CN108268071A - A kind of heating boiler temprature control method based on Smith-PID - Google Patents
A kind of heating boiler temprature control method based on Smith-PID Download PDFInfo
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- CN108268071A CN108268071A CN201810080627.0A CN201810080627A CN108268071A CN 108268071 A CN108268071 A CN 108268071A CN 201810080627 A CN201810080627 A CN 201810080627A CN 108268071 A CN108268071 A CN 108268071A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D23/00—Control of temperature
- G05D23/19—Control of temperature characterised by the use of electric means
- G05D23/30—Automatic controllers with an auxiliary heating device affecting the sensing element, e.g. for anticipating change of temperature
- G05D23/32—Automatic controllers with an auxiliary heating device affecting the sensing element, e.g. for anticipating change of temperature with provision for adjustment of the effect of the auxiliary heating device, e.g. a function of time
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Abstract
The invention discloses a kind of heating boiler temprature control methods based on Smith PID, using Smith predictor system, it shows as the PID controller to being established based on gathered data and connects a compensation tache, it is compensated by prediction device, the regulated variable leading reflection being delayed by is made to make adjuster advancement, to adjuster so as to reduce overshoot and accelerate adjusting process, it is identical when making system quality with controlled process without purely retarded so as to eliminate adverse effect of the purely retarded to system.The intelligent control algorithm that the present invention uses can not only shorten the control and regulation time of system, reduce loss of the overshoot for equipment, such as mechanical shock to defeated heat pipe, and steady-state characteristic also meets the required precision at heating station；The algorithm that the present invention uses has stronger robustness；The present invention can reduce the consumption of coal compared with the classical PID algorithmic system of generally use using the heat exchange station of inventive algorithm simultaneously, the purpose of reducing the discharge of carbon dioxide indirectly, realize energy conservation and environmental protection.
Description
Technical field
The present invention relates to the control method of boiler temperature, specifically a kind of heating boiler temperature control based on Smith-PID
Method processed.
Background technology
During boiler temperature adjusting, lag time will be difficult to obtain with time constant using conventional pid algorithm
The control effect that must be got well, generally for dead-time system, people more concerned be that overshoot how to be made to reach preferred temperature value, and
Too strict requirements are not made to rapidity.For this purpose, the present invention propose it is a kind of using Smith predictor come compensation system Time Delay
Method, improve heating boiler temperature regulated efficiency.
Invention content
Using Smith predictor system, show as to PID controller and connect a compensation tache, which is known as
Smith prediction devices.Smith predictive compensations are that compensation device is introduced in the backfeed loop of heating boiler temperature control system, will
Purely retarded part in control channel transmission function is detached with dominant.Its main feature is that system is pre-estimated out in given letter
Dynamic characteristic under number, is then compensated by prediction device, and the regulated variable leading reflection for making to be delayed by makes to thermoregulator
Thermoregulator advancement, so as to reduce overshoot and accelerate adjusting process, so as to eliminate unfavorable shadow of the purely retarded to system
It rings, it is identical when making heating boiler control system quality with controlled process without purely retarded.
If Fig. 1 is the PID heating boiler temperature control systems that are compensated with Smith.The transmission function of controller be D (s), quilt
Control object, that is, boiler furnace system transter is GP(s)e-τs, τ is pure delay time constant, and s is time variable.Controlled pair
The transmission function not comprising purely retarded part is G as inP(s), the transmission function of controlled device purely retarded part is e-τs.Band
The PID temperature control system of Smith compensation is known as purely retarded by the compensation circuit that controller D (s) and Smith predictor form and mends
Device is repaid, the transmission function of Pure compensator is：
The closed loop transfer function, of system is after compensated：
In contrast, uncompensated system closed loop transfer function, is：
It can thus be appreciated that after overcompensation, influence of the purely retarded part to control system is eliminated, because of the e in formula-τs
Except close loop control circuit, the stability of system is not influenced.The shifting theorem of Laplace transformation illustrates e-τsOnly control action is existed
Elapsed a pure delay time τ on time-base, and the transient process of temperature control system and other performance index all with it is right
As characteristic is GP(s) it is identical when.
