CN103076741A - Quadric form control method for non-minimum realization of expansion state space in chemical process - Google Patents

Quadric form control method for non-minimum realization of expansion state space in chemical process Download PDF

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CN103076741A
CN103076741A CN2013100181106A CN201310018110A CN103076741A CN 103076741 A CN103076741 A CN 103076741A CN 2013100181106 A CN2013100181106 A CN 2013100181106A CN 201310018110 A CN201310018110 A CN 201310018110A CN 103076741 A CN103076741 A CN 103076741A
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chemical process
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CN103076741B (en
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张日东
陈霄
郑松
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Hangzhou Sinan Intelligent Technology Co ltd
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Hangzhou Dianzi University
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Abstract

The invention relates to a quadric form control method for non-minimum realization of an expansion state space in a chemical process. At present, parameter control completely depends on the experience of technicists by adopting the conventional simple control means, but the control effect is poor. The quadric form control method comprises the steps of: firstly, establishing a transfer function procedure model on the basis of actual data in the chemical process, digging up basic process characteristics; then establishing a quadric form control loop of the expansion state space on the basis of the transfer function procedure model; and finally, through calculating parameters of a quadric form controller, implementing quadric form control on a procedure object. According to the technical scheme provided by the invention, through means of data acquisition, procedure processing, predicting mechanism, data drive, optimizing and the like, the quadric form control method for the non-minimum realization of the expansion state space in the chemical process is determined, and thus the control precision can be effectively improved and the control stability is improved. According to the quadric form control method, the defects of conventional control are made up, the design of the controller is effectively facilitated, and the improvement of the control performance is ensured.

Description

The non-Minimal Realization extended mode of chemical process space quadratic form control method
Technical field
The invention belongs to technical field of automation, relate to the non-Minimal Realization extended mode of a kind of chemical process space quadratic form control method.
Background technology
Chemical process is the important component part of China's process flow industry process, its control whether effective directly to follow-up process treatment process and reduce full-range energy consumption and all be of great importance.As an industrial significant subject, the raising of Producing Process of Processing Industry level plays vital effect to the raising of whole economic performance of industrial enterprises.For this reason, each main technologic parameters of production run must strict control.Along with market is more and more higher to the quality requirements of petrochemicals, and the development of production Technology, the technological process more complex though traditional control method has satisfied certain requirement, is difficult to further promote the control level.Simple process control can't have been satisfied the requirement of control accuracy and stationarity, and product percent of pass is low, and unit efficiency is low, has formed the requirement that develops into the senior stages such as complex control, advanced control from routine control.And traditional simple control device is adopted in control basically in the present actual industrial, and the control parameter relies on technician's experience fully, and production cost is increased, and the control effect is very undesirable.China's Chemical Engineering Process Control and optimisation technique are relatively backward, and energy consumption is high, and control performance is poor, and automaticity is low, are difficult to adapt to energy-saving and emission-reduction and the indirect demand of environmental protection, this wherein directly one of influence factor be the control program problem of system.
Summary of the invention
Target of the present invention is the deficiency for existing Chemical Processing Systems control technology, and the non-Minimal Realization extended mode of a kind of chemical process space quadratic form control method is provided.The method has remedied the deficiency of traditional control method, and when guaranteeing that control has higher precision and stability, the form that also guarantees is simple and satisfy the needs of actual industrial process.
The inventive method is at first set up the transport function process model based on the chemical process real data, excavates basic process characteristic; Then set up extended mode space quadratic form control loop based on this transport function process model; By calculating the parameter of quadratic form controller, process object is implemented quadratic form control at last.
Technical scheme of the present invention is to process, predict the means such as mechanism, data-driven, optimization by data acquisition, process, established the non-Minimal Realization extended mode of a kind of chemical process space quadratic form control method, but utilize the precision of the method Effective Raise control, improve the control smoothness.
The step of the inventive method comprises:
(1) utilize the chemical process real data to set up the transport function process model, concrete grammar is:
Step (1). the input of operation chemical process makes it have individual step to change, and is exported in real time by recorder record chemical process, with the real-time output valve of chemical process
Figure 2013100181106100002DEST_PATH_IMAGE002
Response curve convert Dimensionless Form to
Figure 2013100181106100002DEST_PATH_IMAGE004
:
Wherein,
Figure 2013100181106100002DEST_PATH_IMAGE008
That chemical process is exported in real time
Figure 96646DEST_PATH_IMAGE002
Steady-state value.
