CN102073275A - Control device and control method for adaptive fuzzy dynamic surface of continuous stirred tank reactor - Google Patents
Control device and control method for adaptive fuzzy dynamic surface of continuous stirred tank reactor Download PDFInfo
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Abstract
The invention discloses a control device and a control method for an adaptive fuzzy dynamic surface of a continuous stirred tank reactor, and the control device for the adaptive fuzzy dynamic surface of the continuous stirred tank reactor comprises a sensor system, an A/D (analog/digital) converter, a computer, a filter, an adaptive fuzzy dynamic surface controller, a D/A (digital/analog) converter, a signal amplifier and an actuator, wherein the adaptive fuzzy dynamic surface controller comprises a fuzzy approximator, a parameter adaptive adjuster and a dynamic surface controller; and the control method comprises six steps. In the invention, the characteristics of strong nonlinearity and unstable open-loop of the continuous stirred tank reactor are relatively completed considered, thereby being applicable to a working environment with micro-drift of working points of the tank reactor; and unmodeled dynamic and uncertain items in the continuous stirred tank reactor can be better approximated, the impacts of the factors on the stability of a closed-loop system can be offset in an on-line manner, and the simplified adaptive fuzzy dynamic surface controller can be obtained by reverse deduction, thereby being capable of improving the control precision and reducing the reaction time of the tank reactor.
Description
Technical field
The present invention relates to the control method in chemical industry control field, specifically, is the dynamic face control method of adaptive fuzzy of continuous stirred tank reactor.
Background technology
Reactor is a kind of chemical reactor of widespread use in the chemical process, because itself strong nonlinearity, the time characteristic such as change, large time delay, make reactor become a kind of complication system that relates to multiple factor, its control of quality directly has influence on the efficient and the quality index of production.Characteristic parameter in the reactor is generally temperature, pressure, concentration etc., the quality of these parameter controls is directly influenced the quality of production thing.Continuous stirred tank reactor is a kind of of tank reactor, it is a chemical reactor the most frequently used in the industrial processes, both can spare phase reaction, can carry out heterogeneous reaction again, as reactions such as liquid-solid, gas-liquid, liquid liquid and gas-solid liquid, there is stirring apparatus its inside, can make the reacting material concentration homogeneous of reaction zone in the reactor.Its operation characteristic is the strong and constant product quality of small investment, heat-exchange capacity etc., thereby has obtained using widely in commercial production, also just has very big researching value.
The quality of temperature of reaction kettle control directly influences product quality and output.Because chemical process is the chemical reaction process of heat release, is again physical change process, the polymerization reaction mechanism complexity if the untimely reaction heat of removing will make reaction acutely exceed normal range, easily causes " implode " or produces safe valve bounce; To make reaction swash again if add excessive cold water, even cause " stiff still " phenomenon, directly have influence on the quality and the output of product, entail dangers to staff's life security when serious.Therefore temperature of reaction kettle control is for guaranteeing that reactor product quality and safety in production play crucial effects.The task of the temperature control system of reactor is under the condition that guarantees system stability, by selecting suitable control variable, accurately controls interior concentration of reactor or temperature to reach the control purpose.
At present the continuous stirred tank reactor temperature controlling is generally adopted PID control, its control system is made up of analog-digital commutator, controller, potentiometric amplifier, wave filter, digiverter and various sensor.Concrete implementing method is that the nonlinear model with reactor carries out linearization process in the working point, and then according to PID thought CONTROLLER DESIGN.The PID controller algorithm is simple, and robustness is good, but it is only applicable to set up the deterministic control system of mathematical models.Yet the production run of continuous stirred tank reactor be a strong nonlinearity, the time become, the course of reaction of large time delay, some parameters of system constantly change, cause inevitably existing in the system model the dynamic and indeterminate of not modeling, and can cause the reactor operating point drift in the actual production process, therefore based on the method for working point linearization process system model, as the PID controller, just no longer suitable.
