CN104111605A - Controller of single input and single output non-self-regulating production process, and control method of single input and single output non-self-regulating production process - Google Patents
Controller of single input and single output non-self-regulating production process, and control method of single input and single output non-self-regulating production process Download PDFInfo
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Abstract
The present invention relates to a controller of a single input and single output non-self-regulating production process, and a control method of the single input and single output non-self-regulating production process, for mainly solving the problems in the prior art that the non-self-regulating production process is difficult in modeling, the stability of a control system is difficult to analyze, and the controller has many adjustment parameters. The single controller of the present invention controls the single input or single output of a signal by just implementing a pulse response test on a controlled object to obtain a prediction model of the production process, constructing the single degree of freedom control input, utilizing a novel error feedback correction method and constructing a prediction function control algorithm. The construction of the prediction function control algorithm comprises the steps of constructing the single degree of freedom control input which is characterized by selecting a future system control input composed of primary function weighing; (2) implementing pulse signal excitation on the controlled object to obtain a process model; (3) establishing future system expected performance indexes; (4) deducing future prediction output; (5) constructing a special error feedback correction; (6) analyzing the stability of the control system and guaranteeing the tracking set value zero deviation. The controller and control method of the technical scheme solve the problems better, and can be used for the operation optimal control of the non-self-regulating production process.
Description
Technical field
The present invention relates to controller and the control method thereof of the non-self-balance production run of a kind of single-input single-output.
Background technology
In actual industrial process, control in application, a common class object,, in the situation that system generation input signal encourages, controlled system can not oneself reach new balance, and its output of process value will increase always or reduce down, claim that this type systematic is non-from balance system.Can common non-self-balance object comprises the liquid level of the devices such as rectification column, distillation column, stripping tower, thereby well control these devices in practical operation, reduce very crucial on the impact of downstream unit.
Control method for this type systematic is mainly the correct application to conventional PID regulator at present, but still showing for non-, the shortcoming of these class methods need to just can guarantee system stability by more than 2 regulators from balance system, caused regulating parameter too much in control method, and these regulate the transfer function model of parameter great majority based on gained, limitation is larger, and it is bad to control effect.In addition, PID regulator belongs to passive regulation strategy, normally in the external world, occur to disturb or systematic parameter just regulates control inputs after perturbing, thereby makes corresponding control system robust performance bad, is difficult to provide good control effect.
The advantage of predictive functional control algorithm is to be adapted to rapid object, can be applicable to slow process object again, existing a lot of application in actual industrial, and Predictive function control does not have too much requirement for process model, as long as can conveniently reproduce the feature of process, relevant information all can be used to represent process model.In view of in working control operation, can be easily with method of testing procurement process model, in addition because non-self-balance production run is after additional pulse signal, its response is by the feature that is constant in future time section, so can conveniently carry out procurement process model by additional test signal.So, by the algorithm of predictive functional control of the non-self-balance production run of research pulsed test signal method design, there is realistic meaning.
Hou Z. S. professor is at document < < The model-free learning adaptive control of a class of SISO nonlinear systems > > (Proc. of American Control Conf., New Mexico, 1997:343-344), by introducing the concept of partial differential, avoided the modeling problem of non-linear process, it is a kind of control method of good non-linear process, but it does not provide concrete systematic parameter control method, more do not utilize the future anticipation information of system.Because predictive control algorithm can the fine forecast model that utilizes, the concepts such as feedback compensation have been waited until better engineering application in practice, and wherein predictive functional control algorithm is because its structurized control inputs form has obtained more people's concern.Exploitation is in conjunction with need not identification model and to realize simple Nonlinear Prediction Models method very necessary for this reason.
Control for this type systematic is mainly the correct application to conventional PID regulator at present, Majhi professor is at document < < Modified smith predictor and controller for processes with time delay > > (IEE Proc.-Control Theory Appl. 1999, 140 (5), 359-366) proposed to control new method for the PID of this type systematic, follow-up have again other similar methods to occur, but still showing for non-, the shortcoming of these class methods need to just can guarantee system stability by more than 2 regulators from balance system, caused regulating parameter too much in control method, and these regulate the transfer function model of parameter great majority based on gained, limitation is larger.In addition, PID regulator belongs to passive regulation strategy, normally in the external world, occur to disturb or systematic parameter just regulates control inputs after perturbing, thereby make corresponding control system robust performance bad, be difficult to provide good control effect, for concrete tower liquid level, be controlled in the situation of external interference existence, can not eliminate in time ectocine, cause tower level fluctuation, affect downstream and produce.
