基于模糊PID控制算法的矿井通风机节能技术应用研究.pdf

工程硕士专业学位论文 基于模糊PID控制算法的矿井通风机节能技 术应用研究 Research onApplication of Energy-saving Technology of Mine Ventilator Based on Fuzzy PID ControlAlgorithm 作者孙卫平 导师吴新忠 副教授 中国矿业大学 二○二一年六月 学位论文使用授权声明学位论文使用授权声明 本人完全了解中国矿业大学有关保留、使用学位论文的规定，同意本人所撰 写的学位论文的使用授权按照学校的管理规定处理 作为申请学位的条件之一， 学位论文著作权拥有者须授权所在学校拥有学位 论文的部分使用权，即①学校档案馆和图书馆有权保留学位论文的纸质版和电 子版，可以使用影印、缩印或扫描等复制手段保存和汇编学位论文；②为教学和 科研目的，学校档案馆和图书馆可以将公开的学位论文作为资料在档案馆、图书 馆等场所或在校园网上供校内师生阅读、浏览。另外，根据有关法规，同意中国 国家图书馆保存研究生学位论文。 （保密的学位论文在解密后适用本授权书）。 作者签名导师签名 年月日年月日 中图分类号TP13学校代码10290 UDC621.3密级公开 中国矿业大学 工程硕士学位论文 基于模糊 PID 控制算法的矿井通风机节能技术应 用研究 Research onApplication of Energy-saving Technology of Mine Ventilator Based on Fuzzy PID ControlAlgorithm 作者孙卫平导师吴新忠 副教授 申请学位工程硕士专业学位培养单位 电气与动力工程学院 学科专业 电气工程及其自动化研究方向矿井通风节能 答辩委员会主席李晓波 副教授评 阅 人盲评 二○二一年六月 致谢致谢 回首我的工硕学习之路，有太多回忆与感恩，论文即将完稿之际，我在此略 表心声。 衷心感谢我的导师吴新忠老师。从论文的选题、研究方法的确定、整体框架 的构建、修改和定稿，吴老师一直悉心指导和帮助我。吴老师的无私、耐心和认 真严谨的治学态度深深地影响着我。 每一次在我有畏难情绪， 甚至想放弃的时候， 吴老师总是鼓励我坚持下去。吴老师那句“相信你可以完成”鼓舞着我完成了 论文撰写。在此，学生谨向恩师表达由衷的感谢和深深的敬意，前行路上，终身 不忘恩师教导。 衷心感谢实验室的师弟师妹们。张芝超、陈昌、耿柯、李博华、董浩然、韩 正化等同学在论文写作过程中给予我无私的帮助。 当我在论文内容合理性方面比 较茫然的时候，你们不厌其烦地帮我找问题，寻方法；当我在论文撰写过程中遇 到困难时，你们与我一起探寻解决问题的方案；当我在论文数据处理及格式修改 上为难时， 你们总是给予我耐心的讲解和方法上的指导。 在与你们相处的日子里， 你们对学习的热情与执着、面临问题时的沉稳以及简洁精致的思维方式，给我了 很深地影响，这些将使我对日后的工作和生活充满信心和勇气。再次感谢师弟师 妹们的陪伴和大力帮助。 衷心感谢单位领导和同事。工硕学习期间，当学习与工作相冲突的时候，是 领导及时帮我协调工作，同事给我无私帮助，我才能够安心学习，衷心感谢你们 给予我的帮助。 衷心感谢我的父母、家人和朋友多年来对我学习的全力支持。有了你们的默 默支持，无私奉献，我才能专心学习。也是你们，让我有了更大的勇气和动力面 对生活的磨砺与挑战，我会继续努力，不辜负你们的付出和期望 最后，感谢各位评委老师在百忙之中审阅我的论文 I 摘摘要要 在矿井通风系统中，通风机具有极其重要的作用。它担任着向井下运送新鲜 空气、稀释空气中有害物质和排出粉尘的重任。它在生产过程中的运行状况与井 下作业人员人身安全有着紧密的联系，同时也直接影响整个矿企的生产效益。针 对矿井通风系统对用风量需求变化较快和通风机的能耗较高这两个比较突出问 题，探索一种既能满足安全通风需求，又能实现节能降耗的方案，从而保证矿井 工作安全、高效进行。 本文通过对矿井通风系统进行分析研究， 完成了变频节能技术在矿井通风系 统中设计与开发工作， 实现变频调速、 模糊 PID 控制等技术在煤矿通风系统中的 科学应用，节能降耗同时提升通风系统在管理方面的智能化、自动化水平。本文 将研究系统的输入变量确定为矿井需风量，控制变量由变频器提供，为调节风机 运行速度提供准确依据，在满足生产需求的同时确保节能效果，提升通风系统的 技术水平、运行质量、实用效果以及综合效益，充分保证通风控制系统的技术先 进性和应用价值。 首先， 从理论层面出发对矿井通风系统的基本构成、 技术原理、 控制需求等问题进行分析论述，明确控制系统的设计目标和功能需求。其次，通 过对变频调速技术的原理及 PLC 控制、模糊 PID 控制器的设计等方面进行分析 研究，探索矿井通风节能效果与风机运行速度之间的关系。最后，通过具体矿井 通风实验平台验证了模糊 PID 控制的变频器调速节能系统的可行性，模糊 PID 控制风机变频调速后通风总功耗下降了 450W，节能效果高达 22.13。从节能效 果上看， 建立一套矿用通风节能自动控制系统具有十分重要的理论价值和现实意 义。 关键词关键词矿井通风；节能；变频调速；模糊 PID 控制 II Abstract The ventilator plays an extremely important role in the mine ventilation system. It is responsible for transporting fresh air to the mine, diluting harmful substances in the air and expelling dust. Its operation condition in the production process is closely related to the personal safety of underground workers, and also directly affects the production efficiency of the whole mining enterprise. In view of the two prominent problems of the mine ventilation system, which are the rapid change in the demand of air volume and the high energy consumption of the ventilator, this paper explores a scheme which can not only meet the demand of safe ventilation, but also realize the energy saving and consumption reduction, so as to ensure the safety and efficiency of the mine work. Through the analysis and research of the mine ventilation system, this paper completed the design and development of frequency conversion and energy saving technology in the mine ventilation system, realized the scientific application of frequency conversion and speed regulation, fuzzy PID control technology in the mine ventilation system, energy saving and consumption reduction at the same time to improve the intelligent and automatic level of the ventilation system in the management. This article will determine the system variables for the mine air flow, control variables provided by the frequency converter, provides the accurate basis for the regulating fan speed, meet the production requirements and to ensure that the energy saving effect, promote the technology level of the ventilation system, the effect of operation quality, practical and comprehensive benefit, guarantee system on risk control system of technology advancement and application value. First of all, the basic composition, technical principles and control requirements of the mine ventilation system are analyzed and discussed from the theoretical level, and the design objectives and functional requirements of the control system are clarified. Secondly, through the analysis and research of the principle of frequency conversion speed regulation technology and the design of PLC control and fuzzy PID controller, the relationship between the mine ventilation energy saving effect and the fan running speed is explored. Finally, the feasibility of the energy saving system of the frequency converter controlled by fuzzy PID is verified through the specific mine ventilation experiment plat. The total ventilation power consumption of the fan controlled by fuzzy PID is reduced by 450W after the frequency conversion speed regulation, and the energy saving effect is up to 22.13. In terms of energy saving effect, it is of great III theoretical value and practical