CN105807812A - PID temperature control method and temperature control module - Google Patents
PID temperature control method and temperature control module Download PDFInfo
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Abstract
The invention discloses a PID temperature control method that employs the follow-up control-based temperature-increasing and/or temperature-decreasing process. The method specifically comprises the steps of presetting a temperature/time curve, obtaining the temperature measurement value of a controlled object at the current time, calculating a temperature target value at the current time according to the temperature/time curve, conducting the PID operation according to the temperature measurement value and the temperature target value at the current time, and adjusting the output power according to the result of the PID operation so as to complete the power adjustment at a time. The invention also discloses a PID temperature control module. The PID temperature control module comprises a temperature measurement value acquisition unit, a follow-up control temperature target value calculation unit, a PID operation unit and an output unit. According to the technical scheme of the PID temperature control method and the PID temperature control module, the temperature-increasing and temperature-decreasing process is controlled in the follow-up control manner. Therefore, the temperature can be increased or decreased at a constant speed according to a well designed temperature increasing/decreasing curve. The heating power is controlled to fluctuate within a relatively small range. The temperature error caused by the large inertia can be reduced. Meanwhile, the accuracy of temperature control is improved.
Description
Technical field
The present invention relates to technical field of temperature control, particularly relate to a kind of PID temperature control method and PID temperature controls module.
Background technology
In control process, temperature is to affect the important parameter of technical process, it is therefore desirable to temperature is compared and is accurately controlled, and many times not only needs insulating process is accurately controlled, in addition it is also necessary to intensification and temperature-fall period are accurately controlled.
At present the control to temperature is many times complete manually, and in control process, operator's size according to temperature error, change direction and pace of change, by the size of micro-judgment controlled quentity controlled variable and operating time.Although Non-follow control can be controlled effect preferably, but no matter is heating, cooling insulating process, it is possible to last longer, increase the weight of operation burden, cause operator fatigue.
The variety of problems that above-mentioned manual mode brings can be avoided by automatic control mode, it is generally adopted PID or continuous process is automatically controlled by its innovatory algorithm in existing DCS system, wherein, the control of temperature is generally adopted setting control mode, by desired temperature as constant input value, this definite value PID control method is used to control temperature, overshoot quantitative change can be made big, regulating time is elongated, the effect that impact automatically controls, even because of differing too big with the temperature control precision of technological requirement, and can not using aborning, this is primarily due to:
On the one hand, owing to temperature object has the feature of big inertia, start change need considerable time from beginning to warm up temperature, if using this definite value pid control mode to automatically control, reduction ratio and integral action certainly will be needed, improve the differential action (owing to temperature object is the feature of object with big inertia, ratio and integral action are excessive, temperature has little time reaction, controller output meeting saltus step back and forth between 0% and 100%, become on-off control), but the reduction of ratio and integral action, overshoot quantitative change can be made big, regulating time is elongated, the effect that impact automatically controls.
On the other hand, in temperature-rise period, if arranging a bigger setting value, adopt this definite value pid control mode, control system can be made to heat up with maximum heating power, until measured value is close to setting value, heating power is just gradually reduced from full power, and this will also result in bigger overshoot.
nullSimultaneously，Process is controlled in order to realize PID，Require over introducing feedback composition close loop control circuit，For temperature controlled processes，Need to arrange thermocouple equitemperature measurement apparatus，These temperature measuring equipment collections be generally volt level、The voltage signal of millivolt level，Owing to signal is fainter，If using compensating wire that measurement apparatus is connected to DCS fastener，Electromagnetic interference will be highly prone to and produce fluctuation，Even and this fluctuation is very small，Also can bring greater impact to temperature survey，Such as S type thermocouple signal is millivolt level，When 500 DEG C, corresponding voltage signal is 4.233 millivolts，When 600 DEG C, corresponding voltage signal is 5.239 millivolts，If that is actual temperature is 500 DEG C，And S type thermocouple creates minor variations to 5.239 millivolts because being interfered，Then measured temperature is exactly 600 DEG C，With the error between actual temperature has reached 100 DEG C，In this case the misoperation of controller is very likely resulted in，Affect automatic control effect.
