EP4185928A1

EP4185928A1 - Position controller self-assessment for digital twin

Info

Publication number: EP4185928A1
Application number: EP21735658.3A
Authority: EP
Inventors: Christian FIEBIGER; Baihua SUN; David Wagner-Stürz
Original assignee: Samson AG
Current assignee: Samson AG
Priority date: 2020-07-22
Filing date: 2021-06-22
Publication date: 2023-05-31
Also published as: WO2022017711A1; DE102020119379A1; US20230288888A1

Abstract

In the case of a positioner (1) for a process engineering installation (100), such as a chemical plant, a power station, a food-processing plant, or the like, comprising a control valve (3) for adjusting a process fluid flow of the process engineering installation (100), an in particular pneumatic actuator (5) for operating the control valve (3) and positioner electronics (7) for providing an in particular pneumatic control signal (s) for the actuator (5) on the basis of a manipulated variable (u), wherein the positioner electronics (7) have a signal reception interface (71) for receiving the manipulated variable (u), there is provision for the positioner electronics (7) to comprise a computing apparatus (70) that is designed to determine at least one simulation parameter (Θ) characterizing a signal response (x) of the positioner (1) to a received manipulated variable (u), and for the positioner electronics (7) to have a signal output interface (73) for outputting the at least one simulation parameter (Θ).

Description

Positioner self-assessment for digital twin

The invention relates to a control device for a process engineering plant, such as a chemical plant, for example a petrochemical plant, a power plant, a food processing plant or the like.

It is known from DE 10 2018 133428 Ai to design a field device station, such as a control valve, of a process plant by using a so-called digital twin of the field device station in a simulation environment. In the simulation environment, a simulation is carried out based on operation-specific plant characteristics of the process plant, such as the process medium, the plant environment or the like, with the digital twin, which is also referred to as a field device module, based on one or more field device-specific design parameters, such as a geometry parameter Performance parameters or the like can be characterized and interact with at least one operating variable, such as a controlled variable, for example temperature, pressure, flow rate or the like.

For simulating the operation of the digital image of the process engineering installation, the field device module is set to a field device to be simulated from a group of predetermined field devices, as a result of which associated field device-specific design parameters are defined. The field device-specific design parameters can be present as reference simulation parameters. For example, reference simulation parameters relating to a field device can be defined on a data sheet in order to provide interested experts, such as users or research institutions, with field device-specific design parameters for a field device module. The simulation of the digital image of the process engineering system can be used as the basis for determining of optimal operating sizes. For example, error minimization of a control signal, reduction of levels, falling below or exceeding a threshold value can be specified as boundary conditions. Alternatively, a critical operating state can be specified as a boundary condition, for example cavitation, noise level or the like. Alternatively or additionally, boundary conditions can be defined by a safety factor of the field device, for example by an amount of air consumed during operation. The field device-specific design parameters on which the field device model is based define a possible parameter range for which a specific, for example optimal, parameter can be determined in order to meet one or more boundary conditions. Based on the simulation result, a concrete, physical field device can be selected or dimensioned in order to use it in a real process plant.

If the conditions prevailing in the real plant deviate from the conditions on which the design simulation was based, this can result in the optimal behavior calculated in the simulation not being achieved or in other boundary conditions not being met. For example, the behavior and interaction of a specific, real process medium may be different than the behavior of the simulated process medium. Deviating system conditions can exist, for example, if virtual operating parameters for the simulation environment were selected based on idealized assumptions that do not correspond to real operating conditions, or if a simulation environment based on values from another system was used to design a system, which does not due to significantly different environmental conditions are transferrable. It is also conceivable that the theoretical operating conditions on which a simulation environment is based differ from the operating conditions that are actually set by a system operator. Based on such differences between the real plant and the simulated plant, if a real actuating device behaves abnormally, the false impression can arise that the field device is defective. DE io 2006046870 Ai describes the identification and application of process models in a process control system. A process control system may include multiple process controllers communicatively attached to at least one host or operator workstation. The process controller can receive signals from field devices from the process control system and generate control signals that are transmitted to the field devices to control process operation. Field devices can be, for example, valves, valve positioners, switches, and transmitters (e.g., temperature, pressure, and flow sensors). Some process control systems use function blocks or modules to perform control operations related to individual or groups of field devices.

The process control can be linked to a process model. Process models can be used to dictate tuning parameters of PID (proportional/integral/derivative) control routines using adaptive control methods, where the tuning of a PID (or other) controller updates as a result of changes in the process model and/or a user-selected tuning rule can be. In DE 10 2006 046 870 Ai, however, such systems are described as rather unsuitable for practical use, because the immense effort both in terms of the required computing power due to the large number of control loops and instruments used therein and the effort required to identify and validate process models and operating conditions in no way adequate relation to the expected benefits.

DE 102006046870 Ai proposes to use a data collection function with routines for automatically collecting, collecting or otherwise manipulating operational status data and a model identification module that generates statistical data collection from pre-configured parameters used in a simulation environment to calculate on their basis parameters for to determine a control loop setting. A series of process models is to be generated as a process model history in order to provide a representation of an online performance of a control loop. The process models shall be generated by a routine embedded in the control routine of the process controller. A new process model is to be generated triggered by an event, for example a setpoint change or a Disturbance. Although the proposed method reduces manual effort for determining models, it immediately increases the computational effort immensely. There are different approaches to optimizing the design and the control and/or regulation behavior of actuators in process engineering systems. In many cases, however, it is problematic that in practice the data required for an optimization in a real plant is not available or the computing capacities required for carrying out an optimization cannot be made available.

WO 2019/012121 A describes a method for providing and executing self-optimizing functions for a field device. For example, a set of functions can form a system model that is set up to learn the characteristics of a technical system. For this purpose, an error in the comparison between observed target values and expected target values can be calculated using model execution software that compares the target values with each other. For example, an estimated target value can be calculated based on input variables and model parameters, and an error in the comparison between the true target value and the predicted value can be measured using a loss function. Calculations for training, ie for updating the model parameters, can be specified with the aid of a back calculation partial graph. This should be applicable to a wide variety of industrial systems. On the one hand, the use of self-optimizing control algorithms requires high computing power in individual field devices. On the other hand, such a system is always subject to the risk that the control parameters determined using self-optimization may be inherently incorrect or that incorrect system behavior is caused in interaction with the operating conditions of a process engineering system, with control by a control center or the like not being guaranteed.

