresis characteristic of the coagulation process can easily cause system regulation oscillations, which are difficult to effectively suppress with conventional controllers.
[0010] 3. The dosage of reagents and the energy consumption of stirring are too high during system operation. There is a lack of an integrated control hardware architecture that can structurally guarantee rapid response, stable anti-interference and energy saving.
[0011] To achieve the above objectives, the present invention provides a real-time intelligent control system for water supply coagulation based on a whale algorithm-optimized PID controller.
[0012] A smart real-time control system for water coagulation based on whale algorithm-optimized PID controller includes a feedforward compensation module, a WOA offline optimization parameter configuration unit, a first PID controller, a first signal superimposed unit, a second PID controller, a second signal superimposed unit, a controlled object execution module, and a feedback loop. The input end of the feedforward compensation module is electrically connected to the outlet end of the online raw water turbidity meter installed on the raw water inlet pipeline, and the signal output end of the feedforward compensation module is electrically connected to the control signal input end of the controlled object execution module through the first signal superimposed unit. The WOA offline optimization parameter configuration unit is electrically connected to the parameter setting interfaces of the first PID controller and the second PID controller via a data bus, and is used to provide the first PID controller and the second PID controller with the optimal PID parameters obtained by global optimization through the whale optimization algorithm, which takes into account both response speed and overshoot suppression. The output terminal of the first PID controller is electrically connected to one input terminal of the first signal superimposed unit; The input terminal of the second PID controller is electrically connected to the output terminal of the second signal superimposed unit. The first input terminal of the second signal superimposed unit is electrically connected to the effluent turbidity setpoint input terminal, and the effluent turbidity setpoint is input. The second input terminal of the second signal superimposed unit is electrically connected to the effluent turbidity feedback signal output terminal. The output terminal of the second PID controller is electrically connected to the stirring intensity control interface of the controlled object execution module. The second signal superimposed unit is electrically connected to the first PID controller. The controlled object execution module controls the coagulant dosing pump and the agitator. The controlled object execution module receives the dosing control signal superimposed by the first signal superimposed and the stirring control signal output by the second PID controller, and executes the corresponding coagulant dosing and mixing actions. The agitator has a water outlet, and the water outlet is equipped with a feedback loop. The output terminal of the water turbidity feedback signal of the feedback loop is electrically connected to the input terminal of the water turbidity feedback signal. The WOA offline optimization parameter configuration unit has a built-in comprehensive evaluation objective function calculation logic based on time multiplied by the integral of the absolute value of error (ITAE) plus an overshoot penalty term, which serves as the basis for PID parameter optimization.
[0013] The coagulant dosing pump is a variable frequency metering pump; the agitator is a variable frequency mixer, whose power consumption is directly related to the agitation intensity.
[0014] The feedforward compensation module is a static gain feedforward compensator, which multiplies the real-time raw water turbidity signal by a gain coefficient (K). f This is used to generate the feedforward compensation amount.
[0015] The first PID controller and the second PID controller are software functional modules integrated within the same programmable logic controller or industrial control computer.
[0016] A real-time intelligent control system for water supply coagulation based on a whale algorithm-optimized PID controller further includes a simulation calculation module integrated on an offline simulation workstation. This simulation calculation module contains a mathematical model of the controlled object's execution module and has a data interface for data interaction with a WOA offline optimization parameter configuration unit to calculate the objective function value and output the optimal PID parameters to the WOA offline optimization parameter configuration unit for finalization. To address the shortcomings of existing systems, this system provides a real-time intelligent control system for water supply coagulation based on a whale algorithm-optimized PID controller, aiming to solve the following problems: Conventional PID controllers suffer from large overshoot and long recovery time in effluent turbidity when faced with fluctuations in influent water quality, leading to unstable water quality.
[0017] The large hysteresis characteristic of the coagulation process can easily cause system regulation oscillations, which are difficult to effectively suppress with conventional controllers.