Step (2). choose two calculation levels,
Figure 2013100181106100002DEST_PATH_IMAGE010
, according to the needed parameter of following computing formula calculation of transfer function process model
Figure 2013100181106100002DEST_PATH_IMAGE012
:
Figure 2013100181106100002DEST_PATH_IMAGE014
Wherein, Step amplitude of variation for the chemical process input.
Step (3). the parameter that step (2) is obtained is converted into the transport function process model of Laplce's form:
Figure 2013100181106100002DEST_PATH_IMAGE018
Wherein,
Figure 2013100181106100002DEST_PATH_IMAGE020
Be the Laplace transform operator,
Figure 2013100181106100002DEST_PATH_IMAGE022
Be the time constant of model,
Figure 2013100181106100002DEST_PATH_IMAGE024
Be the time lag of transport function process model, The Laplace transform of the output valve of expression process model,
Figure 2013100181106100002DEST_PATH_IMAGE028
The Laplace transform of the input of expression process model.
Figure 2013100181106100002DEST_PATH_IMAGE030
(2) design non-Minimal Realization extended mode space quadratic form controller based on this transport function process model, concrete grammar is:
A. above-mentioned transport function process model is passed through the sampling period Be converted into discrete input/output model:
Wherein
Figure 2013100181106100002DEST_PATH_IMAGE036
With Respectively output and the input variable of discrete input/output model, With
Figure 2013100181106100002DEST_PATH_IMAGE042
Be respectively
Figure 761589DEST_PATH_IMAGE036
With
Figure 603643DEST_PATH_IMAGE038
The coefficient polynomial expression;
Figure 2013100181106100002DEST_PATH_IMAGE044
Wherein
Figure 2013100181106100002DEST_PATH_IMAGE046
Corresponding coefficient,
Figure 2013100181106100002DEST_PATH_IMAGE048
For after move
Figure 2013100181106100002DEST_PATH_IMAGE050
The step operator,
Figure 2013100181106100002DEST_PATH_IMAGE052
It is the discrete input/output model order that obtains;
B. above-mentioned discrete input/output model is passed through backward shift operator Be processed into state space form:
Figure 2013100181106100002DEST_PATH_IMAGE056
Figure 2013100181106100002DEST_PATH_IMAGE058
。
Wherein,
Figure 2013100181106100002DEST_PATH_IMAGE060
,
Figure 2013100181106100002DEST_PATH_IMAGE062
Respectively
Figure 2013100181106100002DEST_PATH_IMAGE064
State variable and output variable value constantly,
Figure 2013100181106100002DEST_PATH_IMAGE066
Be Input incremental variable value constantly,
Figure 2013100181106100002DEST_PATH_IMAGE070
,
Figure 2013100181106100002DEST_PATH_IMAGE072
Be respectively
Figure 2013100181106100002DEST_PATH_IMAGE074
Output variable increment and input variable increment size constantly,
Figure 2013100181106100002DEST_PATH_IMAGE076
, ,
Figure 2013100181106100002DEST_PATH_IMAGE080
Be respectively corresponding state matrix, input matrix and output matrix,
Figure 2013100181106100002DEST_PATH_IMAGE082
For getting the transposition symbol.
Figure 2013100181106100002DEST_PATH_IMAGE084
Figure 2013100181106100002DEST_PATH_IMAGE086
Figure 2013100181106100002DEST_PATH_IMAGE088
；
C. defining a process desired output is , and output error
Figure 2013100181106100002DEST_PATH_IMAGE092
For:
Figure 2013100181106100002DEST_PATH_IMAGE094
Further obtain
Figure 808972DEST_PATH_IMAGE064
Output error constantly For:
Figure 2013100181106100002DEST_PATH_IMAGE098
Wherein,
Figure 2013100181106100002DEST_PATH_IMAGE100
Be
Figure 997245DEST_PATH_IMAGE064
Process desired output increment constantly.
