CN101709863A  Hybrid control method for furnace pressure system of coalfired boiler  Google Patents
Hybrid control method for furnace pressure system of coalfired boiler Download PDFInfo
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 CN101709863A CN101709863A CN200910155792A CN200910155792A CN101709863A CN 101709863 A CN101709863 A CN 101709863A CN 200910155792 A CN200910155792 A CN 200910155792A CN 200910155792 A CN200910155792 A CN 200910155792A CN 101709863 A CN101709863 A CN 101709863A
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Abstract
The invention relates to a hybrid control method for a furnace pressure system of a coalfired boiler, which is characterized by firstly establishing a process model based on the realtime process data of the furnace pressure of the coalfired boiler and digging out the basic process characteristics; then establishing a proportionalintegral (PI) control circuit based on the process model; and finally implementing predictive PI control on PI differentiation control and the furnace pressure object of the coalfired boiler wholly by computing the parameters of a predictive PI controller. The method of the invention makes up for the deficiency of traditional control, effectively facilitates the design of the controller, ensures the control performance to be elevated and simultaneously meets the given production performance index. The control technology provided by the invention can effectively reduce the error between the technological parameters of the ideal furnace pressure and the actual furnace pressure, further make up for the deficiency of the traditional controller and simultaneously ensure the control device to operate in the optimum state so as to ensure the technological parameter of the furnace pressure in the production process to be strictly controlled.
Description
Technical field
The invention belongs to technical field of automation, relate to the mixing control method of prediction proportional plus integral control (predictive PI) with the PID control (PID) of a kind of coalburning boiler furnace pressure system.
Background technology
Coalburning boiler is the important motivity equipment of electrical production department, and its requirement is to supply with qualified steam, makes the coalburning boiler steam exhaling amount adapt to the needs of load.For this reason, each main technologic parameters of production process must strict control.Yet coalburning boiler equipment is the controlled device of a complexity, and is interrelated between input quantity and the output quantity.For the boiler furnace pressure system: steam load changes and causes when steam pressure and superheat steam temperature change, and causes that also furnace pressure changes; The variation of fuel quantity directly influences steam pressure, the variation of superheat steam temperature, excess air and combustion chamber draft; The variation of desuperheating water can cause superheat steam temperature, steam pressure to change, and further causes the variation of furnace pressure etc.These unfavorable factors cause traditional control device precision not high, further cause subsequent production control parameter instability again, and product percent of pass is low, and boiler efficiency is low.Traditional simple control device is adopted in the furnace pressure control of coalburning boiler basically in the actual industrial at present, even manual operation, and the control parameter relies on technical staff's experience fully, and production cost is increased, and the control effect is very undesirable.China's coalburning boiler control is relatively backward with optimisation technique; energy consumption is high, and control performance is poor, and automaticity is low; be difficult to adapt to the energysaving and emissionreduction and the demand of environmental protection indirectly, this wherein directly one of influence factor be the control scheme problem of coalburning boiler system.
Summary of the invention
Target of the present invention is the weak point at existing coalburning boiler furnace pressure system control technology, a kind of hybrid control method for furnace pressure system of coalfired boiler is provided, specifically is based on the mixing control method of prediction proportional integral and PID control.This method has remedied the deficiency of traditional control method, and when guaranteeing that control has higher precision and stability, the form that also guarantees is simple and satisfy the needs of actual industrial process.
The inventive method is at first set up process model based on coalburning boiler furnace pressure realtime process data, excavates basic process characteristic; Set up the PID control loop based on this process model then; At last by calculating the parameter of predictive PI controller, with PID control and the control of coalburning boiler furnace pressure object whole implementation predictive PI.
Technical scheme of the present invention is by means such as data acquisition, process identification, prediction mechanism, datadriven, optimizations, the predictive PI of a kind of coalburning boiler furnace pressure system and the mixing control method of PID control have been established, utilize this method can effectively improve the precision of control,, satisfy given production performance index simultaneously.
The step of the inventive method comprises:
(1) utilize coalburning boiler furnace pressure realtime process data to set up process model, concrete grammar is:
At first set up coalburning boiler furnace pressure realtime running data storehouse, gather N group realtime process service data,, be expressed as { X the realtime process service data of gathering sample set as datadriven by data acquisition unit
_{i}, y (i) }
_{I=1} ^{N}, i=1,2 ..., N, wherein X
_{i}The input data of representing i group technological parameter, the output valve of y (i) expression i group technological parameter.
