CN106773646B - 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 PDF

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CN106773646B
CN106773646B CN201611113422.5A CN201611113422A CN106773646B CN 106773646 B CN106773646 B CN 106773646B CN 201611113422 A CN201611113422 A CN 201611113422A CN 106773646 B CN106773646 B CN 106773646B
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crude oil
value
catalytic cracking
preheating temperature
individual
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CN106773646A (en
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叶婵峰
沈波
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Donghua University
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00Automatic controllers
    • G05B11/01Automatic controllers electric
    • G05B11/36Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42Automatic 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.
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D23/00Control of temperature
    • G05D23/19Control of temperature characterised by the use of electric means
    • G05D23/1919Control of temperature characterised by the use of electric means characterised by the type of controller

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)

Abstract

The present invention relates to a kind of catalytic cracking process Crude Oil Investigation On The Preheating Temperature Controls, it specifically includes: first by bonding state variable, output tracking error and setting value variable, establish the Extended state space model of catalytic cracking process Crude Oil preheating, it is shaken preferably to handle hyperharmonic caused by the unknown disturbance being likely to occur in crude oil warm, carry out the weighting matrix in optimization object function followed by improved MOEA/D-DE algorithm, finally designs a kind of PI-PD (PFC-PIPD) controller with Predictive function control performance.The method increase the accuracy and speeds of temperature tracking, have good control performance.

