CN103116283A - Method for controlling dynamic matrix of non-self-balance object - Google Patents
Method for controlling dynamic matrix of non-self-balance object Download PDFInfo
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- CN103116283A CN103116283A CN 201310018116 CN201310018116A CN103116283A CN 103116283 A CN103116283 A CN 103116283A CN 201310018116 CN201310018116 CN 201310018116 CN 201310018116 A CN201310018116 A CN 201310018116A CN 103116283 A CN103116283 A CN 103116283A
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Abstract
The invention relates to a method for controlling a dynamic matrix of a non-self-balance object. A traditional matrix control algorithm cannot directly be used on the non-self-balance object. On the base of the traditional matrix control algorithm, the method combines a method for changing and transferring a matrix for the non-self-balance object and a novel error rectification method, guarantees that control is highly precise and highly stable, and at the same time guarantees simple forms, and meets demands in actual industrial process. The method is adopted to firstly establish a matrix model for the non-self-balance object based on step response data of the object and excavate out a basic object character; and then combines the novel method for transferring the matrix and the method for compensating error to calculate out a parameter of a dynamic matrix controller; and at last complements dynamic matrix control for the non-self-balance object. Means like data collection, model establishment, and mechanism forecasting are adopted in the method for controlling the dynamic matrix of the non-self-balance object, and the method is adopted to effectively improve precision and stability of the control.
Description
Technical field
The invention belongs to technical field of automation, relate to a kind of non-dynamic matrix control method from the object that weighs.
Background technology
Exist many non-from weighing object, as a part of storage tank, boiler drum level, rectification column liquid level etc. in actual industrial production.During industrial process is controlled, contain typical integral element due to non-in the transport function of the object that weighs, cause the response of controlled device under the definite value step to be tending towards infinite, this just makes traditional Dynamic array control algorithm directly to use on the object that weighs non-.In existing control method, the interference that on the one hand a lot of algorithms can not allow the controlled device opposing continue; A part of algorithm modeling process too complex on the other hand, these all make non-control from the object that weighs have certain difficulty.
Summary of the invention
The objective of the invention is the weak point for existing some algorithm, a kind of non-dynamic matrix control method from the object that weighs is provided, the method is on the basis of conventional dynamic matrix control algolithm, combine a kind of method and a kind of new error calibration method that is directed to the change transition matrix of the non-object that certainly weighs, guarantee to control have higher precision and stability in, the form that also guarantees is simple and satisfy the needs of actual industrial process.
The at first object-based step response data of the inventive method is set up a kind of non-matrix model from the object that weighs that is directed to, and excavates basic plant characteristic; Then the parameter of removing to calculate the dynamic matrix control device in conjunction with a kind of new transition matrix and error compensation way; Implement dynamic matrix control to non-from the object that weighs at last.
Technical scheme of the present invention is to set up, predict the means such as mechanism, optimization by data acquisition, model, has established a kind of non-dynamic matrix control method from the object that weighs, and utilizes the method can effectively improve the precision and stability of control.
The step of the inventive method comprises:
Step (1). set up corresponding dynamic matrix model vector by non-real-time step response data from the object that weighs, concrete grammar is:
I. give step input signal of controlled device, record the step response curve of controlled device.
II. the step response curve of correspondence is carried out the filtering processing, then fit to a smooth curve, record step response data corresponding to each sampling instant on smooth curve, first sampling instant is
, adjacent two sampling instant interludes are
, sampling instant is sequentially
, 2
, 3
Find out data and begin to be the starting point that constant-slope rises in the step response data of record
, data are before remembered respectively and are done
, set up the model vector of object
:
Wherein
Be the transpose of a matrix symbol;
Be step response data constant difference between adjacent two data after being constant slope and rising;
Be the model length of setting,
Step (2). design non-dynamic matrix control device from the object that weighs, concrete grammar is:
A. utilize the model vector that obtains above
Set up the dynamic matrix of controlled device, form is as follows:
Wherein,
It is the step response data by controlled device
Form
Dynamic matrix;
The optimization time domain of Dynamic array control algorithm,
The control time domain of Dynamic array control algorithm,
Wherein,
For
Constantly right
Model prediction free response value constantly,
For
Input control increment size constantly,
For
The real output value of the controlled device that constantly detects,
For
The model predictive error value of moment controlled device,
Be the error correction coefficient,
Be the matrix of step response data foundation,
Be constant matrices,
With
Be the weight matrix of error compensation;
For
New transition matrix;
For
Moment access control increment
After model predication value, be also
Initial model predicted value constantly; Wherein
Be illustrated respectively in
Constantly right
Initial model predicted value constantly;
For
Constantly through the optimization model predicted value after error correction; Wherein
Be illustrated respectively in
Constantly right
Optimization model predicted value is constantly namely passed through error correction model predication value afterwards;
For
Constantly right
Model prediction free response value constantly; Wherein
Be illustrated respectively in
Constantly right
Model prediction free response value constantly.
C. the dynamic matrix of setting up according to step a calculates controlled device and exists
Individual continuous controlling increment
Under prediction output
, concrete grammar is:
D. set up non-reference locus from the object dynamic matrix control device that weighs
And objective function
Wherein,
Be each output reference locus constantly;
Be
Respectively the weight matrix of error and controlling increment,
And
Be respectively the coefficient of corresponding weight matrix the inside.
Wherein,
With
Be respectively
Constantly and
Constantly act on the working control amount of controlled device.
G. arrive next constantly, continue to find the solution to the step of f according to b
, circulation successively.
A kind of non-dynamic matrix control method from the object that weighs that the present invention proposes has made up the deficiency of traditional control algolithm, can resist fast and effectively various interference when satisfying system performance.
