CN103365207B - A kind of control method of industrial process and equipment - Google Patents
A kind of control method of industrial process and equipment Download PDFInfo
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- CN103365207B CN103365207B CN201210084637.4A CN201210084637A CN103365207B CN 103365207 B CN103365207 B CN 103365207B CN 201210084637 A CN201210084637 A CN 201210084637A CN 103365207 B CN103365207 B CN 103365207B
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Abstract
The invention discloses a kind of control method and equipment of industrial process. The method comprises: for each input variable corresponding stable state input variable under stable state, stable state input variable weights are set, and at least one stable state input variable, stable state input variable desired value are set. Based target function and be optimized calculating about the stable function relational model between multiple stable state output variables and multiple stable state input variable, to obtain in the situation that meeting predefined condition, make object function obtain the value of next moment stable state input variable of extreme value, as next moment stable state input variable value. Next moment stable state input variable value is passed to base control loop to be implemented to control to the controlled variable of industrial equipment. Method provided by the present invention can realize the industrial process control of based target set point under the prerequisite of taking into account systematic economy performance.
Description
Technical field
The present invention relates to industrial process control field, relate in particular to a kind of control of industrial processMethod and apparatus.
Background technology
The Process Control System using in industrial process, conventionally have multiple input variables and withThe change of these input variables and multiple output variables of changing. These multiple input variables are commonBe the controlled variable of carrying out the industrial equipment of industrial process, and multiple output variable can be industryThe relevant variable of operation result of process. The multivariable Control of industrial process can be divided into two-layer,Upper strata is steady-state optimization, and lower floor dynamically controls. Actual industrial process is all dynamic, because ofThe state of this system is also constantly conversion. The stable state of industrial process refers to when the time and is tending towards infiniteTime the system stable state that embodies. The steady-state optimization of industrial process is in certain systematicnessCan and given constraints under, acquisition, in the time that system is stable state, makes production process performanceMore excellent systematic steady state operating point. Steady state operation point can be by the steady-state value of input variable and outputThe steady-state value of variable represents. And then, can be according to the input in obtained steady state operation pointThe steady-state value of variable arranges controlled variable, implements industrial process control.
For obtaining the steady state operation point of system, the steady-state optimization method of industrial process can be used insteadReflecting production process economic performance object function realizes. These economic performances can be production processesThe economic benefit producing or the cost consuming etc. Towards the steady-state optimization meaning of economic performanceAt the steady state operation point obtaining in the time that economic performance is optimum, and then use the defeated of this steady state operation pointEnter variate-value and output variable value is carried out process control, to realize better economic performance target.
Conventionally, the steady-state optimization method of existing industrial process is at system current time operating pointBasis on find the operating point in next moment that makes production process economic performance optimum. This sideThe target that method will reach is to obtain the new of next moment of system based on system current time operating pointOperating point, although this method has been considered the economic performance of production process, this method is onlyThe only operating point based on system current time is not the tracking to any stable state target setting point.
For example, in a kind of steady-state optimization method, the object function that calculates embodiment economic performance existsMeet the minimum in the situation of certain boundary conditions.
Object function can be:
Wherein, CT＝[c1c2…cm] be one group of cost coefficient.
Represent one group of next moment stable state input variable and work asFront moment stable state input variable poor.
The steady-state optimization method of industrial process not only can realize and make economic performance reach more excellent mistakeProcess control, the impact point that can also realize taking any stable state set point as target is followed the tracks of. Impact pointTracking refers to after setting stable state set point, on the basis of system current time steady state operation pointUpper, find next new steady state operation point of moment, new steady state operation point is connect as much as possibleThe stable state set point closely setting.
In a kind of method that target set point is followed the tracks of, first, target setting set point,This target set point is carried out real-time optimization and is obtained by the Nonlinear Steady optimizer on system upper strata,
Select subsequently quadratic model object function to calculate, the formula table of this object function is shown:
The implication of this object function is, on the basis of system current time steady state operation point, to seekLook for next new steady state operation point (U of moment∞(k+1)，Y∞(k+1)), make new steady state operation point withGiven target set point (UT，YT) under least square meaning, distance is the shortest, approaches most targetSet point.
