CN102520618A - Coking heating furnace radiation outlet temperature control method under error tolerance mechanism - Google Patents

Coking heating furnace radiation outlet temperature control method under error tolerance mechanism Download PDF

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CN102520618A
CN102520618A CN2011104578036A CN201110457803A CN102520618A CN 102520618 A CN102520618 A CN 102520618A CN 2011104578036 A CN2011104578036 A CN 2011104578036A CN 201110457803 A CN201110457803 A CN 201110457803A CN 102520618 A CN102520618 A CN 102520618A
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derivative controller
outlet temperature
parameter
proportional plus
proportional
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张日东
薛安克
王俊宏
孔亚广
王建中
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Hangzhou Dianzi University
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Hangzhou Dianzi University
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Abstract

The invention relates to a coking heating furnace radiation outlet temperature control method under an error tolerance mechanism. The method has the advantages that firstly, a process model is built on the basis of the coking heating furnace radiation outlet temperature real-time process data, and the basic process characteristics are mined out; then, a proportion integral control loop is built on the basis of the process model; and finally, the prediction function control is integrally implemented on the proportion integral differential control and the coking heating furnace radiation outlet temperature object through calculating the parameters of the prediction function controller. The method provided by the invention has the advantages that the defects of the traditional control is overcome, in addition, convenience is effectively brought to the controller design, the control performance improvement is ensured, and simultaneously, the given production performance index is met. When the method provided by the invention is adopted, the error between the ideal radiation outlet temperature process parameter and the practical radiation outlet temperature process parameter can be effectively reduced, the defects of the traditional controller is further overcome, simultaneously, the control device is ensured to operate in the optimum state, and the radiation outlet temperature process parameters of the production process reach the strict control.

