JP5924940B2 - モデル不一致を補償するためチューニング可能積分コンポーネントを備えるモデル予測コントローラ - Google Patents
モデル不一致を補償するためチューニング可能積分コンポーネントを備えるモデル予測コントローラ Download PDFInfo
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Description
モデル不一致存在下でのMPC制御性能の改善
モデルベース制御の欠点
モデルベース制御のチューニング
産業プロセス特性のためのチューニング
MPCへのチューニング可能フィードバックの追加
Claims (23)
- プロセス制御に使用するモデルベースプロセスコントローラであって、
前記プロセス内の被制御変数の測定値を受信するコントローラ入力と、
前記プロセスの被操作プロセス変数を制御するため1つ以上の制御信号を提供するコントローラ出力と、
プロセスの動作をモデル化するプロセスモデルを含み、前記プロセスモデルに基づき予測プロセス変数値を作成する、プロセスモデルユニットと、
前記予測プロセス変数値とプロセス変数設定点との差を使用し予備制御信号を生成する制御ユニットと、
前記予測プロセス変数値と、被制御変数の測定値又はプロセス変数設定点とを使用し誤差信号を生成する誤差ユニットと、
前記誤差信号を積分し積分誤差信号を作成する積分器と、
前記積分器と前記制御ユニットとへ結合され、前記積分誤差信号に前記予備制御信号を結合し、前記プロセスの前記被操作プロセス変数の制御に使用する1つ以上の制御信号を作成する、結合器ユニットと、を備える、
モデルベースプロセスコントローラ。 - (1)前記誤差ユニットは前記予測プロセス変数値とプロセス変数設定点との誤差を判定し、前記制御ユニットは前記誤差を使用し前記予備制御信号を作成するか、又は、
(2)前記誤差ユニットは前記予測プロセス変数値と前記被制御変数の測定値との誤差を判定することにより前記誤差信号を生成する、請求項1に記載のモデルベースプロセスコントローラ。 - 前記積分器はチューニング可能である、請求項1又は2に記載のモデルベースプロセスコントローラ。
- 前記積分器は前記プロセスのむだ時間の割合に基づきチューニング可能である、請求項3に記載のモデルベースプロセスコントローラ。
- 前記制御ユニットはモデル予測制御アルゴリズムを遂行する、請求項1〜4のいずれか一項に記載のモデルベースプロセスコントローラ。
- 前記プロセスモデルは、1つ以上の線形ステップ応答モデルを、又は1つ以上のインパルス応答モデルを、備え、前記制御ユニットは動的マトリックス制御アルゴリズムを遂行し前記予備制御信号を作成する、請求項1〜5のいずれか一項に記載のモデルベースプロセスコントローラ。
- 前記プロセスモデルは、第一原理モデル、一次プラスむだ時間プロセスモデル、二次プロセスモデル、および二次プラスむだ時間プロセスモデルのうちの少なくとも一つを含む、請求項1〜6のいずれか一項に記載のモデルベースプロセスコントローラ。
- 前記制御ユニットは通常型カルマンフィルタ又は簡略型カルマンフィルタを含むモデル予測制御アルゴリズムを遂行する、請求項1〜7のいずれか一項に記載のモデルベースプロセスコントローラ。
- 前記誤差ユニットは前記予測プロセス変数値とプロセス変数設定点との誤差を判定し、前記制御ユニットは前記誤差を使用し前記予備制御信号を作成する、請求項1に記載のモデルベースプロセスコントローラ。
- プロセスの制御に使用する1組のプロセス制御信号を形成する方法であって、
前記プロセスの動作をモデル化するプロセスモデルから、且つ前記プロセスモデルへ入力として提供される1組のコントローラ出力値から、1組の予測プロセス変数値を作成することと、
1組の予備制御信号を生成するため前記1組の予測プロセス変数値と1組のプロセス変数設定点との差を使用することと、
前記1組の予測プロセス変数値と、1組の被制御変数の測定値又はプロセス変数設定点とから誤差信号を生成することと、
積分器によって積分誤差信号を作成するため前記誤差信号を積分することと、
前記1組のプロセス制御信号を作成するため前記積分誤差信号に前記1組の予備制御信号を結合することと、を備える、
