CN103760931B - The oil gas water horizontal three-phase separator compress control method that dynamic matrix control optimizes - Google Patents

The oil gas water horizontal three-phase separator compress control method that dynamic matrix control optimizes Download PDF

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CN103760931B
CN103760931B CN201410029644.3A CN201410029644A CN103760931B CN 103760931 B CN103760931 B CN 103760931B CN 201410029644 A CN201410029644 A CN 201410029644A CN 103760931 B CN103760931 B CN 103760931B
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phase separator
oil gas
gas water
water horizontal
pressure
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CN103760931A (en
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薛安克
李海生
张日东
王俊宏
王建中
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杭州电子科技大学
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Abstract

The invention discloses the oil gas water horizontal three-phase separator compress control method that a kind of dynamic matrix control optimizes.The inventive method is primarily based on the step response data of the pressure object in oil gas water horizontal three-phase separator and sets up the model of pressure object in oil gas water horizontal three-phase separator, excavates basic plant characteristic;Then go to adjust according to the characteristic of dynamic matrix control the parameter of corresponding PI PD controller;Finally the pressure object in oil gas water horizontal three-phase separator is implemented PI PD to control.Present invention incorporates PI PD to control and the good control performance of dynamic matrix control, be effectively improved the deficiency of traditional control method.

Description

The oil gas water horizontal three-phase separator compress control method that dynamic matrix control optimizes

Technical field

The invention belongs to technical field of automation, relate to a kind of oil gas water optimized based on dynamic matrix control (DMC) and crouch Pressure proportional integration-proportion differential (PI-PD) control method in formula three phase separator.

Background technology

PID controller simple in construction, easy to control, it is widely used in various industrial control system.But, for long-pending Dividing, vibrate or the control object of instability, PID is sometimes difficult to meet higher control requirement.Such as, at Stepped Impedance Resonators Time, often producing bigger hyperharmonic vibration, this may bring potential safety hazard to production.At present, the horizontal three phase separation of oil gas water The control of device pressure is to use PID to control mostly, if can control plus PD at internal ring, first suppresses its overshoot, and outer shroud uses PI Control, more preferable production performance will be obtained.Dynamic array control algorithm is as the one of advanced control algorithm, to model needs The lowest, control performance is good simultaneously, if can dynamic matrix control and PI-PD technology be combined, can improve oil refining further With the efficiency collecting natural gas.

Summary of the invention

It is an object of the invention to the weak point for existing PID controller, it is provided that a kind of excellent based on dynamic matrix control The PI-PD control method of pressure in the oil gas water horizontal three-phase separator changed, for Reducing overshoot, in order to obtain actual Control performance.The method controls by combining dynamic matrix control and PI-PD, has obtained a kind of with dynamic matrix control performance PI-PD control method.The method not only inherits the premium properties of dynamic matrix control, and Simultaneous Forms is simple and can meet real The needs of border industrial process.

The inventive method is primarily based on the step response data of the pressure object in oil gas water horizontal three-phase separator and sets up In oil gas water horizontal three-phase separator, the model of pressure object, excavates basic plant characteristic;Then according to dynamic matrix control The characteristic of system is gone to adjust the parameter of corresponding PI-PD controller;Finally real to the pressure object in oil gas water horizontal three-phase separator Execute PI-PD control.

Technical scheme passes through data acquisition, sets up dynamic matrix, sets up forecast model, prediction mechanism, optimization Etc. means, establish a kind of PI-PD control method optimized based on dynamic matrix control, utilize the method can effective Reducing overshoot And improve the stability of system.

The step of the inventive method includes:

Step (1). set up the model of controlled device by the real-time step response data of process object, concrete grammar is:

A. one step input signal of controlled device, the step response curve of record controlled device are given.

B. it is filtered the step response curve that a step obtains processing, then fits to a smooth curve, recording light The step response data that on sliding curve, each sampling instant is corresponding, first sampling instant is Ts, between adjacent two sampling instants Every time be Ts, sampling instant order is Ts、2Ts、3Ts……;The step response of controlled device will be at some moment tN= Tend to be steady after NT, work as ai(i > N) and aNError and measurement error when having the identical order of magnitude, i.e. it is believed that aNIt is approximately equal to The steady-state value of step response.Set up the model vector a of object:

A=[a1,a2,…aN]Τ

Wherein Τ is the transposition symbol of matrix, aiBeing the data of process object step response, N is modeling time domain.

