CN107885084A - Absorbing natural gas tower sweetening process control method based on RBF and ADHDP - Google Patents
Absorbing natural gas tower sweetening process control method based on RBF and ADHDP Download PDFInfo
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- CN107885084A CN107885084A CN201711117446.2A CN201711117446A CN107885084A CN 107885084 A CN107885084 A CN 107885084A CN 201711117446 A CN201711117446 A CN 201711117446A CN 107885084 A CN107885084 A CN 107885084A
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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
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- C—CHEMISTRY; METALLURGY
- C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
- C10L—FUELS NOT OTHERWISE PROVIDED FOR; NATURAL GAS; SYNTHETIC NATURAL GAS OBTAINED BY PROCESSES NOT COVERED BY SUBCLASSES C10G, C10K; LIQUEFIED PETROLEUM GAS; ADDING MATERIALS TO FUELS OR FIRES TO REDUCE SMOKE OR UNDESIRABLE DEPOSITS OR TO FACILITATE SOOT REMOVAL; FIRELIGHTERS
- C10L3/00—Gaseous fuels; Natural gas; Synthetic natural gas obtained by processes not covered by subclass C10G, C10K; Liquefied petroleum gas
- C10L3/06—Natural gas; Synthetic natural gas obtained by processes not covered by C10G, C10K3/02 or C10K3/04
- C10L3/10—Working-up natural gas or synthetic natural gas
- C10L3/101—Removal of contaminants
- C10L3/102—Removal of contaminants of acid contaminants
- C10L3/103—Sulfur containing contaminants
Abstract
The invention provides a kind of absorbing natural gas tower sweetening process control method based on RBF and ADHDP.Absorbing natural gas tower sweetening process is modeled using BP neural network and sweetening process is carried out as controlled device using the model and controls emulation experiment, optimization weights are constantly updated according to control error and performance index function, until obtaining optimum control signal, the optimum control of sweetening process is realized.The features such as absorbing natural gas tower sweetening process is complicated, and performance is uncertain, non-linear, strong coupling, dynamic, it is difficult to establish accurate mathematical modeling, control difficulty is larger.It is low for current absorbing natural gas tower sweetening process control method control accuracy, the problems such as time lag is big, unstable proposes a kind of sweetening process control method based on RBF and ADHDP, it not only ensure that the stability and control accuracy of control system, the response time is also reduced, is truly realized the real-time accurate control of absorbing natural gas tower sweetening process.
Description
Technical field
The present invention relates to absorbing natural gas tower sweetening process control technology, and in particular to one kind is based on RBF and performs dependence
The absorbing natural gas tower sweetening process control method that heuristic dynamic programming (ADHDP) combines.
Background technology
Natural gas is easy to use and possess higher comprehensive warp as a kind of high-quality, cleaning the energy and industrial chemicals
Ji benefit.China possesses abundant natural gas resource, but contains a large amount of element sulphurs in about 30% or so natural gas, wherein
H2Gas reserves of the S contents more than 1% accounts for the 1/4 of gross reserves.H2S presence not only results in the burn into of equipment and pipeline
It is detrimental to health, its combustion product also pollutes the environment.Therefore, during selexol process, H2The control of S contents seems outstanding
To be important.
Selexol process absorption tower is the important component of purifying device for natural gas, directly affects natural gas purification effect
Fruit.Natural gas _ raw material gas is fully contacted and reacted with methyl diethanolamine in tower (MDEA) solution into absorption tower, so as to reach
To the purpose of desulfurization, physical-chemical reaction and phase reaction occur simultaneously for whole process, are related to material conversion and energy transmission, by
The features such as various uncertain factors have a great influence, and performance is uncertain, non-linear, strong coupling, dynamic, it is difficult to establish accurate
Mathematical modeling, so as to bring extreme difficulties to the control of absorption tower sweetening process.
Existing control technology is mostly PID unity loop controls or simple serials control, and control system automaticity is not high
And excessive dependence expertise adjustment control parameter, there is larger hysteresis quality, control accuracy is relatively low, the stabilization of control system
Property be also difficult to ensure that, it is difficult to reach accurate control in real time.
The content of the invention
The application is by providing a kind of absorbing natural gas tower sweetening process control method based on RBF and ADHDP, to solve
The problems such as control accuracy present in absorption tower sweetening process control technology is low at present, and time lag is big, and control system is unstable, ensure
Selexol process effect.
