CN113625547A - Main valve position control method of controller - Google Patents
Main valve position control method of controller Download PDFInfo
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Abstract
The invention discloses a main valve position control method of a controller, which relates to the field of controllers and is characterized in that a step response model vector of a proportional valve is constructed, and a step dynamic matrix is constructed according to the step response model vector; acquiring the position deviation of the actual position of a main valve at the current time and a preset position through a first comparator; acquiring an output value of the MPC controller at the current moment by using the position deviation and the step dynamic matrix at the current moment through the MPC controller; acquiring the pressure deviation after the valve of the proportional valve at the current moment by using a second comparator according to the output value of the MPC controller at the current moment and the pressure after the valve of the proportional valve at the current moment; acquiring an output value of a PID controller at the current moment by utilizing the PID controller according to the pressure deviation behind the proportional valve at the current moment; the position of the main valve is adjusted by the proportional valve according to the output value of the PID controller at the current moment, so that the problems of large disturbance and system oscillation in the position control process are solved, and the precision and the stability of position control are greatly improved.
Description
Technical Field
The invention relates to the field of controllers, in particular to a main valve position control method of a controller.
Background
The multi-way valve is a short-term multi-way reversing valve, has the advantages of compact structure, simple pipeline connection, capability of realizing independent control of loads of multiple actuating mechanisms and the like as a main control element of the engineering machinery, and is widely applied to hydraulic systems of the engineering machinery. The multi-way valve is directly related to whether the whole engineering vehicle can run efficiently and safely. With the development of society and economy, the accuracy and rapidity of the valve position control of the industrial control system are required to be higher and higher. At present, most of domestic valve position control systems still adopt the traditional PID control algorithm, and the PID control algorithm has the characteristics of simple principle and easy realization, and has excellent control effect on the production process with clear mathematical models of controlled objects. Due to different working environments of the multi-way valve, the multi-way valve is influenced by the viscosity of medium flow flowing through the valve, the internal friction force and unbalanced force of the valve and the like, a valve position control process has strong nonlinearity, large inertia and time-varying property, and an accurate mathematical model cannot be established, so that the parameter setting of the traditional PID algorithm is extremely difficult, an ideal control effect is often difficult to achieve, and safety problems and huge economic losses are brought to an industrial production process.
In addition, at present, the research and application of the valve position control system at home and abroad mainly aim at a single-loop control system, the single-loop control system is simple in structure and easy to operate, but the anti-interference performance of the single-loop control system is poor, and the regulating valve is often interfered by a plurality of external factors in the industrial production process to cause the valve position control process to swing, so that a series of safety problems are caused. Therefore, the use of single-loop control in the valve position control system is difficult to ensure that the industrial production process is carried out stably and safely.
To sum up, at present, the main technical problems that exist in the valve position control technology are: because the valve position control process has strong nonlinearity, large inertia and time-varying property, an accurate mathematical model cannot be established, the control parameter setting of the conventional PID control algorithm is extremely difficult, and the effective control is difficult to realize; secondly, the anti-interference performance of the single-loop control system is poor, the oscillation of the position control process is easily caused, the safe operation of industrial production is difficult to maintain, and the valve position cascade control system provided at present has the problems of limited anti-interference performance, simple control algorithm and general control effect.
Disclosure of Invention
In order to solve the problems that the control parameter setting of the conventional PID control algorithm in the prior art is extremely difficult and is difficult to realize effective control, the anti-interference performance of a single-loop control system is poor, the oscillation of a position control process is easy to cause, and the anti-interference performance of the valve position cascade control system is limited, the invention provides a main valve position control method of a controller, wherein the controller comprises a first comparator, an MPC controller, a second comparator, a PID controller, a proportional valve and a main valve; the first comparator is electrically connected with the MPC controller, the MPC is electrically connected with the second comparator, the second comparator is electrically connected with the PID controller, the PID controller is electrically connected with the proportional valve, and the proportional valve is hydraulically connected with the main valve; the control method comprises the following steps:
s01: acquiring a step response sampling value output by the proportional valve at the current moment, constructing a step response model vector of the proportional valve through the step response sampling value, and constructing a step dynamic matrix according to the step response model vector;
s02: acquiring the actual position of a main valve at the current moment, and acquiring the position deviation between the actual position of the main valve at the current moment and a preset position through a first comparator;
s03: acquiring an output value of the MPC controller at the current moment by using the position deviation and the step dynamic matrix at the current moment through the MPC controller;
s04: acquiring the pressure behind the valve of the proportional valve at the current moment, and acquiring the pressure deviation behind the valve of the proportional valve at the current moment by using a second comparator through the output value of the MPC controller at the current moment and the pressure behind the valve of the proportional valve at the current moment;
s05: acquiring an output value of a PID controller at the current moment by utilizing the PID controller according to the pressure deviation behind the proportional valve at the current moment;
s06: and adjusting the position of the main valve by using the proportional valve according to the output value of the PID controller at the current moment.
Further, the proportional valve comprises a first proportional valve and a second proportional valve; the specific steps of constructing the step dynamic matrix in step S01 are as follows:
s11: acquiring step response sampling values output by the first proportional valve and the second proportional valve according to the step response sampling;
s12: respectively acquiring corresponding step response model vectors according to the step response sampling values of the first proportional valve and the second proportional valve;
s13: and constructing a step dynamic matrix according to the step response model vectors of the first proportional valve and the second proportional valve.
