CN101859099A - Obtaining method of control object complete phase step response signals - Google Patents
Obtaining method of control object complete phase step response signals Download PDFInfo
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Abstract
The invention relates to an obtaining method of control object complete phase step response signals. By using the method, complete phase step response signals can be obtained through the response of a control object on small incremental phase step signals. The modeling for the control object according to the complete phase step response signals is compared with the modeling for the control object by means of the response of the control object on the small incremental phase step signals. The precision of the former is higher than the precision of the latter. The larger the inertia constant in a control object first order inertia and time lag modelis, the larger the error of the modeling is. The invention has good practical meaning and application foreground for improving the control object modeling precision and the dynamic performance of a control system.
Description
Technical field
The present invention relates to the industrial process automation field, particularly a kind of acquisition methods of controlling object complete phase step response signals.
Background technology
At present, using maximum in the actual control system is PID control, and mostly controlling object is treated to one order inertia and adds time lag model (P (s)=K/ (Ts+1) e
-τ s), carry out PID afterwards and regulate adjusting of parameter.So common way is in the existing control technology: (1) by the complete phase step response signals of controlling object, the one order inertia of controlled object adds the time lag model; (2) one order inertia of controlling object adds the time lag model, carries out the setting of PID controller parameter according to the whole bag of tricks; (3) will configure the PID controller and be applied to actual control system.
Usually, open loop step response by controlling object can controlled object one order inertia add the time lag model, but in actual applications, most ways is the step signal to the given little increment type of controlling object substep, so just, can't directly obtain complete phase step response signals, do not have complete phase step response signals just can not directly carry out modeling, do not adjust and there is the controlling object modeling just can not regulate parameter to the PID controller to controlling object.So, how by the response of controlling object, obtain its complete phase step response signals to the step signal of little increment type, adjusting for the modeling of controlling object and controller parameter has important and practical meanings.
Consult existing patent and document, for how by controlling object its this problem of complete phase step response signals is obtained in the response of the step signal of little increment type, the people did not carry out research.Yet, complete phase step response signals is the prerequisite and the basis of most of modeling methods, so the present invention, has provided a kind of method of the response of the step signal of little increment type being obtained its complete phase step response signals by controlling object specially at above practical problems.
Summary of the invention
The present invention is directed to the deficiencies in the prior art in some practical application, a kind of acquisition methods of controlling object complete phase step response signals is provided, can obtain its complete phase step response signals to the response of the step signal of little increment type by controlling object, for improving the controlling object modeling accuracy and improving the dynamic property of control system, have good practical significance and application prospect.
Method of the present invention for convenience of explanation provides two terms earlier: first is " sampling period ", and n chronomere of promptly every process once samples to the output of controlling object, claims that then n chronomere is a sampling period; Second is " step period demand ", every m sampling period, controlling object is applied the step signal of an equivalent, claims that then m sampling period is a step period demand.
For ease of understanding to this method, now the equivalent step signal that different step period demands are applied is analyzed in the response of certain step period demand: the step signal of the equivalent that (1) applies at different step period demands, and the response that is produced at this step period demand all equates; (2) the equivalent step signal that applies of a last step period demand is in the response that current step period demand is produced, and equals the response that the step signal of the equivalent that current step period demand applies is produced at next step period demand; (3) output of this step period demand controlling object response is formed by the response mutual superposition of the step signal of step period demand before this step period demand and the input of this step period demand.
For its complete phase step response signals being obtained in the response of the step signal of little increment type by controlling object, the acquisition methods of a kind of controlling object complete phase step response signals of the present invention, concrete implementation step is as follows:
(1), determines sampling period, step period demand, given size and the number of times of step signal according to the characteristics of controlling object and control system.
(2), controlling object is applied the step signal of an equivalent every a step period demand.
(3) moment of at every turn applying step signal and size and phase step response signals are stored.
(4) output of first step period demand responds, and is the step response of this step period demand.
The output response of (5) second step period demands deducts the output response of first step period demand, promptly is the step response of second step period demand.
