CN108646693A - A kind of chemical engineering industry process random fault fault tolerant control method - Google Patents
A kind of chemical engineering industry process random fault fault tolerant control method Download PDFInfo
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- CN108646693A CN108646693A CN201810760602.5A CN201810760602A CN108646693A CN 108646693 A CN108646693 A CN 108646693A CN 201810760602 A CN201810760602 A CN 201810760602A CN 108646693 A CN108646693 A CN 108646693A
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- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41885—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by modeling, simulation of the manufacturing system
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses a kind of chemical engineering industry process random fault fault tolerant control methods, include the following steps：Step 1 establishes batch production process model；Step 2, design batch process controller.This method initially sets up the model of chemical industry batch process, and introduces internal error and external disturbance, then uses the failure that may occur under the conditions of stochastic control theory analysis different probability, obtains optimal more new law and controlled quentity controlled variable.Different from traditional control strategy, Novel Control proposed by the invention considers internal fault and external disturbance.By ensureing that system has better control performance to the control of random fault.
Description
Technical field
The invention belongs to automatic industrial process control fields, are related to a kind of fault-tolerant control of chemical industry batch process random fault
Method processed.
Background technology
With the development of industry, batch production is widely used in the fields such as chemical industry, medicine, biological products, modern agriculture.With
The increase of product demand, automatic control system scale gradually expands, and batch production needs to run under complex environment.But
It is limited in production technology, production machine is likely to occur many failures under prolonged operation.If cannot and
When efficiently solve these problems, can not only lead to production process reduced performance, can also cause serious property loss or even prestige
Coerce the safety of producers.From the angle of safety and production performance, it is fault-tolerant to study a kind of batch process random fault
Control method is necessary.
Invention content
Purpose of the present invention is to propose a kind of novel fault tolerant control method for occurring random fault in chemical industry batch process.
This method initially sets up the model of chemical industry batch process, and introduces internal error and external disturbance, then STOCHASTIC CONTROL is used to manage
By the failure that may occur under the conditions of analysis different probability, optimal more new law and controlled quentity controlled variable are obtained.Different from traditional control plan
Slightly, Novel Control proposed by the invention considers internal fault and external disturbance.Pass through the control to random fault
Guarantee system has better control performance.
The technical scheme is that passing through model foundation, calculating failure probability of occurrence, controller design, algorithm design etc.
Means devise chemical industry batch process random fault fault tolerant control method.Can occur internal fault at the same time using this method
With the control performance improved when external disturbance.
The present invention method and step include：
Step 1 establishes batch production process model, comprises the concrete steps that：
1-1. establishes batch process System State Model, and form is as follows：
Wherein t and k indicate time and batch respectively；X (t, k), x (t+1, k) indicate respectively system kth batch t moment,
The state at t+1 moment；Y (t, k) indicates the output of system kth batch t moment；U (t, k) indicates system kth batch t moment
Control input；B, C is the sytem matrix for having appropriate dimension；A (t, k), w (t, k) indicate the interior of kth batch t moment respectively
Portion's disturbance, external disturbance.
1-2., which is introduced, it is expected pursuit path and defines output error：
E (t, k)=yr(t)-y(t,k)
Wherein e (t, k) is the output error of system kth batch t moment, yr(t) it is known desired output track.
1-3. introduces the probability to break down：
γ (t, k)=P γ (t, k)=1 | and γ (t, k-1)=0 }=1- (1- α)n
Wherein n be each batch in total the number of steps of, α is the possibility to break down at next moment, and γ (t, k) is to be
The probability that kth batch t moment of uniting breaks down, P γ (t, k)=1 | and γ (t, k-1)=0 } indicate -1 batch t moment of kth
The probability that kth batch t moment breaks down in the case of not breaking down.
Step 2, design batch process controller, comprise the concrete steps that：
2-1. designs initial controlled quentity controlled variable first：
Wherein u (t, k-1) indicates the controlled quentity controlled variable input of -1 batch t moment of kth, and r (t, k) kth batch t moment is more
New law, u (t, 0) are the initial controlled quentity controlled variable inputs of t moment system.
2-2. defines error originated from input and state error：
δ (x (t, k))=x (t, k)-x (t, k-1)
Wherein, δ (x (t, k)) is the state error of system kth batch t moment, and x (t, k-1) is -1 batch of system kth
The state of t moment.