It is an object of the disclosure to provide an actuating device that overcomes the disadvantages of the prior art, in particular that supports safe and optimized operation of a process plant safely and using little computing power and/or data transmission power. This object solves the subject matter of claim 1. According to this, a control device is provided for a process plant, such as a chemical plant, for example a petrochemical plant, a power plant, for example a solar thermal power plant, a food processing plant, for example a brewery, or the like. The control device includes a control valve for setting a process fluid flow of the process plant. A binary open/close valve, for example, or a valve with a variably adjustable flow width can be referred to as a control valve. The control device also includes a particularly pneumatic actuator for actuating the control valve and control device electronics for providing a pneumatic open-loop and/or closed-loop control signal for the pneumatic actuator as a function of a control variable. A manipulated variable can preferably be an analog manipulated signal or a digital manipulated signal. An analog control signal can be a 4..20 mA signal, for example. A digital control signal can be a pulse width modulated control signal according to the HART protocol, for example. The actuator electronics can include digital and/or analog electronic components.

As digital components, the actuator electronics can include, for example, a data carrier with commands stored thereon and/or a data carrier with parameters or the like stored thereon. The actuator electronics have a signal receiving interface for receiving the manipulated variable. An actuator electronics can include a computing device. For example, the actuating device electronics can comprise a data carrier with commands stored thereon, the commands, when they are executed by one or more processors of the computing device, setting up the computing device to carry out a control function, a regulation function and/or a simulation function. The actuator electronics can have a memory structure which provides data in order to specify at least one simulation parameter and/or at least one simulation structure with regard to the actuator. The memory structure can be specified in the form of an array, a table or a matrix and can specify a large number of parameters and/or structures, in particular a history at different times of certain, in particular similar, simulation parameters and/or simulation structures. The memory structure can be addressed via a first index to retrieve a simulation parameter. The data of the memory structure can alternatively or additionally defined as functional data and, for example, define an entry point of a function that generates the respective simulation parameters when called. Further configurations of the memory structure are conceivable and can be adapted to a hardware or software structure of the actuating device electronics, the field device and/or a simulation environment.

The actuator electronics have a computing device that is set up to determine at least one simulation parameter that characterizes a signal response of the actuator to a received manipulated variable. The actuator electronics also have a signal output interface for outputting the at least one simulation parameter. The actuator electronics can be set up to output at least one simulation parameter by means of the signal output interface of the actuator electronics. The signal response of the actuator can be defined, for example, as a mathematical function which, depending on at least one manipulated variable and depending on at least one or more predetermined simulation parameters, for example a reference simulation parameter, a historical simulation parameter or the like, determines a result which, for example, leads to a Operating size of the process plant, in particular the actuator, correlates. An operating variable, such as a controlled variable, can be, for example, a temperature, a pressure, a flow rate or the like, in particular in relation to the process fluid of the process engineering system, in particular in the upstream flow and/or in the downstream flow of the control valve. An operating variable can in particular denote the position of the control valve, for example a control width of a valve member relative to a valve seat, a control position of a lifting rod, for example relative to a reference point of the housing, such as a yoke or a lantern of the control valve, and/or a control position of the pneumatic actuator . An operating variable can be the pneumatic control and/or regulation signal from the actuator electronics for the pneumatic actuator, in particular a pneumatic pressure in a control chamber of the pneumatic actuator and/or a supply line of the actuator. The simulation parameter determined by the electronic control unit can be referred to as a realistic simulation parameter. The simulation parameter can preferably correspond to an actually measured signal response of the actuator to a received manipulated variable. A control device that is set up to emit a newly determined simulation parameter by means of a signal output interface makes it possible to provide a control room or central computer unit of a process engineering system that is superordinate to the control device. The control room or other computer unit performs a simulation with one or more realistic simulation parameters using a virtual representation of the process plant, parts of the process plant, or the actuator. With the realistic simulation parameters, a virtual representation of the simulation can be used so that the simulation is based on realistic simulation data and not on hypothetical simulation parameters, which lead to simulation results that deviate significantly from realistic signal responses. In this way, it is possible to use the virtual representation of a simulated plant or parts thereof to implement better simulation results with regard to the optimized design of the plant and its components, for example to provide optimal manipulated variables with regard to a process of the process plant to the actuator.

According to one embodiment, the actuator electronics have at least one data memory for the at least one simulation parameter, the data memory having at least one stored reference simulation parameter for the at least one simulation parameter and/or the data memory being set up to store a plurality of historical simulation parameters determined at different times. A reference simulation parameter can, for example, be a simulation parameter which corresponds to information on a data sheet and/or which characterizes the behavior of a typical actuator of a specific type under ideal conditions. For example, an ideal parameter determined according to DE 102018133428 Ai can be defined as a reference simulation parameter in a range of design parameters of an actuator family. A simulation parameter determined in particular under ideal conditions on a test bench with the specific control valve of the control device can be referred to as a reference simulation parameter. A reference parameter can be distinguished from a realistic simulation parameter in particular by the fact that a realistic simulation parameter the actuator in question is or was determined when used, in particular when used properly, in the process plant, whereas a reference simulation parameter outside of the process plant to be considered may have been determined purely theoretically, in particular before the actuator in question was put into operation for the first time. A reference simulation parameter can have been calculated using only a theoretical mathematical model, in particular under ideal conditions.