Description

Coking heater radiation outlet temperature control method under the error tolerance limit mechanism
Technical field
The invention belongs to technical field of automation, relate to the Predictive function control (PFC) of the coking heater radiation outlet temperature system under a kind of error tolerance limit mechanism and the mixing control method of PID control (PID).
Background technology
Coking heater is the visual plant of oil-refining chemical production division, and its requirement is for the heating of important source material such as residual oil, to satisfy the operation operating mode and the product quality of subsequent handling.For this reason, each main technologic parameters of production run must strict control.Yet coking heater equipment is the controlled device of a complicacy, and is interrelated between input quantity and the output quantity.Export temperature system for the coking heater radiation: the raw material load changes and causes when feed pressure and material flow change, and causes that also the radiation outlet temperature changes; The variation of heating furnace fuel flow rate directly influences radiation outlet variation of temperature; The variation of follow-up fractionator liquid level amount can cause radiant flux to change, and further causes the variation of radiation outlet temperature etc.These unfavorable factors cause traditional control device precision not high, further cause the subsequent production controlled variable unstable again, and product percent of pass is low, and heater efficiency is low.At present the simple control device of tradition is adopted in the control of the radiation outlet temperature of coking heater basically in the actual industrial, even manual operation necessary the time, and controlled variable only relies on technician's experience, and production cost is increased, and the control effect is very undesirable.China's coking heater 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 energy-saving and emission-reduction and the demand of environmental protection indirectly, this wherein directly one of influence factor be the controlling schemes problem of coking heater system.
Summary of the invention
Target of the present invention is the weak point to existing coking heater radiation outlet temperature system control technology; Coking heater radiation outlet temperature system control method under a kind of error tolerance limit mechanism is provided, and specifically is the mixing control method of a kind of Predictive function control (PFC) and PID control (PID).This method has remedied the deficiency of traditional control method, and when guaranteeing that control has higher precision with 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 coking heater radiation outlet temperature real-time process data, excavates basic process characteristic; Set up the PID control loop based on this process model then; At last through calculating the parameter of Predictive function control device, with PID control and coking heater radiation outlet temperature object whole implementation Predictive function control.
The step of the inventive method comprises:
(1) adopt typical response curve method design radiation to export the proportional plus integral plus derivative controller of temperature course, concrete grammar is:
A. the proportional plus integral plus derivative controller with process rests on manual operation state; The operation dial makes its output have individual step to change; Output valve by recorder record real process; Convert the response curve of real process output valve
Figure 2011104578036100002DEST_PATH_IMAGE002
to dimensionless form
Figure 2011104578036100002DEST_PATH_IMAGE004
, specifically:
Figure 2011104578036100002DEST_PATH_IMAGE006
Wherein,
Figure 2011104578036100002DEST_PATH_IMAGE008
is the steady-state value of the output of the proportional plus integral plus derivative controller real process output
Figure 701107DEST_PATH_IMAGE002
when having step to change.
B. choose two calculation levels
Figure 2011104578036100002DEST_PATH_IMAGE012
and
Figure 2011104578036100002DEST_PATH_IMAGE014
of satisfied
Figure 2011104578036100002DEST_PATH_IMAGE010
, according to computes proportional plus integral plus derivative controller parameters needed
Figure 2011104578036100002DEST_PATH_IMAGE016