Summary of the invention
Present invention solves the technical problem that it is that the overshoot that existing PID control method exists when temperature object is controlled is big, the problem of regulating time length, and then provide a kind of and be applicable to PID temperature control method that temperature object is controlled, that overshoot is little, regulating time is short and PID temperature controls module.
In order to solve above-mentioned technical problem, the technical solution used in the present invention is as follows:
A kind of PID temperature control method, adopts servo antrol mode to control to heat up and/or temperature-fall period, specifically includes following steps:
S01: preset temperature/time graph；
S02: obtain the measured temperature of controlled device current time, and calculate the temperature target of current time according to described temperature/time graph；
S03: carry out PID arithmetic according to the described measured temperature of current time and described temperature target；
S04: regulate power output according to PID arithmetic result, complete a power adjustments；
S05: repeat step S02 to step S04, until completing described temperature/time graph.
Preferably, described PID temperature control method is realized by DCS system.
Preferably, in step S02, obtain the specifically comprising the following steps that of measured temperature of controlled device current time
Measured temperature is read out, samples, sampled signal is filtered pretreatment calculate, and using the result of calculation described measured temperature as current time, described filter preprocessing can be that sliding average Filtering Processing, medium filtering process, limit filtration processes and one in low-pass filtering treatment.
Preferably, described sliding average Filtering Processing comprises the following steps:
N number of data in queue are multiplied by different weights, and/or first the sampled data of N number of measured temperature is compared, remove maximum therein and minima, then calculate the arithmetic mean of instantaneous value described measured temperature as current time of remaining N-2 sampled data.
Preferably, step S01 step comprises the following steps:
Set anti-overshoot temperature, and described temperature/time graph is set makes described anti-overshoot temperature to the lifting/lowering temperature speed of the temperature range between desired temperature less than the lifting/lowering temperature speed of the temperature range between initial temperature to described anti-overshoot temperature.
The present invention also provides for a kind of PID temperature and controls module, adopts servo antrol mode to control to heat up and/or temperature-fall period, specifically includes:
Measured temperature acquiring unit, for obtaining the measured temperature of controlled device current time；
Servo antrol temperature target arithmetic element, is used for presetting temperature/time graph, and calculates the temperature target of current time according to described temperature/time graph；
PID arithmetic unit, carries out PID arithmetic for described measured temperature and the described temperature target according to current time；
Output unit, for regulating power output according to PID arithmetic result.
Preferably, described PID temperature controls module is the temperature controller for DCS system.
Preferably, described measured temperature acquiring unit is provided with filtering subelement, the described measured temperature obtaining current time for the sampled signal of the measured temperature that described measured temperature acquiring unit reads is filtered pretreatment calculate, described filter unit can include sliding average filter unit, median filter unit, limit filtration unit and low-pass filter unit.
Preferably, the filtering of described sliding average filter unit is as follows:
N number of data in queue are multiplied by different weights, and/or the sampled data of N number of measured temperature is compared, remove maximum therein and minima, calculate the arithmetic mean of instantaneous value described measured temperature as current time of remaining N-2 sampled data.
Preferably, described servo antrol temperature target arithmetic element is provided with anti-overshoot temperature, and described temperature/time graph is set makes described anti-overshoot temperature to the lifting/lowering temperature speed of the temperature range between desired temperature less than the lifting/lowering temperature speed of the temperature range between initial temperature to anti-overshoot temperature.
Beneficial effects of the present invention is as follows:
The PID temperature control method of the present invention and PID temperature control module, servo antrol mode is adopted to control heating, cooling process, it can according to the lifting/lowering temperature curve at the uniform velocity lifting/lowering temperature designed, heating power fluctuates in less scope, decrease because the caused temperature error of big inertia, improve the accuracy of temperature control.
Accompanying drawing explanation
Fig. 1 is the flow chart of the PID temperature control method of the present invention；
Fig. 2 is the structured flowchart of the PID temperature control module of the present invention；
Fig. 3 is that this PID temperature controls module control flow chart under using anti-overshoot function situation；
Fig. 4 is anti-overshoot functional schematic；
Fig. 5 is the data prediction result figure in an embodiment；
Fig. 6 is experimentation temperature/time plot in an embodiment；
In figure:
1 desired temperature, 2 temperature target, 3 measured temperatures, 4 controller output valves.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, technical scheme and beneficial effect are further illustrated.