Step (2). the PIPD controller of design controlled device, concrete grammar is:

A. the dynamic matrix of controlled device is set up

The model vector a utilizing step (1) b to obtain, that sets up controlled device dynamically controls matrix, and its form is as follows:

A = a 1 0 . . . 0 a 2 a 1 . . . 0 . . . . . . . . . . . . a P a P - 1 . . . a P - M + 1

Wherein, A is P × M rank dynamic matrix of controlled device, and P is the optimization time domain of Dynamic array control algorithm, and M is The control time domain of state matrix control algorithm, M < P < N.

B. model prediction initial communication value y in controlled device current k moment is calculatedM(k)

1.. the calculating k-1 moment adds the model predication value y after controlling increment Δ u (k-1)p(k-1):

yP(k-1)=yM(k-1)+A0Δu(k-1)

Wherein,

y P ( k - 1 ) = y 1 ( k | k - 1 ) y 1 ( k + 1 | k - 1 ) . . . y 1 ( k + N - 1 | k - 1 ) , y M ( k ) = y 0 ( k | k - 1 ) y 0 ( k + 1 | k - 1 ) . . . y 0 ( k + N - 1 | k - 1 ) , A 0 = a 1 a 2 . . . a N

y1(k|k-1),y1(k+1|k-1),…,y1(k+N-1 | k-1) represent respectively controlled device in the k-1 moment to k, k+ 1 ..., the k+N-1 moment adds the model predication value after controlling increment Δ u (k-1), y0(k|k-1),y0(k|k-1),…y0(k+N- 1 | k-1) represent the k-1 moment to k, k+1 ..., the initial prediction in k+N-1 moment, A0The matrix set up for step response data, Δ u (k-1) is the input controlling increment in k-1 moment.

2.. model predictive error value e (k) of calculating k moment controlled device:

Ess (k)=y (k)-y1(k|k-1)

Wherein, the real output value of the controlled device that y (k) the expression k moment records, y1(k | k-1) represents and adds control After increment Delta u (k-1), controlled device is model predication value to the k moment in the k-1 moment.

3.. calculate correction value y of k moment model outputcor(k):

ycor(k)=yM(k-1)+h*ess(k)

Wherein,

y cor ( k ) = y cor ( k | k ) y cor ( k + 1 | k ) . . . y cor ( k + N - 1 | k ) , h = 1 α . . . α

ycor(k|k),ycor(k+1|k),…ycor(k+N-1 | k) represent controlled device repairing at k moment forecast model respectively On the occasion of, h is the weight matrix of error compensation, and α is error correction coefficient.

4.. calculate initial communication value y of the model prediction in k momentM(k):

yM(k)=Sycor(k)

Wherein, S is the state-transition matrix on N × N rank,

C. calculating controlled device is M continuous print controlling increment Δ u (k) ..., the prediction output valve under Δ u (k+M-1) yPM, concrete grammar is:

yPM(k)=yp0(k)+AΔuM(k)

Wherein,

y PM ( k ) = y M ( k + 1 | k ) y M ( k + 2 | k ) . . . y M ( k + P | k ) , y P 0 ( k ) = y 0 ( k + 1 | k ) y 0 ( k + 2 | k ) . . . y 0 ( k + P | k ) , Δu M ( k ) = Δu ( k ) Δu ( k + 1 ) . . . Δu ( k + M - 1 )

yM(k+1|k),yM(k+2|k),…,yM(k+P | k) be the k moment to k+1, k+2 ..., the model prediction in k+P moment Output valve, y0(k+1|k),y0(k+2|k-1),…y0(k+N | k) represent the k moment to k+1, k+2 ... the initial predicted in k+P moment Value.