Find through literature search prior art, Chinese patent publication number: CN101637711, patent name: a kind of efficiently controlling temperature of reaction kettle method and device, this patent have been described a kind of method of controlling temperature of reaction kettle.This method is divided into four-stage with temperature, distinguishes with different threshold values, and adopts the method for fixing control output (set potential value), fuzzy control output to adjust temperature of reaction kettle respectively.Chinese patent publication number: CN101349925, patent name: a kind of temperature of reaction kettle control system and temperature-controlled process thereof of strap clamp cover, this patent have been described a kind of temperature of reaction kettle control method of strap clamp cover.This method is measured the temperature in chuck and the reactor, and this two parts device is adopted different PID controller control respectively.What said method adopted all is PID control methods, thereby all belongs to the category of Linear Control in essence, be not suitable for this strong nonlinearity of continuous stirred tank reactor, the time become, the complication system of large time delay, can not realize optimum control.
Summary of the invention
At the deficiencies in the prior art, the object of the present invention is to provide a kind of dynamic face control device of adaptive fuzzy and control method that is applicable to continuous stirred tank reactor, this control method is a kind of nonlinear control method, can onlinely approach the not dynamic and indeterminate of modeling of system, simplify the structure of controller, improve the precision of control greatly, reduce the control response time.
Technical scheme of the present invention is achieved in that
The dynamic face control device of the adaptive fuzzy of continuous stirred tank reactor, comprise sensing system, A/D converter, computing machine, wave filter, the dynamic face controller of adaptive fuzzy, D/A converter, signal amplifier and actuator, the dynamic face controller of adaptive fuzzy comprises fuzzy device, parameter adaptive adjuster and the dynamic face controller of approaching; The output terminal of sensor is connected to the input end of A/D converter, the output terminal of A/D converter is connected to input end and computer, the output terminal of computing machine is connected to the input end of wave filter, the output terminal of wave filter is connected respectively to the fuzzy device that approaches, the input end of parameter adaptive adjuster and dynamic face controller, fuzzy approach the input end that device and parameter adaptive regulator output all are connected to dynamic face controller, dynamically the output terminal of face controller is connected to the input end of D/A converter, the output terminal of D/A converter is connected to the input end of signal amplifier, and the output terminal of signal amplifier is connected to actuator.
The dynamic face control device of the adaptive fuzzy of above-mentioned continuous stirred tank reactor, sensing system comprises temperature sensor and concentration sensor.
The dynamic face control device of the adaptive fuzzy of above-mentioned continuous stirred tank reactor, wave filter is the Kalman wave filter.
The dynamic face control device of the adaptive fuzzy of above-mentioned continuous stirred tank reactor, actuator is a pneumatic control valve.
Utilize the control method of the dynamic face control device of adaptive fuzzy of above-mentioned continuous stirred tank reactor, may further comprise the steps:
(a) utilize sensing system to measure the running parameter information of continuous stirred tank reactor and give A/D converter the running parameter information transmission;
(b) by A/D converter the running parameter information translation is become digital quantity, behind filter filtering, send the dynamic face controller of adaptive fuzzy to;
(c) comprise in the dynamic face controller of adaptive fuzzy fuzzy approach device to system modeling dynamically and uncertain information blur and approach;
(d) the parameter adaptive regulator that comprises in the dynamic face controller of adaptive fuzzy is regulated system's unknown parameter self-adaptation;
(e) the dynamic face controller of the dynamic face controller of adaptive fuzzy produces control signal, and this control signal is converted to simulating signal through D/A converter, and simulating signal is exported to actuator after signal amplifier strengthens;
(f) actuator is pressed the temperature of instruction control cooling medium, thereby makes continuous stirred tank reactor obtain stable generation material according to the concentration nominal value of expectation.
