CN106224947B - The event-driven control system of Circulating Fluidized Bed Temperature based on feedback of status - Google Patents
The event-driven control system of Circulating Fluidized Bed Temperature based on feedback of status Download PDFInfo
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- 238000012544 monitoring process Methods 0.000 claims description 25
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23C—METHODS OR APPARATUS FOR COMBUSTION USING FLUID FUEL OR SOLID FUEL SUSPENDED IN A CARRIER GAS OR AIR
- F23C10/00—Fluidised bed combustion apparatus
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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Abstract
The present invention relates to the event-driven control system of the Circulating Fluidized Bed Temperature based on feedback of status.The event-driven control system includes：CFBB, Data acquisition and storage device and controller；The CFBB includes sensor and actuator；The Data acquisition and storage device is used to gather and store the data related to Circulating Fluidized Bed Temperature control；The controller is connected with the Data acquisition and storage device, and receives the data and the data of memory transmission collection；According to the data of reception, the controller generation primary air flow instruction, and primary air flow is instructed to the actuator being transferred in CFBB, to realize the accuracy of Primary air flow control and stationarity.The present invention can be carried out on the basis of effectively adjusting to Circulating Fluidized Bed Temperature, by rational parameter adjustment, is reduced the data traffic between sensor, controller and actuator, is reduced network information congestion.
Description
Technical Field
The invention belongs to the field of process control of thermal generator sets, and particularly relates to an event-driven control system for bed temperature of a circulating fluidized bed boiler based on state feedback.
Background
The circulating fluidized bed boiler has the technical advantages of wide fuel adaptability, strong low-load stable combustion capability, capability of performing in-furnace desulfurization, high combustion efficiency and the like, and is widely applied to the thermal power industry in China. The bed temperature is used as the specific process parameter of the circulating fluidized bed boiler, has direct influence on the safe and stable operation of the boiler, and determines the denitration (NO) of the boilerx) And desulfurization (SO)2) The key factor of the effect. The combustion efficiency of the boiler is reduced due to the over-low bed temperature, and the combustion is unstable and even extinguishes; over-high bed temperature can lead to poor boiler desulfurization effect and NOxThe discharge amount is increased, and the hearth bed material is easy to coke. Therefore, it is important to control the bed temperature within a suitable range.
At present, the main control means of the bed temperature of the circulating fluidized bed boiler is coal feeding amount and primary air volume, and related researches are also mainly carried out aiming at the problems of adjustment of the coal feeding amount and the primary air volume. Especially, in the prior art, the problem of primary air volume control cannot be solved, various disturbance factors easily cause frequent primary air volume control action, and the high-quality requirement of the circulating fluidized bed boiler on bed temperature control cannot be met.
At present, the control of the circulating fluidized bed unit belongs to a time driving mode, and data communication is frequently carried out among a sensor, a controller and an actuator at a fixed frequency, so that a better control effect is achieved. However, in this way, a large amount of information exchange exists in the communication network, which will inevitably cause network information congestion, control information time lag and even packet loss. The control action change caused by the frequent calculation of the controller can cause the frequent action of the actuating mechanism, thereby causing the abrasion and the life reduction of the equipment. The above problems are critical problems that are urgently needed to be solved but not yet solved in the control of the circulating fluidized bed boiler.
Event-driven control is a control method for determining whether to implement control action according to conditions (whether an event occurs or not), and can effectively solve the problems of high calculation load, large data transmission quantity and frequent action of an execution mechanism during time-driven control. However, at present, event-driven control is mostly in a theoretical research stage, no mature engineering application example exists, and the complex design process and the adverse effect on the performance of the original control system are main factors.
Aiming at the problems that the requirement on the bed temperature control quality of the circulating fluidized bed boiler is high and the primary air volume control is frequently operated due to various disturbance factors, an event-driven control idea is necessary to be applied to develop a state feedback-based event-driven control system for the bed temperature of the circulating fluidized bed boiler.
Disclosure of Invention
The invention discloses an event-driven control system for circulating fluidized bed boiler bed temperature based on state feedback. On the basis of effectively adjusting the bed temperature of the circulating fluidized bed boiler, the invention can reduce the data communication traffic among the sensor, the controller and the actuator through reasonable parameter adjustment, reduce network information congestion, control information time lag and packet loss, prevent the abrasion caused by frequent action of the actuator and prolong the service life of equipment.