Referring to accompanying drawing 1, the PID temperature control method of the present invention, adopt servo antrol mode to control to heat up and/or temperature-fall period, specifically include following steps:
S01: preset temperature/time graph；
S02: obtain the measured temperature of controlled device current time, and calculate the temperature target of current time according to said temperature/time graph；
S03: carry out PID arithmetic according to the measured temperature of current time and temperature target；
S04: regulate power output according to PID arithmetic result, complete a power adjustments；
S05: repeat step S02 to step S04, until completing said temperature/time graph.
The present invention improves pid algorithm, control mode is changed into servo antrol mode, the controller using the method adopting the present invention can according to the lifting/lowering temperature curve at the uniform velocity lifting/lowering temperature designed, and heating power fluctuates in less scope, decreases because of the caused temperature error of big inertia.
The PID temperature control method of the present invention can be realized by DCS system, now, the pid control module that can directly invoke in DCS software can be made according to the method for the present invention, the same with PID controller, by introducing feedback, close loop control circuit can be formed, it is achieved to heating, cooling, the automatically controlling of insulating process.
In order to reduce the electromagnetic interference impact on measured temperature, before using measured temperature, it to be carried out pretreatment, being handled as follows of the concrete measured temperature by reading controlled device in step S02:
Measured temperature is read out, samples, sampled signal is filtered pretreatment and calculates, and using the result of calculation measured temperature as current time.
Internal memory is taken and alleviates computational burden by the filtering calculating process in order to alleviate measured temperature, and filter preprocessing can select sliding average Filtering Processing, medium filtering to process, limit filtration processes and one in low-pass filtering treatment:
(1) moving average value filtering
Sliding average method is that N number of sampled data is regarded as a queue, the length of row is fixed as N, often carries out once new sampling, and sampled result is put into tail of the queue, and throws away data of original head of the queue, so has the data of N number of " up-to-date " in queue all the time.When calculating filter value, as long as the N number of data in queue are averaged, so that it may obtain new filter value.
PERIODIC INTERFERENCE is had good inhibitory action by sliding average method, and smoothness is high, and sensitivity is low；But the inhibitory action of the pulse feature interference accidentally occurred is poor, not easily eliminate the deviation of the sampled value caused due to impulse disturbances.Therefore he is not suitable for impulse disturbances than more serious occasion, and is applicable to higher-order of oscillation system.N value is chosen, in order to both lacked holding time, best filter effect can be reached again by the output response observing different N value lower slider average.
Also N number of data can be multiplied by different weights, for instance more new data give more big weights, it is possible to improve the sensitivity of data.
In impulse disturbances than more serious occasion, according to general mean value method, then disturb in " on average " to result of calculation, therefore not easily eliminate the sampled value deviation caused due to impulse disturbances.First N number of data can be compared, remove maximum therein and minima, then calculate the arithmetic mean of instantaneous value of remaining N-2 data.
(2) medium filtering
Medium filtering is to a certain measured parameter continuous sampling n times (General N takes odd number), then n times sampled value from small to large, or queues up from big to small, then takes its intermediate value as this sampled value.
Fluctuation that medium filtering causes for removing accidentalia or sampler is unstable and that the cause impulse disturbances caused by error is more effective.
(3) limit filtration
Limit filtration subtracts each other the sampled value that twice adjacent, obtains its increment, and increment is with absolute value representation, and the maximum difference Δ Y then allowed with double sampling compares, if less than or equal to Δ Y, then takes this sampled value；If more than Δ Y, then still take last time sampled value as this sampled value.Threshold value should be determined by the practical situation of controlled device.
(4) low-pass filtering
The following second-order low-pass filter transmitting function can be adopted:
Wherein, τ is filter constant, and s is complex variable.
Low pass filter can remove High-frequency Interference, and the signal containing High-frequency Interference is had good effect.