Serve as that the local controlled autoregressive moving average model based on the discrete differential equation form of least square method is set up on the basis with this furnace pressure realtime process service data set then:
y
_{L}(k)＝Φ
^{T}X，Φ＝[a′
_{1}，a′
_{2}，…，a′
_{n}，b′
_{0}，b′
_{1}，…，b′
_{m1}]
^{T}
X＝[y(k1)，…，y(kn)，u(kd1)，…，u(kdm)]
^{T}
Wherein, y
_{L}(k) output valve of the technological parameter of expression current time process model, X represents the set of past input and output data constantly of the technological parameter of process model, the control variables of u (k) expression active procedure model technological parameter correspondence, k is current recursion step number, Φ represents the set of the model parameter that obtains by identification, the transposition of T representing matrix, n, m, d+1 are respectively output variable order, the input variable order of corresponding real process, the time lag of real process.
The identification means that adopt are:
(2) adopt typical response curve method to design the proportional plus integral plus derivative controller of furnace pressure process model, concrete grammar is:
A. the proportional plus integral plus derivative controller with process model rests on manual operation state, and the operation dial makes its output have step to change, and by the output valve of recording apparatus recording process model, converts the response curve of process model output valve yL (k) to dimensionless form y
_{L} ^{*}(k), specifically:
Wherein, y
_{L}(∞) be the output of the proportional plus integral plus derivative controller of the process model process model output y when having step to change
_{L}(k) steadystate value.
B. choose satisfied
Two calculation level k
_{1}And k
_{2},, calculate proportional plus integral plus derivative controller parameters needed K, T and τ according to following formula:
K＝y
_{L}(∞)/q
T＝2(k
_{1}k
_{2})
τ＝2k
_{1}k
_{2}
Wherein, q is the step amplitude of variation of the proportional plus integral plus derivative controller output of process model.
C. the parameter of the proportional plus integral plus derivative controller of computational process model, specifically:
K
_{c}＝1.2T/Kτ
T
_{i}＝2τ
T
_{d}＝0.5τ
K wherein
_{c}Be the scale parameter of proportional plus integral plus derivative controller, T
_{i}Be the integral parameter of proportional plus integral plus derivative controller, T
_{d}Be respectively the differential parameter of proportional plus integral plus derivative controller.
(3) design prediction proportional integral proportional plus integral plus derivative controller, concrete steps are:
D. the proportional plus integral plus derivative controller with process model rests on automatic mode of operation, and the operation dial makes its input have step to change, and by the output of recording apparatus record realtime process, converts the response curve of process output valve y (k) to dimensionless form y
^{*}(k), specifically: y
^{*}(k)=y (k)/y (∞)
Wherein, y (∞) is the steadystate value of the input of the proportional plus integral plus derivative controller of the process model process model output y (k) when having step to change.
E. choose and satisfy y (k
_{3})=0.39, y (k
_{4}Two calculation level k in addition of)=0.63
_{3}And k
_{4}, calculate prediction proportional integral proportional plus integral plus derivative controller parameters needed K according to following formula
_{1}, T
_{1}And τ
_{1}:
K
_{1}＝y(∞)/q
_{1}
T
_{1}＝2(k
_{3}k
_{4})
τ
_{1}＝2k
_{3}k
_{4}
Wherein, q
_{1}Step amplitude of variation for the input of the proportional plus integral plus derivative controller of process model.
F. the parameter that step e is obtained is converted into the local controlled delivery function model of Laplce's form:
Wherein, s is the Laplace transform operator, λ
_{1}Be the time constant of local controlled delivery function model, L
_{1}Be the time lag of local controlled delivery function model, the Laplace transform of the output valve of y (s) expression current time process model, q
_{1}(s) Laplace transform of the proportional plus integral plus derivative controller input of expression process model.
λ
_{1}＝T
_{1}
L
_{1}＝τ
_{1}
G. the model parameter that calculates according to step f is adjusted and is predicted the parameter of proportional integral proportional plus integral plus derivative controller, and concrete grammar is:
1. to this object designs prediction pi controller.The closed loop transfer function, model of choosing expectation is G
_{Q2}(s)
λ
_{2}Be the time constant of closed loop transfer function, model of expectation, L
_{2}Be the time lag of closed loop transfer function, model of expectation, L
_{2}=L
_{1}
2. predict the transfer function G of proportional integral proportional plus integral plus derivative controller
_{C1}(s) can represent by following formula
3. 2. obtain current prediction proportional integral proportional plus integral plus derivative controller parameter value u (s) according to step
A kind of model based on datadriven that the present invention proposes chooses and predictive PIPID mixing control method has remedied the deficiency of traditional control, and has made things convenient for the design of controller effectively, guarantees the lifting of control performance, satisfies given production performance index simultaneously.