The invention is realized by the following technical scheme:
an event-driven control system for circulating fluidized bed boiler bed temperature based on state feedback, the event-driven control system for controlling bed temperature within a suitable range, the event-driven control system comprising: the circulating fluidized bed boiler, the data acquisition and storage device and the controller; the circulating fluidized bed boiler comprises a sensor and an actuator;
the data acquisition and storage device is used for acquiring and storing data related to bed temperature control of the circulating fluidized bed boiler;
the controller is connected with the data acquisition and storage device and receives the data acquired by the data acquisition and storage device; and according to the received data, the controller generates a primary air quantity instruction and transmits the primary air quantity instruction to an actuator in the circulating fluidized bed boiler so as to realize the accuracy and the stability of primary air quantity control and avoid the transient fluctuation of the bed temperature of the boiler caused by frequent adjustment of the primary air quantity.
The sensor is specifically a temperature sensor and is used for measuring and obtaining a bed temperature measured value y (t) of the circulating fluidized bed boiler.
The actuator is a conventional fan actuator, consists of an actuating mechanism and an adjusting mechanism, and can receive a primary air quantity instruction u (t), change the rotating speed of the primary fan according to the primary air quantity instruction u (t) and adjust the primary air quantity.
Further, the controller comprises an event monitoring module, an event control module and an event control signal optimization and maintenance module;
the event monitoring module is used for judging whether an event occurs according to a bed temperature measurement value y (t) of the circulating fluidized bed boiler and generating an object state observation vector Z (t) at the current momentk) (ii) a The event control module is used for generating a basic control instruction u (t) of primary air volumek) (ii) a The event control signal optimization and maintenance module is used for basic control instructions u (t) of the primary air volumek) Carrying out amplitude limiting, speed limiting and maintaining treatment and generating a stable and continuous primary air volume instruction u (t); wherein the object state observation vector Z (t)k) The method comprises an observed value of the bed temperature of the circulating fluidized bed boiler and an observed value of the change rate of the bed temperature of the circulating fluidized bed boiler.
Further, the data collection and storage device collects and stores data related to bed temperature control of the circulating fluidized bed boiler, and comprises: the event control signal optimization and maintenance module generates a primary air volume instruction u (t), a circulating fluidized bed boiler bed temperature measured value y (t) measured by the circulating fluidized bed boiler sensor, and a bed temperature set value r0(t) and the current-time object state observation vector Z (t) output by the event monitoring modulek)。
Further, the data acquisition and storage device sends the primary air volume instruction u (t) and the bed temperature of the circulating fluidized bed boilerThe measured value y (t) and the observation vector Z (t) of the state of the object at the previous momentk-1) The event monitoring module is used for receiving the event information and transmitting the event information to the event monitoring module as input of the event monitoring module;
the event monitoring module generates and outputs an object state observation vector Z (t) at the current momentk) (ii) a Object state observation vector Z (t) at current timek) And a bed temperature set value r acquired by the data acquisition and storage device0(t) is an input to the event control module;
the event control module generates a basic control instruction u (t) of primary air volumek) Basic control command u (t) for primary air volumek) And generating and outputting a primary air volume instruction u (t) for the input of the event control signal optimization and maintenance module.
