CN106774243B - PID performance estimating method - Google Patents
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- CN106774243B CN106774243B CN201611095909.5A CN201611095909A CN106774243B CN 106774243 B CN106774243 B CN 106774243B CN 201611095909 A CN201611095909 A CN 201611095909A CN 106774243 B CN106774243 B CN 106774243B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0283—Predictive maintenance, e.g. involving the monitoring of a system and, based on the monitoring results, taking decisions on the maintenance schedule of the monitored system; Estimating remaining useful life [RUL]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0286—Modifications to the monitored process, e.g. stopping operation or adapting control
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Abstract
The invention proposes PID performance estimating methods, belong to automation control area, creation data and data Quality Codes including obtaining control loop, handled to obtain treated creation data sequence to creation data according to quality of data code, the updated response time is obtained in conjunction with preset process model, and then performance evaluation parameter corresponding with control loop is obtained, the performance rate of control loop is determined according to performance evaluation parameter.By obtaining a variety of data including the measured value of control loop, setting value, operating value, and construct the process model for being updated to the response time in control loop, it is assessed based on performance of the data got to control loop, simultaneously can a variety of data for getting of Kernel-based methods models coupling update is iterated to evaluation criteria, it is can reduce compared with the existing technology because failing to carry out a possibility that manual maintenance causes control performance to deteriorate in time, reduces control loop and the probability of security risk occur.
Description
Technical field
The invention belongs to automation control areas, in particular to PID performance estimating method.
Background technique
90% or more automatic control loop has been all made of PID (proportion- ratio, integral- product according to statistics
Divide, differential- differential) control strategy.With stepping up for industrial automation level, control system in a distributed manner
(Distributed Control System, DCS) is that the extensive Distributed Control System of core has become industrial production indispensability.
With popularizing for Distributed Control System DCS, a large amount of pid control circuit is flooded in modern industry, these circuits
The automatic running of pusher's production.These circuits are generally all with good performance in initial operation stage, but if cannot be regular
Maintenance, performance reduces passage at any time.The bad validity that will reduce control loop of control loop performance, in turn
The problems such as may cause product yield reduction, substandard product and operating cost increase.But usually exist in Large processes device
The control loop that a large amount of dynamic characteristics change frequent occurrence, finds that the circuit of these penalties needs to put into a large amount of people in time
Power resource, and corresponding service engineer is seldom in factory, is unable to reach timely discovery, the ideal maintenance shape accurately safeguarded
State, the deterioration step by step for the control performance that can only leave bring security risk to the safety and steady operation of device.
Summary of the invention
In order to solve shortcoming and defect existing in the prior art, the present invention provides for extend service life of equipment,
Improve the PID performance estimating method of production process safety.
In order to reach above-mentioned technical purpose, the present invention provides PID performance estimating method, the appraisal procedure, comprising:
The creation data and quality of data code corresponding with creation data for obtaining control loop, according to quality of data code
Bad value processing is carried out to creation data, the creation data sequence that obtains that treated；
According to treated creation data sequence, carried out more in conjunction with response time of the preset process model to control loop
Newly, the updated response time is obtained；
Performance evaluation parameter corresponding with control loop is obtained in conjunction with the updated response time, according to performance evaluation parameter
Determine the performance rate of control loop；
Wherein, creation data includes measured value, setting value and the operating value of control loop.
Optionally, the creation data and quality of data code corresponding with creation data for obtaining control loop, according to
Quality of data code carries out bad value processing to creation data, the creation data sequence that obtains that treated, comprising:
Obtain measured value PV, setting value SV and the operating value MV in the creation data of control loop.Extract creation data
Creation data is divided into N number of data point according to moment value t, obtains the production number being made of N number of data point by value t at the time of middle
According to sequence PV (t), SV (t) and MV (t)；
If bad value occurs in quality of data code, determine corresponding with there is the quality of data code of bad value positioned at creation data sequence
Error data in column is replaced processing to error data, the creation data sequence that obtains that treated.
It is optionally, described that processing is replaced to error data, comprising:
The preceding a data and rear a data for obtaining error data determine being averaged for preceding a data and rear a data
Value, replaces with average value for error data.
