CN105278359A - Controller for realizing multi-variable control through single-variable control unit - Google Patents
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Abstract
A controller for realizing multi-variable control through a single-variable control unit comprises a control unit, at least one variable, a dynamic offshoot factor unit and a compensation unit. The control unit obtains an output signal according to a measurement signal and a reference signal, and then, the output signal is sent to a program to enable the measurement signal to approach to the reference signal. The variable is a signal capable of influencing the measurement signal or being influenced by the control unit. The dynamic offshoot factor unit obtains a dynamic offshoot factor of the variable according to a short time average value and a long time average value of the variable. The compensation unit enables the dynamic offshoot factor to compensate the measurement signal, the reference signal or the output signal to obtain the corresponding compensation signals. The compensation signals replace the measurement signal, the reference signal or the output signal correspondingly so as to control the program.
Description
Technical field
The present invention about a kind of controller, especially in regard to a kind of controller being reached multivariable Control by single argument control module.
Background technology
Fig. 1 is the schematic diagram of a kind of dynamic routine (DynamicProcess, or processing procedure).In the dynamic routine shown in Fig. 1, have three or more simulator program variablees (ProcessVariable, PV), each program variable can change along with the time, also has the different relations that influences each other between variable from variable.One is wherein had at least to be independent variable (IdependentVariable) and dependence variable (DependentVariable).
As shown in Figure 2, be defined as by control variable (ControlledVariable to control one of them dependence variable, and add a such as single argument controller (Single-InputSingle-Output CV), SISO) control module 101, just a control loop (ControlLoop) is formed, so, dynamic routine also comprises control module.(or performance variable (ManipulatedVariable is claimed by the independent variable in dynamic routine, MV)) on by the impact of control variable, to Variable Control be controlled in the scope of particular reference value or setting value (ReferenceorSetpoint, SP).In Fig. 2, solid line represents import and export signal and the direction of control module, and fine dotted line represents the relation that influences each other determined between variable, and thick dashed line represents the relation that influences each other possible between variable, and the direction of arrow represents the direction of the relation that influences each other.
Because technology maturation and simple general use and price are considered, general industry program is all use single argument controller.But, in general program, major part has two or more program variable, therefore except simple freestanding single argument control strategy, also many diverse ways are had in the prior art, single argument controller can be extended to is applicable in multivariate environment, to reach better control effects.Such as freestanding single argument controls plan road (SingleLoopControl), the single argument control strategy (CascadeControl) of Cascade, the single argument control strategy (FeedforwardControl) of feed forward type and multivariable Control strategy (Multi-VariableControl) etc.Control plan road in the prior art needs to use multiple single argument controller usually, each single argument controller correspondence one is by control variable (namely MV and the CV of each single argument controller has a loop of one's own), thus, single controlling functions can only be provided, and remaining program variable cannot be used assist control.
Therefore, how to provide a kind of controller being reached multivariable Control by single argument control module, particularly only utilize single argument controller just can reach the controlled efficiency of multivariate or multi-functional control, real is one of current important topic.
Summary of the invention
An object of the present invention is to provide a kind of controller being reached multivariable Control by single argument control module, program variable beyond control loop can import in the control loop of dynamic routine by this controller easily, and do not need amendment or adjustment controling parameters, just any one single argument controller can be become multivariate or the multifunctional controller of a superior performance.
For reaching above-mentioned purpose, the controller formed according to the present invention comprises a control module, at least one variable, at least one dynamic discrepancy factor unit and a compensating unit.This control module obtains an output signal according to a measurement signal and a reference signal, and this output signal is delivered to this program and changed to make this measurement signal.This variable is one of them signal that can affect this measurement signal in program or affect by this control module.This at least one dynamic discrepancy factor unit obtains a dynamic discrepancy factor (DynamicOffshootFactor, DOF) of this variable according to a short time average of this variable and a long-time average.This dynamic discrepancy factor is compensated to one of them of this measurement signal, this reference signal and this output signal by this compensating unit, and obtain a corresponding compensating signature, this compensating signature replaces this corresponding measurement signal, this reference signal or this output signal, to control this control module.
In one embodiment, this control module is a single argument control module in a single argument controller or a multivariable controller.