The output response of (6) the 3rd step period demands deducts the output response of second step period demand, promptly is the step response of the 3rd step period demand, and the rest may be inferred.
(7) reach when equating fully to certain step period demand step response, promptly stop computing with a last step period demand step response.
(8) the step response combination by different step period demands obtains complete step response.
For system with time lag, can obtain the time lag size earlier, all response signals are all moved forward the corresponding time lag period, and then utilize this method to obtain complete phase step response signals.
The beneficial effect that the acquisition methods of controlling object complete phase step response signals has compared with prior art among the present invention is: this method can be obtained its complete phase step response signals to the response of the step signal of little increment type by controlling object, by complete phase step response signals controlling object is carried out modeling and directly utilized controlling object that the response of the step signal of little increment type is carried out modeling to controlling object to compare, the former is than the latter's modeling accuracy height, and the inertia constant that the controlling object one order inertia adds in the time lag model is big more, and the error of modeling is also big more.So this method has good practical significance and application prospect for the dynamic property that improves the controlling object modeling accuracy and improve control system.
Description of drawings
Fig. 1 is the process flow diagram of the acquisition methods of controlling object complete phase step response signals of the present invention.
Fig. 2 is the given signal of step that is applied to the main-piping pressure controlling object.
Fig. 3 is the actual output response and complete step response comparison curves of main-piping pressure controlling object.
Fig. 4 is the given signal of step that is applied to the steam flow controlling object.
Fig. 5 is the actual output response and complete step response comparison curves of steam flow controlling object.
Fig. 6 is the given signal of step that is applied to the stripping section controlled target temperature.
Fig. 7 is the actual output response and complete step response comparison curves of stripping section controlled target temperature.
Fig. 8 obtains complete phase step response modeling and the contrast that directly utilizes actual output response modeling result at three kinds of controlling object according to the inventive method.
Embodiment
Below by the drawings and specific embodiments, technical scheme of the present invention is described in further detail.
The implementation step of this method for ease of describing, now provides following expression mode as shown in Figure 1:
(1) establishing every m sampling period, to advance the step signal of 1 little increment given, divides that to finish step signal n time given.
(2) the 1st little step signal is shown Δ y (1 at the 1st Response Table that the step period demand is produced, 1), the 1st little step signal is shown Δ y (2 at the 2nd Response Table that the step period demand is produced, 1), the Response Table that j little step is produced at i step period demand be shown Δ y (i, j), (i 〉=j), (i j) is the numerical value of a m dimension to Δ y.
(3) with in i the step period demand, the response signal of output is expressed as Y (i), is the numerical value of a m dimension, and then the response signal of each step period demand output is as follows respectively:
Y(1)＝Δy(1，1)
Y(2)＝Δy(2，1)+Δy(2，2)
Y(3)＝Δy(3，1)+Δy(3，2)+Δy(3，3)
Y(n)＝Δy(n，1)+Δy(n，2)+……+Δy(n，n)
Y(n+1)＝Δy(n+1，1)+Δy(n+1，2)+……+Δy(n+1，n)
(4) because each Δ y (i i) equates, and Δ y (i+1, i)=Δ y (i, i-1), so the response Δ y (i, 1) that first step signal produces at each step period demand (i=1,2 ...) can be found the solution.
(5) Δ y (i, 1) (i=1,2 ...) specifically method for solving is as follows
Δy(1，1)＝Y(1)
Δy(2，1)＝Y(2)-Δy(2，2)＝Y(2)-Y(1)
Δy(3，1)＝Y(3)-Δy(3，2)-Δy(3，3)＝Y(3)-Y(2)
Δy(n，1)＝Y(n)-Y(n-1)
(6) complete phase step response signals can be expressed as
[Δy(1，1)Δy(2，1)……Δy(n，1)……]
Embodiment 1
In the present embodiment, be controlling object with the main-piping pressure, can be expressed as by the transport function of proportioning valve aperture to main-piping pressure
(1) because sampling period of control system is 1 second, determines that the step period demand is 10 seconds, increase aperture 10% at every turn, divide and 5 times the proportioning valve aperture left to 50%.
