CN106773646A - A kind of catalytic cracking process Crude Oil Investigation On The Preheating Temperature Control - Google Patents
A kind of catalytic cracking process Crude Oil Investigation On The Preheating Temperature Control Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 60
- 239000010779 crude oil Substances 0.000 title claims abstract description 44
- 238000004523 catalytic cracking Methods 0.000 title claims abstract description 32
- 238000011835 investigation Methods 0.000 title claims abstract description 12
- 239000011159 matrix material Substances 0.000 claims abstract description 24
- 239000013598 vector Substances 0.000 claims description 7
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 238000000354 decomposition reaction Methods 0.000 claims description 3
- 238000009795 derivation Methods 0.000 claims description 3
- 230000006641 stabilisation Effects 0.000 claims description 3
- 238000011105 stabilization Methods 0.000 claims description 3
- 230000035772 mutation Effects 0.000 claims description 2
- 238000006467 substitution reaction Methods 0.000 claims description 2
- 238000005457 optimization Methods 0.000 abstract description 9
- 229920012306 M5 Rigid-Rod Polymer Fiber Polymers 0.000 abstract description 4
- 230000009514 concussion Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005530 etching Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 238000005504 petroleum refining Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000017105 transposition Effects 0.000 description 1
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- G—PHYSICS
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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
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D23/00—Control of temperature
- G05D23/19—Control of temperature characterised by the use of electric means
- G05D23/1919—Control of temperature characterised by the use of electric means characterised by the type of controller
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Abstract
The present invention relates to a kind of catalytic cracking process Crude Oil Investigation On The Preheating Temperature Control, specifically include：Pass through bonding state variable, output tracking error and setting value variable first, set up the Extended state space model of catalytic cracking process Crude Oil preheating, shaken come hyperharmonic caused by preferably processing the unknown disturbance being likely to occur in crude oil warm, followed by the weighting matrix that improved MOEA/D DE algorithms come in optimization object function, a kind of PI PD (PFC PIPD) controller with Predictive function control performance is finally designed.The accuracy and speed of temperature tracking is the method increase, possesses good control performance.
Description
Technical field
The present invention relates to technical field of automation in industry, more particularly to a kind of catalytic cracking process Crude Oil preheating temperature
Control method.
Background technology
Catalytic cracking process is the key link of petroleum refining, and in catalytic cracking process, the preheating temperature of crude oil is
One very important variable, directly affects the thermal balance and reaction depth of course of reaction.Therefore good preheating temperature is realized
Control can directly improve the productivity effect of crude oil.Traditional PID is only applicable to Small Time Lag or the control system without time lag, and former
The dynamic process of oil preheating is a process for large dead time, when input step signal, can often produce larger hyperharmonic to shake,
Influence the preheating temperature control to crude oil.Therefore propose that the control performance that new control method improves Crude Oil Pre-heating System of Atmospheric is urgent
Need.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of catalytic cracking process Crude Oil Investigation On The Preheating Temperature Control,
The hyperharmonic concussion of warm appearance can be suppressed, control performance is improved.
The technical solution adopted for the present invention to solve the technical problems is：A kind of catalytic cracking process Crude Oil preheating is provided
Temprature control method, comprises the following steps：
(1) by bonding state variable, output tracking error and setting value variable, catalytic cracking process Crude Oil is set up pre-
The Extended state space model of heat；
(2) it is introduced into good point set theoretical as the weighting matrix determined using improved MOEA/D-DE algorithms in object function；
(3) PI-PD controller of the design with Predictive function control performance is controlled to crude oil preheating temperature.
The step (1) includes following sub-step：
(11) local increment is set up using the method for Real-time data drive；
(12) difference equation model of catalytic cracking Crude Oil preheating temperature process is set up according to local increment；
(13) catalytic cracking Crude Oil preheating temperature status of processes spatial model is set up according to difference equation model.
Also include that the state-space model that will be obtained is converted to after the step (13) to be missed comprising state variable, output tracking
The step of Extended state space model of difference and setting value variable.