significance to establish a set of automatic control system for energy saving of mine ventilation. Keywords mine ventilation; energy saving; frequency conversion speed regulation; fuzzy PID control IV 目目录录 摘要摘要................................................................................................................................I 目录目录...............................................................................................................................II 图清单图清单......................................................................................................................VIII 表清单表清单...........................................................................................................................X 变量注释表变量注释表..............................................................................................................VIII 1 绪论绪论............................................................................................................................1 1.1 研究背景及意义.....................................................................................................1 1.2 通风机节能技术的发展现状及趋势.....................................................................3 1.3 课题研究的主要内容.............................................................................................4 1.4 本章小结.................................................................................................................5 2 矿用通风机的基本理论矿用通风机的基本理论............................................................................................6 2.1 通风机的分类及其工作原理.................................................................................6 2.2 通风机的性能参数与特性曲线.............................................................................8 2.3 通风机的无量纲参数和无量纲性能曲线...........................................................12 2.4 通风机性能参数的计算.......................................................................................14 2.5 通风机管网及管网特性.......................................................................................15 2.6 本章小结...............................................................................................................18 3 基于基于 PLC 控制的通风机变频调速技术控制的通风机变频调速技术................................................................19 3.1 PLC 的基础知识及相关特性................................................................................20 3.2 变频器的选型及其工作原理...............................................................................22 3.3 变频调速的基本控制方式...................................................................................26 3.4 变频调速技术在风机控制中的节能应用...........................................................29 3.5 本章小结...............................................................................................................31 4 模糊模糊 PID 控制器的研究与设计控制器的研究与设计.............................................................................32 4.1 PID 控制理论的研究............................................................................................ 32 4.2 PID 控制参数整定................................................................................................ 34 4.3 模糊 PID 控制器设计.......................................................................................... 34 4.4 本章小结...............................................................................................................38 5 矿井通风机节能技术的实例应用矿井通风机节能技术的实例应用..........................................................................39 V 5.1 矿山通风实验平台的构建...................................................................................39 5.2 控制系统硬件设计...............................................................................................42 5.3 控制系统软件设计...............................................................................................51 5.4 通风节能技术在实验系统上的应用实现...........................................................59 5.5 本章小结...............................................................................................................63 6 总结与展望总结与展望..............................................................................................................64 6.1 总结.......................................................................................................................64 6.2 研究展望...............................................................................................................65 参考文献参考文献......................................................................................................................66 作者简历作者简历......................................................................................................................71 论文原创性声明论文原创性声明72 学位论文数据集学位论文数据集..73 VI Contents Abstract......................................................................................................................... I Contents......................................................................................................................