,
Figure 2011104578036100002DEST_PATH_IMAGE018
:
Figure 2011104578036100002DEST_PATH_IMAGE020
Wherein,
Figure 2011104578036100002DEST_PATH_IMAGE022
is the step amplitude of variation of the proportional plus integral plus derivative controller output of process.
C. the parameter of the proportional plus integral plus derivative controller of computation process, specifically:
Figure 2011104578036100002DEST_PATH_IMAGE024
Wherein
Figure 2011104578036100002DEST_PATH_IMAGE026
is the scale parameter of proportional plus integral plus derivative controller; is the integral parameter of proportional plus integral plus derivative controller, and
Figure 2011104578036100002DEST_PATH_IMAGE030
is respectively the differential parameter of proportional plus integral plus derivative controller.
(2) design anticipation function proportional plus integral plus derivative controller, concrete steps are:
D. the proportional plus integral plus derivative controller with process rests on automatic mode of operation; The operation dial makes its input have step to change; Output by recorder record real-time process; Convert the response curve of process output valve
Figure 2011104578036100002DEST_PATH_IMAGE032
to dimensionless form
Figure 2011104578036100002DEST_PATH_IMAGE034
, specifically:
Figure 2011104578036100002DEST_PATH_IMAGE036
Wherein,
Figure 2011104578036100002DEST_PATH_IMAGE038
is the steady-state value of the input of the proportional plus integral plus derivative controller of the process process output
Figure 493614DEST_PATH_IMAGE032
when having step to change.
E. choose in addition two calculation levels
Figure 2011104578036100002DEST_PATH_IMAGE042
and
Figure 2011104578036100002DEST_PATH_IMAGE044
of satisfied
Figure 2011104578036100002DEST_PATH_IMAGE040
, according to computes anticipation function proportional plus integral plus derivative controller parameters needed
Figure 2011104578036100002DEST_PATH_IMAGE046
:
Figure 2011104578036100002DEST_PATH_IMAGE048
Wherein,
Figure 2011104578036100002DEST_PATH_IMAGE050
is the step amplitude of variation of the proportional plus integral plus derivative controller input of process.
F. the parameter that step e is obtained is converted into the local controlled delivery function model of Laplce's form:
Figure 2011104578036100002DEST_PATH_IMAGE052
Wherein,
Figure 2011104578036100002DEST_PATH_IMAGE054
is the Laplace transform operator;
Figure 2011104578036100002DEST_PATH_IMAGE056
is the time constant of local controlled delivery function model;
Figure 2011104578036100002DEST_PATH_IMAGE058
is the time lag of local controlled delivery function model; The Laplace transform of the output valve of expression current time process model, the Laplace transform of the proportional plus integral plus derivative controller input of expression process model.
Figure 2011104578036100002DEST_PATH_IMAGE064
G. the model parameter design anticipation function proportional plus integral plus derivative controller that calculates according to step f, concrete grammar is:
1. this object is added a zero-order holder discretize under the sampling time
Figure 2011104578036100002DEST_PATH_IMAGE066
, obtain discrete model and do
Figure 2011104578036100002DEST_PATH_IMAGE068
Figure 2011104578036100002DEST_PATH_IMAGE070
is the parameter of corresponding discrete transfer function model; ;
Figure 2011104578036100002DEST_PATH_IMAGE074
is the time lag of corresponding discrete transfer function model, ;
2. choose the reference locus
Figure 2011104578036100002DEST_PATH_IMAGE078
of anticipation function proportional plus integral plus derivative controller, can represent by following formula
Figure 2011104578036100002DEST_PATH_IMAGE080
Figure 2011104578036100002DEST_PATH_IMAGE082
;
Figure 2011104578036100002DEST_PATH_IMAGE084
is respectively ;
Figure 2011104578036100002DEST_PATH_IMAGE088
reference locus constantly;
Figure 2011104578036100002DEST_PATH_IMAGE090
is the parameter of reference locus, and
Figure 2011104578036100002DEST_PATH_IMAGE092
is the predicted time parameter of Predictive function control device.
3. specification error tolerance bound is asked for departure
Figure 2011104578036100002DEST_PATH_IMAGE096
and is asked for controlled quentity controlled variable according to the anticipation function proportional plus integral plus derivative controller reference locus that 2. step obtains.
  
