CN109557810A - A kind of temperature control method for heating furnace based on Novel two-freedom-degree Internal Model PID - Google Patents
A kind of temperature control method for heating furnace based on Novel two-freedom-degree Internal Model PID Download PDFInfo
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Abstract
The invention discloses a kind of temperature control method for heating furnace based on Novel two-freedom-degree Internal Model PID, include the following steps: step 1, design internal model control structure；The design of step 2, improved Two-Degree-of-Freedom Internal Model Control structure；Step 3, the controller design of stabilization process and adjusting.The method improve Two-Degree-of-Freedom Internal Model Control structures, weighted factor is added by the parameter to set point tracking control unit, facilitate on-line tuning and reaches good set point tracking, for the equivalent arrangements for the controller that single order and second order delay process are carried out in the form of different PID controllers, simply and conveniently obtain each setting parameter of controller, and system can be made while meeting good tracking performance and AF panel performance, the control of system requires also be guaranteed.
Description
Technical field
The invention belongs to fields of automation technology, are related to a kind of furnace temp based on Novel two-freedom-degree Internal Model PID
Control method.
Background technique
In practical control process, PID controller has very high utilization rate in industrial processes, but with to product
Control precision and safety operation requirement it is higher and higher, common PID controller tends not to reach requirement.Sometimes for band
Uncertain/unmatched process of stagnant model, the control method of design is often more complicated, but cannot combine set point with
Track characteristic and noiseproof feature, therefore study a kind of Novel two-freedom-degree Internal Model PID control method and be necessary.
Summary of the invention
Object of the present invention is to be directed to traditional Two Degree of Freedom Internal large dead time, control in industrial process production
The problems such as precision is insufficient, controller design is complicated, model does not know/mismatches proposes a kind of based in Novel two-freedom-degree
The temperature control method for heating furnace of mould PID.This method is devised a kind of new on the basis of based on internal model control structure design
Two-Degree-of-Freedom Internal Model Control structure, using accurate time delay approximation method, by selection complementary sensitivity function and and
Equivalent two controllers for obtaining two degrees of freedom of traditional Two-Degree-of-Freedom Internal Model Control structure.Then to set point tracking control unit
Parameter by weighted factor, facilitate adjusting and reach better set point tracing control.Finally by for single order and second order
The equivalent arrangements for the controller that time-lag process is carried out in the form of different PID controllers, simply and conveniently obtain controller
Each setting parameter.Compared with traditional certain methods, Novel two-freedom-degree Internal Model PID controlling party that the application is proposed
Method can be achieved at the same time good set point tracking and AF panel performance, and design simply, have specific aim, control essence
Degree is greatly improved.
The step of the method for the present invention includes:
Step 1, design internal model control structure, comprise the concrete steps that:
1.1 according to traditional internal model control structure design structure of Fig. 1, wherein G (s) represents controlled process controlled process
Object, M (s) represent process model, GIMC(s) internal mode controller is represented；The input of r expression control system；Y indicates control system
Output；D indicates interference signal.
The closed loop transfer function, of 1.2 systems output:
If 1.3 models are accurate, i.e. when G (s)=M (s):
Y=GIMC(s)G(s)r+[1-GIMC(s)M(s)]d
It is recognised that set point tracking characteristics and anti-interference rejection characteristic are and GIMC(s) relevant.
1.4 in order to overcome model mismatch uncertain the problems such as, make practical controller problem of implementation, set using internal model control
Meter process, process model is decomposed are as follows:
M (s)=M+(s)M-(s)
Wherein, M+It (s) is the irreversible part of process model, M-It (s) is the reversible part of process model.
1.5 selection internal mode controller GIMC(s) inverse as reversible part, it may be assumed that
1.6 in order to enable internal mode controller is suitable and may be implemented, and increases an internal model control low-pass filter, low pass
For stablizing controller, the internal model control filter form of design is filter transfer function:
Wherein λ is adjusting parameter, and r selection is sufficiently large suitable to meet IMC controller；
1.7 pass through step 1.5 to 1.6, internal mode controller are as follows:
1.8 time delay part e-θsSelect following formal approximation:
1.9 are converted by structure, by the structure equivalent transformation of Fig. 1 at classical feedback control structure as shown in Figure 2.
1.10 according to equivalence relation, our available designs to controller C (s):
The design of step 2, improved Two-Degree-of-Freedom Internal Model Control structure, comprises the concrete steps that:
2.1 Two-Degree-of-Freedom Internal Model Control structures are as shown in Figure 3.Q1(s) and Q2(s) Two-Degree-of-Freedom Internal Model Control device is constituted.