The control technology that the present invention proposes can effectively reduce the error between desirable furnace pressure technological parameter and the actual furnace pressure process parameter, further remedied the deficiency of traditional controller, guarantee that simultaneously control device operates in optimum state, make the furnace pressure technological parameter of production process reach strict control.
The specific embodiment
With the process control of circulating fluidized bed boiler systems furnace pressure is example:
Here described as an example with the control in this system furnace pressure loop.Furnace pressure not only is subjected to the influence of air mass flow, also is subjected to fuel flow rate, the influence of desuperheating water flow and steam flow simultaneously.Regulating measure adopts into air capacity, and remaining influences as uncertain factor.
(1) sets up the furnace pressure process model of this circulating fluidized bed boiler systems.
Gather realtime process furnace pressure service data by data acquisition unit, the realtime process furnace pressure service data of gathering is adopted the least square method reasoning as the sample set of datadriven, set up furnace pressure process model based on the discrete differential equation form of least square method.
Wherein, the system call inference machine adopts least square method to carry out the identification of furnace pressure process model parameter, and these parameters comprise the number and the concrete numerical value of variable among the element Φ.
Wherein y (k) is the actual furnace pressure measuring value, Φ
_{k} ^{T}X
_{k}It is the output valve of furnace pressure process model.
This process is a first step reasoning process.This first step reasoning is the fundamental characteristics that tentatively excavates the actual furnace pressure circuit.
(2) proportional plus integral plus derivative controller of design furnace pressure process model, concrete grammar is typical response curve method.
The first step: the furnace pressure proportional plus integral plus derivative controller is rested on " manual operation " state, the dial that air capacity is advanced in operation makes into air capacity controller output that individual step variation be arranged, by the output valve of recording apparatus record furnace pressure process model, with furnace pressure process model output valve y
_{L}(k) response curve converts dimensionless form y to
_{L} ^{*}(k):
Wherein, y
_{L}(∞) be furnace pressure process model output y
_{L}(k) steadystate value.
Second step: choose 2 calculation levels,
Calculate furnace pressure proportional plus integral plus derivative controller parameters needed T and τ according to following computing formula:
K＝y
_{L}(∞)/q
T＝2(k
_{1}k
_{2})
τ＝2k
_{1}k
_{2}
Wherein, q is the step amplitude of variation of furnace pressure proportional plus integral plus derivative controller output.
The 3rd step: go on foot the K that calculates, the parameter that T and τ adjust the furnace pressure proportional plus integral plus derivative controller according to second:
K
_{c}＝1.2T/Kτ
T
_{i}＝2τ
T
_{d}＝0.5τ
K wherein
_{c}, T
_{i}, T
_{d}Be respectively the scale parameter of proportional plus integral plus derivative controller, integral parameter, differential parameter.
(3) predictive PIPID controller of design furnace pressure process, concrete grammar is:
Set up this boiler furnace pressure real time execution process database at the basic controlling loop that the furnace pressure proportional plus integral plus derivative controller and the process model of design are formed, gather furnace pressure realtime process service data by data acquisition unit, set up predictive PIrequired forecast model of PID control according to furnace pressure realtime process service data, design corresponding furnace pressure realtime process predictive PIPID controller based on this forecast model, concrete steps are:
The first step: the furnace pressure proportional plus integral plus derivative controller is rested on " operation automatically " state, the input of operation furnace pressure proportional plus integral plus derivative controller makes the input of furnace pressure proportional plus integral plus derivative controller have individual step to change, by the output of recording apparatus record furnace pressure realtime process, convert the response curve of furnace pressure realtime process output valve y (k) to dimensionless form y
^{*}(k):
y
^{*}(k)＝y(k)/y(∞)
Wherein, y (∞) is the steadystate value of furnace pressure realtime process output y (k).
Second step: choose 2 calculation levels, y (k
_{3})=0.39, y (k
_{4}Furnace pressure predictive PIPID controller parameters needed K is calculated according to following computing formula in)=0.63
_{1}, T
_{1}And τ
_{1}:
K
_{1}＝y(∞)/q
_{1}
T
_{1}＝2(k
_{3}k
_{4})
τ
_{1}＝2k
_{3}k
_{4}
Wherein, q
_{1}Step amplitude of variation for the input of furnace pressure proportional plus integral plus derivative controller.
