CN106873376A - Glassed steel reaction vessels control based on network method based on scheduling with controller parameter dynamic restructuring - Google Patents
Glassed steel reaction vessels control based on network method based on scheduling with controller parameter dynamic restructuring Download PDFInfo
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Abstract
Glassed steel reaction vessels control based on network method based on scheduling with controller parameter dynamic restructuring, comprises the following steps:1), the model of control object recognize according to actual condition and obtain object model parameter;According to system IAE performance indications parameter setting schedulers threshold value, scheduling strategy, system communication cycle, system transfers cycle initial value, sample sequence and renewal sequence, system model is (1);2), according to current network service quality dynamic restructuring communication sequence and online analyzing computing controller parameter;3) exported to actuator after, being changed by D/A, controlled device is applied to by actuator, controlled device is operated in given scope.The present invention can be controlled the Single Controller of device dynamic state of parameters reconstruct according to network real-time status, overcome original controller architecture complicated and by communication sequence transmission cycle restricted problem, multiple controllers are avoided periodically to switch, it is convenient to be grasped and promoted the use of by engineers and technicians.The present invention can be effectively improved network environment, increase network utilization and system overall performance.
Description
Technical field
The invention belongs to Industrial Ethernet Control technical field, refer to a kind of based on scheduling and controller parameter dynamic
The glassed steel reaction vessels control based on network method of reconstruct.
Background technology
Synthetic reaction directly affects the quality of medicine as one of important procedure in medicinal chemicals preparation process,
Glassed steel reaction vessels as pharmacy reaction visual plant, its technology development with equipment improve turned into medicinal chemicals manufacture work
The key of industry transition and upgrade.The quality of reaction will directly affect yield, quality of bulk drug etc.;Meanwhile, the net based on Ethernet
Network control method is also to improve the essential requirement of drug quality.
Network control system is a kind of full distributed, networking real-time feedback control system, refer to sensor, controller and
The set of actuator and communication network, with the data transfer between communication network offer equipment, so as to realize System Resources Sharing
And coordinated manipulation.At present, the method for designing for the limited network controller of multivariable communication generally using communication sequence and is mixed
When legacy network control system is transformed into collection scheduling and is controlled in the discrete periodic of one by the concept of logical Dynamic Architecture
Become switching system, and then design corresponding controller.The number of this kind of method for designing generally existing controller will receive original communication
The constraint of sequence period number and complex structure;Further, when network service quality occurrence dynamics change, often need
Multiple controller periodicity frequent switchings are wanted just to can ensure that the performance of control system;On the other hand, the phase used in this kind of method
Close professional theory knowledge more, be not easy to be grasped and promoted the use of by engineers and technicians.
The content of the invention
Exist to overcome in the multiple input/multiple output glassed steel reaction vessels network control system with random short time-delay
Control gain, communication sequence cannot dynamic restructuring problem, the present invention provide can be dynamically adjusted according to system IAE performance indications
The transmission means of information, overcomes network transmission to dispatch the priori for being limited to current transmission network utilization, it is impossible to self adaptation
The dynamic change of network, it is impossible to ensure that whole closed network networked control systems have good anti-interference and robustness, is disliking
Even controller can be caused to fail in the case of bad, so that whole closed loop network control system does not reach the control being pre-designed
Performance issue.
Meanwhile, the present invention can be controlled the Single Controller of device dynamic state of parameters reconstruct according to network real-time status, overcome
Original controller architecture is complicated and receives communication sequence transmission cycle restricted problem, it is to avoid multiple controllers periodically switch, convenient
Grasped and promoted the use of by engineers and technicians.The present invention can be effectively improved network environment, increase network utilization and system
Overall performance.In order to solve the above-mentioned technical problem the technical scheme for using for:
Glassed steel reaction vessels control based on network method based on scheduling with controller parameter dynamic restructuring, including following step
Suddenly:
Step 1, System Discrimination and parameter Estimation such as formula (1) are carried out to glassed steel reaction vessels according to actual condition:
WhereinRepresent that r ties up the state vector of glassed steel reaction vessels;Represent m dimension enamel reactions
The valve opening input vector of kettle, τkThe stochastically bounded network short time-delay in each sampling period is represented, and meets 0≤τk≤eh
(0 < e < 1) h is the sampling period of control system,Portion's disturbing signal of q dimensions is represented,Represent that enamel is anti-
Answer the vectorial by tune output temperature, pressure signal of kettle, Ap,Bp,CpIt is the sytem matrix of appropriate dimension;
Step 2:Sampling period h, step-length N dispatching cycle, T dispatching cycle of control system are set, and are met:T=Nh;
The scheduling coefficient θ of glassed steel reaction vessels kT+ α h instance sample sequences is seti(kT+ α h) threshold value ηiWith kT+ β h moment renewal sequences
Scheduling coefficient δj(kT+ β h) threshold valueAnd set shown in scheduling strategy such as formula (2):
(1 ..., r), (1 ..., m), β ∈ (0 ..., N-1), IAE represents the exhausted of signal to α ∈ (1 ..., N) j ∈ to wherein i ∈
To error performance.
