基于WHO-BPNN-PID的病死禽畜生物液化装置温度控制系统

    Temperature control system for the liquefied biological fluids of dead poultry and livestock based on WHO-BPNN-PID

    • 摘要: 针对病死禽畜生物液化装置的温度控制大迟滞、非线性的问题,该研究提出一种基于野马优化算法(wild horse optimizer,WHO)与BP神经网络(back propagation neural network,BPNN)比例-积分-微分控制器(proportional integral derivative,PID )的智能控制策略。通过WHO先离线优化神经网络初始权值阈值,再使用PC端的BPNN程序在线动态调整PID参数,结合开放平台通信技术(open platform communications,OPC)构建工控系统,实现上位机与执行机构的数据实时交互。搭建Matlab/Simulink仿真平台进行仿真与对比分析,结果表明,相较于传统PID、BPNN-PID算法、PSO-BPNN-PID算法、GA-BPNN-PID算法,通过WHO离线优化BPNN-PID初始权值阈值上升时间和调节时间更短,分别为355.4、484.9 s,且无超调量,具有更好的适应性。在WHO-BPNN-PID算法的实时性通讯测试中平均迭代耗时、最大迭代耗时、99%分位数耗时分别为0.098、0.413、0.296 ms,远小于采样周期的500 ms。现场试验表明,在25~100 ℃的升温阶段,系统的上升时间为58 min,调整时间为69 min,最大超调量为0.66%,相对稳态误差为1.56%,当温度从100 ℃降到35 ℃系统依然表现出响应速度快、超调量小的优点,WHO-BPNN-PID控制算法在调节速度和超调量上表现更优,有效降低了系统大迟滞和非线性影响,满足病死畜禽生物液化过程的温度控制需求。

       

      Abstract: Serious lag and nonlinearity have been found in the temperature control of the livestock bioliquefaction device. Existing landfill, incineration, and chemical treatments cannot fully meet the large-scale production in recent years, such as secondary pollution, high costs, and long cycles. Fortunately, the bioliquefaction technology can also degrade them into high-value liquid amino acid fertilizers. Among them, temperature is one of the key parameters- emulsification sterilization is required for a constant temperature of 100°C for 30 min, while fermentation requires a constant temperature of 35°C for 24 h. However, the conventional PID control is difficult to cope with the insufficient dynamic and steady-state accuracy of the system. Therefore, this study aims to construct an efficient temperature control scheme for the harmless and resourceful processing of livestock wastes. An intelligent control strategy was also proposed using the wild horse optimization (WHO) and BP neural network PID (BPNN-PID). Specifically, the reactor contained a reaction vessel, a stirrer, and a jacket layer. The power of the heating rod was controlled by a controllable silicon voltage regulator, and the cooling control was adjusted by the cold-water valve. In hardware, the ST20 CPU module of the Siemens S7-200 Smart PLC was combined with the EM AM06 analog input/output expansion. The OPC UA protocol was used to realize the real-time data interaction between the industrial PC and the PLC. The monitoring interface was developed to record the temperature and pH values using KinSealStudio. An "offline optimization + online adjustment" architecture was adopted: Firstly, the offline optimization of BPNN initial weight thresholds was used by the Wild Horse Optimization, in order to avoid the local optimization and slow convergence; Then, a three-layer BPNN (input layer with 3 nodes: temperature deviation, total deviation, deviation change; hidden layer with 5 nodes; output layer with 3 nodes: PID parameters Kp, Ki, and Kd) was constructed. Online adjustment of the dynamic parameter was carried out to verify the effectiveness of this strategy. An anti-integral saturation module was also added to prevent system instability. A simulation platform was established in the Matlab/Simulink platform, with the conventional PID, BPNN-PID, PSO-BPNN-PID, and GA-BPNN-PID as the controls. There was a better control performance of the BP neural network PID control algorithm using Wild Horse Optimization, when a constant step input was applied in the first 1500 s. No overshoot was observed during temperature rise, indicating the faster convergence to the target. A regulation time of 484.9 s was shorter than the conventional PID and BPNN-PID by 86.7 and 32.8 s, respectively. The overshoot was reduced by 0.11 percentage points, compared with the conventional PID. It was also shorter than the PSO and GA optimized BPNN-PID by 11.2 and 25.5 s, respectively. The fast response and small overshoot were still maintained during the cooling stage from 100 °C to 35 °C. In the temperature control experiment of the livestock bioliquefaction device, the better control performance was achieved in the BP neural network PID control algorithm using Wild Horse Optimization, with the rising time similar to PSO and GA-BPNN-PID at 58 min, the lowest overshoot of 0.66%, and a regulation time of 69 min, which was shorter than conventional PID by 45 min, and BPNN-PID by 13 min. The steady-state error was 1.56%, which was reduced by 3.12, 1.57, 1.37, and 0.31 percentage points, respectively, compared with the rest four controllers. The output was more accurately approaching the set temperature. The WHO-BPNN-PID control algorithm performed better in regulating the speed and overshoot. The large hysteresis and nonlinear of the system were effectively reduced to fully meet the temperature control requirements of the biological liquefaction of diseased and dead livestock and poultry.

       

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