CN101923318A - Method for manufacturing network PID controller - Google Patents
Method for manufacturing network PID controller Download PDFInfo
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- CN101923318A CN101923318A CN2009100527521A CN200910052752A CN101923318A CN 101923318 A CN101923318 A CN 101923318A CN 2009100527521 A CN2009100527521 A CN 2009100527521A CN 200910052752 A CN200910052752 A CN 200910052752A CN 101923318 A CN101923318 A CN 101923318A
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Abstract
The invention discloses a method for manufacturing a network PID controller, which comprises the following steps: on an established network induction time delay model, deducing the gain range of the parameterized PID controller in view of a type of time lag objects, analyzing the relation between gain and time lag, giving out off-line optimizing algorithms for the gain under different model parameters by using the genetic algorithm, and finally, selecting the on-line time delay statistical model and dispatching gain in real time. The invention provides a method, which is used for manufacturing an advanced network PID controller which is independent of the object model and has generalized predictive control performance, for automatic systems in large-scale power stations. By using the frequency domain robust theory and the generalized predictive control theory, the invention provides a method for manufacturing an advanced network PID controller which is independent of the object model and has generalized predictive control performance. The advanced network PID controller is applicable to integrated automatic control systems in large-scale power stations, so that the performance of the control system is more stable.
Description
Technical field
The present invention relates to macrotype power station integrated automation system, relate in particular to a kind of method for manufacturing network PID controller that is applicable to macrotype power station integrated automation system.
Technical background
Electric power station system is exactly a typical Complex Industrial Systems, the system element that its inside comprises is numerous, structure is huge, detect data and model variable many, simultaneously, coupled relation between the system variable is serious, exist the production link of a plurality of changes when having, large time delay, complex characteristics such as non-linear, these links can't use traditional transport function to come it is carried out accurate mathematical description, and the state equation that can not use in the modern control theory comes it is handled.Automation equipment for control realization means, experienced combined pneumatic unit controls instrument system, based on electrodynamic element combination type analog blind controller system, concentrated computer control system, distributed control system (DCS), and field bus control system (FCS) and based on several developing stage such as control system of WEB, extensively adopt network control systems such as DCS or FDCS to come electric power station system is controlled in the modern industry process.
Network control system is the distributed measurement and control system based on network.As the new generation of industrial control system, network control system constitutes one or more control closed loops by a series of communication channel, the function that possesses signal Processing, optimum decision and control operation simultaneously, can be flexibly, be conveniently used in the control of extensive area, and realize the data sharing of whole network.Compare with traditional control system, network control system has control function and disperses, can realize resource sharing, operated from a distance and control, has the integrated and plurality of advantages such as Device Diagnostic makes things convenient for, I﹠M is easy, the weight and volume that can effectively reduce system and cost of investment of interoperability, the system information of good opening and equipment.But simultaneously, because the information source in the catenet control system is a lot, the transmission of information wants timesharing to take network communication circuit, and the load-bearing capacity of network and communication bandwidth are limited, must cause the generation of the phenomenon such as collision, re-transmission of information, there is time delay inevitably in the information that makes in transmission course.Time delay is owing to be subjected to communication protocol, network load condition, the transfer rate of network and all multifactor influences such as size of packets of information at that time that network adopts, and present or fixing or at random or the feature of bounded or unbounded, cause the control system performance decrease even unstable, brought very big difficulty also for simultaneously the analysis of control system, design.Simultaneously, because network induces time-delay to be at random, network is induced the frequent change of the distribution statistics amount (average, variance etc.) of time-delay, and network induces the time-delay sequence to have self-similarity nature, has more aggravated the intensity of variation of network delay.Therefore adopt the network delay mathematical model of preset parameter can not satisfy the system performance requirement.
Summary of the invention
The objective of the invention is to overcome the defective of prior art, and a kind of method for manufacturing network PID controller is provided, it provides a kind of manufacture method that does not rely on object model and the advanced PID controller of network of generalized predictive control performance is arranged for the network control of large-scale power station automated system.
The technical scheme that realizes above-mentioned purpose is: a kind of method for manufacturing network PID controller, wherein, at first induce on the delay model at the network of setting up, gain margin at a class Object with Time Delay derivation parametrization PI controller, analyze the relation of gain and time lag then, provide the off-line optimizing algorithm to gaining under the different model parameters by genetic algorithm, choose the gain of online time-delay statistical model and Real-Time Scheduling at last.
Above-mentioned method for manufacturing network PID controller, wherein, induce on the mathematical model basis of time-delay, time-delay need be divided into constant term part and disturbance part at the network of setting up, and constant term time-delay is incorporated into the nominal object that constitutes a broad sense in the object, then according to H
∞Theoretical method is made based on network Robust PID Controller.
Above-mentioned method for manufacturing network PID controller, wherein, according to H
∞When theoretical method is made based on network Robust PID Controller, need to adopt μ analytical approach design PID controller.
Above-mentioned method for manufacturing network PID controller wherein, when adopting μ analytical approach design PID controller, adopts genetic algorithm to seek optimum pid parameter.
Above-mentioned method for manufacturing network PID controller, wherein, it is parameter according to the current average of network delay, median preference pattern that described network is induced delay model, and comes optimizing at every group of parameter.