Historical simulation parameters were determined in particular by the actuator electronics at a point in time in the past. Historical simulation parameters can preferably be identified by, in particular, sequential numbering, a date and/or time stamp or the like in order to differentiate between the various historical simulation parameters and from the current realistic simulation parameter. The identification of the historical simulation parameters can in particular be unambiguous with regard to the chronological sequence of the historical simulation parameters recorded one after the other. A continuous, ascending numbering can be sufficient for this. Historical simulation parameters are determined in particular when the actuator in question is used, in particular when the actuator in question is used properly in the process plant. For example, historical simulation parameters can be determined regularly, at predetermined times and/or predetermined events, and stored in the data memory of the actuator electronics as historical simulation parameters. For example, the actuator electronics of the actuator can determine realistic simulation parameters at regular time intervals, for example hourly, daily, weekly, monthly or the like (initially as a current realistic simulation partner) and simultaneously or subsequently stored as historical simulation parameters. Historical simulation parameters can be generated by the actuator electronics, for example, when realistic simulation parameters are regularly recorded when the actuator performs a particularly specific diagnostic function, particularly a partial stroke test and/or a full stroke test. According to a development of an actuator, the computing device can be set up to calculate a virtual signal response of the actuator based on a received manipulated variable and at least one historical simulation parameter and/or at least one reference simulation parameter and to compare the calculated virtual signal response with a signal from the actuator, in particular using sensors to compare the detected signal response. In particular, the actuating device comprises an internal controller or an internal control corner, which in particular can comprise a forward section made up of a valve position controller or controllers, an actuator and a control valve. The valve position control and/or regulation is preferably implemented by the actuator electronics, in particular its computing device. The actuator electronics can be set up to map a manipulated variable supplied to it onto a pneumatic control signal for the pneumatic actuator. The actuator actuates the control valve so that it assumes a valve position. The spatial valve position can be defined, for example, by an angle of rotation or a linear position. The position of the control valve can be detected by a suitable position sensor and made available to the control device electronics, for example as a scalar position value. If the control value of the actuator electronics is made available to an internal reference element, for example, an internal controlled system or control loop can be closed. In addition to an internal control or regulation system, the actuator electronics according to this embodiment can include at least one, in particular two, additional function blocks. For example, the computing device of the actuator can be configured such that the computing device includes a first calculation module, which can be referred to as a simulation module, for a simulation to determine a virtual signal response based on a reference simulation parameter and/or at least one historical simulation parameter and the received manipulated variable . Alternatively or additionally, the computing device can be set up in such a way that it has a second calculation module, which can be referred to as an adaptation module, for determining a realistic, for example updated or adapted, simulation parameter with regard to the actuator. The computing device can be designed to carry out a simulation module based on a gray box model. A so-called gray box model can be used to numerically approximate the behavior of the inner forward system or inner open-loop or closed-loop control system for converting the manipulated variable in a signal response Gray box model, the manipulated variable can be supplied to the actuator electronics. The simulation with the gray box model would then generate a virtual output value (a virtual signal response) that provides an approximation for the output value or signal response of the real actuator. The gray box model determines the virtual signal response taking into account at least one historical simulation parameter or one reference simulation parameter. The real signal response can be detected by a sensor, for example a valve position sensor, of the actuator.

The adaptation module implemented by the computing device can be set up to adapt the simulation module, for example the gray box model, in order to reduce a deviation, in particular a numerical difference, between the virtual signal response and the real signal response. For this purpose, the adjustment module can be set up to determine at least one current and/or realistic simulation parameter by recalculating a simulation parameter or by determining an updated realistic simulation parameter based on a reference simulation parameter or a historical simulation parameter in such a way that the Computing device with the simulation module on the basis of the updated simulation parameter determined by the adaptation module achieves a better approximation, for example a smaller deviation, in particular a smaller numerical difference between the real signal response and the virtual signal response.

According to a development of the actuator, the computing device is set up to detect a deviation, in particular a difference, between the recorded real signal response and the modeled virtual signal response in terms of time, amplitude and/or rate of change and to determine a current simulation parameter based on the deviation. To detect a deviation in the time dimension and/or rate of change between the real signal response and the virtual signal response, the actuator electronics can use a number of historical simulation parameters from a data memory and/or a number of real signal responses determined in a chronological sequence. For example, the actuator, in particular the computing device of the actuator, can be set up to generate a series of virtual signal responses to be determined with a simulation module as a function of a series of received manipulated variables and to record a series of real signal responses as a function of the same received manipulated variables. The adaptation module of the computing unit can be set up to compare a series of virtual signal responses and real signal responses recorded in a chronological sequence, depending in particular on the same manipulated variables in the time dimension, in order to determine, for example, whether the real signal response in the time dimension is faster or slower than the virtual signal response, and based on the result of this comparison to update at least one simulation parameter. For example, based on an idealized reference simulation parameter or outdated historical simulation parameters, the simulation module can expect a faster virtual signal response with regard to a change in a manipulated variable, for example a response to a step signal, than the corresponding real signal response indicates. This can be the case, for example, when the dynamic coefficient of friction of the control valve differs statically compared to an initial value or an ideal value. By comparing a time sequence of virtual signal responses and real signal responses with one another, the adaptation module can identify whether the rate of change assumed as a simulation parameter for the virtual image corresponds to the rate of change actually present or whether there is a significant deviation. For example, in the case of a pneumatic actuator with spring return, the real spring constant and the spring constant assumed as a simulation parameter can be unequal, which manifests itself in the fact that a corresponding difference can be seen between the rate of change of a virtual signal response related to the operating variable setting position and the corresponding real signal response. A deviation, in particular a difference, between a detected real signal response and a virtual signal response can take place with the aid of a comparison of a number of historical real and virtual signal responses.

According to one development, the actuator electronics can be set up to emit a current simulation parameter using the signal output interface if the actuator electronics detects a deviation, in particular a difference, when comparing a current simulation parameter with a historical simulation parameter or a reference simulation parameter. In particular, the Actuating device electronics can be set up to only output a current simulation parameter when a deviation, in particular a difference, was found between the current simulation parameter and a historical simulation parameter or a reference simulation parameter. In this way, it can be ensured that the actuator promptly communicates changed simulation parameters to a remote computer, such as a central computer of a process engineering plant, so that the virtual mapping of the actuator can take place in a simulation environment with realistic simulation parameters. If necessary, it can be achieved that, for example, a small bandwidth available for data transmission is only slightly loaded by the delivery of updated simulation parameters.

According to a preferred embodiment, the at least one simulation parameter is selected from a list comprising dead time, discretization, static control and/or regulation deviation (e.g. proportional gain in (gain)), characteristic curve and/or gradient (e.g. time constant) or proportionality factor between a manipulated variable, such as an input current , and an operating variable, such as a setting position). Discretization can describe a difference in time direction and/or amplitude direction between a prevailing static initial operating value, for example a stationary actual valve position, and another operating value that is as close as possible, for example as a result of static friction and system inertia, based on the initial operating value. Regarding the characteristic, a simulation parameter can describe, for example, the P (proportionality), I (integration) and/or D (differentiation) factor of a PID controller, such as a PID control module implemented by a computing device. It is clear that another, for example a P-controller, can be characterized by one or a few factors, or only one P-factor. A two-point controller and/or a three-point controller can be characterized by a characteristic curve which characterizes the corresponding control response depending on the value or a development of a manipulated variable relative to a first and/or second threshold value. For combinations of different controller types, it is conceivable that simulation parameters are made available for different controller ranges corresponding to the different controller types. Alternatively or additionally, it is conceivable that a characteristic is characterized as, for example, tabular correlations between input values (manipulated variables) and output values (operating variables).

According to another preferred embodiment, which can be combined with the previous ones, the actuator electronics can be set up so that the pneumatic control signal is provided as a function of a manipulated variable according to a control and/or regulation structure, with the actuator electronics being set up to have at least one Submit simulation parameters with respect to a particular modified control and / or regulation structure. For example, a simulation parameter may designate the control and/or regulation structure(s) that the subject actuator electronics utilize according to a predetermined classification. For example, a first name can be predetermined for a PID controller structure, a second name for a PI controller structure, a third name for a P controller structure, and a fourth name for a two-point controller structure. It should be clear that the above list of different controller structures is purely exemplary and not limited to the controller structures mentioned.