Above-mentioned control method, concentration information and temperature information that described running parameter information is current reactor, concentration information comprise input concentration and discharging concentration in the reactor, and temperature information comprises coolant temperature, feeding temperature and drop temperature.
Above-mentioned control method, fuzzy approaching is the fuzzy rule described by language message and dynamically and in the process of indeterminate can directly utilizes these language messages approaching not modeling; Fuzzy rule is meant a series of if-then language rules according to existing experience and technical know-how structure.
Above-mentioned control method, fuzzy approximate procedure be adopt gravity model appoach with the output weighted mean of fuzzy logic system for approaching most not modeling dynamically and the accurate amount of indeterminate actual value; The parameter adaptive adjustment process is to adopt the error intergal rule to system's unknown parameter online adaptive adjustment, makes unknown parameter by the adaptive desired value that makes that total system is stable of adjusting to.
Above-mentioned control method, dynamically face control be by system's low order to the dynamic face controller structure of the anti-adaptive fuzzy that pushes away of high-order rule, use low-pass filter to filter out radio-frequency component, simplified self-adaptive fuzzy dynamic face controller architecture in the process counter pushing away.
The invention has the beneficial effects as follows: the consideration that the present invention is comparatively complete the characteristics of continuous stirred tank reactor self strong nonlinearity, open-loop unstable, working environment that can the trace drift of adaptive response still working point; Can approach the dynamic and indeterminate of not modeling in the continuous stirred tank reactor system preferably, these factors of online counteracting are to the influence of closed-loop system stability, and the anti-dynamic face controller of adaptive fuzzy that pushes away the acquisition simplification, so can improve control accuracy, reduce the reaction time of reactor.
Description of drawings
Fig. 1 is the structural representation of the dynamic face control device of adaptive fuzzy of continuous stirred tank reactor of the present invention.
Fig. 2 is the process flow diagram of the dynamic face control method of adaptive fuzzy of continuous stirred tank reactor of the present invention.
Fig. 3 is a system of the present invention output tracking nominal value situation synoptic diagram.
Fig. 4 is a system state bounded synoptic diagram of the present invention.
Fig. 5 controls the input synoptic diagram for the present invention.
Among the figure: the 1-sensing system, the 2-A/D converter, the 3-computing machine, the 4-wave filter, 5-is fuzzy to approach device, 6-parameter adaptive adjuster, the dynamic face controller of 7-, 8-D/A converter, 9-signal amplifier, 10-actuator.
Embodiment
The present invention is described further in conjunction with the accompanying drawings:
Principle of work of the present invention is: core of the present invention is the design of the dynamic face controller of the adaptive fuzzy of continuous stirred tank reactor, and the dynamic face controller of adaptive fuzzy is parameter adaptive adjuster 6, the fuzzy combination that approaches device 5 and dynamic face controller 7.
The model of reactor system is the uncertain nonlinear continuous in two rank, the not modeling of system dynamically and indeterminate be the function of the concentration C of reactor internal reaction material in system first rank, be the function of reacting material concentration C and drop temperature T in system second rank, these not modeling dynamically and indeterminate approach device 5 and approach with bluring:
F wherein
1(C) and F
2(C T) is the not dynamic and indeterminate of modeling of system, θ
1And θ
2Be the fuzzy design parameter that approaches device 5,
With
Be the fuzzy output that approaches device 5, e
1And e
2Be approximate error.
Adaptive algorithm is used for the fuzzy design parameter that approaches device 5 of online adjustment, makes the fuzzy output that approaches device 5 with the not modeling in the needed precision match system model dynamically and indeterminate.The error intergal of parameter is adjusted adaptive law and is chosen as:
Wherein
And r＞0 is an adaptive gain.