The step (2) specifically includes following sub-step：
(21) object function of catalytic cracking crude oil preheating temperature process is chosen；
(22) method that good point set theory takes good point set in n-dimensional space is described briefly；
(23) it is the initial population of N to introduce the theoretical initialization size of good point set, and is initialized for storing the non-branch of Pareto
Outside population with solution is empty set；
(24) respectively according to each individual target function value in regulating time and overshoot calculating initial population, wherein,
The target function value calculated according to regulating time as first object value, according to the target function value conduct that overshoot is calculated
Second desired value；
(25) ideal point, the minimum in first object value of the ideal point corresponding to each individuality in population are initialized
Minimum value in value and the second desired value；
(26) multi-objective problem is resolved into N number of son with equally distributed N number of weight vector in Chebyshev's decomposition method to ask
Topic, and determine the object function of each subproblem；
(27) for each determination subproblem weight vector, calculate other weight vectors with determine subproblem Europe it is several in
Obtain the T neighbours subproblem that distance draws each subproblem；
(28) differential evolution operator is carried out to the corresponding individuality of object function of each subproblem and obtains temporary individual, and
Multinomial mutation operation is carried out to temporary individual, the temporary individual that makes a variation is obtained；
(29) the first object value and the second desired value of variation temporary individual are calculated, if the optimal value of each target
Value less than the individual corresponding object function of each subproblem then updates ideal point；
(210) j-th all T neighbours subproblem of subproblem point is updated by making a variation temporary individual and its desired value
Not corresponding individual and each individual corresponding target function value, and update the non-domination solution stored in outside population；
(211) reach maximum iteration then to terminate, provide one group of Pareto optimal solution of weighting matrix.
The step (3) is specially：Control time domain is chosen, the weighting matrix that will be obtained applies to the preheating of catalytic cracking crude oil
In the object function of temperature course, and to the object function derivation and it is 0, obtains optimal control law, defines one most
Big allowable error, when the error of system is less than or equal to the limits of error, the system that is considered as has reached stabilization, obtains PI-
The parameter of PD control device, parameter substitution PI-PD controllers are controlled to crude oil preheating temperature.
Beneficial effect
As a result of above-mentioned technical scheme, the present invention compared with prior art, has the following advantages that and actively imitates
Really：The present invention is changed by setting up the steps such as real-time data base, model foundation, PREDICTIVE CONTROL, algorithm optimization, and then establishing one kind
Crude oil Investigation On The Preheating Temperature Control in the MOEA/D-DE algorithm optimization catalytic cracking process for entering, can effectively be carried using the method
The control accuracy and stability of system high.
Brief description of the drawings
Fig. 1 is the crude oil preheating temperature control system architecture figure of the RFC-PIPD of improved MOEA/D-DE algorithm optimizations；
Fig. 2 is that the weighting matrices Q flow chart in object function is determined using improved MOEA/D-DE algorithms.
Specific embodiment
With reference to specific embodiment, the present invention is expanded on further.It should be understood that these embodiments are merely to illustrate the present invention
Rather than limitation the scope of the present invention.In addition, it is to be understood that after the content for having read instruction of the present invention, people in the art
Member can make various changes or modifications to the present invention, and these equivalent form of values equally fall within the application appended claims and limited
Scope.
Embodiments of the present invention are related to a kind of catalytic cracking process Crude Oil Investigation On The Preheating Temperature Control, for suppressing pre-
The hyperharmonic concussion that thermal process occurs, improves control performance.The present invention first by bonding state variable, output tracking error and
Setting value variable, sets up the Extended state space model of catalytic cracking process Crude Oil preheating, preferably to process crude oil preheating
During hyperharmonic concussion caused by the unknown disturbance that is likely to occur, optimize followed by improved MOEA/D-DE algorithms
Weighting matrix in object function, finally designs a kind of PI-PD (PFC-PIPD) controller with Predictive function control performance.
The accuracy and speed of temperature tracking is the method increase, possesses good control performance.According to the control system that the present invention sets up
As shown in Figure 1.
