CN104635497A - Compensating method for control loop oscillation due to viscosity property of valve - Google Patents

Compensating method for control loop oscillation due to viscosity property of valve Download PDF

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CN104635497A
CN104635497A CN201510080981.XA CN201510080981A CN104635497A CN 104635497 A CN104635497 A CN 104635497A CN 201510080981 A CN201510080981 A CN 201510080981A CN 104635497 A CN104635497 A CN 104635497A
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control signal
valve
loop
value
viscous
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CN104635497B (en
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谢磊
王挺任
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Zhejiang University ZJU
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Abstract

The invention discloses a compensating method for control loop oscillation due to viscosity property of a valve. The compensating method comprises the following steps: (1) after the control loop generates oscillation due to viscosity property, switching the loop to an open-loop mode and outputting a control signal m(t); (2) correspondingly processing the control signal m(t) and a process output signal y(t) to obtain a variable relationship within at least one complete oscillation period; (3) adopting a He viscoelastic model, obtaining a value of a target position vss of the valve according to the relationship of the control signal m(t) and a viscous parameter fd as well as the variable relationship in the step (2), and further obtaining an expected value mss of the control signal; (4) compensating the control signal m(t) until the control signal reaches an estimated value ^mss of the expected value. According to the compensating method, realizing time for a two-step process can be effectively shortened, negative effects to a process loop in a compensating process are lowered, the compensating precision can be regulated according to the practical needs, and important practical value is realized while the efficiency of the production process is improved.

Description

A kind of compensation method causing control loop to vibrate because of valve viscous characteristic
Technical field
The present invention relates to the valve viscous compensation field of process control loop, particularly relate to a kind of compensation method causing control loop to vibrate because of valve viscous characteristic.
Background technology
In industry loop, the oscillation problem that exists seriously governs the raising of Business Economic Benefit, and solve oscillation problem in order to Timeliness coverage, the control and compensation of vibration monitoring, vibration is imperative.Research shows, having the control loop of 20% ~ 30% to vibrate is caused by operation valve.The viscosity property Sticiton of operation valve is the most common in nonlinear characteristic, can affect the performance of control system to some extent.Sluggish be also one of the most formidable problem in by-pass valve control simultaneously, and it can cause the vibration of control loop, causes product quality to decline, and energy consumption increases, the problems such as equipment attrition quickening.At present, there is the valve lagging characteristics in a lot of scholar's research control loop, and achieved a lot of achievements in research.
Modern industry flow sheet equipment has that scale is large, complexity is high, variable is many, and the feature run under closed-loop control, for the chemical process of complexity, often there are thousands of loops, and these loops interact owing to there is coupling.The oscillatory occurences of control loop cross due to controller adjust, the ubiquity of external disturbance and variable valve nonlinear operation characteristic, greatly have impact on economic benefit and stability that industrial flow equipment runs.In the industrial production, once cause oscillatory occurences because of valve viscous problem, when not arriving the maintenance of equipment cycle, can not production run be stopped and valve be overhauled.Therefore, controlling to compensate valve input signal thus to overcome viscous problem by signal, is a kind of effectively mode, to enhance productivity and to save device resource significant.
In existing valve viscous compensation method, the method for most main flow has knocker to compensate, and by superposition shake square-wave signal in control signal, increases the energy of respective valves input signal to overcome viscous problem.The method is less to loop information requirements, implements also relatively simple and convenient, but while reducing oscillation circuit, too increases the frequency of valve vibration, greatly reduce the serviceable life of valve.Another method is to adjust controller parameter and type according to limit cycle situation during oscillation circuit, the limitation of the method is the amplitude that some oscillatory condition can only weaken vibration, cannot really oscillation-damped, if want oscillation-damped, PI can only be controlled to be converted to P and control by some situations, and such change is inapplicable in most of industrial occasions.Also have a kind of relatively conventional be exactly two-step approach, the feature of two-step approach is under open loop case, first valve is moved to new position from current viscous position, then is pulled to target location and remains unchanged.Modal implementation obtains process gain by 3 two moved further, its limitation also clearly, first waiting process stable output is all wanted after needing to move each time, especially delay larger object needs to take a long time to realize two-step approach, the amplitude being exactly each movement is in addition all very large, between the amortization period, can produce certain negative effect to process.
In viscous compensation method, the good compensation method of a kind of resultant effect does not produce negative effect to valve serviceable life, can provide good compensation effect within a short period of time in addition, raise the efficiency industrial processes, cost-saving have very positive effect.