Description

A kind of catalytic cracking process Crude Oil Investigation On The Preheating Temperature Control
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 technique
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 reaction process.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 the process of a large dead time, when input step signal, can often generate biggish hyperharmonic concussion, It influences to control the preheating temperature of crude oil.Therefore the control performance for proposing that new control method improves Crude Oil Pre-heating System of Atmospheric is urgent It needs.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of catalytic cracking process Crude Oil Investigation On The Preheating Temperature Control, It is able to suppress the hyperharmonic concussion of warm appearance, improves control performance.
The technical solution adopted by the present invention to solve the technical problems is: providing a kind of catalytic cracking process Crude Oil preheating Temprature control method, comprising the following steps:
(1) by bonding state variable, output tracking error and setting value variable, it is pre- to establish catalytic cracking process Crude Oil The Extended state space model of heat;
(2) good point set theory is introduced into as the weighting matrix determined in objective function using improved MOEA/D-DE algorithm;
(3) design controls crude oil preheating temperature with the PI-PD controller of Predictive function control performance.
The step (1) includes following sub-step:
(11) local increment is established using the method for Real-time data drive;
(12) difference equation model of catalytic cracking Crude Oil preheating temperature process is established according to local increment;
(13) state-space model of catalytic cracking Crude Oil preheating temperature process is established according to difference equation model.
It further include that the state-space model that will be obtained is converted to comprising state variable, output tracking mistake after the step (13) The step of Extended state space model of difference and setting value variable.
The step (2) specifically includes following sub-step:
(21) objective function of catalytic cracking crude oil preheating temperature process is chosen;
(22) method that good point set is taken in n-dimensional space to good point set theory is described briefly;
(23) initial population that good point set theory initialization size is N is introduced, and is initialized for storing the non-branch of Pareto External population with solution is empty set;
(24) target function value of each individual in initial population is calculated according to regulating time and overshoot respectively, wherein According to the calculated target function value of regulating time as first object value, according to the calculated target function value conduct of overshoot Second target value;
(25) ideal point is initialized, the ideal point is the minimum in population in first object value corresponding to each individual Minimum value in value and the second target value;
(26) multi-objective problem N number of son is resolved into N number of weight vector equally distributed in Chebyshev's decomposition method to ask Topic, and determine the objective function of each subproblem;
(27) for the weight vector of each subproblem determined, in calculating other weight vectors and determining that the Europe of subproblem is several Obtain the T neighbours subproblem that distance obtains each subproblem;
(28) individual corresponding to the objective function of each subproblem carries out differential evolution operator and obtains temporary individual, and Multinomial mutation operation is carried out to temporary individual, obtains variation temporary individual;
(29) the first object value and the second target value for calculating variation temporary individual, if the optimal value of each target Value less than the corresponding objective function of individual of each subproblem then updates ideal point;
(210) all T neighbours subproblems point of j-th of subproblem are updated by variation temporary individual and its target value Not corresponding individual and the corresponding target function value of each individual, and update the non-domination solution stored in external population;
(211) reaching maximum number of iterations then terminates, and provides one group of Pareto optimal solution of weighting matrix.
The step (3) specifically: choose control time domain, obtained weighting matrix is applied into the preheating of catalytic cracking crude oil In the objective function of temperature course, and to the objective function derivation and make its 0, obtain optimal control law, define one most Big allowable error, when the error of system is less than or equal to the limits of error, the system of being considered as has reached stabilization, obtains PI- The parameter of PD control device controls crude oil preheating temperature parameter substitution PI-PD controller.
Beneficial effect
Due to the adoption of the above technical solution, compared with prior art, the present invention having the following advantages that and actively imitating Fruit: the present invention establishes one kind and changes by establishing real-time data base, model foundation, PREDICTIVE CONTROL, algorithm optimization Into MOEA/D-DE algorithm optimization catalytic cracking process in crude oil Investigation On The Preheating Temperature Control, can effectively be mentioned using this method The control precision and stability of high system.
Detailed description of the invention
Fig. 1 is the crude oil preheating temperature control system architecture figure of the RFC-PIPD of improved MOEA/D-DE algorithm optimization;
Fig. 2 is the weighting matrices Q flow chart determined in objective function using improved MOEA/D-DE algorithm.
Specific embodiment
Present invention will be further explained below with reference to specific examples.It should be understood that these embodiments are merely to illustrate the present invention Rather than it limits the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, those skilled in the art Member can make various changes or modifications the present invention, and such equivalent forms equally fall within the application the appended claims and limited Range.
Embodiments of the present invention are related to a kind of catalytic cracking process Crude Oil Investigation On The Preheating Temperature Control, for inhibiting pre- The hyperharmonic concussion that thermal process occurs, improves control performance.The present invention pass through first bonding state variable, output tracking error and Setting value variable establishes the Extended state space model of catalytic cracking process Crude Oil preheating, preferably to handle crude oil preheating Hyperharmonic is shaken caused by the unknown disturbance being likely to occur in the process, is optimized followed by improved MOEA/D-DE algorithm Weighting matrix in objective function finally designs a kind of PI-PD (PFC-PIPD) controller with Predictive function control performance. The method increase the accuracy and speeds of temperature tracking, have good control performance.The control system established according to the present invention As shown in Figure 1.
The step of the method for the present invention includes:
Step 1 establishes the Extended state space model of controlled device, specifically:
1.1 establish local increment using the method for Real-time data drive: establishing the real time execution of crude oil warm Database acquires real-time process operation data by data acquisition device, using the real-time process operation data of acquisition as data The sample set of drivingWherein,Indicate the input value of i-th group of technological parameter, y (i) indicates i-th group of technique ginseng Several output valves, N indicate sampling sum;It is established based on the real-time process operation data set of the object and is based on least square The controlled local autoregressive moving-average model of the discrete differential equation form of algorithm:
