2022年2022年锅炉水位模糊PID控制外文资料 .pdf

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1、唐 山 学 院 毕 业 设 计1 外文资料Research on Fuzzy Control for Steam Generator Water Level Wei Peng Da-fa Zhang I.INTRODUCTION The steam generator is one of the main devices in PWR nuclear power plant,in order to ensure the safety of nuclear power plant during operation;the steam generator?s water level must be

2、 controlled in a certain range.When the nuclear power plant is running,as the steam flow or the water flow changing,the amount of boiling bubbles in the steam generator will change due to local pressure or temperature change,the instantaneous water level showed“false water level”phenomenon.The exist

3、ence of“false water level”made it difficult to control the water level.The introduction of feed-forward control to the traditional single-loop PID control can,in a certain extent,overcome the false water level phenomenon.But the conventional PID control method in the process of steam generator water

4、 level control has some shortcomings.To the steam generator that has highly complex,large time-delay and nonlinear time-varying characteristics,the PID parameters tuning is a tedious job and the control effect is very poor.Furthermore,to achieve good control performance still as conditions changing,

5、it often needs to change the PID controller parameters.But the analog PID controller parameters are difficult to regulate online.Fuzzy control is a kind of nonlinear control strategy based on fuzzy reasoning,which express operating experience of skilled manipulation men and common sense rules of inf

6、erence through vague language.Fuzzy control do not need to know precise mathematical model of controlled object,is not sensitive to the change of process parameters,is highly robust and can overcome non-linear factors,so,fuzzy control has faster response and smaller ultra-tone,can get better control

7、 effect.Based on understanding above,this paper design a steam generator water level fuzzy controller,the simulation shows that the controller has good control performance and practical value.II.DYNAMIC CHARACTERISTICS OF STEAM GENERATOR The transfer function of PWR steam generator?s mathematical mo

8、del of the general form shows below:y(s)=GW(s)QW(s)+GS(s)QS(s)（1）where y is the steam generator water level;QW for the water flow;QS for the steam flow;GW(s)for the impact of the water flow to the steam generator water level;GS(s)for the 名师资料总结-精品资料欢迎下载-名师精心整理-第 1 页，共 9 页 -唐 山 学 院 毕 业 设 计2 effect of

9、 the steam flow(load)to the steam generator water level.The balance of the steam generator water level is maintained through the match between the water flow and steam flow.The process that water level changes with the steam flow or water flow changing can be regarded as a simple integration process

10、,but impact of the water flow and steam flow,s change on water level is different.A.Dynamics Characteristics under Water Flow Disturbance Suppose steam flow GS remains unchanged,and water flow GW step increases,on the one hand because the temperature of feed water is much lower than the temperature

11、of saturated water in the steam generator,so that,when feed water entering,it will absorb a lot of extra heat,the vapor phase bubble contents will reduce,resulting in water level decreasing;on the other hand,the increase in water flow GW made it greater than steam load,and cause water level increase

12、s linearly.Comprehensive two factors,after the step increase of the water flow,the water level rise has a time delay process,showing a down then up.B.Dynamic Characteristics under Steam Load Disturbance Suppose feed water flow GW remains unchanged,and steam load GS step increases,on the one hand the

13、 water level will flow down because the steam flow rate is greater than the water flow rate.On the other hand,as the steam load increased,vapor pressure is reduced;the bubble volume on the liquid surface increases,causing the water level increased.Comprehensive two factors,after the step increase of

14、 the steam flow rate,the water level down has a time delay process,showing a up then down.The impact on the water level of water flow or steam flow stepping decreased has similar principle as above.As analysis can be seen as above,when the water flow or steam load change,the water level did not foll

15、ow the change immediately,but there is an opposite process at first.This phenomenon is called false water level phenomenon.III.DESIGN OF WATER LEVEL FUZZY CONTROLLER The conventional PID controller has a poor control performance to the steam generator that exist“false waterlevel”characteristics,show

