CN105527843B - A kind of mutative scale control method of more executing agencies - Google Patents
A kind of mutative scale control method of more executing agencies Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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Abstract
The invention discloses a kind of mutative scale control methods of more executing agencies, it is related to industrial control field, control system workflow is first by current procedure parameter compared with setting target, obtain deviation signal, deviation signal is split into multiple and different deviation signals by deviation resolving cell again, the deviation signal after fractionation is sent into corresponding controller respectively, it obtains controlling signal accordingly, it controls signal and enters control object after corresponding executing agency, generate the procedure parameter in new round period.The present invention avoids excessive action and the frequent movement of executing agency, and saves control time.
Description
Technical field
The present invention relates to industrial control fields, and in particular to a kind of mutative scale control method of more executing agencies.
Background technology
Because executing structure cannot take into account in adjustable range and the aspect of degree of regulation two, industrially generally use it is multiple not
With the actuating mechanism controls same process parameter of precision.
The key of more actuating mechanism controls same process parameters is the method for salary distribution of deviation signal, industrial generally use
Direct distribution or the mode of threshold value comparison realize.It is to have 2 control system of actuating mechanism block diagrams as shown in Figure 1.This control
Working-flow is as follows：(1) the real process parameter y obtained under actuating mechanism controls to be obtained with actuating mechanism controls
Target value parameter y* compare, obtain deviation signal e；(2) deviation signal e passes through deviation resolving cell D, and it is inclined to be split as small scale
Difference signal e1With large scale deviation signal e2；(3) respectively by deviation signal e1、e2It is sent into controller C1With controller C2, obtain small
Scale controls signal u1With large scale control signal u2；The control signal of (4) two kinds of scales passes through corresponding executing agency A1、A2
Enter control object P afterwards, generates the procedure parameter y in a new period.
Presently, there are following two for the specific implementation of step (2) in above procedure：First way is directly to distribute,
Deviation signal is directly distributed to the deviation signal of two kinds of scales, i.e. e1=e, e2=e；The second way is threshold value comparison, i.e.,
If deviation signal e is more than given threshold d, large scale deviation e is distributed to2If deviation signal e is less than given threshold d,
Distribute to small dimensional deviations e1, i.e.,
The shortcomings that above deviation signal is decomposed be：Deviation signal is directly distributed to different ruler controllers by first kind mode,
Therefore small scale executing agency A1 is caused excessively to act in deviation, large scale executing agency A2 is frequent in the case of little deviation
Action；Second class mode is by deviation signal using threshold value d segmentation, and small scale executing agency is not before deviation signal is less than threshold value
Control is participated in, therefore control system transit time is longer, is each scale control system transit time summation.
Invention content
In view of the deficiencies in the prior art, the purpose of the present invention is to provide a kind of mutative scale controls of more executing agencies
Method processed, had not only been avoided that excessive action and the frequent movement of executing agency, but also can most effectively save control time.
To achieve the above objectives, the technical solution adopted by the present invention is that：A kind of mutative scale control method of more executing agencies,
Characterized by the following steps：
S1, the target value parameter y* by the real process parameter y and actuating mechanism controls that are obtained under actuating mechanism controls
Compare, obtains deviation signal e；
S2, the deviation signal e pass through deviation resolving cell D1、D2、……、Dn-1, it is split as deviation signal e1、
e2、……、en, deviation isolation is：
e1=sign (e) × mod (| e |, d1)
e2=sign (e-e1)×mod(|e-e1|,d2)
ei=sign (e-e1-e2-......-ei-1)×mod(|e-e1-e2-......-ei-1|,di)
en-1=sign (e-e1-e2-......-en-2)×mod(|e-e1-e2-......-en-2|,dn-1)
en=e-e1-e2-......-en-1
Wherein, i=1,2 ..., n-1, sign (e-e1-e2-......-ei-1) it is to e-e1-e2-......-ei-1It asks
Symbolic operation, if e-e1-e2-......-ei-1For positive number, then sign (e-e1-e2-......-ei-1)=1；If e-e1-
e2-......-ei-1For negative value, then sign (e-e1-e2-......-ei-1)=- 1；d1、d2、……、dn-1It is decomposed for corresponding deviation
Cells D1、D2、……、Dn-1Decomposition deviation signal threshold value, the threshold value is by corresponding executing agency to deviation signal e's
Maximal regulated ability determines；mod(|e-e1-e2-......-ei-1|,di) be pair | e-e1-e2-……-ei-1| modulus diOperation,
It is described to e-e1-e2-……-ei-1Modulus diOperation is | e-e1-e2-……-ei-1| divided by diRemainder；
S3, respectively by the deviation signal e1、e2、……、enIt is sent into controller C1、C2、……、Cn, obtain control signal
u1、u2……、un；
S4, the control signal u1、u2……、unBy corresponding executing agency A1、A2、……、AnEnter control pair afterwards
As P, the procedure parameter y ' in a new period are generated.
