CN104635497B - 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 PDFInfo
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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
Technical field
The present invention relates to the valve viscous compensation field of process control loop, more particularly to one kind is because of valve viscous characteristic
The compensation method for causing control loop to vibrate.
Background technology
Oscillation problem present in industrial loop seriously governs the raising of Business Economic Benefit, in order to find in time and solve
Certainly oscillation problem, vibrates monitoring, the control of vibration and compensates imperative.Research shows there is 20%～30% control loop
Vibration is caused by control valve.The viscosity property Sticiton of control valve is most commonly seen, the different journeys of meeting in nonlinear characteristic
Degree ground affects the performance of control system.Sluggish is also one of most formidable problem in control valve simultaneously, and it can cause control
The vibration in loop, causes product quality to decline, and energy consumption increases, the problems such as equipment attrition is accelerated.At present, many scholars grind
Study carefully the valve lagging characteristics in control loop, and have been achieved for many achievements in research.
Modern industry flow sheet equipment has that scale is big, complexity is high, variable is more, and the characteristics of run under closed loop control,
For complicated chemical process, often with thousands of loops, and, due to there is the mutual shadow of coupling in these loops
Ring.The oscillatory occurences of control loop crossed due to controller adjust, external disturbance and regulating valve nonlinear operation characteristic are generally deposited
The economic benefit and stability of industrial flow equipment operation is being have impact on greatly.In the industrial production, once because valve glues
Stagnant problem and cause oscillatory occurences, when the maintenance of equipment cycle is not arrived, be impossible to stop production process and valve is carried out
Maintenance.Therefore, valve input signal is compensated so as to overcome viscous problem by signal control, is a kind of effectively
Mode, it is significant to improve production efficiency and saving device resource.
In existing valve viscous compensation method, the method for most main flow has knocker to compensate, by control signal
Superposition shake square-wave signal, increases the energy of respective valves input signal to overcome viscous problem.The method is to loop information
Requirement is less, and it is also relatively easy convenient to implement, but while reducing oscillation circuit, also increases the frequency of valve vibration
Rate, greatly reduces the service life of valve.Another method is adjusting control according to limit cycle situation during oscillation circuit
Device parameter processed and type, the limitation of the method are the amplitudes that some oscillatory conditions can only weaken vibration, it is impossible to which real elimination is shaken
Swing, if it is desired to oscillation-damped, PI controls can only be converted to P controls by some situations, and such change is in most of industry
Occasion is not simultaneously applied to.Also it is a kind of it is the more commonly used be under open loop case, first by valve the characteristics of be exactly two-step method, two-step method
New position is moved to from current viscous position, then is pulled to target location and is kept constant.It is modal to be achieved in that
Process gain is obtained by 3 two moved furthers, its limitation is also clearly, it is necessary first to will wait after moving each time
The output of process is stable, especially delays larger object needs and takes a long time to realize two-step method, is exactly to move every time in addition
Dynamic amplitude is all very big, during compensating can produce certain negative effect to process.
In viscous compensation method, a kind of preferable compensation method of resultant effect does not produce negative work to valve service life
With, preferable compensation effect can be provided in addition within a short period of time, industrial processes are improved with efficiency, it is cost-effective to have
Very positive effect.
The content of the invention
The invention provides a kind of compensation method for causing control loop to vibrate because of valve viscous characteristic.The inventive method
The time of realizing of two-step method can effectively be shortened, and reduce the negative effect in compensation process to process loop, compensation precision
Can also adjust according to the actual requirements, have important practical value on production process efficiency is improved.
A kind of compensation method for causing control loop to vibrate because of valve viscous characteristic, comprises the steps：
(1), after control loop occurs to vibrate because of viscosity property, will be controlled under loop switch to open loop mode, and export
One group of control signal m (t)；
(2) control signal m (t) and the output of process signal y (t) for collecting are processed according to Laplace transform,
The variable relation at least one complete oscillation cycle is obtained under opened loop control；
(3) using the valve viscous models of He, according to control signal m (t) and viscous parameter fdRelation and step (2) institute
The variable relation stated obtains the target location v of valvessValue, and then obtain the expected value m of control signalss；
(4) control signal m (t) is compensated using two-step method, until control signal reaches the estimated value of expected valueSo that valve reaches target location.
