基于数据驱动控制的港口恒压供水系统研究
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摘要
我国的水资源比较匮乏,但由于长期以来供水系统的自动化程度一直落后于西方,再加上供水设备和管网比较陈旧,造成了大量的水资源浪费,因此提高供水系统的自动化程度,节约有限的水资源成为时代发展的重要课题。基于变频技术的恒压供水系统不仅能够更好的保持水压的恒定,而其还能节约能源。因此,对其研究具有极大的理论和现实意义。
本文在分析港口恒压供水系统原理的基础上,对其控制系统的方案进行了设计。同时介绍了系统中的同步切换技术以及GPRS远程通信技术。
由于供水系统的被控对象是一个高阶次、大滞后、参数时变的非线性系统,无法建立精确的数学模型,同时当需水量变化较大时,水泵电机由变频供电向工频供电切换过程中会产生过电压和过电流冲击,因此本文采用无模型自适应控制算法和锁相环同步切换技术相结合组成双闭环控制,来实现港口供水系统压力的稳定。为便于远程控制,利用GPRS通信技术代替传统的电缆及数传电台作为通信媒介,从而提高整个控制系统的自动化程度。理论分析和仿真验证了本控制策略的有效性。
在理论分析的基础上,进行了港口恒压供水控制系统的软硬件设计。在硬件上分别进行了控制电路、信号采集电路、同步切换电路、GPRS通信模块电路等的设计,在软件上采用模块化的思想,分别给出了恒压供水、GPRS通信、上位机监控、同步切换等主要工作功能模块的详细流程图。
China's water resources are very scarce, because of the automation of water supply system has long been lagging behind the West,water supply equipment and pipelines are relatively obsolete, a lot of water is wasted. Thereby increasing the automation of water supply systems and saving limited water resources has become an important topic of the times. Water supply system with constant pressure based on conversion technology is not only better able to maintain a constant pressure, but it also can save energy. Therefore, the research has great theoretical and practical significance. This paper analyzes the principle of the port water supply system,and we design its control system. At the same time,we introduced the simultaneous switching technology and the GPRS remote communications technology in this system.
As the controlled object of port water supply system is a high time, time delay, parameter time-varying nonlinear systems, we can not establish a precise mathematical model. At the same time when the water requirement is large, the process of the frequency power supply switch will produce over-voltage and over-current shocks,therefore,this paper adopts dual-close-loop control by combining the no model adaptive control algorithm and switching technique. We can achieve stability on port pressure water supply system. In order to facilitate remote control, we use GPRS communication technology instead of traditional cable and data radio as a medium of communication to enhance the automation of the whole control system. Theoretical analysis and simulation results show that this control strategy can not only improve the stability and reliability of the port pressure water supply system,but also can achieve frequency conversion. Based on theoretical analysis, we design the hardware and software of port water supply system with constant pressure. We design the control circuit, the signal acquisition circuit, synchronous switch circuit, GPRS communication module circuit in the hardware. In the software we adapt modular idea, and we give the main function modules of the detailed flow chart,including the part of constant pressure water supply, GPRS communications, supervisory control and synchronous switching.
本文在分析港口恒压供水系统原理的基础上,对其控制系统的方案进行了设计。同时介绍了系统中的同步切换技术以及GPRS远程通信技术。
由于供水系统的被控对象是一个高阶次、大滞后、参数时变的非线性系统,无法建立精确的数学模型,同时当需水量变化较大时,水泵电机由变频供电向工频供电切换过程中会产生过电压和过电流冲击,因此本文采用无模型自适应控制算法和锁相环同步切换技术相结合组成双闭环控制,来实现港口供水系统压力的稳定。为便于远程控制,利用GPRS通信技术代替传统的电缆及数传电台作为通信媒介,从而提高整个控制系统的自动化程度。理论分析和仿真验证了本控制策略的有效性。
在理论分析的基础上,进行了港口恒压供水控制系统的软硬件设计。在硬件上分别进行了控制电路、信号采集电路、同步切换电路、GPRS通信模块电路等的设计,在软件上采用模块化的思想,分别给出了恒压供水、GPRS通信、上位机监控、同步切换等主要工作功能模块的详细流程图。
China's water resources are very scarce, because of the automation of water supply system has long been lagging behind the West,water supply equipment and pipelines are relatively obsolete, a lot of water is wasted. Thereby increasing the automation of water supply systems and saving limited water resources has become an important topic of the times. Water supply system with constant pressure based on conversion technology is not only better able to maintain a constant pressure, but it also can save energy. Therefore, the research has great theoretical and practical significance. This paper analyzes the principle of the port water supply system,and we design its control system. At the same time,we introduced the simultaneous switching technology and the GPRS remote communications technology in this system.