The 3rd step: go on foot the local controlled delivery function model that the parameter that obtains is converted into Laplce's form with second:
Wherein, the Laplace transform of y (s) expression current time furnace pressure process model output valve, q
_{1}(s) Laplace transform of the proportional plus integral plus derivative controller input of expression furnace pressure process model.
λ
_{1}＝T
_{1}
L
_{1}＝τ
_{1}
The 4th step: the parameter that the model parameter that the 3rd step of foundation calculates is adjusted furnace pressure predictive PIPID controller, concrete grammar is:
1. to this object designs prediction pi controller.The closed loop transfer function, model of choosing expectation is G
_{Q2}(s)
λ
_{2}Be the time constant of closed loop transfer function, model of expectation, L
_{2}Be the time lag of closed loop transfer function, model of expectation, L
_{2}=L
_{1}
2. predict the transfer function G of proportional integral proportional plus integral plus derivative controller
_{C1}(s) can represent by following formula
3. 2. obtain current prediction proportional integral proportional plus integral plus derivative controller parameter value u (s) according to step
Claims (1)
1. hybrid control method for furnace pressure system of coalfired boiler is characterized in that this method may further comprise the steps:
(1) utilize coalburning boiler furnace pressure realtime process data to set up process model, concrete grammar is:
At first set up coalburning boiler furnace pressure realtime running data storehouse, gather N group realtime process service data,, be expressed as { x the realtime process service data of gathering sample set as datadriven by data acquisition unit
_{i}, y (i) }
_{I=1} ^{N}, i=1,2 ..., N, wherein x
_{i}The input data of representing i group technological parameter, the output valve of y (i) expression i group technological parameter;
Serve as that the local controlled autoregressive moving average model based on the discrete differential equation form of least square method is set up on the basis with this furnace pressure realtime process service data set then:
X＝[y(k1)，…，y(kn)，u(kd1)，…，u(kdm)]
^{T}
Y wherein
_{L}(k) output valve of the technological parameter of expression current time process model, x represents the set of past input and output data constantly of the technological parameter of process model, the control variables of u (k) expression active procedure model technological parameter correspondence, k is current recursion step number, Φ represents the set of the model parameter that obtains by identification, the transposition of T representing matrix, n, m, d+1 are respectively output variable order, the input variable order of corresponding real process, the time lag of real process;
The identification means that adopt are:
Wherein k and P are two matrixes in the identification,
γ is a forgetting factor,
Be unit matrix;
(2) adopt typical response curve method to design the proportional plus integral plus derivative controller of furnace pressure process model, concrete grammar is:
A. the proportional plus integral plus derivative controller with process model rests on manual operation state, and the operation dial makes its output have step to change, by the output valve of recording apparatus recording process model, with process model output valve y
_{L}(k) response curve converts dimensionless form y to
_{L} ^{*}(k), specifically:
Wherein, y
_{L}(∞) be the output of the proportional plus integral plus derivative controller of the process model process model output y when having step to change
_{L}(k) steadystate value;
B. choose satisfied
Two calculation level k
_{1}And k
_{2},, calculate proportional plus integral plus derivative controller parameters needed K, T and τ according to following formula:
K＝y
_{L}(∞)/q
T＝2(k
_{1}k
_{2})
τ＝2k
_{1}k
_{2}
Wherein q is the step amplitude of variation of the proportional plus integral plus derivative controller output of process model;
C. the parameter of the proportional plus integral plus derivative controller of computational process model, specifically:
K
_{c}＝1.2T/Kτ
T
_{i}＝2τ
T
_{d}＝0.5τ
K wherein
_{c}Be the scale parameter of proportional plus integral plus derivative controller, T
_{i}Be the integral parameter of proportional plus integral plus derivative controller, T
_{d}Be respectively the differential parameter of proportional plus integral plus derivative controller;
(3) design prediction proportional integral proportional plus integral plus derivative controller, concrete steps are:
D. the proportional plus integral plus derivative controller with process model rests on automatic mode of operation, and the operation dial makes its input have step to change, and by the output of recording apparatus record realtime process, converts the response curve of process output valve y (k) to dimensionless form y
^{*}(k), specifically: y
^{*}(k)=y (k)/y (∞)
Wherein, y (∞) is the steadystate value of the input of the proportional plus integral plus derivative controller of the process model process model output y (k) when having step to change;
E. choose and satisfy y (k