Further, the specific method of step S04 includes the steps of:
s41: acquiring the pressure behind the first proportional valve and the second proportional valve at the current moment;
s42: acquiring the pressure deviation of the first proportional valve at the current moment by using a second comparator through the output value of the MPC controller at the current moment and the pressure behind the first proportional valve at the current moment; and acquiring the pressure deviation of the second proportional valve at the current moment by using a second comparator through the output value of the MPC controller at the current moment and the pressure of the second proportional valve at the current moment.
Further, the specific method for acquiring the output value of the PID controller at the current time in step S05 is as follows:
acquiring a PID controller output value corresponding to the first proportional valve at the current moment by utilizing a PID controller according to the pressure deviation behind the first proportional valve at the current moment;
and acquiring a PID controller output value corresponding to the second proportional valve at the current moment by utilizing the PID controller according to the pressure deviation behind the second proportional valve at the current moment.
Further, the specific method for adjusting the position of the main valve in step S06 is as follows:
and adjusting the post-valve pressure of the first proportional valve and the second proportional valve through the output values of the PID controllers corresponding to the first proportional valve and the second proportional valve at the current moment so as to adjust the position of the main valve.
Further, the specific method for acquiring the output value of the MPC controller at the current time in step S03 is as follows:
s31: acquiring a prediction output value of the MPC controller at each moment after the current moment through a prediction model of the MPC controller;
s32: acquiring a control increment of the output value of the MPC controller at the current moment by using a rolling optimization method of the MPC controller according to the predicted output value of the MPC controller at each moment after the current moment and the step dynamic matrix;
s33: acquiring an output correction value of the MPC controller at the next moment by using a feedback correction method of the MPC controller through the control increment of the output value of the MPC controller at the current moment;
s34: and acquiring the output value of the MPC controller at the current moment according to the output correction value of the MPC controller at the next moment.
Further, the formula expression of the control increment of the MPC controller output value obtained in step S32 at the current time is as follows:
wherein K is the current moment, M is the control time domain, p is the optimized time domain of rolling optimization, A is the step dynamic matrix, Q is the preset error weight matrix, R is the preset control weight matrix, w is the output expected value of the MPC controllerp(k) To optimize the desired output value of the MPC controller at the current moment in time,
for the predicted output value of the current time, Deltau, obtained by optimizing the predicted output value of the MPC controller at each time in the time domainM(k) The control increment for the output value of the MPC controller at the current time.
Further, the formula expression for obtaining the output correction value of the MPC controller at the next time in step S33 is as follows:
wherein S is a predetermined displacement matrix,
the predicted correction value for the next-time MPC controller obtained by the control increment for the current-time MPC controller output value,
the correction value for the output of the MPC controller at the next time.
Further, the formula expression for obtaining the output value of the PID controller corresponding to the first proportional valve at the current time in step S05 is as follows:
in the formula, KpTo preset a scaling factor, e1(k) For the post-valve pressure deviation of the first proportional valve at the present moment, e1(k-1) represents the post-valve pressure deviation of the first proportional valve at the previous time, i is a constant with an initial value equal to 0, T is the period of step response sampling, TiFor a predetermined integration constant, e1(i) The pressure deviation after the valve, T, of the first proportional valve at the ith timedIs a predetermined differential constant, u1(k-1) is the output value of the PID controller corresponding to the first proportional valve at the last moment, u1(k) Outputting a value of a PID controller corresponding to the first proportional valve at the current moment;
the formula expression for obtaining the output value of the PID controller corresponding to the second proportional valve at the current moment is as follows:
in the formula, e2(k) For the post-valve pressure deviation of the second proportional valve at the present moment, e2(k-1) represents the post-valve pressure deviation of the second proportional valve at the previous time, e2(i) Is as followsi moment after valve pressure deviation, u, of the second proportional valve2(k-1) is the PID controller output value corresponding to the second proportional valve at the previous moment u2(k) And outputting the value of the PID controller corresponding to the second proportional valve at the current moment.
Further, the controller further comprises a displacement sensor, a first pressure sensor and a second pressure sensor;
the displacement sensor is electrically connected with the main valve and used for acquiring the actual position of the main valve in real time;
the first pressure sensor is electrically connected with the first proportional valve and used for acquiring the pressure of the first proportional valve after the valve is closed; and the second pressure sensor is electrically connected with the second proportional valve and used for acquiring the pressure behind the second proportional valve.