The step of the inventive method, includes：
Step one, sets up the Extended state space model of controlled device, specifically：
1.1 set up local increment using the method for Real-time data drive：Set up the real time execution of crude oil warm
Database, real-time process service data is gathered by data acquisition device, and the real-time process service data that will be gathered is used as data
The sample set of drivingWherein,I-th group of input value of technological parameter is represented, y (i) represents i-th group of technique ginseng
Several output valves, N represents sampling sum；Set up based on the real-time process service data set of the object and be based on least square
The controlled local autoregressive moving-average model of the discrete differential equation form of algorithm：
Wherein, yLK () represents the output valve of the technological parameter of k moment local increments,Represent what is obtained by identification
The set of model parameter, F and H are to know the parameter that obtains by debating,Represent the last time of the technological parameter of local increment
Input and output data set, u (k-d-1) represents the corresponding control variables of k-d-1 etching processes parameters, and d+1 is actual
The time lag of process, Τ is the transposition symbol of matrix；
The identification means for using for：
Wherein,It is two matrixes in parameter identification with P,γ ∈ (0,1) represent forget because
Son, I represents unit matrix；
1.2, using the coefficient obtained in step 1.1, set up the difference equation mould of catalytic cracking Crude Oil preheating temperature process
Type, its form is：
Δ y (k)+H Δs y (k-1)=F Δs u (k-d-1)
Wherein, Δ is difference operator, and F, H are to know the parameter for obtaining by debating in 1.1 steps, and d is time lag item；Δ y (k) table
Show the output increment at k moment, Δ u (k-d-1) represents the control input increment at k-d-1 moment；
1.3 according to the difference equation in step 1.2, sets up catalytic cracking Crude Oil preheating temperature status of processes spatial mode
Type, form is as follows：
Wherein,
Cm=(100 ... 0)
Wherein, Δ x (k) represents the state variable at k moment, AmIt is (d+1) × (d+1) rank matrixes, BmIt is the rank square of (d+1) × 1
Battle array, CmIt is 1 × (d+1) rank matrix；
1.4 state-space models that will be obtained in step 1.3 are converted to comprising state variable, output tracking error and setting
It is worth the Extended state space model of variable, form is as follows：
Z (k+1)=Az (k)+B Δ u (k)+C Δs r (k+1)
Setting value be set to 1 it is constant when, Δ r (k+1)=0, Extended state space model is reduced to：
Z (k+1)=Az (k)+B Δs u (k)
In formula,
E (k)=r (k)-y (k)
Wherein, z (k) represents the quantity of state at k moment, and r (k) is the idea output at k moment, and e (k) is that k moment ideals are defeated
The difference gone out between value and real output value.
Step 2 determines the weighting matrices Q in object function using improved MOEA/D-DE algorithms, as shown in Fig. 2 tool
Body is：
The 2.1 object function J for choosing catalytic cracking crude oil preheating temperature process, form is as follows：
Q=Qf=diag { qjy1,qjy2,…,qjyn,qju1,…,qjum-1,qje, Q>0,R>0,Qf>0 represents state mistake respectively
The weighting matrix of journey, weighted input matrix and terminal weighting matrix, [k0,kf] it is optimization time domain, qj1,qj2,…qjum-1Represented
The weight coefficient of journey state, qjeIt is the weight coefficient of output tracking error, q is taken in present embodimentje=1；
2.2 take real coding mode taken in n-dimensional space H good point set method it is as follows：1. set initial population scale as
N, chromosome2. the good point set containing N number of point is made in n-dimensional space,
Pn(i)={ { r1×i},{r2×i},…,{rn× i }, i=1,2 ..., n }, wherein takingP is the least prime for meeting (p-n)/2 >=n；3. whenDuring for real coding, if value
Scope isTake
；
2.3 introduce the initial population X={ x that the theoretical initialization size of good point set is N1,x2,…,xN, each xnAll represent
One by all elements { q in Qjy1,qjy2,…,qjyn,qju1,…,qjum-1,qjeComposition population at individual；Initialization is outside to plant
Group EP is empty set, uses it for storing Pareto non-domination solutions during optimal solution is searched for.