Optionally, the basis treated creation data sequence, in conjunction with preset process model to the sound of control loop
It is updated between seasonable, obtains the updated response time, including
Preset process model output=Minput is constructed, when wherein output represents the reality output of control loop
Between sequence, input represents the input time sequence of control loop, and M represents the process control function of control loop, M=f (k, T,
σ), wherein k represents loop gain, and T is time constant, and σ indicates sluggish；
Establish objective optimization function
Objective optimization function is solved, k, T, the σ for enabling objective optimization function obtain minimum value are obtained, whereinIt represents
The ideal input time sequence of control loop, y represent the reality output time series of control loop；
Based on T, σ after solution, the updated response time is obtained.
Optionally, the performance evaluation parameter, including evaluation of dynamic parameter and static properties evaluation parameter.
Optionally, the combination updated response time obtains performance evaluation parameter corresponding with control loop, according to
Performance evaluation parameter determines the performance rate of control loop, comprising:
According to the updated response time, rise time tr, regulating time ts and overshoot including control loop are obtained
Measure the evaluation of dynamic parameter including σ %；
Evaluation of dynamic parameter and default dynamic performance parameter threshold value are compared, according to comparing result, determine control
Performance rate of the circuit processed in terms of dynamic property；
Optionally, the combination updated response time obtains performance evaluation parameter corresponding with control loop, according to
Performance evaluation parameter determines the performance rate of control loop, comprising:
According to the updated response time, to treated, creation data sequence carries out frequency segmentation, to the life after segmentation
It produces data sequence and is filtered decomposition, obtain low-frequency range creation data sequence and high band creation data sequence after decomposing；
Determine that low-frequency range creation data sequence and high band creation data sequence in the variance yields of each frequency range, are based on variance yields
Obtain high band creation data and the energy ratio comprising low-frequency range creation data, the conceptual data of high band creation data；
Energy ratio and default steady-state performance parameter threshold are compared, according to comparing result, determine that control loop exists
Performance rate in terms of steady-state performance.
Optionally, the appraisal procedure, further includes:
The acquisition experience response time.
Optionally, the appraisal procedure, further includes:
According to treated, creation data sequence verifies the experience response time；
If verification result shows that the error that the experience response time generates is lower than preset threshold, rule of thumb the response time
Expand area's performance evaluation parameter corresponding with control loop, the performance rate of control loop is determined according to performance evaluation parameter.
Optionally, the appraisal procedure, further includes:
When running PID performance estimating method for the first time, after the creation data sequence that obtains that treated, in conjunction with initial setting
Response time, obtain corresponding with control loop performance evaluation parameter, the property of control loop determined according to performance evaluation parameter
It can grade；
Control loop is adjusted based on performance evaluation parameter, the response in conjunction with preset process model to control loop
Time is updated, and obtains the updated response time.
Technical solution provided by the invention has the benefit that
By obtaining a variety of data including the measured value of control loop, setting value, operating value, and construct use
In the process model being updated to the response time in control loop, based on the data got to the performance of control loop into
Row assessment, at the same can a variety of data for getting of Kernel-based methods models coupling updates is iterated to evaluation criteria, enable and controlling
The performance in circuit maintains reasonable standard, and can reduce causes to control because failing to carry out manual maintenance in time compared with the existing technology
A possibility that penalty processed, reduces control loop and the probability of security risk occurs.
Detailed description of the invention
It, below will be to attached drawing needed in embodiment description in order to illustrate more clearly of technical solution of the present invention
It is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, general for this field
For logical technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the flow diagram of PID performance estimating method provided by the invention；
Fig. 2 is dynamic performance index schematic diagram provided by the invention.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present invention apparent, below in conjunction with the embodiment of the present invention
In attached drawing, the technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Embodiment one
The present invention provides PID performance estimating methods, and this method is for DCS internal dynamic tune in industrial automation process
It is whole, corresponding time model is mainly preset in the control loop including temperature, liquid level, flow.It introduces during the adjustment
Comprising the creation data including control loop measured value, setting value, operating value, and process model is constructed, is used for basis
Creation data is updated the response time of DCS, to be controlled according to the updated response time process, to reach
To the purpose for maintaining preferable working condition.