[0018] 3. The dosage of reagents and the energy consumption of stirring are too high during system operation. There is a lack of an integrated control hardware architecture that can structurally guarantee rapid response, stable anti-interference and energy saving.
[0019] To achieve the above objectives, the present invention provides a real-time intelligent control system for water supply coagulation based on a whale algorithm-optimized PID controller.
[0020] A smart real-time control system for water coagulation based on whale algorithm-optimized PID controller includes a feedforward compensation module, a WOA offline optimization parameter configuration unit, a first PID controller, a first signal superimposed unit, a second PID controller, a second signal superimposed unit, a controlled object execution module, and a feedback loop. The input end of the feedforward compensation module is electrically connected to the outlet end of the online raw water turbidity meter installed on the raw water inlet pipeline, and the signal output end of the feedforward compensation module is electrically connected to the control signal input end of the controlled object execution module through the first signal superimposed unit. The WOA offline optimization parameter configuration unit is electrically connected to the parameter setting interfaces of the first PID controller and the second PID controller via a data bus, and is used to provide the first PID controller and the second PID controller with the optimal PID parameters obtained by global optimization through the whale optimization algorithm, which takes into account both response speed and overshoot suppression. The output terminal of the first PID controller is electrically connected to one input terminal of the first signal superimposed unit; The input terminal of the second PID controller is electrically connected to the output terminal of the second signal superimposed unit. The first input terminal of the second signal superimposed unit is electrically connected to the effluent turbidity setpoint input terminal, and the effluent turbidity setpoint is input. The second input terminal of the second signal superimposed unit is electrically connected to the effluent turbidity feedback signal output terminal. The output terminal of the second PID controller is electrically connected to the stirring intensity control interface of the controlled object execution module. The second signal superimposed unit is electrically connected to the first PID controller. The controlled object execution module controls the coagulant dosing pump and the agitator. The controlled object execution module receives the dosing control signal superimposed by the first signal superimposed and the stirring control signal output by the second PID controller, and executes the corresponding coagulant dosing and mixing actions. The agitator has a water outlet, and the water outlet is equipped with a feedback loop. The output terminal of the water turbidity feedback signal of the feedback loop is electrically connected to the input terminal of the water turbidity feedback signal. The WOA offline optimization parameter configuration unit has a built-in comprehensive evaluation objective function calculation logic based on time multiplied by the integral of the absolute value of error (ITAE) plus an overshoot penalty term, which serves as the basis for PID parameter optimization.
[0021] The coagulant dosing pump is a variable frequency metering pump; the agitator is a variable frequency mixer, whose power consumption is directly related to the agitation intensity.
[0022] The feedforward compensation module is a static gain feedforward compensator, which multiplies the real-time raw water turbidity signal by a gain coefficient (K). f This is used to generate the feedforward compensation amount.
[0023] The first PID controller and the second PID controller are software functional modules integrated within the same programmable logic controller or industrial control computer.
[0024] A real-time intelligent control system for water supply coagulation based on whale algorithm-optimized PID controller also includes a simulation calculation module integrated on an offline simulation workstation. The simulation calculation module has a built-in mathematical model of the controlled object execution module and is equipped with a data interface to interact with the WOA offline optimization parameter configuration unit to calculate the objective function value and output the optimal PID parameters to the WOA offline optimization parameter configuration unit for solidification.
[0025] The beneficial effects of this invention are: The WOA offline optimization parameter configuration unit of this invention provides fixed optimal parameters for two PID controllers after global optimization through the whale algorithm; the feedforward compensation module and the feedback loop form a feedforward-feedback composite control structure, which can quickly respond to and accurately compensate for influent turbidity disturbances; this invention solves the problems of slow response, large overshoot, and weak anti-disturbance capability of traditional fixed parameter PID controllers, and can significantly reduce the dynamic deviation and recovery time of effluent turbidity during sudden changes in influent, while achieving the effects of reducing reagent and power consumption and reducing carbon emissions. Attached Figure Description
[0026] Figure 1 This is a structural block diagram of the present invention.