When dynamically face controller 7 designs, utilize the method design virtual controlling amount of feedback linearization earlier, this virtual controlling amount can be stablized the first rank system.Allow this virtual controlling amount by low-pass filter then, and the anti-final dynamic face controller of adaptive fuzzy of design that pushes away, the dynamic face controller of this adaptive fuzzy can be stablized total system.Low-pass filter can filter out the radio-frequency component that produces in the virtual controlling amount differentiate process, thereby can simplify the structure of the dynamic face controller of adaptive fuzzy of final generation.
The sensing system of present embodiment adopts temperature sensor and concentration sensor, and wave filter 4 adopts the Kalman wave filter, and computing machine 3 includes the dynamic face Control Software of adaptive fuzzy, and actuator 10 adopts pneumatic control valve.
As shown in Figure 1, the dynamic face control device of the adaptive fuzzy of present embodiment continuous stirred tank reactor comprises: sensing system 1, A/D converter 2, computing machine 3, wave filter 4, the fuzzy device 5 that approaches, parameter adaptive adjuster 6, dynamic face controller 7, D/A converter 8, signal amplifier 9, actuator 10, the output terminal of sensor 1 is connected to the input end of A/D converter 2, the output terminal of A/D converter 2 is connected to the input end of computing machine 3, the output terminal of computing machine 3 is connected to the input end of wave filter 4, the output terminal of wave filter 4 is connected to the fuzzy device 5 that approaches, the input end of parameter adaptive adjuster 6 and dynamic face controller 7, the fuzzy device 5 that approaches, the output terminal of parameter adaptive adjuster 6 also is connected to the input end of dynamic face controller 7, dynamically the output terminal of face controller 7 is connected to the input end of D/A converter 8, the output terminal of D/A converter 8 is connected to the input end of signal amplifier 9, and the output terminal of signal amplifier 9 is connected to actuator 10.Described sensing system 1 is temperature sensor and concentration sensor.Described wave filter 4 is Kalman wave filters.Described actuator 10 is pneumatic control valves.The described fuzzy device 8 that approaches can onlinely approach the not dynamic and indeterminate of modeling of system.Described parameter adaptive regulator 6 can online adaptive regulating system unknown parameter.Described dynamic face controller 7 can produce control signal, and this control signal is converted into simulating signal behind D/A converter 8, and exports to actuator 10 after electric potential signal amplifier 9 strengthens.
Utilize the dynamic face control method of adaptive fuzzy of continuous stirred tank reactor of the dynamic face control device of adaptive fuzzy of above-mentioned continuous stirred tank reactor, comprise following 5 steps:
1. concentration information and the temperature information of measuring current continuous stirred tank reactor by the temperature sensor and the concentration sensor of sensing system, concentration information comprises input concentration and discharging concentration in the still, and temperature information comprises coolant temperature, feeding temperature and drop temperature;
Concentration information and temperature information changed into the simulation electric potential signal be input to computing machine 3.The concentration information and the temperature information of computing machine 3 control A/D converters 2 timing acquiring continuous stirred tank reactors, the sampling period is between 1～10 second.Computing machine 3 is given Kalman wave filter with the digital signal that obtains, and eliminates the high-frequency signal that is caused by noise etc., and only keeps the low frequency part of reaction production run concentration information and temperature information;
3. user mode variable x1 and x2 in model, and it is shone upon one by one with continuous stirred tank reactor concentration and temperature variable
x
1＝C，x
2＝10
7exp(-E/RT)
With x
1With desired output y
r, x
2With virtual controlling amount α
1Constitute dynamic surface function
S
1＝x
1-y
r，S
2＝x
2-α
1
On the basis of the dynamically good definition of surface function, generate the dynamic face controller of adaptive fuzzy u;
4. the control signal that the dynamic face controller of adaptive fuzzy is produced is converted to the controlled quentity controlled variable of pneumatic control valve, and required controlled quentity controlled variable is T
c=u then has
Wherein,
With
Be the maximal value of the unknown ride gain of system,
Be the upper bound of approximate error, ε is a design constant, and K is an adaptive gain.With the u (=T that calculates
c) produce analog control signal by D/A converter 8, and affact pneumatic control valve through signal amplifier 9;
5. pneumatic control valve is carried out by instruction, the temperature of control continuous stirred tank reactor, and then make discharging concentration reach nominal value.