Define a new combined state variable:
Figure 2013100181106100002DEST_PATH_IMAGE102
Comprehensively be a non-Minimal Realization extended mode steric course model with above-mentioned processing procedure:
Figure 2013100181106100002DEST_PATH_IMAGE104
Wherein,
Figure 2013100181106100002DEST_PATH_IMAGE106
Be
Figure 695074DEST_PATH_IMAGE064
Combined state variable constantly,
Figure 2013100181106100002DEST_PATH_IMAGE108
,
Figure 2013100181106100002DEST_PATH_IMAGE110
,
Figure 2013100181106100002DEST_PATH_IMAGE112
Be respectively state matrix, input matrix and the output matrix of corresponding combined state variable, specifically:
Figure 2013100181106100002DEST_PATH_IMAGE114
，
Figure 2013100181106100002DEST_PATH_IMAGE116
，
Figure 2013100181106100002DEST_PATH_IMAGE118
D. the vector form that defines non-Minimal Realization extended mode space quadratic form controller objective function is:
Figure 2013100181106100002DEST_PATH_IMAGE120
Wherein,
Figure 2013100181106100002DEST_PATH_IMAGE122
Be objective function,
Figure 2013100181106100002DEST_PATH_IMAGE124
With
Figure 2013100181106100002DEST_PATH_IMAGE126
Be respectively the weighting matrix of state variable and output variable.
E. the parameter of computing controller, specifically:
Figure 2013100181106100002DEST_PATH_IMAGE128
Wherein Be controller feedback factor vector.
The non-Minimal Realization extended mode of a kind of chemical process space quadratic form control method that the present invention proposes has remedied the deficiency of traditional control, and has effectively made things convenient for controller's design, guarantees the lifting of control performance, satisfies simultaneously given production performance index.
The control technology that the present invention proposes can effectively reduce the error between ideal technology parameter and the actual process parameter, further remedied the deficiency of traditional controller, guarantee that simultaneously control device operates in optimum condition, make the technological parameter of production run reach strict control.
Embodiment
Be controlled to be example with the coking fractional distillation column level process:
Here described as an example with the control of coking fractional distillation column level process.This process is the process of a complexity, and the coking fractional distillation column liquid level not only is subject to the impact of feed rate, also is subjected to Outlet Temperature in Delayed Coking Furnace, the impact of fuel quantity flow simultaneously.Regulating measure adopts feed rate, and remaining affects as uncertain factor.
(1) set up the transport function process model, concrete grammar is:
The first step: the inlet amount valve of operation coking fractional distillation column level process makes its input have individual step to change, utilize data acquisition unit to gather coking fractional distillation column level process input data (feed rate) and output data (coking fractional distillation column liquid level), exported in real time by the recorder recording process, with the real-time output valve of process
Figure 522959DEST_PATH_IMAGE002
Response convert Dimensionless Form to
Figure 33444DEST_PATH_IMAGE004
:
Figure 764640DEST_PATH_IMAGE006
Wherein,
Figure 758003DEST_PATH_IMAGE008
That process is exported in real time
Figure 325382DEST_PATH_IMAGE002
Steady-state value.
Second step: choose two calculation levels,
Figure 124711DEST_PATH_IMAGE010
, according to the needed parameter of following computing formula calculation of transfer function process model
Figure 648096DEST_PATH_IMAGE012
:
Figure 412962DEST_PATH_IMAGE014
Wherein, Step amplitude of variation for the process input.
The 3rd step: the parameter that second step is obtained is converted into the transport function process model of Laplce's form:
Figure 992028DEST_PATH_IMAGE018
Wherein,
Figure 448548DEST_PATH_IMAGE020
Be the Laplace transform operator, Be the time constant of model,
Figure 574953DEST_PATH_IMAGE024
Be the time lag of transport function process model,
Figure 27669DEST_PATH_IMAGE026
The Laplace transform of the output valve of expression process model,
Figure 525647DEST_PATH_IMAGE028
The Laplace transform of the input of expression process model.
Figure 110343DEST_PATH_IMAGE030
(2) the non-Minimal Realization extended mode of design coking fractional distillation column level process space quadratic form controller, concrete grammar is:
A. transport function process model obtained above is passed through the sampling period
Figure 60981DEST_PATH_IMAGE032
Being converted into discrete input/output model is:
Figure 5804DEST_PATH_IMAGE034
Wherein With
Figure 612420DEST_PATH_IMAGE038
Respectively output and the input variable of discrete input/output model, With
Figure 533289DEST_PATH_IMAGE042
Be respectively
Figure 818908DEST_PATH_IMAGE036
With
Figure 932357DEST_PATH_IMAGE038
The coefficient polynomial expression;
Figure 919905DEST_PATH_IMAGE044
Wherein Corresponding coefficient, For after move
Figure 863962DEST_PATH_IMAGE050
The step operator, It is the discrete input/output model order that obtains;
B. above-mentioned discrete input/output model is passed through backward shift operator
Figure 117537DEST_PATH_IMAGE054
Be processed into state space form:
Figure 361436DEST_PATH_IMAGE056
Figure 862694DEST_PATH_IMAGE058
。
Wherein,
Figure 762517DEST_PATH_IMAGE060
,
Figure 203993DEST_PATH_IMAGE062
Respectively
Figure 567979DEST_PATH_IMAGE064
State variable and output variable value constantly,
Figure 928553DEST_PATH_IMAGE066
Be
Figure 627256DEST_PATH_IMAGE068
Input incremental variable value constantly,
Figure 59375DEST_PATH_IMAGE070
,
Figure 949970DEST_PATH_IMAGE072
Be respectively
Figure 560074DEST_PATH_IMAGE074
Output variable increment and input variable increment size constantly,
Figure 168910DEST_PATH_IMAGE076
,
Figure 404719DEST_PATH_IMAGE078
,
Figure 726985DEST_PATH_IMAGE080
Be respectively corresponding state matrix, input matrix and output matrix,
Figure 694941DEST_PATH_IMAGE082
For getting the transposition symbol.