As the controlled object of port water supply system is a high time, time delay, parameter time-varying nonlinear systems, we can not establish a precise mathematical model. At the same time when the water requirement is large, the process of the frequency power supply switch will produce over-voltage and over-current shocks,therefore,this paper adopts dual-close-loop control by combining the no model adaptive control algorithm and switching technique. We can achieve stability on port pressure water supply system. In order to facilitate remote control, we use GPRS communication technology instead of traditional cable and data radio as a medium of communication to enhance the automation of the whole control system. Theoretical analysis and simulation results show that this control strategy can not only improve the stability and reliability of the port pressure water supply system,but also can achieve frequency conversion. Based on theoretical analysis, we design the hardware and software of port water supply system with constant pressure. We design the control circuit, the signal acquisition circuit, synchronous switch circuit, GPRS communication module circuit in the hardware. In the software we adapt modular idea, and we give the main function modules of the detailed flow chart,including the part of constant pressure water supply, GPRS communications, supervisory control and synchronous switching.
引文
[1]Arimoto S, Kawamura S, Miyazaki F. Bettering operation of robots by learning. Journal of Robotic Systems,1984,1(2):123-140
[2]Chen Y Q, Wen C Y. Iterative Learning Control:Convergence, Robustness and Applications. New York:Springer-Verlag,1999
[3]Moore K L. Iterative Learning Control for Deterministic Systems. New York: Springer Verlag,1993
[4]Xu J X, Tan Y. Linear and Nonlinear Iterative Learning Control. Berlin: Springer Verlag,2003
[5]孙明轩,黄宝健.迭代学习控制.北京：国防工业出版社,1995
[6]Xu Jian-Xin, Hou Zhong-Sheng. On learning control:the state of the art and perspective. Acta Automatica Sinica,2005,31(6):943-955
[7]Chen C J. A discrete iterative learning control for a class of nonlinear time-varying systems. IEEE Transactions on Automatic Control,1998,43(5): 748-752
[8]Kuc T Y, Lee J S, Nam K. An iterative learning control theory for a class of nonlinear dynamic systems. Automatica,1992,28(6):1215-1221
[9]Schaal S, Atkeson C G. Robot juggling:implementation of memory based learning. IEEE Control Systems Magazine,1994,14(1):57-71
[10]Bontempi G, Birattari M, Bersini H. Lazy learning for local modeling and control design. International Journal of Control,1999,72(7-8):643-658
[11]Bontempi G, Birattari M. From linearization to lazy learning:a survey of divide and conquer techniques for nonlinear control. International Journal of Computational Cognition,2005,3(1):56(?)73
[12]Atkeson C G, Moore A W, Schaal S. Locally weighted learning for control. Articial Intelligence Review,1997,11(1-5):75-113
[13]侯忠生.非参数模型及其自适应控制理论[M].北京,科学出版社,1999.
[14]侯忠生,许建新.数据驱动控制理论及方法的回顾和展望[J].自动化学报.2009.35(6).650-667.
[15]侯忠生.非线性系统的参数辨识、自适应控制和非参数模型自适应控制[D].东北大学,1994.