Although this method can make new steady operation point to a certain extent(U∞(k+1)，Y∞(k+1)) approach (UT，YT), but this goal-setting point-tracking method only with targetDegree of closeness between setting is object, does not consider economic performance, for industrial process controlPoor practicability.
Summary of the invention
Embodiment of the present invention technical problem to be solved is to take into account the prerequisite of certain economic performanceUnder to realize the control of industrial process by target setting set point.
For solving the problems of the technologies described above, according to an aspect of the present invention, the embodiment of the present invention is carriedSupplied a kind of control method of industrial process, described industrial process have multiple input variables andThe multiple output variables that change with the change of described multiple input variables, described multiple inputs becomeAmount is to carry out the controlled variable of the industrial equipment of described industrial process, and described multiple output variables areThe variable relevant with the operation result of described industrial process, described multiple input variables and described manyIndividual output variable corresponding multiple stable state input variables and multiple stable state output variable under stable state needsMeet predefined condition,
It is characterized in that, described method comprises:
Step 1. arranges stable state input variable weights for each stable state input variable, and for extremelyA few stable state input variable arranges stable state input variable desired value;
Step 2. based target function and about described multiple stable state output variables and described multipleStable function relational model between stable state input variable is optimized calculating, is meeting to obtainIn the situation of described predefined condition, make described object function obtain next moment of extreme valueThe value of stable state input variable, as next moment stable state input variable value, described object function isTaking described stable state input variable weights, described stable state input variable desired value as parameter, and withThe function that described next moment stable state input variable is variable;
Step 3. passes to base control loop to described by described next moment stable state input variable valueThe controlled variable of industrial equipment is implemented to control.
Preferably, described object function is described next moment stable state input variable and described stable stateThe linear function or two of the product of the difference of input variable desired value and described stable state input variable weightsInferior function.
Preferably, described stable state input variable weights are described stable state input variable value generation unitsChange related value at cost.
Preferably, between described multiple stable state input variable and described multiple stable state output variableStable function relational model is that stable state output increment is stable state input increment and disturbance input incrementLinear combination and round-off error sum, the coefficient of linear combination determines according to object steady-state model,
Described stable state output increment is next moment stable state output variable and the output of current time stable stateDifference between variable,
Described stable state input increment is next moment stable state input variable and the input of current time stable stateDifference between variable,
Described disturbance input increment is current time disturbance input value and a upper moment disturbance input valueBetween difference.
Preferably, this control method also comprises:
For described at least one stable state input variable is set stable state input variable target zone, described inStable state input variable desired value is among described stable state input variable target zone;
Repeatedly repeat described step 2 and step 3, at least described with what make finally to obtainNext moment stable state input variable value of a stable state input variable is at described stable state input variable orderWithin mark scope.
Preferably, also comprise:
For described at least one stable state output variable is set stable state output variable target zone,
Wherein, by repeatedly repeating described step 2 and step 3, also make described in basisNext moment stable state input variable value, what obtain by described stable function relational model is extremely describedNext moment stable state output variable value of a few stable state output variable is in described stable state output variableWithin target zone.
Preferably, in described multiple stable state input variable part stable state input variable for order is not setThe first stable state input variable of mark set point, part stable state input variable is for being provided with goal-settingThe second stable state input variable of point, described target set point comprises stable state input variable desired value,
Described object function is:
The difference of next moment first stable state input variable and current time the first stable state input variable withThe linear function of the product of the first stable state input variable weights, adds that next moment second stable state is defeatedEnter the difference of variable and stable state input variable desired value and the product of the second stable state input variable weightsLinear function, or
The difference of next moment first stable state input variable and current time the first stable state input variable withThe quadratic function of the product of the first stable state input variable weights, adds that next moment second stable state is defeatedEnter the difference of variable and stable state input variable desired value and the product of the second stable state input variable weightsQuadratic function.