Predictive function control (PFC) is the third generation Model Predictive Control Algorithm that Richalet and Kuntze proposed the eighties in 20th century, structure depending on control inputs is crucial, and can overcome other Model Predictive Control may the not clear control inputs problem of occurrence law.Because control inputs impact control output relation in ethylbenzene dehydrogenation production is more complicated, so it is very necessary to utilize PFC to study the PREDICTIVE CONTROL of ethylbenzene catalytic dehydrogenation system, selection by basis function in PFC makes the input rule of control system clearer and more definite, and control performance is higher.Therefore the advanced control method that, the present invention designs multiple-input and multiple-output ethylbenzene dehydrogenation production run by Predictive function control has realistic meaning.
Summary of the invention
Technical matters to be solved by this invention is in prior art, to have the non-self-balance production run modeling difficulty of single-input single-output, and gained stability of control system is difficult to analyze, and controller regulates the problem that parameter is many.The method has Guarantee control system robust stability and follows the tracks of setting value bias free, the advantage that controller parameter is easy to adjust.
For solving the problems of the technologies described above, the technical solution used in the present invention is as follows: the controller of the non-self-balance production run of a kind of single-input single-output, described controller is according to the feature of non-self-balance production run, utilization is implemented pulse signal excitation to non-self-balance production run, gather actual test data and set up impulse response model, by building single-degree-of-freedom control inputs, utilize Error Feedback bearing calibration and algorithm of predictive functional control, single input of control signal or single output.
In technique scheme, the control method of the controller of the described non-self-balance production run of single-input single-output, by building single-degree-of-freedom control inputs, utilize Error Feedback bearing calibration and algorithm of predictive functional control, single input of control signal or single output, build algorithm of predictive functional control, comprise the following steps:
(1) set up single-degree-of-freedom control inputs: select following process control input to be formed by a basis function weighting;
(2) controlled device is implemented to the excitation procurement process test model of pulse signal;
(3) set up system in future expected performance index;
(4) derivation of future anticipation output;
(5) Error Feedback of building particularization is proofreaied and correct;
(6) assurance of the stability analysis of control system and tracking setting value zero-deviation;
Wherein
for the current control inputs of system,
for the following expectation input of system,
for control inputs weighting coefficient.
In technique scheme, preferably technical scheme is, the control method of the controller of the described non-self-balance production run of single-input single-output, is characterized in that, non-self-balance production run feature is as follows:
The non-self-balance production run of single-input single-output can be described as:
(1)
Wherein
the impulse response coefficient of the self-balance production run of right and wrong,
process input,
it is the output of process; Due to the singularity of non-self-balance object impulse response, its impulse response coefficient as shown in Figure 1
in a certain step-length
rear maintenance is often worth
, utilize this feature, formula (1) is reduced to
(2)
Formula (2) is transformed to
territory, has
(3)
In formula
the steady component that represents non-self-balance production run transport function, and
.
Above formula is done to equivalence transformation, obtain the impulse response model of non-self-balance production run
(4)
The forecast model based on CONTROLLER DESIGN can be expressed as
(5)
In formula
the steady component that represents non-self-balance production run model, and
.Model future anticipation is output as
(6)
For providing the stability analysis result of system, provide following three definition:
Definition 4.1.
comprise impulse response coefficient in minimum value
and maximal value
between all objects, be designated as
(7)
And have
(8)
Wherein
,
,
,
,
.
Under the as above uncertain description of given object,
having comprised impulse response coefficient exists
with
between all objects.
Definition 4.2. for impulse response coefficient is
controll plant, the sum of the deviations between object and model
be expressed as
(9)
By formula (9), know that the deviation between object and model impulse response coefficient meets
(10)
So can obtain the maximum mismatch between model and object.