Figure 2011104578036100002DEST_PATH_IMAGE100
The inventive method is through means such as data acquisition, process identification, prediction mechanism, data-driven, optimizations; A kind of Predictive function control of coking heater radiation outlet temperature 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.
A kind of model based on data-driven that the present invention proposes is chosen the deficiency that has remedied traditional control with anticipation function PID mixing control method; And made things convenient for the design of controller effectively; Guarantee the lifting of control performance, satisfy given production performance index simultaneously.
The control technology that the present invention proposes can effectively reduce the error between ideal radiation outlet temperature technological parameter and the actual emanations outlet temperature technological parameter; Further remedied the deficiency of traditional controller; Guarantee that simultaneously control device operates in optimum condition, make the radiation outlet temperature process parameter of production run reach strict control.
Embodiment
With the process control of coking heater systems radiate outlet temperature is example:
Here describe as an example with the control in this systems radiate outlet temperature loop.The radiation outlet temperature not only receives the influence of fuel flow rate, the flow of also being loaded simultaneously, the influence of follow-up liquid level change amount.Regulating measure adopts burning nozzles aperture, and remaining influences as uncertain factor.
(1) proportional plus integral plus derivative controller of design radiation outlet temperature course, concrete grammar is typical response curve method.
The first step: radiation outlet temperature proportional plus integral plus derivative controller is rested on " manual operation " state; The dial that fuel quantity is advanced in operation makes into fuel quantity controller output that individual step variation arranged; By the output valve of recorder record radiation outlet temperature course, the response curve that radiation is exported temperature course output valve
Figure 519689DEST_PATH_IMAGE002
converts dimensionless form
Figure 977215DEST_PATH_IMAGE004
to:
Figure 791587DEST_PATH_IMAGE006
Wherein,
Figure 614050DEST_PATH_IMAGE008
is the steady-state value of radiation outlet temperature course output
Figure 444865DEST_PATH_IMAGE002
.
Second step: choose 2 calculation levels;
Figure 643765DEST_PATH_IMAGE010
, calculate radiation outlet temperature proportional plus integral plus derivative controller parameters needed ,
Figure 368324DEST_PATH_IMAGE018
according to following computing formula:
Figure 122654DEST_PATH_IMAGE020
Wherein,
Figure 921983DEST_PATH_IMAGE022
is the step amplitude of variation of radiation outlet temperature proportional plus integral plus derivative controller output.
The 3rd step: the parameter that
Figure 2011104578036100002DEST_PATH_IMAGE102
that calculates according to second step adjusts radiation outlet temperature proportional plus integral plus derivative controller:
Figure 507685DEST_PATH_IMAGE024
Wherein
Figure 937529DEST_PATH_IMAGE026
; ;
Figure 18060DEST_PATH_IMAGE030
is respectively the scale parameter of proportional plus integral plus derivative controller; Integral parameter, differential parameter.
(2) the anticipation function proportional plus integral plus derivative controller of design radiation outlet temperature course, concrete grammar is:
This radiation outlet temperature real time execution process database is set up in basic controlling loop to the radiation outlet temperature proportional plus integral plus derivative controller and the process model of design are formed; Gather radiation outlet temperature real-time process service data through data collector; Set up the required forecast model of anticipation function proportional plus integral plus derivative controller according to radiation outlet temperature real-time process service data; Design corresponding radiation outlet temperature real-time process anticipation function proportional plus integral plus derivative controller based on this forecast model, concrete steps are:
The first step: radiation outlet temperature proportional plus integral plus derivative controller is rested on " operation automatically " state; The input of operation radiation outlet temperature proportional plus integral plus derivative controller makes the input of radiation outlet temperature proportional plus integral plus derivative controller have individual step to change; By the output of recorder record radiation outlet temperature real-time process, convert the response curve of radiation outlet temperature real-time process output valve to dimensionless form
Figure 59014DEST_PATH_IMAGE034
:
Figure 787936DEST_PATH_IMAGE036
Wherein,
Figure 929067DEST_PATH_IMAGE038
is the steady-state value of radiation outlet temperature real-time process output
Figure 427044DEST_PATH_IMAGE032
.
Second step: choose 2 calculation levels;
Figure 198691DEST_PATH_IMAGE040
, calculate radiation exit temperature prediction function proportional plus integral plus derivative controller parameters needed
Figure 211647DEST_PATH_IMAGE046
according to following computing formula:
Figure 94152DEST_PATH_IMAGE048
Wherein,
Figure 4558DEST_PATH_IMAGE050
is the step amplitude of variation of radiation outlet temperature proportional plus integral plus derivative controller input.
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:
Figure 947106DEST_PATH_IMAGE052
Wherein, The Laplace transform of
Figure 385041DEST_PATH_IMAGE060
expression current time radiation outlet temperature course model output valve, the Laplace transform of the proportional plus integral plus derivative controller input of
Figure 867975DEST_PATH_IMAGE062
expression radiation outlet temperature course model.
Figure 340545DEST_PATH_IMAGE064
The 4th step: according to the model parameter design anticipation function proportional plus integral plus derivative controller that the 3rd step calculated, concrete grammar is:
1. this object is added a zero-order holder discretize under the sampling time
Figure 516311DEST_PATH_IMAGE066
, obtain discrete model and do
Figure 665850DEST_PATH_IMAGE070
is the parameter of corresponding discrete transfer function model; ;
Figure 74014DEST_PATH_IMAGE074
is the time lag of corresponding discrete transfer function model, ;
2. choose the reference locus
Figure 78322DEST_PATH_IMAGE078
of anticipation function PID control, can represent by following formula
;
Figure 411717DEST_PATH_IMAGE084
is respectively
Figure 40144DEST_PATH_IMAGE086
;
Figure 341813DEST_PATH_IMAGE088
reference locus constantly;
Figure 702387DEST_PATH_IMAGE090
is the parameter of reference locus, and is the predicted time parameter of Predictive function control.
3. specification error tolerance bound is asked for departure
Figure 976002DEST_PATH_IMAGE096
and is asked for controlled quentity controlled variable according to the prediction proportional integral proportional plus integral plus derivative controller reference locus that 2. step obtains.
Figure 773056DEST_PATH_IMAGE098
  
