CN108803339A - A kind of fault-tolerant iterative learning control method of chemical industry batch process - Google Patents
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Abstract
The invention discloses a kind of fault-tolerant iterative learning control methods of chemical industry batch process.The present invention initially sets up the model of chemical industry batch process, and introduces state error and output error, and the switching condition being then directed between two detailed processes is analyzed, and optimal more new law and controlled quentity controlled variable are obtained.Different from traditional control strategy, Novel Control proposed by the invention considers the case where actuator breaks down, by ensureing that system has better control performance to the control of handoff procedure.
Description
Technical field
The invention belongs to automatic industrial process control fields, are related to a kind of fault-tolerant iteration of novel chemical batch process
Practise control method.
Background technology
With the development of industry, batch process control is widely used in the necks such as chemical industry, medicine, biological products, modern agriculture
Domain.But since product demand increase causes batch production to be in excess load production status, to will appear asking for actuator failures
Topic, if this cannot timely and effectively be solved the problems, such as, can not only lead to production process reduced performance, can also cause serious wealth
Production loss, or even threaten the safety of producers.From the angle of safety and performance, it is fault-tolerant to study a kind of batch process
Control method is necessary.
Invention content
Purpose of the present invention is to when actuator breaks down in chemical industry batch process, propose a kind of novel fault-tolerant iteration
Practise control method.
The present invention initially sets up the model of chemical industry batch process, and introduces state error and output error, is then directed to two
Switching condition between a detailed process is analyzed, and optimal more new law and controlled quentity controlled variable are obtained.Different from traditional control strategy,
Novel Control proposed by the invention considers the case where actuator breaks down.Pass through the control guarantor to handoff procedure
Card system has better control performance.
The technical scheme is that by means such as model foundation, controller design, algorithm designs, newcooperative medical system is devised
The fault-tolerant iterative learning control method of work batch process.The control performance of system can be improved using this method.
The present invention method and step include：
Step 1, the time lag dynamic model for establishing batch process, comprise the concrete steps that：
1-1. establishes batch process System State Model, and form is as follows：
Wherein t and k indicates limited discrete time and work period respectively；D (t) indicates the time delay function of time；x
(t, k), x (t-d (t), k), x (t+1, k) indicate system kth period t moment, the shape at t-d (t) moment, t+1 moment respectively
State；Y (t, k) indicates the output of system kth period t moment；U (t, k) indicates the control input of system kth period t moment；x
(0, k) is k-th of period original state, initial value x0,k；ρ (t, k) indicates the switching signal of kth period t moment,Cρ(t,k)All indicate the sytem matrix under corresponding switching signal；ωρ(t,k)(t, k) indicates kth week
External disturbance when phase t moment switching signal.
1-2. multistages batch process is as follows in the system model form in the i-th stage：
xi(t,k)、ui(t,k)、yi(t, k) indicates the state of the i-th stage of kth period t moment, control input, system respectively
Output；xi(t+1,k)、xi(t-d (t), k) indicates the state at t+1 moment the i-th stage of kth period, t-d (t) moment respectively；CiIndicate that the i-th stage had the sytem matrix of appropriate dimension；ωiWhen (t, k) indicates the i-th stage of kth period t
The external disturbance at quarter.
Controlled quentity controlled variable input forms of the 1-3. when partial fault occurs in actuator is as follows：
uiF(t, k)=αiui(t,k)
Wherein uiF(t, k) is that there are controlled quentity controlled variable input when failure, α for the i-th stage of kth period t momentiIt is the i-th stage tool
There is the system diagonal matrix of appropriate dimension.
1-4. obtains new state model by step 1-2 and step 1-3：
1-5. designs the state switching model between the two neighboring stage：
Wherein JiIt is the state-transition matrix in the i-th stage,It is the switching time in the i-th stage of kth period,It is
I-th stage of k periodsThe state at moment；It is the i+1 stage in kth periodThe state at moment.