2.4 respectively according to regulating time tsEach individual target function value F is calculated with overshoot σn(x), according to index
tsThe f for drawingtsX () is used as target function value FnFirst aim value, the f drawn according to index σosX () is used as target letter
Numerical value FnSecond target value：
Fn(x)=[fts(x), fos(x)]
2.5 initialization ideal point Z*；Wherein It is first aim function ftsX () up to the present looks for
The minimum value for arriving,It is second target function fosX minimum value that () is up to the present found；
2.6 by multi-objective problem F (x)=min (fts(x), fos(x)) resolve into N number of son with Chebyshev's decomposition method and ask
Topic, the object function of specific each subproblem is as follows：
In above formula,It is the vector of the current optimal value composition of current reference point, i.e. each target,
The value of m is 2 in present embodiment；gte(x|λj,z*) represent j-th object function of subproblem；It is j-th son
The weights of problem,X represents a population at individual, fiX () represents j-th subproblem
Individual corresponding i-th object function value；
2.7 according to each subproblem gte(x|λj,z*) weights λj, calculate the T neighbours subproblem of each subproblem
B (j)=(Bj1,Bj2,…,BjT), use BjiJ-th i-th neighbours subproblem of subproblem is represented, T=is taken in present embodiment
20, i=1,2 ..., T；
2.8 couples of each subproblem gte(x|λj,z*) corresponding individuality carries out differential evolution (DE) operation and obtain interim
Body y；
2.9 couples of temporary individual y carry out multinomial variation (PLM) operation, obtain individual y ＇；
2.10 two target function value F for calculating new temporary individual y ＇j＇, if for each j=1,2 ..., m hasThen update ideal point z*；
2.11 pass through new temporary individual PjAnd its desired value F (t+1)j＇ updates j-th all T neighbour of subproblem
Subproblem B (j) corresponding individual and each individual corresponding target function value respectively, and update and stored in outside population EP
Non-domination solution；
2.12 reach maximum iteration G, and then algorithm terminates, and provides one group of Pareto optimal solutions { X of weighting matrices Qp,1
≤ p≤N }, G=200 is given in this embodiment；
2.13 being actually needed according to production scene, the Pareto optimal solution that selecting step 2.11 is obtained is used as optimal
Satisfactory solution, you can obtain optimal weighting matrices Q；
Step 3 design functions are in the PFC- of the improved MOEA/D-DE algorithm optimizations crude oil warm of controlled device
PIPD controllers, specific method is：
3.1 take control time domain M=1, and the state variable z (k+P) after current k moment P walks is represented by
Z (k+P)=APz(k)+αΔu(k)+θΔR
Wherein
P is prediction time domain, M<P, A represent (d+1) × (d+1) rank state matrixs, and B represents the rank input matrix of (d+1) × 1, C
1 × (d+1) rank output matrix is represented, α is represented by AP-1Be multiplied constituted matrix, A with BP-1Represent that P-1 matrix A is multiplied, θ
The matrix relationship formula that state matrix A is multiplied constituted with output matrix C is represented, Δ R is represented by Δ r (k+j) (j=1 ..., P) institute
The matrix of composition, r (k+j) represents the setting value of controlled device, and β is the softening coefficient of reference locus, and c (k) is according to controlled right
The setting value of setting is needed as practical operation, Δ r (k+j) represents the setting value knots modification at k+j moment, in this embodiment,
Make c (k)=1；
The 3.2 object function J for choosing catalytic cracking crude oil preheating temperature process, form is as follows：
Q=Qf=diag { qjy1,qjy2,…,qjyn,qju1,…,qjum-1,qje, Q is improved MOEA/D-DE algorithm optimizations
The weighting matrix for obtaining；
PI-PD controllers in the method can be expressed as an incremental form：
U (k)=u (k-1)+Kp(k)(es(k)-es(k-1))+Ki(k)es(k)
-Kf(k)(y(k)-y(k-1))-Kd(y(k)-2y(k-1)+y(k-2))
=u (k-1)+Kp(k)(es(k)-es(k-1))+Ki(k)es(k)-Kf(k)(y(k)-y(k-1))
-Kd(y(k)-y(k-1))+Kd(y(k-1)-y(k-2))
es(k)=c (k)-y (k)
C (k) is the setting value of controlled device, and y (k) is real output value, esK () represents that k moment setting value is defeated with actual
The difference gone out between value, Kp(k),Ki(k),Kf(k),KdK () represents the ratio of the forward path of k moment PI-PD controllers respectively
Coefficient, the integral coefficient of forward path, the proportionality coefficient of feedback loop, the differential coefficient of feedback loop；
U (k) is expressed as into matrix form abbreviation can obtain：U (k)=u (k-1)+wT(k)E(k)
In above formula
To object function J derivations and it is 0, byOptimal control law can be obtained.
A limits of error δ is defined, works as esWhen () is less than or equal to limits of error δ k, it is considered as system and has reached
To stabilization and Kp(k),Ki(k),Kf(k),KdK () no longer changes, specific explanations are as follows：
When | es(k) | during≤δ
When | es(k)|>During δ
Obtaining the parameter K of PI-PD controllersp(k),Ki(k),Kf(k),KdAfter (k), just can be calculated by step 3.2
To controlled quentity controlled variable u (k) act on controlled device so as to being controlled to crude oil preheating temperature, and circulate according to this.
It is seen that, the present invention is entered by setting up the steps such as real-time data base, model foundation, PREDICTIVE CONTROL, algorithm optimization
And the crude oil Investigation On The Preheating Temperature Control in a kind of improved MOEA/D-DE algorithm optimizations catalytic cracking process is established, utilize
The method can effectively improve the control accuracy and stability of system.
