CN103076744B - Chemical process non-minimum realizes state space linear quadric form control method - Google Patents
Chemical process non-minimum realizes state space linear quadric form control method Download PDFInfo
- Publication number
- CN103076744B CN103076744B CN201310018107.4A CN201310018107A CN103076744B CN 103076744 B CN103076744 B CN 103076744B CN 201310018107 A CN201310018107 A CN 201310018107A CN 103076744 B CN103076744 B CN 103076744B
- Authority
- CN
- China
- Prior art keywords
- input
- output
- model
- chemical process
- parameter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Feedback Control In General (AREA)
Abstract
The present invention relates to a kind of chemical process non-minimum and realize state space linear quadric form control method.The simple control device that current employing is traditional, controling parameters relies on technician's experience completely, and control effects is very undesirable.The inventive method adopts the means such as data acquisition, process process, prediction mechanism, data-driven, optimization, first sets up transport function process model based on chemical process real data, excavates basic process characteristic; Then liner quadratic regulator loop is set up based on this transport function process model; Finally by the parameter calculating liner quadratic regulator device, process object is implemented liner quadratic regulator.The inventive method effectively can reduce the error between desired process parameter and actual process parameter, compensate for the deficiency of traditional controller further, ensures that control device operates in optimum condition simultaneously, makes the technological parameter of production run reach strict control.
Description
Technical field
The invention belongs to technical field of automation, relate to a kind of chemical process non-minimum and realize state space linear quadric form control method.
Background technology
Chemical process is the important component part of China's process flow industry process, and it is whether effective direct to follow-up process treatment process and reduce full-range energy consumption and be all of great importance that it controls.As an industrial significant subject, the raising of raising to whole economic performance of industrial enterprises of Producing Process of Processing Industry level plays vital effect.For this reason, each main technologic parameters of production run must strictly control.Along with the quality requirements of market to petrochemicals is more and more higher, and the development of production Technology, technological process becomes more complicated, though traditional control method meets certain requirement, is difficult to promote level of control further.Simple process control cannot meet the requirement of control accuracy and stationarity, and product percent of pass is low, and unit efficiency is low, defines the requirement developing into the advanced stage such as complex control, Dynamic matrix control from conventional control.And control substantially to adopt traditional simple control device in current actual industrial, controling parameters relies on technician's experience completely, and production cost is increased, and control effects is very undesirable.China's Chemical Engineering Process Control and optimisation technique relatively backward, energy consumption remains high, and control performance is poor, and automaticity is low, is difficult to the demand adapting to energy-saving and emission-reduction and indirectly environmental protection, this wherein one of direct 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, provides a kind of chemical process non-minimum to realize state space linear quadric form control method.The method compensate for the deficiency of traditional control method, and while ensureing to control to have higher precision and stability, the form that also ensures is simple and meet the needs of actual industrial process.
First the inventive method sets up transport function process model based on chemical process real data, excavates basic process characteristic; Then liner quadratic regulator loop is set up based on this transport function process model; Finally by the parameter calculating liner quadratic regulator device, process object is implemented liner quadratic regulator.
Technical scheme of the present invention is by the means such as data acquisition, process process, prediction mechanism, data-driven, optimization, establish a kind of chemical process non-minimum and realize state space linear quadric form control method, utilize the method effectively can improve the precision of control, improve and control smoothness.
The step of the inventive method comprises:
(1) utilize chemical process real data to set up transport function process model, concrete grammar is:
Step (1). the input of operation chemical process makes it have individual Spline smoothing, is exported in real time, by real-time for chemical process output valve by recorder record chemical process
response curve convert Dimensionless Form to
:
Wherein,
that chemical process exports in real time
steady-state value.
Step (2). choose two calculation levels,
, according to the parameter required for following computing formula calculation of transfer function process model
:
Wherein,
for the Spline smoothing amplitude of chemical process input.
Step (3). the parameter that step (2) obtains is converted into the transport function process model of Laplce's form:
Wherein,
for Laplace transform operator,
for the time constant of model,
for the time lag of transport function process model,
represent the Laplace transform of the output valve of process model,
represent the Laplace transform of the input of process model.