The threshold value d based on the above technical solutioniAccording to corresponding executing agency AiMaximal regulated ability it is true
It is fixed.
The deviation signal e based on the above technical solutioniFor threshold value di-1Integral multiple.
Based on the above technical solution when only there are two when executing agency, the deviation isolation is
e1=sign (e) × mod (| e |, d)
e2=e-e1
Wherein, sign (e) is to seek symbolic operation to e, if e is positive number, sign (e)=+ 1；If e is negative value,
Sign (e)=- 1；| e | it is the absolute value of e；D is the threshold value for decomposing deviation signal；Mod (| e |, d) be pair | e | modulus d operations,
It is equal to | e | divided by the remainder of d.
Compared with the prior art, the advantages of the present invention are as follows：The present invention is first true according to the execution scale of each executing agency
Deviation signal, the deviation signal of different scale is decomposed into further according to corresponding threshold value by fixed corresponding threshold value, and is distributed to corresponding
Controller and executing agency, avoid executing agency it is excessive action and frequent movement；Because of the deviation signal of different scale
It is synchronous to decompose so that the transit time of control system entirety is equal to maximum transit time in each scale control system, has saved control
Time processed.
Description of the drawings
Fig. 1 is the mutative scale control system block diagram of Zhong Youduo of embodiment of the present invention executing agencies；
Fig. 2 is that there are two control system block diagrams when executing agency in the embodiment of the present invention；
Fig. 3 is large deviations of embodiment of the present invention resolving cell to sinusoidal deviation signal decomposition design sketch；
Fig. 4 is two actuating mechanism controls embodiment schematic diagrams in the embodiment of the present invention.
Specific implementation mode
Invention is further described in detail with reference to the accompanying drawings and embodiments.It should be understood that described herein specific
Embodiment only to explain the present invention, is not intended to limit the present invention.
Such as Fig. 1, the present invention provides the system block diagrams that a kind of more executing agencies realize multiple dimensioned control method.This method is
Deviation signal is being synchronized to the deviation signal for being decomposed into different scale, and is distributing to controller and the executing agency of corresponding scale,
Realize the purpose of more executing agency's co- controllings.It is as follows：
S1, the target value parameter y* by the real process parameter y and actuating mechanism controls that are obtained under actuating mechanism controls
Compare, obtains deviation signal e；
S2, the deviation signal e pass through deviation resolving cell D1、D2、……、Dn-1, it is split as deviation signal e1、
e2、……、en, deviation isolation is：
e1=sign (e) × mod (| e |, d1)
e2=sign (e-e1)×mod(|e-e1|,d2)
……
ei=sign (e-e1-e2-……-ei-1)×mod(|e-e1-e2-……-ei-1|,di)
en-1=sign (e-e1-e2-......-en-2)×mod(|e-e1-e2-......-en-2|,dn-1)
en=e-e1-e2-......-en-1
Wherein, i=1,2 ..., n-1, sign (e-e1-e2-......-ei-1) it is to e-e1-e2-......-ei-1It asks
Symbolic operation, if e-e1-e2-......-ei-1For positive number, then sign (e-e1-e2-......-ei-1)=1；If e-e1-
e2-......-ei-1For negative value, then sign (e-e1-e2-......-ei-1)=- 1；d1、d2、……、dn-1It is decomposed for corresponding deviation
Cells D1、D2、……、Dn-1Decomposition deviation signal threshold value, the threshold value is by corresponding executing agency to deviation signal e's
Maximal regulated ability determines；mod(|e-e1-e2-......-ei-1|,di) be pair | e-e1-e2-......-ei-1| modulus diFortune
It calculates, to e-e1-e2-......-ei-1Modulus diOperation is | e-e1-e2-......-ei-1| divided by diRemainder；
S3, respectively by the deviation signal e1、e2、……、enIt is sent into controller C1、C2、……、Cn, obtain control signal
u1、u2……、un；
S4, the control signal u1、u2……、unBy corresponding executing agency A1、A2、……、AnEnter control pair afterwards
As P, the procedure parameter y ' in a new period are generated.