Further, the event monitoring module is used for judging whether an event occurs or not and generating an object state observation vector Z (t) at the current momentk) The method specifically comprises the following steps:
(1) the temperature controlled characteristic of the circulating fluidized bed boiler is described by an n-order state observation equation:
wherein t is a time variable, Z (t) is an object state observation vector,a derivative of the observed vector of the target state, u (t) a primary air flow command, y (t) a circulating fluidized bed boiler bed temperature measurement,is an observed value of the bed temperature of the circulating fluidized bed boiler,
wherein n is more than or equal to 1, the order of the state observation equation is the larger n, the higher the observation precision of the state observation equation is, the higher the complexity is, and b<0 is input gain, which means that the primary air volume change is opposite to the bed temperature change direction, and L ═ L1l2l3… ln+1]TFor observer gain,/1,l2,...,ln+1For observing characteristic multinomial coefficients of the error matrix A-LC, satisfying the condition that lambda(s) ═ sn+1+l1sn+…+lns+ln+1＝(s+ω0)n+1，
Where s is the Laplace operator symbol, no assignment is required, ω is0>0, the value of which varies from set to set, by varying ω0The value of (A) can make the observer gain L obtain corresponding adjustment;
(2) the following 3 event definition rules are set:
Rule1:If min(Z(t)-Z(tk-1))≥Δor t-tk-1≥tmax,Then flag＝1,Else flag＝0；
Rule2:If||Z(t)-Z(tk-1)||≥Δor t-tk-1≥tmax,Then flag＝1,Else flag＝0；
Rule3:If max(Z(t)-Z(tk-1))≥Δor t-tk-1≥tmax,Then flag＝1,Else flag＝0；
wherein, Delta is an event driving error threshold value which is set manually; t is tmaxMaximum time interval for adjacent events, also set by human, Δ and tmaxIs a key tunable parameter for event-driven control; z (t)k-1) The observation vector of the state of the object when the k-1 th event occurs; when the event monitoring module is operated for the first time, k is equal to 1, and Z (t) is assignedk-1)＝Z(t0) 0; flag is an event flag bit;
(3) when in specific application, selecting one of the 3 event definition rules in the step (2); if the condition in the selected event definition rule is satisfied, setting the flag to be 1, otherwise, setting the flag to be 0;
(4) determining the object state observation vector Z (t) of the current moment according to the value of the event flag bitk) If flag is 0, the state observation vector Z (t) is selected when k-1 events occurk-1) Monitoring the current output of the module for the event (i.e. maintaining the output of the last event occurrence); if flag is 1, taking a state observation vector z (t) obtained at the current time t as a current output, specifically as the following formula;
further, the controller outputs a basic control command u (t) of the primary air volumek) The device consists of two parts: z (t)k) Linear combination of mid-to-front n-dimensional states Γ (r)0(t),z1(tk),z2(tk),…,zn(tk) Z) and the (n + 1) th dimensionn+1(tk) Compensation of the disturbance;
basic control command u (t) of primary air volumek) The concrete expression is as follows:
wherein, Z (t)k) Is an n +1 dimensional state observation vector; z (t)k)＝[z1(tk),z2(tk),...,zn+1(tk)]T，zn+1(tk) Is Z (t)k) The (n + 1) th element of (a);
in the formula, r0(t) is the bed temperature set value, and the controller gain K is [ K ]1k2… kn]The selection of (a) should satisfy: sn+knsn-1+…+k2s+k1＝(s+ωc)nWherein ω iscThe controller bandwidth is a positive number, the value of the controller bandwidth is set manually according to system characteristics, and s is a Laplace operator symbol.
Further, the event control signal optimization and maintenance module basically controls a primary air volume control instruction u (t)k) Carrying out amplitude limiting and speed limiting treatment, and generating a stable and continuous primary air volume instruction u (t), specifically:
(1) for primary air volume basic control instruction u (t)k) Carrying out amplitude limiting treatment:
wherein u ismaxBasic control command u (t) for allowable primary air volumek) Upper limit of (d);
(2) for primary air volume basic control instruction u (t)k) And (3) carrying out speed limiting treatment:
wherein v ismaxBasic control command u (t) for allowable primary air volumek) Maximum value of rate of change; the selection of the positive sign depends on the trend change of the primary air volume increasing or decreasing, when the primary air volume increases, the positive sign is selected, and when the primary air volume decreases, the negative sign is selected.
Further, the event control signal optimization holding module selects a zero-order holder, a first-order holder or a second-order holder; the system signal optimizing keeper basically controls a primary air volume command u (t)k) Is maintained and transferred to a continuous quantity u (t) which is fed to a circulating fluidized bed boiler equipped with sensors and actuators.
The invention has the beneficial effects that:
(1) adding beneficial technical effects on the aspect of bed temperature control.
The primary air volume is an important means for controlling the bed temperature of the circulating fluidized bed boiler; due to the complex characteristic of the circulating fluidized bed boiler, various disturbance factors easily cause frequent actions of primary air volume control, and the high-quality requirement of the circulating fluidized bed boiler on bed temperature control cannot be met. The event-driven control system provided by the invention can improve the accuracy and the stability of primary air volume control by effectively setting the event judgment rule, and avoid the transition fluctuation of the bed temperature of the boiler caused by frequent adjustment of the primary air volume;
(2) the event monitoring module judges whether an event occurs according to the measurement data of the bed temperature of the circulating fluidized bed boiler and an event definition rule, and generates an object state observation vector (comprising an observation value of the bed temperature, a change rate observation value of the bed temperature and the like); if the 'event' occurs, updating and outputting the 'event' to the controller, otherwise, keeping the time value of the previous event, greatly reducing the operation load, reducing the network information quantity, avoiding the excessive abrasion of the actuator and reducing the energy consumption;
(3) meanwhile, the observer in the event monitoring module is expanded in dimension, the observation of comprehensive disturbance including unmodeled dynamic state of an object, internal and external disturbance of the system and the like is realized, disturbance compensation can be performed during calculation of the controller, and the anti-interference capability of the actual operation of the control system is improved.