The invention has the beneficial effects as follows: the present invention has adopted frequency domain ROBUST THEORY and generalized predictive control theory, a kind of manufacture method that does not rely on object model and the advanced PID controller of network of generalized predictive control performance is arranged has been proposed, can be applicable in the network control of macrotype power station integrated automation system, make that the control system performance is more stable.
Embodiment
Below will the invention will be further described by an embodiment.
A kind of method for manufacturing network PID controller of the present invention, at first induce on the delay model at the network of setting up, gain margin at a class Object with Time Delay derivation parametrization PI controller, analyze the relation of gain and time lag then, provide the off-line optimizing algorithm to gaining under the different model parameters by genetic algorithm, choose the gain of online time-delay statistical model and Real-Time Scheduling at last.
Induce on the mathematical model basis of time-delay at the network of setting up, time-delay need be divided into constant term part and disturbance part, and the constant term time-delay is incorporated into the nominal object that constitutes a broad sense in the object, then according to H
∞Theoretical method is made based on network Robust PID Controller.
According to H
∞When theoretical method is made based on network Robust PID Controller, need to adopt μ analytical approach design PID controller to adopt H to overcome
∞The conservative property problem of Design Theory PID controller is sought optimum pid parameter by adopting genetic algorithm.
It is parameter according to the current average of network delay, median preference pattern that network is induced delay model, and comes optimizing at every group of parameter.
In order to improve the control performance of PID under the random delay network, GPC (generalized predictive control) is incorporated in the PID design, under the situation that does not limit the object order,, and draw its least square recursive algorithm based on the analytical expression of the pid parameter one-step prediction algorithm of GPC.This method has effectively been improved the control performance of PID under the random delay network, is the new trial of advanced PID controlling Design under the network environment.
Below in conjunction with the embodiments the present invention is had been described in detail, those skilled in the art can make the many variations example to the present invention according to the above description.Thereby some details among the embodiment should not constitute limitation of the invention, and the scope that the present invention will define with appended claims is as protection scope of the present invention.
Claims (5)
1. method for manufacturing network PID controller, it is characterized in that, at first induce on the delay model at the network of setting up, gain margin at a class Object with Time Delay derivation parametrization PI controller, analyze the relation of gain and time lag then, provide the off-line optimizing algorithm to gaining under the different model parameters by genetic algorithm, choose the gain of online time-delay statistical model and Real-Time Scheduling at last.
2. method for manufacturing network PID controller according to claim 1, it is characterized in that, induce on the mathematical model basis of time-delay at the network of setting up, time-delay need be divided into constant term part and disturbance part, and constant term time-delay is incorporated into the nominal object that constitutes a broad sense in the object, then according to H
∞Theoretical method is made based on network Robust PID Controller.
3. method for manufacturing network PID controller according to claim 2 is characterized in that, according to H
∞When theoretical method is made based on network Robust PID Controller, need to adopt μ analytical approach design PID controller.
4. method for manufacturing network PID controller according to claim 3 is characterized in that, when adopting μ analytical approach design PID controller, adopts genetic algorithm to seek optimum pid parameter.
5. method for manufacturing network PID controller according to claim 1 is characterized in that, it is parameter according to the current average of network delay, median preference pattern that described network is induced delay model, and comes optimizing at every group of parameter.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009100527521A CN101923318A (en) | 2009-06-09 | 2009-06-09 | Method for manufacturing network PID controller |
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| CN2009100527521A CN101923318A (en) | 2009-06-09 | 2009-06-09 | Method for manufacturing network PID controller |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102354114A (en) * | 2011-07-18 | 2012-02-15 | 安徽工程大学 | Random time delay modeling method of network control system |
| CN103197542A (en) * | 2013-02-07 | 2013-07-10 | 浙江工业大学 | Time delay system PID controller stabilization method based on data drive |
| CN106200385A (en) * | 2016-08-29 | 2016-12-07 | 西安西热控制技术有限公司 | A kind of single neuron PID control method of immunomodulating gain |
| CN108345215A (en) * | 2018-01-12 | 2018-07-31 | 中国科学院理化技术研究所 | A kind of magnetic suspension bearing robust controller building method based on multi-objective genetic algorithm |
-
2009
- 2009-06-09 CN CN2009100527521A patent/CN101923318A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102354114A (en) * | 2011-07-18 | 2012-02-15 | 安徽工程大学 | Random time delay modeling method of network control system |
| CN103197542A (en) * | 2013-02-07 | 2013-07-10 | 浙江工业大学 | Time delay system PID controller stabilization method based on data drive |
| CN103197542B (en) * | 2013-02-07 | 2016-04-13 | 浙江工业大学 | Time lag system PID controller based on data-driven is calmed method |
| CN106200385A (en) * | 2016-08-29 | 2016-12-07 | 西安西热控制技术有限公司 | A kind of single neuron PID control method of immunomodulating gain |
| CN106200385B (en) * | 2016-08-29 | 2019-07-30 | 西安西热控制技术有限公司 | A kind of single neuron PID adjusting method of immunological regulation gain |
| CN108345215A (en) * | 2018-01-12 | 2018-07-31 | 中国科学院理化技术研究所 | A kind of magnetic suspension bearing robust controller building method based on multi-objective genetic algorithm |
| CN108345215B (en) * | 2018-01-12 | 2021-10-26 | 中国科学院理化技术研究所 | Construction method of robust controller of magnetic suspension bearing based on multi-target genetic algorithm |
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Open date: 20101222 |