Compared with the prior art, the invention at least has the following beneficial effects:
(1) the invention adopts PID-MPC composite control, wherein the PID-MPC composite control comprises inner loop control and outer loop control, wherein the inner loop control adopts PID control and is used for inhibiting the influence effect of external interference in the actual industrial control environment on the system, and the outer loop control adopts multivariable dynamic matrix control (MPC), so that the system obtains the optimal control and distribution effect;
(2) the invention is a cascade control method taking the main valve position as the control target, the position cascade control system related to the method actually forms two loops, one is a main valve position control loop, the other is a proportional valve control loop, the main valve position control loop is a main loop, and the main valve position is a main loop control object; the proportional valve control loop is an auxiliary ring, and the proportional valve is used as an auxiliary ring control object; in the position control process, the proportional valve control loop serving as the secondary loop can quickly overcome main disturbance which causes severe change, frequent change and large amplitude of the system in the controlled process, so that the influence of secondary disturbance on the main loop control loop is very little, and then, the interference which is not completely overcome by the main valve position control loop serving as the main loop on the secondary loop is further eliminated, the position change amplitude of the whole control process is small and stable, and the response speed, the control precision and the stability of the system are greatly improved;
(3) the position of the main valve is adjusted by combining the PID controller and the MPC controller, so that the control system has strong predictive control and self-adaptive capacity, the problems of large disturbance and system oscillation in the position control process are solved, and the control precision and robustness are greatly improved.
Drawings
FIG. 1 is a method step diagram of a main valve position control method of a controller;
FIG. 2 is a controller architecture diagram of a method of controlling the position of a main valve of the controller;
FIG. 3 is a rolling optimization diagram of a main valve position control method of a controller.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
Example one
In order to improve the predictive control and adaptive capacity of a main valve position control method and solve the problems that the control parameter setting of a conventional PID control algorithm in the prior art is very difficult and effective control is difficult to realize, the anti-interference performance of a single-loop control system is poor and the position control process is easy to oscillate, and the anti-interference performance of the valve position cascade control system is limited, as shown in fig. 1 and 2, the invention provides the main valve position control method of a controller, wherein the controller comprises a first comparator, an MPC controller, a second comparator, a PID controller, a proportional valve and a main valve; the first comparator is electrically connected with the MPC controller, the MPC is electrically connected with the second comparator, the second comparator is electrically connected with the PID controller, the PID controller is electrically connected with the proportional valve, and the proportional valve is hydraulically connected with the main valve; the control method comprises the following steps:
s01: acquiring a step response sampling value output by the proportional valve at the current moment, constructing a step response model vector of the proportional valve through the step response sampling value, and constructing a step dynamic matrix according to the step response model vector;
the proportional valve comprises a first proportional valve and a second proportional valve; the specific steps of constructing the step dynamic matrix in step S01 are as follows:
s11: acquiring step response sampling values output by the first proportional valve and the second proportional valve according to the step response sampling;
s12: respectively acquiring corresponding step response model vectors according to the step response sampling values of the first proportional valve and the second proportional valve;
s13: and constructing a step dynamic matrix according to the step response model vectors of the first proportional valve and the second proportional valve.
It should be noted that, in this embodiment, the PID controller includes a first PID controller and a second PID controller, the first PID controller is electrically connected to the first proportional valve, and the second PID controller is electrically connected to the second proportional valve.
S02: acquiring the actual position of a main valve at the current moment, and acquiring the position deviation between the actual position of the main valve at the current moment and a preset position through a first comparator;
the preset position in this embodiment is indicated by ydn.
S03: acquiring an output value of the MPC controller at the current moment by using the position deviation and the step dynamic matrix at the current moment through the MPC controller;
the specific method for acquiring the output value of the MPC controller at the current time in step S03 is as follows:
s31: acquiring a prediction output value of the MPC controller at each moment after the current moment through a prediction model of the MPC controller;
in this embodiment, the specific detailed solution of the step S31 of obtaining the predicted output value of the MPC controller at each time after the current time through the prediction model is as follows:
at time k (i.e., the current time), the predicted output values of the MPC controller outputs at N times after the current time may be expressed as
1, ·, N; (e.g. available at steady state start-up
Where y (k) is the actual output value of the MPC controller at the current time instant);
when the time k is controlled by a preset control increment Δ u (k), the output predicted values output by the MPC controller at N times after the time k under the control action of the MPC controller can be predicted as follows:
where a is the sampled value of the step response of the proportional valve output, aiFor the sample value of the step response output by the proportional valve at the ith time,
is a preset predicted initial output value;
similarly, under the action of M continuous preset control increments Δ u (k),. and Δ u (k + M-1), the predicted output values of the MPC controller output at N times after the predicted k time can be expressed as:
where M represents the number of control increments, (k + i | k) represents the prediction of time k + i at time k, j is a constant whose initial value is equal to 1,
the predicted output values of the MPC controller at the time points after the time point k.
S32: acquiring a control increment of the output value of the MPC controller at the current moment by using a rolling optimization method of the MPC controller according to the predicted output value of the MPC controller at each moment after the current moment and the step dynamic matrix;
the formula expression of the control increment of the MPC controller output value obtained in step S32 at the current time is as follows:
wherein K is the current moment, M is the control time domain, p is the optimized time domain of rolling optimization, A is the step dynamic matrix, Q is the preset error weight matrix, R is the preset control weight matrix, w is the output expected value of the MPC controllerp(k) To optimize the desired output value of the MPC controller at the current moment in time,
for the predicted output value of the current time, Deltau, obtained by optimizing the predicted output value of the MPC controller at each time in the time domainM(k) The control increment for the output value of the MPC controller at the current time.
