CN-122018422-A - PCCP long-distance high-pressure water pipeline hydraulic control butterfly valve closed-loop control method

CN122018422ACN 122018422 ACN122018422 ACN 122018422ACN-122018422-A

Abstract

The invention discloses a closed-loop control method for a hydraulic control butterfly valve of a PCCP long-distance high-pressure water conveying pipeline, and belongs to the technical field of long-distance high-pressure water conveying pipeline control. The invention solves the problems that the long-distance PCCP water delivery system in the prior art has response lag and lacks global cooperation due to manual scheduling or single-point PID control, is difficult to effectively cope with water attack risk and cannot give consideration to the optimal overall energy consumption of the system, and is formed by constructing a layered control architecture of a distributed measurement and control network and a central supervision control and data acquisition system platform, the method is characterized in that a variable parameter PID control algorithm is built in the PLC of the equipment, millisecond recognition and active suppression of sudden water hammer working conditions are achieved, a hydraulic simulation model and a multi-objective optimization algorithm are deployed at a master station of a central supervisory control and data acquisition system, and a full-line optimal pressure set value is solved through iterative calculation and issued to each PLC for execution, so that the system energy consumption is minimized on the premise of guaranteeing pipeline safety.

Inventors

ZHANG LEI
LI QIUXUAN
WANG ZHUO
LIU GUOJUN
Ni Miaoxing
CHE XINLEI
XU ZHENG
ZHANG ZHIYONG
MA YUNBO
WANG YUEYANG
DU LIANJIE
ZHAO HAOYANG
LUO NINA
WANG YONGSHENG

Assignees

北京金河水务建设集团有限公司

Dates

Publication Date: 20260512
Application Date: 20260320

Claims (10)