In use procedure, it is possible to select different filtering modes according to practical situation.The selection of above-mentioned filtering mode is also that the feature for temperature object selects: measured temperature generally changes slower, sampled data several times in a period of time can be carried out the measured value after computing is processed, simultaneously, temperature signal, the temperature signal gathered in particular by compensating wire mode is highly susceptible to electromagnetic interference, make temperature value produce the higher-order of oscillation, adopt above several pretreatment modes can it is preferably to measured temperature and actual temperature is consistent.
The present invention is improving on the basis of journey of pid control mode, it is also possible to adds anti-overshoot function, such that it is able to effectively reduce overshoot further, makes regulating time significantly shorten, stable near setting value faster.Specifically, it is possible to make step S01 step comprise the following steps:
Set anti-overshoot temperature, and said temperature/time graph is set makes anti-overshoot temperature to the lifting/lowering temperature speed of the temperature range between desired temperature less than the lifting/lowering temperature speed of the temperature range between initial temperature to anti-overshoot temperature.
Anti-overshoot function can be applied in temperature-rise period, it is also possible to is applied in temperature-fall period:
When for temperature-rise period, temperature needs to rise to higher design temperature from relatively low initial temperature, now anti-overshoot temperature is the application point under desired temperature, make anti-overshoot temperature to the heating rate of the temperature range between higher desired temperature less than the heating rate of the temperature range between relatively low initial temperature to anti-overshoot temperature by arranging temperature/time graph, so that when process values reach anti-overshoot temperature and to desired temperature close to time, heating power output starts to reduce, heating rate reduces, it is slowly heated to design temperature, so that object temperature will not to exceed setting value too many, effectively reduce the overshoot of temperature-rise period.
In temperature-fall period, temperature needs to be relatively low relatively low design temperature from higher initial temperature, such as after insulating process terminates, the initial temperature needing 800 DEG C is cooled to the design temperature insulation of 500 DEG C, now anti-overshoot temperature is the application point on desired temperature, by arranging the rate of temperature fall rate of temperature fall less than the temperature range between higher initial temperature to anti-overshoot temperature of the temperature range between the desired temperature that temperature/time graph makes anti-overshoot temperature extremely relatively low, so that when process values reach anti-overshoot temperature and to design temperature close to time, heating power output starts to increase, rate of temperature fall reduces, so that the temperature of controll plant is slowly lowered to design temperature, so that controll plant temperature to be not less than setting value too many, effectively reduce the overshoot of temperature-fall period.
Anti-overshoot function is mainly used to the suppression overshoot when there is large deviation.
Referring to accompanying drawing 2, the PID temperature of the present invention controls module, adopts servo antrol mode to control to heat up and/or temperature-fall period, specifically includes:
Measured temperature acquiring unit, for obtaining the measured temperature of controlled device current time；
Servo antrol temperature target arithmetic element, is used for presetting temperature/time graph, and calculates the temperature target of current time according to described temperature/time graph；
PID arithmetic unit, carries out PID arithmetic for described measured temperature and the described temperature target according to current time；
Output unit, for regulating power output according to PID arithmetic result.
In the present invention, PID temperature controls module and can arrange based on DCS system, thus, PID temperature controls module and can directly call in dcs.
In the present invention, filtering subelement can be provided with in measured temperature acquiring unit, the measured temperature obtaining current time for the sampled signal of the measured temperature that measured temperature acquiring unit reads is filtered pretreatment calculate, filter unit can include sliding average filter unit, median filter unit, limit filtration unit and low-pass filter unit.The filtering of various filter units above has a detailed description, does not repeat them here.
In the present invention, in order to effectively reduce overshoot further, regulating time is made significantly to shorten, anti-overshoot temperature can be set in servo antrol temperature target arithmetic element, and temperature/time graph is set makes anti-overshoot temperature to the lifting/lowering temperature speed of the temperature range between design temperature less than the lifting/lowering temperature speed of the temperature range between initial temperature to anti-overshoot temperature.Control principle and process for using anti-overshoot temperature above have a detailed description, do not repeat them here.
In order to facilitate control, the PID temperature of the present invention controls to may be provided in module manual control mode, anti-overshoot function setting can be become optional function simultaneously.