The present invention obtains two-step method realization in the case where control loop is switched on ring status by exporting one group of control signal
In an important parameter mss(expected value of control signal), due to existing in various errors and calculating process in practice to phase
Composition of ignoring to Small variables, what step (3) was obtained are the estimated values of expected valueObtained using Laplace transform
Journey output signal y (t) between some time nodes (extreme point) special relationship, be then chosen for He models in valve model
On the basis of, according to viscous parameter fdWith the variable relation described in the relation and step (2) of control signal (valve input signal)
To obtain valve target location vssValue, also due in esse error, its estimated value for obtainingAccording to control signal
Variation tendency andTo determineFinal size；Finally valve is made from current viscous position by realizing two-step method again
A new viscous position is moved to, then control signal is set toSize can promote valve to reach target location, control
The oscillation problem in loop processed can be eliminated.
Control signal of the present invention is controller output signal superposition compensator signal, also referred to as valve input letter
Number.
The process that step (1) exports one group of control signal m (t) is as follows：
Judge that control loop is switched on the variation tendency of current control signal m (t) during ring mode, according in variation tendency
The state for rising or declining, adjusts current control signal to maximum m respectively1Or minima m2, can be with the process duration
It is relatively small, it is therefore an objective to valve is moved from current viscous position, then adjust to minima m2Or maximum m1, continue
T1Time, then adjust to maximum m1Or minima m2, continue T2Time, the above-mentioned adjustment process of repetition obtain control signal m
(t).Repetition adjustment process obtains the purpose of control signal m (t) and is so that the output of process signal y (t) can be in an open loop mode
A complete periodic swinging is presented.
Judge that control loop is switched on the variation tendency of current control signal m (t) during ring mode, if variation tendency is
The state of rising, then adjust current control signal to maximum, then adjust to minima；If variation tendency is to decline
State, then adjust current control signal to minima, then adjust to maximum.
m1It is control signal maximum of the loop in oscillatory process before control loop is switched on ring mode；m2It is control
Loop switch to before open loop mode, control signal minima of the loop in oscillatory process.T1In being history oscillation data, one
Time span in cycle of oscillation between first adjacent extreme value.T1Selection be then to consider to reduce under opened loop control as far as possible to close
The vibration situation of the output of process when ring is controlled, improves the precision of compensation as far as possible and prevents from producing extra shadow to process loop
Ring.T2Time span in being history oscillation data, in a cycle of oscillation between second adjacent extreme value.T2Selection standard with
T1It is similar.
The corresponding parameter of step (2) online acquisition, for example flow, temperature, pressure etc. are used as the output of process signal y (t)；
Step (2) variable relation is the relation between each signal Self-variation feature and unlike signal.
In step (2), the output of process signal y (t) occurs equal extreme point y (t twice within a cycle of oscillation0) and y
(t2), y (t1) it is then extreme point between the two, wherein t0, t1, t2Represent the time that the output of process signal y (t) direction changes
Node.