In one embodiment, measuring signal, reference signal, output signal and compensating signature is respectively a numerical value or a function.
In one embodiment, variable is that a program variable of program or of another controller measure signal, a reference signal or an output signal.
In one embodiment, dynamic discrepancy factor is the degree departing from long-time average about short time average or measured value at that time.
In one embodiment, short time average be when measuring for one apart from signal value measured under (SamplingInterval) or when measuring for S apart under measured by signal mean value or the signal value of the signal of this variable after a low-pass filter, settling time of this wave filter is equivalent to S distance when measuring, and this S is more than or equal to 1; This long-time average is the signal value signal value through a low-pass filter after measured under distance when measuring for, or when measuring for L apart under measured signal mean value, settling time of this wave filter is equivalent to this L distance when measuring, and the value of this L is greater than the value of this S.
In one embodiment, compensating unit is to be added or dynamic discrepancy factor to be compensated to one of them that measure signal, reference signal and output signal by percent wise.
In one embodiment, when the long-time average essence of this short time average and this is equal, the dynamic discrepancy factor essence of this variable is zero, or this short time average and this long-time average close to time, the value of this dynamic discrepancy factor can be left in the basket close to zero.
In one embodiment, the computing formula of dynamic discrepancy factor is as follows:
Wherein, β is dynamic discrepancy factor,
for short time average,
for long-time average, α is zero or adjustable constant, denominator can be avoided to be zero or can be used for adjusting β.Moreover, this dynamic discrepancy factor can be passed through process obtain a compensation rate after compensate to again this measurement signal, this reference signal and this output signal at least one of them.
About other objects of the present invention, advantage and feature, will be described in detail by following preferred embodiment and appended diagram.
Accompanying drawing explanation
Fig. 1 is a kind of schematic diagram of dynamic routine.
Fig. 2 is the schematic diagram of the dynamic routine with a single argument controller.
Fig. 3 is the schematic diagram of the controller of one embodiment of the invention.
Fig. 4 is the schematic diagram of the dynamic discrepancy factor unit of one embodiment of the invention.
Fig. 5 is the curve synoptic diagram of the short time average of one embodiment of the invention, long-time average and dynamic discrepancy factor.
Fig. 6 is the schematic diagram of the controller of another embodiment of the present invention.
Fig. 7 is the schematic diagram that controller of the present invention has feedforward control characteristic.
Fig. 8 is that controller of the present invention has that many-one controls, the schematic diagram of the characteristic of multi-functional control.
Fig. 9 is the schematic diagram that controller of the present invention has multi-to-multi control characteristic.
Figure 10 is the schematic diagram that controller of the present invention is applied to heating furnace.
Symbol description:
2: controller
2a ~ 2e: control loop
100: heating furnace
101: feed flow controller
102: air flow controller
103: fuel gas stream amount controller
104: outlet temperature controller
105: peroxide amount controller
106: fuel gas calorie indicator
107: fuel gas stream amount indicator
201: control module
202: variable
203: dynamically discrepancy factor unit
204: compensating unit
205: measure signal
206: reference signal
207: output signal
208: short time average
209: long-time average
210: dynamically discrepancy factor
211: compensation rate
212: compensating signature
213: original signal
Embodiment
Fig. 3, Fig. 4 show the controller 2 of one embodiment of the invention, and this controller 2 is used for controlling a program, and comprise a control module 201, at least one variable 202, at least one dynamic discrepancy factor unit 203 and a compensating unit 204.
The control module 201 of the present embodiment is for single argument controller, wherein control module 201 the more original measurement signal of non-immediate 205 and reference signal 206 and obtain output signal 207 (output signal 207 is delivered to program and changed and convergence reference signal 206 to make measurement signal 205) because measure signal 205 by replace by the compensating signature 212 after compensating (describing in detail below).In other embodiments, control module can be multivariable controller.
Variable 202 is to affect one of them signal measuring signal 205 or controlled unit 201 impact in program.Variable 202 can be more than one or one, and the present embodiment is for multiple variable 202.Variable 202 can be the measurement signal of the program variable of program or another controller, reference signal or output signal, at this, is explain for program variable.
