CN102540888B - Online guiding automatic control method - Google Patents
Online guiding automatic control method Download PDFInfo
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- CN102540888B CN102540888B CN201110456219.9A CN201110456219A CN102540888B CN 102540888 B CN102540888 B CN 102540888B CN 201110456219 A CN201110456219 A CN 201110456219A CN 102540888 B CN102540888 B CN 102540888B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
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Abstract
The invention discloses an online guiding automatic control method which comprises the following steps: in an automatic mode, a control system is used for modifying a controlled quantity u (k) according to an online guiding controlled quantity uG (k) and outputting a deviation delta uGA (k) between the online guiding controlled quantity uG (k) and an automatic output controlled quantity uA (K) and an incremental quantity delta uA (k) of the automatic output controlled quantity uA (K); and in a cascade mode, the control system is used for modifying a given quantity r (k) according to an online guiding given quantity rG (k) and outputting a deviation delta rGC (k) between the online guiding given quantity uG (k) and a cascade long-distance given quantity rC (K) and the incremental quantity delta uC (k) of the cascade long-distance given quantity rC (K). The online guiding automatic control method is applied to the field of automatic control, can finish the modification of a control output quantity and a loop given quantity in different modes, realizes the online operation guiding or manual preferential intervention at any time and avoids the manual automatic switchover operation needed for the control quantity modification in the automatic mode and the switchover operation needed for the given quantity modification in the cascade control.
Description
Technical field
The present invention relates to automatic control technology field, be specifically related to a kind of online direction autocontrol method.
Background technology
General control device or control loop comprise manually, automatic and tandem pattern, and manual mode refers to manual shift control output quantity; Automatic mode refers to according to predetermined control law (algorithm) result, regulates and controls output quantity; Tandem pattern refers to that the specified rate of this control loop comes from output quantity long-range or higher level's control loop.
In the time that control model is automated manner, manually cannot change control output quantity, if need change control output quantity, need to first be switched to manual mode, change control output quantity, and then switch back to automatic mode.Consider manually that due to general in controller design unperturbed switches automatically, so in the time being again switched to automatic mode by manual mode, the initial value of controlling output quantity is artificial given control output quantity.
In the time that controller is operated in non-tandem pattern, under auto state, manually can revise loop specified rate, in the time that control model is tandem mode, the specified rate of this control loop comes from output quantity long-range or higher level's control loop, manually cannot revise loop specified rate.Revising this control loop specified rate need to just can complete by the amendment of higher level's control loop output quantity, and this just need to be switched to manual mode by higher level's control loop, and amendment higher level control loop output quantity, switches back to automatic mode after completing.
Summary of the invention
The shortcoming existing in order to overcome above-mentioned prior art, the object of the present invention is to provide a kind of online direction autocontrol method, system safety operation while guaranteeing to carry out operating personnel's training or machine learning; Avoid in the time of automatic mode because change control amount need to be carried out hand automatically switching operation; Avoid in the time of tandem control because amendment specified rate needs upper circuit to carry out blocked operation.
For achieving the above object, the present invention by the following technical solutions:
A kind of online direction autocontrol method, realizes based on controller, comprises automatic mode or tandem pattern,
Under automatic mode, control system is according to online direction controlled quentity controlled variable u
g(k) change control amount u (k), control system output online direction controlled quentity controlled variable u
g(k) with automatic output control amount u
a(k) deviation delta u
gA, and automatic output control amount u (k)
a(k) increment Delta u
a(k);
Under tandem pattern, control system is according to online direction specified rate r
g(k) amendment specified rate r (k), control system output online direction specified rate r
g(k) with the long-range specified rate r of tandem
c(k) deviation delta r
gC, and the long-range specified rate r of tandem (k)
c(k) increment Delta r
c(k).