In this embodiment, the specific detailed solution of the step S31 of obtaining the control increment of the output value of the MPC controller at the current time by using the rolling optimization method of the MPC controller is as follows:
firstly, it should be noted that the main purpose of the rolling optimization method is to optimize a preset control increment in a prediction model through a prediction output value output by an MPC controller acquired from the prediction model, and correct the prediction output value output by the MPC controller through the optimized preset control increment by using a feedback correction method, so that the prediction output value is as close as possible to a preset prediction output expected value, thereby reducing disturbance and vibration in the position control process;
as shown in fig. 3, MPC is an algorithm for determining a control strategy with optimization, where T represents the sampling period of the step response, T represents time,
a predicted output value representing the output of the MPC controller at the 2 nd time after the k time, w (k +2) representing a predicted output expected value corresponding to the predicted output value of the MPC controller at the 2 nd time after the k time; Δ u (k) represents the preset control increment at time k, and u (k) represents the actual output value of the MPC controller; at time k, M control increments Deltau (k) and Deltau (k + M-1) corresponding to N times from the time are determined, and the controlled object is enabled to be at the next P times under the action of the control incrementsPredicted output value of MPC controller output
As close as possible to a preset predicted output expected value w (k + i), i 1.. page, P; m, P are referred to herein as the control time domain and the optimization time domain, respectively, and generally specify that M ≦ P ≦ N;
in the control process, the problem that the preset control increment Δ u changes too severely exists, and the problem can be solved by adding soft constraints to the optimized performance index to perform rolling optimization on the preset control increment, so that the optimized performance index at the time k can be:
in the formula, r and q are preset weight coefficients which respectively represent the suppression of the tracking error and the change of the control quantity, w is a preset reference target, and minJ (k) is an optimized performance index at the moment k;
without considering the constraints, the above problem is that of Δ uM(k)＝[△u(k)...△u(k+M-1)]TAn optimization problem for minimizing the performance index (formula 3) under the prediction model (formula 2) for the optimization variables; to solve this optimization problem, a prediction model (equation 2) can be used to first derive its relationship to the optimized performance metric, which can be written in vector form as:
in the formula:
where A is the value a sampled by the step responseiForming a P multiplied by M matrix which is called a dynamic matrix;
a predicted output value for the MPC controller output predicted for P future times at time k;
predicting initial output values preset for P future moments at the k moment;
the performance index (formula 3) is obtained by arranging the performance index into a vector form:
in the formula, wP(k)＝[w(k+1)…w(k+P)]T；Q＝diag(q1…qp)；R＝diag(r1…rM)；
Wherein Q is a diagonal matrix formed by preset weight coefficients Q and is called an error weight matrix; r is a diagonal matrix formed by preset weight coefficients R, called an error weight matrix, wP(k) Outputting expected values for the prediction preset for P future moments at the moment k;
at time k, wP(k)，
All are known quantities, such that J (k) takes a minimum Δ uM(k) Passing extreme value requirement
The control increment for obtaining the output value of the MPC controller at the current moment (namely the control increment obtained by performing rolling optimization on the preset control increment in the prediction model) is as follows:
in this embodiment, after performing rolling optimization on the preset control increment in the prediction model, the method further includes obtaining an actual output value of the MPC controller by using the optimized control increment, and the detailed solution is as follows:
equation 6 gives the optimal values for Δ u (k.). Δ u (k + M-1), but MPC does not treat them as solutions to be realized, but rather takes the instantaneous control increment Δ u (k) therein to constitute the actual output value of the MPC controller, the expression for the actual output value is: u (k) ═ u (k-1) +. DELTA.u (k); until the next time, calculating Δ u (k +1) by repeating the above method; according to equation 6, the actual output value of the MPC controller at time k can be expressed as:
in the formula, a P-dimensional row vector dTCalled the control vector, whose expression is:
dT＝cT(ATQA+R)-1ATQ[d1…dP](formula 8);
m-dimensional row vector cT(10 … 0) indicating the operation of the top element; once the optimization strategy is determined (i.e., P, M, Q, R is fixed), dTCan be calculated off-line once.
S33: acquiring an output correction value of the MPC controller at the next moment by using a feedback correction method of the MPC controller through the control increment of the output value of the MPC controller at the current moment;
the formula expression for obtaining the output correction value of the MPC controller at the next time in step S33 is as follows:
wherein S is a predetermined displacement matrix,
the predicted correction value for the next-time MPC controller obtained by the control increment for the current-time MPC controller output value,
the correction value for the output of the MPC controller at the next time.