The output of process signal y (t) is θ relative to the time delay of control signal m (t), then corresponding control signal direction is sent out
The timing node of changing is t0-θ、t1- θ and t2- θ, therefore, T2=t2-t1；T1=t1-t0。
When step (2) is switched on ring mode with control loop, the variation tendency of current control signal m (t) is in upward status
As a example by, the variable relation in a complete oscillation cycle is obtained under opened loop control, is comprised the following steps：
Step (2-1)：Controller is controlled using PI, and the mathematic(al) representation that PI is controlled is
Wherein, kcFor the proportional gain of controller；
TiThe time constant of integral process；
S is the variable in Laplace transform domain；
C (s) represents controller model；
To after opened loop control, relation of control signal m (t) between different time node is m (t to loop switch0)=m (t2)
=m2, m (t1)=m1。
Can be obtained according to relation of control signal m (t) between different time node：
rss=kpvss+ c,
Wherein rssIt is the setting value of the output of process signal；
kpIt 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, and it is approximate that its model can delay process by single order
Replace,
Wherein, G (s) represents process object model；
kpRepresent process gain；
TPRepresent the time constant of process object；
θ represents the delay time of process object；
To the output of process signal y (t) derivation, obtain
Step (2-3)：Valve is in time t ∈ [t0-θ,t1- θ) in position v1, it is a definite value；In time t ∈ [t1-
θ,t2- θ) in position v2, and a definite value；Under opened loop control, realizing two-step method early gate position only in the two positions
It is mobile；
Step (2-4)：Control signal m (t) is in t0- θ the moment is from minima m2Increase to maximum m1, the output of process y (t)
In t0Moment can drop to minima, in the same manner in t1Moment y (t) can rise to maximum, a complete open loop cycle of oscillation
In, y (t0)=y (t2)=ymin, y (t1)=ymax；
Step (2-5)：In t ∈ [t0,t1) Laplace transform being carried out to y (t), can obtain
S is the variable in Laplace transform domain；
Y (s) is variables of the y (t) after laplace transform；
It is transformed into time domain to obtain：
In the same manner, in t ∈ [t1,t2),
Step 2-6：Described variable relation can be obtained according to above-mentioned steps：
vss(T1+T2)-(v1T1+v2T2)=0；
Valve target location vssWith two course location v under opened loop control1、v2And time quantum T1、T2It is related.
When control loop is switched on ring mode, the variation tendency of current control signal m (t) is in decline state, in the same manner
Also v is obtainedss(T1+T2)-(v1T1+v2T2)=0.
In step (3), using the valve viscous models 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. "), the model is a kind of two-parameter data-driven mould
Type, structure are relatively easy, but can be effectively to describe valve viscous behavior.
Valve location v (t) and control signal m (t) and viscous parameter fdIt is relevant, fdSome viscous detection techniques can be passed through
Obtain.
v1=m2+fd, v2=m1-fd；
According to vss(T1+T2)-(v1T1+v2T2)=0 can obtain valve target location vssValue：
This variable of θ is eliminated in calculating process, has lacked the ginseng of a variable
With reduce error.
Further, since there is error in actual compensation process, according toThat what is obtained is vss's
Estimated value
Valve target location described in step (3)Span be 0～100%.
The expected value m of control signalssThe change of current control signal m (t) when being switched on ring mode with control loop becomes
Gesture and valve target location vssIt is relevant.
The expected value m of control signalssWith valve target location vssRelation be：When control loop is switched on ring mode
The variation tendency of current control signal m (t) is in upward status, thenControl loop is switched on working as during ring mode
The variation tendency of front control signal m (t) is in decline state, thenWhereinIt is valve target location vssValue is estimated
Evaluation；It is control signal expected value mssEstimated value.
Two-step method described in step (4) is compensated to control signal m (t), and process is as follows：Control signal is obtained first
One nonce m (tswitch), valve is moved to into m (t from current viscous positionswitch) corresponding position, then by control letter
Number it is adjusted toValve is promoted from m (tswitch) corresponding position is to target location；Its
Middle a is a coefficient, for ensureing that control signal nonce can overcome viscosity property, chooses a>1, in nonce m (tswitch)
Duration is Thold, the time span should not be excessive, prevents the output of process y (t) from deviateing setting value rssExcessively, therefore m
(tswitchAs long as) selection it is appropriate.
Compared with prior art, the invention has the advantages that：
1st, pumping signal can quickly be realized two-step method to compensate vibration to the not additional disturbance of systematic procedure.