16、ing a greater overshoot in thetracking time.But a well-designed fuzzy controller is able to overcome the false water level phenomenon,and has good control performance.A.Sstructure of Fuzzy Controller 名师资料总结-精品资料欢迎下载-名师精心整理-第 2 页，共 9 页 -唐 山 学 院 毕 业 设 计3 The structure showed in Figure 1.Figure 1.Struc

17、ture of steam generator water level fuzzy controller Choose the water level error(e)and change rate of error(ec)as input of the fuzzy controller,the output of the fuzzy controller is the added value of the valve opening signal u.Meanwhile,use the steam flow feed-forward to overcome the false water l

18、evel phenomenon,use water flow feedback to overcome fluctuations in water supply side.k1,k2 were water flow and steam flow transmitter conversion factor.To ensure the water flow to match the steam flow,k1 and k2 values should be equal to.B.Fuzzy theory,fuzzy subset and Membership Function The fuzzy

19、Analects of e,ec and u are-6,6,both with seven fuzzy sets NB(negative big),NM(negative middle),NS(negative small),ZO(zero),PS(positive small),PM(positive middle)and PB(positive big)to describe.e,ec and,u are all using triangular membership function(see Figure 2).Figure 2.Input and output variable me

20、mbership function C.Fuzzy control rule table The establishment principle of fuzzy control rules are:when the error is large,the output control volume should give priority to eliminate error as soon as possible;when the error is small,the output control volume should givepriority to prevent overshoot

21、.Where ec is Fuzzy controller K1 valve GW(s)dx/dt K2 GS(s)expected water lever Stream flow Water lever water flow e ec+-+-+名师资料总结-精品资料欢迎下载-名师精心整理-第 3 页，共 9 页 -唐 山 学 院 毕 业 设 计4 negative,it shows that water level has a rising trend,if the water level is high at this time,then we should reduce the valv

22、e opening signal;whereas,we should open the valve more.Through a comprehensive analysis of expertise,the establishment of rule table shown in Table 1.Table 1.Fuzzy control rule table D.Fuzzy Reasoning and Solution This fuzzy inference system uses Mamdani.The basic properties of fuzzy inference syste

23、m set to:and operation with a very small operation;or operation uses the maximum operation.Using a very small operation fuzzy implication,fuzzy rules integrated with great operations center Defuzzification method used.IV.SIMULATION EXAMPLES A pressurized water reactor steam generator in Chinese Qins

24、han nuclear power station has empirical model G1(s),G2(s)below:7%15,)128(415.0)13)(129(19.36%90,)13)(129(19.3)()(551PsssssePsssseesGsGsssp8%90,14398.0)124(819.3)(2PsssssesGe ec NB NM NS ZO PS PM PB NB NB NB NM NM NS NS ZO NM NB NM NM NS NS NS ZO NS NM NM NS NS ZO PS PS ZO NM NS NS ZO PS PS PM PS NS

25、NS ZO PS PS PM PM PM NS NS ZO PS PS PM PM PB ZO PS PS PM PM PB PB 名师资料总结-精品资料欢迎下载-名师精心整理-第 4 页，共 9 页 -唐 山 学 院 毕 业 设 计5 where Ps denote the rated load.When load at 15%90%Ps,use(6)and(8);when load less than 15%Ps,use(7)and(8).Figure 3.Expected water level step response diagram The coefficients in Cont

26、rol system are k1=k2=0.5.Water control valve is a king of linear valve,its gain is 4.The quantitative coefficients of e and ec are 6 and 60 respectively;the scale factor of u is 0.5.We limit water flow the range of 0 kg/s to the rated flow 258kg/s when simulation.Consider the expected level step fro

27、m the initial 0m to 10m,water level response is shown use the solid line in Figure 3.For contrasting the increase effect of fuzzy controller,we also carried out using the traditional PID control simulation.We can see,compared with traditional PID control,fuzzy controller has reported significant imp