In this embodiment, after obtaining the control increment of the output value of the MPC controller at the current time (i.e., the control increment obtained by performing roll optimization on the preset control increment in the prediction model) by using the roll optimization method of the MPC controller, and obtaining the actual output value of the MPC controller at the k time by using the optimized control increment, the process proceeds to step S33, and the specific detailed solution of obtaining the output correction value of the MPC controller at the next time by using the feedback correction method of the MPC controller in step S33 is as follows:
when u (k) is actually applied to the subject at time k, this corresponds to the application of a control increment of amplitude Δ u (k) to the input of the subject, which can be expressed as:
in the formula (I), the compound is shown in the specification,
predicted initial output values preset for time k for N future times,
equation 9 is effectively a vector form of equation 1 for the predicted output values of the MPC controller for k time versus N future times. However, the predicted value given by equation 9 may deviate from the actual value due to the fact that unknown factors such as model mismatch and environmental interference exist. For this reason, in MPC, the actual output y (k +1) of the object is first detected by the next sampling timing, and this is combined with the predicted output value calculated by equation 9
Compared with the prior art, the method forms an output error, and the error expression is as follows:
the prediction of the predicted output value of the future MPC controller may be modified by weighting e (k + 1):
in the formula (I), the compound is shown in the specification,
a predicted correction value of the MPC controller at the next moment; an N-dimensional vector with h as a weight coefficient is called a correction vector, and can be expressed as h ═ h1…hN]T；
At time k + 1, the predicted future time will also shift to k +2, …, k +1+ N due to the variation of the base point in time, and therefore,
the element of (2) also needs to be shifted to become the output correction value of the MPC controller at the time k + 1, and the shift expression is:
while
Due to truncation of the model, can be determined by
Approximately, this setting of the output correction value can be represented in vector form as:
where S is a displacement matrix, which can be expressed as:
S34: and acquiring the output value of the MPC controller at the current moment according to the output correction value of the MPC controller at the next moment.
S04: acquiring the pressure behind the valve of the proportional valve at the current moment, and acquiring the pressure deviation behind the valve of the proportional valve at the current moment by using a second comparator through the output value of the MPC controller at the current moment and the pressure behind the valve of the proportional valve at the current moment;
the specific method of the step S04 includes the steps of:
s41: acquiring the pressure behind the first proportional valve and the second proportional valve at the current moment;
s42: acquiring the pressure deviation of the first proportional valve at the current moment by using a second comparator through the output value of the MPC controller at the current moment and the pressure behind the first proportional valve at the current moment; and acquiring the pressure deviation of the second proportional valve at the current moment by using a second comparator through the output value of the MPC controller at the current moment and the pressure of the second proportional valve at the current moment.
S05: acquiring an output value of a PID controller at the current moment by utilizing the PID controller according to the pressure deviation behind the proportional valve at the current moment;
the specific method for acquiring the output value of the PID controller at the current time in step S05 is as follows:
acquiring a PID controller output value corresponding to the first proportional valve at the current moment by utilizing a PID controller according to the pressure deviation behind the first proportional valve at the current moment;
and acquiring a PID controller output value corresponding to the second proportional valve at the current moment by utilizing the PID controller according to the pressure deviation behind the second proportional valve at the current moment.
Specifically, the specific method for acquiring the output value of the PID controller at the current time in step S05 is as follows:
acquiring a PID controller output value corresponding to the first proportional valve at the current moment by using a first PID controller according to the pressure deviation after the valve of the first proportional valve at the current moment;
and acquiring a PID controller output value corresponding to the second proportional valve at the current moment by using the second PID controller according to the pressure deviation after the valve of the second proportional valve at the current moment.
The formula expression for obtaining the output value of the PID controller corresponding to the first proportional valve at the current time in step S05 is as follows:
in the formula, KpTo preset a scaling factor, e1(k) For the post-valve pressure deviation of the first proportional valve at the present moment, e1(k-1) represents the post-valve pressure deviation of the first proportional valve at the previous time, i is a constant with an initial value equal to 0, T is the period of step response sampling, TiFor a predetermined integration constant, e1(i) The pressure deviation after the valve, T, of the first proportional valve at the ith timedIs a predetermined differential constant, u1(k-1) is the output value of the PID controller corresponding to the first proportional valve at the last moment, u1(k) Outputting a value of a PID controller corresponding to the first proportional valve at the current moment;
the formula expression for obtaining the output value of the PID controller corresponding to the second proportional valve at the current moment is as follows:
in the formula, e2(k) For the post-valve pressure deviation of the second proportional valve at the present moment, e2(k-1) represents the post-valve pressure deviation of the second proportional valve at the previous time, e2(i) Is the post-valve pressure deviation, u, of the second proportional valve at time i2(k-1) is the PID controller output value corresponding to the second proportional valve at the previous moment u2(k) And outputting the value of the PID controller corresponding to the second proportional valve at the current moment.
S06: and adjusting the position of the main valve by using the proportional valve according to the output value of the PID controller at the current moment.
The specific method for adjusting the position of the main valve in step S06 is as follows:
and adjusting the post-valve pressure of the first proportional valve and the second proportional valve through the output values of the PID controllers corresponding to the first proportional valve and the second proportional valve at the current moment so as to adjust the position of the main valve.
The controller also comprises a displacement sensor, a first pressure sensor and a second pressure sensor;
the displacement sensor is electrically connected with the main valve and used for acquiring the actual position of the main valve in real time;
the first pressure sensor is electrically connected with the first proportional valve and used for acquiring the pressure of the first proportional valve after the valve is closed; and the second pressure sensor is electrically connected with the second proportional valve and used for acquiring the pressure behind the second proportional valve.