In order to solve the above technical problems, the application is achieved using following technical scheme：
A kind of absorbing natural gas tower sweetening process control method based on RBF and ADHDP, it is characterised in that including following step
Suddenly：
Step 1：By analyzing absorbing natural gas tower sulfur removal technology process, it is determined that influence selexol process effect it is main because
Element is sour natural gas treating capacity and alkanolamine solution internal circulating load, is represented respectively with u1 and u2, thus form control variable u=[u1,
u2]；
Step 2：Determine that sweetening process mode input sample data exports sample data, established using BP neural network natural
Aspiration tower sweetening process model；
Step 3：Set control targe valueThe evaluation in ADHDP methods is updated with RBF neural
Network and execution network weight, and obtain control signal u (k)=[u1, u2] and property by performing network and evaluation network respectively
Energy target function J (k), establish RBF-ADHDP absorbing natural gas tower sweetening process control method；
Step 4：By step 3 gained control signal u (k)=[u1, u2] and current time system mode x (k)=[x1, x2]
As absorption tower sweetening process mode input, so as to obtain system output x (k+1).
Step 5：Control error E (k) is calculated, if being less than anticipation error, terminates training, otherwise return to step 3.
As further explanation, the step 3 specifically follows the steps below：
Step 3-1：According to control error E (k), using RBF neural more New Appraisement network and network weight is performed；
Step 3-2：Calculate control signal u (k)；
Step 3-3：Calculation Estimation network output J (k+1).
As further explanation, in step 5, error E (k) calculation formula is controlled to be：
In formula, function U (k) is utility function.
Compared with prior art, the technical scheme that the application provides, the technique effect or advantage having are：In natural aspiration
Receive in the control of tower sweetening process, this method control accuracy is high, fast convergence rate, it is possible to increase stability of control system and control essence
Degree, the control system response time is reduced, ensure selexol process effect.
Brief description of the drawings
Fig. 1 principle of the invention block diagrams；
Fig. 2 absorbing natural gas tower sweetening process model schematics；
Fig. 3-6 is absorbing natural gas tower sweetening process model test results schematic diagram；
Fig. 3 H2S content prediction schematic diagrames；
Fig. 4 H2S content prediction relative error schematic diagrames；
Fig. 5 CO2Content prediction schematic diagram；
Fig. 6 CO2Content prediction relative error schematic diagram；
Fig. 7 RBF-ADHDP control structure schematic diagrames.
Embodiment
The application provides a kind of absorption tower sweetening process control method based on RBF and ADHDP, and inventive principle block diagram is as schemed
Shown in 1.The technical scheme provided with reference to prior art means, the application, the technique effect or advantage having are：This method uses
Intelligent algorithm controls for absorption tower sweetening process, has higher control accuracy, can reduce control system response time, energy
Enough real-time adjust automatically control parameters, improve stability of control system, have been really achieved the purpose of real-time control.
In order to be better understood from above-mentioned technical proposal, below in conjunction with Figure of description 2-7 and specific embodiment,
Above-mentioned technical proposal is described in detail.
Initially enter step 1：Choose sour natural gas treating capacity and absorb the alkanolamine solution internal circulating load used in sour gas
Two parameters form control variable u=[u1, u2].
Step 2：With BP neural network, respectively with input1~inputnAnd x1~xnCarried out as input and output sample
Training, examine, so as to establish absorption tower sweetening process model.Wherein, input=[x1, x2, u1, u2], x=[x1, x2], n tables
Show sample size, u1, u2 represent raw natural gas treating capacity and alkanolamine solution internal circulating load in the unit interval, x1, x2 difference respectively
Represent H in natural gas purification gas2S contents (mg/m3) and CO2Content (%).
In the present embodiment, absorption tower sweetening process model as shown in Figure 2 is established, input layer number is 4, defeated
Go out layer neuron number for 2；Rule of thumb, hidden layer node selection be(x is input layer, and y is output
Node layer, a=1,2,9), it is 10 by testing selection modeling measuring accuracy highest hidden layer node successively；It is implicit
Layer transmission function is tansig functions, and output layer transmission function is purelin functions；Anticipation error minimum value is 0.0001, is repaiied
The learning efficiency of positive weights is 0.05.Modeling sample data are puguang gas field actual production data, 500 groups altogether, are randomly selected
80% sample data is used as model training, and the sample of residue 20% is used as model measurement.
If absorption tower sweetening process mode input is P, input neuron number is r, and hidden layer neuron number is s1, right
The activation primitive answered is h1, and hidden layer output is a1；Output layer neuron number is s2, and corresponding activation primitive is h2, output
For a2, target vector T.