[0027] In the diagram: 1—Online raw water turbidity meter, 2—Feedforward compensation module, 3—First signal superimposed unit, 4—Controlled object execution module, 41—Coagulant dosing pump, 42—Agitator, 5—Feedback loop, 6—Second signal superimposed unit, 61—Effluent turbidity setpoint input terminal, 62—Effluent turbidity feedback signal input terminal, 7—First PID controller, 8—Second PID controller, 9—WOA offline optimization parameter configuration unit, 10—Outlet. Detailed Implementation
[0028] like Figure 1 As shown, a real-time intelligent control system for water coagulation based on whale algorithm-optimized PID controller includes a feedforward compensation module 2, a WOA offline optimization parameter configuration unit 9, a first PID controller 7, a first signal superimposed unit 3, a second PID controller 8, a second signal superimposed unit 6, a controlled object execution module 4, and a feedback loop 5. The input end of the feedforward compensation module 2 is electrically connected to the outlet end of the online raw water turbidity meter 1 installed on the raw water inlet pipe, and the signal output end of the feedforward compensation module 2 is electrically connected to the control signal input end of the controlled object execution module 4 through the first signal superimposition unit 3. The WOA offline optimization parameter configuration unit 9 is electrically connected to the parameter setting interfaces of the first PID controller 7 and the second PID controller 8 via the data bus, and is used to provide the first PID controller 7 and the second PID controller 8 with the optimal PID parameters obtained by global optimization through the whale optimization algorithm, which takes into account both response speed and overshoot suppression. like Figure 1 As shown, a real-time intelligent control system for water coagulation based on whale algorithm-optimized PID controller includes a feedforward compensation module 2, a WOA offline optimization parameter configuration unit 9, a first PID controller 7, a first signal superimposed unit 3, a second PID controller 8, a second signal superimposed unit 6, a controlled object execution module 4, and a feedback loop 5. The input end of the feedforward compensation module 2 is electrically connected to the outlet end of the online raw water turbidity meter 1 installed on the raw water inlet pipe, and the signal output end of the feedforward compensation module 2 is electrically connected to the control signal input end of the controlled object execution module 4 through the first signal superimposition unit 3. The WOA offline optimization parameter configuration unit 9 is electrically connected to the parameter setting interfaces of the first PID controller 7 and the second PID controller 8 via the data bus, and is used to provide the first PID controller 7 and the second PID controller 8 with the optimal PID parameters obtained by global optimization through the whale optimization algorithm, which takes into account both response speed and overshoot suppression. The output terminal of the first PID controller 7 is electrically connected to one input terminal of the first signal superimposed unit 3; The input terminal of the second PID controller 8 is electrically connected to the output terminal of the second signal superimposed unit 6. The first input terminal of the second signal superimposed unit 6 is electrically connected to the effluent turbidity setpoint input terminal 61, where the effluent turbidity setpoint is input. The second input terminal of the second signal superimposed unit 6 is electrically connected to the effluent turbidity feedback signal output terminal 62. The output terminal of the second PID controller 8 is electrically connected to the stirring intensity control interface of the controlled object execution module 4. The second signal superimposed unit 6 is electrically connected to the first PID controller 7. The controlled object execution module 4 controls the coagulant dosing pump 41 and the agitator 42. The controlled object execution module 4 receives the dosing control signal superimposed by the first signal superimposed by the first signal superimposed by the first signal superimposed by the second PID controller 8 and executes the corresponding coagulant dosing and mixing actions. The stirrer 42 has a water outlet 10, and the water outlet 10 is provided with a feedback loop 5. The output terminal of the water turbidity feedback signal of the feedback loop 5 is electrically connected to the input terminal of the water turbidity feedback signal 62. The WOA offline optimization parameter configuration unit 9 has a built-in comprehensive evaluation objective function calculation logic based on time multiplied by the integral of the absolute value of error (ITAE) plus an overshoot penalty term, which serves as the basis for PID parameter optimization.