Example two
As shown in fig. 1, a main valve position control method of a controller, the controller comprising a first comparator, an MPC controller, a second comparator, a PID controller, a proportional valve, a main valve; the first comparator is electrically connected with the MPC controller, the MPC is electrically connected with the second comparator, the second comparator is electrically connected with the PID controller, the PID controller is electrically connected with the proportional valve, and the proportional valve is hydraulically connected with the main valve; the control method comprises the following steps:
s01: acquiring a step response sampling value output by the proportional valve at the current moment, constructing a step response model vector of the proportional valve through the step response sampling value, and constructing a step dynamic matrix according to the step response model vector;
the proportional valve comprises a first proportional valve and a second proportional valve; the specific steps of constructing the step dynamic matrix in step S01 are as follows:
s11: acquiring step response sampling values output by the first proportional valve and the second proportional valve according to the step response sampling;
s12: respectively acquiring corresponding step response model vectors according to the step response sampling values of the first proportional valve and the second proportional valve;
s13: and constructing a step dynamic matrix according to the step response model vectors of the first proportional valve and the second proportional valve.
S02: acquiring the actual position of a main valve at the current moment, and acquiring the position deviation between the actual position of the main valve at the current moment and a preset position through a first comparator;
s03: acquiring an output value of the MPC controller at the current moment by using the position deviation and the step dynamic matrix at the current moment through the MPC controller;
the specific method for acquiring the output value of the MPC controller at the current time in step S03 is as follows:
s31: acquiring a prediction output value of the MPC controller at each moment after the current moment through a prediction model of the MPC controller;
it should be noted that the prediction model used in the present invention serves for the optimization operation process in the algorithm operation process, and its main function is to predict the future theoretical state and future theoretical output of the target object based on the past information and assumed future information of the target object, and under different control methods, the algorithm can predict the theoretical state and theoretical output of the system at the future time, and substitutes them into the constraint condition of the system and corresponding performance index for operation, so as to determine the merits of different control strategies.
S32: acquiring a control increment of the output value of the MPC controller at the current moment by using a rolling optimization method of the MPC controller according to the predicted output value of the MPC controller at each moment after the current moment and the step dynamic matrix;
the formula expression of the control increment of the MPC controller output value obtained in step S32 at the current time is as follows:
wherein K is the current moment, M is the control time domain, p is the optimized time domain of rolling optimization, A is the step dynamic matrix, Q is the preset error weight matrix, R is the preset control weight matrix, w is the output expected value of the MPC controllerp(k) To optimize the desired output value of the MPC controller at the current moment in time,
for the predicted output value of the current time, Deltau, obtained by optimizing the predicted output value of the MPC controller at each time in the time domainM(k) The control increment for the output value of the MPC controller at the current time.
S33: acquiring an output correction value of the MPC controller at the next moment by using a feedback correction method of the MPC controller through the control increment of the output value of the MPC controller at the current moment;
it should be noted that, in the application of industrial process control, the predictive control algorithm is a method for establishing rolling optimization in a limited time domain to realize control operation in an industrial environment. And at each sampling moment, the optimization performance index at the moment only covers a limited time domain from the moment, and further can be converted into an open-loop optimization control problem taking a future limited control quantity as an optimization control quantity. After these control amounts are calculated, the predictive control applies only the control amount at that time to the target object, and when the next sampling period is reached, the optimization time domain at that time is scrolled forward as time advances, so that it can be obtained on the basis of this that the optimization operation in the predictive control algorithm is not performed directly in an on-line state in one operation, but is performed repeatedly as time passes.
The formula expression for obtaining the output correction value of the MPC controller at the next time in step S33 is as follows:
wherein S is a predetermined displacement matrix,
the predicted correction value for the next-time MPC controller obtained by the control increment for the current-time MPC controller output value,
the correction value for the output of the MPC controller at the next time.
S34: and acquiring the output value of the MPC controller at the current moment according to the output correction value of the MPC controller at the next moment.
It should be noted that, at each sampling time, the real-time state of the controlled object is detected first, and then this feedback information is directly applied to the prediction and optimization at the next time, so that the process of prediction and optimization operation for the output at the next time is established above the actual operating state of the system, which is called feedback correction.
The invention adopts PID-MPC composite control, wherein the PID-MPC composite control comprises inner loop control and outer loop control, wherein the inner loop control adopts PID control and is used for inhibiting the influence effect of external interference in the actual industrial control environment on the system, and the outer loop control adopts multivariable dynamic matrix control (MPC), so that the system obtains the optimal control and distribution effect.
S04: acquiring the pressure behind the valve of the proportional valve at the current moment, and acquiring the pressure deviation behind the valve of the proportional valve at the current moment by using a second comparator through the output value of the MPC controller at the current moment and the pressure behind the valve of the proportional valve at the current moment;
the specific method of the step S04 includes the steps of:
s41: acquiring the pressure behind the first proportional valve and the second proportional valve at the current moment;
s42: acquiring the pressure deviation of the first proportional valve at the current moment by using a second comparator through the output value of the MPC controller at the current moment and the pressure behind the first proportional valve at the current moment; and acquiring the pressure deviation of the second proportional valve at the current moment by using a second comparator through the output value of the MPC controller at the current moment and the pressure of the second proportional valve at the current moment.