According to a second aspect of the invention, also provide a kind of control appliance of industrial process, instituteStating industrial process has multiple input variables and changes with the change of described multiple input variablesMultiple output variables, described multiple input variables are to carry out the industrial equipment of described industrial processControlled variable, described multiple output variables are relevant with the operation result of described industrial processVariable, described multiple input variables and described multiple output variable are corresponding multiple steady under stable stateState input variable and multiple stable state output variable need to meet predefined condition,
It is characterized in that, this control appliance comprises:
Setting device, for for each stable state input variable, stable state input variable weights being set,And at least one stable state input variable, stable state input variable desired value is set;
Optimize calculation element, for based target function with about described multiple stable state output variablesAnd the stable function relational model between described multiple stable state input variable is optimized calculating, withObtain in the situation that meeting described predefined condition, make described object function obtain extreme valueThe value of next moment stable state input variable, as next moment stable state input variable value, described inObject function is taking described stable state input variable weights, described stable state input variable desired value as ginsengNumber, and function taking described next moment stable state input variable as variable;
Industrial equipment control device, for passing to base by described next moment stable state input variable valuePlinth control loop is implemented to control to the controlled variable of described industrial equipment.
Preferably, described object function is described next moment stable state input variable and described stable stateThe linear function or two of the product of the difference of input variable desired value and described stable state input variable weightsInferior function.
Preferably, this control appliance also comprises:
Target zone setting device, is used to described at least one stable state input variable to set stable stateInput variable target zone, described stable state input variable desired value is at described stable state input variable orderAmong mark scope,
Described optimization calculation element repeatedly repeats described optimization and calculates, and finally obtains makingNext moment stable state input variable value of described at least one stable state input variable in described stable stateWithin input variable target zone.
By the control method of industrial process provided by the present invention, based target function and stable stateStable function relational model between input variable and stable state output variable is optimized calculating, orderScalar functions is taking predefined stable state input variable weights and stable state input variable desired value as ginsengNumber, calculated and makes object function obtain next moment stable state input variable of extreme value, as lower a period of timeCarve stable state input variable. The setting of stable state input variable weights and object function extreme value obtain bodyShow the consideration to systematic economy performance,, done by setting stable state input variable desired value meanwhileFor target set point is followed the tracks of, realize and under the prerequisite of taking into account systematic economy performance, target being establishedThe tracking of fixed point, thus next the moment stable state input variable obtaining has more practicality, entersAnd the controlled variable of industrial equipment be set to next obtained moment stable state input variable value withRealize the more excellent industrial process control of performance.
Brief description of the drawings
By the detailed description to exemplary embodiment of the present invention referring to accompanying drawing, the present inventionFurther feature and advantage thereof will become clear.
The accompanying drawing that forms a part for description has been described embodiments of the invention, and together with sayingBright book one is used from explains principle of the present invention.
With reference to accompanying drawing, according to detailed description below, can more be expressly understood the present invention,Wherein:
Fig. 1 shows the schematic flow sheet of control method embodiment provided by the present invention;
Fig. 2 shows the present invention and sets the schematic diagram of stable state input variable target zone;
Fig. 3 shows the present invention and sets the schematic diagram of stable state output variable target zone;
It is defeated that Fig. 4 shows next moment stable state in control method embodiment provided by the present inventionEnter the track schematic diagram of variate-value;
Fig. 5 shows the structural representation of control appliance embodiment provided by the present invention.
Detailed description of the invention
Describe various exemplary embodiment of the present invention in detail now with reference to accompanying drawing. Should noteTo: unless illustrate in addition, otherwise the positioned opposite of the step of setting forth in these embodiments,Numeral expression formula and numerical value do not limit the scope of the invention.
Illustrative to the description only actually of at least one exemplary embodiment below, certainlyNot as any restriction to the present invention and application or use.
May not do in detail for the known technology of person of ordinary skill in the relevant, method and apparatusThin discussion, but in suitable situation, described technology, method and apparatus should be regarded as authorizing and sayA part for bright book.
In all examples with discussing shown here, any occurrence should be construed as merelyExemplary, instead of as restriction. Therefore, other example of exemplary embodiment can toolThere is different values.
It should be noted that: in similar label and letter accompanying drawing below, represent similar terms, therefore,Once be defined in an a certain Xiang Yi accompanying drawing, do not need it to carry out in accompanying drawing subsequentlyFurther discuss.