Summary of the invention
The invention provides a kind of compensation method causing control loop to vibrate because of valve viscous characteristic.What the inventive method effectively can shorten two-step approach realizes the time, and reduces the negative effect to process loop in compensation process, and compensation precision also can adjust according to the actual requirements, and raising production run efficiency has important practical value.
The compensation method causing control loop to vibrate because of valve viscous characteristic, comprises the steps:
(1) control loop is because of after viscosity property vibrates, and controls, and export one group of control signal m (t) by under loop switch to open loop mode;
(2) according to Laplace transform, control signal m (t) and the output of process signal y (t) collected are processed, under opened loop control, obtain the variable relation at least one complete oscillation cycle;
(3) the valve viscous model of He is adopted, according to control signal m (t) and viscous parameter f drelation and variable relation described in step (2) obtain the target location v of valve ssvalue, and then obtain the expectation value m of control signal ss;
(4) two-step approach is adopted to compensate control signal m (t), until control signal arrives the estimated value of expectation value thus make valve arrive target location.
The present invention under control loop is switched to open loop situations, by export one group of control signal obtain two-step approach realize in an important parameter m ss(expectation value of control signal), ignores composition owing to existing in reality to relative Small variables in various error and computation process, the estimated value of expectation value that what step (3) obtained is utilize Laplace transform to obtain the output of process signal y (t) special relationship of (extreme point) between some time node, be then chosen at valve model on the basis of He model, according to viscous parameter f dvalve target location v is obtained with the variable relation described in the relation of control signal (valve input signal) and step (2) ssvalue, equally due in esse error, its estimated value obtained according to the variation tendency of control signal and determine final size; Final again by realizing two-step approach, make valve move to a new viscous position from current viscous position, then control signal is set to size can promote valve and arrive target location, and the oscillation problem of control loop can be eliminated.
Control signal of the present invention is controller output signal superposition compensator signal, also referred to as valve input signal.
The process that step (1) exports one group of control signal m (t) is as follows:
The variation tendency of current control signal m (t) when judging that control loop is switched to open loop mode, according to the state that variation tendency rises or declines, is adjusted to maximal value m by current control signal respectively 1or minimum value m 2, can be relatively little at this process duration, object is that valve is moved from current viscous position, is then adjusted to minimum value m 2or maximal value m 1, continue T 1time, then be adjusted to maximal value m 1or minimum value m 2, continue T 2time, repeat above-mentioned adjustment process and namely obtain control signal m (t).Repeating object that adjustment process obtains control signal m (t) is make the output of process signal y (t) can present a complete periodic swinging in an open loop mode.
The variation tendency of current control signal m (t) when judging that control loop is switched to open loop mode, if variation tendency is the state risen, is then adjusted to maximal value by current control signal, is then adjusted to minimum value; If variation tendency is the state declined, then current control signal is adjusted to minimum value, is then adjusted to maximal value.
M 1before control loop is switched to open loop mode, the control signal maximal value of loop in oscillatory process; m 2before control loop is switched to open loop mode, the control signal minimum value of loop in oscillatory process.T 1in history oscillation data, the time span in the oscillation period between first adjacent extreme value.T 1selection be then the vibration situation of the output of process when considering to reduce closed-loop control as far as possible under opened loop control, improve the precision of compensation as far as possible and prevent from producing extra impact to process loop.T 2in history oscillation data, the time span in the oscillation period between second adjacent extreme value.T 2choice criteria with T 1similar.
The corresponding parameter of step (2) online acquisition, such as flow, temperature, pressure etc. are as the output of process signal y (t);
Step (2) described variable relation is the relation between each signal Self-variation feature and unlike signal.
In step (2), there is twice equal extreme point y (t in the output of process signal y (t) within an oscillation period 0) and y (t 2), y (t 1) be then extreme point between the two, wherein t 0, t 1, t 2represent the timing node that the output of process signal y (t) direction changes.
The output of process signal y (t) is θ relative to the time delay of control signal m (t), then the timing node that corresponding control signal direction changes is t 0-θ, t 1-θ and t 2-θ, therefore, T 2=t 2-t 1; T 1=t 1-t 0.