Under described automatic mode, online direction controlled quentity controlled variable u
g(k) priority is higher than automatic output control amount u
a(k), in order to realize control system according to online direction controlled quentity controlled variable u
g(k) change control amount u (k), control system output online direction controlled quentity controlled variable u
g(k) with automatic output control amount u
a(k) deviation delta u
gA, and automatic output control amount u (k)
a(k) increment Delta u
a(k), carry out in the steps below:
Step 1: control system catches the action of controlled quentity controlled variable online direction in real time, if there is the action of controlled quentity controlled variable online direction, control system is preserved online direction controlled quentity controlled variable u
g(k);
Step 2: before controlled quentity controlled variable u (k) upgrades, control system is calculated this cycle online direction controlled quentity controlled variable u
gand upper cycle online direction controlled quentity controlled variable u (k)
g(k-1) deviation, presets threshold values δ if deviation exceedes
u, δ
ufor the 0.5-10% of controlled quentity controlled variable scope, control system is put controlled quentity controlled variable online direction mode bit GS
ube 1;
Step 3: in the time that controlled quentity controlled variable u (k) upgrades, control system judges controlled quentity controlled variable online direction mode bit GS
ustate, if controlled quentity controlled variable online direction mode bit GS
ube 1, to put controlled quentity controlled variable u (k) be online direction controlled quentity controlled variable u to control system
g, and the controlled quentity controlled variable online direction mode bit GS that resets (k)
ube 0; Otherwise it is automatic output control amount u that control system is put controlled quentity controlled variable u (k)
a(k);
Step 4: control system is calculated the deviation of online direction controlled quentity controlled variable and automatic output control amount
Δu
GA(k)＝u
G(k)-u
A(k)；
Step 5: control system is calculated the increment Delta u of automatic output control amount
a(k)=u
a(k)-u
a(k-1);
Step 6: control system is put u
g(k-1)=u (k), u
a(k-1)=u (k).
Under described tandem pattern, online direction specified rate u
g(k) priority is higher than the long-range specified rate r of tandem
c(k), in order to realize control system according to online direction specified rate u
g(k) amendment specified rate r (k), control system output online direction specified rate r
g(k) with the long-range specified rate r of tandem
c(k) deviation delta r
gC, and the long-range specified rate r of tandem (k)
c(k) increment Delta r
c(k), carry out in the steps below:
Step 1: control system catches the action of specified rate online direction in real time, if there is the action of specified rate online direction, control system is preserved online direction specified rate r
g(k);
Step 2: before specified rate r (k) upgrades, control system is calculated this cycle online direction specified rate r
gand upper cycle online direction specified rate r (k)
g(k-1) deviation, presets threshold values δ if deviation exceedes
r, δ
rfor the 0.5-20% of specified rate scope, control system is put specified rate online direction mode bit GS
rbe 1;
Step 3: in the time that specified rate r (k) upgrades, control system judges specified rate online direction mode bit GS
rstate, if specified rate online direction mode bit GS
rbe 1, to put specified rate r (k) be online direction specified rate r to control system
g, and the specified rate online direction mode bit GS that resets (k)
rbe 0; Otherwise it is the long-range specified rate r of tandem that control system is put specified rate r (k)
c(k), control system feeds back to loop in series specified rate r (k), and upgrades Cas PID regulation reference value;
Step 4: control system is calculated the deviation of online direction specified rate and the long-range specified rate of tandem
Δr
GC(k)＝r
G(k)-r
C(k)；
Step 5: control system is calculated the increment Delta r of the long-range specified rate of tandem
c(k)=r
c(k)-r
c(k-1);
Step 6: control system is put r
g(k-1)=r (k), r
c(k-1)=r (k).
Under tandem pattern, realize online direction specified rate, if loop in series specified rate comes from higher level has the output of online direction function control device, the output controlled quentity controlled variable online direction that can have an online direction function control device by higher level for the online direction of specified rate realizes; If loop in series specified rate comes from other algorithm outputs of higher level, require higher level's algorithm control output to there is incremental computations feature, this cycle Output rusults is the accumulated value of this cycle reference value and this cycle increment size.
Autocontrol method of the present invention can complete control output quantity and the loop specified rate under amendment different mode, realizes on-line operation and instructs or manually preferentially intervene at any time, avoids the hand automatically switching operation that need to carry out because of change control amount in the time of automatic mode; Avoid the blocked operation that need to carry out because of amendment specified rate in the time of tandem control.
Brief description of the drawings
Fig. 1 is guidance panel schematic diagram of the present invention.
Fig. 2 is controlled quentity controlled variable online direction estimation & disposing process flow diagram.
Fig. 3 is controlled quentity controlled variable online direction algorithm flow chart under automatic control mode.