2.2 can calculate the relationship between control system output and interference from Fig. 3:
Complementary sensitivity function t (s) between the input and output of 2.3 processes is:
2.4 by the available controller Q of above formula2(s):
2.5 then, further exported and interfered between relationship:
The form of 2.6 selection complementary sensitivities:
T (s)=G+(s)h(s)
Wherein,λ2For to setting parameter.
2.7 available controller Q2(s) form:
2.8 are equally converted into the Two-Degree-of-Freedom Internal Model Control structure chart of Fig. 3 traditional Two-Degree-of-Freedom Internal Model Control of Fig. 4
Structure, C1(s) and C2(s) two-degree-freedom controller is constituted.
2.9 according to equivalence relation, available:
C1(s)=Q2(s)
2.10 by calculating, available:
Step 3, the controller design of stabilization process and adjusting, specifically:
3.1 consider selection λ first2Value, that is, to Q2(s) it is designed.In order to realize better control effect, I
λ is adjusted again to reach the set point tracking characteristics of system requirements.
3.2 in selection λ2When, in original C2(s) weighted factor μ is increased on the basis of.Consider setting for setpoint control device
Meter form is as follows:
Wherein, 0≤μ≤1.The selection of μ can carry out on-line tuning, Zhi Daoda according to the response of set point in [0,1]
Until required set point response.
3.3 consider first order process model:
Wherein, K is process gain, and T is process time constant, and θ is delay time.
3.4 in two parameter compensator structure, and internal model control filter h (s) is reasonably designed as following form:
The design method of 3.5 steps 2 can obtain controller:
It is rewritten into following form:
3.6 are applied to internal model feedback controller in PID controller structure:
Wherein, Kc, Ti, TdCorrespond respectively to the proportional gain factor of PID controller, integration gain factor and the differential gain
Coefficient.
3.7 by the approximation of corresponding internal mode controller and PID controller, available:
CPID(s)=C1(s)
That is:
3.8 calculate to simplify, and enableWherein,
M (s)=0.5T θ2s3+(Tθ+0.5θ2)s2+(T+θ)s+1
N (s)=K [0.5 λ2θ2s2+(λ2+0.5θ2)s+(λ2+θ)]
Then available:
Kc=W'(0)
Ti=W-1(0)
3.9 can obtain each setting parameter according to Maclaurin expansion sequence are as follows:
Ti=K (λ2+θ)
3.10 after obtaining pid parameter, there may come a time when to need further to finely tune to obtain perfect controller.
3.11 consider second order time delay process model:
Wherein, T1、T2For process model time constant.
3.12 controller form is reduced to by way of the concatenated PID controller of the lead-lag filter of following formula
To realize pid parameter:
3.13 by calculating and simplifying, available:
3.14 thus, it is possible to obtain controller parameters:
A=0；B=0.5 θ2；C=θ；D=0
3.15 after obtaining pid parameter, there may come a time when to need further to finely tune to obtain perfect controller.
The invention proposes a kind of temperature control method for heating furnace based on Novel two-freedom-degree Internal Model PID.This method changes
Into Two-Degree-of-Freedom Internal Model Control structure, weighted factor is added by the parameter to set point tracking control unit, it is convenient online whole
Determine and reach good set point tracking, is carried out in the form of different PID controllers for single order and second order delay process
Controller equivalent arrangements, simply and conveniently obtain each setting parameter of controller, and system can be made while being met
Good tracking performance and AF panel performance, the control of system require also be guaranteed.
Detailed description of the invention
Fig. 1 is internal model control block diagram；
Fig. 2 is classical feedback control block diagram；
Fig. 3 is improved Two-Degree-of-Freedom Internal Model Control structural block diagram；
Fig. 4 is classical two parameter compensator block diagram；
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
By taking the control of actual industrial furnace temperature of heating furnace as an example:
1, according to the single order added-time stagnant process model of heating furnace, Two-Degree-of-Freedom Internal Model PID controller, specific steps are designed
It is:
1.1 consider the input and output temperature data of industrial heating furnace heating process first, establish the single order added-time of heating furnace
Stagnant process model transmission function transmission function, is shown below:
Wherein, G (s) is the model of Furnace Production Process, and K is process gain coefficient；T is process time constant；θ is indicated
Delay time.
1.2 in two parameter compensator structure, and internal model control filter h (s) is reasonably designed as following form:
1.3 can obtain controller according to the design method of improved Two-Degree-of-Freedom Internal Model Control structure:
It is rewritten into following form:
1.4 are applied to internal model feedback controller in PID controller structure:
Wherein, Kc, Ti, TdCorrespond respectively to the proportional gain factor of PID controller, integration gain factor
With differential gain coefficient.