When step (2) is switched to open loop mode for control loop, the variation tendency of current control signal m (t) is in upward status, obtains the variable relation in the complete oscillation cycle, comprise the following steps under opened loop control:
Step (2-1): controller adopts PI to control, and the mathematic(al) representation that PI controls is
C ( s ) = k c ( 1 + 1 T i s )
Wherein, k cfor the proportional gain of controller;
T ithe time constant of integral process;
S is the variable in Laplace transform territory;
C (s) represents controller model;
After loop switch to opened loop control, the pass of control signal m (t) between different time node is m (t 0)=m (t 2)=m 2, m (t 1)=m 1.
Can obtain according to the relation of control signal m (t) between different time node:
∫ t 0 t 0 + T 1 ( r ss - y ( t ) - c ) dt + ∫ t 1 t 1 + T 2 ( r ss - y ( t ) - c ) dt = 0 ,
r ss＝k pv ss+c，
Wherein r ssit is the setting value of the output of process signal;
K pit is process gain;
C is the static shift amount of the output of process;
Step (2-2): process object is a linear time invariant object, its model can delay the approximate replacement of process by single order,
G ( s ) = k p e - θs T p s + 1
Wherein, G (s) represents process object model;
K prepresent process gain;
T prepresent the time constant of process object;
θ represents the delay time of process object;
To the output of process signal y (t) differentiate, obtain
Step (2-3): valve is at time t ∈ [t 0-θ, t 1-θ) be in position v 1, be a definite value; At time t ∈ [t 1-θ, t 2-θ) be in position v 2, be also a definite value; Under opened loop control, only move in these two positions realizing two-step approach early gate position;
Step (2-4): control signal m (t) is at t 0-θ the moment is from minimum value m 2be increased to maximal value m 1, the output of process y (t) is at t 0moment can drop to minimum value, in like manner at t 1moment y (t) can rise to maximal value, in complete open loop oscillation period, and y (t 0)=y (t 2)=y min, y (t 1)=y max;
Step (2-5): at t ∈ [t 0, t 1) Laplace transform being carried out to y (t), can obtain
sY ( s ) - y ( t 0 ) = k p v 1 T p s - 1 T p Y ( s ) ,
S is the variable in Laplace transform territory;
Y (s) is the variable of y (t) after laplace transform;
Y ( s ) = K p v 1 / [ T p s ( s + 1 / T p ) ] + y ( t 0 ) / ( s + 1 T p ) = K p v 1 / s + ( y ( t 0 ) - K p v 1 ) / ( s + 1 / T p ) ,
Be transformed into time domain to obtain: y ( t ) = K p v 1 + ( y ( t 0 ) - K p v 1 ) e - t - t 0 T p ,
In like manner, at t ∈ [t 1, t 2), y ( t ) = K p v 2 + ( y ( t 1 ) - K p v 2 ) e - t - t 1 T p ,
y ( t 1 ) = K p v 1 + ( y ( t 0 ) - K p v 1 ) e - T 1 T p ;
y ( t 2 ) = K p v 1 + ( y ( t 1 ) - K p v 1 ) e - T 2 T p ;
Step 2-6: described variable relation can be obtained according to above-mentioned steps:
v ss(T 1+T 2)-(v 1T 1+v 2T 2)＝0；
Valve target location v sswith the course location v of two under opened loop control 1, v 2and time quantum T 1, T 2relevant.
When the variation tendency of current control signal m (t) is decline state when control loop is switched to open loop mode, in like manner also v can be obtained ss(T 1+ T 2)-(v 1t 1+ v 2t 2)=0.
In step (3), adopt the valve viscous model of He (" He; Q.; Wang; J.; Pottmann; M., & Qin, S. " A curve fitting method for detecting valve stiction in oscillating control loops. " Ind.Eng.Chem.Res, 46, (2007): 4549-4560. "); this model is a kind of two-parameter data-driven model, structure is relatively simple, but can effectively describe valve viscous behavior.
Valve location v (t) and control signal m (t) and viscous parameter f drelevant, f dcan be obtained by some viscous detection technique.
v 1＝m 2+f d，v 2＝m 1-f d；
According to v ss(T 1+ T 2)-(v 1t 1+ v 2t 2)=0 can obtain valve target location v ssvalue:
in computation process, eliminate this variable of θ, lacked the participation of a variable, reduced error.
In addition, because actual compensation process exists error, according to that obtain is v ssestimated value
Valve target location described in step (3) span be 0 ~ 100%.
The expectation value m of control signal ssthe variation tendency of current control signal m (t) and valve target location v when being switched to open loop mode with control loop ssrelevant.