Fig. 4 is specified rate online direction estimation & disposing process flow diagram.
Fig. 5 is specified rate online direction algorithm flow chart under tandem pattern.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in more detail.
Shown in Fig. 1, it is a kind of online direction control method guidance panel schematic diagram.Guidance panel includes: 1-guidance panel title block; 2-process values viewing area; 3-process set-point shows input field, before be shown to quantitative currency, back edit box amendment set-point; 4-output controlled quentity controlled variable shows input field, before show controlled quentity controlled variable currency, back edit box change control amount; 5-online direction allows switching push button and instruction; 6-automated manner switching push button and instruction; 7-manual mode switching push button and instruction; 8-set-point increase and decrease button; 9-output controlled quentity controlled variable increases, increases, reduces fast, reduces fast button; 10-process set-point histogram shows, the demonstration of 11-process values histogram and the demonstration of 12-output controlled quentity controlled variable histogram.
Shown in Fig. 2, be controlled quentity controlled variable online direction estimation & disposing process flow diagram, in order to realize the online direction of controlled quentity controlled variable under automatic mode, control system need to judge whether to exist online direction controlled quentity controlled variable, and online direction controlled quentity controlled variable is upgraded.First judge whether to exist the amendment of online direction controlled quentity controlled variable, the input amendment action in corresponding diagram 1 in 4-output controlled quentity controlled variable input field, if there is amendment, makes u
g(k)=u
con; If there is no the amendment of online direction controlled quentity controlled variable, then control system judges whether to exist the increase and decrease of online direction controlled quentity controlled variable, and in corresponding diagram 1,9-output controlled quentity controlled variable increases, increases, reduces fast, reduces fast button actions, if there is amendment, makes u
g(k)=u
g(k-1)+Δ u
g(k), complete judgement and the respective handling whether this scan period exists controlled quentity controlled variable online direction.
Shown in figure 3, be controlled quentity controlled variable online direction algorithm flow chart under automatic control mode, the processing stage of control system, whether basis exists online direction to upgrade u
g(k), upgrade u according to control algolithm
a(k) first control system judges this cycle online direction controlled quentity controlled variable u
gand upper cycle online direction controlled quentity controlled variable u (k)
g(k-1) deviation, presets threshold values δ if deviation exceedes
u, control system is put controlled quentity controlled variable online direction mode bit GS
ube 1, threshold values δ
uselect according to actual needs, less if online direction controlled quentity controlled variable changes, control system is cancelled this online direction effect; Then, control system judges controlled quentity controlled variable online direction mode bit, if controlled quentity controlled variable online direction mode bit GS
ube 1, to put controlled quentity controlled variable u (k) be online direction controlled quentity controlled variable u to control system
g, and the controlled quentity controlled variable online direction mode bit GS that resets (k)
ube 0; Otherwise it is automatic output control amount u that control system is put controlled quentity controlled variable u (k)
a(k); Finally, control system is calculated the deviation delta u of online direction controlled quentity controlled variable and automatic output control amount
gA(k)=u
g(k)-u
a(k), calculate the increment Delta u of automatic output control amount
a(k)=u
a(k)-u
a(k-1), juxtaposition u
g(k-1)=u (k), u
a(k-1)=u (k).After completing, enter down-stream.
Shown in Fig. 4, be specified rate online direction estimation & disposing process flow diagram, in order to realize the online direction of specified rate under tandem pattern, control system need to judge whether to exist online direction specified rate, and online direction controlled quentity controlled variable is upgraded.First judge whether to exist the amendment of online direction specified rate, the input amendment action in corresponding diagram 1 in 3-process set-point input field, if there is amendment, makes r
g(k)=r
con; If there is no the amendment of online direction specified rate, then control system judges whether to exist the increase and decrease of online direction specified rate, and in corresponding diagram 1,8-set-point increase and decrease button actions, if there is amendment, makes r
g(k)=r
g(k-1)+Δ r
g(k), complete the estimation & disposing whether this scan period exists specified rate online direction.