[16]Hou Z S, Xu J X, Yan J W. An iterative learning approachfor density control of freeway traffic follow via ramp metering.Transportation Research, Part C: Emerging Technologies,2008,16(1):71(?)97
[17]Guardabassi G O, Savaresi S M. Virtual reference direct design method:an off line approach to data-based control system design[J]. IEEE Transactions on Au-tomatic Control,2000,45(5):954-959
[18]Campi M C, Savaresi S M.Direct nonlinear control design:the virtual reference feedback tuning (VRFT) approach[J]. IEEE Transactions on Automatic Control, 2006,51(1):15-27
[19]Nakamoto M. An application of the virtual reference feedback tuning for an MIMO process[J].In:Proceedings of the2004 SICE Annual Conference. Sapporo, Japan:IEEE,2004.2208-2213
[20]Previdi F, Ferrarin M, Savaresi S M, Bittanti S. Closed-loop control of FES supported standing up and sitting down using virtual reference feedback tuning[J]. Control Engineering Practice,2005,13(9):1173-1182
[21]于衍星,孟彦京.变频调速电气控制系统的电磁兼容性[J].自动化与仪表,2004(3).
[22]陈成勇.多泵自动循环切换恒压供水变频调速系统[J].自动化技术与应用.2010.29(1).
[23]戴保华,谢建凯,康国成.一种变频调速恒压供水技术[J].武汉交通科技大学学报,2000,24(4)：466-468.
[24]姚志强.关于变频调速恒压供水中几个问题的探讨[J].西安公路交通大学学报,1997,(6).
[25]梁新帅.恒压供水上位机监控系统设计[J].机械工程与自动化,2009,5(156)：179-180.
[26]吴阳.恒压供水自动控制系统的研究[J].机械工程与自动化,2010,1(158)：170-172.
[27]马洪伟,盛翊智.GPRS技术在无线传输数据中的应用.微机发展,2005,15(3)：101-103.
[28]乔爱锋,张宗橙.GPRS体系结构及管理功能.数据通信,2003,12(3)：7-10
[29]李灵佳,邹玉波.数据融合与传感器网络的探讨.辽宁师专学报,2006,8(1)：14-16
[30]陈飞,雒江涛.GPRS网络GTP协议解析方法研究.通信技术,2009,42(2)：107-109
[31]王亚斌.基于BP神经网络PID控制及其仿真[J].江苏冶金,2008.
[32]何继爱,达正花.BP神经网络PID控制器仿真实现[J].甘肃联合大学学报(自然科学版),2005(2).
[33]金奇,邓志杰.PID控制原理及参数整定方法[J].重庆工学院学报(自然科学).2008(5).
[34]闫军,康会峰,张伟,齐金平.模糊控制在变频调速恒压供水系统中的应用研究[J].机械设计与制造,2009,12：43-45.
[35]王玉存.模糊逻辑控制变频调速恒压供水系统设计[D].大连理工大学,2004.
[36]陈霞.模糊控制用于恒压供水系统的研究[J].煤矿机械,2004,5106-108.
[37]石有计.新型模糊PID控制变频调速恒压供水系统的研究[J].机电产品开发与创新,2009,22(6)：179-81.
[38]陈怀忠,朱金芳.基于Fuzzy-PID控制的变频恒压供水系统设计[J].PLC技术应用.
[39]马洁,陈智勇,侯忠生.大型舰船综合减摇系统无模型自适应控制[J].控制理论与应用,2009,26(11)：1289-1292
[40]陈菊,刘桂香,朱学峰等.无模型自适应控制器在自来水厂加药凝絮过程的控制研究[J].化工自动化及仪表,2009,36(4)：14-16
[41]曾庆国,邢桂菊,王仲.无模型自适应控制技术的研究和应用[J].工业控制计算机,2009,22(6)：49-50
[42]杜金旺.基于GPRS的恒压供水系统[J].工业控制与应用,2009,28(7)：11-14.
[43]严盈富,葛卫清.恒压供水系统的控制与仿真[J].南昌航空工业学院学报(自然科学版),2004,18(1)：90-93.
[44]李华荣,刘玉梅.变频调速恒压供水系统[J].纯碱工业,2004,2：45-47.