28、rovements in overshoot,settling time,steady degrees.V.CONCLUSION This paper designed a water level fuzzy control system aimed at steam generator,s characteristics of large time delay and model uncertainty.We also gave a simulation to the steam generator of Qinshan nuclear power plant,and achieved sa

29、tisfactory results.The method can also be used for other large time-delay and time-varying process control model,and has broad application prospects.名师资料总结-精品资料欢迎下载-名师精心整理-第 5 页，共 9 页 -唐 山 学 院 毕 业 设 计6 蒸汽发生器水位模糊控制研究彭威张达发1.导论蒸汽发生器是压水反应堆式核电厂里的一个重要的设备。为了保证核电厂运行的安全性，蒸汽发生器的水位必须控制在一定的范围内。核电厂的运行中，因为蒸汽流量和给水

30、流量的改变，蒸汽发生器里沸水中的气泡数量会随着局部气压和温度的变化而改变，瞬时水位呈现“虚假液位”现象。正是由于“虚假液位”的存在使得水位控制变得困难。将前馈控制引入到传统的单回路PID控制中，可以在一定程度上克服“虚假液位”的问题。但是蒸汽发生器的传统PID控制仍然存在着一些不足。对于具有高度复杂，大滞后，非线性特征的蒸汽发生系统，不仅PID参数的调整单调乏味，控制效果也很差。并且当条件改变时，为了获得好的控制性能，通常需要改变 PID控制器的参数，但是模拟量的 PID控制器参数的在线调整是很难的。模糊控制是一种基于模糊推理的非线性的控制方法，它体现了熟练操作人员的实际经验和模糊语言推理的一

31、般规则。模糊控制不需要知道被控对象的精确的数学模型，它对过程参数的变化并不敏感，鲁棒性很强，能够克服非线性因素，因此，模糊控制有更快的响应速度，更小的超调，更好的控制效果。基于以上了解，本文设计了一个蒸汽发生器水位的模糊控制器，仿真结果表明这个控制器有更好的控制效果和实用价值。2.蒸汽发生器的动态特性压水堆蒸汽发生器一般形式的数学模型的传递函数如下所示:y(s)=GW(s)QW(s)+GS(s)QS(s)（1）其中，y代表蒸汽发生器的水位；QW代表给水流量；QS代表蒸汽流量；GW代表给水流量对蒸汽发生器水位的作用；GS代表蒸汽流量对蒸汽发生器的水位的作用。蒸汽发生器水位的平衡是靠蒸汽流量和给水

32、流量的匹配来维持的。可以将水位随蒸汽流量或者给水流量变化而变化看作一个简单的一体化过程，蒸汽流量变化和给水流量变化对水位的影响又是不同的。(1)给水流量扰动下的动态特性假设蒸汽流量保持不变，而给水流量阶跃增加，一方面，由于新增给水的温度要比蒸汽发生器中的饱和水的温度低很多，因此，当新水进入后就会吸收大量的额外热量，水中的气泡含量大大减少，从而导致水位下降；另一方面，给水流量大于蒸汽负荷，引起水位线性增加。综合以上两点，当给水阶跃增加，水位增长会有一个延迟的过程，表现为先下降后上升。(2)蒸汽负荷扰动下的动态特性名师资料总结-精品资料欢迎下载-名师精心整理-第 6 页，共 9 页 -唐 山 学

33、院 毕 业 设 计7 假设给水流量保持不变，蒸汽负荷阶跃增加，一方面，由于蒸汽流速比给水流速大，水位会下降；另一方面，随着蒸汽负荷的增加，内部蒸汽压力降低，液面的气泡容积增加，从而引起水位增加。综合以上两个因素，当蒸汽流量阶跃增加以后，水位下降会有一个延迟的过程，表现为先上升后下降。给水流量或者蒸汽流量阶跃减少对水位的影响与上述有相似的原理。综上所述，当给水流量或者蒸汽负荷变化，水位不会立即跟随变化，开始会出现一个相反的过程。这个现象就称为“虚假液位”现象。3.水位模糊控制器的设计传统PID控制器对于蒸汽发生器水位的控制效果不佳，存在“虚假液位”的现象，表现为跟踪设定值时有较大的超调。但是，一