During use, the PID temperature of the present invention controls module needs the parameter of input to have: hands automatically controls selection, measured temperature, desired temperature, pid parameter, data preprocessing method selection, anti-overshoot interval value, first paragraph heating rate, second segment heating rate etc..According to inputting parameter above, calculating controller output, algorithm flow chart is as it is shown on figure 3, for temperature-rise period, specific as follows:
First measured temperature PV is carried out pretreatment, be filtered into example with sliding average.N number of sampled data is regarded as a queue, the length of row is fixed as N, often carries out once new sampling, sampled result is put into tail of the queue, and throw away data of original head of the queue, in queue, so have the data of N number of " up-to-date " all the time.When calculating filter value, as long as the N number of data in queue are averaged, so that it may obtain new filter value.If taking N is 40, then algorithm is as follows:
Wherein x 'tFor pretreated result.
After pretreatment, it is necessary to judge whether to need to use anti-overshoot function.Anti-overshoot functional schematic is as shown in Figure 4, can by anti-overshoot value be set in reach setting value SP before an interval close to setting value is set, such as arranging anti-overshoot value is that 100 DEG C i.e. expression will be interval as anti-overshoot apart from 100 DEG C of temperature ranges of setting value, and directly do not set anti-overshoot temperature, after this setup makes changes in temperature set points, its anti-overshoot interval also changes accordingly, there is certain versatility, it is to avoid change setting value is required for anti-overshoot temperature is configured every time.When judging whether to need to use anti-overshoot function, if the deviation of the measured temperature of initial time and setting value is less than anti-overshoot value, then need not divide two sections, directly rise to setting value setting heating rate.If the deviation of the measured temperature of initial time and setting value is more than anti-overshoot value, then it is divided into two sections of heating, two sections of lifting/lowering temperature speed can be respectively provided with, for heating process, second segment heating rate is less than first paragraph heating rate, second segment heating rate is more little, then overshoot is more little, is suitable for the loop that temperature control precision is had higher requirements.
After determining the need for anti-overshoot function, make control module actual setpoint increase by given heating rate, arrive the temperature of anti-overshoot function setting, for instance during SP-100, continue to rise with another heating rate, until setting value SP.In control process, it is necessary to constantly calculate the temperature target of current time according to the temperature/time graph of selected heating means.
In this adjustment process, temperature target is the curve constantly risen, and controlling module is also a following control system.The output controlling module constantly regulates output (or other actuators), enables temperature to follow the tracks of the change of temperature target.Avoid the big inertial properties due to temperature, make the output of control module open greatly high point, cause bigger fluctuation, affect control accuracy.
The pid parameter controlling module also should rationally be arranged, and control action is excessively strong, and temperature controls just to have become on-off control；Control action is excessively weak, can increase overshoot, increases regulating time, even makes process uncontrollable.
By above control algolithm, it is possible to most of temperature control loops are put into automatically, improve temperature and control accuracy and stability, improve the automaticity produced, reduce the work difficulty of operator.
Below in conjunction with the pid control module of the present invention in the application of zinc distillation device DCS system No. second heater TICA-20-1, the result of use of this module is described, this heater uses 220V AC electric-heating, phase shift trigger for thyristor voltage regulating mode is used to control power, make voltage continuously adjustabe, peak power 19.4kW.
Experiment in data processing, selects sliding average filtering method.Sampling time is 1 second, does sliding average computing in 40 seconds.The disturbance that so amplitude can be made to be ± 10 DEG C, is reduced to ± 0.25 DEG C, significantly reduces interference, so that temperature-controllable, it is therefore prevented that controller misoperation.The effect of data prediction is as shown in Figure 5.
In experiment, heater initial temperature is room temperature, and design temperature is 700 DEG C, and is incubated, and experimentation curve is as shown in Figure 6.In temperature-rise period, arranging setting value is 700 DEG C, but the desired value in each moment of controller is as shown in the figure, (heating rate is adjustable) is heated up with fixed rate, after being warming up to anti-overshoot value 600 DEG C, then continue to rise to setting value 700 DEG C with another heating rate (less than above heating rate).In this course, the method that controller have employed servo antrol.
Analysis experimental data draws, temperature-rise period maximum overshoot 13 DEG C, insulating process temperature-controlled precision ± 1 DEG C, it is possible to reach production engineering specifications.