Wherein, yL(k) output valve of the technological parameter of k moment local increment is indicated,It indicates to pass through what identification obtained The set of model parameter, F and H are the parameter obtained by debating knowledge,Indicate the last time of the technological parameter of local increment The set for outputting and inputting data, u (k-d-1) indicates that the corresponding control variable of k-d-1 etching processes parameter, d+1 are practical The time lag of process, Τ are the transposition symbol of matrix;
The identification means of use are as follows:
Wherein,It is two matrixes in parameter identification with P,γ ∈ (0,1) indicate forget because Son, I indicate unit matrix;
1.2, using coefficient obtained in step 1.1, establish the difference equation mould of catalytic cracking Crude Oil preheating temperature process Type, form are as follows:
Δ y (k)+H Δ y (k-1)=F Δ u (k-d-1)
Wherein, Δ is difference operator, and F, H are by debating the parameter known and obtained in 1.1 steps, and d is time lag item;Δ y (k) table Show that the output increment at k moment, Δ u (k-d-1) indicate that the control at k-d-1 moment inputs increment;
1.3, according to the difference equation in step 1.2, establish the state space mould of catalytic cracking Crude Oil preheating temperature process Type, form are as follows:
Wherein,
Cm=(100 ... 0)
Wherein, Δ x (k) indicates the state variable at k moment, AmFor (d+1) × (d+1) rank matrix, BmFor (d+1) × 1 rank square Battle array, CmFor 1 × (d+1) rank matrix;
1.4 are converted to state-space model obtained in step 1.3 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 Δ r (k+1)
Setting value be set as 1 it is constant when, Δ r (k+1)=0, Extended state space model simplify are as follows:
Z (k+1)=Az (k)+B Δ u (k)
In formula,
E (k)=r (k)-y (k)
Wherein, z (k) indicates that the quantity of state at k moment, r (k) are the idea output at k moment, and e (k) is that k moment ideal is defeated Difference between value and real output value out.
Step 2 determines the weighting matrices Q in objective function using improved MOEA/D-DE algorithm, as shown in Fig. 2, tool Body is:
2.1 choose the objective function J of catalytic cracking crude oil preheating temperature process, and form is as follows:
Q=Qf=diag { qjy1,qjy2,…,qjyn,qju1,…,qjum-1,qje, Q > 0, R > 0, Qf> 0 respectively indicates state mistake Weighting matrix, weighted input matrix and the terminal weighting matrix of journey, [k0,kf] it is optimization time domain, qj1,qj2,…qjum-1It indicated The weight coefficient of journey state, qjeFor the weight coefficient of output tracking error, q is taken in present embodimentje=1;
2.2 take real coding mode to take good point set in n-dimensional space H method it is as follows: 1. set initial population scale as N, chromosome2. make the good point set containing N number of point 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. whenWhen for real coding, if value Range isIt takes
?;
2.3 introduce the initial population X={ x that good point set theory initialization size is N1,x2,…,xN, each xnAll represent One by all elements { q in Qjy1,qjy2,…,qjyn,qju1,…,qjum-1,qjeComposition population at individual;External kind of initialization Group EP is empty set, and storage Pareto non-domination solution is used for during searching for optimal solution.
2.4 respectively according to regulating time tsThe target function value F of each individual is calculated with overshoot σn(x), according to index tsThe f obtainedts(x) it is used as target function value FnFirst aim value, the f obtained according to index σos(x) it 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 fts(x) it up to the present looks for The minimum value arrived,It is second target function fos(x) minimum value up to the present found;
2.6 by multi-objective problem F (x)=min (fts(x), fos(x)) N number of son is resolved into Chebyshev's decomposition method to ask The objective function of topic, each specific subproblem is as follows:
In above formula,Current reference point, i.e., each target it is current optimal value composition vector, The value of m is 2 in present embodiment;gte(x|λj,z*) indicate j-th of subproblem objective function;It is j-th of son The weight of problem,X indicates a population at individual, fi(x) j-th of subproblem is indicated Corresponding i-th of the objective function of individual value;
2.7 according to each subproblem gte(x|λj,z*) weight λj, calculate the T neighbours subproblem of each subproblem B (j)=(Bj1,Bj2,…,BjT), use BjiIt indicates i-th of neighbours subproblem of j-th of subproblem, takes T=in present embodiment 20, i=1,2 ..., T;
2.8 couples of each subproblem gte(x|λj,z*) corresponding individual 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 calculate two target function value F of new temporary individual y 'j', if for each j=1,2 ..., m hasThen update ideal point z*
2.11 pass through new temporary individual Pj(t+1) and its target value Fj' updates all T neighbours of j-th of subproblem The corresponding individual of subproblem B (j) and the corresponding target function value of each individual, and update and stored in external population EP Non-domination solution;
2.12 reach maximum number of iterations G, and then algorithm terminates, and provides one group of Pareto optimal solution { X of weighting matrices Qp,1 ≤ p≤N }, G=200 is given in this embodiment;
2.13 according to the actual needs of production scene, and the Pareto optimal solution that selecting step 2.11 obtains is as optimal Optimal weighting matrices Q can be obtained in satisfactory solution;
Step 3 design function is in the PFC- of the improved MOEA/D-DE algorithm optimization crude oil warm of controlled device PIPD controller, specific method are:
3.1 take control time domain M=1, and the state variable z (k+P) after step of current k moment P is represented by
Z (k+P)=APz(k)+αΔu(k)+θΔR
Wherein
P is prediction time domain, and M < P, A indicate that (d+1) × (d+1) rank state matrix, B indicate (d+1) × 1 rank input matrix, C Indicate that 1 × (d+1) rank output matrix, α are indicated by AP-1Be multiplied constituted matrix with B, AP-1Indicate that P-1 matrix A is multiplied, θ Indicate the matrix relationship formula that state matrix A is multiplied constituted with output matrix C, Δ R is indicated by Δ r (k+j) (j=1 ..., P) institute The matrix of composition, r (k+j) indicate the setting value of controlled device, and β is the softening coefficient of reference locus, and c (k) is according to controlled pair As the setting value that practical operation needs to set, Δ r (k+j) indicates the setting value knots modification at k+j moment, in this embodiment, Enable c (k)=1;
3.2 choose the objective function J of catalytic cracking crude oil preheating temperature process, and form is as follows:
Q=Qf=diag { qjy1,qjy2,…,qjyn,qju1,…,qjum-1,qje, Q is improved MOEA/D-DE algorithm optimization Obtained weighting matrix;
PI-PD controller 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, es(k) indicate that k moment setting value and reality are defeated Difference between value out, Kp(k),Ki(k),Kf(k),Kd(k) ratio of the forward path of k moment PI-PD controller is respectively indicated Coefficient, the integral coefficient of forward path, the proportionality coefficient of feedback loop, feedback loop differential coefficient;
U (k), which is expressed as matrix form abbreviation, to be obtained: u (k)=u (k-1)+wT(k)E(k)
In above formula
To objective function J derivation and make its 0, byOptimal control law can be obtained.
A limits of error δ is defined, e is worked ass(k) it when being less than or equal to limits of error δ, is considered as system and has reached To stable and Kp(k),Ki(k),Kf(k),Kd(k) no longer change, specific explanations are as follows:
When | es(k) | when≤δ
When | es(k) | when > δ
In the parameter K for obtaining PI-PD controllerp(k),Ki(k),Kf(k),Kd(k) it after, can be calculated by step 3.2 To control amount u (k) act on controlled device to controlling crude oil preheating temperature, and recycle according to this.
It is not difficult to find that the present invention is by establishing real-time data base, model foundation, PREDICTIVE CONTROL, algorithm optimization, into And the crude oil Investigation On The Preheating Temperature Control in a kind of improved MOEA/D-DE algorithm optimization catalytic cracking process is established, it utilizes This method can effectively improve the control precision and stability of system.