Dynamic discrepancy factor unit 203 obtains a dynamic discrepancy factor 210 of variable 202 according to a short time average of variable 202 and a long-time average.Fig. 4 is the schematic diagram of the dynamic discrepancy factor unit 203 of one embodiment of the invention, and dynamic discrepancy factor unit 203 obtains short time average 208 and a long-time average 209 according to variable 202.Short time average 208 be when measuring for one apart from signal value measured under (SamplingInterval) or when measuring for S apart under measured by signal mean value or the signal value of the signal of this variable after a low-pass filter.At this, for when measuring for S apart under measured signal mean value, if in the example utilizing low-pass filter, settling time (SettlingTime) of wave filter is equivalent to S distance when measuring (S is more than or equal to 1).Long-time average 209 is signal value signal values through a low-pass filter after measured under distance when measuring for, or the signal mean value measured under distance when measuring for L.At this, for when measuring for L apart under measured signal mean value, if in the example utilizing low-pass filter, settling time of wave filter is equivalent to L distance when measuring (value of L is greater than this S).
The computing formula of dynamic discrepancy factor is as follows:
Wherein, average estimation device F (T, x (t)) be according to program variable x (t), the signal value measured under (samplingInterVal) when measuring for T, estimate this signal mean value or according to a signal measured by this program variable, the signal value after low-pass filter (LowPassFilter).λ
iwith γ
ifor the settling time while measuring (be equivalent to T distance) respectively according to average length of time while measuring (T distance) and wave filter and fixed coefficient, the progression (Order) that N represents wave filter is equivalent to T to make the settling time of wave filter; α is zero or adjustable constant, denominator can be avoided to be zero or can be used for adjusting β;
for short time average;
for long-time average; β is dynamic discrepancy factor.
Fig. 5 is the curve map of the short time average of one embodiment of the invention, long-time average and dynamic discrepancy factor, and wherein showing dynamic discrepancy factor is the degree departing from long-time average about short time average.Moreover this dynamic discrepancy factor has following properties:
1, dynamically the initial value of discrepancy factor equals zero.
2, when the long-time average of variable and short time average and no significant difference or when reaching steady state (SS) (SteadyState), dynamic discrepancy factor equals zero or its value can be left in the basket close to zero.
3, when variable maintains considerable time near same numerical value, dynamic discrepancy factor (DOF) equals zero or can be left in the basket close to zero.
The signal value of variable may be original electron signal or the signal representing physical significance through conversion, and therefore the signal of variable can first be estimated mean value again through conversion or change after first estimating mean value again.In addition, the dynamic discrepancy factor 210 of variable 202 can be passed through further process to obtain a compensation rate 211 (as shown in the g function of Fig. 4), such as, limit directivity with sign or adjust its intensity with the ratio of gains.
As shown in Figure 3, compensating unit 204 is used for dynamic discrepancy factor 210 to compensate to measures signal 205, reference signal 206 or output signal 207, and obtain a corresponding compensating signature 212 (compensating signature 212 can be a numerical value or a function), this compensating signature 212 replaces measures signal 205, reference signal 206 or output signal 207, controls this program for control module 201.Original signal (z (t)) 213 shown in Fig. 4 can represent measure signal 205, reference signal 206 and output signal 207 one of them, and
represent the compensating signature 212 of its correspondence.In the embodiments of figure 3, variable 202 is the signal that signal 205 is measured in impact, and compensating signature 212 replaces the input measurement signal of original measurement signal 205 as control module 201.
Compensating unit 204 can be added or with percent wise dynamic discrepancy factor 210 compensated to measure signal 205, reference signal 206 and output signal 207 at least one of them.For phase add mode, dynamic discrepancy factor 210 is compensated to this measurement signal 205 to explain at this.In other embodiments, this compensating unit 204 can otherwise compensate dynamic discrepancy factor 210, such as, with function fashion.