1-6. can be obtained the state switching model of entire batch process by above step：
Wherein q is the final stage of batch process；It is connection kth0The 1st stage of period terminates and
k0The point that the 2nd stage of period starts,It is connection kth0The q stages in period terminate and kth1The 1st stage of period
The point of beginning；It is connection kth1The 1st stage of period terminates and kth1The point that the 2nd stage of period starts,It is connection kth1The q stages in period terminate and kth2The point that the 1st stage of period starts；It is connection kthk-1The q stages in period terminate and kthkThe point that the 1st stage of period starts,It is connection kthkThe q stages in period terminate and kthk+1The point that the 1st stage of period starts.
Step 2, design batch process controller, comprise the concrete steps that：
2-1. design iteration controlled quentity controlled variables：
Wherein ui(t, k-1) indicates the controlled quentity controlled variable input of -1 i-th stage of period of kth t moment, ri(t, k) kth period t moment
More new law, ui(t, 0) is the initial controlled quentity controlled variable input of the i-th stage system.
2-2. definition status error and output error：
Whereinei(t, k) is state error, the system output errors of the i-th stage of kth period t moment respectively；
xi(t, k-1) is the state of -1 i-th stage of period of kth t moment,It is the output after the delay of the i-th stage.
The control system that 2-3. can be further expanded by step 2-1 and 2-2：
WhereinPoint
It Wei not t+1 moment the i-th stage of kth period, t moment, the extended mode at t-d (t) moment；It is kth-
The extended mode at 1-h t+1 moment the i-th stage of (k-1) period,It is -1 t+1 moment i-th stage of period of kth
Extended mode,Indicate the extension interference of the i-th stage of kth period t moment, Gi=[0 Ii], h
It is the unit matrix for having appropriate dimension with I；zi(t, k) is the state vector of the i-th stage of kth period t moment extension；Ai、BiIt is
Constant matrices； It is the i-th stage of kth period t moment respectivelyTwo increments.
2-4. systems switching when state model be：
Wherein Ci+1Indicate the sytem matrix in i+1 stage,Indicate the i-th stage of kth period theMoment state
Error,Indicate -1 i-th stage of period of kth theThe state at moment, Indicate the kth period
I+1 and i stage systemsMoment output error,Indicate the output after the delay of i+1 stage.
2-5. can obtain more new law r by step 2-3 and step 2-4i(t, k) is as follows：
WhereinIt is two gain coefficients in the i-th stage.
2-6. combination step 2-1 to step 2-5 can obtain chemical industry batch process optimal control law uiIt (t, k) and acts on
Controlled device.
Specific implementation mode
By taking injection molding process as an example：
Step 1 establishes injection molding process time lag dynamic model, comprises the concrete steps that：
It is as follows that 1-1. establishes injection molding process system model form：
Wherein t and k indicates limited discrete time and work period respectively；D (t) is time delay function；x(t,k),x
(t-d (t), k), x (t+1, k) indicate kth injection molding stage, t moment period, the injection molding at t-d (t) moment, t+1 moment respectively
Molding system mode；Y (t, k) indicates the nozzle exit pressure of kth period t moment；U (t, k) indicates that kth period t moment is molded into
The valve opening of type；X (0, k) is k-th of period original state, initial value x0,k, ρ (t, k) expression kth period t moments
Switching signal,Cρ(t,k)All indicate the sytem matrix under corresponding switching signal；ωρ(t,k)(t,k)
Indicate external disturbance when injection molding kth period t moment switching signal.
1-2. injection molding processes are as follows in the System State Model in the i-th stage：
xi(t,k)、ui(t,k)、yi(t, k) indicates the system shape of the injection molding of the i-th stage of kth period t moment respectively
State, valve opening, nozzle exit pressure；xi(t+1,k)、xi(t-d (t), k) indicates kth period t+1, t-d (t) moment respectively
The system mode of injection molding；CiIndicate that injection phase has the sytem matrix of appropriate dimension；ωi(t,k)
Indicate the external disturbance of the i-th stage of kth period t moment.