The expectation value m of control signal sswith valve target location v sspass be: when control loop is switched to open loop mode, the variation tendency of current control signal m (t) is in upward status, then when control loop is switched to open loop mode, the variation tendency of current control signal m (t) is decline state, then wherein valve target location v ssthe estimated value of value; control signal expectation value m ssestimated value.
Two-step approach described in step (4) compensates control signal m (t), and process is as follows: the nonce m (t first obtaining control signal switch), valve is moved to m (t from current viscous position switch) corresponding position, then control signal is adjusted to promote valve from m (t switch) corresponding position is to target location; wherein a is a coefficient, for ensureing that control signal nonce can overcome viscosity property, chooses a>1, at nonce m (t switch) continue time be T hold, this time span should be not excessive, prevents the output of process y (t) from departing from setting value r sstoo much, therefore m (t switchas long as) selection suitably.
Compared with prior art, the present invention has following beneficial effect:
1, pumping signal is to the not additional disturbance of systematic procedure, can realize two-step approach quickly to compensate vibration.
2, the data utilized are simply and easily obtain, without the need to the algorithm of complexity, simple to operation, exported by open loop and obtain desired data, without the need to any condition hypothesis, especially to the condition hypothesis of valve location, because the stem position of most of variable valve cannot obtain.
3, traditional time consuming procedures found realizing two-step approach by three two steps operations can effectively be solved, and do not need waiting process stable output, especially for the process that time lag is larger, advantage of the present invention is particularly evident.
4, the output of process is driven to produce and waveform like history oscillating phase by exporting one group of control signal under opened loop control, thus obtain calculate in desired parameters, doing so avoids from history oscillation data, calculate merely error that valve target location produces and the condition hypothesis problem to valve location.
5, control accuracy is higher, can not have a negative impact to the serviceable life of valve.
Accompanying drawing explanation
Fig. 1 is control signal in the embodiment of the present invention and valve position signal schematic diagram;
Fig. 2 is the output of process signal schematic representation in the embodiment of the present invention.
Embodiment
Be compensated for as example for chilled(cooling) water return (CWR) variable valve viscous in certain large power plant domestic below, the compensation method that the present invention causes control loop to vibrate when variable valve exists viscosity property is described in detail.
This circuit process selects single order purely retarded model controller adopts PI to control the setting value r of the output of process signal ssfor 35m 3/ h (cube m/h), the static shift constant c=-192.3411 of the output of process, does not consider external disturbance.There is viscosity property in its cooling water flow adjustable valve, its valve viscous model adopts He model, and viscous parameter is respectively f s=8.4, f d=3.5243.
The present embodiment comprises the steps:
Step 1, after process loop generation oscillatory occurences being detected, is switched to open loop mode by control, exports one group of control signal m (t).
Step 1 comprises the following steps:
Step 1-1, according to history oscillation data, obtains the maximal value m of control signal when vibrating 1=66.7 and minimum value m 2=53.3, and obtain the time span T within an oscillation period between first adjacent extreme point 1=788 seconds, and the time span T between second adjacent extreme point 2=307 seconds;
Step 1-2, when t=4000 second, control is switched to open loop mode, control signal is in propradation, superposes compensating signal immediately and control signal is pulled to m 1, remain unchanged;
Step 1-3, when t=4100 second, is designated as t 0-θ, is pulled down to m by control signal 2, keep T 1time is constant;
Step 1-4, when t=4888 second, is designated as t 1-θ, is pulled to m by control signal 1, keep T 2time is constant;
Step 1-5, repeats the operation of step 1-3 and step 1-4, difference node t writing time 2-θ=5195 second, t 3-θ=5983 second.