As shown in Figure 1, the PID performance estimating method, specifically includes:
101, the creation data and quality of data code corresponding with creation data for obtaining control loop, according to data matter
It measures code and bad value processing is carried out to creation data, the creation data sequence that obtains that treated；
102, according to treated creation data sequence, in conjunction with preset process model to response time of control loop into
Row updates, and obtains the updated response time；
103, performance evaluation parameter corresponding with control loop is obtained in conjunction with the updated response time, according to performance evaluation
Parameter determines the performance rate of control loop；
Wherein, creation data includes measured value, setting value and the operating value of control loop.
In the present embodiment, the creation data for obtaining control loop first, according to the quality of data corresponding with creation data
Code processing is replaced to certain values in creation data, obtain can complete characterization control loop state treated produce
Data sequence.Then combine preset process model and treated creation data sequence to response time of control loop into
Row updates, and gets the updated response time, is then commented according to the performance that the updated response time gets control loop
Valence parameter, the final performance rate for determining control loop.
It include measured value, the setting value, behaviour of control loop by acquisition during determining control loop performance rate
A variety of data including work value, and construct the process model for being updated to the response time in control loop, base
It is assessed in performance of the data got to control loop, while being capable of a variety of numbers for getting of Kernel-based methods models coupling
It is iterated update according to evaluation criteria, enables the performance of control loop maintain reasonable standard, compared with the existing technology can
It reduces because failing to carry out a possibility that manual maintenance causes control performance to deteriorate in time, reduces control loop and security risk occur
Probability.
Specifically, proposing the method for obtaining treated creation data sequence in a step 101, comprising:
Obtain measured value PV, setting value SV and the operating value MV in the creation data of control loop.Extract creation data
Creation data is divided into N number of data point according to moment value t, obtains the production number being made of N number of data point by value t at the time of middle
According to sequence PV (t), SV (t) and MV (t)；
If bad value occurs in quality of data code, determine corresponding with there is the quality of data code of bad value positioned at creation data sequence
Error data in column is replaced processing to error data, the creation data sequence that obtains that treated.
In an implementation, from measured value PV, the setting value SV, operating value obtained from the controller of control loop in production circuit
MV, and quality of data code corresponding with three kinds of numerical value.Since each data can be got in data acquisition
Corresponding time value t, therefore according to the difference of time value t, measured value PV, setting value SV, operating value MV are divided into N number of data
Point, to obtain creation data sequence PV (t), SV (t) and MV (t).
Wherein, PV (t), t=1,2,3 ... N }, and MV (t), t=1,2,3 ... N }, and SV (t), t=1,2,3,
...N}.N is positive integer.
After getting creation data sequence, according to quality of data code corresponding with each creation data sequence.If number
There is bad value according to Quality Codes, shows that the corresponding data of quality of data identifying code are the difference data of existing defects.For this
The data of type need to be replaced processing using other modes, the creation data sequence that obtains that treated, to remove socket
Influence of the data to the response time is updated in subsequent step.
It is described that processing is replaced to error data, comprising:
The preceding a data and rear a data for obtaining error data determine being averaged for preceding a data and rear a data
Value, replaces with average value for error data.
In an implementation, relatively conventional alternative is the average value of a data before and after obtaining error data, using flat
Mean value is replaced error data.Certainly, here there are also other alternatives, due to without being the main contents of the application not
It is enumerated again.
Optionally, it is proposed in step 102 after obtaining update based on the back creation data sequence that obtains that treated
Response time particular content, including
After the creation data sequence that gets that treated, need to combine response of the preset process model to control loop
Time is updated.The process model output=Minput here preset at, wherein output represents the reality of control loop
Output time series, input represent the input time sequence of control loop, and M represents the process control function of control loop.For
Process control function M is embodied as M=f (k, T, σ), and wherein k represents loop gain, and T is time constant, and σ indicates sluggish；
Optimization to control process is substantially exactly to choose control function M appropriate to build here to obtain suitable M
Objective optimization function is found
In a manner of solving to objective optimization function, k, T, the σ for enabling objective optimization function obtain minimum value are obtained, whereinThe ideal input time sequence of control loop is represented, y represents the reality output time series of control loop.
After parameter when obtaining objective optimization function and being minimized, based on T, σ after solution, by T+ σ, (i.e. the time is normal
Number+time lag) mode, obtain the updated response time.