According to one embodiment of an actuator that can be combined with the previous ones, the signal output interface and the signal receiving interface are connected to a common signal transmission line, in particular a 4..20 mA line, the signal receiving interface being set up to receive the manipulated variable via the signal transmission line and being the signal output interface is set up to output the at least one simulation parameter by means of the signal transmission line. The actuating device set up in this way can use existing communication means of the process engineering system in a simple manner in order to communicate updated simulation parameters to a computer remote from the actuating device.

According to another embodiment of the actuator that can optionally be combined with the previous embodiment, the signal output interface includes a display unit, such as an LCD display, for the optical output of the at least one simulation parameter. For example, the actuator can be set up to react to a user specification, in particular on the actuator, for example by control buttons of the Actuating device to optically output at least one or more current realistic simulation parameters on a display unit of the actuating device. If the actuator has not yet recorded any realistic simulation parameters, it can be set up to output reference simulation parameters stored by means of the display unit in response to an operator command.

According to a further embodiment of an actuator, the output interface is set up to output the at least one simulation parameter, in particular a plurality of simulation parameters, with a data transmission rate of no more than 1200 bit/s, in particular no more than 600 bit/s or no more than 300 bit/s . Such a design of the output interface ensures that when using the actuator in question in an existing infrastructure of a process engineering system, the possibly low possibilities for data transmission from one or more actuators to another processing unit, in particular a central control room, are within an acceptable low data volume emotional.

According to a further aspect, the disclosure relates to a process plant, such as a chemical plant, a power plant, a food processing plant or the like, with a plurality of actuators designed as set out above.

Advantageous refinements of the embodiments according to the invention are shown in the following figures, in which:

FIG. 1 shows a schematic representation of a process engineering system with a plurality of actuators;

FIG. 2 shows a schematic representation of the signal curves of an actuating device according to the invention;

FIG. 3 shows a schematic representation of an embodiment of an actuating device according to the invention; and Figure 4 is a schematic view of an exemplary implementation of a

Gray box model in a virtual representation of an actuator.

In order to simplify readability, the same or similar components are provided with the same or similar reference symbols in the following description of exemplary embodiments.

FIG. 1 shows a schematic representation of a process engineering system with a plurality of field devices, at least one of which can be designed as an actuator 1 according to the invention. The process engineering installation 100 includes a technical control infrastructure for monitoring and controlling a technical process. Process engineering system 100 includes a control system with a control station computer 101 and a process computer 103. Process engineering system 100 includes active field devices 111 and passive field devices 113 connected to process computer 103.

Active field devices 111 are field devices, such as the control device 1, which are provided for intervening in the technical process when the process plant 100 is in operation. Active field devices 111 include regulated and/or unregulated (controlled) control valves, shut-off valves and pumps.

Passive field devices 113 do not intervene in the technical process. Examples of passive field devices 113 are sensors. Sensors 113 can, for example, determine operating variables with regard to the process engineering system, in particular with regard to a process fluid and/or an auxiliary energy fluid, such as pneumatic air, of the technical system 100 . A sensor 113 can, for example, detect a pressure, for example a static or dynamic pressure, a temperature, a flow rate, for example a volume flow or a flow rate, of the process fluid or an auxiliary energy fluid as an operating variable of the process engineering system.

The operating behavior of individual field devices 111, 113, in particular the actuating device 1, interacts with the media and parts and components of the process technology Plant 100 and can be viewed as part of the process 104 implemented in the process plant.

In the process engineering system 100 shown as an example in FIG. The operating program can be controlled by user input, for example.

The process engineering system 100 can include a number of passive field devices, in particular sensors 113, measuring transducers and/or state sensors, such as contact sensors, in order to observe the effect of the active control devices 111 on the process 104. The sensors 113 can be used to record an actual state of the process plant. A sensor 113 can transmit at least one measured value to the process computer 103 as a controlled variable y.

In the process engineering system 100, a manipulated variable u can be transmitted to an active field device, such as the actuating device 1 shown here as an example, in order to transmit a specification to the field device with regard to a setting to be carried out. For example, a manipulated variable u can be transmitted to an active field device 1 by control center computer 103 in order to ensure that actuating device 1 affects process 104 in such a way that the at least one controlled variable y is transmitted according to one of control center computer 101 and process computer 103 Reference variable w adjusted, in particular it is adjusted to it. Such a procedure can generally be referred to as process regulation.

The control device m 1 according to the invention implements an active control device that includes a control valve 3 for setting a process fluid flow, a pneumatic actuator 5 for actuating the control valve 3 and control device electronics 7 for transmitting a pneumatic control signal to the pneumatic actuator 5 . The actuator electronics 7 are set up to adjust the pneumatic control signal for the pneumatic actuator 5 depending on the at least one received manipulated variable u. With An inflow or outflow of process fluid in the process plant 100 can be controlled by the actuating device 1 .

In general, a manipulated variable u can qualitatively and/or quantitatively specify the type, intensity, point in time and/or duration of an effect, also for the process engineering system, by a specific active field device. It is conceivable that an actuator can act on the process 104 in a number of different ways and correspondingly different manipulated variables u can be made available to the actuator.

A signal transmission line 107 is provided for the transmission of the manipulated variable u from the process computer 103 to the actuating device 1 . The signal transmission line 107 can in particular be implemented as a 4 to 20 mA or 0 to 20 mA line in order in particular to provide a manipulated variable as a 4 to 20 mA current signal from the process computer 103 to the actuating device 1 . The control electronics 7 of the actuating device 1 can be set up, for example, to provide a pneumatic control signal for the pneumatic actuator 5 as a function of the amplitude of the manipulated variable, in particular proportional to the amplitude of the 4 to 20 mA signal. The pneumatic control signal for the pneumatic actuator can be a pressure or a volume flow, for example. The position controller 1 can have an optical display unit 77, for example in the form of an LCD display, on which a simulation parameter can be output.

The control station computer 101 and/or the process computer 103 or another computer system not shown in detail can be set up to carry out a simulation that represents a virtual image 140 of the process system 100 or of parts or components of the process system. An example of such a simulation can be a method for designing a field device station as described in DE 10 2018 133428 Ai.