From Figure 2 it can be seen that the digitial controller of the dead time compensation based on Smith-PID is made of two parts：A part is
Digital PID Controller；A part is Smith predictor.Delay component makes signal delay, for this purpose, special setting N in memory
Historical data of a unit as storage signal m (k), the number N of storage unit are determined by following formula.
N=τ/T
In formula, τ is pure delay time constant, and T is the sampling period, and k is time variable.Often sampling is primary, and m (k) is remembered 0
Unit, while Unit 0 was stored data originally and moves on to Unit 1, the data that Unit 1 was stored originally move on to Unit 2, and so on.
The signal exported from unit N, exactly lags N number of sampling period m (k-N) signal.
The output of Smith predictor can be calculated by the sequence of Fig. 3.In Fig. 3, u (k) is the output of pid number controller,
yτ(k) be Smith predictor output.As can be known from Fig. 3, it is necessary to first calculation of transfer function GP(s) after output m (k), ability
Calculate the output of prediction device.As can be known from Fig. 3, it is necessary to first calculation of transfer function GP(s) it after output m (k), could calculate
The output of Smith predictor.
Heating boiler temperature lag Compensation Control step based on Smith-PID is as follows:
1) the deviation e of backfeed loop is calculated1(k)；
2) the output y of Pure compensator is calculatedτ(k)；
3) deviation e is calculated2(k)；
4) the output u (k) of computing controller；
A kind of heating boiler temprature control method based on Smith-PID proposed by the present invention, advantage are：1) it shows as
To the PID controller established based on gathered data and a compensation tache is connect, makes the regulated variable leading reflection being delayed by tune
Device is saved, makes adjuster advancement, so as to reduce overshoot and accelerate adjusting process, so as to eliminate purely retarded to the unfavorable of system
It influences, it is identical when making system quality with controlled process without purely retarded；2) intelligent control algorithm that the present invention uses, can not only contract
The control and regulation time of short system reduces loss of the overshoot for equipment, such as mechanical shock to defeated heat pipe, and stable state is special
Property also meet heating station required precision；3) algorithm that the present invention uses has stronger robustness, in the debugging stage, it is only necessary to
The general parameter of control object, this also increases the ease for use of the present invention, convenient for promoting the use of；4) it is while of the invention and former
Some is compared using the system of common pid algorithm, and the use of coal is reduced using the heat exchange station of inventive algorithm, is reduced indirectly
The discharge of carbon dioxide, realizes energy conservation and environmental protection etc..
PID control with Smith predictor adjusts programmed algorithm flow such as Fig. 3；
Description of the drawings
The PID heating boiler temperature control systems that Fig. 1 is compensated with Smith；
PID heating boiler control systems of the Fig. 2 with Smith predictor；
The output module of Fig. 3 Smith predictors；
PID heating boiler temperature of the Fig. 4 with Smith predictor controls to adjust programmed algorithm flow chart；
Specific embodiment
The present invention is described in detail below in conjunction with the accompanying drawings：
From Figure 2 it can be seen that the digitial controller of the dead time compensation based on Smith-PID is made of two parts：A part is
Digital PID Controller；A part is Smith predictor.Delay component makes signal delay, for this purpose, special setting N in memory
Historical data of a unit as storage signal m (k), the number N of storage unit are determined by following formula.
N=τ/T
In formula, τ is pure delay time constant, and T is the sampling period, and k is time variable.Often sampling is primary, and m (k) is remembered 0
Unit, while Unit 0 was stored data originally and moves on to Unit 1, the data that Unit 1 was stored originally move on to Unit 2, and so on.
The signal exported from unit N, exactly lags N number of sampling period m (k-N) signal.
The output of Smith predictor can be calculated by the sequence of Fig. 3.In Fig. 3, u (k) is the output of pid number controller,
yτ(k) be Smith predictor output.As can be known from Fig. 3, it is necessary to first calculation of transfer function GP(s) after output m (k), ability
Calculate the output of prediction device.
yτ(k)=m (k)-m (k-N)
The object that this method is probed into is boiler temperature, is represented with the series connection of first order inertial loop and pure lag system：
Then the transmission function of Smith predictor is：
KfAmplification coefficient for controlled device；TfTime constant for controlled device；τ is pure delay time constant.