1. The method is applied to a long-distance high-pressure water delivery system formed by PCCP pipes, and the long-distance high-pressure water delivery system comprises a plurality of hydraulic butterfly valves distributed along the pipes, and is characterized by comprising the following steps: Constructing a distributed measurement and control network based on a field bus control system, connecting an actuating mechanism of each hydraulic control butterfly valve, a pressure sensor and a flow sensor which are arranged at the upstream and downstream of a valve, and accessing a corresponding PLC through a field bus protocol, wherein a variable parameter PID control algorithm comprising water hammer pressure inhibition logic is arranged in the PLC; establishing a remote monitoring platform of a supervisory control and data acquisition system, connecting all PLCs to a main station of the supervisory control and data acquisition system through a backbone network, and deploying a full-line hydraulic simulation model in the main station of the supervisory control and data acquisition system; step three, the PLC executes local autonomous closed-loop control, the PLC acquires upstream and downstream pressure values and flow values in real time according to a scanning period of 100ms, and the PLC executes the following judgment and control: If the pressure change rate is detected not to exceed the preset safety threshold, calculating the valve opening adjustment quantity according to the deviation between the current pressure value and the locally stored set value according to a conventional PID algorithm, and outputting the valve opening adjustment quantity to a hydraulic control butterfly valve executing mechanism through a field bus control system; If the pressure change rate is detected to exceed the preset safety threshold, judging a water hammer working condition, immediately resetting an integral term of a PID algorithm by the PLC, adjusting the proportional gain to be 1.5-3 times of a conventional value, forcibly executing quick closing or quick starting of a valve until the pressure change rate is restored to be within the safety threshold, and smoothly switching back to the conventional PID algorithm; The monitoring control and data acquisition system performs global optimization setting, a main station of the monitoring control and data acquisition system takes 1-5 minutes as a period, acquires pressure, flow and valve opening data uploaded by all PLCs, operates the hydraulic simulation model, combines the current pump station operation state and water demand change, takes the minimum all-line pressure fluctuation and the minimum total system energy consumption as a double objective function, and solves the optimal pressure set value of each control point through iterative calculation; when the master station of the supervisory control and data acquisition system operates the hydraulic simulation model, the multi-time scale prediction correction step is further executed, and the method specifically comprises the following steps: The monitoring control and data acquisition system master station simultaneously runs two hydraulic simulation models with different time scales, namely a short-time prediction model and a long-time planning model; The master station of the monitoring control and data acquisition system carries out weighted fusion on the output result of the short-time prediction model and the output result of the long-time planning model to generate a final optimal pressure set value; after the monitoring control and data acquisition system master station completes global optimization setting every time, actual pressure and flow data in the current period are fed back to two hydraulic simulation models for correcting prediction deviation of the models and updating model parameters; And step five, the supervisory control and data acquisition system master station transmits the optimal pressure set value calculated in the step four to a corresponding PLC through a backbone network, and after receiving the optimal set value, the PLC automatically replaces the original set value stored locally and repeatedly executes the local autonomous closed-loop control of the step three.
2. The method for controlling the closed loop of the hydraulic control butterfly valve of the PCCP long-distance high-pressure water pipeline according to claim 1, further comprising correcting the valve opening adjustment based on the opening deviation between the actual opening of the hydraulic control butterfly valve and the calculated valve opening adjustment, specifically: Acquiring the actual opening of the hydraulic control butterfly valve after the PLC executes the local autonomous closed-loop control, and acquiring the opening deviation between the actual opening and the calculated valve opening adjustment; Acquiring a pressure value of a PCCP pipeline when the PLC executes local autonomous closed-loop control, determining disturbance deviation of a valve of a hydraulic control butterfly valve based on the pressure value, and obtaining opening deviation to be corrected based on a difference value of the opening deviation and the disturbance deviation; Acquiring to-be-corrected opening degree deviation of local autonomous closed loop control executed by a PLC within preset times, forming a deviation sequence, calculating a deviation change rate between adjacent deviations in the deviation sequence, calculating a regularity index of the deviation sequence, and determining that systematic accumulated deviation exists in the to-be-corrected opening degree deviation to trigger opening degree correction when all deviation change rates between the adjacent deviations are smaller than a preset deviation change rate threshold value and the regularity index is larger than a preset regularity index threshold value, or determining that the to-be-corrected opening degree deviation is not the systematic accumulated deviation to not trigger opening degree correction; After determining to trigger opening correction, correcting a mapping relation between an actual opening and opening adjustment based on a deviation difference value of an opening deviation to be corrected and a historical opening deviation to be corrected corresponding to the last correction to obtain a latest mapping relation, and carrying out initial correction on a valve opening adjustment based on the latest mapping relation to obtain an intermediate valve opening adjustment; and acquiring the parameters of the actuating mechanism and the parameters of the hydraulic control butterfly valve, and carrying out real-time compensation on the fluid moment of the hydraulic control butterfly valve on the intermediate valve opening adjustment quantity by combining the parameters of the historical correction to obtain compensation quantity, and compensating the intermediate valve opening adjustment quantity based on the compensation quantity to obtain the final valve opening adjustment quantity.
3. The method for closed-loop control of a hydraulic control butterfly valve of a PCCP long-distance high-pressure water pipe according to claim 1, wherein the locally stored set values comprise three sources and are selected according to the following priority order: The highest priority is an optimal pressure set value issued by a master station of a supervisory control and data acquisition system in real time; The secondary priority is that when the communication is interrupted, the PLC automatically invokes the supervisory control and data acquisition system set value received last time before the communication is interrupted; And the basic priority is that when the PLC is put into operation for the first time or the system instruction is not controlled and acquired for a long time, the corresponding pressure safety value is automatically matched from a flow-pressure data table prestored in the PLC according to the current actually measured flow.
4. The method for controlling the closed loop of the hydraulic control butterfly valve of the PCCP long-distance high-pressure water conveying pipeline according to claim 1 is characterized in that the integral term of the PID algorithm is cleared, the proportional gain is adjusted to be 1.5-3 times of the conventional value, and the valve quick closing or quick opening action is forcedly executed, and the method specifically comprises the following steps: The PLC judges the property of the water hammer wave according to the positive and negative directions of the pressure change rate; Executing the quick closing instruction if the pressure suddenly rises, and executing the quick opening instruction if the pressure suddenly falls; The valve action speed is executed according to a pre-calibrated corresponding curve of the water hammer strength and action speed, so that the valve completes a specified stroke and is used for counteracting the water hammer wave crest.