Figure 853390DEST_PATH_IMAGE084
Figure 243231DEST_PATH_IMAGE088
；
C. defining process expectation liquid level is output as
Figure 444405DEST_PATH_IMAGE090
, and the liquid level output error
Figure 27834DEST_PATH_IMAGE092
For:
Figure 589134DEST_PATH_IMAGE094
Further obtain
Figure 636724DEST_PATH_IMAGE064
Liquid level output error constantly
Figure 946483DEST_PATH_IMAGE096
For:
Figure 830256DEST_PATH_IMAGE098
Wherein,
Figure 945980DEST_PATH_IMAGE100
Be
Figure 785760DEST_PATH_IMAGE064
Process expectation liquid level output increment constantly.
Define a new combined state variable:
Figure 578004DEST_PATH_IMAGE102
Comprehensively be a non-Minimal Realization extended mode steric course model with above-mentioned processing procedure:
Figure 2013100181106100002DEST_PATH_IMAGE132
Wherein,
Figure 932762DEST_PATH_IMAGE106
Be
Figure 602909DEST_PATH_IMAGE064
Combined state variable constantly,
Figure 297196DEST_PATH_IMAGE108
, ,
Figure 367975DEST_PATH_IMAGE112
Be respectively state matrix, input matrix and the output matrix of corresponding combined state variable, specifically:
Figure 763184DEST_PATH_IMAGE114
， ，
Figure 275385DEST_PATH_IMAGE118
D. the vector form that defines non-Minimal Realization extended mode space quadratic form controller objective function is:
Figure 542418DEST_PATH_IMAGE120
Wherein,
Figure 803635DEST_PATH_IMAGE122
Be objective function,
Figure 518519DEST_PATH_IMAGE124
With
Figure 777462DEST_PATH_IMAGE126
Be respectively the weighting matrix of state variable and output variable.
E. the parameter of computing controller, specifically:
Figure 594108DEST_PATH_IMAGE128
Wherein Be controller feedback factor vector.

Claims (1)

1. the non-Minimal Realization extended mode of chemical process space quadratic form control method is characterized in that the concrete steps of the method are:
I. utilize the chemical process real data to set up the transport function process model, concrete grammar is:
Step (1): the input of operation chemical process makes it have individual step to change, and is exported in real time by recorder record chemical process, with the real-time output valve of chemical process Response curve convert Dimensionless Form to :
Wherein,
Figure 2013100181106100001DEST_PATH_IMAGE008
That chemical process is exported in real time
Figure 782423DEST_PATH_IMAGE002
Steady-state value;
Step (2): choose two calculation levels,
Figure 2013100181106100001DEST_PATH_IMAGE010
, according to the needed parameter of following computing formula calculation of transfer function process model
Figure 2013100181106100001DEST_PATH_IMAGE012
:
Figure 2013100181106100001DEST_PATH_IMAGE014
Wherein,
Figure 2013100181106100001DEST_PATH_IMAGE016
Step amplitude of variation for the chemical process input;
Step (3): the parameter that step (2) is obtained is converted into the transport function process model of Laplce's form:
Figure 2013100181106100001DEST_PATH_IMAGE018
Wherein,
Figure 2013100181106100001DEST_PATH_IMAGE020
Be the Laplace transform operator,
Figure 2013100181106100001DEST_PATH_IMAGE022
Be the time constant of model,
Figure 2013100181106100001DEST_PATH_IMAGE024
Be the time lag of transport function process model,
Figure 2013100181106100001DEST_PATH_IMAGE026
The Laplace transform of the output valve of expression process model,
Figure 2013100181106100001DEST_PATH_IMAGE028
The Laplace transform of the input of expression process model;
Figure 2013100181106100001DEST_PATH_IMAGE030
II. design non-Minimal Realization extended mode space quadratic form controller based on this transport function process model, concrete grammar is:
A. above-mentioned transport function process model is passed through the sampling period