The present invention first determines corresponding threshold value according to the execution scale of each executing agency, will be inclined further according to corresponding threshold value
Difference signal is decomposed into the deviation signal e of different scale1、e2、……、en, and corresponding controller and executing agency are distributed to, make
Excessive action and the frequent movement of executing agency must be avoided；It decomposes, therefore controls because the deviation signal of different scale synchronizes
The transit time of system entirety is equal to maximum transit time in each scale control system, has saved control time.
Such as Fig. 2, control system block diagram when two executing agencies is provided, is as follows,
S1, by the real process parameter y obtained under actuating mechanism controls and the obtained desired value of actuating mechanism controls
Parameter y* compares, and obtains deviation signal e；
S2, deviation signal e pass through deviation resolving cell D, are split as small dimensional deviations signal e1With large scale deviation signal
e2, deviation isolation is：
e1=sign (e) × mod (| e |, d)
e2=e-e1
Wherein, sign (e) is to seek symbolic operation to e, if e is positive number, sign (e)=+ 1；If e is negative value,
Sign (e)=- 1；| e | it is the absolute value of e；D is the threshold value for decomposing deviation signal；Mod (| e |, d) be pair | e | modulus d operations,
It is equal to | e | divided by the remainder of d；
S3, respectively by deviation signal e1、e2It is sent into controller C1With controller C2, obtain large scale control signal u1With small ruler
Degree control signal u2；
S4, two kinds of scales control signal pass through corresponding executing agency A1、A2Enter control object P afterwards, generates new one week
The procedure parameter y ' of phase.
The specific embodiment only for Liang Ge executing agencies illustrates the detailed process of this method, such as Fig. 3 below, shown in 4, is
The purpose of a kind of embodiment of the present invention, the control system is control condenser internal pressure P, and control mode is the pumping of small scale
The circulating pump of gas device and large scale, the former influences pressure P by directly extracting condenser steam inside out；The latter is cold by changing
But water indirectly influences steam condensation rate to influence pressure P.Wherein, Fig. 4 is the flow diagram of the control system, and pressure is inclined
Difference signal e is sent after decomposition respectively to the air ejector controller of small scale and cycle pump controller, passes through rate of air sucked in required and cooling water
Measure joint effect condenser pressure value P；According to the pressure divergence that the maximal regulated ability of air ejector is adjustment ± 0.3MPa, therefore
The threshold value d of signal decomposition is set as 0.3.Fig. 3 is discomposing effect of the deviation resolving cell to sinusoidal deviation signal.
The present invention is not limited to the above-described embodiments, for those skilled in the art, is not departing from
Under the premise of the principle of the invention, several improvements and modifications can also be made, these improvements and modifications are also considered as the protection of the present invention
Within the scope of.The content not being described in detail in this specification belongs to the prior art well known to professional and technical personnel in the field.