Industrial process has multiple control inputs variablees and the change with these multiple input variablesAnd the multiple output variables that change. Multiple input variables are to carry out the industrial equipment of industrial processControlled variable, multiple output variables are variablees relevant with the operation result of industrial process, forLinear Multivariable process, the correspondence between multiple input variables and multiple output variable canTo be described by certain functional relationship model. Functional relationship model is the essence spy by systemProperty and definite, utilize system functional relationship model can according to control inputs variable obtain controlOutput variable processed, vice versa.
Functional relationship model between input variable and the output variable of industrial process systems canHave multiple. After the functional relationship model of the system of acquisition, also need functional relationship model to carry outStable state processing, the stable state input variable with acquisition system in the time reaching stable state and stable state output becomeStable function relational model between amount, stable state input variable and stable state output variable are corresponding to beingInput variable and the expression of output variable under stable state of system.
Multiple stable state input variables of industrial process and the stable function of multiple stable state output variables closeIt is multiple to be that model can have. For example, can be expressed as stable state defeated for a kind of stable function relational modelGoing out increment is linear combination and the round-off error sum of stable state input increment and disturbance input increment,The coefficient of linear combination determines according to object steady-state model, wherein, and under stable state output increment isDifference between one moment stable state output variable and current time stable state output variable, stable state inputIncrement is the difference between next moment stable state input variable and current time stable state input variable,Disturbance input increment is poor between current time disturbance input value and a upper moment disturbance input valueValue.
For actual industrial processes, stable state input variable and stable state output variable are deposited respectivelyAt certain edge-restraint condition. Therefore, multiple stable state input variables and multiple stable state output variableCertain predefined condition be need to meet, next moment stable state input variable and lower a period of time madeCarve stable state output variable be positioned at the upper boundary values of edge-restraint condition separately and lower border value itBetween.
In addition, stable state input variable and stable state output variable are in the implementation of optimizing and controlAlso will be subject to the restriction of stable state increment constraints, stable state input increment and stable state output increment divideNot between the upper boundary values and lower border value of increment constraints separately. Stable state input increasesAmount is the difference between next moment stable state input variable and current time stable state input variable, steadyState output increment is between next moment stable state output variable and current time stable state output variableDifference,
Shown in figure 1, this figure is control method a kind of embodiment of industrial process of the present inventionSchematic flow sheet, introduces the step of the control method embodiment of industrial process of the present invention below in detail.
Industrial process described in each embodiment has multiple input variables and with multiple defeatedThe multiple output variables that enter the change of variable and change. Multiple input variables are to carry out industrial processThe controlled variable of industrial equipment, multiple output variables are relevant with the operation result of industrial processVariable. Multiple stable state input variables and multiple stable state output variable are that multiple inputs of system becomeAmount and the expression under stable state in system of multiple output variable, multiple stable state input variables and manyIndividual stable state output variable is corresponding with multiple input variables and multiple output variable.
Multiple stable state input variables and multiple stable state output variable meet predefined condition, bothAforementioned edge-restraint condition and increment constraints.
In step 101, for each stable state input variable arranges stable state input variable weights, andFor at least one stable state input variable, stable state input variable desired value is set.
Due to stable state input increment Delta U∞(k) with stable state output increment Δ Y∞(k) there is above-mentioned stable functionThe linear correlation relation that relational model is represented, therefore, can input both unifications by stable stateIncrement Delta U∞(k) represent.
Using stable state input increment Delta U∞(k) represent stable state output increment Δ Y∞(k) afterwards, for toolBody industrial process is stable state input increment Delta U∞(k) stable state input variable weights are set. Power is setThe method of value can be that benefit or cost that the unit increment of stable state input variable is produced carry outStandardization, represents benefit or the cost of each stable state input variable with the parameter after standardization.Be that stable state input variable weights are the related costs of stable state input variable value generation unit changeValue. Can use ± symbol is distinguished cost and benefit ,+expression cost ,-expression benefit. ExampleAs, the set of the stable state input variable weights of each stable state input variable can be expressed asCT＝[c1c2…cm], m is the number of stable state input variable.