The invention provides a definite setting rule of observer gain L and controller gain K in an event monitoring module aiming at a state feedback event driving control method; meanwhile, the control signal is optimized, and the system is well protected.
Drawings
FIG. 1 is a schematic diagram of an event-driven control system for circulating fluidized bed boiler bed temperature based on state feedback according to the present invention;
FIG. 2 is a control effect diagram of the event-driven control system according to the present invention;
fig. 3 shows the occurrence of an event in the event-driven control system according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
On the contrary, the invention is intended to cover alternatives, modifications, equivalents and alternatives which may be included within the spirit and scope of the invention as defined by the appended claims. Furthermore, in the following detailed description of the present invention, certain specific details are set forth in order to provide a better understanding of the present invention. It will be apparent to one skilled in the art that the present invention may be practiced without these specific details.
Example 1
The mathematical model that the bed temperature of a certain circulating fluidized bed boiler is influenced by the primary air volume is set as follows:
wherein s is a Laplace operator symbol, G(s) is a mathematical model of a transfer function of bed temperature influenced by primary air quantity, y(s) is a complex frequency domain form of a bed temperature measured value y (t) of the circulating fluidized bed boiler, and u(s) is a complex frequency domain form of primary air quantity u (t) of the circulating fluidized bed boiler.
Expressed in the time domain form:
wherein t is a time variable, u (t) and y (t) are respectively input and output of the circulating fluidized bed boiler, u (t) is a primary air quantity instruction, y (t) is a bed temperature measurement value of the circulating fluidized bed boiler, b is an input gain, f is the synthesis of internal and external disturbances of the system, and w (t) is an uncertain factor, disturbance or modeling error. The controller design method for this object is as follows:
step (1): design of an event monitoring module: FIG. 1 is a system for event driven control of circulating fluidized bed boiler bed temperature based on state feedback, with solid lines representing continuous signal transmission and dashed lines representing event driven signal transmission in FIG. 1; the event monitoring module of the system is specifically designed as follows:
let x1(t) represents the measured bed temperature values y (t), x1(t)＝y(t)；x2(t) represents the derivative of the bed temperature measurement,increase state x3(t) ═ f represents the combination of internal and external disturbances in the system, letThe controlled object can be written in the form of the following state equation:
y(t)＝Cx(t)
wherein x (t) ═ x1(t)x2(t)x3(t)]U (t) is a primary air quantity instruction, y (t) is a circulating fluidized bed boiler bed temperature measured value;
wherein,
wherein B <0 is input gain, which indicates that the direction of primary air volume change is opposite to the direction of bed temperature change, A is a state matrix, B is an input matrix, C is an output matrix, and D is a disturbance state matrix.
Based on the above equation of state, the event monitoring module can be designed as follows:
wherein Z (t) is an object state observation vector,a derivative of the observed vector of the target state, u (t) a primary air flow command, y (t) a circulating fluidized bed boiler bed temperature measurement,the observed value of the bed temperature of the circulating fluidized bed boiler is obtained; l ═ L1l2l3… ln+1]TFor observer gain,/1,l2,...,ln+1For observing characteristic multinomial coefficients of the error matrix A-LC, satisfying the condition that lambda(s) ═ sn+1+l1sn+…+lns+ln+1＝(s+ω0)n+1，ω0>0, the value of which varies from set to set, by varying ω0The value of (a) can make the observer gain L adjusted correspondingly.
Selecting an event-driven Rule 2:
Rule2:If||Z(t)-Z(tk-1)||≥Δor t-tk-1≥tmax,Then flag＝1,Else flag＝0
and setting a flag as an event occurrence flag, wherein the flag satisfies a Rule 2 condition, and otherwise, the flag is 0.