Claims (4)

1. a kind of catalytic cracking process Crude Oil Investigation On The Preheating Temperature Control, which comprises the following steps:
(1) by bonding state variable, output tracking error and setting value variable, the preheating of catalytic cracking process Crude Oil is established Extended state space model;
(2) good point set theory is introduced into as the weighting matrix determined in objective function using improved MOEA/D-DE algorithm;Specifically Include:
(21) objective function of catalytic cracking crude oil preheating temperature process is chosen;
(22) method that good point set is taken in n-dimensional space to good point set theory is described briefly;
(23) initial population that good point set theory initialization size is N is introduced, and is initialized for storing Pareto non-domination solution External population be empty set;
(24) target function value of each individual in initial population is calculated according to regulating time and overshoot respectively, wherein according to The calculated target function value of regulating time is as first object value, according to the calculated target function value of overshoot as second Target value;
(25) initialize ideal point, the ideal point be population in it is each individual corresponding to first object value in minimum value and Minimum value in second target value;
(26) multi-objective problem is resolved into N number of subproblem with N number of weight vector equally distributed in Chebyshev's decomposition method, and Determine the objective function of each subproblem;
(27) for each determine subproblem weight vector, calculate other weight vectors and determine subproblem Euclid away from From T neighbours subproblem for obtaining each subproblem;
(28) individual corresponding to the objective function of each subproblem carries out differential evolution operator and obtains temporary individual, and to facing When individual carry out multinomial mutation operation, obtain variation temporary individual;
(29) the first object value and the second target value for calculating variation temporary individual, if the optimal value of each target is both less than The value of the corresponding objective function of individual of each subproblem then updates ideal point;
(210) right respectively come all T neighbours subproblems for updating j-th of subproblem by variation temporary individual and its target value The corresponding target function value of individual and each individual answered, and update the non-domination solution stored in external population;
(211) reaching maximum number of iterations then terminates, and provides one group of Pareto optimal solution of weighting matrix;
(3) design controls crude oil preheating temperature with the PI-PD controller of Predictive function control performance.
2. catalytic cracking process Crude Oil Investigation On The Preheating Temperature Control according to claim 1, which is characterized in that the step Suddenly (1) includes following sub-step:
(11) local increment is established using the method for Real-time data drive;
(12) difference equation model of catalytic cracking Crude Oil preheating temperature process is established according to local increment;
(13) state-space model of catalytic cracking Crude Oil preheating temperature process is established according to difference equation model.
3. catalytic cracking process Crude Oil Investigation On The Preheating Temperature Control according to claim 2, which is characterized in that the step It suddenly further 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, which is characterized in that the step Suddenly (3) specifically: choose control time domain, obtained weighting matrix is applied to the target of catalytic cracking crude oil preheating temperature process In function, and to the objective function derivation and make its 0, obtain optimal control law, define a limits of error, when being When the error of system is less than or equal to the limits of error, the system of being considered as has reached stabilization, obtains the parameter of PI-PD controller, Parameter substitution PI-PD controller controls crude oil preheating temperature.
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