Multiple stable state input variables of industrial process may have different features, wherein a partStable state input variable needs target setting set point, by the method for tracking target meter of steady-state optimizationThe steady state operation point of calculating next moment, in the situation that reaching economic performance optimum, makes lower a period of timeThe steady state operation point of carving approaches the target set point of setting as much as possible. But, for another portionDivide not target setting set point of stable state input variable, only by the method for tracking target of steady-state optimizationCalculating make the steady state operation point in next moment, in the situation that reaching economic performance optimum, underThe steady state operation point in one moment approaches the stable state input variable value of current time as much as possible.
For the stable state input variable that needs target setting set point, except stable state need to be setOutside input variable weights, also need to arrange stable state input variable desired value UT。
Target set point is desired systematic steady state operating point, and target set point comprises that stable state is defeatedEnter variable desired value UTWith stable state output variable desired value YT. Due to stable state input variable desired valueUTWith stable state output variable desired value YTBetween exist linear correlation relation, therefore, by establishingPut stable state input variable desired value UTAnd linear correlation relation between them, can obtain stable stateOutput variable desired value YT。
Target set point can be the result that the optimizer optimization on system upper strata is calculated, and can be alsoRule of thumb given ideal value of technologist.
In step 102, based target function and about multiple stable state output variables and multiple steadyStable function relational model between state input variable is optimized calculating, is meeting in advance to obtainIn the situation of the condition of first setting, next the moment stable state input that makes object function obtain extreme value becomesThe value of amount, as next moment input steady-state variable value. Object function is with stable state input variableWeights, stable state input variable desired value are parameter, and a following moment stable state input variable isThe function of variable.
For embodying the economic performance of industrial process systems, object function can be selected to input with stable stateVariable weights and stable state input variable desired value are parameter, and following moment stable state input becomesAmount is the function of variable. Due to certain economy of stable state input variable weights and stable state input variableIndex is relevant, therefore, in the situation that meeting predefined condition, object function is obtainedThe value of next moment stable state input variable of extreme value, as next moment stable state input variable value,Can realize the extreme value of this kind of economic indicator, and do by setting stable state input variable desired valueFor target set point is followed the tracks of, taking into account under the prerequisite of systematic economy performance thereby can realizeRealize the tracking to target set point.
Object function can be next moment stable state input variable and stable state input variable desired value itLinear function or the quadratic function of the product of difference and stable state input variable weights.
In step 103, next moment stable state input variable value is passed to base control loop pairThe controlled variable of industrial equipment is implemented to control. The controlled variable of industrial equipment is set in stepNext the moment stable state input variable value obtaining in 102, thus can realize more approaching settingStable state input variable desired value and take into account the industrial process control of economy.
Be optimized calculate to obtain next moment stable state in the time obtaining extreme value of object function defeatedEnter in the process of value of variable, multiple stable state output variables can be by multiple stable state input variablesAnd the stable function relational model between multiple stable state output variables and obtaining. Thereby can also be realExisting based target function obtains the in the situation that of predefined condition, approaches the target of setting mostSet point (UT，YT) next steady-working state (U∞(k+1)，Y∞(k+1))。
Next steady-working state (the U that based target function obtains∞(k+1)，Y∞(k+1)) removeMeet beyond above-mentioned predefined condition,, in another embodiment, can also enter oneStep increases (U∞(k+1)，Y∞(k+1) soft-constraint condition), both for stable state input variable is set steadyState input variable target zone (UTmin，UTmax), input variable desired value UTIn stable state input variableAmong target zone, and be stable state output variable setting stable state output variable target zone (YTmin，YTmax), meet following infinitive group:
UTmin≤U∞(k+1)≤UTmax
YTmin≤Y∞(k+1)≤YTmax
Wherein,WithBe respectively the stable state input variable target zone of settingLower bound and the upper bound. Conventionally, soft-constraint condition is more tight with respect to aforementioned predefined conditionThe condition of lattice, therefore, UTmin、UTmaxValue be different from Umin、Umax, as a rule UTmin≥Umin，UTmax≤Umax。
Shown in figure 2, (UTmin，UTmax) value cover scope be less than (Umin，Umax), figureMiddle UT_rangeRepresent UTScope that can value.