FIG. 2 shows a circuit diagram that shows the function of the process computer 103 and its interaction with the process 104 in terms of the process technology would represent 100. As described above, the process computer 103 includes a process controller 130 which receives at least one reference variable w from a control station computer 101 and at least one controlled variable y from at least one sensor 113 with regard to the process 104 from the process engineering system 100 . Based on a deviation between reference variable w and controlled variable y, process control 130 determines a manipulated variable u, which is transmitted by process computer 103 to at least one component in the process engineering system, such as actuator 1 . It should be clear that a process computer 103 usually processes a large number of controlled variables y in order to transmit a corresponding large number of manipulated variables to a large number of components, generally active control devices 111, in the process 104. In the present exemplary illustration, only a single active actuating device 111 is referred to in a simplified manner. In the case of a particularly adaptive simulation with regard to several different active field devices 111 of a process engineering system 100, their individual active field devices 111 could each use an individual set of controlled variable, manipulated variable, controller parameters, model controlled variable, model parameters, etc., with the different variables, parameters, etc. by a common index related to the active actuator, such as 1, 2, 3, ... i. can be designated.

In addition to the process control 130, the process computer 103 can carry out a simulation 140 using a virtual representation of a process plant, parts of the process plant or components of the process plant. The simulation calculation 140 can, for example, process the actual reference variable w and/or the realistic control variables y obtained from the real process engineering system. In particular, the simulation 140 can include a virtual image 141 of the actuator 1 in question. On the basis of the command variable w, the simulation 140 carried out with the process computer 103 determines a model controlled variable y which is intended to correlate with the real controlled variable y.

The data path for the transmission of simulation parameters z from the actuator 1 to a reference model 140 can correspond to an existing data path 107 between the process computer 103 and the actuator 1 . The process computer 103 also includes an adaptation logic 150 which has at least one model controlled variable as input values y, receives at least one manipulated variable u corresponding thereto. The adaptation logic 150 can be set up to determine at least one controller parameter p and impose this on the process controller 130 in order to improve the process controller 130 using an optimization function. The controller parameter p can be determined by the adaptation logic 150 based on a deviation between the real controlled variable y and the model controlled variable y, with the aim that the process controller 130 will in future generate a manipulated variable u with the control parameter p specified by the adaptation logic 150, so that the real controlled variable y has a smaller deviation from the model controlled variable y.

In a process engineering system with an actuator 1 according to the invention, the actuator 1 from the process 104 can send at least one realistic simulation parameter Q to the process computer 103 . The process computer 103 can adapt the virtual representation 141 of the actuating device 1 based on the realistic simulation parameters u. By adjusting the virtual image 141 of the actuator 1, the reference model 140 is adjusted in the sense of improving the reference model 140 by approximating the simulated behavior of the reference model 140 to the real behavior of the process 104.

A process computer 103 can be equipped, for example, with a simulation module 140 and an adaptation logic 150 in order to be able to adapt the controller 130 to changed environmental conditions of the process plant 100 . For example, an optimal regulation 130 for a process 104 in a process engineering installation 100 at high ambient temperatures in summer may require other process parameters p than at low ambient temperatures in winter. A process that exhibits behavior that experiences a dependency on absolute time can generally be referred to as a non-time-varying process. Non-time-variable processes exist, for example, when process situations that begin in exactly the same state develop systematically differently depending on the absolute point in time at which they began. Another example of an advantageous use of a process computer 103, the regulation of which is temporarily specified by an adaptation of an adaptation logic 150 with variable process parameters and is suitable for such cases in which, for example, as a result of a changed control by the control station computer 101, there is a variable behavior of the reference variable . For example, a control station computer 101 can be configured to specify a command variable w that has low dynamics over a long period of time. If the configuration of the control station computer 101 is changed such that the reference variable is subjected to high dynamics for a short period of time, it may be useful or even necessary to adapt the parameters of the controller 130 in stable process control of the process 104 . For example, in the case of a controller 130 configured as a PID controller, its P, I and/or D components of the means of the adaptation logic 150 can be adapted to a changed dynamic behavior of the command variable w.

More fundamental changes could be a change from a first controller structure, for example a PID controller structure, to a second controller structure, for example a two-point controller structure or a three-point controller structure, or vice versa.

As described above, the simulation module 140 or reference model of the process computer 103 includes a virtual image 141, which can be referred to as a digital twin with respect to the physical actuator 1 in the process engineering system 100. The virtual image 141 of the actuator 1 can be implemented as a submodel within a more complex reference model, the reference model 140 being able to virtually depict the entire process plant 1 or part of the process plant 100 within which the actuator 1 is located. The reference model 140 can include multiple sub-models for different active field devices 111 . A submodel relating to an active field device 111 can be implemented by a deterministic calculation formula in a digital processing unit in a processing arrangement of the process computer 103 . For example, a submodel can be implemented as a so-called gray box model. A virtual representation 141 of a real, active field device 111, in particular the actuator 1, can be used as a deterministic calculation be realized formula that maps the time course of a quantified manipulated variable u to an operating variable y, for example an absolute control position or a relative control position (for example corresponding to a 0-100% scale with regard to an opening width of the control valve).

Figure 3 shows a schematic representation of the control device 1 according to the invention. The main components of the control device 1 are a control valve 3 for setting a process fluid flow, an actuator 5 for actuating the control valve 3 and control device electronics 7 for providing a control signal, in particular a pneumatic control signal s, in Dependence on a manipulated variable and

The actuator electronics 7 can be set up, for example, as digital position controller electronics with a computing unit 70 for executing at least one program or module, in particular a plurality of programs or modules. The computing unit can include a processor 75, a signal receiving interface 71, a memory 76 and a signal output interface 73 as essential components. In addition, actuator electronics 7 includes at least one control and/or regulation interface with at least one control and/or regulation signal output 74 for delivering the control signal s, in particular pneumatic, to actuator 5, in particular pneumatic a position sensor 13 or another sensor (not shown in detail) is set up to receive at least one device control variable, for example an x.

The actuating device electronics 7 are set up to generate the control signal s as a function of a manipulated variable u supplied to it and a device controlled variable x supplied. In order to generate the control signal s, the computing unit 70 can implement a control and/or regulation module or program 30 with the aid of a processor 75 and a memory 76 . The computing device 70 of the actuating device 1 can be set up to detect a manipulated variable u and a device controlled variable x or a differential value calculated by a differential element between device controlled variable x and manipulated variable u using a control and/or regulation function 30 stored in the memory 76 of the arithmetic unit 70 to carry out a routine which determines the control signal s. The control signal s can be transmitted to the actuator 5 by the actuator electronics 7 with the control and/or regulation output 74 . The control and/or regulation output 74 can comprise an electropneumatic converter for providing a pneumatic control signal. As an alternative, the output 74 can be set up to provide an electrical control signal for an electrical actuator, for example an electric motor, as an analog or digital electrical signal, for example a PWM signal (not shown in more detail).