[0029] The coagulant dosing pump 41 is a variable frequency metering pump; the agitator is a variable frequency mixer 42, whose power consumption is related to the agitation intensity.
[0030] The feedforward compensation module 2 is a static gain feedforward compensator, which generates the feedforward compensation amount by multiplying the real-time raw water turbidity signal by a gain coefficient (Kf).
[0031] The first PID controller 7 and the second PID controller 8 are software functional modules integrated within the same programmable logic controller or industrial control computer.
[0032] A real-time intelligent control system for water supply coagulation based on whale algorithm-optimized PID controller also includes a simulation calculation module integrated on an offline simulation workstation. The simulation calculation module has a built-in mathematical model of the controlled object execution module 4 and is equipped with a data interface to interact with the WOA offline optimization parameter configuration unit 9 to calculate the objective function value and output the optimal PID parameters to the WOA offline optimization parameter configuration unit 9 for solidification.
[0033] The WOA offline optimization parameter configuration unit 9 is the high-performance control core of the entire system. By running the embedded Whale Optimization Algorithm (WOA), it performs a global search in the parameter space with the objective function of the time multiplied by the absolute error of the effluent turbidity plus the overshoot penalty term. The offline search yields the PID parameters that optimally balance the system's response speed and stability. This set of parameters includes the proportional, integral, and derivative coefficients (Kp1, Ki1, Kd1) of the first PID controller 7 and the proportional, integral, and derivative coefficients (Kp2, Ki2, Kd2) of the second PID controller 8. The WOA offline optimization parameter configuration unit 9 directly configures the optimal parameters obtained through optimization to the first PID controller 7 and the second PID controller 8 via the data bus, enabling them to cope with typical disturbance conditions without online adaptation and ensuring the robustness of the system.
[0034] Wherein, Kp1 is the proportional coefficient of the first PID controller 7, Ki1 is the integral coefficient of the first PID controller 7, and Kd1 is the derivative coefficient of the first PID controller 7.
[0035] Where Kp2 is the proportional coefficient of the second PID controller 8, Ki2 is the integral coefficient of the second PID controller 8, and Kd2 is the derivative coefficient of the second PID controller 8.
[0036] The feedforward compensation module 2 receives the real-time signal from the online raw water turbidity meter 1 in the raw water pipeline. The feedforward compensation module is a static gain feedforward compensator. When the raw water turbidity changes abruptly, it can generate a compensation signal with almost no delay and send it to the first signal superimposed unit 3, thereby quickly and directly adjusting the opening of the coagulant dosing pump 41 and overcoming the inherent hysteresis defect of feedback control.
[0037] Feedback loop 5 constitutes the closed-loop precision control part of the system. At the second signal superimposed unit 6, the set value of the effluent turbidity is compared with the measured effluent turbidity value returned by feedback loop 5 to generate a deviation signal, which is simultaneously sent to the first PID controller 7 and the second PID controller 8.
[0038] The first PID controller 7 calculates the dosage compensation amount based on the solidified optimal parameters and deviation signal, and superimposes it with the output of the feedforward compensation module 2 at the first signal superimposition unit 3 to form the final control command, which drives the coagulant dosing pump 41 to perform precise dosing.
[0039] The second PID controller 8 also independently calculates based on its solidified optimal parameters and deviation signals, and outputs control commands to directly adjust the stirring intensity of the agitator 42, so that it can mix and flocculate under optimal hydraulic conditions.
[0040] The coagulant dosing pump 41 and agitator 42 in the controlled object execution module 4 operate under the control of WOA optimized PID parameters.