Step 2, after controller is switched to open loop mode, valve location only moves two fixed positions.The output of process presents complete waveform, and occurs twice adjacent minimum point, according to novel two-step approach of the present invention, can obtain valve location v by above data ssestimated value the estimated value of control signal is obtained again according to the variation tendency of control signal
Step 2 comprises the following steps:
Step 2-1, the output of process is at t 1moment arrives minimum value, at t 2moment arrives maximal value, at t 3moment reaches minimum value again, at t ∈ [t 1, t 3] time present a complete waveform, there is twice minimum point;
Step 2-2, control signal is at t ∈ [t 1, t 3] only at m 1and m 2two change in location, ensure valve location also only two change in location, variable valve stream sticky model adopts He model, according to the viscous parameter f of this model dwith process gain k pbetween relation, two position v of valve can be obtained respectively 1and v 2, thus obtain the estimated value of valve target location
Step 2-3, according to valve input signal size and viscous parameter f dbetween relation can obtain the estimated value of controller desired output size relevant with the direction of control signal under open loop mode, rear liter first falls in this process control signal, then
Step 3, is calculating the estimated value of controller desired output after, valve is moved two steps and take target location to.When t=6188 second, utilize m (t switch)=m ss+ a (m 1-m 0) calculate the control signal amount size m (t moved to by the valve being in viscous state needed for reposition switch)=44.1, adjusted to valve input signal when t=6198 second again size, after this remains unchanged.Compensation process as depicted in figs. 1 and 2.

Claims (9)

1. the compensation method causing control loop to vibrate because of valve viscous characteristic, comprises the steps:
(1) control loop is because of after viscosity property vibrates, and controls, and export one group of control signal m (t) by under loop switch to open loop mode;
(2) according to Laplace transform, control signal m (t) and the output of process signal y (t) collected are processed, under opened loop control, obtain the variable relation at least one complete oscillation cycle;
(3) the valve viscous model of He is adopted, according to control signal m (t) and viscous parameter f drelation, and the variable relation described in step (2) obtains valve target location v ssvalue, and then obtain the expectation value m of control signal ss;
(4) two-step approach is adopted to compensate control signal m (t), until control signal arrives expectation value m ssestimated value thus make valve arrive target location.
2. the compensation method causing control loop to vibrate because of valve viscous characteristic according to claim 1, it is characterized in that, the process that step (1) exports one group of control signal m (t) is as follows: the variation tendency of current control signal m (t) when judging that control loop is switched to open loop mode, according to the state that variation tendency rises or declines, respectively current control signal is adjusted to maximal value m 1or minimum value m 2, valve is moved from current viscous position, is then adjusted to minimum value m 2or maximal value m 1, continue T 1time, then be adjusted to maximal value m 1or minimum value m 2, continue T 2time, repeat above-mentioned adjustment process and namely obtain control signal m (t).M 1, m 2the maximal value in controller history oscillation data and minimum value respectively.
3. the compensation method causing control loop to vibrate because of valve viscous characteristic according to claim 1, it is characterized in that, there is twice equal extreme point y (t in the output of process signal y (t) within an oscillation period 0) and y (t 2), y (t 1) be extreme point between the two, wherein t 0, t 1, t 2represent the timing node that the output of process signal y (t) direction changes.
4. the compensation method causing control loop to vibrate because of valve viscous characteristic according to claim 3, it is characterized in that, the output of process signal y (t) is θ relative to the time delay of control signal m (t), then the timing node that control signal m (t) direction changes is t 0-θ, t 1-θ and t 2-θ.
5. the compensation method causing control loop to vibrate because of valve viscous characteristic according to claim 4, is characterized in that, T 1=t 1-t 0, T 2=t 2-t 1.
6. the compensation method causing control loop to vibrate because of valve viscous characteristic according to claim 1, it is characterized in that, the variable relation described in step (2) is: v ss(T 1+ T 2)-(v 1t 1+ v 2t 2)=0; Wherein v 1represent that valve is at time t ∈ [t 0-θ, t 1-θ) time residing position, be a definite value; v 2represent that valve is at time t ∈ [t 1-θ, t 2-θ) time residing position, be also a definite value.
7. the compensation method causing control loop to vibrate because of valve viscous characteristic according to claim 6, is characterized in that, valve target location v ssvalue be: wherein f drepresent viscous parameter.
8. the compensation method causing control loop to vibrate because of valve viscous characteristic according to claim 7, is characterized in that, the expectation value m of control signal sswith valve target location v sspass be: when control loop is switched to open loop mode, the variation tendency of current control signal m (t) is in upward status, wherein v ssestimated value, m ssestimated value; When control loop is switched to open loop mode, the variation tendency of current control signal m (t) is decline state,
9. the compensation method causing control loop to vibrate because of valve viscous characteristic according to claim 1, it is characterized in that, employing two-step approach described in step (4) compensates control signal m (t), and process is as follows: first control signal is adjusted to a nonce m (t switch), valve is moved to m (t from current viscous position switch) corresponding position, then control signal is directly adjusted to make valve from m (t switch) corresponding position moves to target location; wherein a is a coefficient being greater than 1.
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