The present invention also provides a kind of control method being reached multivariable Control by single argument control module, and this control method comprises the following step:
1. select program variable x (t) outside control loop, signal z (t) of the control module in this variable and this loop must influence each other relation, that is the change of x (t) can change from shadow to y (t) or z (t) can shadow to x (t);
2. utilize an average estimation device to calculate the short time average of x (t)
3. utilize an average estimation device to calculate the long-time average of x (t)
4. utilize step 2 and step 3 result, calculate dynamic discrepancy factor β;
5. utilize β to calculate compensation rate Δ z (t) of signal;
6. this compensation rate Δ z (t) is imported z (t), make the original signal of this control module change to compensating signal
7. add other program variables if necessary, step 1 can be repeated to step 6.
Wherein z (t) represents the combination in any (as shown in Figure 6) of measurement signal y (t) of the control module in this control loop, reference signal r (t) or output signal u (t) or three.
Showing controller 2 of the present invention in figure 6 can be applicable in the measurement signal 205 of control module 201, reference signal 206, output signal 207 or three's combination in any; Wherein, variable 202 influences each other with measurement signal 205, reference signal 206 and output signal 207 relation respectively.Time if necessary, one or more dynamic discrepancy factor unit 203 obtains the correspondence of indivedual variable dynamic discrepancy factor 210 according to corresponding program variable 202 can be chosen.The dynamic discrepancy factor 210 of correspondence compensates to by compensating unit 204 respectively measures signal 205, reference signal 206 or output signal 207 to obtain corresponding compensating signature 212.Thus, single argument control module 201 just can be made to reach multivariable controlling functions.
Below illustrate the characteristic that a controller 2 of the present invention has.
(1), there is the characteristic of feedforward control: because dynamic discrepancy factor does not have unit (Dimensionless), therefore more can utilize the relation that influences each other between program variable, and be applied on multiple control loop.As shown in Figure 7, when the measurement signal 205 (by control variable CV) in the program variable of outside control loop 2a 202 pairs of loops influences each other relation, by the conversion of dynamic discrepancy factor unit 203, can by x
1t () imports in control loop 2a, so then can produce effect of similar feedforward control.In Fig. 7 z (t) can be the measurement signal of control module, reference signal, with one of them of output signal.
(2), there is the characteristic of many-one control, multi-functional control: as shown in Figure 8, when control loop 2b to the measurement signal 205 in control loop 2c have significantly influence each other relation time, measure the conversion of signal 205 by dynamic discrepancy factor unit 203, and compensate in control loop 2b, so can make two single argument controllers simultaneously can control survey signal 205, and produce effect that many-one controls.Z in Fig. 8
1(t) can be the measurement signal of the control module 201 of control loop 2b, reference signal, with one of them of output signal.For control loop 2b, except the controlling functions of itself, when the degree that measurement signal 205 departs from is too high, also can takes into account the function of control survey signal 205, and reach multi-functional effect.
(3), there is the characteristic that multi-to-multi controls: as shown in Figure 9, when control loop 2d to control loop 2e have significantly influence each other relation time, the output signal in two loops or reference signal are by the conversion of dynamic discrepancy factor unit 203, and compensate in the control loop of the other side, two control modules 201 so can be made mutually to control the other side, that is produce effect of multi-to-multi control.Z in Fig. 9
1(t) or z
2(t) can be the measurement signal of the control module 201 of this control loop 2b, reference signal, with one of them of output signal.Embodiment in Fig. 9 is with two parameter (y
1, y
2) mode presents, but, the configuration of two or more variable can be generalized on demand.
Controller 2 of the present invention can be applicable to the control of multiple fields, explains below to be applied to heating furnace.
Figure 10 is the control loop schematic diagram that the controller 2 of one embodiment of the invention is applied to heating furnace 100.In this application, air and fuel gas are introduced in heating furnace 100 respectively, when making charging in heating furnace 100, can produce combustion reaction, and then produce discharging.Heating furnace 100 is a typical multivariable Control program, for making heating furnace 100 stablize start, must confirm that charging reaches the target of operation with the air entered, fuel gas.Therefore, the control of heating furnace 100 has feed flow controller 101, air flow controller 102 and fuel gas stream amount controller (FIC-FG) 103 substantially.In addition, for making heating furnace 100 operate in an acquiescence output temperature (TI-OUT), be by adding coil outlet temperature controller 104 to control fuel gas flow.Control loop also comprises peroxide amount controller 105, fuel gas heat (fuelgasheatcontent) indicator (AI-FG) 106 and the fuel gas stream amount indicator (FI-FG) 107 that is used for controlling oxygen amount.