[0041] The feedforward compensation module 2, WOA offline optimization parameter configuration unit 9, first PID controller 7, first signal superimposed unit 3, second PID controller 8, second signal superimposed unit 6, controlled object execution module 4 and feedback loop 5 are existing technologies.
Claims
1. A real-time intelligent control system for water supply coagulation based on a whale algorithm-optimized PID controller, characterized in that: It includes a feedforward compensation module (2), a WOA offline optimization parameter configuration unit (9), a first PID controller (7), a first signal superimposed unit (3), a second PID controller (7), a second signal superimposed unit (6), a controlled object execution module (4), and a feedback loop (5); The input end of the feedforward compensation module (2) is electrically connected to the outlet end of the online raw water turbidity meter (1) installed on the raw water inlet pipe, and the signal output end of the feedforward compensation module (2) is electrically connected to the control signal input end of the controlled object execution module (4) through the first signal superimposition device (3). The WOA offline optimization parameter configuration unit (9) is electrically connected to the parameter setting interface of the first PID controller (7) and the second PID controller (7) respectively via the data bus, and is used to provide the first PID controller (7) and the second PID controller (7) with the optimal PID parameters obtained by global optimization through the whale optimization algorithm, which takes into account both response speed and overshoot suppression. The output terminal of the first PID controller (7) is electrically connected to one input terminal of the first signal superimposed unit (3); The input terminal of the second PID controller (7) is electrically connected to the output terminal of the second signal superimposed unit (6). The first input terminal of the second signal superimposed unit (6) is electrically connected to the effluent turbidity setpoint input terminal (61) to input the effluent turbidity setpoint. The second input terminal of the second signal superimposed unit (6) is electrically connected to the effluent turbidity feedback signal output terminal (62). The output terminal of the second PID controller (7) is electrically connected to the stirring intensity control interface of the controlled object execution module (4). The second signal superimposed unit (6) is electrically connected to the first PID controller (7). The controlled object execution module (4) controls the coagulant dosing pump (41) and the agitator (42). The controlled object execution module (4) receives the dosing control signal superimposed by the first signal superimposed by the first signal superimposed by the second signal superimposed by the second PID controller (7) and executes the corresponding coagulant dosing and mixing actions. The agitator (42) has an outlet (10), and the outlet (10) is provided with a feedback loop (5). The outlet turbidity feedback signal output terminal of the feedback loop (5) is electrically connected to the outlet turbidity feedback signal input terminal (62). The WOA offline optimization parameter configuration unit (9) has a built-in comprehensive evaluation objective function calculation logic based on time multiplied by the integral of absolute error (ITAE) plus overshoot penalty term, which serves as the basis for PID parameter optimization.
2. The intelligent real-time control system for water supply coagulation based on whale algorithm-optimized PID controller as described in claim 1, characterized in that: The coagulant dosing pump (41) is a variable frequency metering pump; the agitator is a variable frequency mixer (42).
3. The intelligent real-time control system for water supply coagulation based on whale algorithm-optimized PID controller as described in claim 1, characterized in that: The feedforward compensation module (2) is a static gain feedforward compensator, which generates the feedforward compensation amount by multiplying the real-time raw water turbidity signal by a gain coefficient.
4. The intelligent real-time control system for water supply coagulation based on whale algorithm-optimized PID controller as described in claim 1, characterized in that: The first PID controller (7) and the second PID controller (7) are software functional modules integrated in the same programmable logic controller or industrial control computer.
5. The intelligent real-time control system for water supply coagulation based on whale algorithm-optimized PID controller as described in claim 1, characterized in that: It also includes a simulation calculation module integrated on the offline simulation workstation. The simulation calculation module has a mathematical model of the controlled object execution module (4) built in it, and has a data interface to interact with the WOA offline optimization parameter configuration unit (9) to calculate the objective function value and output the optimal PID parameters to the WOA offline optimization parameter configuration unit (9) for solidification.