Definition 4.3
.maximum mismatch
.
By formula (9), known
with
meet following relation
(11)
Suppose object and model gain
,
non-vanishing,
,
(12)
Determine that system in future expected performance index is as follows:
(13)
In formula
to optimize time domain,
for reference locus has and stablizes similarly definition in object control, its objective is the reference locus tracking setting value of wishing that system output installation is set,
,
for the sampling time,
for the closed-loop control system Expected Response time,
setting value, for normal value setting point tracking
;
be that predicated error is proofreaied and correct, at this, get
,
be the parameter of introducing, contribute to improve the robust performance of production system.
In technique scheme, preferably technical scheme is, the control method of the controller of the described non-self-balance production run of single-input single-output, it is characterized in that the prediction output of the following expectation of derivation, controlled input, obtains control system parameter adjusting method, specific as follows:
(1) current
moment control inputs
(2) following the
step prediction output
(14)
,
(15)
In formula:
,
，
，
，
，
。
(3) order
, by
, and make current
error correction constantly
, can obtain control inputs
(16)
In formula
the unit row vector of a suitable dimension, and
，
。
In technique scheme, preferred technical scheme is, the predictive functional control algorithm of the non-self-balance production run of single-input single-output, according to the feature of non-self-balance production run, utilize the excitation of non-self-balance production run being implemented to pulse signal, gather actual production data and set up impulse response model, by building single-degree-of-freedom control inputs, introduce novel Error Feedback bearing calibration, build algorithm of predictive functional control, comprise the following steps:
(1) set up single-degree-of-freedom control inputs: select system in future control inputs to be formed by a basis function weighting;
(2) controlled device is implemented to pulse signal excitation procurement process model;
(3) set up system in future expected performance index;
(4) derivation of future anticipation output;
(5) Error Feedback of building particularization is proofreaied and correct;
(6) stability of control system guarantees and follows the tracks of setting value zero-deviation;
Wherein
for current system control inputs,
for the following expectation input of system,
for control inputs weighting coefficient.
Non-self-balance system features is as follows: the non-self-balance production run of single-input single-output can be described as:
Wherein
the impulse response coefficient of the self-balance production run of right and wrong,
process input,
it is the output of process; Due to the singularity of non-self-balance object impulse response, its impulse response coefficient as shown in Figure 1
in a certain step-length
rear maintenance is often worth
, utilizing this feature, above formula is reduced to
Above formula is transformed to
territory, has
In formula
the steady component that represents non-self-balance production run transport function, and
.
Above formula is done to equivalence transformation, obtain the impulse response model of non-self-balance production run
The forecast model based on CONTROLLER DESIGN can be expressed as
In formula
the steady component that represents non-self-balance production run model, and
.Model future
Prediction is output as
Determine that system in future expected performance index is as follows:
In formula
to optimize time domain,
for reference locus has and stablizes similarly definition in object control, its objective is the reference locus tracking setting value of wishing that system output installation is set,
,
for the sampling time,
for the closed-loop control system Expected Response time,
setting value, for normal value setting point tracking
;
be that predicated error is proofreaied and correct, at this, get
,
be the parameter of introducing, contribute to improve the robust performance of production system.
The prediction output of the following expectation of derivation, controlled input, obtains control system parameter adjusting method, specific as follows:
(1) current
moment control inputs
(2) following the
step prediction output
,
In formula:
,
，
，
，
，
。
(3) order
, by
, and make current
error correction constantly
, can obtain control inputs
In formula
the unit row vector of a suitable dimension, and
，
。
For further deeply describing the problem, carry out theoretical analysis system as follows so that the method that why designs of explanation can solve the Predictive function control problem of the non-self-balance production run of single-input single-output, and the control method of design can zero-deviation tracing preset value and guarantee the stability of system.
Control law (16) is done to equivalence transformation,
(17)
Wherein
(18)
(19)
Formula (17) can be described by the control structure shown in Fig. 2, wherein
represent
, other yuan have identical definition, and
,
respectively that load disturbance and the output of introducing is disturbed,
input reference model,
for controller.In addition due to
be feedback filter, make it stablize should have
.