(2) realize state space liner quadratic regulator device based on this transport function process model design non-minimum, concrete grammar is:
A. above-mentioned transport function process model is passed through the sampling period
be converted into discrete input/output model:
Wherein
with
output and the input variable of discrete input/output model respectively,
with
be respectively
with
coefficient polynomial expression;
Wherein
corresponding coefficient,
for after move
step operator,
it is the discrete input/output model order obtained;
B. above-mentioned discrete input/output model is passed through backward shift operator
be processed into state space form:
。
Wherein,
,
respectively
the state variable value in moment and output variable value,
be
the input incremental variable value in moment,
,
be respectively
the output variable increment in moment and input variable increment size,
,
,
be respectively corresponding state matrix, input matrix and output matrix,
for getting transposition symbol.
;
C. defining the vector form that non-minimum realizes state space liner quadratic regulator device objective function is:
Wherein,
for objective function,
with
be respectively the weighting matrix of state variable and output variable.
D. the parameter of computing controller, specifically:
Wherein
be
the state variable value in moment,
for controller feedback factor vector.
A kind of chemical process non-minimum that the present invention proposes realizes the deficiency that state space linear quadric form control method compensate for Traditional control, and effectively facilitates the design of controller, ensures the lifting of control performance, meets given production performance index simultaneously.
The control technology that the present invention proposes effectively can reduce the error between desired process parameter and actual process parameter, compensate for the deficiency of traditional controller further, ensure that control device operates in optimum condition simultaneously, make the technological parameter of production run reach strict control.
Embodiment
For Oxygen Content in Delayed Coking Furnace process control:
Here described as an example with Oxygen Content in Delayed Coking Furnace process control.This process is a complicated process, and oxygen content is not only subject to the impact of air intake flow, simultaneously also by furnace pressure, and the impact of fuel quantity flow.Regulating measure adopts air intake flow, and remaining impact is as uncertain factor.
(1) set up transport function process model, concrete grammar is:
The first step: the intake air door of operation Oxygen Content in Delayed Coking Furnace process makes it input a Spline smoothing, data acquisition unit is utilized to gather Oxygen Content in Delayed Coking Furnace process input data (air intake flow) and export data (Oxygen Content in Delayed Coking Furnace), exported in real time by recorder recording process, by real-time for process output valve
response convert Dimensionless Form to
:
Wherein,
that process exports in real time
steady-state value.
Second step: choose two calculation levels,
, according to the parameter required for following computing formula calculation of transfer function process model
:
Wherein,
for the Spline smoothing amplitude of process input.
3rd step: the parameter obtained by second step is converted into the transport function process model of Laplce's form:
Wherein,
for Laplace transform operator,
for the time constant of model,
for the time lag of transport function process model,
represent the Laplace transform of the output valve of process model,
represent the Laplace transform of the input of process model.
(2) design Oxygen Content in Delayed Coking Furnace process non-minimum and realize state space liner quadratic regulator device, concrete grammar is:
A. the transport function process model obtained in above-mentioned is passed through the sampling period
being converted into discrete input/output model is:
Wherein
with
output and the input variable of discrete input/output model respectively,
with
be respectively
with
coefficient polynomial expression;
Wherein
corresponding coefficient,
for after move
step operator,
it is the discrete input/output model order obtained;
B. above-mentioned discrete input/output model is passed through backward shift operator
be processed into state space form:
。
Wherein,
,
respectively
the state variable in moment and output variable value,
be
the input incremental variable value in moment,
,
be respectively
the output variable increment in moment and input variable increment size,
,
,
be respectively corresponding state matrix, input matrix and output matrix,
for getting transposition symbol.
;
C. defining the vector form that non-minimum realizes state space liner quadratic regulator device objective function is:
Wherein,
for objective function,
with
be respectively the weighting matrix of state variable and output variable.
D. the parameter of computing controller, specifically:
Wherein
for controller feedback factor vector.