_{3})=0.39, y (k
_{4}Two calculation level k in addition of)=0.63
_{3}And k
_{4}, calculate prediction proportional integral proportional plus integral plus derivative controller parameters needed K according to following formula
_{1}, T
_{1}And τ
_{1}:
K
_{1}＝y(∞)/q
_{1}
T
_{1}＝2(k
_{3}k
_{4})
τ
_{1}＝2k
_{3}k
_{4}
Q wherein
_{1}Step amplitude of variation for the input of the proportional plus integral plus derivative controller of process model;
F. the parameter that step e is obtained is converted into the local controlled delivery function model of Laplce's form:
Wherein s is the Laplace transform operator, λ
_{1}Be the time constant of local controlled delivery function model, L
_{1}Be the time lag of local controlled delivery function model, the Laplace transform of the output valve of y (s) expression current time process model, q
_{1}(s) Laplace transform of the proportional plus integral plus derivative controller input of expression process model;
λ
_{1}＝T
_{1}
L
_{1}＝τ
_{1}
G. the model parameter that calculates according to step f is adjusted and is predicted the parameter of proportional integral proportional plus integral plus derivative controller, and concrete grammar is:
1. to this object designs prediction pi controller; The closed loop transfer function, model of choosing expectation is G
_{Q2}(s)
λ
_{2}Be the time constant of closed loop transfer function, model of expectation, L
_{2}Be the time lag of closed loop transfer function, model of expectation, L
_{2}=L
_{1}
2. predict the transfer function G of proportional integral proportional plus integral plus derivative controller
_{C1}(s) can represent by following formula
3. 2. obtain current prediction proportional integral proportional plus integral plus derivative controller parameter value u (s) according to step.
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Cited By (8)
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CN102840571A (en) *  20120920  20121226  贵州电力试验研究院  Subspace identification based forecasting method for superheated steam output of boiler of firepower power station 
CN102915011A (en) *  20120926  20130206  中国神华能源股份有限公司  Method and device for solving median from five parameters by distributed control system 
CN103090410A (en) *  20130201  20130508  莱芜钢铁集团电子有限公司  Combustion air pressure control method, device and system for heating furnace 
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CN104964263A (en) *  20150623  20151007  大唐韩城第二发电有限责任公司  Control method for boiler main steam pressure 
CN105159097A (en) *  20151010  20151216  杭州电子科技大学  Multivariable prediction control PID control method for oilrefining heating furnace pressure 
CN107991886A (en) *  20171228  20180504  杭州电子科技大学  A kind of prediction optimization control method of waste plastics gasification oil refining furnace pressure 
CN112180876A (en) *  20201019  20210105  广东省特种设备检测研究院  Big data based energysaving control method for gasfired boiler 
Family Cites Families (1)
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CN100596325C (en) *  20060411  20100331  中控科技集团有限公司  Serial combustion system and method for load control of circulating fluidized bed boiler 

2009
 20091218 CN CN2009101557929A patent/CN101709863B/en not_active Expired  Fee Related
Cited By (12)
Publication number  Priority date  Publication date  Assignee  Title 

CN102840571A (en) *  20120920  20121226  贵州电力试验研究院  Subspace identification based forecasting method for superheated steam output of boiler of firepower power station 
CN102840571B (en) *  20120920  20150812  贵州电力试验研究院  Firepower power station boiler based on Subspace Identification exports the forecasting procedure of superheated steam 
CN102915011A (en) *  20120926  20130206  中国神华能源股份有限公司  Method and device for solving median from five parameters by distributed control system 
CN102915011B (en) *  20120926  20150610  中国神华能源股份有限公司  Method and device for solving median from five parameters by distributed control system 
CN103090410A (en) *  20130201  20130508  莱芜钢铁集团电子有限公司  Combustion air pressure control method, device and system for heating furnace 
CN103090410B (en) *  20130201  20150708  莱芜钢铁集团电子有限公司  Combustion air pressure control method, device and system for heating furnace 
CN104317321A (en) *  20140923  20150128  杭州电子科技大学  Coking furnace hearth pressure control method based on statespace predictive functional control optimization 
CN104964263A (en) *  20150623  20151007  大唐韩城第二发电有限责任公司  Control method for boiler main steam pressure 
CN105159097A (en) *  20151010  20151216  杭州电子科技大学  Multivariable prediction control PID control method for oilrefining heating furnace pressure 
CN107991886A (en) *  20171228  20180504  杭州电子科技大学  A kind of prediction optimization control method of waste plastics gasification oil refining furnace pressure 
CN107991886B (en) *  20171228  20200828  杭州电子科技大学  Prediction optimization control method for waste plastic gasification oil refining hearth pressure 
CN112180876A (en) *  20201019  20210105  广东省特种设备检测研究院  Big data based energysaving control method for gasfired boiler 
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