D. making control time domain M=1 of controlled device, choose object function J (k) of controlled device, J (k) form is as follows:

min J ( k ) = | | ( ref ( k ) - y PM ( k ) ) | | Q 2 + | | Δu ( k ) | | r 2 = Q ( ref ( k ) - y P 0 ( k ) - AΔu ( k ) ) 2 + rΔu 2 ( k )

Ref (k)=[ref1(k),ref2(k),…,refP(k)]Τ

Q=diag (q1,q2,…qP)

R=diag (r1,r2,…rM)

refi(k)=βiy(k)+(1-βi)c(k)

Wherein, Q is error weighting matrix, q1,q2,…,qPWeight coefficient for weighting matrix;β is softening coefficient, c (k) Setting value for process object;R is for controlling weighting matrix, r1,r2,…rMFor controlling the weight coefficient of weighting matrix, ref (k) is The reference locus of system, refiK () is the value of i-th reference point in reference locus.

E. controlled quentity controlled variable u (k) is converted:

E (k)=c (k)-y (k)

U (k)=u (k-1)+Kp(k)(e(k)-e(k-1))+Ki(k)e(k)-Kf(k)(y(k)-y(k-1)-Kd(y(k)-2y (k-1)+y (k-2))=u (k-1)+Kp(k)(e(k)-e(k-1))+Ki(k)e(k)-Kf(k)(y(k)-y(k-1)-Kd(y(k)-y (k-1))+Kd(y(k-1)-y(k-2))

U (k) is processed further, can obtain

U (k)=u (k-1)+w (k)ΤE(k)

Wherein,

W (:, k)=[Kp(k)+Ki(k),-Kp(k),-Kf(k)-Kd(k),Kd(k)]Τ

E (k)=(e (k), e (k-1), y (k)-y (k-1), y (k-1)-y (k-2))Τ

Kp(k)、Ki(k)、Kf(k)、KdK () is respectively ratio of k moment PI-PD controller outer shroud, the integration of outer shroud, interior The ratio of ring, the differential parameter of internal ring, e (k) is the error between k moment reference locus value and real output value, and Τ is matrix Transposition symbol, w (:, k) be four row k column matrix.

F. the object function being updated in step d by u (k) solves the parameter in PI-PD controller, can obtain:

w ( : , k ) = ( ref ( k ) - y p 0 ( k ) ) QAE ( A T QA + r ) E T E

Can obtain further:

Kp(k)=w (1, k)+w (2, k)

Ki(k)=-w (2, k)

Kf(k)=-w (3, k)-w (4, k)

Kd(k)=w (4, k)

G. parameter K of PI-PD controller is obtainedp(k)、Ki(k)、Kf(k)、KdK () constitutes controlled quentity controlled variable u (k) later and acts on Controlled device

U (k)=u (k-1)+Kp(k)(e(k)-e(k-1))+Ki(k)e(k)-Kf(k)(y(k)-y(k-1)-Kd(y(k)-2y (k-1)+y(k-2))。

H. at subsequent time, continue to solve parameter k that PI-PD controller is new according to the step in b to gP(k+1)、ki(k+ 1)、kf(k+1)、kd(k+1) value, circulates successively.

The present invention proposes the PI-of pressure in a kind of oil gas water horizontal three-phase separator optimized based on dynamic matrix control PD control method, the method combines PI-PD and controls and the good control performance of dynamic matrix control, is effectively improved biography The deficiency of system control method, also promotes development and the application of advanced control algorithm simultaneously.

Detailed description of the invention

In oil gas water horizontal three-phase separator as a example by the process control of pressure:

In oil gas water horizontal three-phase separator, the control of pressure is a Delay Process, and regulating measure uses control settlement indoor The aperture of air bleeding valve valve.