Claims (4)
1. a kind of mutative scale control method of more executing agencies, it is characterised in that include the following steps：
S1, by the real process parameter y obtained under actuating mechanism controls compared with the target value parameter y* of actuating mechanism controls,
Obtain deviation signal e；
S2, the deviation signal e pass through deviation resolving cell D1、D2、……、Dn-1, it is split as deviation signal e1、e2、……、en,
Deviation isolation is：
e1=sign (e) × mod (| e |, d1)
e2=sign (e-e1)×mod(|e-e1|,d2)
……
ei=sign (e-e1-e2-......-ei-1)×mod(|e-e1-e2-......-ei-1|,di)
......
en-1=sign (e-e1-e2-......-en-2)×mod(|e-e1-e2-......-en-2|,dn-1)
en=e-e1-e2-......-en-1
Wherein, i=1,2 ..., n-1, sign (e-e1-e2-......-ei-1) it is to e-e1-e2-......-ei-1Symbol is asked to transport
It calculates, if e-e1-e2-......-ei-1For positive number, then sign (e-e1-e2-......-ei-1)=1；If e-e1-
e2-......-ei-1For negative value, then sign (e-e1-e2-......-ei-1)=- 1；d1、d2、……、dn-1It is decomposed for corresponding deviation
Cells D1、D2、……、Dn-1Decomposition deviation signal threshold value, the threshold value is by corresponding executing agency to deviation signal e's
Maximal regulated ability determines；mod(|e-e1-e2-......-ei-1|,di) be pair | e-e1-e2-......-ei-1| modulus di fortune
It calculates, it is described to e-e1-e2-......-ei-1Modulus diOperation is | e-e1-e2-......-ei-1| divided by diRemainder；
S3, respectively by the deviation signal e1、e2、……、enIt is sent into controller C1、C2、……、Cn, obtain control signal u1、
u2……、un；
S4, the control signal u1、u2……、unBy corresponding executing agency A1、A2、……、AnEnter control object P afterwards,
Generate the procedure parameter y ' in a new period.
2. the mutative scale control method of more executing agencies as described in claim 1, it is characterised in that：The threshold value diAccording to phase
The executing agency A answerediMaximal regulated ability determine.
3. the mutative scale control method of more executing agencies as described in claim 1, it is characterised in that：The deviation signal eiFor
Threshold value di-1Integral multiple.
4. the mutative scale control method of more executing agencies as described in claim 1, it is characterised in that：When only there are two the machines of execution
When structure, the deviation isolation is
e1=sign (e) × mod (| e |, d)
e2=e-e1
Wherein, sign (e) is to seek symbolic operation to e, if e is positive number, sign (e)=+ 1；If e is negative value, sign
(e)=- 1；| e | it is the absolute value of e；D is the threshold value for decomposing deviation signal；Mod (| e |, d) be pair | e | modulus d operations are equal to |
E | divided by the remainder of d.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1192813A (en) * | 1995-08-15 | 1998-09-09 | 罗斯蒙德公司 | Field based process control system with auto-tuning |
| US6243610B1 (en) * | 1997-08-20 | 2001-06-05 | Kabushiki Kaisha Toshiba | Network control system, process management method in this system, and recording medium on which a process management program is recorded |
| CN104142969A (en) * | 2013-11-27 | 2014-11-12 | 北京星网锐捷网络技术有限公司 | Data segmentation processing method and device |
| CN106483846A (en) * | 2015-09-01 | 2017-03-08 | 苏州宝时得电动工具有限公司 | The control method of electric tool and the electric tool executing this control method |
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2016
- 2016-01-29 CN CN201610064862.XA patent/CN105527843B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1192813A (en) * | 1995-08-15 | 1998-09-09 | 罗斯蒙德公司 | Field based process control system with auto-tuning |
| US6243610B1 (en) * | 1997-08-20 | 2001-06-05 | Kabushiki Kaisha Toshiba | Network control system, process management method in this system, and recording medium on which a process management program is recorded |
| CN104142969A (en) * | 2013-11-27 | 2014-11-12 | 北京星网锐捷网络技术有限公司 | Data segmentation processing method and device |
| CN106483846A (en) * | 2015-09-01 | 2017-03-08 | 苏州宝时得电动工具有限公司 | The control method of electric tool and the electric tool executing this control method |
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