Shown in Fig. 5, be specified rate online direction algorithm flow chart under tandem pattern, the processing stage of control system, whether basis exists online direction to upgrade r
g(k), upgrade r according to control algolithm
c(k); First control system judges this cycle online direction specified rate r
gand upper cycle online direction specified rate r (k)
g(k-1) deviation, presets threshold values δ if deviation exceedes
r, control system is put specified rate online direction mode bit GS
rbe 1; Threshold values δ
rselect according to actual needs, less if online direction specified rate changes, control system is cancelled this online direction effect; Then, control system judges specified rate online direction mode bit, if specified rate online direction mode bit GS
rbe 1, to put specified rate r (k) be online direction specified rate r to control system
g, and the specified rate online direction mode bit GS that resets (k)
rbe 0; Otherwise it is the long-range specified rate r of tandem that control system is put specified rate r (k)
c(k), r (k) feeds back to loop in series, upgrades Cas PID regulation reference value; Finally, control system is calculated the deviation delta r of online direction specified rate and the long-range specified rate of tandem
gC(k)=r
g(k)-r
c(k), calculate the increment Delta r of the long-range specified rate of tandem
c(k)=r
c(k)-r
c(k-1), juxtaposition r
g(k-1)=r (k), r
c(k-1)=r (k).After completing, enter down-stream.
If loop in series specified rate comes from higher level has the output of online direction function control device, the output controlled quentity controlled variable online direction that can have an online direction function control device by higher level for the online direction of specified rate realizes; If loop in series specified rate comes from other algorithm outputs of higher level, require higher level's algorithm control output to there is incremental computations feature, this cycle Output rusults is the accumulated value of this cycle reference value and this cycle increment size.
Embodiment
A kind of online direction autocontrol method is applied to inventory in cement grinding mill cylindrical shell and automatically controls.In cement grinding mill cylindrical shell, the stability of inventory directly affects the stable of cement quality and output, and in cement grinding mill cylindrical shell, the size of inventory is one of key factor affecting cement output simultaneously.In cement grinding mill cylindrical shell, inventory is mainly controlled by regulating into mill feeding capacity, be subject to the impact of the factors such as material, abrasive body, ventilation larger, whole control object have large inertia, large dead time and time the characteristic that becomes, and operational factor binding occurrence changes with factors vary such as cement model, materials, therefore existing autocontrol method is difficult to meet the continous-stable control requirement that automatically puts into operation.Current in the time of Control System Design robotization control and manual control relatively independent, due to automation control system cannot meet large inertia, large dead time and time the characteristic that the becomes requirement to controller, so substantially pass into disuse, design has the online guidable controller architecture of operating personnel for this reason, can put into operation continuously to make up automatic control in the time that larger variation occurs production status.
The design of controller guidance panel, shown in Fig. 1.1-guidance panel title block shows cement grinding mill material stock amount control loop; 2-process values viewing area is shown as cement grinding mill material stock and measures value 0～100%; 3-process set-point shows input field, before show cement grinding mill material stock amount specified rate currency 0～100%, back edit box can be used for revising cement grinding mill material stock amount set-point; 4-output controlled quentity controlled variable shows input field, before show the currency 0-200t/h of feeding belt scale flow control instruction, back edit box can be used for revising feeding belt scale flow control output; 5-online direction allows switching push button, is used for switching online direction and allows or forbid, shows current in online direction enable state when pilot lamp is bright; 6-automated manner switching push button, presses and is switched to automated manner, shows current in auto state when pilot lamp is bright; 7-manual mode switching push button, presses and is switched to manual mode, shows current in manual mode when pilot lamp amount; 8-set-point increase and decrease button, increases button often by increase material stock amount set-point 1% next time, subtracts button often by reduce material level set-point 1% next time; 9-output controlled quentity controlled variable increasing button, often increase 1t/h by the instruction of belt conveyer scale flow control next time, increasing button often increases 5t/h by the instruction of belt conveyer scale flow control next time fast, reduce fast button and often reduce 5t/h by the instruction of belt conveyer scale flow control next time, reduce button and often reduce 1t/h by the instruction of belt conveyer scale flow control next time; 10-process set-point histogram correspondence 0～100%, 11-process values histogram correspondence 0～100% and the corresponding 0-200t/h of 12-output controlled quentity controlled variable histogram.