Absorption tower sweetening process model is established in step 2 to specifically comprise the following steps：
Step 2-1：Initialization, if iterations g initial values are 0, while W1 is assigned to, W2, B1, mono- (0,1) section of B2
Random value；
Step 2-2：Stochastic inputs sample Pj；
Step 2-3：To input sample Pj, the input and output of every layer of neuron of forward calculation BP neural network；
The output of i-th of neuron of hidden layer is：
The output of s-th of neuron of output layer is：
Step 2-4：According to desired output T and reality output a2 (g), calculation error E (g)；
Defining error function is：
Step 2-5：Whether error in judgement E (g), which meets, requires, is such as unsatisfactory for, then into step 2-6, such as meets, then enter
Step 2-8；
Step 2-6：Judge whether iterations g+1 is more than maximum iteration, it is such as larger than, then no into step 2-8
Then, into step 2-7；
Step 2-7：Modified weight amount Δ W is calculated, and corrects weights.
1. output layer weights change
Weights to being input to k-th of output from i-th, have：
Wherein, δki=(tk-a2k) h2 '=ekH2 ', ek=tk-a2k。
2. hidden layer weights change
Weights to being input to i-th of output from j-th, have：
Wherein,
It can similarly obtain：
Δb1i=η δij
In formula, η is learning efficiency；G=g+1 is made, jumps to step 3；
Step 2-8：Judge whether to complete all training samples, if it is, completing modeling, otherwise, continue to jump to
Step 2-2；
By said process, BP neural network prediction effect such as Fig. 3 is can obtain, shown in 5, corresponding prediction error such as Fig. 4,
Shown in 6.By analysis chart 3-6, absorption tower sweetening process model is established in BP neural network training has higher precision, energy
The output of enough accurate forecasting systems, lays the foundation for the research of selexol process course control method for use.
Step 3：Set preferable control targe valueUpdate in ADHDP control methods and comment with RBF nerves
Valency network and perform network weight, and respectively by perform network and evaluation network obtain control signal u (k)=[u1, u2] and
Performance index function J (k), establish RBF-ADHDP absorbing natural gas tower sweetening process control method, its control structure such as Fig. 7
It is shown：For Action-RBF to perform network, input and output are respectively system mode x (k) and control signal u (k)；Controlled
Object is prototype network, inputs as system mode x (k) and control signal u (k), exports as system subsequent time state x (k+
1)；Critic-RBF is evaluation network, inputs as x (k+1) and u (k+1), exports as performance index function J (k+1)；Evaluate net
Respectively to control error E (k) and performance index function J (k) to be minimised as target, dotted line represents network for network and execution network training
Weighed value adjusting path.
In the present embodiment, the error calculation formula is controlled to be：
In formula, function U (k) is utility function.
In the present embodiment, the training process for performing network and evaluation network is as follows：
(1) network training is performed：
Perform network to be designed by RBF neural, X is seta=[xa1,xa2,…xam1] it is to perform net input vector, m1
To perform network inputs variable number, a=[1,2 ... n1], n1To perform network training number.
For n-th1Secondary training hidden layer M and output I
Between weighted vector, u (l)=[ua1(l),ua2(l),…,uap(l) it is] n-th1Secondary training performs the reality output of network.Its
In, l represents the iterations trained every time.
(2) network training is evaluated：
Evaluate network and completion is equally designed by RBF neural, its training process is identical with performing network.SetTo evaluate net input vector, m2Expression evaluation network inputs variable number, c=[1,
2,…n1], n1To evaluate network training number.
For n-th1Secondary training hidden layer M and output I
Between weighted vector, J (l) be n-th1The reality output of secondary evaluation of training network.
As further explanation, it is similar and carry out simultaneously to perform the training process of network and evaluation network, specifically include with
Lower process：
1. initialize, if iterations n1Initial value is 0, is assigned to WMI(0) (0,1) section
Random value；
2. input Xa/Xc；
3. to inputting Xa/Xc, the input signal and output signal of every layer of neuron of forward calculation RBF neural；
4. according to control error calculation formula calculation error E (k)；
5. judging to control whether error E (k) meets that control requires, such as it is unsatisfactory for, then enters 6., such as meet, then enters 9.；
6. judge iterations n1Whether+1 be more than maximum iteration, such as larger than, then enters 9., otherwise, into 7.；
7. to inputting Xa/XcThe partial gradient δ of every layer of neuron of backwards calculation；
8. calculating modified weight amount Δ W, and weights are corrected, calculation formula is：ΔWij=η δij·Aj, Wij(n1+ 1)=
Wij(n1)+ΔWij(n1) in formula, η is learning efficiency；Make n1=n1+ 1, jump to 3.；
9. training is completed.
