CN108594676A - A kind of industry controlled process characteristic parameter Fast Identification Method - Google Patents
A kind of industry controlled process characteristic parameter Fast Identification Method Download PDFInfo
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Abstract
发明公开了一类工业受控过程特征参数快速辨识方法，步骤1：采用开环增益K、时间常数T和延迟时间L三个特征参数描述工业受控过程的动态特性；步骤2：对工业受控过程施加幅值恒定的阶跃信号，获取其阶跃响应的采样信息输出值y(t)；步骤3：分别计算所得y(t)、y2(t)和y3(t)对应的累加值A1、A2和A3；步骤4：根据步骤2获取的采样信息输出值y(t)、步骤3计算得到的累加值A1、A2、A3、运行时间t以及采样周期Δt，计算出工业受控过程的三个特征参数。本发明只需要给工业受控过程施加阶跃信号，使得系统建模过程中，工业受控过程能够平稳运行，当运行稳定后，所需要的数据就采集结束；三个特征参数的算法简单、计算量小，对工业控制器的计算能力要求不高。The invention discloses a method for quickly identifying characteristic parameters of a controlled industrial process. Step 1: use three characteristic parameters of open-loop gain K, time constant T and delay time L to describe the dynamic characteristics of the industrial controlled process; Step 2: analyze the industrial controlled process Apply a step signal with constant amplitude to the control process, and obtain the sampling information output value y(t) of the step response; Step 3: Calculate the corresponding values of y(t), y 2 (t) and y 3 (t) respectively Accumulated values A 1 , A 2 and A 3 ; Step 4: Output value y(t) based on the sampling information obtained in step 2, accumulated values A 1 , A 2 , A 3 calculated in step 3 , running time t and sampling period Δt, three characteristic parameters of the industrial controlled process are calculated. The invention only needs to apply a step signal to the industrial controlled process, so that the industrial controlled process can run smoothly during the system modeling process, and when the operation is stable, the required data is collected; the algorithm of the three characteristic parameters is simple, The amount of calculation is small, and the calculation ability of the industrial controller is not high.
Description
技术领域technical field
本发明涉及一类工业受控过程特征参数快速辨识方法，属于系统建模领域。The invention relates to a fast identification method for characteristic parameters of a class of industrial controlled processes, which belongs to the field of system modeling.
背景技术Background technique
工业控制系统的设计依赖于受控过程的数学模型。而大多数工业过程的动态特性，可以用一阶时滞模型来近似描述。The design of industrial control systems relies on mathematical models of the controlled process. The dynamic characteristics of most industrial processes can be approximated by a first-order time-delay model.
但常用的系统建模方法要求施加的输入信号必须满足“持续激励”的条件；为了得到足够的数据，系统必须运行较长的时间；另外参数的计算量也比较大，给工程应用带来了诸多不便。如果能够降低对输入信号的“持续激励”要求、简化参数的计算方法，缩短系统运行时间，那么将会给工程应用带来极大便利。However, the commonly used system modeling method requires that the applied input signal must meet the condition of "continuous excitation"; in order to obtain enough data, the system must run for a long time; in addition, the calculation amount of parameters is relatively large, which brings great difficulties to engineering applications. A lot of inconvenience. If the "continuous excitation" requirement for the input signal can be reduced, the calculation method of the parameters can be simplified, and the system running time can be shortened, it will bring great convenience to engineering applications.
发明内容Contents of the invention
本发明提出一类工业受控过程特征参数快速辨识方法，基于工业受控过程阶跃响应，能够快速地获取工业受控过程的特征参数。The invention proposes a fast identification method for the characteristic parameters of the industrial controlled process, which can quickly obtain the characteristic parameters of the industrial controlled process based on the step response of the industrial controlled process.
为达到上述目的，本发明的技术方案是这样实现的：In order to achieve the above object, technical solution of the present invention is achieved in that way:
一类工业受控过程特征参数快速辨识方法，该方法包括以下步骤：A method for quickly identifying characteristic parameters of an industrial controlled process, the method comprising the following steps:
步骤1：采用开环增益K、时间常数T和延迟时间L三个特征参数描述常见工业受控过程的动态特性；Step 1: Use the three characteristic parameters of open-loop gain K, time constant T and delay time L to describe the dynamic characteristics of common industrial controlled processes;
步骤2：对工业受控过程施加幅值恒定的阶跃信号，记为r(t)，以采样周期Δt采集该工业受控过程的输出值，记为y(t)，其中t均为运行时间，单位为秒；Step 2: Apply a step signal with constant amplitude to the industrial controlled process, denoted as r(t), and collect the output value of the industrial controlled process with the sampling period Δt, denoted as y(t), where t is the running time, in seconds;
步骤3：计算y(t)的二次方y2(t)和y(t)的三次方y3(t)，并分别计算所得y(t)、y2(t)和y3(t)对应的累加值A1、A2和A3；Step 3: Calculate the quadratic y 2 (t) of y(t) and the cubic y 3 (t) of y(t), and calculate the resulting y(t), y 2 (t) and y 3 (t ) corresponding accumulated values A1, A2 and A3;
步骤4：根据步骤2获取的输出值y(t)、步骤3计算得到的累加值A1、A2、A3、运行时间t以及采样周期Δt，计算出工业受控过程的三个特征参数，包括开环增益K、时间常数T和延迟时间L，其中，时间常数T和延迟时间L的单位均为秒。Step 4: According to the output value y(t) obtained in step 2, the accumulated values A 1 , A 2 , A 3 calculated in step 3, the running time t and the sampling period Δt, calculate the three characteristic parameters of the industrial controlled process , including an open-loop gain K, a time constant T and a delay time L, where the units of the time constant T and the delay time L are both seconds.
优选地，工业受控过程采用公式(1)进行描述：Preferably, the industrial controlled process is described by formula (1):
公式(1)中，K为开环增益，T为时间常数，L为延迟时间，r(t)为工业受控过程的输入信号，y(t)为工业受控过程的输出值，t为运行时间；In formula (1), K is the open-loop gain, T is the time constant, L is the delay time, r(t) is the input signal of the industrial controlled process, y(t) is the output value of the industrial controlled process, and t is operation hours;
记所述工业过程施加幅值为R的阶跃信号为r(t)＝R，以采样周期Δt采集该工业受控过程的输出值y(t)，并根据公式(2)计算y(t)、y2(t)和y3(t)分别对应的累加值A1、A2和A3，其中公式(2)如下所示：Note that the industrial process applies a step signal with an amplitude of R as r(t)=R, gather the output value y(t) of the industrial controlled process with the sampling period Δt, and calculate y(t) according to formula (2) ), y 2 (t) and y 3 (t) respectively correspond to the accumulated values A 1 , A 2 and A 3 , where formula (2) is as follows:
优选地，当工业受控过程在幅值为R的阶跃信号作用下，输出达到稳态时，其开环增益K、时间常数T和延迟时间L由公式(3)计算得出：Preferably, when the output of the industrial controlled process reaches a steady state under the action of a step signal with an amplitude of R, its open-loop gain K, time constant T and delay time L are calculated by formula (3):
有益效果：与现有技术相比，本发明提供一类工业受控过程特征参数快速辨识方法，只需要给工业过程施加阶跃信号，使得系统建模过程中，工业过程能够平稳运行，当运行稳定后，所需要的数据就采集结束；三个特征参数的算法简单、计算量小，对工业控制器的计算能力要求不高。Beneficial effects: Compared with the prior art, the present invention provides a kind of fast identification method of industrial controlled process characteristic parameters, which only needs to apply a step signal to the industrial process, so that the industrial process can run smoothly during the system modeling process. After stabilization, the required data collection is completed; the algorithm of the three characteristic parameters is simple, the calculation amount is small, and the calculation ability of the industrial controller is not high.
具体实施方式Detailed ways
为了使本技术领域的人员更好地理解本申请中的技术方案，下面对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本申请保护的范围。In order to enable those skilled in the art to better understand the technical solutions in the application, the technical solutions in the embodiments of the application are clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of the application, and Not all examples. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.
一类工业受控过程特征参数快速辨识方法，该方法包括以下步骤：A method for quickly identifying characteristic parameters of an industrial controlled process, the method comprising the following steps:
步骤1：采用开环增益K、时间常数T和延迟时间L三个特征参数描述工业受控过程的动态特性，如公式(1)所示：Step 1: Use the three characteristic parameters of open-loop gain K, time constant T and delay time L to describe the dynamic characteristics of the industrial controlled process, as shown in formula (1):
公式(1)中，K为开环增益，T为时间常数，L为延迟时间，r(t)为工业受控过程的输入信号，y(t)为工业受控过程的输出值，t为运行时间；In formula (1), K is the open-loop gain, T is the time constant, L is the delay time, r(t) is the input signal of the industrial controlled process, y(t) is the output value of the industrial controlled process, and t is operation hours;
步骤2：让受控工业过程处于零初始状态，在工业受控过程的控制信号输入端施加幅值为恒定值R的阶跃信号，记为r(t)＝R，幅值R的大小优选为工业受控过程的稳态工作幅值。在工业受控过程运行过程中，以采样周期Δt采集该工业受控过程的输出响应y(t)；Step 2: Let the controlled industrial process be in the zero initial state, apply a step signal with a constant value R at the control signal input end of the industrial controlled process, denoted as r(t)=R, the size of the amplitude R is optimal is the steady-state working amplitude of the industrial controlled process. During the operation of the industrial controlled process, the output response y(t) of the industrial controlled process is collected with the sampling period Δt;
步骤3：根据公式(2)计算y(t)、y2(t)和y3(t)分别对应的累加值A1、A2和A3，其中公式(2)如下所示：Step 3: Calculate the accumulative values A 1 , A 2 and A 3 respectively corresponding to y(t), y 2 (t) and y 3 (t) according to formula (2), where formula (2) is as follows:
步骤4：当工业受控过程在阶跃信号r(t)作用下，输出达到稳态时(即y(t)大小不再变化)，根据步骤2获取的采样信息y(t)、步骤3计算得到的累加值A1、A2、A3、执行时间t以及采样周期Δt，结合公式(3)计算出工业受控过程的三个特征参数，包括开环增益K、时间常数T和延迟时间L，公式(3)如下所示：Step 4: When the industrial controlled process is under the action of the step signal r(t), when the output reaches a steady state (that is, the size of y(t) does not change), according to the sampling information y(t) obtained in step 2, step 3 The calculated accumulated values A 1 , A 2 , A 3 , execution time t and sampling period Δt are combined with formula (3) to calculate three characteristic parameters of the industrial controlled process, including open-loop gain K, time constant T and delay Time L, formula (3) is as follows:
对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本发明。对这些实施例的两种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下，在其它实施例中实现。因此，本发明将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Both modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
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