The performance evaluation parameter proposed in step 103, including evaluation of dynamic parameter and static properties evaluation parameter.
The content of specific step 103, and it is based respectively on evaluation of dynamic parameter and static properties evaluation parameter is come to controlling back
The performance on road is determined.
When performance evaluation parameter is evaluation of dynamic parameter, step 103 is specifically included:
According to the updated response time, rise time tr, regulating time ts and overshoot including control loop are obtained
Measure the evaluation of dynamic parameter including σ %；
Evaluation of dynamic parameter and default dynamic performance parameter threshold value are compared, according to comparing result, determine control
Performance rate of the circuit processed in terms of dynamic property.
In an implementation, dynamic performance index schematic diagram as shown in connection with fig. 2,
Rise time tr: refer to response from final value 10% rise to final value 90% needed for the time；For there is the system of oscillation,
Also may be defined as responding rise to final value from 0 first time needed for the time.Rise time is shorter, and response speed is faster.
Regulating time ts: refer to that response reaches and is maintained at the shortest time required in final value ± 5%.
Overshoot σ %: refer to the percentage of the difference of the maximum deviation amount h (tp) and final value h of response, i.e.,
When performance evaluation parameter is evaluation of dynamic parameter, each circuit itself is for process disturbance rejection ability
Power is to be determined that the response time in i.e. circuit determines circuit by the speed of loop response time (time lag+time constant)
Controlled ability.Tagsort can be carried out for the disturbance in steady state data: being divided into low frequency according to the response time in each circuit
Disturbance, medium-high frequency disturbance.And by the analysis to band energy accounting each in steady state data, Energy distribution index is calculated, from
And the performance of controller is analyzed.Based on above-mentioned theory, step 103 is specifically included:
According to the updated response time, to treated, creation data sequence carries out frequency segmentation, to the life after segmentation
It produces data sequence and is filtered decomposition, obtain low-frequency range creation data sequence and high band creation data sequence after decomposing；
Determine that low-frequency range creation data sequence and high band creation data sequence in the variance yields of each frequency range, are based on variance yields
Obtain high band creation data and the energy ratio comprising low-frequency range creation data, the conceptual data of high band creation data；
Energy ratio and default steady-state performance parameter threshold are compared, according to comparing result, determine that control loop exists
Performance rate in terms of steady-state performance.
In an implementation, other than obtaining the energy ratio of high band creation data and conceptual data based on variance yields, also
The energy ratio of available low-frequency range creation data and conceptual data, also or low-frequency range creation data and high band produce number
According to energy ratio.The comparison knot that above-mentioned multiple kinds of energy ratio is compared according to default steady-state performance parameter threshold
Fruit may be incorporated for determining performance rate of the control loop in terms of steady-state performance.
Other than the above-mentioned evaluation of dynamic parameter and static properties evaluation parameter listed, it can also be evaluated with steady rate
Parameter determines the performance rate of control loop.Steady rate index is used to judge the degree of fluctuation of pid control circuit.Degree of fluctuation
Smaller, then the circuit is more steady.Steady rate index calculation is as follows:
Index_steady=(abs (mean (e))+2*std (e))/range_SV
Wherein, e=pv-sp, e are control deviation sequence.Mean (e) refers to the average value of control biased sequence, represents PV
Deviate the distance of SV.And std (e) is the standard deviation of control deviation sequence, and the fluctuation of data is usually represented with 2 times of standard deviation
Amplitude.The range that the maxima and minima difference based on setting value SV that range_SV is indicated is got.Therefore steady rate refers to
The fluctuation situation for reacting pid control circuit is marked, the control precision level of current control loop is represented.
According to performance standard, indices rank is divided
In this step, user can set the benchmark of indices according to actual state；Refer to if user does not set
Mark benchmark, then using the benchmark of default, by indices divide preferably, generally, bad three ranks.
Indices internal standard is described as follows:
Steady rate evaluation index index_steady: using 2% as reference line, i.e.,
It is good: index_steady < 2%；It is general: 2% < index_steady≤5%；It is bad: index_steady > 5%
The criteria for classifying of dynamic performance index is as follows:
Overshoot:
It is good: index_os≤5%；It is general: 5%≤index_os≤15%；It is bad: index_os > 15%.