The observer gain L ═ L can be made1l2l3]TWherein l is1,l2,l3For observing the characteristic polynomial λ(s) ═ s of the error matrix A-LC3+l1s2+l2s+l3＝(s+ω0)3The coefficient of (a). In this example, b is-21, ω0＝4.7，Δ＝0.01，tmax＝200s。
Step (2): designing an event control module: control quantity u (t)k) From Z (t)k) Middle-front 2-dimensional state linear combination and state z3(tk) Disturbance estimation consists of two parts, i.e.
Wherein,
controller gain selection k1，k2So that s2+k2s+k1＝(s+ωc)2Wherein ω iscFor controller bandwidth, in this example ωc＝0.09。
And (3): the design of the event control signal optimization and maintenance module comprises the following steps:
① for primary air quantity u (t)k) Limiting the amplitude to set umaxBasic control command u (t) for allowable primary air volumek) The upper limit of the value of (a),
in this example umax＝110。
② for primary air quantity u (t)k) The rate of change is limited. Setting vmaxBasic control command u (t) for allowable primary air volumek) The maximum value of the rate of change is,
in this example vmax＝100。
③ the holder is a zero order holder.
Fig. 2 reflects the control effect of the event-driven control system proposed by the present invention, and compared with the continuous-time control, it can be seen that the performance of the event-driven control proposed by the present invention is equivalent to the continuous-time control.
FIG. 3 reflects the change of flag during event occurrence, where flag is 1 and otherwise is 0. The simulation is 2000s, 0.1s is taken as a sampling period, the continuous time control frequency is 20000 times, and the event drive control frequency provided by the invention is 1968 times; therefore, the event-driven control system can greatly reduce the operation load, reduce the network information amount, avoid the excessive abrasion of the actuator and reduce the energy consumption.
Claims (7)
1. An event-driven control system for circulating fluidized bed boiler bed temperature based on state feedback, the event-driven control system for controlling the bed temperature to a suitable range, the event-driven control system comprising: the circulating fluidized bed boiler, the data acquisition and storage device and the controller; the circulating fluidized bed boiler comprises a sensor and an actuator;
the data acquisition and storage device is used for acquiring and storing data related to bed temperature control of the circulating fluidized bed boiler;
the controller is connected with the data acquisition and storage device and receives the data acquired by the data acquisition and storage device; according to the received data, the controller generates a primary air quantity instruction and transmits the primary air quantity instruction to an actuator in the circulating fluidized bed boiler so as to realize the accuracy and the stability of primary air quantity control and avoid the transient fluctuation of the bed temperature of the boiler caused by frequent adjustment of the primary air quantity;
the controller comprises an event monitoring module, an event control module and an event control signal optimization and maintenance module;
the event monitoring module is used for judging whether an event occurs according to a bed temperature measurement value y (t) of the circulating fluidized bed boiler and generating an object state observation vector Z (t) at the current momentk) (ii) a The event control module is used for generating a basic control instruction u (t) of primary air volumek) (ii) a The event control signal optimization and maintenance module is used for basic control instructions u (t) of the primary air volumek) The clipping, speed limiting and holding processes are performed, and a stable and continuous primary air volume command u (t) is generated.
2. The system of claim 1, wherein the data collection and memory collected and stored data related to circulating fluidized bed boiler bed temperature control comprises: the event control signal optimization and maintenance module generates a primary air volume instruction u (t), a circulating fluidized bed boiler bed temperature measured value y (t) measured by the circulating fluidized bed boiler sensor, and a bed temperature set value r0(t) and the current-time object state observation vector Z (t) output by the event monitoring modulek)。
3. The system of claim 2, wherein the data collection and storage device stores the primary air volume command u (t), the measured value y (t) of the circulating fluidized bed boiler bed temperature, and the observation vector Z (t) of the state of the subject at the previous timek-1) Is transmitted to the event monitoring module as the input of the event monitoring module；
The event monitoring module generates and outputs an object state observation vector Z (t) at the current momentk) (ii) a Object state observation vector Z (t) at current timek) And a bed temperature set value r acquired by the data acquisition and storage device0(t) is an input to the event control module;
the event control module generates a basic control instruction u (t) of primary air volumek) Basic control command u (t) for primary air volumek) And generating and outputting a primary air volume instruction u (t) for the input of the event control signal optimization and maintenance module.