Claims (1)
1. chemical process non-minimum realizes state space linear quadric form control method, it is characterized in that the concrete steps of the method are:
I. utilize chemical process real data to set up transport function process model, concrete grammar is:
Step (1). the input of operation chemical process makes it have individual Spline smoothing, is exported in real time, convert the response curve of real-time for chemical process output valve y (k) to Dimensionless Form y by recorder record chemical process
*(k):
y
*(k)=y(k)/y(∞)
Wherein, y (∞) is the steady-state value that chemical process exports y (k) in real time;
Step (2). choose two calculation levels, y
*(k
1)=0.39, y
*(k
2)=0.63, according to the parameter K required for following computing formula calculation of transfer function process model
1, T
1and τ
1:
K
1=y(∞)/q
1
T
1=2(k
1-k
2)
τ
1=2k
1-k
2
Wherein, q
1for the Spline smoothing amplitude of chemical process input;
Step (3). the parameter that step (2) obtains is converted into the transport function process model of Laplce's form:
Wherein, s is Laplace transform operator, λ
1for the time constant of model, L
1for the time lag of transport function process model, y (s) represents the Laplace transform of the output valve of process model, q
1s () represents the Laplace transform of the input of process model;
λ
1=T
1
L
1=τ
1
II. realize state space liner quadratic regulator device based on this transport function process model design non-minimum, concrete grammar is:
A. above-mentioned transport function process model is passed through sampling period T
sbe converted into discrete input/output model:
F(z
-1)y(k)=H(z
-1)u(k)
Wherein y (k) and u (k) is output and the input variable of discrete input/output model respectively, F (z
-1) and H (z
-1) be the coefficient polynomial expression of y (k) and u (k) respectively;
F(z
-1)=1+f
1z
-1+f
2z
-2+…+f
nz
-n
H(z
-1)=h
1z
-1+h
2z
-2+…+h
nz
-n
Wherein f
i, h
icorresponding coefficient, i=1,2 ..., n; z
-ifor after move i walk operator, i=1,2 ..., n; N is the discrete input/output model order obtained;
B. above-mentioned discrete input/output model is processed into state space form by backward shift operator Δ:
Δx
m(k+1)=A
mΔx
m(k)+B
mΔu(k)
Δy(k+1)=C
mΔx
m(k+1)
Δx
m(k)
T=[Δy(k)Δy(k-1)…Δy(k-n+1)Δu(k-1)Δu(k-2)…Δu(k-n+1)];
Wherein, Δ x
m(k+1), Δ y (k+1) is state variable value and the output variable value in kth+1 moment respectively, the input incremental variable value that Δ u (k) is the kth moment, Δ y (k-i), Δ u (k-i) are respectively output variable increment and the input variable increment size in kth-i moment, i=0,1,, n-1, A
m, B
m, C
mbe respectively corresponding state matrix, input matrix and output matrix, T is for getting transposition symbol;
B
m=[h
100…0100]
T
C
m=[100…0000];
C. defining the vector form that non-minimum realizes state space liner quadratic regulator device objective function is:
Wherein, J is objective function, Q and λ is respectively the weighting matrix of state variable and output variable;
D. the parameter of computing controller, Δ u (k)=-K Δ x
m(k), wherein Δ x
mk () is the state variable value in kth moment, K is controller feedback factor vector.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201310018107.4A CN103076744B (en) | 2013-01-18 | 2013-01-18 | Chemical process non-minimum realizes state space linear quadric form control method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201310018107.4A CN103076744B (en) | 2013-01-18 | 2013-01-18 | Chemical process non-minimum realizes state space linear quadric form control method |
Publications (2)
Publication Number | Publication Date |
---|---|
CN103076744A CN103076744A (en) | 2013-05-01 |
CN103076744B true CN103076744B (en) | 2015-11-18 |
Family
ID=48153311
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201310018107.4A Active CN103076744B (en) | 2013-01-18 | 2013-01-18 | Chemical process non-minimum realizes state space linear quadric form control method |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN103076744B (en) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101709867A (en) * | 2009-12-18 | 2010-05-19 | 杭州电子科技大学 | Hybrid control method for drum water level system of coal-fired boiler |
CN101872182A (en) * | 2010-05-21 | 2010-10-27 | 杭州电子科技大学 | Batch process monitoring method based on recursive non-linear partial least square |
CN101872432A (en) * | 2010-05-21 | 2010-10-27 | 杭州电子科技大学 | Ant colony optimization method by introducing curiosity factor |