Regulating time:
It is good:It is general:It is bad: index_settle > Tss.
Rise time:
It is good:It is general:It is bad:
Steady-state performance index: since steady-state performance index is normalization index, i.e., index value range is [0,1] its division
Standard is as follows, i.e.,
It is good: index >=0.7；It is general: 0.4≤index_steady < 0.7；It is bad: index < 0.4
The performance rate formulated based on above-mentioned standard is as shown in table 1:
| Performance class | Steady rate rank | Steady-state performance rank | Dynamic property rank |
| It is excellent | It is good | It is good | It is good |
| It is good | Generally | It is good | >=general |
| It is good | Generally | >=general | It is good |
| In | ≤ general | ≤ general | It is good |
| In | ≤ general | It is good | ≤ general |
| In | Difference | It is good | It is good |
| Difference | ≤ general | ≤ general | ≤ general |
The performance rate of 1 control loop of table
The value of all multi-thresholds used in partition process can carry out needle according to demand in actual use
Property is adjusted, is not defined in the present embodiment.
Optionally, the appraisal procedure, in addition to combining response of the preset process model to control loop according to step 102
Time is updated outer, further includes:
The acquisition experience response time, and then creation data sequence verifies the experience response time according to treated；
If verification result shows that the error that the experience response time generates is lower than preset threshold, rule of thumb the response time
Expand area's performance evaluation parameter corresponding with control loop, the performance rate of control loop is determined according to performance evaluation parameter.
I.e. operator can also manually be set response speed parameter and can be carried out in this step using production process data
It examines, parameter set by user can be used if setting rationally.
Optionally, the appraisal procedure, further includes:
When running PID performance estimating method for the first time, after the creation data sequence that obtains that treated, in conjunction with initial setting
Response time, obtain corresponding with control loop performance evaluation parameter, the property of control loop determined according to performance evaluation parameter
It can grade；
Control loop is adjusted based on performance evaluation parameter, the response in conjunction with preset process model to control loop
Time is updated, and obtains the updated response time.
In an implementation, it if the PID performance estimating method that the present embodiment proposes is to run for the first time, needs in a step 102
The response time of the control loop of update is initially set, the execution step 103 pair control under the response time initially set
The performance rate in circuit is determined, and when executing this PID performance estimating method again, can be controlled back by step 102 pair
The response time on road is iterated update, to enable DCS is autonomous to be in a certain range adjusted.
The invention proposes PID performance estimating methods, creation data and data Quality Codes including obtaining control loop, root
It is handled to obtain treated creation data sequence to creation data according to quality of data code, is obtained in conjunction with preset process model
The updated response time, and then performance evaluation parameter corresponding with control loop is obtained, it is determined and is controlled according to performance evaluation parameter
The performance rate in circuit processed.By obtaining a variety of data including the measured value of control loop, setting value, operating value, and
And process model for being updated to the response time in control loop is constructed, based on the data got to controlling back
The performance on road is assessed, at the same can a variety of data for getting of Kernel-based methods models coupling evaluation criteria is iterated more
Newly, it enables the performance of control loop maintain reasonable standard, can reduce compared with the existing technology artificial because failing to carry out in time
A possibility that maintenance causes control performance to deteriorate reduces control loop and the probability of security risk occurs.
Each serial number in above-described embodiment is for illustration only, the assembling for not representing each component or the elder generation in use process
Sequence afterwards.
The above description is only an embodiment of the present invention, is not intended to limit the invention, all in the spirit and principles in the present invention
Within, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (9)
1.PID performance estimating method, which is characterized in that the appraisal procedure, comprising:
The creation data and quality of data code corresponding with creation data for obtaining control loop, according to quality of data code to life
It produces data and carries out bad value processing, the creation data sequence that obtains that treated；
According to treated creation data sequence, it is updated in conjunction with response time of the preset process model to control loop,
Obtain the updated response time；
Performance evaluation parameter corresponding with control loop is obtained in conjunction with the updated response time, is determined according to performance evaluation parameter
The performance rate of control loop；
Wherein, creation data includes measured value, setting value and the operating value of control loop；
The basis treated creation data sequence carries out more in conjunction with response time of the preset process model to control loop
Newly, the updated response time is obtained, including
Preset process model output=Minput is constructed, wherein output represents the output time series of control loop,
Input represents the input time sequence of control loop, and M represents the process control function of control loop, M=f (k, T, σ), wherein k
Loop gain is represented, T is time constant, and σ indicates sluggish；
Establish objective optimization function
Objective optimization function is solved, obtains k, T, the σ for enabling objective optimization function obtain minimum value, wherein u represents control loop
Ideal input time sequence, y represents the reality output time series of control loop；
Based on the T+ σ after solution, the updated response time is obtained.