(2) since the 10th second, every through a step period demand, the given aperture of step increases by 10%.As shown in Figure 2, transverse axis express time, unit are second; The longitudinal axis is represented the proportioning valve aperture, and unit is %, promptly increases by 10% every 10 seconds proportioning valve apertures in 50 seconds.
(3) moment of at every turn applying step signal and size and phase step response signals are stored.
The moment that applies step signal was respectively 10 seconds, 20 seconds, 30 seconds, 40 seconds and 50 seconds; Size is each aperture 10% that increases; Phase step response signals can be obtained by sampling, as shown in phantom in Figure 3, is 5 seconds because present embodiment has the time lag item, so will all move forward 5 seconds to all step response data.
(4) output of first step period demand responds, and is the step response of this step period demand.
Δy(1，1)＝Y(1)
＝[03.2900?6.1950?9.0230?11.4240?13.7340?15.6975?17.5875?19.197520.7550]；
The output response of (5) second step period demands deducts the output response of first step period demand, promptly is the step response of second step period demand.
Δy(2，1)＝Y(2)-Y(1)
＝[22.1235?23.2925?24.4580?25.4100?26.3690?27.1530?27.9300?28.574029.2250?29.7395]；
The output response of (6) the 3rd step period demands deducts the output response of second step period demand, promptly is the step response of the 3rd step period demand, and the rest may be inferred.
Δy(3，1)＝Y(3)-Y(2)
＝[30.2645?30.6075?31.1150?31.4825?31.8010?32.1370?32.389032.6760?32.8020?33.0680]；
Δy(4，1)＝Y(4)-Y(3)
＝[33.2570?33.4250?33.5370?33.7050?33.8415?33.9220?34.0375?34.139034.1950?34.2720]；
Δy(5，1)＝Y(5)-Y(4)
＝[34.3595?34.4225?34.4750?34.5310?34.5660?34.6010?34.615034.6780?34.9060?34.9875]；
(7) reach when equating fully to certain step period demand step response, promptly stop computing with a last step period demand step response.Because Y (6)=Y (5) is so stop computing.
(8) step response by different step period demands makes up the step response that obtains for single 10% proportioning valve aperture, above step response multiply by 5 times, get final product controlling object to the complete step response of 50% proportioning valve aperture, as shown in Figure 3, transverse axis express time among the figure, unit are second; The longitudinal axis is represented main-piping pressure, and unit is MPa.Dotted line is the actual output response curve of main-piping pressure controlling object among the figure, and solid line is the complete phase step response curve of main-piping pressure controlling object.
Embodiment 2
In the present embodiment, be controlling object with the steam flow, can be expressed as by the transport function of steam control valve ratio aperture to steam flow
The sampling period of control system is 1 minute in this example, determines that the step period demand is 10 minutes, increases aperture 5% at every turn, divides and 5 times the proportioning valve aperture is left to 25%.As shown in Figure 4, transverse axis express time among the figure, unit are minute; The longitudinal axis is represented the proportioning valve aperture, and unit is %, promptly increases by 5% every 10 seconds proportioning valve apertures in 50 minutes.Obtain being applied to the given signal of step of steam flow controlling object and the actual output response and complete step response comparison curves of steam flow controlling object according to the method that this patent proposed, as shown in Figure 5, transverse axis express time among the figure, unit are minute; The longitudinal axis is represented steam flow, and unit is ton/hour (t/h).Dotted line is the actual output response curve of steam flow controlling object among the figure, and solid line is the complete phase step response curve of steam flow controlling object.
In the present embodiment, be controlling object with rectification column stripping section temperature, the transport function from steam flow to the stripping section temperature can be expressed as
The sampling period of control system is 1 minute in this example, determines that the step period demand is 10 minutes, increases steam flow 4t/h (ton/hour) at every turn, divides and 5 times the proportioning valve aperture is left to 20t/h.As shown in Figure 6, transverse axis express time among the figure, unit are minute; The longitudinal axis is represented steam flow, and unit is ton/hour (t/h), promptly increases by 4 tons/hour every 10 seconds steam flows in 50 minutes.Obtain being applied to the given signal of step of stripping section controlled target temperature and the actual output response and the complete step response comparison curves of stripping section controlled target temperature according to the method that this patent proposed.As shown in Figure 7, transverse axis express time among the figure, unit are minute; The longitudinal axis is represented the stripping section temperature, and unit is degree centigrade.Dotted line is the actual output response curve of stripping section controlled target temperature among the figure, and solid line is the complete phase step response curve of stripping section controlled target temperature.