S05: acquiring an output value of a PID controller at the current moment by utilizing the PID controller according to the pressure deviation behind the proportional valve at the current moment;
the specific method for acquiring the output value of the PID controller at the current time in step S05 is as follows:
acquiring a PID controller output value corresponding to the first proportional valve at the current moment by utilizing a PID controller according to the pressure deviation behind the first proportional valve at the current moment;
and acquiring a PID controller output value corresponding to the second proportional valve at the current moment by utilizing the PID controller according to the pressure deviation behind the second proportional valve at the current moment.
The formula expression for obtaining the output value of the PID controller corresponding to the first proportional valve at the current time in step S05 is as follows:
in the formula, KpTo preset a scaling factor, e1(k) For the post-valve pressure deviation of the first proportional valve at the present moment, e1(k-1) represents the post-valve pressure deviation of the first proportional valve at the previous time, i is a constant with an initial value equal to 0, T is the period of step response sampling, TiFor a predetermined integration constant, e1(i) The pressure deviation after the valve, T, of the first proportional valve at the ith timedIs a predetermined differential constant, u1(k-1) is the output value of the PID controller corresponding to the first proportional valve at the last moment, u1(k) Outputting a value of a PID controller corresponding to the first proportional valve at the current moment;
the formula expression for obtaining the output value of the PID controller corresponding to the second proportional valve at the current moment is as follows:
in the formula, e2(k) For the post-valve pressure deviation of the second proportional valve at the present moment, e2(k-1) represents the post-valve pressure deviation of the second proportional valve at the previous time, e2(i) Is the post-valve pressure deviation, u, of the second proportional valve at time i2(k-1) is the PID controller output value corresponding to the second proportional valve at the previous moment u2(k) And outputting the value of the PID controller corresponding to the second proportional valve at the current moment.
S06: and adjusting the position of the main valve by using the proportional valve according to the output value of the PID controller at the current moment.
The invention is a cascade control method taking the main valve position as the control target, the position cascade control system related to the method actually forms two loops, one is a main valve position control loop, the other is a proportional valve control loop, the main valve position control loop is a main loop, and the main valve position is a main loop control object; the proportional valve control loop is an auxiliary ring, and the proportional valve is used as an auxiliary ring control object; in the position control process, the proportional valve control loop as the secondary loop can quickly overcome the main disturbance which causes the system to change violently, frequently and greatly in the controlled process, so that the secondary disturbance has little influence on the main loop control loop, and then the interference which is not completely overcome by the main valve position control loop as the main loop on the secondary loop is further eliminated, the position change amplitude of the whole control process is small and stable, and the response speed, the control precision and the stability of the system are greatly improved.
The specific method for adjusting the position of the main valve in step S06 is as follows:
and adjusting the post-valve pressure of the first proportional valve and the second proportional valve through the output values of the PID controllers corresponding to the first proportional valve and the second proportional valve at the current moment so as to adjust the position of the main valve.
The controller also comprises a displacement sensor, a first pressure sensor and a second pressure sensor;
the displacement sensor is electrically connected with the main valve and used for acquiring the actual position of the main valve in real time;
the first pressure sensor is electrically connected with the first proportional valve and used for acquiring the pressure of the first proportional valve after the valve is closed; and the second pressure sensor is electrically connected with the second proportional valve and used for acquiring the pressure behind the second proportional valve.
The position of the main valve is adjusted by combining the PID controller and the MPC controller, so that the control system has strong predictive control and self-adaptive capacity, the problems of large disturbance and system oscillation in the position control process are solved, and the control precision and robustness are greatly improved.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
Moreover, descriptions of the present invention as relating to "first," "second," "a," etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating a number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
Claims (10)
1. A main valve position control method of a controller is characterized in that the controller comprises a first comparator, an MPC controller, a second comparator, a PID controller, a proportional valve and a main valve; the first comparator is electrically connected with the MPC controller, the MPC is electrically connected with the second comparator, the second comparator is electrically connected with the PID controller, the PID controller is electrically connected with the proportional valve, and the proportional valve is hydraulically connected with the main valve; the control method comprises the following steps:
s01: acquiring a step response sampling value output by the proportional valve at the current moment, constructing a step response model vector of the proportional valve through the step response sampling value, and constructing a step dynamic matrix according to the step response model vector;
s02: acquiring the actual position of a main valve at the current moment, and acquiring the position deviation between the actual position of the main valve at the current moment and a preset position through a first comparator;
s03: acquiring an output value of the MPC controller at the current moment by using the position deviation and the step dynamic matrix at the current moment through the MPC controller;
s04: acquiring the pressure behind the valve of the proportional valve at the current moment, and acquiring the pressure deviation behind the valve of the proportional valve at the current moment by using a second comparator through the output value of the MPC controller at the current moment and the pressure behind the valve of the proportional valve at the current moment;
s05: acquiring an output value of a PID controller at the current moment by utilizing the PID controller according to the pressure deviation behind the proportional valve at the current moment;
s06: and adjusting the position of the main valve by using the proportional valve according to the output value of the PID controller at the current moment.
2. The method of claim 1, wherein the proportional valve comprises a first proportional valve and a second proportional valve; the specific steps of constructing the step dynamic matrix in step S01 are as follows:
s11: acquiring step response sampling values output by the first proportional valve and the second proportional valve according to the step response sampling;
s12: respectively acquiring corresponding step response model vectors according to the step response sampling values of the first proportional valve and the second proportional valve;
s13: and constructing a step dynamic matrix according to the step response model vectors of the first proportional valve and the second proportional valve.