Step (1). set up controlled by the real-time step response data of pressure object in oil gas water horizontal three-phase separator The model of object, concrete grammar is:

A. one step input signal of oil supply air water horizontal three-phase separator, records its step response curve.

B. it is filtered processing by corresponding step response curve, then fits to a smooth curve, record smooth song The step response data that on line, each sampling instant is corresponding, first sampling instant is Ts, adjacent two sampling instants interval Time is Ts, sampling instant order is Ts、2Ts、3Ts……;Response will be at some moment tNTend to be steady after=NT, work as ai(i > N) and aNError and measurement error when having the identical order of magnitude, i.e. it is believed that aNIt is approximately equal to the steady-state value of step response.Build The model vector a of pressure object in vertical oil gas water horizontal three-phase separator:

A=[a1,a2,…aN]Τ

Wherein Τ is the transposition symbol of matrix, aiIt is the step response of oil gas water horizontal three-phase separator sedimentation room pressure Data, N for modeling time domain.

Step (2). the PI-PD controller of pressure in design oil gas water horizontal three-phase separator, concrete grammar is:

A. the model vector a utilizing step (1) b to obtain sets up the dynamic square of pressure in oil gas water horizontal three-phase separator Battle array, its form is as follows:

A = a 1 0 . . . 0 a 2 a 1 . . . 0 . . . . . . . . . . . . a P a P - 1 . . . a P - M + 1

Wherein, A is P × M rank dynamic matrix of pressure in oil gas water horizontal three-phase separator, and P is that dynamic matrix control is calculated The optimization time domain of method, M is the control time domain of Dynamic array control algorithm, M < P < N.

B. pressure is set up in oil gas water horizontal three-phase separator at the initial model predictive value y in current k momentM(k)

1.. calculating the k-1 moment adds the model of pressure in controlling increment Δ u (k-1) oil gas water horizontal three-phase separator afterwards Predictive value yp(k-1):

yP(k-1)=yM(k-1)+A0Δu(k-1)

Wherein,

y P ( k - 1 ) = y 1 ( k | k - 1 ) y 1 ( k + 1 | k - 1 ) . . . y 1 ( k + N - 1 | k - 1 ) , A 0 = a 1 a 2 . . . a N , y M ( k ) = y 0 ( k | k - 1 ) y 0 ( k | k - 1 ) . . . y 0 ( k + N - 1 | k - 1 )

y1(k|k-1),y1(k+1|k-1),…,y1(k+N-1 | k-1) represent that oil gas water horizontal three-phase separator is intrinsic pressure respectively Power in the k-1 moment to k, k+1 ..., the k+N-1 moment adds the model predication value after Δ u (k-1), y0(k|k-1),y0(k|k- 1),…y0(k+N-1 | k-1) represent in oil gas water horizontal three-phase separator pressure in the k-1 moment to k, k+1 ..., the k+N-1 moment Initial prediction, A0For the matrix set up by oil gas water horizontal three-phase separator sedimentation room pressure step response data, Δ u (k-1) it is the controlling increment of air bleeding valve valve opening in k-1 moment oil gas water horizontal three-phase separator.

2.. model predictive error value ess (k) of pressure in calculating k moment oil gas water horizontal three-phase separator:

Ess (k)=y (k)-y1(k|k-1)

Wherein, the real output value of pressure, y in the oil gas water horizontal three-phase separator that y (k) the expression k moment records1(k| K-1) represent add controlling increment Δ u (k-1) after, in oil gas water horizontal three-phase separator pressure in the k-1 moment to the k moment Model predication value.

3.. calculate correction value y that the pressure model in k moment oil gas water horizontal three-phase separator exportscor(k):

ycor(k)=yM(k-1)+h*ess(k)

Wherein,

y cor ( k ) = y cor ( k | k ) y cor ( k + 1 | k ) . . . y cor ( k + N - 1 | k ) , h = 1 α . . . α

ycor(k|k),ycor(k+1|k),…ycor(k+N-1 | k) represents the pressure in oil gas water horizontal three-phase separator respectively Power is in the correction value of k moment model, and h is the weight matrix of error compensation, and α is error correction coefficient.