[45]袁德虎.基于GPRS通讯方式的抽油机远程监控系统研究[硕士研究生学位论文].新疆大学,2005：9-12
[46]Chi-Hsiang Wu, Rong-Hong Jan. System integration of WAP and SMS for home network system, Computer Networks 42,2003:493-502
[47]S.H. Yang, X. Chen, J.L. Alty. Design issues and implementation of Internet-based process control systems. Control Engineering Practice 11,2003: 709-720
[48]刘坚,陶正苏,陈德富等.基于GPRS的环境监测系统的设计.自动化仪表,2009,30(2):30-32
[49]栗文洗,牛俊邦.单片机测量抽油机电机功率因数.石油矿场机械.2007,36(7)：34-36
[50]袁碧波.基于GPRS通讯的油井状态监测报警系统.石油化工自动 化,2007,5：29-32
[51]曹莉,徐华中.基于GPRS网络的数据无线传输的实线接口.现场总线与网络技术,2006,12：36-41
[52]孙德辉,马文丽,姚文娟,郑文岭.基GPRS的无线传输系统设计与实现.微计算机信息,2007,23(7)：51-53
[53]陈够喜,张永梅,王博.基于GPRS的远程数据的无线传输.中北大学学报.2006,27(3)：8-11
[54]马洪伟,盛翊智.GPRS技术在无线传输数据中的应用.微机发展,2005,15(3)：29-32
[55]崔光照,陈富强,张海霞等.基于无线传感器网络的油井远程监控系统设计.通信技术,2008,41(11)：214-215
[2]Chen Y Q, Wen C Y. Iterative Learning Control:Convergence, Robustness and Applications. New York:Springer-Verlag,1999
[3]Moore K L. Iterative Learning Control for Deterministic Systems. New York: Springer Verlag,1993
[4]Xu J X, Tan Y. Linear and Nonlinear Iterative Learning Control. Berlin: Springer Verlag,2003
[5]孙明轩,黄宝健.迭代学习控制.北京：国防工业出版社,1995
[6]Xu Jian-Xin, Hou Zhong-Sheng. On learning control:the state of the art and perspective. Acta Automatica Sinica,2005,31(6):943-955
[7]Chen C J. A discrete iterative learning control for a class of nonlinear time-varying systems. IEEE Transactions on Automatic Control,1998,43(5): 748-752
[8]Kuc T Y, Lee J S, Nam K. An iterative learning control theory for a class of nonlinear dynamic systems. Automatica,1992,28(6):1215-1221
[9]Schaal S, Atkeson C G. Robot juggling:implementation of memory based learning. IEEE Control Systems Magazine,1994,14(1):57-71
[10]Bontempi G, Birattari M, Bersini H. Lazy learning for local modeling and control design. International Journal of Control,1999,72(7-8):643-658
[11]Bontempi G, Birattari M. From linearization to lazy learning:a survey of divide and conquer techniques for nonlinear control. International Journal of Computational Cognition,2005,3(1):56(?)73
[12]Atkeson C G, Moore A W, Schaal S. Locally weighted learning for control. Articial Intelligence Review,1997,11(1-5):75-113
[13]侯忠生.非参数模型及其自适应控制理论[M].北京,科学出版社,1999.
[14]侯忠生,许建新.数据驱动控制理论及方法的回顾和展望[J].自动化学报.2009.35(6).650-667.
[15]侯忠生.非线性系统的参数辨识、自适应控制和非参数模型自适应控制[D].东北大学,1994.
[16]Hou Z S, Xu J X, Yan J W. An iterative learning approachfor density control of freeway traffic follow via ramp metering.Transportation Research, Part C: Emerging Technologies,2008,16(1):71(?)97
[17]Guardabassi G O, Savaresi S M. Virtual reference direct design method:an off line approach to data-based control system design[J]. IEEE Transactions on Au-tomatic Control,2000,45(5):954-959
[18]Campi M C, Savaresi S M.Direct nonlinear control design:the virtual reference feedback tuning (VRFT) approach[J]. IEEE Transactions on Automatic Control, 2006,51(1):15-27
[19]Nakamoto M. An application of the virtual reference feedback tuning for an MIMO process[J].In:Proceedings of the2004 SICE Annual Conference. Sapporo, Japan:IEEE,2004.2208-2213
[20]Previdi F, Ferrarin M, Savaresi S M, Bittanti S. Closed-loop control of FES supported standing up and sitting down using virtual reference feedback tuning[J]. Control Engineering Practice,2005,13(9):1173-1182
[21]于衍星,孟彦京.变频调速电气控制系统的电磁兼容性[J].自动化与仪表,2004(3).
[22]陈成勇.多泵自动循环切换恒压供水变频调速系统[J].自动化技术与应用.2010.29(1).