Valve openings of the 1-3. when partial fault occurs in actuator：
uiF(t, k)=αiui(t,k)
Wherein uiF(t, k) is that there are valve opening when failure, α for the i-th stage of kth period t momentiIt is to have in the i-th stage
The system diagonal matrix of appropriate dimension.
1-4. obtains the state model of new injection molding by step 1-2 and step 1-3：
1-5. designs the state switching model between the two neighboring stage：
Wherein JiIt is the state-transition matrix in the i-th stage,It is the switching time in the i-th stage of kth period,It is
I-th stage of k periodsThe system mode of moment injection molding；It is the i+1 stage in kth periodMoment injection molding
System mode.
The switching sequence model of 1-6. injection molding processes is as follows：
Wherein q is the final stage of batch process,It is connection kth0The 1st stage of period terminates and
k0The point that the 2nd stage of period starts,It is connection kth0The q stages in period terminate and kth1The 1st stage of period
The point of beginning；It is connection kth1The 1st stage of period terminates and kth1The point that the 2nd stage of period starts,It is connection kth1The q stages in period terminate and kth2The point that the 1st stage of period starts；It is connection kthk-1The q stages in period terminate and kthkThe point that the 1st stage of period starts,It is connection kthkThe q stages in period terminate and kthk+1The point that the 1st stage of period starts.
Step 2, the fault-tolerant iterative learning controller for designing injection molding process, comprise the concrete steps that：
2-1. designs the valve opening of injection molding process proportioning valve first：
Wherein ui(t, k-1) indicates the valve opening of -1 i-th stage of period of kth t moment proportioning valve, ri(t, k) is kth week
The iteration more new law of phase t moment, ui(t, 0) is the initial value of the valve opening of proportioning valve.
2-2. defines the state error and output error of injection molding process：
Whereinei(t, k) is the state error of the i-th stage of kth period t moment injection molding, output mistake respectively
Difference；xi(t, k-1) is the state of -1 i-th stage of period t moment injection molding of kth,It is the nozzle pressure after the delay of the i-th stage
Power.
The control system that 2-3. can be further expanded by step 2-1 and 2-2：
WhereinPoint
Not Wei the t+1 moment the i-th stage of kth period, t moment, t-d (t) moment injection moulding process extended mode；zi(t, k) is the kth period
The injection moulding process state vector of i-th stage t moment extension；It is kth -1-h the i-th stages of (k-1) period
The extended mode of t+1 moment injection moulding process,It is -1 period of kth t+1 the i-th stage, injection molding processes moment
Extended mode,Indicate the extension interference of the i-th stage of kth period t moment, H and I is the unit matrix for having appropriate dimension；
Ai、BiIt is constant matrices；It is the i-th stage of kth period t moment respectivelyTwo increments.
2-4. systems switching when state model be：
Wherein Ci+1Indicate the sytem matrix of injection molding,Indicate the i-th stage of kth period theMoment is molded into
The state error of type,Indicate -1 i-th stage of period of kth theThe state of moment injection molding,It is kth period i+1 and i stage systemsMoment nozzle exit pressure error,Indicate i+1 rank
Nozzle exit pressure after Duan Yanchi.
2-5. can obtain more new law r by step 2-3 and step 2-4i(t, k) is as follows：
WhereinIt is the gain coefficient of the i-th stage injection molding process different conditions.
2-6. combination step 2-1 to step 2-5 can obtain the valve opening u of chemical industry batch process proportioning valvei(t, k),
Injection molding process is acted on again.