4.. calculate model prediction initial communication value y in the k moment of the pressure in oil gas water horizontal three-phase separatorM(k):

yM(k)=Sycor(k)

Wherein, S is the state-transition matrix on N × N rank,

C. the pressure in calculating oil gas water horizontal three-phase separator is M continuous print controlling increment Δ u (k) ..., Δ u (k+ M-1) prediction output valve y underPM, concrete grammar is:

yPM(k)=yP0(k)+AΔuM(k)

Wherein,

y PM ( k ) = y M ( k + 1 | k ) y M ( k + 2 | k ) . . . y M ( k + P | k ) , y P 0 ( k ) = y 0 ( k + 1 | k ) y 0 ( k + 2 | k ) . . . y 0 ( k + P | k ) , Δu M ( k ) = Δu ( k ) Δu ( k + 1 ) . . . Δu ( k + M - 1 )

yP0K () is yMThe front P item of (k), yM(k+1|k),yM(k+2|k),…,yM(k+P | k) it is the horizontal three-phase separate of oil gas water Pressure in device in the k moment to k+1, k+2 ..., the model prediction output valve in k+P moment.

D. order controls time domain M=1, and chooses object function J (k) of pressure, J (k) in oil gas water horizontal three-phase separator Form is as follows:

min J ( k ) = | | ( ref ( k ) - y PM ( k ) ) | | Q 2 + | | Δu ( k ) | | r 2 = Q ( ref ( k ) - y P 0 ( k ) - AΔu ( k ) ) 2 + rΔu 2 ( k )

Ref (k)=[ref1(k),ref2(k),…,refP(k)]Τ

Q=diag (q1,q2,…qP)

R=diag (r1,r2,…rM)

refi(k)=βiy(k)+(1-βi)c(k)

Wherein, Q is error weighting matrix, q1,q2,…,qPWeight coefficient for error weighting matrix;β is softening coefficient, c K () is the setting value of pressure in oil gas water horizontal three-phase separator;R=diag (r1,r2,…rM) for controlling weighting matrix, r1, r2,…rMFor controlling the weight coefficient of weighting matrix;Ref (k) is the reference of pressure in k moment oil gas water horizontal three-phase separator Track, refiK () is the value of i-th reference point in reference locus.

E. controlled quentity controlled variable u (k) of air bleeding valve valve opening in oil gas water horizontal three-phase separator is converted:

E (k)=c (k)-y (k)

U (k)=u (k-1)+Kp(k)(e(k)-e(k-1))+Ki(k)e(k)-Kf(k)(y(k)-y(k-1)-Kd(y(k)-2y (k-1)+y (k-2))=u (k-1)+Kp(k)(e(k)-e(k-1))+Ki(k)e(k)-Kf(k)(y(k)-y(k-1)-Kd(y(k)-y (k-1))+Kd(y(k-1)-y(k-2))

U (k) is processed further, can obtain

U (k)=u (k-1)+w (k)ΤE(k)

Wherein,

W (:, k)=[Kp(k)+Ki(k),-Kp(k),-Kf(k)-Kd(k),Kd(k)]

E (k)=(e (k), e (k-1), y (k)-y (k-1), y (k-1)-y (k-2))Τ

Kp(k)、Ki(k)、Kf(k)、KdK () is respectively the ratio of PI-PD controller outer shroud, the integration of outer shroud, the ratio of internal ring Example, the differential parameter of internal ring, e (k) is the error between k moment reference locus value and real output value, and Τ is the transposition of matrix Symbol, w (:, k) it is four row k column matrix.

F. u (k) is updated in the object function in step d, solves the parameter in PI-PD controller, can obtain:

w ( : , k ) = ( ref ( k ) - y p 0 ( k ) ) QAE ( A T QA + r ) E T E

Can obtain further:

Kp(k)=w (1, k)+w (2, k)

Ki(k)=-w (2, k)

Kf(k)=-w (3, k)-w (4, k)

Kd(k)=w (4, k)

G. parameter K of PI-PD controller is obtainedp(k)、Ki(k)、Kf(k)、KdK () constitutes controlled quentity controlled variable u (k) later and acts on Oil gas water horizontal three-phase separator

U (k)=u (k-1)+Kp(k)(e(k)-e(k-1))+Ki(k)e(k)-Kf(k)(y(k)-y(k-1)-Kd(y(k)-2y (k-1)+y(k-2))

H. at subsequent time, continue to solve parameter k that PI-PD controller is new according to the step in b to gP(k+1)、ki(k+ 1)、kf(k+1)、kd(k+1) value, acts on controlled device, and circulates successively.