By Fig. 2, control system closed loop transfer function, can be expressed as:
+
(20)
Suppose
, utilize formula (4), (5), (14) and (15), formula (21) can be converted into
(21)
In formula:
，
，
Wherein
,
.
The stability of being known closed-loop control system now by (21) by
determine.
If prediction step
and existence
, when
time, select to meet as lower inequality, proper polynomial is stable, and can Guarantee control system bias free tracing preset value.
(22)
Consider the establishment of (23) formula, can be as lower inequality
Utilize absolute value triangle inequality,
(23)
And (23) are exactly polynomial expression
the result of application Jury important coefficient determination of stability theorem, so
stable.Now utilize lemma (Xi Yugeng, PREDICTIVE CONTROL, 1993), when
if following formula is set up,
stable.
(24)
Formula (24) is equivalent to
, and it is always set up, so
stable.
Further investigate designed control system tracing preset value situation in the situation that external interference exists, because control system is stable, from input
to output
steady-state gain be
(25)
Load disturbance
steady-state gain to system output is
(26)
Output is disturbed
to output
steady-state gain be
(27)
Therefore by (25)-(27), know that control system can bias free tracing preset value.
As above proof procedure explanation, owing to adopting pulsed test signal procurement process test model in the present invention, these test job reality are very easy to realize in engineering application, formula (25)-(27) illustrate that the Error Feedback bearing calibration of introducing can effectively eliminate the deviation of control system tracing preset value, when above feature has guaranteed that institute's summary of the invention is applied to the non-self-balance production run of single-input single-output, obtained good technique effect.
Accompanying drawing explanation
Fig. 1 is the impulse response of the non-self-balance production run of single-input single-output.
Fig. 2 is closed-loop control system block diagram.
Fig. 3 is embodiment butadiene extraction rectification column flow process.
Fig. 4 is that embodiment butadiene extraction rectification column B liquid level is controlled curve.
Fig. 5 is that embodiment butadiene extraction rectification column B liquid level is controlled curve.
In Fig. 1
for production run pulse test excitation result,
for pulse value,
for the time.
In Fig. 2
for the given input of system,
for input reference model,
for reference input,
for controller,
for controlled device,
for forecast model,
for feedback compensation model,
for current system input,
for the actual output of system,
for system input is disturbed,
for system output is disturbed,
for feedback error.
In Fig. 3,1 is extraction solvent charging, and 2 are
raw material charging,
,
be respectively the liquid level of extraction distillation column A, B,
for tower A flows to the flow of tower B.
Below by specific embodiment, the present invention is further set forth.
Embodiment
[embodiment
]
For 100,000 tons of butadiene production devices of certain factory, consider extractive distillation column as shown in Figure 3, the liquid level of its extractive distillation column B
the flow F that enters tower B with A tower obtains following process prescription through pulsed test signal
Wherein
,
.
Embodiment:
(1), according to process feature, determine system model parameter
and the sampling time
s.
(2) choose suitable match point
,
, the closed loop response time
sverify following formula
Whether set up, if do not meet and reselect suitable match point
.If controlled device is Object with Time Delay, the match point of selecting
be greater than retardation time.
(3) ask
optimum solution, order
,
, obtain current time control law
And the control inputs of current time is applied to object.
(4)
, repeating step 2-3.
In practical operation, operating personnel wish the liquid level of tower B be controlled at total tower liquid level 60% and fluctuate the smaller the better, utilize the liquid level of the method control tower B inventing as shown in Figure 4, from controlling curve, can find that extraneous load disturbance exists, can guarantee that bias free makes the liquid level of system control 60% place of total tower liquid level, it is very good that it controls effect.Investigate systematic parameter serious Parameter Perturbation occurs
,
now control result as shown in Figure 5, even if can find system generation Parameter Perturbation, institute's inventive method still can maintain the stability of control system, and can guarantee that control system still remains on 60% of total tower liquid level, illustrate that design inventive method has very strong robust performance.