At last the dynamic face control device of adaptive fuzzy of the continuous stirred tank reactor of embodiment and control method are carried out simulated experiment under as following table 1 specified criteria:
The result of simulation test is shown in Fig. 3～5.As can be seen from Figure 3, involved in the present invention to the dynamic face controller of adaptive fuzzy can so that the concentration of product material with higher precision with the response time is stabilized near the nominal value faster, as can be seen from Figure 4, guaranteeing under the condition that the generation material meets the demands, the estimation of system's unknown parameter is bounded, this has illustrated fuzzy convergence of approaching device 5, that is to say, the involved fuzzy device 5 that approaches can reflect not modeling dynamically and the true colours of system's indeterminate, these all be enough to illustrate involved in the present invention to the dynamic face controller of adaptive fuzzy can reach gratifying control effect.As can be seen from Figure 5, the situation of change of added controlled quentity controlled variable, final controlled quentity controlled variable is stabilized near its nominal value.Because in the construction process of the dynamic face controller of adaptive fuzzy, the present invention has considered the dynamic and indeterminate of the not modeling of system, and comprised the time-varying parameter of continuous stirred tank reactor in the chemical process in these, thereby have more superiority than traditional PID controller.
Above embodiment only is used to illustrate preferred implementation of the present invention; but the present invention is not limited to above-mentioned embodiment; in the ken that described field those of ordinary skill is possessed; any modification of being done within the spirit and principles in the present invention, be equal to and substitute and improvement etc., all should be encompassed within the technical scheme scope that the present invention asks for protection.
Claims (9)
1. the dynamic face control device of the adaptive fuzzy of continuous stirred tank reactor, it is characterized in that, comprise sensing system (1), A/D converter (2), computing machine (3), wave filter (4), the dynamic face controller of adaptive fuzzy, D/A converter (8), signal amplifier (9) and actuator (10), the dynamic face controller of adaptive fuzzy comprises fuzzy device (5), parameter adaptive adjuster (6) and the dynamic face controller (7) of approaching; The output terminal of sensor (1) is connected to the input end of A/D converter (2), the output terminal of A/D converter (2) is connected to the input end of computing machine (3), the output terminal of computing machine (3) is connected to the input end of wave filter (4), the output terminal of wave filter (4) is connected respectively to the fuzzy device (5) that approaches, the input end of parameter adaptive adjuster (6) and dynamic face controller (7), the fuzzy output terminal that approaches device (5) and parameter adaptive adjuster (6) all is connected to the input end of dynamic face controller (7), dynamically the output terminal of face controller (7) is connected to the input end of D/A converter (8), the output terminal of D/A converter (8) is connected to the input end of signal amplifier (9), and the output terminal of signal amplifier (9) is connected to actuator (10).
2. the dynamic face control device of the adaptive fuzzy of continuous stirred tank reactor according to claim 1 is characterized in that, sensing system (1) comprises temperature sensor and concentration sensor.
3. the dynamic face control device of the adaptive fuzzy of continuous stirred tank reactor according to claim 1 is characterized in that, wave filter (4) is the Kalman wave filter.
4. the dynamic face control device of the adaptive fuzzy of continuous stirred tank reactor according to claim 1 is characterized in that, actuator (10) is a pneumatic control valve.