In the operation of heating furnace 100, when calorific value of fuel gas (fuel gas flow is multiplied by fuel gas units of heat value) is unstable, cross oxygen amount certainly can be very difficult to control, during lack of air, incomplete combustion can be caused, the most direct consequence is over-emitting black exhaust, certainly also has the generation of other harmful gases, causes environmental pollution.When air is too much, cause the waste of the energy, can environmental pollution be caused too.In fact cross oxygen amount (AI-02) not only by the impact that air mass flow changes, calorific value of fuel gas is on crossing the impact of oxygen amount more very.For improving control performance, can consider to use fuel gas flow to control oxygen amount.But fuel gas flow has been used in and has controlled furnace outlet temperature and the control loop forming it, and a single argument controller once only can control a variable.But, by the setting of dynamic discrepancy factor unit 203 of the present invention, can first the dynamic discrepancy factor β of measurement signal y (t) of peroxide amount controller be calculated, as follows:
And from fuel gas flow F
fGt () deducts dynamic discrepancy factor.Like this, the fuel gas flow obtained
be compensated by crossing the change of oxygen amount.
For example, when having served as oxygen amount lower than its long-time mean value, its dynamic discrepancy factor 210 is negative.Be multiplied by the k of a negative value again, then the fuel gas flow compensated
f can be greater than
fG(t).When the input signal of fuel gas stream amount controller 103 is adjusted, fuel gas stream amount controller 103 can according to predetermined design effort.When its reference signal does not change,
exceed actual fuel gas flow Δ F
fGthe amount of (t).As a result, because its input signal uprises, fuel gas stream amount controller will reduce it and export to reduce actual fuel gas flow.When other settings of this controller 103 do not change, last fuel gas flow can be estimated and will reduce Δ F
fGthe amount of (t).
By application of the present invention, served as oxygen amount too low time, not only peroxide amount controller 105 can promote air mass flow, and fuel gas flow can be reduced the relation of the impact of fuel gas stream amount controller 103 indirectly owing to crossing the dynamic discrepancy factor of oxygen amount.Therefore when heating furnace cross oxygen amount too low and soon produce black smoke time, utilized dynamic discrepancy factor 210 β of oxygen amount that fuel gas stream amount controller 103 just can be impelled to reduce fuel gas flow.The k value crossed in the dynamic discrepancy factor of oxygen amount can calculate as follows:
Wherein, α is a positive constant, and b is when not reducing fuel gas flow and black smoke do not discharged by heating furnace, crosses the minimum tolerance of oxygen amount.In the case, fuel gas flow only just can be adjusted lower than during b in mistake oxygen amount.Otherwise when crossing oxygen amount higher than b, fuel gas flow can not be adjusted.Thus, fuel gas stream amount controller 103 controls furnace outlet temperature.Only have when heating furnace soon over-emitting black exhaust time, fuel gas stream amount controller 103 first meets urgent environmental requirement and reduces fuel gas flow.When long-time average is close to short time average, dynamic discrepancy factor can move closer to zero.The effect of DOF there will not be from start to finish.
Served as oxygen amount and its moving average closely time, dynamic discrepancy factor (DOF) is also close to zero, namely fuel gas compensating flowrate and fuel gas flow will closely, and therefore the running of fuel gas stream amount controller (FIC-FG) 103 is normal.Served as oxygen amount when the short time becomes on the low side, generally speaking fuel gas stream amount controller 103 acting air plate washer all can have little time.By the present invention, by the application of dynamic discrepancy factor (DOF), first fuel air valve is turned down, just can avoid over-emitting black exhaust.Its principle is exactly, serve as oxygen amount when the short time becomes on the low side, dynamic discrepancy factor is negative value, fuel gas compensating flowrate can increase after over-compensation, under fuel gas stream amount controller 103 normal operation, when being increased because of compensation by control variable CV (i.e. the measurement signal of fuel gas flow), operation valve turns down by fuel gas stream amount controller 103 effect of just producing, until compensating flowrate levels off to its set point (i.e. reference signal), therefore fuel gas actual flow just can be lowered, and also reaches the function improving oxygen amount simultaneously.Coil outlet temperature controller 104 is then still according to the set point (i.e. reference signal) of the measured value adjustment fuel gas stream amount controller 103 of output temperature (TI-OUT).Therefore flue gas crosses oxygen amount except having peroxide amount controller (AIC-02) 105 and controlling through air flow controller (FIC-AIR) 102, also can pass through fuel gas stream amount controller 103 to control, and reach two to one control effects, therefore control effect will significantly promote.