Figure 381892DEST_PATH_IMAGE100
。

Claims (1)

1. the coking heater radiation outlet temperature control method under the mechanism is limit in the error tolerance, it is characterized in that this method may further comprise the steps:
(1) adopt typical response curve method design radiation to export the proportional plus integral plus derivative controller of temperature course, concrete grammar is:
A. the proportional plus integral plus derivative controller with process rests on manual operation state; The operation dial makes its output have individual step to change; Output valve by recorder record real process; Convert the response curve of real process output valve to dimensionless form
Figure 2011104578036100001DEST_PATH_IMAGE004
, specifically:
Figure 2011104578036100001DEST_PATH_IMAGE006
Wherein,
Figure 2011104578036100001DEST_PATH_IMAGE008
is the steady-state value of the output of the proportional plus integral plus derivative controller real process output when having step to change;
B. choose two calculation levels
Figure 2011104578036100001DEST_PATH_IMAGE012
and of satisfied
Figure 2011104578036100001DEST_PATH_IMAGE010
, according to computes proportional plus integral plus derivative controller parameters needed ,
Figure 2011104578036100001DEST_PATH_IMAGE018
:
Figure 2011104578036100001DEST_PATH_IMAGE020
Wherein,
Figure 2011104578036100001DEST_PATH_IMAGE022
is the step amplitude of variation of the proportional plus integral plus derivative controller output of process;
C. the parameter of the proportional plus integral plus derivative controller of computation process, specifically:
Wherein is the scale parameter of proportional plus integral plus derivative controller;
Figure 2011104578036100001DEST_PATH_IMAGE028
is the integral parameter of proportional plus integral plus derivative controller, and is respectively the differential parameter of proportional plus integral plus derivative controller;
(2) design anticipation function proportional plus integral plus derivative controller, concrete steps are:
D. the proportional plus integral plus derivative controller with process rests on automatic mode of operation; The operation dial makes its input have step to change; Output by recorder record real-time process; Convert the response curve of process output valve
Figure 2011104578036100001DEST_PATH_IMAGE032
to dimensionless form
Figure 2011104578036100001DEST_PATH_IMAGE034
, specifically:
Figure 2011104578036100001DEST_PATH_IMAGE036
Wherein,
Figure 2011104578036100001DEST_PATH_IMAGE038
is the steady-state value of the input of the proportional plus integral plus derivative controller of the process process output
Figure 888530DEST_PATH_IMAGE032
when having step to change;
E. choose in addition two calculation levels
Figure 2011104578036100001DEST_PATH_IMAGE042
and of satisfied
Figure 2011104578036100001DEST_PATH_IMAGE040
, according to computes anticipation function proportional plus integral plus derivative controller parameters needed
Figure 2011104578036100001DEST_PATH_IMAGE046
:
Figure 2011104578036100001DEST_PATH_IMAGE048
Wherein,
Figure 2011104578036100001DEST_PATH_IMAGE050
is the step amplitude of variation of the proportional plus integral plus derivative controller input of process;
F. the parameter that step e is obtained is converted into the local controlled delivery function model of Laplce's form:
Figure 2011104578036100001DEST_PATH_IMAGE052
Wherein,
Figure 2011104578036100001DEST_PATH_IMAGE054
is the Laplace transform operator;
Figure 2011104578036100001DEST_PATH_IMAGE056
is the time constant of local controlled delivery function model; is the time lag of local controlled delivery function model; The Laplace transform of the output valve of expression current time process model, the Laplace transform of the proportional plus integral plus derivative controller input of
Figure 2011104578036100001DEST_PATH_IMAGE062
expression process model;
Figure 2011104578036100001DEST_PATH_IMAGE064
G. the model parameter design anticipation function proportional plus integral plus derivative controller that calculates according to step f, concrete grammar is:
1. this object is added a zero-order holder discretize under the sampling time , obtain discrete model and do
Figure 2011104578036100001DEST_PATH_IMAGE068
Figure 2011104578036100001DEST_PATH_IMAGE070
is the parameter of corresponding discrete transfer function model;
Figure 2011104578036100001DEST_PATH_IMAGE072
;
Figure 2011104578036100001DEST_PATH_IMAGE074
is the time lag of corresponding discrete transfer function model,
Figure 2011104578036100001DEST_PATH_IMAGE076
;
2. choose the reference locus
Figure 2011104578036100001DEST_PATH_IMAGE078
of anticipation function proportional plus integral plus derivative controller, can represent by following formula
Figure 2011104578036100001DEST_PATH_IMAGE080
Figure 2011104578036100001DEST_PATH_IMAGE082
;
Figure 2011104578036100001DEST_PATH_IMAGE084
is respectively
Figure 2011104578036100001DEST_PATH_IMAGE086
;
Figure 2011104578036100001DEST_PATH_IMAGE088
reference locus constantly;
Figure 2011104578036100001DEST_PATH_IMAGE090
is the parameter of reference locus, and
Figure 2011104578036100001DEST_PATH_IMAGE092
is the predicted time parameter of Predictive function control device;
3. specification error tolerance bound
Figure 2011104578036100001DEST_PATH_IMAGE094
is asked for departure
Figure 2011104578036100001DEST_PATH_IMAGE096
and is asked for controlled quentity controlled variable according to the anticipation function proportional plus integral plus derivative controller reference locus that 2. step obtains.
Figure 2011104578036100001DEST_PATH_IMAGE098
Figure 2011104578036100001DEST_PATH_IMAGE100
。
CN2011104578036A 2011-12-31 2011-12-31 Coking heating furnace radiation outlet temperature control method under error tolerance mechanism Pending CN102520618A (en)

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CN103399486A (en) * 2013-07-05 2013-11-20 杭州电子科技大学 Temperature optical energy-saving control method for plastic dryer
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CN104407642A (en) * 2014-12-01 2015-03-11 杭州电子科技大学 Temperature control method for continuous casting billet induction heating process, based on iterative learning control
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Application publication date: 20120627