5. utilize the control method of the dynamic face control device of adaptive fuzzy of the arbitrary described continuous stirred tank reactor of claim 1-4, it is characterized in that, may further comprise the steps:
(a) utilize sensing system (1) to measure the running parameter information of continuous stirred tank reactor and give A/D converter (2) the running parameter information transmission;
(b) by A/D converter (2) the running parameter information translation is become digital quantity, after wave filter (4) filtering, send the dynamic face controller of adaptive fuzzy to;
(c) comprise in the dynamic face controller of adaptive fuzzy fuzzy approach device (5) to system modeling dynamically and uncertain information blur and approach;
(d) the parameter adaptive regulator (6) that comprises in the dynamic face controller of adaptive fuzzy is regulated system's unknown parameter self-adaptation;
(e) the dynamic face controller (7) of the dynamic face controller of adaptive fuzzy produces control signal, and this control signal is converted to simulating signal through D/A converter (8), and simulating signal is exported to actuator (10) after signal amplifier (9) strengthens;
(f) actuator (10) is pressed the temperature of instruction control cooling medium, thereby makes continuous stirred tank reactor obtain stable generation material according to the concentration nominal value of expectation.
6. control method according to claim 5, it is characterized in that, concentration information and temperature information that described running parameter information is current reactor, concentration information comprise input concentration and discharging concentration in the reactor, and temperature information comprises coolant temperature, feeding temperature and drop temperature.
7. control method according to claim 5 is characterized in that, fuzzy approaching is the fuzzy rule described by language message and dynamically and in the process of indeterminate can directly utilizes these language messages approaching not modeling; Fuzzy rule is meant a series of if-then language rules according to existing experience and technical know-how structure.
8. control method according to claim 5 is characterized in that, fuzzy approximate procedure be adopt gravity model appoach with the output weighted mean of fuzzy logic system for approaching most not modeling dynamically and the accurate amount of indeterminate actual value; The parameter adaptive adjustment process is to adopt the error intergal rule to system's unknown parameter online adaptive adjustment, makes unknown parameter by the adaptive desired value that makes that total system is stable of adjusting to.
9. control method according to claim 5, it is characterized in that, dynamically face control be by system's low order to the dynamic face controller structure of the anti-adaptive fuzzy that pushes away of high-order rule, use low-pass filter to filter out radio-frequency component, simplified self-adaptive fuzzy dynamic face controller architecture in the process counter pushing away.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102749843A (en) * | 2012-07-24 | 2012-10-24 | 大连海事大学 | Self-adaptive feedback protection dynamic surface controller structure and design method |
| CN113296405A (en) * | 2021-05-21 | 2021-08-24 | 河北工业大学 | Fuzzy variable structure control method and device of chemical thermal reaction kettle based on 2D model |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1390858A (en) * | 2002-07-26 | 2003-01-15 | 重庆钢铁(集团)有限责任公司 | Full-automatic control method using fuzzy control for temp of polymerizing reactor |
| CN101587113A (en) * | 2009-06-15 | 2009-11-25 | 浙江大学 | Continuous stirred tank reactor reactant concentration flexible measurement method and instrument based on positive chain RNA-GA |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1390858A (en) * | 2002-07-26 | 2003-01-15 | 重庆钢铁(集团)有限责任公司 | Full-automatic control method using fuzzy control for temp of polymerizing reactor |
| CN101587113A (en) * | 2009-06-15 | 2009-11-25 | 浙江大学 | Continuous stirred tank reactor reactant concentration flexible measurement method and instrument based on positive chain RNA-GA |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102749843A (en) * | 2012-07-24 | 2012-10-24 | 大连海事大学 | Self-adaptive feedback protection dynamic surface controller structure and design method |
| CN102749843B (en) * | 2012-07-24 | 2014-07-16 | 大连海事大学 | Self-adaptive feedback protection dynamic surface controller structure and design method |
| CN113296405A (en) * | 2021-05-21 | 2021-08-24 | 河北工业大学 | Fuzzy variable structure control method and device of chemical thermal reaction kettle based on 2D model |
| CN113296405B (en) * | 2021-05-21 | 2022-08-05 | 河北工业大学 | Fuzzy variable structure control method and device of chemical thermal reaction kettle based on 2D model |
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