基于广义回归神经网络的灌溉系统首部多用户配水快速PID控制

    Rapid-response PID control technology based on generalized regression neural network for multi-user water distribution of irrigation system head

    • 摘要: 针对多用户配水状态下灌区流量、压力需求变化范围大,传统流量、压力控制响应速度慢等问题,建立适用于多用户灌区配水的灌溉系统首部控制技术。该研究通过分析供水系统流量、压力调节方式,提出了流量、压力PID(Proportion Integration Differentiation)耦合调节方法,建立以电动阀开度为流量控制量、变频器频率为压力控制量对流量和压力进行调控的灌溉首部控制系统。为了减少系统的调节时间,提高系统的运行效率,采用广义回归神经网络(Generalized Regression Neural Network,GRNN)建立流量、压力和电动阀控制模拟量、变频器控制模拟量间的预测模型,形成神经网络PID控制模型(GRNN_PID),并进行模型精度和控制精度验证。GRNN训练结果显示,变频器控制模拟量的相对误差为0.11%~3.86%,电动阀控制模拟量相对误差为0.09%~5.74%,模型精度较高。使用3个调节过程模拟3个用户的需水行为对模型进行验证,结果表明,GRNN_PID模型3个过程的调节时间分别为11.6 、10.7 和7.2 s,PID模型3个过程的调节时间分别为31.7 、29.6 和16.9 s,GRNN_PID模型大幅减少了系统的调节时间,提高了系统的运行效率;分别计算了2种模型的控制精度,GRNN_PID调节方法和传统PID调节方法的稳态流量和压力误差都在1%以内,最大超调量为8%,控制精度较高但相差不大,表明GRNN是从策略上加速系统调节速度,其本身并没有对PID的参数进行调整,因此对系统的控制精度影响不大。研究可为灌溉系统流量压力快速控制提供参考。

       

      Abstract: Abstract: Flow rate and pressure are two important control parameters of the irrigation system and they determine if the irrigation process can meet the irrigation demand or not. In the same pipeline system, flow rate and pressure affect each other, and it is difficult to control them separately. This study explored the relationship between flow rate and pressure and their control parameters, established a control technology suitable for the head of water distribution of the multi-user irrigation system. By analyzing the water supply characteristic curve of the pipeline water supply system, a flow pressure coupling adjustment method was proposed. This method allowed system controller output voltage analog and current analog to control the frequency of the inverter and the valve opening of the electric valve. At the same time, a proportion integration differentiation (PID) controller was used to realize the coupling control of the flow rate and the pressure. In addition, a method that use generalized regression neural network (GRNN) to accelerate the speed of PID (GRNN_PID) was proposed in order to speed up the response of irrigation control system, improve the operating efficiency and ensure the safety of the system. The flow, pressure and corresponding control quantities data were obtained through experiments, and the GRNN method was used to fit the relationship between them. Afterwards, the control quantities required for the target flow and pressure were quickly calculated by the fitting model and were used directly to control the corresponding actuator (pump and electric valve) so as to fine-tune the flow and pressure through PID. The GRNN training results showed that the relative error of the analog quantity used to control the frequency of the frequency converter was between 0.11% and 3.86%, and the relative error of the analog quantity used to control the electric valve was between 0.09% and 5.74%, indicating that the GRNN model has a high fitting accuracy. Three adjustment processes was used to simulate the water demand behavior of three users to verify the control model, and the tests showed that the adjustment times of the three processes of the GRNN_PID model were 11.6, 10.7 and 7.2 s, respectively, and the adjustment times of the three processes of the PID model were 31.7, 29.6 and 16.9 s, respectively. The GRNN_PID model greatly reduced the adjustment time of the system and improved the operating efficiency of the system. The control accuracies of GRNN_PID and traditional PID adjustment method were compared, and the results showed that the steady-state error of the GRNN_PID adjustment method and the traditional PID adjustment method were both within 1%, and the maximum overshoot was below 8%, which means that the control accuracy is high but the difference is not very big. The reason that leads to this result above is that GRNN accelerates the system regulation speed from the strategy, and it does not change the parameters of PID, and thus it has little impact on the control accuracy of the system. This research can provide tools for the rapid control of flow and pressure in irrigation system.

       

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