Claims (1)

1. the oil gas water horizontal three-phase separator compress control method that dynamic matrix control optimizes, it is characterised in that the tool of the method Body step is:
Step (1). set up controlled device by the real-time step response data of pressure object in oil gas water horizontal three-phase separator Model, concrete grammar is:
A. one step input signal of oil supply air water horizontal three-phase separator, records its step response curve;
B. it is filtered processing by corresponding step response curve, then fits to a smooth curve, on record smooth curve The step response data that each sampling instant is corresponding, first sampling instant is Ts, adjacent two sampling instant interludes For Ts, sampling instant order is Ts、2Ts、3Ts……;Response will be at some moment tNTend to be steady after=NT, work as ai(i > N) With aNError and measurement error when having the identical order of magnitude, i.e. it is believed that aNIt is approximately equal to the steady-state value of step response;Set up oil The model vector a of pressure object in air water horizontal three-phase separator:
A=[a1,a2,…aN]Τ
Wherein Τ is the transposition symbol of matrix, aiIt it is the number of the step response of oil gas water horizontal three-phase separator sedimentation room pressure According to, N is modeling time domain;
Step (2). the PI-PD controller of pressure in design oil gas water horizontal three-phase separator, concrete grammar is:
A. the model vector a utilizing step (1) b to obtain sets up the dynamic matrix of pressure in oil gas water horizontal three-phase separator, its Form is as follows:
Wherein, A is P × M rank dynamic matrix of pressure in oil gas water horizontal three-phase separator, and P is Dynamic array control algorithm Optimizing time domain, M is the control time domain of Dynamic array control algorithm, M < P < N;
B. pressure is set up in oil gas water horizontal three-phase separator at the initial model predictive value y in current k momentM(k)
1.. calculating the k-1 moment adds the model prediction of pressure in controlling increment Δ u (k-1) oil gas water horizontal three-phase separator afterwards Value yp(k-1):
yP(k-1)=yM(k-1)+A0Δu(k-1)
Wherein,
y1(k|k-1),y1(k+1|k-1),…,y1In (k+N-1 | k-1) represents oil gas water horizontal three-phase separator respectively, pressure exists The k-1 moment to k, k+1 ..., the k+N-1 moment adds the model predication value after Δ u (k-1), y0(k|k-1),y0(k|k-1),…y0 (k+N-1 | k-1) represent in oil gas water horizontal three-phase separator pressure in the k-1 moment to k, k+1 ..., k+N-1 moment initial Predictive value, A0For the matrix set up by oil gas water horizontal three-phase separator sedimentation room pressure step response data, Δ u (k-1) For the controlling increment of air bleeding valve valve opening in k-1 moment oil gas water horizontal three-phase separator;
2.. model predictive error value ess (k) of pressure in calculating k moment oil gas water horizontal three-phase separator:
Ess (k)=y (k)-y1(k|k-1)
Wherein, the real output value of pressure, y in the oil gas water horizontal three-phase separator that y (k) the expression k moment records1(k | k-1) table Show that, after adding controlling increment Δ u (k-1), in oil gas water horizontal three-phase separator, pressure is pre-to the model in k moment in the k-1 moment Measured value;
3.. calculate correction value y that the pressure model in k moment oil gas water horizontal three-phase separator exportscor(k):
ycor(k)=yM(k-1)+h*ess(k)