2nd, the data for utilizing simply and readily are obtained, without the need for complicated algorithm, simple to operation, export to obtain by open loop
Desired data is obtained, without the need for any condition hypothesis, the especially condition hypothesis to valve location, because the valve rod of most of regulating valve
Position cannot obtain.
It is 3rd, traditional that effectively solving can be obtained come the time-consuming problem for realizing two-step method by three two steps operations, it is not necessary to
Waiting process output is stable, and particularly with the process that time lag is larger, the advantage of the present invention is particularly evident.
4th, by one group of control signal is exported under opened loop control come drive the output of process produce and shake as history oscillating phase
Waveform is swung, so as to parameter needed for being calculated, so avoids simple valve target position to be calculated from history oscillation data
Error and the condition hypothesis problem to valve location produced by putting.
5th, control accuracy is higher, and the service life of valve will not be had a negative impact.
Description of the drawings
Fig. 1 is the 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.
Specific embodiment
As a example by below for regulating valve viscous compensation in chilled(cooling) water return (CWR) in domestic certain large power plant, to the present invention in regulating valve
The compensation method of control loop vibration is caused to be described in detail when there is viscosity property.
The circuit process selects single order purely retarded modelController is controlled using PISetting value r of the output of process signalssFor 35m3/ h (cube m/h), the static state of the output of process is partially
Constant c=-192.3411 is moved, external disturbance is not considered.There is viscosity property in its cooling water flow regulating valve, its valve viscous mould
Type adopts He models, viscous parameter to be respectively fs=8.4, fd=3.5243.
The present embodiment comprises the steps：
Step 1, after process loop generation oscillatory occurences is detected, controls switch to open loop mode, exports one group
Control signal m (t).
Step 1 is comprised the following steps：
Step 1-1, according to history oscillation data, obtains maximum m of the control signal in vibration1=66.7 and minima
m2=53.3, and obtain time span T between first adjacent extreme point in a cycle of oscillation1=788 seconds, and second
Time span T between individual adjacent extreme point2=307 seconds；
Step 1-2, controls switch to open loop mode at the t=4000 seconds, and control signal is in propradation, immediately
Control signal is pulled to m by superposition thermal compensation signal1, keep constant；
Step 1-3, at the t=4100 seconds, is designated as t0Control signal is pulled down to m by-θ2, keep T1Time is constant；
Step 1-4, at the t=4888 seconds, is designated as t1Control signal is pulled to m by-θ1, keep T2Time is constant；
The operation of step 1-5, repeat step 1-3 and step 1-4, records time node t respectively2- θ=5195 second, t3- θ=
5983 seconds.
Step 2, after controller is switched on ring mode, valve location is only in two fixed position movements.The output of process is in
Now complete waveform, and adjacent twice minimum point occur, new two-step method of the invention, can pass through more than
Data obtain valve location vssEstimated valueThe estimated value of control signal is obtained further according to the variation tendency of control signal
Step 2 is comprised the following steps：
Step 2-1, the output of process is in t1Moment reaches minima, in t2Moment reaches maximum, in t3Moment is reached most again
Little value, in t ∈ [t1,t3] when a complete waveform is presented, there is minimum point twice；
Step 2-2, control signal is in t ∈ [t1,t3] only in m1And m2Two change in location, it is ensured that valve location also only exists
Two change in location, regulating valve stream sticky model adopt He models, according to viscous parameter f of the modeldWith process gain kpBetween
Relation, can respectively obtain two position v of valve1And v2, so as to obtain the estimated value of valve target location
Step 2-3, according to valve input signal size and viscous parameter fdBetween relation can obtain controller expectation
The estimated value of outputSize it is relevant with the direction of control signal under open loop mode, this process control signal first drops
After rise, then
Step 3, in the estimated value for calculating controller desired outputAfter, valve is moved into two steps and takes target position to
Put.At the t=6188 seconds, using m (tswitch)=mss+a(m1-m0) calculate and will move to newly in the valve of viscous state
Control signal amount size m (t needed for positionswitchValve input signal is adjusted to again by)=44.1 at the t=6198 seconds
Size, hereafter keeps constant.Compensation process is as depicted in figs. 1 and 2.