34、个设计合理的模糊控制器能够克服“虚假液位”的现象，有较好的控制效果。(1)模糊控制器的结构模糊控制器的结构如图 1所示。图1 蒸汽发生器水位模糊控制器的结构选择水位偏差（e）和偏差变化率（ec）作为模糊控制器的输入，模糊控制器的输出量为阀门开度的增量信号u。同时，以蒸汽流量作为前馈信号来克服“虚假液位”现象，以给水流量作为内反馈信号来克服给水波动。k1，k2是给水流量和蒸汽流量的传感器的转换系数。为了保证给水流量等于蒸汽流量，k1和k2应该相等。(2)模糊理论、模糊子集和隶属函数e、ec 和 u 的模糊论域是-6,6，用NB（负大）、NM（负中）、NS（负小）、ZO（零）、PS（正小）、PM（

35、正中）和 PB（正大）7个模糊子集描述。e，ec 和u 都采用三角形隶属函数（如图2）。Fuzzy controller K1 valve GW(s)dx/dt K2 GS(s)expected water lever Stream flow Water lever water flow e ec+-+-+名师资料总结-精品资料欢迎下载-名师精心整理-第 7 页，共 9 页 -唐 山 学 院 毕 业 设 计8 图2 输入输出隶属函数(3)模糊控制规则列表模糊控制规则建立的原则是：当偏差大，输出控制量应该优先以尽快消除偏差为主；当偏差小，输出控制量应优先消除超调。当偏差变化率为负，这表明水位有上

36、升的趋势，如果此时水位高，应减小阀门开度；相反，应就应当开大阀门。通过专业的分析，建立如表 1所示的规则表。表1 模糊控制规则表(4)模糊推理和模糊判决本次设计的模糊推理系统采用Mamdani型。模糊推理系统的基本属性设置为：“与”算法为取小算法；“或”算法为取大算法。模糊蕴含采用取小算法；模糊综合采用取大算法；清晰化采用重心法。e ec NB NM NS ZO PS PM PB NB NB NB NM NM NS NS ZO NM NB NM NM NS NS NS ZO NS NM NM NS NS ZO PS PS ZO NM NS NS ZO PS PS PM PS NS NS ZO

37、PS PS PM PM PM NS NS ZO PS PS PM PM PB ZO PS PS PM PM PB PB 名师资料总结-精品资料欢迎下载-名师精心整理-第 8 页，共 9 页 -唐 山 学 院 毕 业 设 计9 4.仿真实例中国秦山核电站的一个压水堆蒸汽发生器有如下的实验模型：7%15,)128(415.0)13)(129(19.36%90,)13)(129(19.3)()(551PsssssePsssseesGsGsssp8%90,14398.0)124(819.3)(2PsssssesG其中，Ps表示额定的负荷。当负荷为15%90%Ps时，用公式(6)和(8)，当负荷小于15

38、%Ps 时，用公式(7)和(8)。图3 预期水位阶跃响应图控制系统的系数 k1=k2=0.5。给水控制阀是一个线性阀，增益为4。e和ec的量化因子分别为 6和60，u的比例因子为 0.5。仿真时，我们限定给水流量的范围在0kg/s到额定流量 258kg/s。假设预期水位从 0m上升到 10m，水位响应如图 3中的实线所示。为了比较模糊控制器增加的效果，我们也作出传统PID控制的仿真结果。可以看出，与传统 PID控制相比，模糊控制在超调量、调节时间和稳态特性方面有重要的改善。5.结论本论文针对蒸汽产生器大延迟和模型不确定的特性，设计了一个水位模糊控制系统。我们还给出了秦山核电站的蒸汽发生器的仿真，并获得了令人满意的效果。这种方法同样适用于其它的大滞后和非线性系统的控制模型，具有广阔的应用前景。名师资料总结-精品资料欢迎下载-名师精心整理-第 9 页，共 9 页 -