When a failure occurs, system input is 2-3.：
WhereinIt is a constant between 0-1, uF(t, k) is input of the system kth batch t moment with error.
2-4. can be obtained by step 1-2 and 2-2：
WhereinIt is extension external disturbance of the system in kth batch t moment.
E (t+1, k)=yr(t+1,k)-y(t+1,k)
=e (t+1, k-1)-C δ (x (t+1, k))
Wherein e (t+1, k) indicates that the output error at system kth batch t+1 moment, e (t+1, k-1) indicate system kth-
The output error at 1 batch t+1 moment, yr(t+1, k), y (t+1, k) are that the expectation at system kth batch t+1 moment is defeated respectively
Go out and reality output, δ (x (t+1, k)) are the state errors at system kth batch t+1 moment.
Step 2-4 is converted to state-space model by 2-5.：
Wherein δ (x (t+1, k)) indicates the state error at system kth batch t+1 moment, and I is the list for having appropriate dimension
Bit matrix.
It is as follows that 2-6. by step 2-5 obtains more new law r (t, k)：
R (t, k)=(1- γ (t, k)) K0X(t,k)+γ(t,k)K1X(t,k)
Wherein X (t, k) is the state and output error matrix of system kth batch t moment, K0,K1It is the two of the i-th stage
A gain coefficient.
2-7. combination step 2-1 to step 2-6 can obtain chemical industry batch process optimal control law u (t, k) and act on
Controlled device.
Specific implementation mode
By taking injection molding process as an example：
Step 1 establishes batch production process model, comprises the concrete steps that：
1-1. establishes batch process System State Model, and form is as follows：
Wherein t and k indicate time and batch respectively；X (t, k), x (t+1, k) indicate respectively system kth batch t moment,
The system mode of t+1 moment injection moldings；Y (t, k) indicates the nozzle exit pressure of system kth batch t moment；U (t, k) indicates system
The valve opening of system kth batch t moment injection molding；B, C is the sytem matrix for having appropriate dimension；A(t,k)、w(t,k)
Internal disturbance, the external disturbance of kth batch t moment are indicated respectively.
1-2., which is introduced, it is expected pursuit path and defines output error：
E (t, k)=yr(t)-y(t,k)
Wherein e (t, k) is the nozzle exit pressure error of system kth batch t moment, yr(t) it is known expectation nozzle pressure
Power track.
1-3. introduces the probability to break down：
γ (t, k)=P γ (t, k)=1 | and γ (t, k-1)=0 }=1- (1- α)n
Wherein n be each batch in total the number of steps of, α is the possibility to break down at next moment, and γ (t, k) is to be
The probability that kth batch t moment of uniting breaks down, P γ (t, k)=1 | and γ (t, k-1)=0 } indicate -1 batch t moment of kth
The probability that kth batch t moment breaks down in the case of not breaking down.
Step 2, design batch process controller, comprise the concrete steps that：
2-1. designs initial controlled quentity controlled variable first：
Wherein u (t, k-1) indicates the valve opening of -1 batch t moment of kth, the update of r (t, k) kth batch t moment
Rule, u (t, 0) is the initial valve opening of t moment system.
2-2. defines system injection molding state error：
δ (x (t, k))=x (t, k)-x (t, k-1)
Wherein, δ (x (t, k)) is the system injection molding state of system kth batch t moment, and x (t, k-1) is system kth -1
The system of batch t moment is molded state.
When a failure occurs, system valve opening is 2-3.：
WhereinIt is a constant between 0-1, uF(t, k) is that valve of the system kth batch t moment with error is opened
Degree.
2-4. can be obtained by step 1-2 and 2-2：
WhereinIt is extension external disturbance of the system in kth batch t moment.
E (t+1, k)=yr(t+1,k)-y(t+1,k)
=e (t+1, k-1)-C δ (x (t+1, k))
Wherein e (t+1, k) indicates that the nozzle exit pressure error at system kth batch t+1 moment, e (t+1, k-1) indicate system
The nozzle exit pressure error at -1 batch t+1 moment of kth, yr(t+1, k), y (t+1, k) are the system kth batch t+1 moment respectively
Expectation nozzle exit pressure and actual nozzle pressure, δ (x (t+1, k)) be the system kth batch t+1 moment system injection molding state
Error.