Cement grinding mill material stock amount controller works in automatic mode, and cement grinding mill material stock amount control loop controlled quentity controlled variable is obtained by the computing of cement grinding mill material stock amount increment type PID controller.In the time that online direction pattern allows, operating personnel carry out online direction to material stock amount control loop controlled quentity controlled variable at any time according to operating condition.Online direction feeding belt output order priority is higher than the feeding belt output order of pid algorithm output.
Shown in figure 2, first controller judges whether to exist the amendment of online direction controlled quentity controlled variable, if there is amendment, makes this cycle online direction feeding belt output order for amendment input quantity; If do not revise online direction feeding belt output order, then control system judges whether to exist the increase and decrease of online direction feeding belt output order, for example increase, increase, reduce fast, reduce etc. fast action, if there is amendment, this cycle online direction feeding belt output order is the cumulative of online direction feeding belt output order of upper cycle and this periodic increment or decrement.
Shown in figure 3, before this cycle online direction feeding belt output order upgrades, controller calculates the deviation of this cycle online direction feeding belt output order and upper cycle online direction feeding belt output order, if exceeding, deviation presets threshold values, get 1t/h, to put controlled quentity controlled variable online direction mode bit be 1 to controller;
In the time that this cycle online direction feeding belt output order upgrades, controller judges the state of controlled quentity controlled variable online direction mode bit, if controlled quentity controlled variable online direction mode bit is 1, to put feeding belt output order be this cycle online direction feeding belt output order to controller, and the controlled quentity controlled variable online direction mode bit that resets is 0; Otherwise it is pid algorithm output feeding belt output order that controller is put feeding belt output order;
Finally, controller calculates online direction feeding belt output order and the deviation of automatically exporting feeding belt output order; Calculate the increment of output feeding belt output order automatically; In juxtaposition, cycle feeding belt output order is originally this cycle feeding belt output order, and it is feeding belt output order that this cycle PID calculates output valve.
Cement grinding mill material stock amount controller works in tandem pattern, and cement grinding mill material stock amount control loop specified rate comes from the output of higher level PID module.In the time that online direction pattern allows, operating personnel carry out online direction to material stock amount control loop specified rate at any time according to operating condition, online direction control algolithm handle is according to online direction specified rate change control loop specified rate, and the increment of the deviation of online direction specified rate and the long-range specified rate of tandem, the long-range specified rate of tandem is returned to higher level PID module, to be used for the PID reference value in the lower cycle of revising.
Shown in figure 4, first, controller judges whether to exist online direction material stock amount specified rate amendment action, if there is amendment, makes this cycle online direction material stock amount specified rate for amendment input quantity; If there is no the amendment of online direction specified rate, then controller judges whether to exist the increase and decrease action of online direction material stock amount specified rate, if there is amendment, making this cycle online direction material stock amount specified rate is the cumulative of online direction material stock amount specified rate of upper cycle and this cycle increase and decrease amount.
Shown in figure 5, before material stock amount specified rate upgrades, controller calculates the deviation of this cycle online direction material stock amount specified rate and upper cycle online direction material stock amount specified rate, presets threshold values if deviation exceedes, get 1%, to put material level specified rate online direction mode bit be 1 to controller;
In the time that material stock amount specified rate upgrades, controller judges the state of specified rate online direction mode bit, if specified rate online direction mode bit is 1, to put material stock amount specified rate be online direction material stock amount specified rate to controller, and the material stock amount specified rate online direction mode bit that resets is 0; Otherwise controller is put the material stock amount specified rate that material stock amount specified rate is higher level PID output, and controller feeds back to higher level's pid loop material stock amount specified rate, and upgrade the reference value that higher level's pid loop controlling increment formula is calculated;
Control is that device calculates online direction material stock amount specified rate and higher level PID exports to quantitative deviation; Controller calculates higher level PID and exports to quantitative increment; In juxtaposition, material stock amount specified rate online direction value is this cycle material stock amount specified rate the cycle, and in juxtaposition, cycle higher level PID output quantity is this cycle material stock amount specified rate.
Autocontrol method of the present invention can complete control output quantity and the loop specified rate under amendment different mode, realizes on-line operation and instructs or manually preferentially intervene, and avoids the hand automatically switching operation that need to carry out because of change control amount in the time of automatic mode; Avoid the blocked operation that need to carry out because of amendment specified rate in the time of tandem control.