Shown in figure 3, similarly, (YTmin，YTmax) value cover scope be less than(Ymin，Ymax), Y in Fig. 3T_rangeRepresent YTScope that can value.
Using object function to be optimized calculating to realize the tracing process to target set pointIn, complete the i.e. (U of result that a suboptimization is calculated∞(k+1)，Y∞(k+1)) may not meet approximately softBundle condition is stable state input and stable state output variable target zone both, therefore can use the side of iterationFado is carried out to optimize and is calculated, with next the moment stable state input variable that makes finally to obtainU∞(k+1) at this stable state input variable target zone (UTmin，UTmax) within, and pass through stable stateNext moment output variable stable state of at least one stable state output variable that functional relationship model obtainsY∞(k+1) at output variable target zone (YTmin，YTmax) within.
Shown in figure 4, this figure stable state input variable at following a moment steady-state value is example, showsThrough next moment stable state input variable value U after iterative computation repeatedly∞(k+1) reach stable state defeatedEnter variable target zone (UTmin，UTmax) within trajectory diagram. In Fig. 4, Δ U∞' (k) representNext moment stable state input variable U∞(k+1) with stable state input variable desired value UTPoor,ΔU∞(k) represent next moment stable state input variable U∞(k+1) with current time stable state input variableU∞(k) poor.
Further, obtaining next moment stable state input variable U∞(k+1) after, can be byU∞(k+1) passing to base control loop implements to control to the controlled variable of industrial equipment.
By U∞(k+1) pass to base control loop and implement after control, system is subject to base controlThe control in loop, state will change, thereby next moment can circulate again carry out above-mentionedStep 102 in embodiment, both according to stable state input variable desired value, and based target function andStable function relational model is optimized calculating, to obtain next new moment stable state input variableValue and next new moment stable state output variable value, then perform step 103 and control,Repeatedly repeated execution of steps 102 and step 103, with at least one stable state that makes finally to obtainNext moment stable state input variable value of input variable within stable state input variable target zone,And according to next moment stable state input variable value, obtain extremely by stable function relational modelNext moment stable state output variable value of a few stable state output variable is in stable state output variable targetWithin scope.
Carrying out in the process of loop optimization calculating, after the setting of input variable desired value, conventionally canImmovable.
In addition, as the optional embodiment of one, also can be only for stable state input variable be setStable state input variable target zone (UTmin，UTmax), stable state input variable desired value becomes in this inputAmong amount target zone. Repeatedly repeated execution of steps 102 and step 103, to make final obtainingNext moment stable state input variable value U of the stable state input variable arriving∞(k+1) become in stable state inputAmount target zone (UTmin，UTmax) within. In such an embodiment, next moment stable state output becomesAmount Y∞(k+1) only need to meet the predefined constraints of system.
As previously mentioned, may there is different features according to multiple input variables, carry out onceIn the computational process of industrial process control, for multiple stable state inputs corresponding to multiple input variablesVariable, may need, to part stable state input variable target setting set point, reaching economyIn the situation of energy optimum, the method for setting up an office by target setting is optimized to calculate and makes next momentSteady state operation point as far as possible approach set target set point. To another part stable state, input becomesMeasure not target setting set point, in the situation that reaching economic performance optimum, calculate and make lower a period of timeThe steady state operation point of carving approaches the steady state operation point of current time as far as possible.
Particularly, in multiple stable state input variables, part stable state input variable is established for Offered target notThe first stable state input variable of fixed point, part stable state input variable is to be provided with target set pointThe second stable state input variable, target set point comprises stable state input variable desired value, object functionCan be:
The difference of next moment first stable state input variable and current time the first stable state input variable withThe linear function of the product of the first stable state input variable weights, adds that next moment second stable state is defeatedEnter the difference of variable and stable state input variable desired value and the product of the second stable state input variable weightsLinear function, or
The difference of next moment first stable state input variable and current time the first stable state input variable withThe quadratic function of the product of the first stable state input variable weights, adds that next moment second stable state is defeatedEnter the difference of variable and stable state input variable desired value and the product of the second stable state input variable weightsQuadratic function.