Claims (8)
1. a kind of compensation method for causing control loop to vibrate because of valve viscous characteristic, comprises the steps：
(1), after control loop occurs to vibrate because of viscosity property, will be controlled under loop switch to open loop mode, and export one group
Control signal m (t)；
The process that the step (1) exports one group of control signal m (t) is as follows：Judge that control loop is switched on working as during ring mode
Current control signal, according to the state that variation tendency rises or falls, is adjusted by the variation tendency of front control signal m (t) respectively
To maximum m1Or minima m2, valve is moved from current viscous position, then adjust to minima m2Or maximum m1, hold
Continuous T1Time, then adjust to maximum m1Or minima m2, continue T2Time, the above-mentioned adjustment process of repetition obtain control signal m
(t), m1, m2It is the maximum and minima in controller history oscillation data respectively；
(2) control signal m (t) and the output of process signal y (t) for collecting are processed according to Laplace transform, is being opened
The variable relation at least one complete oscillation cycle is obtained under ring control；
(3) using the valve viscous models of He, according to control signal m (t) and viscous parameter fdRelation, and described in step (2)
Variable relation obtains valve target location vssValue, and then obtain control signal expected value mss；
(4) control signal m (t) is compensated using two-step method, until control signal reaches expected value mssEstimated value
So that valve reaches target location.
2. the compensation method for causing control loop to vibrate because of valve viscous characteristic according to claim 1, its feature exist
In the output of process signal y (t) occurs equal extreme point y (t twice within a cycle of oscillation0) and y (t2), y (t1) it is both
Between extreme point, wherein t0, t1, t2Represent the timing node that the output of process signal y (t) direction changes.
3. the compensation method for causing control loop to vibrate because of valve viscous characteristic according to claim 2, its feature exist
In the output of process signal y (t) is θ relative to the time delay of control signal m (t), then control signal m (t) direction changes
Timing node be t0-θ、t1- θ and t2-θ。
4. the compensation method for causing control loop to vibrate because of valve viscous characteristic according to claim 3, its feature exist
In T1=t1-t0, T2=t2-t1。
5. the compensation method for causing control loop to vibrate because of valve viscous characteristic according to claim 1, its feature exist
In the variable relation described in step (2) is：vss(T1+T2)-(v1T1+v2T2)=0；Wherein v1Represent valve in time t ∈ [t0-
θ,t1- θ) when location, be a definite value；v2Represent valve in time t ∈ [t1-θ,t2- θ) when location, and
One definite value.
6. the compensation method for causing control loop to vibrate because of valve viscous characteristic according to claim 5, its feature exist
In valve target location vssValue be：Wherein fdRepresent viscous parameter.
7. the compensation method for causing control loop to vibrate because of valve viscous characteristic according to claim 6, its feature exist
In the expected value m of control signalssWith valve target location vssRelation be：Control loop is switched on currently controlling during ring mode
The variation tendency of signal m (t) processed is in upward status,WhereinIt is vssEstimated value,It is mssEstimation
Value；Control loop is switched on the variation tendency of current control signal m (t) during ring mode in decline state,
8. the compensation method for causing control loop to vibrate because of valve viscous characteristic according to claim 1, it is characterised in that
Employing two-step method described in step (4) is compensated to control signal m (t), and process is as follows：First control signal is adjusted to one
Nonce m (tswitch), valve is moved to into m (t from current viscous positionswitch) corresponding position, it is then that control signal is direct
It is adjusted toValve is made from m (tswitch) corresponding position moves to target location；Wherein
A is a coefficient more than 1.
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| CN111783252B (en) * | 2020-07-20 | 2024-01-02 | 浙江浙能台州第二发电有限责任公司 | Control loop valve viscosity detection method based on residual error network |
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