1.5 by the approximation of corresponding internal mode controller and PID controller, available:
CPID(s)=C1(s)
That is:
1.6 calculate to simplify, and enableWherein,
M (s)=0.5T θ2s3+(Tθ+0.5θ2)s2+(T+θ)s+1
N (s)=K [0.5 λ2θ2s2+(λ2+0.5θ2)s+(λ2+θ)]
Then available:
Kc=W'(0)
Ti=W-1(0)
1.7 can obtain each setting parameter according to Maclaurin expansion sequence are as follows:
Ti=K (λ2+θ)
1.8 after obtaining pid parameter, there may come a time when to need further to finely tune with obtain perfect controller action in
Heating furnace.
2, according to the second order added-time stagnant process model of heating furnace, Two-Degree-of-Freedom Internal Model PID controller, specific steps are designed
It is:
2.1 consider the input and output temperature data of industrial heating furnace heating process, establish the second order added-time stagnant mistake of heating furnace
The transmission function of journey model, is shown below:
Wherein, T1、T2For the time constant of Furnace Production Process model.
2.2 controller form is reduced to by way of the concatenated PID controller of the lead-lag filter of following formula
To realize pid parameter:
2.3 by calculating and simplifying, available:
2.4 thus, it is possible to obtain controller parameters:
A=0；B=0.5 θ2；C=θ；D=0
2.5 after obtaining pid parameter, there may come a time when to need further to finely tune with obtain perfect controller action in
Heating furnace.
Claims (4)
1. a kind of temperature control method for heating furnace based on Novel two-freedom-degree Internal Model PID, includes the following steps:
Step 1, design internal model control structure；
The design of step 2, improved Two-Degree-of-Freedom Internal Model Control structure；
Step 3, the controller design of stabilization process and adjusting.
2. the temperature control method for heating furnace as described in claim 1 based on Novel two-freedom-degree Internal Model PID, feature exist
In: step 1 is specific as follows:
1.1 according to traditional internal model control structure design structure, and G (s) represents controlled process controlled process object, and M (s) was represented
Journey model, GIMC(s) internal mode controller is represented；The input of r expression control system；The output of y expression control system；D indicates interference
Signal；
The closed loop transfer function, of 1.2 systems output:
When 1.3 models are accurate, i.e. when G (s)=M (s):
Y=GIMC(s)G(s)r+[1-GIMC(s)M(s)]d
Set point tracking characteristics and anti-interference rejection characteristic are and GIMC(s) related；
1.4 utilize internal model control design process, and process model is decomposed are as follows:
M (s)=M+(s)M-(s)
Wherein, M+It (s) is the irreversible part of process model, M-It (s) is the reversible part of process model；
1.5 selection internal mode controller GIMC(s) inverse as reversible part, it may be assumed that
1.6 increase an internal model control low-pass filters, low pass filter function for make controller stablize, design it is interior
Mould control filter form is:
Wherein λ is adjusting parameter, and r selection is sufficiently large suitable to meet IMC controller；
1.7 pass through step 1.5 to 1.6, internal mode controller are as follows:
1.8 time delay part e-θsSelect following formal approximation:
1.9 are converted by structure, by above structure equivalent transformation at classical feedback control structure；
1.10 according to equivalence relation, obtains the design to controller C (s):
3. the temperature control method for heating furnace as described in claim 1 based on Novel two-freedom-degree Internal Model PID, feature exist
In: step 2 is specific as follows:
2.1 design Two-Degree-of-Freedom Internal Model Control structures, Q1(s) and Q2(s) Two-Degree-of-Freedom Internal Model Control device is constituted；
2.2 calculate the relationship between control system output and interference:
Complementary sensitivity function t (s) between the input and output of 2.3 processes is:
2.4 by the available controller Q of above formula2(s):
2.5 then, further exported and interfered between relationship:
The form of 2.6 selection complementary sensitivities:
T (s)=G+(s)h(s)
Wherein,λ2For to setting parameter；
2.7 obtain controller Q2(s) form:
Above-mentioned Two-Degree-of-Freedom Internal Model Control structure chart is equally converted into traditional Two-Degree-of-Freedom Internal Model Control structure, C by 2.81(s)
And C2(s) two-degree-freedom controller is constituted；
2.9 according to equivalence relation, available:
C1(s)=Q2(s)
2.10 by calculating, available:
4. the temperature control method for heating furnace as described in claim 1 based on Novel two-freedom-degree Internal Model PID, feature exist
In: detailed process is as follows for step 3:
3.1 consider selection λ first2Value, that is, to Q2(s) it is designed；λ is adjusted to reach system requirements and set
Pinpoint tracking characteristics；
3.2 in selection λ2When, in original C2(s) weighted factor μ is increased on the basis of；Consider the design shape of setpoint control device
Formula is as follows:
Wherein, 0≤μ≤1；The selection of μ carries out on-line tuning according to the response of set point in [0,1], required until reaching
Until set point responds；
3.3 consider first order process model:
Wherein, K is process gain, and T is process time constant, and θ is delay time；
3.4 in two parameter compensator structure, and internal model control filter h (s) is reasonably designed as following form:
The design method of 3.5 steps 2 can obtain controller:
It is rewritten into following form:
3.6 are applied to internal model feedback controller in PID controller structure:
Wherein, Kc, Ti, TdCorrespond respectively to the proportional gain factor of PID controller, integration gain factor and differential gain coefficient；
3.7 by the approximation of corresponding internal mode controller and PID controller, available:
CPID(s)=C1(s)
That is:
3.8 calculate to simplify, and enableWherein,
M (s)=0.5T θ2s3+(Tθ+0.5θ2)s2+(T+θ)s+1
N (s)=K [0.5 λ2θ2s2+(λ2+0.5θ2)s+(λ2+θ)]
Then available:
Kc=W'(0)
Ti=W-1(0)
3.9 can obtain each setting parameter according to Maclaurin expansion sequence are as follows:
Ti=K (λ2+θ)
3.10 after obtaining pid parameter, and further fine tuning is to obtain controller；
3.11 consider second order time delay process model:
Wherein, T1、T2For process model time constant；
3.12 controller form is reduced to by way of the concatenated PID controller of the lead-lag filter of following formula come real
Existing pid parameter:
3.13 by calculating and simplifying, available:
3.14 obtaining the parameters of controller:
A=0；B=0.5 θ2；C=θ；D=0
Ti=T1+T2；
3.15 after obtaining pid parameter, controller of the further fine tuning to obtain.
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| CN110347038A (en) * | 2019-07-08 | 2019-10-18 | 杭州电子科技大学 | A kind of two degrees of freedom Smith Prediction Control method of clinker cooling procedure |
| CN110389524A (en) * | 2019-06-11 | 2019-10-29 | 重庆大学 | A kind of hot knife cutting temperature accuracy control method disturbed for wind |
| CN111338210A (en) * | 2020-03-05 | 2020-06-26 | 江苏元和自动化科技有限公司 | Garbage generator set steam temperature control method based on independent modulation cascade strategy |
| CN113359467A (en) * | 2021-06-30 | 2021-09-07 | 杭州电子科技大学 | Improved internal model control method based on fractional order model in industrial process |
| CN114509934A (en) * | 2021-12-24 | 2022-05-17 | 浙江中控软件技术有限公司 | Parameter setting method for cascade loop PID controller based on expert internal model control |
| CN114755914A (en) * | 2022-04-11 | 2022-07-15 | 中国航发控制系统研究所 | Aero-engine servo controller design method based on IMC-PID |
| CN115629536A (en) * | 2022-12-07 | 2023-01-20 | 太原理工大学 | PID controller parameter setting method suitable for first-order time lag integral system |
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| CN110389524A (en) * | 2019-06-11 | 2019-10-29 | 重庆大学 | A kind of hot knife cutting temperature accuracy control method disturbed for wind |
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| CN111338210A (en) * | 2020-03-05 | 2020-06-26 | 江苏元和自动化科技有限公司 | Garbage generator set steam temperature control method based on independent modulation cascade strategy |
| CN113359467A (en) * | 2021-06-30 | 2021-09-07 | 杭州电子科技大学 | Improved internal model control method based on fractional order model in industrial process |
| CN114509934A (en) * | 2021-12-24 | 2022-05-17 | 浙江中控软件技术有限公司 | Parameter setting method for cascade loop PID controller based on expert internal model control |
| CN114755914A (en) * | 2022-04-11 | 2022-07-15 | 中国航发控制系统研究所 | Aero-engine servo controller design method based on IMC-PID |
| CN115629536A (en) * | 2022-12-07 | 2023-01-20 | 太原理工大学 | PID controller parameter setting method suitable for first-order time lag integral system |
| CN115629536B (en) * | 2022-12-07 | 2023-03-07 | 太原理工大学 | PID controller parameter setting method suitable for first-order time lag integral system |
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