1組のプロセス制御信号を形成する方法。 - 前記積分器のチューニングを可能にすることをさらに含む、請求項10に記載の1組のプロセス制御信号を形成する方法。
- 前記プロセスのむだ時間の割合に基づき前記積分器のチューニングを可能にすることをさらに含む、請求項11に記載の1組のプロセス制御信号を形成する方法。
- 前記1組の予測プロセス変数値を作成することは、前記1組のコントローラ出力値として以前の1組のプロセス制御信号を使用することを含む、請求項10〜12のいずれか一項に記載の1組のプロセス制御信号を形成する方法。
- 前記1組の予測プロセス変数値を作成するため、前記プロセス内の被制御変数の測定値を、前記プロセスモデル並びに前記1組のコントローラ出力値とともに、使用することをさらに含む、請求項10〜13のいずれか一項に記載の1組のプロセス制御信号を形成する方法。
- 前記1組の予測プロセス変数値を作成するため、前記プロセス内の測定外乱を示す1つ以上のプロセス測定値を、前記プロセスモデル並びに前記1組のコントローラ出力値とともに、使用することをさらに含む、請求項10〜14のいずれか一項に記載の1組のプロセス制御信号を形成する方法。
- 前記1組の予備制御信号を生成するため前記1組の予測プロセス変数値を使用することは、前記1組の予備制御信号を作成するためモデル予測制御アルゴリズムを使用することを含む、請求項10〜15のいずれか一項に記載の1組のプロセス制御信号を形成する方法。
- 前記モデル予測制御アルゴリズムとともに状態オブザーバを遂行することをさらに含み、前記状態オブザーバは通常型カルマンフィルタか簡略型カルマンフィルタのいずれか一方である、請求項16に記載の1組のプロセス制御信号を形成する方法。
- プロセスの制御に使用するプロセスコントローラであって、
プロセッサと、
コンピュータ可読メモリと、
前記コンピュータ可読メモリに蓄積され、前記プロセスの動作をモデル化する、プロセスモデルと、
前記コンピュータ可読メモリに蓄積され、前記プロセッサにて実行されたときに、プロセス制御出力信号と前記プロセスモデルとを使用し予測プロセス変数値を作成する、予測ルーチンと、
前記コンピュータ可読メモリに蓄積され、前記プロセッサにて実行されたときに、前記予測プロセス変数値とプロセス変数設定点との差を使用し予備制御信号を生成する、制御ルーチンと、
前記コンピュータ可読メモリに蓄積され、前記プロセッサにて実行されたときに、前記予測プロセス変数値と、被制御変数の測定値又はプロセス変数設定点との差を示す誤差信号を判定する、誤差検出ルーチンと、
前記コンピュータ可読メモリに蓄積され、前記プロセッサにて実行されたときに、前記誤差信号を積分し積分誤差信号を作成するチューニング可能積分ルーチンと、
前記コンピュータ可読メモリに蓄積され、前記プロセッサにて実行されたときに、
前記積分誤差信号に前記予備制御信号を結合し、前記プロセスの被操作プロセス変数の制御に使用する1つ以上の制御信号を作成する、結合ルーチンと、を備える、
プロセスコントローラ。 - 前記チューニング可能積分ルーチンは、前記プロセスのむだ時間の割合に基づき異なる積分設定にチューニングできる、請求項18に記載のプロセスコントローラ。
- 前記予測ルーチンは、前記プロセス制御出力信号として予め計算された最終制御信号を使用する、請求項18〜19のいずれか一項に記載のプロセスコントローラ。
- 前記誤差検出ルーチンは、前記予測プロセス変数値と前記プロセス変数設定点との差として前記誤差信号を形成する、請求項20に記載のプロセスコントローラ。
- 制御ルーチンは動的マトリックス制御アルゴリズムおよびモデル予測制御アルゴリズムの少なくとも一つを遂行し前記予備制御信号を生成する、請求項20に記載のプロセスコントローラ。
- 制御ルーチンはモデル予測制御アルゴリズムと通常型カルマンフィルタか簡略型カルマンフィルタのいずれか一方を含む状態オブザーバアルゴリズムとを遂行し前記予備制御信号を生成する、請求項20に記載のプロセスコントローラ。
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