Shown in figure 5, the present invention also provides control method a kind of and of the present invention correspondingThe control appliance of industrial process, this figure is the structural representation of a kind of embodiment of control appliance.
Industrial process has multiple input variables and changes with the change of multiple input variablesMultiple output variables, multiple input variables are to carry out the controlled variable of the industrial equipment of industrial process,Multiple output variables are variablees relevant with the operation result of industrial process, multiple input variables andMultiple stable state input variables and multiple stable state output variable of multiple output variables correspondence under stable stateNeed to meet predefined condition, this control appliance 500 comprises setting device 501, optimizesCalculation element 502 and industrial equipment control device 503.
Setting device 501 is for arranging stable state input variable power for each stable state input variableValue, and at least one stable state input variable, stable state input variable desired value is set.
Optimize calculation element 502 for based target function and about multiple stable state output variables withStable function relational model between multiple stable state input variables is optimized calculating, to obtainMeet in the situation of predefined condition, make object function obtain next moment stable state of extreme valueThe value of input variable, as next moment stable state input variable value, object function is defeated with stable stateEnter variable weights, stable state input variable desired value is parameter, and following moment stable state inputVariable is the function of variable.
Industrial equipment control device 503 is for passing to basis by next moment stable state input variable valueControl loop is implemented to control to the controlled variable of industrial equipment.
In another kind of embodiment, object function is that next moment stable state input variable and stable state are defeatedEnter linear function or the secondary letter of the difference of variable desired value and the product of stable state input variable weightsNumber.
In another kind of embodiment, this control appliance also comprises target zone setting device.
Target zone setting device is used at least one stable state input variable to set stable state input changeAmount target zone, stable state input variable desired value among stable state input variable target zone,
Optimize calculation element and repeatedly repeat optimization calculating, at least one with what make finally to obtainNext moment stable state input variable value of individual stable state input variable is in stable state input variable target zoneWithin.
So far, described in detail according to the control method of a kind of industrial process of the present invention andEquipment. For fear of covering design of the present invention, do not describe that more known in the field thinJoint. Those skilled in the art are according to description above, can understand completely how to implement public hereThe technical scheme of opening.
In addition, the annexation between the constituent apparatus of embodiment of the present invention equipment, only represents baseBe related to example in an information flow direction of the present invention, be not restricted to physical connection relation, and alsoNot necessarily realize the embodiment of the present invention must or only for.
May realize in many ways method and apparatus of the present invention. For example, can pass through software,Any combination of hardware, firmware or software, hardware, firmware realize method of the present invention andSystem. The said sequence that is used for the step of described method is only in order to describe, of the present inventionThe step of method is not limited to above specifically described order, unless otherwise specified.In addition in certain embodiments, can be also the journey being recorded in recording medium by the invention process,Order, these programs comprise the machine readable instructions for realizing the method according to this invention. Thereby,The present invention also covers the recording medium of storing the program for carrying out the method according to this invention.
Although by example, specific embodiments more of the present invention are had been described in detail,But it should be appreciated by those skilled in the art, above example is only in order to describe, and notIn order to limit the scope of the invention. It should be appreciated by those skilled in the art, can not depart fromIn the situation of scope and spirit of the present invention, above embodiment is modified. Model of the present inventionEnclose by claims and limit.
Claims (10)
1. a control method for industrial process,
Multiple output variables that described industrial process has multiple input variables and changes with the change of described multiple input variables, described multiple input variable is to carry out the controlled variable of the industrial equipment of described industrial process, described multiple output variable is the variable relevant with the operation result of described industrial process, described multiple input variable and described multiple output variable corresponding multiple stable state input variables and multiple stable state output variable under stable state need to meet predefined condition
It is characterized in that, described method comprises:
Step 1. arranges stable state input variable weights for each stable state input variable, and at least one stable state input variable, stable state input variable desired value is set;
Step 2. based target function and be optimized calculating about the stable function relational model between described multiple stable state output variables and described multiple stable state input variable, to obtain in the situation that meeting described predefined condition, make described object function obtain the value of next moment stable state input variable of extreme value, as next moment stable state input variable value, described object function is taking described stable state input variable weights, described stable state input variable desired value as parameter, and function taking described next moment stable state input variable as variable;
Step 3. passes to base control loop by described next moment stable state input variable value the controlled variable of described industrial equipment is implemented to control.