Step 2-4 is converted to state-space model by 2-5.：
Wherein δ (x (t+1, k)) indicates the injection molding state error at system kth batch t+1 moment.
It is as follows that 2-6. by step 2-5 obtains more new law r (t, k)：
R (t, k)=(1- γ (t, k)) K0X(t,k)+γ(t,k)K1X(t,k)
Wherein X (t, k) is the system mode and nozzle exit pressure error matrix of system kth batch t moment, K0,K1It is i-th
Two gain coefficients in stage.
2-7. combination step 2-1 to step 2-6 can obtain chemical industry batch process optimal control law u (t, k) and act on
Controlled device.
Claims (3)
1. a kind of chemical engineering industry process random fault fault tolerant control method, includes the following steps：
Step 1 establishes batch production process model；
Step 2, design batch process controller.
2. chemical engineering industry process random fault fault tolerant control method as described in claim 1, it is characterised in that：Step 1 is specific
It is as follows：
1-1. establishes batch process System State Model, and form is as follows：
Wherein t and k indicate time and batch respectively；X (t, k), x (t+1, k) indicate system kth batch t moment, t+1 respectively
The state at moment；Y (t, k) indicates the output of system kth batch t moment；U (t, k) indicates system kth batch t moment control
System input；B, C is the sytem matrix for having appropriate dimension；A (t, k), w (t, k) indicate the inside of kth batch t moment respectively
Disturbance, external disturbance；
1-2., which is introduced, it is expected pursuit path and defines output error：
E (t, k)=yr(t)-y(t,k)
Wherein e (t, k) is the output error of system kth batch t moment, yr(t) it is known desired output track；
1-3. introduces the probability to break down：
γ (t, k)=P γ (t, k)=1 | and γ (t, k-1)=0 }=1- (1- α)n
Wherein n be each batch in total the number of steps of, α is the possibility to break down at next moment, and γ (t, k) is system
The probability that k batch t moments break down, P γ (t, k)=1 | and γ (t, k-1)=0 } indicate that -1 batch t moment of kth does not go out
The probability that kth batch t moment breaks down in the case of existing failure.
3. chemical engineering industry process random fault fault tolerant control method as claimed in claim 2, it is characterised in that：Step 2 is specific
It is as follows：
2-1. designs initial controlled quentity controlled variable first：
Wherein u (t, k-1) indicates the controlled quentity controlled variable input of -1 batch t moment of kth, the update of r (t, k) kth batch t moment
Rule, u (t, 0) are the initial controlled quentity controlled variable inputs of t moment system；
2-2. defines error originated from input and state error：
δ (x (t, k))=x (t, k)-x (t, k-1)
Wherein, δ (x (t, k)) is the state error of system kth batch t moment, when x (t, k-1) is -1 batch t of system kth
The state at quarter；
When a failure occurs, system input is 2-3.：
WhereinIt is a constant between 0-1, uF(t, k) is input of the system kth batch t moment with error；
2-4. can be obtained by step 1-2 and 2-2：
WhereinIt is extension external disturbance of the system in kth batch t moment.
E (t+1, k)=yr(t+1,k)-y(t+1,k)
=e (t+1, k-1)-C δ (x (t+1, k))
Wherein e (t+1, k) indicates that the output error at system kth batch t+1 moment, e (t+1, k-1) indicate system kth -1 batch
The output error at secondary t+1 moment, yr(t+1, k), y (t+1, k) are the desired output at system kth batch t+1 moment respectively
And reality output, δ (x (t+1, k)) are the state errors at system kth batch t+1 moment；
Step 2-4 is converted to state-space model by 2-5.：
Wherein δ (x (t+1, k)) indicates the state error at system kth batch t+1 moment, and I is the unit square for having appropriate dimension
Battle array；
It is as follows that 2-6. by step 2-5 obtains more new law r (t, k)：
R (t, k)=(1- γ (t, k)) K0X(t,k)+γ(t,k)K1X(t,k)
Wherein X (t, k) is the state and output error matrix of system kth batch t moment, K0,K1It is two increasings in the i-th stage
Beneficial coefficient；
2-7. combination step 2-1 to step 2-6 can obtain chemical industry batch process optimal control law u (t, k) and act on controlled
Object.
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