Wherein,
ycor(k|k), ycor(k+1|k) ... ycor(k+N-1 | k) represents that the pressure in oil gas water horizontal three-phase separator is at k respectively The correction value of moment model, h is the weight matrix of error compensation, and α is error correction coefficient;
4.. calculate model prediction initial communication value y in the k moment of the pressure in oil gas water horizontal three-phase separatorM(k):
yM(k)=Sycor(k)
Wherein, S is the state-transition matrix on N × N rank,
C. the pressure in calculating oil gas water horizontal three-phase separator is M continuous print controlling increment Δ u (k) ..., Δ u (k+M-1) Under prediction output valve yPM, concrete grammar is:
yPM(k)=yP0(k)+AΔuM(k)
Wherein,
yP0K () is yMThe front P item of (k), yM(k+1|k), yM(k+2|k) ..., yM(k+P|k) it is oil gas water horizontal three-phase separator In pressure in the k moment to k+1, k+2 ..., the model prediction output valve in k+P moment;
D. order controls time domain M=1, and chooses object function J (k) of pressure in oil gas water horizontal three-phase separator, and form is as follows:
Ref (k)=[ref1(k),ref2(k),…,refP(k)]Τ
Q=diag (q1,q2,…qP)
R=diag (r1,r2,…rM)
refi(k)=βiy(k)+(1-βi)c(k)
Wherein, Q is error weighting matrix, q1,q2,…,qPWeight coefficient for error weighting matrix;β is softening coefficient, c (k) For the setting value of pressure in oil gas water horizontal three-phase separator;R=diag (r1,r2,…rM) for controlling weighting matrix, r1,r2,… rMFor controlling the weight coefficient of weighting matrix;Ref (k) is the reference locus of pressure in k moment oil gas water horizontal three-phase separator, refiK () is the value of i-th reference point in reference locus;
E. controlled quentity controlled variable u (k) of air bleeding valve valve opening in oil gas water horizontal three-phase separator is converted:
E (k)=c (k)-y (k)
U (k)=u (k-1)+Kp(k)(e(k)-e(k-1))+Ki(k)e(k)-Kf(k)(y(k)-y(k-1)
-Kd(y(k)-2y(k-1)+y(k-2))
=u (k-1)+Kp(k)(e(k)-e(k-1))+Ki(k)e(k)-Kf(k)(y(k)-y(k-1)
-Kd(y(k)-y(k-1))+Kd(y(k-1)-y(k-2))
U (k) is processed further, can obtain
U (k)=u (k-1)+w (k)ΤE(k)
Wherein,
W (:, k)=[Kp(k)+Ki(k),-Kp(k),-Kf(k)-Kd(k),Kd(k)]
E (k)=(e (k), e (k-1), y (k)-y (k-1), y (k-1)-y (k-2))Τ
Kp(k)、Ki(k)、Kf(k)、Kd(k) be respectively ratio of PI-PD controller outer shroud, the integration of outer shroud, the ratio of internal ring, The differential parameter of internal ring, e (k) is the error between k moment reference locus value and real output value, and Τ is the transposition symbol of matrix Number, w (:, k) it is four row k column matrix;
F. u (k) is updated in the object function in step d, solves the parameter in PI-PD controller, can obtain:
Can obtain further:
Kp(k)=w (1, k)+w (2, k)
Ki(k)=-w (2, k)
Kf(k)=-w (3, k)-w (4, k)
Kd(k)=w (4, k)
G. parameter K of PI-PD controller is obtainedp(k)、Ki(k)、Kf(k)、KdK () constitutes controlled quentity controlled variable u (k) later and acts on oil gas Water horizontal three-phase separator
U (k)=u (k-1)+Kp(k)(e(k)-e(k-1))+Ki(k)e(k)-Kf(k)(y(k)-y(k-1)
-Kd(y(k)-2y(k-1)+y(k-2))
H. at subsequent time, continue to solve parameter k that PI-PD controller is new according to the step in b to gP(k+1)、ki(k+1)、kf (k+1)、kd(k+1) value, acts on controlled device, and circulates successively.
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CN105955014A (en) * 2016-05-11 2016-09-21 杭州电子科技大学 Method for controlling coke furnace chamber pressure based on distributed dynamic matrix control optimization
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