5. The method for controlling the closed loop of the hydraulic control butterfly valve of the PCCP long-distance high-pressure water conveying pipeline according to claim 1, wherein the minimum full line pressure fluctuation and the minimum total system energy consumption are used as double objective functions, and the optimal pressure set value of each control point is solved through iterative calculation, and the method comprises the following steps: Adopting a multi-target genetic algorithm, and optimizing and calculating a group of set value combinations which enable pressure variance of all monitoring points of a whole line to be minimum and total energy consumption of each pump station to be minimum under the constraint conditions of meeting the highest allowable pressure of a pipeline, lowest non-negative pressure, valve adjusting range and the like; Wherein, a multi-objective genetic algorithm is adopted, the optimizing calculation makes all monitoring point pressure variance minimum and each pump station total energy consumption minimum a set value combination, specifically includes the following steps: The pressure variance minimization of the N pressure monitoring points of the whole line and the total energy consumption minimization of the M pump stations of the whole line are used as double objective functions, and the highest allowable pressure of the pipeline, the lowest non-negative pressure, the valve opening adjusting range and the pressure change rate limit value are used as constraint conditions; setting the population scale as 100 and the iteration times as 200 generations, and optimizing and calculating a group of non-dominant solution sets meeting constraint conditions through selection, intersection and mutation operations; A set of solutions that minimizes the weighted sum of the two objective functions of pressure variance and total energy consumption is selected from the set of solutions as the optimal pressure set point for each control point.
6. The method for controlling the closed loop of the hydraulic control butterfly valve of the PCCP long-distance high-pressure water conveying pipeline according to claim 1, wherein when the PLC collects data in real time according to a scanning period of 100ms and performs judgment and control, if a communication fault is detected, the following autonomous fault handling flow is performed: When the PLC detects that the communication with the backbone network of the main station of the supervisory control and data acquisition system is interrupted for more than 30 seconds, the control mode is automatically switched from a remote set value tracking mode to a local experience mode, and the local closed-loop control is continuously executed according to the set value received last time before the communication interruption as a control target; if the set value is not received before the communication is interrupted, the PLC automatically matches the corresponding pressure safety value from an internal pre-stored flow-pressure corresponding relation data table as a control target according to the current pipeline flow monitored in real time; after the communication is recovered, the PLC receives stable set values issued by the supervisory control and data acquisition system in 3 continuous scanning periods, and gradually transits the control target value to a newly received remote set value within 30 seconds when the local pressure fluctuation is smaller than a preset range.
7. The method for controlling the hydraulic control butterfly valve of the PCCP long-distance high-pressure water conveying pipeline in a closed loop according to claim 1, wherein in the third step, the specific mode of forcibly executing the valve quick closing or quick opening action after the PLC judges the water hammer working condition is as follows: The PLC judges the property of the water shock wave according to the positive and negative directions of the pressure change rate; if the pressure rises within 1 second and exceeds 0.2MPa, judging that the water hammer is forward water hammer, and executing a valve quick closing instruction; and if the pressure drops within 1 second and exceeds 0.15MPa, judging that the water hammer is negative, and executing a valve quick-opening instruction.
8. The method for controlling the closed loop of the hydraulic control butterfly valve of the PCCP long-distance high-pressure water conveying pipeline according to claim 1, wherein when the PLC executes the local autonomous closed loop control, the step of correcting the valve action deviation on line is synchronously executed, and specifically comprises the following steps: In each control period, the PLC reads the actual opening value fed back by the hydraulic control butterfly valve executing mechanism through the field bus control system, and calculates the deviation amount from the instruction opening value; When the deviation amount in three continuous control periods exceeds a set threshold value, the PLC automatically triggers a valve zero point calibration process, a full-closing instruction is sent to a hydraulic control butterfly valve executing mechanism, a full-closing position feedback value is recorded, a full-opening instruction is sent again, a full-opening position feedback value is recorded, and the opening-feedback corresponding relation curve of the valve is recalibrated according to the newly recorded full-closing and full-opening position values; After calibration is completed, the PLC stores the updated corresponding relation curve into a memory and is used as a calculation basis for opening feedback of a subsequent control period.
9. The method for controlling the closed loop of the hydraulic control butterfly valve of the PCCP long-distance high-pressure water conveying pipeline according to claim 1, wherein a master station of a supervisory control and data acquisition system periodically performs valve performance on-line evaluation, and the method specifically comprises the following steps: The master station of the supervisory control and data acquisition system counts the historical action data of the valve uploaded by each PLC once every 24 hours, and calculates the set opening-actual opening following error root mean square value, the full-stroke opening time average value, the full-stroke closing time average value and the action times of the day of each hydraulic control butterfly valve in the past 24 hours; And respectively comparing the four indexes with historical synchronous reference values of the valve, and when the deviation rate of any index exceeds 20%, highlighting the valve icon in yellow on a man-machine interface of a supervision control and data acquisition system and popping up early warning prompt information.
10. The method for controlling the hydraulic control butterfly valve of the PCCP long-distance high-pressure water pipeline in a closed loop according to claim 2, wherein the obtaining the parameters of the executing mechanism and the parameters of the hydraulic control butterfly valve, combining the parameters corrected by history, compensating the opening adjustment of the intermediate valve in real time for the fluid moment of the hydraulic control butterfly valve to obtain the compensation quantity comprises the following steps: The method comprises the steps of obtaining factory calibration parameters of a hydraulic control butterfly valve, and acquiring and calculating real-time pressure difference of the upstream and downstream of a valve of the hydraulic control butterfly valve based on a pressure sensor; Calculating to obtain the fluid torque of the hydraulic control butterfly valve based on factory calibration parameters and real-time pressure difference of the hydraulic control butterfly valve; The method comprises the steps of based on fluid torque of a hydraulic control butterfly valve, obtaining factory calibration parameters of an actuating mechanism, and calculating to obtain real-time compensation angular displacement based on the fluid torque of the hydraulic control butterfly valve; Based on the relation between the angular displacement and the compensation quantity, the compensation quantity corresponding to the real-time compensation angular displacement of the fluid moment of the hydraulic control butterfly valve is determined.