2. PID performance estimating method according to claim 1, which is characterized in that the production number for obtaining control loop
According to and with the corresponding quality of data code of creation data, bad value processing is carried out to creation data according to quality of data code, is obtained everywhere
Creation data sequence after reason, comprising:
Measured value PV, setting value SV and the operating value MV in the creation data of control loop are obtained, is extracted in creation data
Creation data is divided into N number of data point according to moment value t, obtains the creation data sequence being made of N number of data point by moment value t
Arrange PV (t), SV (t) and MV (t)；
If bad value occurs in quality of data code, be located at creation data sequence in corresponding with there is the quality of data code of bad value is determined
Error data, processing is replaced to error data, the creation data sequence that obtains that treated.
3. PID performance estimating method according to claim 2, which is characterized in that described to be replaced place to error data
Reason, comprising:
The preceding a data and rear a data for obtaining error data, determine the average value of preceding a data Yu rear a data,
Error data is replaced with into average value.
4. PID performance estimating method according to claim 1, which is characterized in that the performance evaluation parameter, including dynamic
Performance evaluation parameter and static properties evaluation parameter.
5. PID performance estimating method according to claim 4, which is characterized in that the combination updated response time
Performance evaluation parameter corresponding with control loop is obtained, the performance rate of control loop is determined according to performance evaluation parameter, comprising:
According to the updated response time, rise time tr, regulating time ts and overshoot σ % including control loop are obtained
Evaluation of dynamic parameter inside；
Evaluation of dynamic parameter and default dynamic performance parameter threshold value are compared, according to comparing result, judgement is controlled back
Performance rate of the road in terms of dynamic property.
6. PID performance estimating method according to claim 4, which is characterized in that the combination updated response time
Performance evaluation parameter corresponding with control loop is obtained, the performance rate of control loop is determined according to performance evaluation parameter, comprising:
According to the updated response time, to treated, creation data sequence carries out frequency segmentation, to the production number after segmentation
It is filtered decomposition according to sequence, obtains low-frequency range creation data sequence and high band creation data sequence after decomposing；
Determine that low-frequency range creation data sequence and high band creation data sequence in the variance yields of each frequency range, are obtained based on variance yields
High band creation data and the energy ratio comprising low-frequency range creation data, the conceptual data of high band creation data；
Energy ratio and default static properties parameter threshold are compared, according to comparing result, determine control loop in static state
The performance rate of aspect of performance.
7. PID performance estimating method according to claim 1, which is characterized in that the appraisal procedure, further includes:
The acquisition experience response time.
8. PID performance estimating method according to claim 7, which is characterized in that the appraisal procedure, further includes:
According to treated, creation data sequence verifies the experience response time；
If verification result shows that the error that the experience response time generates is lower than preset threshold, rule of thumb the response time is obtained
Performance evaluation parameter corresponding with control loop, the performance rate of control loop is determined according to performance evaluation parameter.
9. PID performance estimating method according to claim 1, which is characterized in that the appraisal procedure, further includes:
When running PID performance estimating method for the first time, after the creation data sequence that obtains that treated, in conjunction with sound initially set
Between seasonable, performance evaluation parameter corresponding with control loop is obtained, the performance etc. of control loop is determined according to performance evaluation parameter
Grade；
Control loop is adjusted based on performance evaluation parameter, in conjunction with preset process model to the response time of control loop
It is updated, obtains the updated response time.
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| CN108121215B (en) * | 2017-09-12 | 2018-11-16 | 山东科技大学 | Process control loops method of evaluating performance and device based on full loop reconstruct emulation |
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