The actuator 5 actuates the control valve 3, for example by means of a control rod or control shaft. The control position of the control valve 3 can be detected by a position sensor x and reported to the control device electronics 7 as a device control variable x. As described above, the device controlled variable x can describe an absolute or relative position of the control valve 3 . In the actuating device according to the invention, the actuating device electronics 7 are also set up to determine at least one simulation parameter Q relating to the actuating device 1 . For this purpose, the computing device 70 of the actuator electronics 7 can have a number of functions or modules, in particular simulation modules 40 and an adaptation module 50 .

Computing device 70 is set up to implement a simulation module 40, which receives a manipulated variable u as an input value in order to calculate a virtual signal response x based on at least one simulation parameter Q, which corresponds to a real signal response in the form of a device controlled variable x. According to one embodiment, the computing unit 70 is set up to implement a mathematical deterministic determination of a virtual signal response x by specifying the manipulated variable u as an input value for the deterministic function as a variable. The deterministic function implemented with the simulation module 40 includes as a simulation parameter Q, for example, a dead time, a discretization and a characteristic curve which defines a correlation on the one hand between the manipulated variable on the other hand and the virtual device control value calculated as a virtual signal response x, which corresponds to a real device control value x . The The simulation module 40 implemented by the computing device 70 of the actuating device 1 can be designed to correspond to or be identical to a virtual representation 141 of the physical actuating device in a reference model 140, which is implemented in the process computer 103.

In other words, the actual actuator 1 is designed to use its own computing device 70 to implement a virtual twin of itself in order to carry out a self-check with regard to the model behavior, ie the virtual signal response x image or digital twin 141 of the actuator 1 and the real signal responses x of the real actuator 1 in response to the same manipulated variable u.

The computing device 70 is also set up to detect a deviation between the virtual signal response x and the real signal response x, for example by means of an adaptation module 50 . Based on a discrepancy between the virtual signal response x and the real signal response x, the adaptation module 50 can generate updated or corrected simulation parameters Q. The at least one simulation parameter Q calculated with the adjustment module 50 can optionally be stored as a historical parameter QH in the memory 76 of the computing device 70 and/or can be output using a network interface or other signal output interface 73 via a signal transmission line 107.

Such an actuator 1 can use a virtual twin of itself to determine whether the interaction of the real actuator 1 with its environment match the interactions between the virtual image 141 of the actuator 1 in a simulation environment 140. Based on deviations between the real behavior of the actuator and the behavior of its virtual image 141, the computing device can adapt the simulation parameters Q, which define the virtual image, in order to achieve a more realistic virtual image. Since the actuating device 1 is also set up to emit the information relating to the simulation parameters using a signal output interface 73 , the information relating to updated simulation parameters can also be transmitted to other models, for example a reference model 140 implemented on a process computer 103 . To this A reference model 140, in particular the virtual image 141 of the actuator 1 used therein, can carry out a more realistic simulation, which can be used, for example, to determine optimized manipulated variables u for controlling the actuator, in order to make a process 104 faster, more efficient, safer, for example, according to selected optimization criteria and/or more stable to regulate.

An adaptation module 50 is implemented by the processor 75 and the memory 76 by the processing unit 70 , for example. The adjustment module 40 can, for example, interpret a numerical difference or other deviation between a virtual signal response x and a real signal response x as a criterion for the quality of the simulation implemented by the simulation module 40 .

The adjustment module 50 can be referred to as a calculation module for adjusting the simulation parameters Q. The adaptation module 50 can be set up to adapt the simulation model selected in the exemplary situation, for example a gray box model, in such a way that a numerical difference between the virtual signal response and the real signal response x is reduced, in particular reduced to a minimum. A number of optimization methods, for example iterative optimization methods, which can be implemented by the calculation module 50 are known to those skilled in the art.

The simulation module 40 can be defined by a structural description of a virtual image or model of the actual actuator 1 and a set of simulation parameters o. The structural description can be understood as an abstract model (e.g. as a modeled PID controller) that by a set of model parameters is specified with regard to the actuator 1 in question. In a new version of the control device 1, the available simulation parameters Q can be provided as reference simulation parameters 0R, wherein reference simulation parameters G _{R can be provided,} for example, type-specifically with regard to the control valve in question as a factory setting or by means of a data sheet. In embodiments with several alternative control and/or regulation structures, the model description of the control and/or regulation structure itself can be viewed as a simulation parameter. A model of a control and/or regulation structure can be described or identified by one or more parameters. One or more simulation parameters that identify or describe a modeled control and/or regulation structure are stored in a memory 76 of the computing device 70 of the actuating device 1 and can be sent via a signal output interface 73 to a higher-level simulation computer, such as the process computer described here as an example 103, are transmitted.

The computing device 70 can preferably be implemented as a digital computing unit. The computing device 70 can be divided schematically into a processor 75, a memory 76 and a network interface 73, which acts as a signal output interface. The arithmetic unit can also have at least one signal receiving interface 71 . The signal receiving interface 71 and/or the signal output interface 73 can include an analog/digital converter and/or a digital/analog converter.

In the embodiment described above, the control and/or regulation module 30 as well as the simulation module 40 and the adaptation module 50 are related to the primary effect of the actuating device 1, i.e. the causal linkages between manipulated variable u and controlled variable or real signal response specified in the context of process control x. In addition to the primary effect of the actuator 1, the actuator 1 can have other secondary effects relevant to the process 104, which must be taken into account for the open-loop and/or closed-loop control module 30 and/or the simulation module 40 in order to be able to achieve optimized process control.

It is conceivable that a secondary effect of the actuator 1 relates to noise development or other emissions from the actuator 1 . For example, a heat input from the actuating device 1 into the process 104 can be relevant as a secondary effect. For example, the waste heat from an actuating device 1 driven by an electric actuator can be relevant to the energy consumption of an air conditioning system or its Potential to comply with a specific temperature specification at a given point of a technical installation 100. In such a case, the manipulated variable u and/or the device controlled variable x can relate to a temperature.