Description

PCCP long-distance high-pressure water pipeline hydraulic control butterfly valve closed-loop control method Technical Field The invention relates to the technical field of control of long-distance high-pressure water pipelines, in particular to a hydraulic control butterfly valve closed-loop control method of a PCCP long-distance high-pressure water pipeline. Background Along with the rapid development of water resource allocation engineering in China, long-distance, high-pressure and large-flow water delivery systems constructed by PCCP pipelines are increasingly increased, the systems usually extend for tens or hundreds of kilometers, and a large number of hydraulic butterfly valves are distributed along the lines for flow regulation and pressure control. Because PCCP pipelines are sensitive to pressure fluctuation, and long-distance water delivery systems have obvious large time lag, nonlinearity and strong coupling characteristics, the traditional manual scheduling or simple single-point PID control is difficult to effectively cope with complex working conditions. Particularly, when the water pump is started and stopped, a valve acts or the water consumption is suddenly changed, the phenomenon of water hammer is extremely easy to cause, the pressure of the pipeline suddenly changes, and serious safety accidents such as pipeline burst, equipment damage and the like can be caused. In the prior art, each valve control point often operates independently, global collaborative optimization is lacked, and the optimization of the whole energy consumption of the system can not be realized on the premise of guaranteeing the safety of the pipeline, so that the existing requirements are not met, and a PCCP long-distance high-pressure water pipeline hydraulic control butterfly valve closed-loop control method is provided. Disclosure of Invention The invention aims to provide a PCCP long-distance high-pressure water pipe hydraulic control butterfly valve closed-loop control method, which can realize millisecond recognition and active inhibition of water hammer working conditions by utilizing a PLC embedded variable parameter PID control algorithm, avoid the risk of pipe bursting, and simultaneously carry out global collaborative optimization on pressure set values of all control points on the premise of ensuring the safety of a pipe by means of a hydraulic simulation model and a multi-objective optimization algorithm of a monitoring control and data acquisition system master station, thereby overcoming the defect that the whole energy consumption of the system cannot be optimized under the traditional independent control mode and solving the problems raised in the background technology. In order to achieve the purpose, the invention provides the technical scheme that the hydraulic control butterfly valve closed-loop control method for the PCCP long-distance high-pressure water delivery pipeline is applied to a long-distance high-pressure water delivery system formed by PCCP pipelines, the system comprises a plurality of hydraulic control butterfly valves distributed along the pipeline, and the method comprises the following steps: Constructing a distributed measurement and control network based on a field bus control system, connecting an actuating mechanism of each hydraulic control butterfly valve, a pressure sensor and a flow sensor which are arranged at the upstream and downstream of a valve, and accessing a corresponding PLC through a field bus protocol, wherein a variable parameter PID control algorithm comprising water hammer pressure inhibition logic is arranged in the PLC; the field bus protocol adopts PROFINET IRT industrial Ethernet protocol, and configures network parameters according to the following modes: Setting the cycle data exchange period between the PLC and the hydraulic control butterfly valve executing mechanism as 20ms, setting the cycle data exchange period between the PLC and the pressure sensor and the flow sensor as 50ms, setting the maximum number of slave stations of each bus network segment to be not more than 16, and ensuring that the end-to-end control delay time from the sensor data acquisition to the completion of the action of the executing mechanism is less than 100ms; Establishing a supervisory control and data acquisition (SCADA) system remote monitoring platform, connecting all PLCs to a supervisory control and data acquisition (SCADA) system master station through a backbone network, and deploying a full-line hydraulic simulation model in the supervisory control and data acquisition (SCADA) system master station; step three, the PLC executes local autonomous closed-loop control, the PLC acquires upstream and downstream pressure values and flow values in real time according to a scanning period of 100ms, and the PLC executes the following judgment and control: If the pressure change rate is detected not to exceed the preset safety threshold, calculating the valve opening adjus