After cement grinding mill material stock amount online direction control system operation, can long-time running in automatic, tandem pattern, even there is larger situation in manufacture of cement situation, only need operating personnel to carry out online direction adjustment, alleviated operating personnel's operation, labour intensity; In addition, by artificial guidance, improve the dynamic responding speed of automatic control system, strengthened the stability of system, improved the efficiency of manufacture of cement, and given full play to advantage and the computer control real-time advantage continuously of the manual operation experience of knowing clearly.
Claims (2)
1. an online direction control method of automatically controlling for inventory in cement grinding mill cylindrical shell, realizes based on controller, comprises automatic mode or tandem pattern, and under automatic mode, control system is according to online direction feeding belt output order u
g(k) amendment feeding belt output order u (k), control system output online direction feeding belt output order u
g(k) with the feeding belt output order u of pid algorithm output
a(k) deviation delta u
gA, and the feeding belt output order u of pid algorithm output (k)
a(k) increment Delta u
a(k); Under tandem pattern, control system is according to online direction material stock amount specified rate r
g(k) amendment material stock amount specified rate r (k), control system output online direction material stock amount specified rate r
g(k) with the long-range specified rate r of tandem
c(k) deviation delta r
gC, and the long-range specified rate r of tandem (k)
c(k) increment Delta r
c(k);
It is characterized in that: under described automatic mode, online direction feeding belt output order u
g(k) priority is higher than the feeding belt output order u of pid algorithm output
a(k), in order to realize control system according to online direction feeding belt output order u
g(k) amendment feeding belt output order u (k), control system output online direction feeding belt output order u
g(k) with the feeding belt output order u of pid algorithm output
a(k) deviation delta u
gA, and the feeding belt output order u of pid algorithm output (k)
a(k) increment Delta u
a(k), carry out in the steps below:
Step 1: control system catches the action of controlled quentity controlled variable online direction in real time, if there is the action of controlled quentity controlled variable online direction, control system is preserved online direction feeding belt output order u
g(k);
Step 2: before feeding belt output order u (k) upgrades, control system is calculated this cycle online direction feeding belt output order u
gand upper cycle online direction feeding belt output order u (k)
g(k-1) deviation, presets threshold values δ if deviation exceedes
u, δ
ufor the 0.5-10% of controlled quentity controlled variable scope, control system is put controlled quentity controlled variable online direction mode bit GS
ube 1;
Step 3: in the time that feeding belt output order u (k) upgrades, control system judges controlled quentity controlled variable online direction mode bit GS
ustate, if controlled quentity controlled variable online direction mode bit GS
ube 1, to put feeding belt output order u (k) be online direction feeding belt output order u to control system
g, and the controlled quentity controlled variable online direction mode bit GS that resets (k)
ube 0; Otherwise control system is put the feeding belt output order u of feeding belt output order u (k) for pid algorithm output
a(k);
Step 4: online direction feeding belt output order u
g(k) with the feeding belt output order u of pid algorithm output
a(k) deviation delta u
gA(k)
Δu
GA(k)=u
G(k)-u
A(k)；
Step 5: control system is calculated the feeding belt output order u of pid algorithm output
a(k) increment
Δu
A(k)=u
A(k)-u
A(k-1)；
Step 6: control system is put u
g(k-1)=u (k), u
a(k-1)=u (k);
Under described tandem pattern, online direction material stock amount specified rate r
g(k) priority is higher than the long-range specified rate r of tandem
c(k), in order to realize control system according to online direction material stock amount specified rate r
g(k) amendment material stock amount specified rate r (k), control system output online direction material stock amount specified rate r
g(k) with the long-range specified rate r of tandem
c(k) deviation delta r
gC, and the long-range specified rate r of tandem (k)
c(k) increment Delta r
c(k), carry out in the steps below:
Step 1: control system catches the action of specified rate online direction in real time, if there is the action of specified rate online direction, control system is preserved online direction material stock amount specified rate r
g(k);
Step 2: before specified rate r (k) upgrades, control system is calculated this cycle online direction material stock amount specified rate r
gand upper cycle online direction material stock amount specified rate r (k)
g(k-1) deviation, presets threshold values δ if deviation exceedes
r, δ
rfor the 0.5-20% of specified rate scope, control system is put specified rate online direction mode bit GS
rbe 1;
Step 3: in the time that material stock amount specified rate r (k) upgrades, control system judges specified rate online direction mode bit GS
rstate, if specified rate online direction mode bit GS
rbe 1, to put material stock amount specified rate r (k) be online direction material stock amount specified rate r to control system
g, and the specified rate online direction mode bit GS that resets (k)
rbe 0; Otherwise it is the long-range specified rate r of tandem that control system is put material stock amount specified rate r (k)
c(k), control system feeds back to upper circuit material stock amount specified rate r (k), and upgrades upper circuit adjusting reference value;
Step 4: control system is calculated online direction material stock amount specified rate r
g(k) with the long-range specified rate r of tandem
c(k) deviation delta r
gC(k)
Δr
GC(k)=r
G(k)-r
C(k)；
Step 5: control system is calculated the increment Delta r of the long-range specified rate of tandem
c(k)=r
c(k)-r
c(k-1);
Step 6: control system is put r
g(k-1)=r (k), r
c(k-1)=r (k).