The control technology that the present invention proposes can be applied to traditional Dynamic array control algorithm non-on the object that weighs, when object is subject to unpredictable and lasting interference, can effectively utilize non-error compensation of carrying out correspondence from the Properties of Objects that weighs, system stability is effectively moved.
Embodiment
Take general predictive control as example:
Boiler drum level is typical non-from the object that weighs with integral element, and steam water-level is also one of important parameter that characterizes safe operation of the boiler.
Step (1). obtain the model vector of boiler drum level.
The first step: under manual mode, in the situation that the constant step response curve that obtains steam water-level by regulating feed-regulating valve of steam load, the step response curve of correspondence is carried out the filtering processing, then fit to a smooth curve, record step response data corresponding to each sampling instant on smooth curve, first sampling instant is
, adjacent two sampling instant interludes are
, sampling instant is sequentially
, 2
, 3
Find out data and begin to be the starting point that constant-slope rises in the step response data of record
, data are before remembered respectively and are done
Second step: choose a suitable model length
,
, the step response data that obtains according to the first step is set up the model vector of boiler drum level
,
, wherein
Be the transpose of a matrix symbol,
For data be constant slope and rise after a constant difference between adjacent two step response data.
Step (2). the dynamic matrix control device of design boiler drum level, concrete grammar is:
A. utilize the model vector that obtains in (1) to set up the dynamic matrix of boiler drum level, form is as follows:
Wherein,
It is the step response data by boiler drum level
Form
Dynamic matrix;
The optimization time domain of Dynamic array control algorithm,
The control time domain of Dynamic array control algorithm,
Wherein,
For
Constantly right
The model prediction free response value of boiler drum level constantly,
For
The input control increment size of the water-supply valve valve opening that the moment is corresponding,
For
The real output value of the boiler drum level that constantly detects,
For
The model predictive error value of moment boiler drum level,
Be the error correction coefficient,
Be the matrix of step response data foundation,
Be constant matrices,
With
Be the weight matrix of error compensation;
For
New transition matrix;
For
Moment access control increment
After the model predication value of boiler drum level, be also
The initial model predicted value of boiler drum level constantly; Wherein
Be illustrated respectively in
Constantly right
Initial model predicted value constantly;
For
The optimization model predicted value of the boiler drum level after process error correction constantly; Wherein
Be illustrated respectively in
Constantly right
Optimization model predicted value is constantly namely passed through error correction model predication value afterwards;
For
Constantly right
Model prediction free response value constantly; Wherein
Be illustrated respectively in
Constantly right
Model prediction free response value constantly.
C. the dynamic matrix of setting up according to step a calculates boiler drum level and exists
Individual continuous controlling increment
Under prediction output
, concrete grammar is:
D. set up the reference locus of boiler drum level dynamic matrix control device
And objective function
Wherein,
Be each output reference locus constantly;
Be
Respectively the weight matrix of error and controlling increment,
And
Be respectively the coefficient of corresponding weight matrix the inside.
E. the objective function according to steps d obtains current controlling increment value
F. will
In first
Consist of the working control amount
Act on the feed-regulating valve of boiler.Wherein,
With
Be respectively
Constantly and
Constantly act on the working control amount of feed-regulating valve.
Claims (1)
- One kind non-from weighing the dynamic matrix control method of object, it is characterized in that the concrete steps of the method are:Step (1). set up corresponding dynamic matrix model vector by non-real-time step response data from the object that weighs, concrete grammar is:I. give step input signal of controlled device, record the step response curve of controlled device;II. the step response curve of correspondence is carried out the filtering processing, then fit to a smooth curve, record step response data corresponding to each sampling instant on smooth curve, first sampling instant is , adjacent two sampling instant interludes are , sampling instant is sequentially , 2 , 3 Find out data and begin to be the starting point that constant-slope rises in the step response data of record , data are before remembered respectively and are done , set up the model vector of object :Wherein Be the transpose of a matrix symbol; Be step response data constant difference between adjacent two data after being constant slope and rising; Be the model length of setting,Step (2). design non-dynamic matrix control device from the object that weighs, concrete grammar is:A. utilize the model vector that obtains above Set up the dynamic matrix of controlled device, form is as follows:Wherein, It is the step response data by controlled device Form Dynamic matrix; The optimization time domain of Dynamic array control algorithm, The control time domain of Dynamic array control algorithm,Wherein,For Constantly right Model prediction free response value constantly, For Input control increment size constantly, For The real output value of the controlled device that constantly detects, For The model predictive error value of moment controlled device, Be the error correction coefficient, Be the matrix of step response data foundation, Be constant matrices, With Be the weight matrix of error compensation; For New transition matrix;For Moment access control increment After model predication value, be also Initial model predicted value constantly; Wherein Be illustrated respectively in Constantly right Initial model predicted value constantly;For Constantly through the optimization model predicted value after error correction; Wherein Be illustrated respectively in Constantly right Optimization model predicted value is constantly namely passed through error correction model predication value afterwards;For Constantly right Model prediction free response value constantly; Wherein Be illustrated respectively in Constantly right Model prediction free response value constantly;C. the dynamic matrix of setting up according to step a calculates controlled device and exists Individual continuous controlling increment Under prediction output , concrete grammar is:D. set up non-reference locus from the object dynamic matrix control device that weighs And objective functionWherein, Be each output reference locus constantly; Be Respectively the weight matrix of error and controlling increment, And Be respectively the coefficient of corresponding weight matrix the inside;Wherein, With Be respectively Constantly and Constantly act on the working control amount of controlled device;
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