Lag compensation control algolithm step is as follows:
1) the deviation e of backfeed loop is calculated1(k)；
e1(k)=r (k)-y (k)
R (k) is systemic presupposition desired value, y (k) device output valves in order to control；
2) the output y of Pure compensator is calculatedτ(k)；
Being melted into the differential equation is：
Difference equation is accordingly：
yτ(k)=ayτ(k-1)+b[u(k-1)-u(k-N-1)]
In formula
3) deviation e is calculated2(k)；
e2=e1(k)-yτ(t)
4) controller uses pid control algorithm, the output u (k) of computing controller；
U (k)=u (k-1)+△ u (k)=u (k-1) tKp[e2(k)-e2(k-1)]
+KIe2(k)+KD[e2(k)-2e2(k-1)+e2(k-2)
In formula, KpProportionality coefficient for PID control；For integral coefficient；For differential coefficient.
Digital control adjusting algorithm flow such as Fig. 4 of dead time compensation based on Smith-PID.
Smith-PID algorithms to write flow as follows：
clear
Ty=10；% sets the sampling time
Kp=0.04；Ki=0.001；% proportional integration functions give
% sets initial value
K=0.74；T=943；
Tol=3.14；% lag time constants
U1=0.0；U2=0.0；U3=0.0；U4=0.0；U5=0.0；
E11=0；
E2=0.0；E21=0.0；
Ei=0；
Xm1=0.0；Ym1=0.0；
Y1=0.0；
The foundation of the transmission function of % delayed time systems
Sys1=tf ([k], [T, 1], ' inputdelay', tol)；
Dsys1=c2d (sys1, ty, ' zoh')；
[num1, den1]=tfdata (dsys1, ' v')；
The foundation of % prediction model TRANSFER MODELs
Sys2=tf ([k], [T, 1], ' inputdelay', tol)；
Dsys2=c2d (sys2, ty, ' zoh')；
[num2, den2]=tfdata (dsys2, ' v')；
Fork=1:1:3000
T (k)=k*ty；% set-points are set
In (k)=60；% sets Mu Bai temperature as 60 degrees Celsius
Xm (k)=- den2 (2) * xm1+num2 (2) * u1；% preset model linear equations
Ym (k)=- den2 (2) * ym1+num2 (2) * u5；% preset model linear equations
Out (k)=- den1 (2) * y1+num1 (2) * u5；% output valve linear equations
%smith：With proportional plus integral control
E2 (k)=in (k)-xm (k)；
Ei=ei+ty*e2 (k)；
U (k)=kp*e2 (k)+ki*ei；
E21=e2 (k)；
%Smith model parameters return
Xm1=xm (k)；
Ym1=ym (k)；
U5=u4；U4=u3；U3=u2；U2=u1；U1=u (k)；
Y1=out (k)；
end
% draws the curve of set-point and temperature value
Plot (t, in, ' r', t, out, ' b')；
Xlabel (' the time ')；Ylabel (' set-point, temperature value ')；
Legend (' set-point ', ' temperature value ')；
Title (' heating boiler temperature control system input set-point and output temperature curve ').
Claims (4)
1. a kind of heating boiler temprature control method based on Smith-PID, it is characterised in that：The transmission function of controller is D
(s), controlled device, that is, boiler furnace system transter is GP(s)e-τs, τ is pure delay time constant, and s is time variable；
The transmission function not comprising purely retarded part is G in controlled deviceP(s), the transmission function of controlled device purely retarded part is e-τs；PID temperature control system with Smith compensation is referred to as pure by the compensation circuit that controller D (s) and Smith predictor form
Lag compensator, the transmission function of Pure compensator are：
The closed loop transfer function, of system is after compensated：
In contrast, uncompensated system closed loop transfer function, is：
It can thus be appreciated that after overcompensation, influence of the purely retarded part to control system is eliminated, because of the e in formula-τsIn closed loop
Except control loop, the stability of system is not influenced；The shifting theorem of Laplace transformation illustrates e-τsOnly by control action in the time
A pure delay time τ has been elapsed on coordinate, and the transient process of temperature control system and other performance index are all special with object
Property is GP(s) it is identical when.