Claims (4)
1. the controller of the non-self-balance production run of single-input single-output, described controller is according to the feature of non-self-balance production run, utilization is implemented pulse signal excitation to non-self-balance production run, gather actual test data and set up impulse response model, by building single-degree-of-freedom control inputs, utilize Error Feedback bearing calibration and algorithm of predictive functional control, single input of control signal or single output.
2. the control method of the controller of the non-self-balance production run of single-input single-output claimed in claim 1, by building single-degree-of-freedom control inputs, utilize Error Feedback bearing calibration and algorithm of predictive functional control, single input of control signal or single output, build algorithm of predictive functional control, comprise the following steps:
(1) set up single-degree-of-freedom control inputs: select following process control input to be formed by a basis function weighting;
(2) controlled device is implemented to the excitation procurement process test model of pulse signal;
(3) set up system in future expected performance index;
(4) derivation of future anticipation output;
(5) Error Feedback of building particularization is proofreaied and correct;
(6) assurance of the stability analysis of control system and tracking setting value zero-deviation;
Wherein
for the current control inputs of system,
for the following expectation input of system,
for control inputs weighting coefficient.
3. the control method of the controller of the non-self-balance production run of single-input single-output according to claim 2, is characterized in that, non-self-balance production run feature is as follows:
The non-self-balance production run of single-input single-output can be described as:
(1)
Wherein
the impulse response coefficient of the self-balance production run of right and wrong,
process input,
it is the output of process; Due to the singularity of non-self-balance object impulse response, its impulse response coefficient as shown in Figure 1
in a certain step-length
rear maintenance is often worth
, utilize this feature, formula (1) is reduced to
(2)
Formula (2) is transformed to
territory, has
(3)
In formula
the steady component that represents non-self-balance production run transport function, and
;
Above formula is done to equivalence transformation, obtain the impulse response model of non-self-balance production run
(4)
The forecast model based on CONTROLLER DESIGN can be expressed as
(5)
In formula
the steady component that represents non-self-balance production run model, and
; Model future anticipation is output as
(6)
For providing the stability analysis result of system, provide following three definition:
Definition 4.1.
comprise impulse response coefficient in minimum value
and maximal value
between all objects, be designated as
(7)
And have
(8)
Wherein
,
,
,
,
;
Under the as above uncertain description of given object,
having comprised impulse response coefficient exists
with
between all objects;
Definition 4.2. for impulse response coefficient is
controll plant, the sum of the deviations between object and model
be expressed as
(9)
By formula (9), know that the deviation between object and model impulse response coefficient meets
(10)
So can obtain the maximum mismatch between model and object;
Definition 4.3
.maximum mismatch
.
By formula (9), known
with
meet following relation
(11)
Suppose object and model gain
,
non-vanishing,
,
(12)
Determine that system in future expected performance index is as follows:
(13)
In formula
to optimize time domain,
for reference locus has and stablizes similarly definition in object control, its objective is the reference locus tracking setting value of wishing that system output installation is set,
,
for the sampling time,
for the closed-loop control system Expected Response time,
setting value, for normal value setting point tracking
;
be that predicated error is proofreaied and correct, at this, get
,
be the parameter of introducing, contribute to improve the robust performance of production system.
4. the control method of the controller of the non-self-balance production run of single-input single-output according to claim 2, is characterized in that the prediction output of the following expectation of derivation, and controlled input, obtains control system parameter adjusting method, specific as follows:
(1) current
moment control inputs
(2) following the
step prediction output
(14)
,
(15)
In formula:
,
，
，
，
，
；
(3) order
, by
, and make current
error correction constantly
, can obtain control inputs
(16)
In formula
the unit row vector of a suitable dimension, and
，
。
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| CN105435484A (en) * | 2015-12-10 | 2016-03-30 | 南京工业大学 | Factory-level process control system design method of multi-unit reactive distillation device based on top-down |
| CN111542789A (en) * | 2017-12-20 | 2020-08-14 | 赛峰飞机发动机公司 | Method for closed-loop control of a controller with setpoint weighting |
| CN114779625A (en) * | 2022-06-10 | 2022-07-22 | 浙江大学 | VRFT-based PD controller design method and device and electronic equipment |
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| CN104111605B (en) | 2017-08-11 |
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