2. control method according to claim 1, it is characterized in that: under tandem pattern, realize online direction specified rate, if loop in series specified rate comes from higher level has the output of online direction function control device, the controlled quentity controlled variable output online direction that can have an online direction function control device by higher level for the online direction of specified rate realizes; If loop in series specified rate comes from other algorithm outputs of higher level, require higher level's algorithm control output to there is incremental computations feature, this cycle Output rusults is the accumulated value of this cycle reference value and this cycle increment size.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110456219.9A CN102540888B (en) | 2011-12-21 | 2011-12-21 | Online guiding automatic control method |
| PCT/CN2012/072548 WO2013091313A1 (en) | 2011-12-21 | 2012-03-19 | Online automatic control guide method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110456219.9A CN102540888B (en) | 2011-12-21 | 2011-12-21 | Online guiding automatic control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102540888A CN102540888A (en) | 2012-07-04 |
| CN102540888B true CN102540888B (en) | 2014-07-23 |
Family
ID=46347986
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110456219.9A Expired - Fee Related CN102540888B (en) | 2011-12-21 | 2011-12-21 | Online guiding automatic control method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102540888B (en) |
| WO (1) | WO2013091313A1 (en) |
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| CN113110127B (en) * | 2021-03-16 | 2022-06-21 | 西安交通大学 | Artificial auxiliary intelligent industrial controller |
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| CN101101112A (en) * | 2007-04-29 | 2008-01-09 | 上海红箭自动化设备有限公司 | Control method of boiler water level and its control system |
| CN101590331A (en) * | 2009-04-15 | 2009-12-02 | 华东理工大学 | Ethylene rectification tower sensitive plate temperature control system and control method thereof |
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| JP2839490B2 (en) * | 1987-03-28 | 1998-12-16 | 株式会社東芝 | Process control equipment |
| US5291190A (en) * | 1991-03-28 | 1994-03-01 | Combustion Engineering, Inc. | Operator interface for plant component control system |
| WO1997011414A1 (en) * | 1995-09-22 | 1997-03-27 | Rosemount Inc. | Adaptive bias controller |
| CN101318158A (en) * | 2008-03-17 | 2008-12-10 | 西安艾贝尔科技发展有限公司 | Control method for grinding process optimization of cement factory |
| CN201477408U (en) * | 2009-08-31 | 2010-05-19 | 兰州交通大学 | Human-simulated logic controller and control device used for dynamic batching system |
| CN102023568A (en) * | 2010-12-08 | 2011-04-20 | 北京交通大学 | Memory control method and device without online learning process |
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| CN1275216A (en) * | 1998-04-24 | 2000-11-29 | 株式会社日立制作所 | Controller and control method |
| CN101101112A (en) * | 2007-04-29 | 2008-01-09 | 上海红箭自动化设备有限公司 | Control method of boiler water level and its control system |
| CN101590331A (en) * | 2009-04-15 | 2009-12-02 | 华东理工大学 | Ethylene rectification tower sensitive plate temperature control system and control method thereof |
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| WO2013091313A1 (en) | 2013-06-27 |
| CN102540888A (en) | 2012-07-04 |
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