Claims (10)
1. a PID temperature control method, it is characterised in that adopt servo antrol mode to control to heat up and/or temperature-fall period, specifically include following steps:
S01: preset temperature/time graph；
S02: obtain the measured temperature of controlled device current time, and calculate the temperature target of current time according to described temperature/time graph；
S03: carry out PID arithmetic according to the described measured temperature of current time and described temperature target；
S04: regulate power output according to PID arithmetic result, complete a power adjustments；
S05: repeat step S02 to step S04, until completing described temperature/time graph.
2. PID temperature control method as claimed in claim 1, it is characterised in that: described PID temperature control method is realized by DCS system.
3. PID temperature control method as claimed in claim 2, it is characterised in that: in step S02, the measured temperature of acquisition controlled device current time specifically comprises the following steps that
Measured temperature is read out, samples, sampled signal is filtered pretreatment calculate, and using the result of calculation described measured temperature as current time, described filter preprocessing can be that sliding average Filtering Processing, medium filtering process, limit filtration processes and one in low-pass filtering treatment.
4. PID temperature control method as claimed in claim 3, it is characterised in that: described sliding average Filtering Processing comprises the following steps:
N number of data in queue are multiplied by different weights, and/or first the sampled data of N number of measured temperature is compared, remove maximum therein and minima, then calculate the arithmetic mean of instantaneous value described measured temperature as current time of remaining N-2 sampled data.
5. PID temperature control method as according to any one of Claims 1-4, it is characterised in that: step S01 step comprises the following steps:
Set anti-overshoot temperature, and described temperature/time graph is set makes described anti-overshoot temperature to the lifting/lowering temperature speed of the temperature range between desired temperature less than the lifting/lowering temperature speed of the temperature range between initial temperature to described anti-overshoot temperature.
6.PID temperature control modules, it is characterised in that adopt servo antrol mode to control to heat up and/or temperature-fall period, specifically include:
Measured temperature acquiring unit, for obtaining the measured temperature of controlled device current time；
Servo antrol temperature target arithmetic element, is used for presetting temperature/time graph, and calculates the temperature target of current time according to described temperature/time graph；
PID arithmetic unit, carries out PID arithmetic for described measured temperature and the described temperature target according to current time；
Output unit, for regulating power output according to PID arithmetic result.
7. PID temperature controls module as claimed in claim 6, it is characterised in that: it is the temperature controller for DCS system that described PID temperature controls module.
8. PID temperature controls module as claimed in claim 7, it is characterized in that: described measured temperature acquiring unit is provided with filtering subelement, the described measured temperature obtaining current time for the sampled signal of the measured temperature that described measured temperature acquiring unit reads is filtered pretreatment calculate, described filter unit can include sliding average filter unit, median filter unit, limit filtration unit and low-pass filter unit.
9. PID temperature controls module as claimed in claim 8, it is characterised in that: the filtering of described sliding average filter unit is as follows:
N number of data in queue are multiplied by different weights, and/or the sampled data of N number of measured temperature is compared, remove maximum therein and minima, calculate the arithmetic mean of instantaneous value described measured temperature as current time of remaining N-2 sampled data.
10. as right wants PID temperature according to any one of 6 to 9 to control module, it is characterized in that: described servo antrol temperature target arithmetic element is provided with anti-overshoot temperature, and described temperature/time graph is set makes described anti-overshoot temperature to the lifting/lowering temperature speed of the temperature range between desired temperature less than the lifting/lowering temperature speed of the temperature range between initial temperature to anti-overshoot temperature.
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| CN111487861A (en) * | 2020-04-20 | 2020-08-04 | 江苏金源腾峰换热设备有限公司 | Electric heater based on fuzzy PID temperature control method |
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| CN114534476A (en) * | 2022-02-22 | 2022-05-27 | 新泰市日进化工科技有限公司 | Constant temperature control system and control method for tower top of acid drenching device for triazole production |
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| CN114990691A (en) * | 2022-07-07 | 2022-09-02 | 季华实验室 | Epitaxial reaction heating control method and system, electronic equipment and storage medium |
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