In the case of an actuator with compressed air operation, for example with a pneumatic actuator 5, the air consumption of the actuator 1 can be a secondary effect. For example, the air consumption of the actuator 1 can be relevant as an operating parameter, in particular depending on a desired change in the primary effect. It is conceivable that an operating parameter relates to the air consumption of the actuator 1. A relatively high air consumption of the actuator 1 can lead to an effect, for example a fluctuation, on the compressed air supply for other actuators as well. Such a change can result in an interaction that affects the operating behavior of the actuating device 1 under consideration or other active field devices in the process plant 100 . For example, compressed air for operating pneumatic actuators of the control devices can be provided to a number of active field devices m, as shown in FIG. If the actuator has a particularly high consumption of compressed air, for example in the case of a compressed air leak or because the pneumatic actuator 5 of the actuator is large, possibly too large, and requires a high volume of compressed air, this can result in the available pressure in the pressure supply systems Volume or pressure drops to an actual value below an ideal value for which the field devices 111 are designed. This can result, for example, in a control device 5 in the real process engineering system 100 achieving a slower signal response x than is expected based, for example, on ideal reference simulation parameters OR, or that the control valve does not have the required closing force for safe movement if the compressed air supply is too low of the control valve 3 is able to provide in a closed state. For a model related to the air consumption of the actuator 1, the measurement of a compressed air flow over time at a throttle point could be recorded as the signal response x.

Another alternative for a consideration with a simulation model 40 could relate to the statistical service life up to the next maintenance time Release of combustible drive gases, the withdrawal of electrical power from an electrical supply device (electrical auxiliary power) or access to the bandwidth of a digital signal transmission line 107 in particular. The simulation model 3 of the actuator 1 or the virtual image 141 of the actuator 1 can alternatively or in addition to a primary effect of the Actuator 1 consider one or more other signal responses.

A model for simulating the exemplary actuating device, for example as a virtual image 141 or as a simulation module 40, can be implemented, for example, as a so-called gray box model. Figure 4 shows an example of a schematic gray box model with respect to an actuator 1 with a pneumatic actuator 5. The gray box model generally has the reference numeral 400. The gray box model can by the computing device 70 of the actuator 1 and / or by a Arithmetic arrangement of the process computer 103 to be implemented. The model 400 includes a first routine 401 m detecting an operating mode, in particular a direction of movement of the actuator 5 (opening direction or closing direction). Many field devices 111 show a signal response subject to hysteresis, which depends on the operating mode. The operating mode, in particular a travel direction, can be detected, for example, by tracking the direction of the change over time in the manipulated variable, etc. Alternatively or additionally, an operating mode can be derived from the control of the compressed air supply (not shown in detail). Different parameterizations of the entire gray box model can be implemented for in particular two (preferably exactly two) operating modes.

The virtual representation of the operating behavior of a control device shown schematically in Figure 5 in the form of, for example, the grey-box model shown comprises several consecutive calculation sections with which a supplied manipulated variable u is calculated via several intermediate values u*, x and x to a virtual signal response x , which is also known as

Model output size can be designated, is mapped. The virtual image can include, for example, a first calculation section 410 for a static transmission profile, a second calculation section 420 for a time behavior of an inner forward link (static open-loop and/or closed-loop control deviation in the time dimension t), a calculation section 430 for a dead time TD . The virtual image may further include a fourth calculation section 440 for quantification or discretization.

Various operating modes are represented in the virtual mapping according to FIG. 5 as a first operating mode bi, for example filling, and as a second operating mode b2, for example emptying. The various calculation sections 410, 420, 430 and 440 are schematically subdivided into a structural part (shown below), which mathematically represents the basic behavior of the virtual image of an actuating device 1 in a more structurally defined manner. Furthermore, the four different calculation sections 410, 420, 430 and 440 here (shown above) have one or more simulation parameters Q, which specify the mathematical structural model of the virtual image 141 or simulation module 40 specifically with regard to the actuating device 1. It may be preferable to characterize a virtual image of an actuator 1 exclusively in those simulation parameters Q which are to be implemented in order to specify a simulation model that is specified in particular by a standard or an industry exercise that is generally applicable. Such a characterization exclusively of simulation parameters for a structurally specified virtual image of the actuator can be particularly advantageous if only a few aspects of the numerical calculation are to be accessible for adaptation.

The virtual image 400 can be set up with the aid of the operating mode recognition 410 to use simulation parameters Q dependent on a specific recognized operating mode bi or b2. This can be used to separately adapt the simulation parameters Q for different operating modes bi, ultimately b2.

A deviation between a static transmission profile of the actuating device 1 and a previously known ideal transmission profile can be mapped using the first calculation section 401 with regard to the static transmission profile. An ideal actuator 1 can have a static transfer function in the form of a diagonal straight line with a constant gradient 1, with an actuator-specifically modulated manipulated variable u* being equal to the received manipulated variable u. Real actuators 1 can, in particular, within an allowable tolerance range of an ideal behavior differ. The all-relationship of such a permissible deviation conveys its static transmission profile increases the accuracy of the virtual image 40/141. In the following, the term for virtual mapping would be used consistently for the sake of simplicity, it being clear that the virtual mapping described can be implemented either as a virtual mapping 141 by the computing arrangement of the process computer 103 or as a simulation module 40 of the position controller 1 .

In an exemplary design, the second calculation section 420 of the virtual representation of the actuating device 1 can subject the dynamics of the actuating device 1 to a time response based on the manipulated variable u and the intermediate result u*, which can be implemented, for example, by a first-order delay element, as shown here can. It is conceivable to provide more complex, in particular non-linear transfer functions relating to the time response.

The third calculation section 430 can optionally be used to introduce any relevant dead time TD into the virtual image of the actuating device 1 . Apart from a time shift corresponding to the dead time TD, an intermediate value x determined in the second calculation section 420 can be converted into a further intermediate value x without any change in value.

The exemplary virtual image of an actuator shown in FIG. 4 as the fourth proposed calculation section 440 for quantification or differentiation can be used to map so-called non-reachable states. For example, an actuator 1 can provide a discrete, for example, electromagnetic drive, for example in the stepper motor, which can only assume certain discrete positions.

Another example can relate to an actuator 1 with frictional actuation of the control valve 3 with the in particular pneumatic actuator 5, in which, due to elasticity and/or friction on the drive train, starting from a fixed starting point due to the so-called stick-slip effect, starting from a stationary Starting position first characterizes the real behavior of the actuating device 1 a certain minimum adjustment path (stick-slipping or breakaway). Especially at a control device 1 with a pneumatic actuator 5, the so-called friction corridor can be relevant for the accuracy of the virtual representation of the control device. The description of the friction corridor can be implemented using an absolute or a relative step or step function. A step height q can be defined as a simulation parameter Q with regard to the discretization or quantification. The step height q can describe a uniformly divided absolute quantification, for example of a step function, or the width of a hysteresis-type in a pneumatic drive subject to friction.