(3) calculate and perform network output：
Performing the output of network hidden layer is：
Wherein,For desired control targe, as the center for performing network hidden layer neuron, b1 XatWith
Between deviation.
Performing the output of network output layer is：U (k)=Wa*Aj, it is required control signal, wherein, WaTo perform network weight
Value.
(4) Calculation Estimation network exports：
Evaluation network hidden layer, which exports, is：
Wherein,The center of evaluation network hidden layer neuron is represented, is set according to training experience, b2 XcsWith
Between deviation.
Evaluation network output layer, which exports, is：
J (k+1)=Wc*Cj,
Wherein, WcTo evaluate network weight.
Step 4：By step 3 gained control signal u (k)=[u1, u2] and current time system mode x (k)=[x1, x2]
As absorption tower sweetening process mode input, so as to obtain system output x (k+1).
Step 5：Control error E (k) is calculated, if being less than anticipation error, terminates training, otherwise return to step 3.
Compared with prior art, the technical scheme that the application provides, the technique effect or advantage having are：Taken off on absorption tower
In sulphur process control, this method control accuracy is high, fast convergence rate, it is possible to increase stability of control system and control accuracy, drop
The low control system response time, ensure selexol process effect.
The invention provides a kind of absorbing natural gas tower sweetening process control method based on RBF and ADHDP.First, it is sharp
Absorption tower desulfurization actual production data are trained with BP neural network, absorption tower sweetening process model are established, so as to get around desulfurization
Details sex chromosome mosaicism on process mechanism, solves the problems, such as to model caused by sweetening process complexity difficult, is natural qi exhaustion
The research of sulphur course control method for use lays the foundation.Then, experimental study is carried out by controlled device of the model of foundation, used
ADHDP methods are controlled to absorption tower sweetening process and use RBF neural renewal optimization ADHDP evaluation networks and execution
Network weight, establish the absorption tower sweetening process control method based on RBF-ADHDP.This method has been broken away from for a long time to expert
Experience is depended on unduly, solves that control accuracy existing for existing absorption tower sweetening process control technology is low, and time lag is big, control system
Unite the problems such as unstable, be really achieved the purpose that absorption tower sweetening process accurately controls in real time, be also solution similar industrial control
Problem processed provides a kind of new thinking, embodies the power of intelligent algorithm in the industry.
It should be pointed out that it is limitation of the present invention that described above, which is not, the present invention is also not limited to the example above,
What those skilled in the art were made in the essential scope of the present invention changes, is modified, adds or replaces, and also should
Belong to protection scope of the present invention.
Claims (4)
1. the absorbing natural gas tower sweetening process control method based on RBF and ADHDP, it is characterised in that comprise the following steps：
Step 1：By analyzing absorbing natural gas tower sulfur removal technology process, it is determined that the principal element for influenceing desulfurized effect is acid day
Right gas disposal amount and alkanolamine solution internal circulating load, are represented with u1 and u2, thus form control variable u=[u1, u2] respectively；
Step 2：Step 2：Determine that sweetening process mode input sample data exports sample data, day is established using BP neural network
Right aspiration tower sweetening process model；
Step 3：Set preferable control targe valueThe evaluation in ADHDP methods is updated with RBF neural
Network and execution network weight, and respectively obtain control signal u (k)=[u1, u2] and property by performing network and evaluation network
Energy target function J (k), establish RBF-ADHDP absorbing natural gas tower sweetening process control method；
Step 4：By step 3 gained control signal u (k)=[u1, u2] and current time system mode x (k)=[x1, x2] conduct
Absorption tower sweetening process mode input, so as to obtain system output x (k+1)；
Step 5：Control error E (k) is calculated, if being less than anticipation error, terminates training, otherwise return to step 3.
2. the absorbing natural gas tower sweetening process control method according to claim 1 based on RBF and ADHDP, its feature
It is：
When absorption tower sweetening process model is established in step 2, input=[x1, x2, u1, u2] is regard as mode input sample number
According to, while by x=[x1, x2] as model output sample data, x1, x2 represent H in natural gas purification gas respectively2S contents
(mg/m3) and CO2Content (%).
3. the absorbing natural gas tower sweetening process control method according to claim 1 based on RBF and ADHDP, its feature
Comprise the following steps in the RBF-ADHDP control methods in step 3：
Step 3-1：According to control error E (k), using RBF neural more New Appraisement network and network weight is performed；
Step 3-2：Calculate control signal u (k)；
Step 3-3：Calculation Estimation network output J (k+1).
4. the absorbing natural gas tower sweetening process control method according to claim 1 based on RBF and ADHDP, its feature
It is controlling error E (k) calculation formula in step 5：
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