[23]戴保华,谢建凯,康国成.一种变频调速恒压供水技术[J].武汉交通科技大学学报,2000,24(4)：466-468.
[24]姚志强.关于变频调速恒压供水中几个问题的探讨[J].西安公路交通大学学报,1997,(6).
[25]梁新帅.恒压供水上位机监控系统设计[J].机械工程与自动化,2009,5(156)：179-180.
[26]吴阳.恒压供水自动控制系统的研究[J].机械工程与自动化,2010,1(158)：170-172.
[27]马洪伟,盛翊智.GPRS技术在无线传输数据中的应用.微机发展,2005,15(3)：101-103.
[28]乔爱锋,张宗橙.GPRS体系结构及管理功能.数据通信,2003,12(3)：7-10
[29]李灵佳,邹玉波.数据融合与传感器网络的探讨.辽宁师专学报,2006,8(1)：14-16
[30]陈飞,雒江涛.GPRS网络GTP协议解析方法研究.通信技术,2009,42(2)：107-109
[31]王亚斌.基于BP神经网络PID控制及其仿真[J].江苏冶金,2008.
[32]何继爱,达正花.BP神经网络PID控制器仿真实现[J].甘肃联合大学学报(自然科学版),2005(2).
[33]金奇,邓志杰.PID控制原理及参数整定方法[J].重庆工学院学报(自然科学).2008(5).
[34]闫军,康会峰,张伟,齐金平.模糊控制在变频调速恒压供水系统中的应用研究[J].机械设计与制造,2009,12：43-45.
[35]王玉存.模糊逻辑控制变频调速恒压供水系统设计[D].大连理工大学,2004.
[36]陈霞.模糊控制用于恒压供水系统的研究[J].煤矿机械,2004,5106-108.
[37]石有计.新型模糊PID控制变频调速恒压供水系统的研究[J].机电产品开发与创新,2009,22(6)：179-81.
[38]陈怀忠,朱金芳.基于Fuzzy-PID控制的变频恒压供水系统设计[J].PLC技术应用.
[39]马洁,陈智勇,侯忠生.大型舰船综合减摇系统无模型自适应控制[J].控制理论与应用,2009,26(11)：1289-1292
[40]陈菊,刘桂香,朱学峰等.无模型自适应控制器在自来水厂加药凝絮过程的控制研究[J].化工自动化及仪表,2009,36(4)：14-16
[41]曾庆国,邢桂菊,王仲.无模型自适应控制技术的研究和应用[J].工业控制计算机,2009,22(6)：49-50
[42]杜金旺.基于GPRS的恒压供水系统[J].工业控制与应用,2009,28(7)：11-14.
[43]严盈富,葛卫清.恒压供水系统的控制与仿真[J].南昌航空工业学院学报(自然科学版),2004,18(1)：90-93.
[44]李华荣,刘玉梅.变频调速恒压供水系统[J].纯碱工业,2004,2：45-47.
[45]袁德虎.基于GPRS通讯方式的抽油机远程监控系统研究[硕士研究生学位论文].新疆大学,2005：9-12
[46]Chi-Hsiang Wu, Rong-Hong Jan. System integration of WAP and SMS for home network system, Computer Networks 42,2003:493-502
[47]S.H. Yang, X. Chen, J.L. Alty. Design issues and implementation of Internet-based process control systems. Control Engineering Practice 11,2003: 709-720
[48]刘坚,陶正苏,陈德富等.基于GPRS的环境监测系统的设计.自动化仪表,2009,30(2):30-32
[49]栗文洗,牛俊邦.单片机测量抽油机电机功率因数.石油矿场机械.2007,36(7)：34-36
[50]袁碧波.基于GPRS通讯的油井状态监测报警系统.石油化工自动 化,2007,5：29-32
[51]曹莉,徐华中.基于GPRS网络的数据无线传输的实线接口.现场总线与网络技术,2006,12：36-41
[52]孙德辉,马文丽,姚文娟,郑文岭.基GPRS的无线传输系统设计与实现.微计算机信息,2007,23(7)：51-53
[53]陈够喜,张永梅,王博.基于GPRS的远程数据的无线传输.中北大学学报.2006,27(3)：8-11
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