4. The system of claim 3, wherein the event monitoring module determines whether an event has occurred and generates a subject state observation vector Z (t) at a current timek) The method specifically comprises the following steps:
(1) the temperature controlled characteristic of the circulating fluidized bed boiler is described by an n-order state observation equation:
wherein t is a time variable, Z (t) is an object state observation vector,a derivative of the observed vector of the target state, u (t) a primary air flow command, y (t) a circulating fluidized bed boiler bed temperature measurement,is an observed value of the bed temperature of the circulating fluidized bed boiler,
wherein n is more than or equal to 1, b is the order of the state observation equation<0 is the input gain, L ═ L1l2l3… ln+1]TFor observer gain,/1,l2,...,ln+1For observing characteristic multinomial coefficients of the error matrix A-LC, satisfying the condition that lambda(s) ═ sn+1+l1sn+…+lns+ln+1＝(s+ω0)n+1Where s is the Laplace operator symbol, ω0>0, by changing ω0The value of (A) can make the observer gain L obtain corresponding adjustment;
(2) the following 3 event definition rules are set:
Rule1:If min(Z(t)-Z(tk-1))≥Δor t-tk-1≥tmax,Then flag＝1,Else flag＝0；
Rule2:If||Z(t)-Z(tk-1)||≥Δor t-tk-1≥tmax,Then flag＝1,Else flag＝0；
Rule3:If max(Z(t)-Z(tk-1))≥Δor t-tk-1≥tmax,Then flag＝1,Else flag＝0；
wherein Δ is an event driven error threshold; t is tmaxFor maximum time interval of adjacent events, Δ and tmaxIs a key tunable parameter for event-driven control; z (t)k-1) The observation vector of the state of the object when the k-1 th event occurs; when the event monitoring module is operated for the first time, k is equal to 1, and Z (t) is assignedk-1)＝Z(t0) 0; flag is an event flag bit;
(3) selecting one of the 3 event definition rules in the step (2); if the condition in the selected event definition rule is satisfied, setting the flag to be 1, otherwise, setting the flag to be 0;
(4) determining the object state observation vector Z (t) of the current moment according to the value of the event flag bitk) If flag is 0, the state observation vector Z (t) is selected when k-1 events occurk-1) Is the current output of the event monitoring module; if flag is 1, taking a state observation vector z (t) obtained at the current time t as a current output, specifically as the following formula;
5. the system of claim 4, wherein the event control module outputs a basic control command u (t) of primary air volumek) The device consists of two parts: z (t)k) Linear combination of mid-to-front n-dimensional states Γ (r)0(t),z1(tk),z2(tk),…,zn(tk) Z) and the (n + 1) th dimensionn+1(tk) Compensation of the disturbance;
basic control command u (t) of primary air volumek) The concrete expression is as follows:
wherein, Z (t)k) Is an n +1 dimensional state observation vector; z (t)k)＝[z1(tk),z2(tk),...,zn+1(tk)]T，zn+1(tk) Is Z (t)k) The (n + 1) th element of (a);
in the formula, r0(t) is the bed temperature set value, and the controller gain K is [ K ]1k2… kn]The selection of (a) should satisfy: sn+knsn-1+…+k2s+k1＝(s+ωc)nWherein ω iscFor controller bandwidth, a positive number, s is the Laplace operator symbol.
6. The system of claim 4, wherein the event control signal optimization and maintenance module is configured to control the primary air volume basic control command u (t) according to the event-driven control system of the circulating fluidized bed boiler bed temperature based on the state feedbackk) Performing amplitude limiting and speed limiting processing, and generating stable and continuous primary air volume instruction u (t), specifically：
(1) For primary air volume basic control instruction u (t)k) Carrying out amplitude limiting treatment:
wherein u ismaxBasic control command u (t) for allowable primary air volumek) Upper limit of (d);
(2) for primary air volume basic control instruction u (t)k) And (3) carrying out speed limiting treatment:
wherein v ismaxBasic control command u (t) for allowable primary air volumek) Maximum value of rate of change; the sign is selected according to the trend change of the primary air volume increasing or decreasing.
7. The system of claim 1, wherein the event control signal optimization maintenance module is selected from a zero-order maintenance device, a first-order maintenance device, or a second-order maintenance device; the event control signal optimization and maintenance module basically controls a primary air volume command u (t)k) Is maintained and transferred to a continuous quantity u (t) which is fed to a circulating fluidized bed boiler equipped with sensors and actuators.
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