Figure 2013100181106100001DEST_PATH_IMAGE032
Be converted into discrete input/output model:
Figure 2013100181106100001DEST_PATH_IMAGE034
Wherein
Figure 2013100181106100001DEST_PATH_IMAGE036
With
Figure 2013100181106100001DEST_PATH_IMAGE038
Respectively output and the input variable of discrete input/output model,
Figure 2013100181106100001DEST_PATH_IMAGE040
With Be respectively With
Figure 873799DEST_PATH_IMAGE038
The coefficient polynomial expression;
Wherein
Figure 2013100181106100001DEST_PATH_IMAGE046
Corresponding coefficient,
Figure 2013100181106100001DEST_PATH_IMAGE048
For after move
Figure 2013100181106100001DEST_PATH_IMAGE050
The step operator,
Figure 2013100181106100001DEST_PATH_IMAGE052
It is the discrete input/output model order that obtains;
B. above-mentioned discrete input/output model is passed through backward shift operator
Figure 2013100181106100001DEST_PATH_IMAGE054
Be processed into state space form:
Figure 2013100181106100001DEST_PATH_IMAGE058
；
Wherein,
Figure 2013100181106100001DEST_PATH_IMAGE060
, Respectively
Figure 2013100181106100001DEST_PATH_IMAGE064
State variable and output variable value constantly,
Figure 2013100181106100001DEST_PATH_IMAGE066
Be Input incremental variable value constantly, ,
Figure 2013100181106100001DEST_PATH_IMAGE072
Be respectively
Figure 2013100181106100001DEST_PATH_IMAGE074
Output variable increment and input variable increment size constantly, ,
Figure 2013100181106100001DEST_PATH_IMAGE078
,
Figure 2013100181106100001DEST_PATH_IMAGE080
Be respectively corresponding state matrix, input matrix and output matrix,
Figure 2013100181106100001DEST_PATH_IMAGE082
For getting the transposition symbol;
Figure 2013100181106100001DEST_PATH_IMAGE084
Figure 2013100181106100001DEST_PATH_IMAGE086
Figure 2013100181106100001DEST_PATH_IMAGE088
；
C. defining a process desired output is
Figure 2013100181106100001DEST_PATH_IMAGE090
, and output error
Figure 2013100181106100001DEST_PATH_IMAGE092
For:
Figure 2013100181106100001DEST_PATH_IMAGE094
Further obtain Output error constantly
Figure 2013100181106100001DEST_PATH_IMAGE096
For:
Figure 2013100181106100001DEST_PATH_IMAGE098
Wherein,
Figure 2013100181106100001DEST_PATH_IMAGE100
Be Process desired output increment constantly;
Define a new combined state variable
Figure 2013100181106100001DEST_PATH_IMAGE102
:
Figure 2013100181106100001DEST_PATH_IMAGE104
Comprehensively be a non-Minimal Realization extended mode steric course model with above-mentioned processing procedure:
Figure 2013100181106100001DEST_PATH_IMAGE106
Wherein,
Figure 2013100181106100001DEST_PATH_IMAGE108
Be
Figure 511914DEST_PATH_IMAGE064
Combined state variable constantly,
Figure 2013100181106100001DEST_PATH_IMAGE110
,
Figure 2013100181106100001DEST_PATH_IMAGE112
,
Figure 2013100181106100001DEST_PATH_IMAGE114
Be respectively state matrix, input matrix and the output matrix of corresponding combined state variable, specifically:
Figure 2013100181106100001DEST_PATH_IMAGE116
， ，
Figure 2013100181106100001DEST_PATH_IMAGE120
D. the vector form that defines non-Minimal Realization extended mode space quadratic form controller objective function is:
Wherein,
Figure 2013100181106100001DEST_PATH_IMAGE124
Be objective function,
Figure 2013100181106100001DEST_PATH_IMAGE126
With
Figure 2013100181106100001DEST_PATH_IMAGE128
Be respectively the weighting matrix of state variable and output variable;
E. the parameter of computing controller,
Figure 2013100181106100001DEST_PATH_IMAGE130
, wherein
Figure 2013100181106100001DEST_PATH_IMAGE132
Be controller feedback factor vector.
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