The features of each embodiment of the present invention may be provided in any combination in other embodiments of the present invention, and the present invention is not limited to any particular or isolated feature combination of embodiments.

Reference number l actuator

3 control valve

5 actuator

7 actuator electronics

13 sensors

30 controller module

40 simulation module

50 customization module

70 computing device

71 signal receiving interface

72 controlled variable input

73 signal output interface

74 control signal output

75 processor

76 memory

77 display unit

100 process engineering plant

101 control station computer

103 process computer

104 process

107 signal transmission line

111 active actuator

113 passive actuator

130 process controllers

140 reference model

141 virtual figure

150 Customization Logic

400 virtual figure

401 routine

410 calculation section

420 calculation section

430 calculation section

440 calculation section bi, b2 operating mode p controller parameters s control signal

TD dead time u manipulated variable u* intermediate result x device controlled variable x intermediate result x intermediate result x virtual signal response y controlled variable y virtual controlled variable t

Q simulation parameters

G _R reference simulation parameters

QH historical simulation parameters

Claims

claims l. Actuating device (l) for a process plant (100), such as a chemical plant, a power plant, a food processing plant or the like, comprising: a control valve (3) for adjusting a process fluid flow of the process plant (100), an actuator (5 ) for actuating the control valve (3), and control device electronics (7) for providing an in particular pneumatic control signal (s) for the actuator (5) as a function of a manipulated variable (u), the control device electronics (7) having a signal receiving interface (71) for receiving the manipulated variable (u), characterized in that the actuator electronics (7) comprises a computing device (70) which is set up to determine at least one simulation parameter (Q) which is a signal response (x) of the actuator (1) to a received manipulated variable (u) characterized, and that the actuator electronics (7) has a signal output interface (73) for delivering the least ns has a simulation parameter (Q).

2. Actuator according to Claim 1, characterized in that the actuator electronics (7) are set up to generate the control signal (s) as a function of the manipulated variable (u) and a real signal response (x) supplied, the computing device (70) for this purpose is set up to implement a simulation module (40, 140) which receives the manipulated variable (u) as an input value in order to calculate a virtual signal response (x) based on the at least one simulation parameter (Q), which results in a real signal response in the form of a Device controlled variable (x) corresponds, and wherein the computing device (70) has an adaptation module (50, 150) which is set up to determine a realistic simulation parameter (Q) with regard to the actuating device,

3. Actuator according to one of the preceding claims, characterized in that the actuator electronics (7) have at least one data memory (76) for the at least one simulation parameter (Q), the data memory (76) containing at least one stored reference simulation parameter (0R) for the has at least one simulation parameter.

4. Actuating device according to one of the preceding claims, characterized in that the actuating device electronics (7) has at least one data memory (76) for the at least one simulation parameter (Q), the data memory (76) for storing a plurality of historical simulation parameters determined at different times ( QH) is set up.

5. Actuating device according to claim 3 or 4, characterized in that the computing device (70) is set up, starting from a received manipulated variable (u) and at least one historical simulation parameter (Q _H ) or at least one reference simulation parameter (0 _R ). to calculate the virtual signal response (x) of the actuator (1) and to compare the calculated virtual signal response (x) with a real signal response (x) recorded by the actuator (1), in particular using sensors from the actuator (1).

6. Actuating device according to claim 5, wherein the computing device (70) is set up to detect a deviation, in particular a difference, between the recorded signal response (x) and the virtual signal response (x) in the time dimension, amplitude and/or rate of change and based on the Deviation to determine a current simulation parameter.

7. Actuating device according to one of claims 3 to 6, characterized in that the actuating device electronics (7) is set up to emit a current simulation parameter (0) in particular only by means of the signal output interface (73) if the actuating device electronics (7) during a comparison a current simulation parameter (0) with a historical simulation _{parameter (0 H} ) or a reference simulation parameter (0 _R ) determines a deviation, in particular a difference.

8. Actuating device according to one of the preceding claims, characterized in that the at least one simulation parameter (0) is selected from the list comprising dead time, discretization, static open-loop and/or closed-loop control deviation, characteristic curve and/or slope.

9. Actuating device according to one of the preceding claims, characterized in that the actuating device electronics (7) is adapted so that the particular pneumatic Provide a control signal (s) as a function of a manipulated variable (u) according to a control and/or regulation structure, the actuator electronics (7) being set up to emit at least one simulation parameter (Q) with regard to a particular modified control and/or regulation structure.

10. Actuator according to one of the preceding claims, characterized in that the at least one simulation parameter (Q) designates the open-loop and/or closed-loop control structure or control structures used by the actuator electronics in question, according to a predetermined classification.

11. Actuating device according to one of the preceding claims, characterized in that the signal output interface (73) and signal receiving interface (71) are connected to a common signal transmission line (107), in particular a 4 to 20 mA line, the signal receiving interface (71) being set up for this purpose is to receive the manipulated variable via the signal transmission line (107) and wherein the signal output interface (73) is set up to output the at least one simulation parameter (Q) via the signal transmission line (107).

12. Actuating device according to one of Claims 1 to 11, characterized in that the signal output interface (73) comprises a display unit (74), such as an LCD display, for optically outputting the at least one simulation parameter (Q).

13. Actuating device according to one of the preceding claims, characterized in that the signal output interface (73) is set up to transmit the at least one simulation parameter (Q), in particular a plurality of simulation parameters (Q), with a data transmission speed of no more than 1200 bit/s, in particular no more than 600 bps or no more than 300 bps.

14. Actuating device according to one of the preceding claims, characterized in that the computing device (70) comprises a simulation module (40, 140) which is designed for a simulation for determining a virtual signal response on the basis of a reference simulation parameter and/or at least one historical one simulation parameters and the received manipulated variable.

15. Actuating device according to one of the preceding claims, characterized in that the computing device (70) is also set up by means of an adjustment module (50) to detect a deviation between the virtual signal response (x) and the real signal response (x), the adjustment module ( 50) generates an updated simulation parameter (Q) based on a discrepancy between the virtual signal response (x) and the real signal response (x).

16. The system comprising at least one actuator according to one of the preceding claims and a control room or central computer unit that is superordinate to the actuator, wherein the control room or other computer unit is set up to perform a simulation with one or more realistic simulation parameters using a virtual image of the process plant of the process plant or the actuator.

17. System according to claim 16, comprising a signal transmission line (107), in particular a 4..20 mA line, for transmitting the manipulated variable (u) from a process computer (103) to the actuating device (1), with the signal output interface (73) in particular and the signal receiving interface (71) are connected to the common signal transmission line (107).