As k=1, initial schedule matrix Λ is setα=I, Ξβ=I, otherwise generates current dispatching cycle according to scheduling strategy
Sampling schedules matrix in TWith renewal dispatch matrix
WhereinFor kT+ α h instance sample sequences scheduling coefficient composition to
Amount,It is the vector of kT+ β h moment renewal sequences scheduling coefficient composition;
Step 3:System sets up following mapping relations with T discretizations dispatching cycle according to the scheduling strategy of step 2:
WhereinIt is the input state vector of controller after system call,It is to be controlled after system call
The output vector of device;
Constructing system augmentation vector matrix includes:State vector matrix X (kT), controller exports U (kT), controller to be had
Effect inputEffective input of actuatorAdjusted output Z (kT), external disturbance signal W (kT), sampling schedules square
Battle arrayUpdate dispatch matrixWithAnd it is as follows to set up new mapping relations:
Wherein:
Step 4:System mode feedback controller is setReconfigure new state vectorM, N, L are as follows:
L=H1' and set up collection scheduling
The closed-loop model (5) being integrated with control:
Wherein:
KkIt is controller parameter, τkd----represent d-th time delay in sampling period, A, B in k-th dispatching cycle0(τk)、
B1(τk1)、H0、Ae、B0′(τk)、B1′(τk)、H0′、D0′(τk)、Ce′、D1′(τk)、H1' it is intermediate computations variable,
Step 5:Reset calculating variable And the optimization problem below line solver:
Using feasible solution obtained in the previous step, state feedback controller parameter can be obtainedWhereinRepresenting matrix
Pseudoinverse;Work as k=k+1, come back to Step 3 and solve controller parameter;Temperature control signals are exported to heat after being changed by D/A
The magnetic valve of oily device, pressure controling signal is exported to pressure-regulating valve after being changed by D/A, is finally applied to enamel reaction
Kettle, makes the temperature and pressure of glassed steel reaction vessels operate in given scope.
Beneficial effects of the present invention are mainly manifested in:Single Controller, system transfers cycle dynamic restructuring, controller parameter
Dynamic restructuring simple structure.
Brief description of the drawings
Fig. 1 is the glassed steel reaction vessels closed loop controlling structure figure that the present invention is given
The structural representation used when Fig. 2 is actual motion of the present invention
Implementation method
The invention will be further described below in conjunction with the accompanying drawings.
1~Fig. 2 of reference picture, a kind of glassed steel reaction vessels control based on network based on scheduling with controller parameter dynamic restructuring
Method, the present embodiment glassed steel reaction vessels temperature, pressure network control process:
The first step, on configuration interface set Model Distinguish relevant parameter, determine the identification model of glassed steel reaction vessels
It is as follows:
Wherein:X (t) is the state vector of system, u (t)=[u1 u2]TIt is control input vector, u1Represent steam in tank
Valve opening, u2Represent condensed water valve opening.Z (t)=[z1 z2]TIt is controlled output vector, z1Represent temperature in tank, z2Generation
Table pressure inside the tank.W (t) is external disturbance vector.The data such as target model identification parameter are sent to memory cell RAM by industrial computer
In;And it is " offline " adjustment state that system is set on configuration interface.One is set up according to the closed loop controlling structure figure shown in accompanying drawing 2
Individual closed-loop control system.
Second step:System communication cycle h=1s, step-length N=2, the IAE controlling of dispatching cycle are set on configuration interface
The threshold value of energy index is respectively η1=0.01, η2=0.05,
3rd step:" RUN " key is clicked on configuration interface, in communication sequence, the controller parameter of line computation scheduling.