Claims (5)
1. a kind of catalytic cracking process Crude Oil Investigation On The Preheating Temperature Control, it is characterised in that comprise the following steps：
(1) by bonding state variable, output tracking error and setting value variable, the preheating of catalytic cracking process Crude Oil is set up
Extended state space model；
(2) it is introduced into good point set theoretical as the weighting matrix determined using improved MOEA/D-DE algorithms in object function；
(3) PI-PD controller of the design with Predictive function control performance is controlled to crude oil preheating temperature.
2. catalytic cracking process Crude Oil Investigation On The Preheating Temperature Control according to claim 1, it is characterised in that the step
Suddenly (1) includes following sub-step：
(11) local increment is set up using the method for Real-time data drive；
(12) difference equation model of catalytic cracking Crude Oil preheating temperature process is set up according to local increment；
(13) catalytic cracking Crude Oil preheating temperature status of processes spatial model is set up according to difference equation model.
3. catalytic cracking process Crude Oil Investigation On The Preheating Temperature Control according to claim 2, it is characterised in that the step
Suddenly also include that the state-space model that will be obtained is converted to comprising state variable, output tracking error and setting value variable after (13)
Extended state space model the step of.
4. catalytic cracking process Crude Oil Investigation On The Preheating Temperature Control according to claim 1, it is characterised in that the step
Suddenly (2) specifically include following sub-step：
(21) object function of catalytic cracking crude oil preheating temperature process is chosen；
(22) method that good point set theory takes good point set in n-dimensional space is described briefly；
(23) it is the initial population of N to introduce the theoretical initialization size of good point set, and is initialized for storing Pareto non-domination solutions
Outside population be empty set；
(24) respectively according to each individual target function value in regulating time and overshoot calculating initial population, wherein, according to
The target function value that the target function value that regulating time is calculated is calculated as first object value, according to overshoot is used as second
Desired value；
(25) initialize ideal point, the ideal point be minimum value in the first object value in population corresponding to each individuality and
Minimum value in second desired value；
(26) multi-objective problem equally distributed N number of weight vector in Chebyshev's decomposition method is resolved into N number of subproblem, and
Determine the object function of each subproblem；
(27) for each determination subproblem weight vector, calculate other weight vectors with determine subproblem Euclid away from
From T neighbours subproblem for drawing each subproblem；
(28) differential evolution operator is carried out to the corresponding individuality of object function of each subproblem and obtains temporary individual, and to facing
When individuality carry out multinomial mutation operation, obtain make a variation temporary individual；
(29) the first object value and the second desired value of variation temporary individual are calculated, if the optimal value of each target is both less than
The value of the individual corresponding object function of each subproblem then updates ideal point；
(210) it is right respectively to update all T neighbours subproblems of j-th subproblem by make a variation temporary individual and its desired value
The individuality answered and each individual corresponding target function value, and update the non-domination solution stored in outside population；
(211) reach maximum iteration then to terminate, provide one group of Pareto optimal solution of weighting matrix.
5. catalytic cracking process Crude Oil Investigation On The Preheating Temperature Control according to claim 1, it is characterised in that the step
Suddenly (3) are specially：Control time domain is chosen, the weighting matrix that will be obtained applies to the target of catalytic cracking crude oil preheating temperature process
In function, and to the object function derivation and it is 0, obtains optimal control law, define a limits of error, when is
When the error of system is less than or equal to the limits of error, the system that is considered as has reached stabilization, obtains the parameter of PI-PD controllers,
Parameter substitution PI-PD controllers are controlled to crude oil preheating temperature.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113325896B (en) * | 2021-05-31 | 2022-03-01 | 浙江工业大学 | Multi-target temperature optimization control method of intelligent retail machine |
| CN114237035A (en) * | 2021-12-17 | 2022-03-25 | 杭州司南智能技术有限公司 | Prediction function control method based on simplified extended state space model |
| CN116165891A (en) * | 2023-02-10 | 2023-05-26 | 江苏吉泰科电气有限责任公司 | Method for restraining oil pressure overshoot by motor control and computer readable storage medium |
| CN116165891B (en) * | 2023-02-10 | 2023-11-14 | 江苏吉泰科电气有限责任公司 | Method for restraining oil pressure overshoot by motor control and computer readable storage medium |
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