PID控制下前弯式离心泵流量特性试验研究

Experimental Study on Flow Control Characteristics of Forward Bend Centrifugal Pump under the PID Control

  • 摘要: 比例系数、积分系数与微分系数作为控制器调节系统动态响应的参数,在比例积分微分(PID)控制中起到重要作用,为研究PID控制下前弯式离心泵流量控制特性,以恒定流量为控制目标,试验PID参数在不同范围内的具体表现与各环节控制特性。研究结果表明:离心泵流量控制失稳振荡会引起电机的启停;受变频器升限保护限制,比例系数过高不会缩短控制初期流量调节上升时间,反而会增加超调量、降低稳定性,因此应选较低比例系数;积分饱和造成的超调量上限为33.50%,此时继续增大积分系数可缩短稳态时间,直至系数过大影响稳定性而出现振荡;若尽量避免产生超调影响,选用比例系数为0.2,积分系数为0.5时,流量调节经初始上升阶段后在目标值附近波动并快速稳定,超调量微弱,仅为8.82%,稳态时间为7.4 s,在测试中具有最佳控制效果;与微分系数相关的流量超前调节在实际控制中作用微弱,且对调节过程中的波动没有明显改善。结合以上结论为变频离心泵流量控制中的PID调参与控制优化提出参考。

     

    Abstract: Proportional coefficient, integral coefficient, and differential coefficient, as parameters for adjusting the dynamic response of the controller system, play an important role in the proportional integral differential (PID) control. In order to study the flow control characteristics of the forward bending centrifugal pump under the PID control, with constant flow rate as the control objective, the specific performance of PID parameters in different ranges and the control characteristics of each link are tested. The research results indicate that unstable oscillation in flow control of centrifugal pumps can cause motor start stop. Due to the limit up protection limitation of the frequency converter, a high proportion coefficient will not shorten the initial flow regulation rise time of the control, and will increase the overshoot and reduce stability, therefore, a lower proportion coefficient should be selected. The upper limit of overshoot caused by integral saturation is 33.50%. Continuing to increase the integral coefficient can shorten the steady-state time until the coefficient is too large and affects stability, leading to oscillation. If we try to avoid overshoot as much as possible and choose an integral coefficient of 0.5, the flow regulation will fluctuate and quickly stabilize near the target value after the initial rising stage, with a weak overshoot of 8.82% and a steady-state time of 7.4, which has the best control effect in testing. The flow advance regulation related to differential coefficient plays a weak role in the actual control, and does not significantly improve the fluctuation in the regulation process. Finally, based on the above conclusions, a reference is proposed for the optimization of PID tuning in the flow control of variable frequency centrifugal pumps.

     

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