4th step:Amplitude limit is carried out to u (k), prevents from integrating saturation, exported to actuator after then being changed by D/A, by performing
Device is applied to controlled device, controlled device is operated in given scope;Online situation is now shown on configuration interface
Under system closed-loop response curve, observation curve carry out on-line fine.
5th step:It is " online " adjustment state that system is set on configuration interface, starts control system parameter regulation, again
Perform the controlled quentity controlled variable that " On-line Control program " obtains current time.
Described above is the excellent effect of optimization that one embodiment that the present invention is given shows, it is clear that the present invention is not only
Above-described embodiment is limited to, without departing from essence spirit of the present invention and the premise without departing from scope involved by substance of the present invention
Under it can be made it is a variety of deformation be carried out.
Claims (1)
1., based on the glassed steel reaction vessels control based on network method dispatched with controller parameter dynamic restructuring, it includes following step
Suddenly:
Step 1, System Discrimination and parameter Estimation such as formula (1) are carried out to glassed steel reaction vessels according to actual condition:
WhereinRepresent that r ties up the state vector of glassed steel reaction vessels;Represent m dimension glassed steel reaction vessels
Valve opening input vector, τkThe stochastically bounded network short time-delay in each sampling period is represented, and meets 0≤τk≤ eh (0 < e
< 1) h for control system sampling period,Portion's disturbing signal of q dimensions is represented,Represent glassed steel reaction vessels
By tune output temperature, pressure signal vector, Ap,Bp,CpIt is the sytem matrix of appropriate dimension, Rx(r, m, q, n ∈ x) represents x dimensions
Set of real numbers;
Step 2:Sampling period h, step-length N dispatching cycle, T dispatching cycle of control system are set, and are met:T=Nh;Set
The scheduling coefficient θ of glassed steel reaction vessels kT+ α h instance sample sequencesi(kT+ α h) threshold value ηiWith the tune of kT+ β h moment renewal sequences
Degree coefficient δj(kT+ β h) threshold valueAnd set shown in scheduling strategy such as formula (2):
(1 ..., r), (1 ..., m), β ∈ (0 ..., N-1), IAE represents the absolute mistake of signal to α ∈ (1 ..., N) j ∈ to wherein i ∈
Difference performance.
As k=1, initial schedule matrix Λ is setα=I, Ξβ=I, otherwise generates in current dispatching cycle T according to scheduling strategy
Sampling schedules matrixWith renewal dispatch matrix
WhereinIt is the vector of kT+ α h instance sample sequences scheduling coefficient composition,It is the vector of kT+ β h moment renewal sequences scheduling coefficient composition;
Step 3:System sets up following mapping relations with T discretizations dispatching cycle according to the scheduling strategy of step 2:
WhereinIt is the input state vector of controller after system call,It is the controller after system call
Output vector;
Constructing system augmentation vector matrix includes:State vector matrix X (kT), controller export U (kT), controller it is effective defeated
EnterEffective input of actuatorAdjusted output Z (kT), external disturbance signal W (kT), sampling schedules matrixUpdate dispatch matrixWithAnd it is as follows to set up new mapping relations:
Wherein:
Step 4:System mode feedback controller is setReconfigure new state vectorG、M、
N, L are as follows:
L=H '1And set up collection scheduling and control
It is made as the closed-loop model (5) of one:
Wherein:
KkIt is controller parameter, τkd----represent d-th time delay in sampling period, A, B in k-th dispatching cycle0(τk)、B1
(τk1)、H0、Ae、B0′(τk)、B1′(τk)、H0′、D0′(τk)、Ce′、D1′(τk)、H1' it is intermediate computations variable,
Step 5:Reset calculating variable And the optimization problem below line solver:
Using feasible solution obtained in the previous step, state feedback controller parameter can be obtainedWhereinThe puppet of representing matrix
It is inverse;Work as k=k+1, come back to Step 3 and solve controller parameter;Temperature control signals are exported to deep fat after being changed by D/A and filled
The magnetic valve put, pressure controling signal is exported to pressure-regulating valve after being changed by D/A, is finally applied to glassed steel reaction vessels, is made
The temperature and pressure of glassed steel reaction vessels is operated in given scope.
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CN102645892A (en) * | 2012-03-16 | 2012-08-22 | 浙江工业大学 | Nonuniform sampling guaranteed performance control method for multivariable communication-limited network control system |
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Application publication date: 20170620 |