2. control method according to claim 1, is characterized in that, described object function is linear function or the quadratic function of the difference of described next moment stable state input variable and described stable state input variable desired value and the product of described stable state input variable weights.
3. control method according to claim 1, is characterized in that, described stable state input variable weights are the related value at costs of described stable state input variable value generation unit change.
4. control method according to claim 1, it is characterized in that, stable function relational model between described multiple stable state input variable and described multiple stable state output variable is that stable state output increment is linear combination and the round-off error sum of stable state input increment and disturbance input increment, the coefficient of linear combination is determined according to object steady-state model
Described stable state output increment is the difference between next moment stable state output variable and current time stable state output variable,
Described stable state input increment is the difference between next moment stable state input variable and current time stable state input variable,
Described disturbance input increment is the difference between current time disturbance input value and a upper moment disturbance input value.
5. control method according to claim 4, is characterized in that, also comprises:
Set stable state input variable target zone for described at least one stable state input variable, described stable state input variable desired value is among described stable state input variable target zone;
Repeatedly repeat described step 2 and step 3, with next moment stable state input variable value of described at least one stable state input variable of making finally to obtain within described stable state input variable target zone.
6. control method according to claim 5, is characterized in that, also comprises:
For at least one stable state output variable is set stable state output variable target zone,
Wherein, by repeatedly repeating described step 2 and step 3, also make according to described next moment stable state input variable value, next moment stable state output variable value of described at least one the stable state output variable obtaining by described stable function relational model is within described stable state output variable target zone.
7. control method according to claim 2, is characterized in that,
In described multiple stable state input variable, part stable state input variable is the first stable state input variable of Offered target set point not, part stable state input variable is the second stable state input variable that is provided with target set point, described target set point comprises stable state input variable desired value
Described object function is:
The linear function of next moment first stable state input variable and the difference of current time the first stable state input variable and the product of the first stable state input variable weights, add the linear function of next moment second stable state input variable and the difference of stable state input variable desired value and the product of the second stable state input variable weights, or
The quadratic function of next moment first stable state input variable and the difference of current time the first stable state input variable and the product of the first stable state input variable weights, adds the quadratic function of next moment second stable state input variable and the difference of stable state input variable desired value and the product of the second stable state input variable weights.
8. the control appliance of an industrial process, multiple output variables that described industrial process has multiple input variables and changes with the change of described multiple input variables, described multiple input variable is to carry out the controlled variable of the industrial equipment of described industrial process, described multiple output variable is the variable relevant with the operation result of described industrial process, described multiple input variable and described multiple output variable corresponding multiple stable state input variables and multiple stable state output variable under stable state need to meet predefined condition
It is characterized in that, this control appliance comprises:
Setting device, for for each stable state input variable, stable state input variable weights being set, and arranges stable state input variable desired value at least one stable state input variable;
Optimize calculation element, be used for based target function and be optimized calculating about the stable function relational model between described multiple stable state output variables and described multiple stable state input variable, to obtain in the situation that meeting described predefined condition, make described object function obtain the value of next moment stable state input variable of extreme value, as next moment stable state input variable value, described object function is taking described stable state input variable weights, described stable state input variable desired value as parameter, and function taking described next moment stable state input variable as variable;
Industrial equipment control device, implements to control to the controlled variable of described industrial equipment for described next moment stable state input variable value being passed to base control loop.
9. control appliance according to claim 8, is characterized in that, described object function is linear function or the quadratic function of the difference of described next moment stable state input variable and described stable state input variable desired value and the product of described stable state input variable weights.
10. control appliance according to claim 8, is characterized in that, also comprises:
Target zone setting device, is used to described at least one stable state input variable to set stable state input variable target zone, described stable state input variable desired value among described stable state input variable target zone,
Described optimization calculation element repeatedly repeats described optimization and calculates, with next moment stable state input variable value of described at least one stable state input variable of making finally to obtain within described stable state input variable target zone.
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