Ⅵ List of Figures..........................................................................................................Ⅷ List of Tables................................................................................................................Ⅹ List of Variables......................................................................................................... Ⅺ 1 Introduction...............................................................................................................1 1.1 Research Background and Significance...................................................................1 1.2 The development status and trend of energy-saving ventilation technology...........3 1.3 The main content of the subject research.................................................................4 1.4 Chapter Summary.....................................................................................................5 2 Basic theory of mine ventilator................................................................................6 2.1 The classification of ventilators and their working principle...................................6 2.2 Perance parameters and characteristic curves of the ventilator........................8 2.3 Dimensionless parameters and dimensionless perance curves of the ventilator ....................................................................................................................................112 2.4 Calculation of perance parameters of ventilator.............................................14 2.5 Ventilator pipe network and pipe network characteristics......................................15 2.6 Chapter Summary...................................................................................................18 3 Frequency conversion speed regulation technology of ventilator based on PLC control..........................................................................................................................19 3.1 Basic knowledge of inverter.................................................................................200 3.2 Basic knowledge of inverter.................................................................................222 3.3 The basic control of frequency conversion speed regulation....................26 3.4 Energy-saving application of frequency conversion speed regulation technology in fan control.................................................................................................................... 29 3.5 Chapter Summary...................................................................................................31 4 Research and Design of Fuzzy PID Controller...................................................332 4.1 Research on PID control theory...........................................................................332 VII 4.2 PID control parameter setting................................................................................ 34 4.3 Design of Fuzzy PID Controller.............................................................................34 4.4 Chapter Summary...................................................................................................38 5 CaseApplication of Energy-saving Technology of Mine Ventilator...................39 5.1 Construction of Mine Ventilation Experiment Plat........................................ 39 5.2 Control system hardware design............................................................................42 5.3 Control system software design............................................................................. 51 5.4RealizationofApplicationofVentilatorEnergy-savingTechnologyin Experimental System....................................................................................................59 5.5 Chapter Summary...................................................................................................63 6 Summary and Prospects.........................................................................................64 6.1 Summary................................................................................................................ 64 6.2 Research Prospects.................................................................................................65 References...................................................................................................................66 Author’s Resume........................................................................................................71 Declaration of Thesis72 Thesis Data Collection73 VIII 图清单图清单 图序号图名称页码 图 2-1离心式通风机结构6 Figure 2-1Centrifugal fan structure6 图 2-2轴流式通风机构造图7 Figure 2-2Axial fan structure diagram7 图 2-3风机全压、静压和动压的关系图9 Figure 2-3 The relationship between the total pressure, static pressure and dynamic pressure of the fan 9 图 2-4 通风机能量平衡图 10 Figure 2-4Energy balance diagram of ventilator10 图 2-5 风机特性曲线 11 Figure 2-5 Fan characteristic curve 11 图 2-6 通风机管路系统示意图 16 Figure 2-6Schematic di