2. a kind of heating boiler temprature control method based on Smith-PID according to claim 1, it is characterised in that：
The digitial controller of dead time compensation based on Smith-PID is made of two parts：A part is Digital PID Controller；One
It is Smith predictor to divide；Delay component makes signal delay, for this purpose, the N number of unit of special setting is as storage signal m in memory
(k) historical data, the number N of storage unit are determined by following formula；
N=τ/T
In formula, τ is pure delay time constant, and T is the sampling period, and k is time variable；Often sampling is primary, and m (k) is remembered Unit 0,
Unit 0 was stored data originally moves on to Unit 1 simultaneously, and the data that Unit 1 was stored originally move on to Unit 2, and so on；From unit
The signal of N outputs, exactly lags N number of sampling period m (k-N) signal.
3. a kind of heating boiler temprature control method based on Smith-PID according to claim 1, it is characterised in that：
In the output of Smith predictor, u (k) is the output of pid number controller, yτ(k) be Smith predictor output；First calculate
Transmission function GP(s) output m (k) calculates the output of prediction device；First calculation of transfer function GP(s) after output m (k), ability
Calculate the output of Smith predictor.
4. a kind of heating boiler temprature control method based on Smith-PID according to claim 3, it is characterised in that：
Heating boiler temperature lag Compensation Control step based on Smith-PID is as follows：
1) the deviation e of backfeed loop is calculated1(k)；
2) the output y of Pure compensator is calculatedτ(k)；
3) deviation e is calculated2(k)；
4) the output u (k) of computing controller.
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Cited By (7)
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| CN110046417A (en) * | 2019-04-09 | 2019-07-23 | 上海理工大学 | Improve the controller compensation method of driver's response delay |
| CN111381494A (en) * | 2020-05-02 | 2020-07-07 | 苏州科技大学 | Air conditioner temperature control system based on pole allocation and control method thereof |
| CN112327606A (en) * | 2020-10-28 | 2021-02-05 | 苏州英威腾电力电子有限公司 | Heat exchange station water temperature control method and device, controller and storage medium |
| CN112556258A (en) * | 2020-10-09 | 2021-03-26 | 国网浙江省电力有限公司湖州供电公司 | Heat pump intelligent control method for compensating time delay |
| CN113075880A (en) * | 2021-03-17 | 2021-07-06 | 南通大学 | Control method of improved Smith estimation compensation system based on fuzzy PID |
| CN113655816A (en) * | 2021-06-30 | 2021-11-16 | 武汉钢铁有限公司 | Ladle bottom argon blowing system flow control method and computer readable storage medium |
| CN115639774A (en) * | 2022-10-19 | 2023-01-24 | 浙江花园药业有限公司 | Control system and control method of water bath type sterilizer |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110046417A (en) * | 2019-04-09 | 2019-07-23 | 上海理工大学 | Improve the controller compensation method of driver's response delay |
| CN111381494A (en) * | 2020-05-02 | 2020-07-07 | 苏州科技大学 | Air conditioner temperature control system based on pole allocation and control method thereof |
| CN112556258A (en) * | 2020-10-09 | 2021-03-26 | 国网浙江省电力有限公司湖州供电公司 | Heat pump intelligent control method for compensating time delay |
| CN112327606A (en) * | 2020-10-28 | 2021-02-05 | 苏州英威腾电力电子有限公司 | Heat exchange station water temperature control method and device, controller and storage medium |
| CN113075880A (en) * | 2021-03-17 | 2021-07-06 | 南通大学 | Control method of improved Smith estimation compensation system based on fuzzy PID |
| CN113655816A (en) * | 2021-06-30 | 2021-11-16 | 武汉钢铁有限公司 | Ladle bottom argon blowing system flow control method and computer readable storage medium |
| CN113655816B (en) * | 2021-06-30 | 2023-11-21 | 武汉钢铁有限公司 | Ladle bottom argon blowing system flow control method and computer readable storage medium |
| CN115639774A (en) * | 2022-10-19 | 2023-01-24 | 浙江花园药业有限公司 | Control system and control method of water bath type sterilizer |
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Application publication date: 20180710 |