Controller 2 of the present invention first calculates the dynamic discrepancy factor 210 of program variable, and compensated to measurement signal, reference signal or output signal, and obtain a corresponding compensating signature, compensating signature is replaced and measures signal, reference signal or output signal, for control module, program is controlled.So, any one single argument controller just can be become multivariate or the multifunctional controller of a superior performance by the present invention, and has real control to program and can promote controlled efficiency.
The foregoing is only citing, but not be restriction.Anyly do not depart from spirit of the present invention and category, and to its equivalent modifications of carrying out or change, all should be contained in accompanying claim.If when control module is set to manual operation or when control module is left in the basket or omits, the compensating signature of this measurement signal after DOF is compensated still can provide the forewarning function of operating personnel.Controller can be computer hardware or software or both combinations.
Claims (10)
1. reached a controller for multivariable Control by single argument control module, it is characterized in that, it for controlling a program, and comprises:
One control module, measures signal and a reference signal according to one and obtains an output signal, and this output signal is delivered to this program to make this measurement signal and changed;
At least one variable, it is one of them signal that can affect this measurement signal in program or affect by this control module;
At least one dynamic discrepancy factor unit, obtains a dynamic discrepancy factor of this variable according to a short time average of this variable and a long-time average; And
One compensating unit, this dynamic discrepancy factor is compensated to one of them of this measurement signal, this reference signal and this output signal, and obtain a corresponding compensating signature, this compensating signature replaces this corresponding measurement signal, this reference signal or this output signal, to control this control module.
2. controller as claimed in claim 1, is characterized in that, this control module is a single argument control module in a single argument controller or a multivariable controller.
3. controller as claimed in claim 1, it is characterized in that, this measurement signal, this reference signal, this output signal and this compensating signature are respectively a numerical value or a function.
4. controller as claimed in claim 1, is characterized in that, this variable is that a program variable of this program or of another controller measure signal, a reference signal or an output signal.
5. controller as claimed in claim 1, wherein is characterized in that, this dynamic discrepancy factor be this parameter when measuring for one apart under measured signal value depart from the degree of the long-time average of this variable.
6. controller as claimed in claim 5, it is characterized in that, this short time average be when measuring for one apart under measured signal value or when measuring for S apart under measured by signal mean value or the signal value of the signal of this variable after a low-pass filter, settling time of this wave filter is equivalent to S distance when measuring, and this S is more than or equal to 1; This long-time average is the signal value signal value through a low-pass filter after measured under distance when measuring for, or when measuring for L apart under measured signal mean value, settling time of this wave filter is equivalent to this L distance when measuring, and the value of this L is greater than the value of S.
7. controller as claimed in claim 6, is characterized in that, this dynamic discrepancy factor is compensated to one of them of this measurement signal, this reference signal and this output signal with addition or percent wise by this compensating unit.
8. controller as claimed in claim 6, it is characterized in that, when the long-time average essence of this short time average and this is equal, the dynamic discrepancy factor essence of this variable is zero, or this short time average and this long-time average close to time, the value of this dynamic discrepancy factor is left in the basket close to zero.
9. controller as claimed in claim 1, it is characterized in that, the computing formula of this dynamic discrepancy factor is as follows:
Wherein, β is dynamic discrepancy factor,
for short time average,
for long-time average, α be zero or adjustment constant, for avoid denominator be zero or for adjustment.
10. controller as claimed in claim 9, is characterized in that, this dynamic discrepancy factor compensates to one of them of this measurement signal, this reference signal and this output signal again after process obtains a compensation rate.
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Cited By (1)
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