Controlling object model P (s)=K/ (Ts+1) e
-τ sIn, whether the modeling of K and τ is not subjected to is the influence of complete phase step response.At above three class controlling object, obtain complete phase step response and reality is exported response as complete phase step response according to the inventive method, the result who inertia constant T is carried out modeling according to area-method more as shown in Figure 8, modeling accuracy adopts relative error to represent that promptly the percentage of the ratio of the absolute value of the difference of inertia constant exact value and identifier and its exact value is represented in the table.By comparing data in the table as seen, obtain complete phase step response according to the inventive method after modeling accuracy much higher.
Claims (2)
1. the acquisition methods of a controlling object complete phase step response signals, it is characterized in that: by controlling object its complete phase step response signals is obtained in the response of the step signal of little increment type, the concrete implementation step of this method is as follows:
(1), determines sampling period, step period demand, given size and the number of times of step signal according to the characteristics of controlling object and control system; The described sampling period, the output of controlling object is once sampled through n chronomere for every, claim that then n chronomere is a sampling period; Described step period demand for every m sampling period, applies the step signal of an equivalent to controlling object, claims that then m sampling period is a step period demand;
(2), controlling object is applied the step signal of an equivalent every a step period demand;
(3) moment of at every turn applying step signal and size and phase step response signals are stored; The step signal of the equivalent that applies at different step period demands, the response that is produced at this step period demand all equates; The equivalent step signal that a last step period demand applies is in the response that current step period demand is produced, and equals the response that the step signal of the equivalent that current step period demand applies is produced at next step period demand; The output of this step period demand controlling object response is formed by the response mutual superposition of the step signal of step period demand before this step period demand and the input of this step period demand;
(4) output of first step period demand responds, and is the step response of this step period demand;
The output response of (5) second step period demands deducts the output response of first step period demand, promptly is the step response of second step period demand;
The output response of (6) the 3rd step period demands deducts the output response of second step period demand, promptly is the step response of the 3rd step period demand, and the rest may be inferred;
(7) reach when equating fully to certain step period demand step response, promptly stop computing with a last step period demand step response;
(8) the step response combination by different step period demands obtains complete step response.
2. the acquisition methods of a kind of controlling object complete phase step response signals according to claim 1, it is characterized in that: for system with time lag, can obtain the time lag size earlier, all response signals are all moved forward the corresponding time lag period, and then utilize this method to obtain complete phase step response signals.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106773676A (en) * | 2016-11-30 | 2017-05-31 | 浙江中控软件技术有限公司 | For the generation method and device of the pumping signal of chemical process |
| CN109856978A (en) * | 2019-03-26 | 2019-06-07 | 广东电网有限责任公司 | A kind of method and device obtaining plant model |
| CN113139291A (en) * | 2021-04-23 | 2021-07-20 | 广东电网有限责任公司电力科学研究院 | Method and device for obtaining optimal sliding window filtering model of controlled process |
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2010
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106773676A (en) * | 2016-11-30 | 2017-05-31 | 浙江中控软件技术有限公司 | For the generation method and device of the pumping signal of chemical process |
| CN106773676B (en) * | 2016-11-30 | 2019-12-24 | 浙江中控软件技术有限公司 | Method and device for generating excitation signal for chemical process |
| CN109856978A (en) * | 2019-03-26 | 2019-06-07 | 广东电网有限责任公司 | A kind of method and device obtaining plant model |
| CN113139291A (en) * | 2021-04-23 | 2021-07-20 | 广东电网有限责任公司电力科学研究院 | Method and device for obtaining optimal sliding window filtering model of controlled process |
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