3. The main valve position control method of a controller according to claim 2, wherein the specific method of step S04 includes the steps of:
s41: acquiring the pressure behind the first proportional valve and the second proportional valve at the current moment;
s42: acquiring the pressure deviation of the first proportional valve at the current moment by using a second comparator through the output value of the MPC controller at the current moment and the pressure behind the first proportional valve at the current moment; and acquiring the pressure deviation of the second proportional valve at the current moment by using a second comparator through the output value of the MPC controller at the current moment and the pressure of the second proportional valve at the current moment.
4. The method for controlling a main valve position of a controller according to claim 3, wherein the specific method for obtaining the output value of the PID controller at the current time in step S05 is as follows:
acquiring a PID controller output value corresponding to the first proportional valve at the current moment by utilizing a PID controller according to the pressure deviation behind the first proportional valve at the current moment;
and acquiring a PID controller output value corresponding to the second proportional valve at the current moment by utilizing the PID controller according to the pressure deviation behind the second proportional valve at the current moment.
5. The main valve position control method of claim 4, wherein the main valve position is adjusted in step S06 by:
and adjusting the post-valve pressure of the first proportional valve and the second proportional valve through the output values of the PID controllers corresponding to the first proportional valve and the second proportional valve at the current moment so as to adjust the position of the main valve.
6. The method as claimed in claim 5, wherein the step S03 is implemented by the following steps:
s31: acquiring a prediction output value of the MPC controller at each moment after the current moment through a prediction model of the MPC controller;
s32: acquiring a control increment of the output value of the MPC controller at the current moment by using a rolling optimization method of the MPC controller according to the predicted output value of the MPC controller at each moment after the current moment and the step dynamic matrix;
s33: acquiring an output correction value of the MPC controller at the next moment by using a feedback correction method of the MPC controller through the control increment of the output value of the MPC controller at the current moment;
s34: and acquiring the output value of the MPC controller at the current moment according to the output correction value of the MPC controller at the next moment.
7. The method as claimed in claim 6, wherein the formula for obtaining the control increment of the output value of the MPC controller at the current time in step S32 is as follows:
wherein K is the current moment, M is the control time domain, p is the optimized time domain of rolling optimization, A is the step dynamic matrix, Q is the preset error weight matrix, R is the preset control weight matrix, w is the output expected value of the MPC controllerp(k) To optimize the desired output value of the MPC controller at the current moment in time,
for the predicted output value of the current time, Deltau, obtained by optimizing the predicted output value of the MPC controller at each time in the time domainM(k) The control increment for the output value of the MPC controller at the current time.
8. The method as claimed in claim 7, wherein the formula for obtaining the output correction value of the MPC controller at the next time in step S33 is as follows:
wherein S is a predetermined displacement matrix,
the predicted correction value for the next-time MPC controller obtained by the control increment for the current-time MPC controller output value,
the correction value for the output of the MPC controller at the next time.
9. The method for controlling a main valve position of a controller according to claim 8, wherein the formula for obtaining the output value of the PID controller corresponding to the first proportional valve at the current time in step S05 is as follows:
in the formula, KpTo preset a scaling factor, e1(k) For the post-valve pressure deviation of the first proportional valve at the present moment, e1(k-1) represents the post-valve pressure deviation of the first proportional valve at the previous time, i is a constant with an initial value equal to 0, T is the period of step response sampling, TiFor a predetermined integration constant, e1(i) The pressure deviation after the valve, T, of the first proportional valve at the ith timedIs a predetermined differential constant, u1(k-1) is the output value of the PID controller corresponding to the first proportional valve at the last moment, u1(k) Outputting a value of a PID controller corresponding to the first proportional valve at the current moment;
the formula expression for obtaining the output value of the PID controller corresponding to the second proportional valve at the current moment is as follows:
in the formula, e2(k) For the post-valve pressure deviation of the second proportional valve at the present moment, e2(k-1) represents the post-valve pressure deviation of the second proportional valve at the previous time, e2(i) Is the post-valve pressure deviation, u, of the second proportional valve at time i2(k-1) is the PID controller output value corresponding to the second proportional valve at the previous moment u2(k) And outputting the value of the PID controller corresponding to the second proportional valve at the current moment.
10. The main valve position control method of a controller according to claim 2, wherein the controller further comprises a displacement sensor, a first pressure sensor, and a second pressure sensor;
the displacement sensor is electrically connected with the main valve and used for acquiring the actual position of the main valve in real time;
the first pressure sensor is electrically connected with the first proportional valve and used for acquiring the pressure of the first proportional valve after the valve is closed; and the second pressure sensor is electrically connected with the second proportional valve and used for acquiring the pressure behind the second proportional valve.
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| CN114087413A (en) * | 2021-11-26 | 2022-02-25 | 中广核工程有限公司 | Proportional valve regulating method, device, equipment and medium |
| CN114488793A (en) * | 2021-12-30 | 2022-05-13 | 浙江大学 | Control method and system for valve core position and construction method of control model |
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