Claims (1)
1. a kind of fault-tolerant iterative learning control method of chemical industry batch process, it is characterised in that this method is specifically：
Step 1, the time lag dynamic model for establishing batch process, specifically：
1-1. establishes batch process System State Model, and form is as follows：
Wherein t and k indicates limited discrete time and work period respectively；D (t) indicates the time delay function of time；x(t,k),
X (t-d (t), k), x (t+1, k) indicate system kth period t moment, the state at t-d (t) moment, t+1 moment respectively；y(t,
K) output of system kth period t moment is indicated；U (t, k) indicates the control input of system kth period t moment；X (0, k) is
K-th of period original state, initial value x0,k；ρ (t, k) indicates the switching signal of kth period t moment,Cρ(t,k)All indicate the sytem matrix under corresponding switching signal；ωρ(t,k)(t, k) indicates kth week
External disturbance when phase t moment switching signal；
1-2. multistages batch process is as follows in the system model form in the i-th stage：
xi(t,k)、ui(t,k)、yi(t, k) indicates that the state of the i-th stage of kth period t moment, control input, system are defeated respectively
Go out；xi(t+1,k)、xi(t-d (t), k) indicates the state at t+1 moment the i-th stage of kth period, t-d (t) moment respectively；CiIndicate that the i-th stage had the sytem matrix of appropriate dimension；ωi(t, k) indicates the i-th stage of kth period t
The external disturbance at moment；
Controlled quentity controlled variable input forms of the 1-3. when partial fault occurs in actuator is as follows：
uiF(t, k)=αiui(t,k)
Wherein uiF(t, k) is that there are controlled quentity controlled variable input when failure, α for the i-th stage of kth period t momentiIt is to have in the i-th stage to fit
When the system diagonal matrix of dimension；
1-4. obtains new state model by step 1-2 and step 1-3：
1-5. designs the state switching model between the two neighboring stage：
Wherein JiIt is the state-transition matrix in the i-th stage,It is the switching time in the i-th stage of kth period,It is kth week
I-th stage of phaseThe state at moment；It is the i+1 stage in kth periodThe state at moment；
1-6. obtains the state switching model of entire batch process by above step：
Wherein q is the final stage of batch process；It is connection kth0The 1st stage of period terminates and kth0Period
The point that 2nd stage started,It is connection kth0The q stages in period terminate and kth1The 1st stage of period starts
Point；It is connection kth1The 1st stage of period terminates and kth1The point that the 2nd stage of period starts,It is connection kth1The q stages in period terminate and kth2The point that the 1st stage of period starts；It is connection kthk-1The q stages in period terminate and kthkThe point that the 1st stage of period starts,It is connection kthkThe q stages in period terminate and kthk+1The point that the 1st stage of period starts；
Step 2, design batch process controller, specifically：
2-1. design iteration controlled quentity controlled variables：
Wherein ui(t, k-1) indicates the controlled quentity controlled variable input of -1 i-th stage of period of kth t moment, ri(t, k) kth period t moment is more
New law, ui(t, 0) is the initial controlled quentity controlled variable input of the i-th stage system；
2-2. definition status error and output error：
Whereinei(t, k) is state error, the system output errors of the i-th stage of kth period t moment respectively；xi(t,
K-1) be -1 i-th stage of period of kth t moment state,It is the output after the delay of the i-th stage；
The control system that 2-3. is further expanded by step 2-1 and 2-2：
WhereinRespectively
T+1 moment i-th stage of kth period, t moment, the extended mode at t-d (t) moment；It is kth -1-h
(k-1) extended mode at t+1 moment the i-th stage of period,It is the expansion at -1 t+1 moment i-th stage of period of kth
Exhibition state,Indicate the extension interference of the i-th stage of kth period t moment, Gi=[0 Ii], h
It is the unit matrix for having appropriate dimension with I；zi(t, k) is the state vector of the i-th stage of kth period t moment extension；Ai、BiIt is
Constant matrices； It is the i-th stage of kth period t moment respectivelyTwo increments；
2-4. systems switching when state model be：
Wherein Ci+1Indicate the sytem matrix in i+1 stage,Indicate the i-th stage of kth period theMoment state error,Indicate -1 i-th stage of period of kth theThe state at moment, Indicate kth period i+1
With i stage systemsMoment output error,Indicate the output after the delay of i+1 stage；
2-5. obtains more new law r by step 2-3 and step 2-4i(t, k) is as follows：
WhereinIt is two gain coefficients in the i-th stage；
2-6. combination step 2-1 to step 2-5 obtain chemical industry batch process optimal control law ui(t, k) and act on controlled device.
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