CN102053562A (en) * | 2011-01-05 | 2011-05-11 | 杭州电子科技大学 | Cracking furnace exit temperature hybrid control method |
CN102880046A (en) * | 2012-09-24 | 2013-01-16 | 杭州电子科技大学 | Chemical multi-variable process decoupling prediction function control method |
CN102880047A (en) * | 2012-09-24 | 2013-01-16 | 杭州电子科技大学 | Adjoint matrix decoupling prediction control method for oil refining industrial heating furnace temperature process |
-
2013
- 2013-01-18 CN CN201310018107.4A patent/CN103076744B/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101709867A (en) * | 2009-12-18 | 2010-05-19 | 杭州电子科技大学 | Hybrid control method for drum water level system of coal-fired boiler |
CN101872182A (en) * | 2010-05-21 | 2010-10-27 | 杭州电子科技大学 | Batch process monitoring method based on recursive non-linear partial least square |
CN101872432A (en) * | 2010-05-21 | 2010-10-27 | 杭州电子科技大学 | Ant colony optimization method by introducing curiosity factor |
CN102053562A (en) * | 2011-01-05 | 2011-05-11 | 杭州电子科技大学 | Cracking furnace exit temperature hybrid control method |
CN102880046A (en) * | 2012-09-24 | 2013-01-16 | 杭州电子科技大学 | Chemical multi-variable process decoupling prediction function control method |
CN102880047A (en) * | 2012-09-24 | 2013-01-16 | 杭州电子科技大学 | Adjoint matrix decoupling prediction control method for oil refining industrial heating furnace temperature process |
Also Published As
Publication number | Publication date |
---|---|
CN103076744A (en) | 2013-05-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN102880046B (en) | Chemical multi-variable process decoupling prediction function control method | |
CN102520616B (en) | Partial decoupling unminimized model prediction function control method in oil refining industrial process | |
CN102520617B (en) | Prediction control method for unminimized partial decoupling model in oil refining industrial process | |
CN103699009B (en) | The Linear-Quadratic Problem fault tolerant control method of batch process | |
CN102053562A (en) | Cracking furnace exit temperature hybrid control method | |
CN106482507B (en) | A kind of cement decomposing furnace combustion automatic control method | |
CN102520618A (en) | Coking heating furnace radiation outlet temperature control method under error tolerance mechanism | |
CN102902201A (en) | Decoupling state spatial prediction control method of chemical multivariate processes | |
CN103076741B (en) | Chemical process non-minimum realizes extended mode space quadric form control method | |
CN103076744B (en) | Chemical process non-minimum realizes state space linear quadric form control method | |
CN104267600B (en) | Ladle refining furnace Electrode Computer Control System and control method thereof | |
CN102880047B (en) | Adjoint matrix decoupling prediction control method for oil refining industrial heating furnace temperature process | |
US20120310375A1 (en) | A nonlinear intelligent pulse-controller | |
CN110794672B (en) | Explicit control method for furnace temperature of decomposing furnace in cement production process | |
CN102436178A (en) | Method for controlling oxygen content of coking heater under error tolerance limiting mechanism | |
CN103064293A (en) | Chemical process decoupling non-minimal realization state space linear quadric form control method | |
CN107102550B (en) | Predictive control method for controlling separator temperature of ultra-supercritical thermal power generating unit | |
CN103064294A (en) | Chemical process decoupling non-minimal realization expansion state space quadric form control method | |
CN102419551B (en) | Coking heating furnace hearth pressure control method under error tolerance limit mechanism | |
CN102866634A (en) | Adjoint matrix decoupling prediction function control method for petroleum refining industry | |
CN103064284B (en) | Apply model predictive controller and method that reverse difference suppresses not measurable disturbance | |
Jia et al. | Research on the flow control strategy of water distributor in Water Injection Well | |
Jianhong et al. | Direct data driven model reference control for flight simulation table | |
CN105807635A (en) | Predictive fuzzy control optimized control method for waste plastic oil refining cracking furnace chamber pressure | |
CN104122878A (en) | Industrial energy conservation and emission reduction control device and method |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant |