CN108958029A - For parameter tuning method and system - Google Patents
For parameter tuning method and system Download PDFInfo
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- CN108958029A CN108958029A CN201810664459.XA CN201810664459A CN108958029A CN 108958029 A CN108958029 A CN 108958029A CN 201810664459 A CN201810664459 A CN 201810664459A CN 108958029 A CN108958029 A CN 108958029A
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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
Abstract
The present invention provides a kind of control parameter setting method and systems, belong to control parameter adjusting technical field.Include: that two-point method modeling is carried out according to the step response curve of the control parameter for control parameter setting method, obtains the initial value of the parameter of the transmission function of the step response curve；Optimizing is carried out to the parameter of the transmission function, the optimal value of the parameter of the transmission function obtained according to optimizing optimizes the transmission function；And the control parameter is adjusted using the transmission function after optimization.Through the above technical solution, the present invention carries out two-point method modeling according to the step response curve of control parameter and optimizes to transmission function, control parameter is adjusted using the transmission function after optimization, compared with traditional intelligence computation modeling, the optimizing space that two-point method modeling reduces intelligence computation modeling is carried out according to the step response curve of control parameter, local optimum is fallen into so as to avoid algorithm, while the required data volume of identification is greatly reduced.
Description
Technical field
The present invention relates to control parameters to adjust technology, more particularly to control parameter setting method and system.
Background technique
Along with the raising of thermal power generation control technology and the development of Precise control, thermal power generation unit logic is debugged
Parameter tuning requirement it is also higher and higher, however, traditional method is all that dependence experience carries out examination and gathers, this method is difficult full
Sufficient control accuracy requirement.
Currently, System design based on model parameter tuning method has become normality, how to be modeled as both quick and accurately
For another problem in thermal power plant's thermal control debugging.Although traditional two-point method modeling formula is simple, practical application is got up
And energy much being expended, and the model established is also relatively rough, although intelligence computation method can establish relatively accurate mould
Type, however data volume needed for often modeling is huge and the modeling time is long, so being also difficult to meet engineer application needs.
Summary of the invention
The object of the present invention is to provide a kind of control parameter setting method and systems, are used for thermal power plant's thermal control tune for solving
The problem of accurately and quickly modeling of examination.
To achieve the goals above, the present invention provides a kind of control parameter setting methods, this method comprises: according to described
The step response curve of control parameter carries out two-point method modeling, obtains the first of the parameter of the transmission function of the step response curve
Initial value；Optimizing is carried out to the parameter of the transmission function, the optimal value of the parameter of the transmission function obtained according to optimizing is to described
Transmission function optimizes；And the control parameter is adjusted using the transmission function after optimization.
Preferably, the parameter of the transmission function includes amplification coefficient, time constant and order, wherein the order tool
There are integer part and fractional part.
Preferably, carrying out optimizing to the parameter of the transmission function includes: the decimal using objective function to the order
Part carries out optimizing.
It is preferably, described that carry out optimizing to the fractional part of the order using objective function include: for multiple samples
Each of the actual value of multiple output valves of the step response curve of sample, according to the initial of the parameter of the transmission function
The calculated value for the multiple output valve that value is calculated and the number of the multiple output valve, calculate separately error of fitting, obtain
To multiple errors of fitting；And by the parameter setting of the corresponding transmission function of minimum value in the multiple error of fitting be optimizing
The optimal value of the parameter of obtained transmission function, wherein the ginseng of the optimal value of the parameter of the transmission function and the transmission function
Amplification coefficient, time constant in several initial values is identical with the integer part of order, the optimization of the parameter of the transmission function
It is worth different with the fractional part of order in the initial value of the parameter of the transmission function.
Preferably, two-point method modeling is carried out according to the step response curve of the control parameter, obtains the step response
The initial value of the parameter of the transmission function of curve includes: to be calculated according to the initial value and end value of the step response curve
The output valve of selected two o'clock；According to the step response curve obtain the output valve of the two o'clock corresponding to time point；
And the time point according to corresponding to the output valve of the output valve of the two o'clock and the two o'clock obtains the ginseng of the transmission function
Several initial values.
Correspondingly, the present invention also provides a kind of control parameter adjusting system, which includes: model building module, is used
In carrying out two-point method modeling according to the step response curve of the control parameter, the transmission function of the step response curve is obtained
Parameter initial value；Parameter optimization module carries out optimizing, the biography obtained according to optimizing for the parameter to the transmission function
The optimal value of the parameter of delivery function optimizes the transmission function；And parameter tuning module, after using optimization
Transmission function adjusts the control parameter.
Preferably, the parameter of the transmission function includes amplification coefficient, time constant and order, wherein the order tool
There are integer part and fractional part.
Preferably, carrying out optimizing to the parameter of the transmission function includes: the decimal using objective function to the order
Part carries out optimizing.
Preferably, carrying out optimizing to the parameter of the transmission function includes: for each of multiple samples sample
The actual value of multiple output valves of step response curve, obtained according to the calculation of initial value of the parameter of the transmission function described in
The number of the calculated value of multiple output valves and the multiple output valve, calculates separately error of fitting, obtains multiple errors of fitting；With
It and by the parameter setting of the corresponding transmission function of minimum value in the multiple error of fitting is the obtained transmission function of optimizing
The optimal value of parameter, wherein putting in the initial value of the parameter of the optimal value of the parameter of the transmission function and the transmission function
Big coefficient, time constant are identical with the integer part of order, the optimal value of the parameter of the transmission function and the transmission function
Parameter initial value in order fractional part it is different.
Preferably, two-point method modeling is carried out according to the step response curve of the control parameter, obtains the step response
The initial value of the parameter of the transmission function of curve includes: to be calculated according to the initial value and end value of the step response curve
The output valve of selected two o'clock；According to the step response curve obtain the output valve of the two o'clock corresponding to time point；
And the time point according to corresponding to the output valve of the output valve of the two o'clock and the two o'clock obtains the ginseng of the transmission function
Several initial values.
Through the above technical solutions, the present invention is according to the progress two-point method modeling of the step response curve of control parameter and to biography
Delivery function optimizes, and is adjusted using the transmission function after optimization to control parameter, compared with traditional intelligence computation modeling,
The optimizing space that two-point method modeling reduces intelligence computation modeling is carried out according to the step response curve of control parameter, to avoid
Algorithm falls into local optimum, while data volume needed for identification is greatly reduced.
The other feature and advantage of the embodiment of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is to further understand for providing to the embodiment of the present invention, and constitute part of specification, under
The specific embodiment in face is used to explain the present invention embodiment together, but does not constitute the limitation to the embodiment of the present invention.Attached
In figure:
Fig. 1 is the flow chart of control parameter setting method provided by the invention；
Fig. 2 is the diagram of the step response curve of the system provided by the invention for having self-balancing；And
Fig. 3 is the block diagram of control parameter adjusting system provided by the invention.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the embodiment of the present invention.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, is not intended to restrict the invention embodiment.
Fig. 1 is the flow chart of control parameter setting method provided by the invention, as shown in Figure 1, this method comprises:
Step 101, two-point method modeling is carried out according to the step response curve of control parameter, obtains the biography of step response curve
The initial value of the parameter of delivery function；
Step 102, optimizing is carried out to the parameter of transmission function, the optimal value of the parameter of the transmission function obtained according to optimizing
Transmission function is optimized；
Step 103, control parameter is adjusted using the transmission function after optimization.
Control parameter setting method provided by the invention can be used for thermal power plant's thermal control debugging field, can be used for other
Field.
Two-point method modeling is carried out based on step response curve, and Fig. 2 is the system provided by the invention for having self-balancing
The diagram of step response curve, the typical transmission function for having self-balancing system as shown in Figure 2 can be expressed as:
In formula (1), K, T, n are three constants related with curve shape.K is known as amplification coefficient, and T is known as time constant, n
Referred to as order.Corresponding different step response curve, the numerical value of K, T, n are also different.
Amplification coefficient K in formula (1) is sought according to formula (2):
Wherein, Δ u is excitation value, is known quantity, indicates the input variation of step response.
Order n is obtained according to table 1, whereinWherein t1At the time of for response being 0.4* (y (∞)-y (0)) corresponding,
t2At the time of for response being 0.8* (y (∞)-y (0)) corresponding, it will be appreciated by those skilled in the art that t1And t2Seek for warp
Formula is tested, at the time of only representative corresponding to a certain output valve, does not have other particular meanings.
Table 1
It will be appreciated by those skilled in the art that the numerical value in table 1 is empirical value commonly used in the art.
Time constant T is obtained by formula (3):
Specifically, two-point method modeling is carried out according to the step response curve of control parameter, obtains step response curve
The initial value of the parameter of transmission function includes: that selected two are calculated according to the initial value and end value of step response curve
The output valve of point；Time point corresponding to the output valve of two o'clock is obtained according to step response curve；And the output according to two o'clock
Time point corresponding to the output valve of value and two o'clock obtains the initial value of the parameter of transmission function.
Y (0) in formula (2) is the initial value of step response curve, and y (∞) is the end value of step response curve.One
As in the case of, selected two o'clock is the point that response is 0.4* (y (∞)-y (0)) on step response curve in two-point method modeling
And response is the point of 0.8* (y (∞)-y (0)) on step response curve, by description above, the output valve of two o'clock is distinguished
For 0.4* (y (∞)-y (0)) and 0.8* (y (∞)-y (0)), time point corresponding to the output valve of two o'clock is respectively t1And t2.This
In the value of each point on step response curve be known and be pre-stored.
The process that two-point method utilized above is modeled can be realized according to the computing function of Excel, to avoid artificial
Any data are calculated, so as to improve modeling speed and avoid artificial counting loss.Certainly, the invention is not limited thereto, any
The application that can be calculated above is in protection scope of the present invention.
However, the n being calculated above is not necessarily integer, the transmitting letter that can make in the case where n is not integer
Number can change the form of n in this case convenient for simulation and operation are as follows:
N=n1(integer part)+α (fractional part) (4)
Transmission function can convert as a result, are as follows:
The two-point method carried out based on above method models to obtain K, T, n to obtain system transter model, also
The adjusting model modeled according to the step response curve of control parameter progress two-point method being described above, but due to
t1And t2The inaccuracy of value to will lead to model accuracy not high, and simple intelligence computation modeling data demand is big, operation
Amount is big, easily falls into local optimum.
In the case where of less demanding to Control platform, can be directly used according to the step response curve of control parameter into
The adjusting model (that is, the initial value for directlying adopt the parameter of the transmission function of step response curve) that row two-point method models,
But if more demanding to Control platform, it is necessary to be optimized to adjusting model, i.e., to the transmitting letter of step response curve
The initial value of several parameters optimizes.
Therefore, the present invention is bent to the step response that two-point method models is carried out according to the step response curve of control parameter
The initial value of the parameter of the transmission function of line is advanced optimized, and the transmission function of step response curve after optimization is utilized
The initial value of parameter adjusts control parameter.
As seen through the above analysis, the parameter of transmission function includes amplification coefficient, time constant and order, wherein
Order can have integer part and fractional part.
Carrying out optimizing to the parameter of transmission function includes: to carry out optimizing using the fractional part of objective function match exponents.Tool
For body, carrying out optimizing to the parameter of transmission function includes: the step response curve for each of multiple samples sample
The actual value of multiple output valves, the calculated value of the multiple output valves obtained according to the calculation of initial value of the parameter of transmission function and
The number of multiple output valves, calculates separately error of fitting, obtains multiple errors of fitting；And by the minimum in multiple errors of fitting
The parameter setting for being worth corresponding transmission function is the optimal value for the parameter of transmission function that optimizing obtains, wherein the ginseng of transmission function
Several optimal values and the amplification coefficient in the initial value of the parameter of transmission function, time constant are identical with the integer part of order,
The fractional part of order in the initial value of the parameter of the optimal value and transmission function of the parameter of transmission function is different.Namely
It says, carrying out optimizing to the parameter of transmission function is actually to carry out optimizing to the fractional part of the order of the parameter of transmission function.
Objective function is the function formula of digital simulation error.
In other words, for the fractional part of the order of the parameter of transmission function, to each of multiple samples sample
Error of fitting is calculated separately, multiple errors of fitting will be obtained corresponding to multiple samples, the minimum value in this multiple error of fitting
The fractional part of the order of the parameter of corresponding transmission function is the fractional part for the order that optimizing obtains, what which obtained
The integer part one of amplification coefficient, time constant and order in the initial value of the parameter of the fractional part and transmission function of order
Act the optimal value for constituting the parameter for the transmission function that optimizing obtains.
The process that parameter provided by the invention to transmission function optimizes can be in the parameter to transmission function
The fractional part of order optimizes, used objective function such as:
In formula (6), yiIt is step response curve at a time (for example, t0) output valve actual value, that is, basis
The output valve that step response curve obtains, xiFor at a time (for example, t0) output valve calculated value, that is, according to two
The output valve that the calculation of initial value for the transmission function that point method models obtains, N is number of samples, and the N the big, and then precision is higher, more
Close to continuous.Respectively for different samples according to formula (6) digital simulation error v, the v being calculated is smaller, then it represents that quasi-
Conjunction degree is better, and the value of α corresponding to the minimum value in multiple v being calculated is the optimal value for the α that optimizing obtains.Its
In, it will be appreciated by those skilled in the art that the transmission function of each of multiple samples sample is different, the process of optimizing is practical
On be just to look for optimal sample in multiple samples, the value of α corresponding to this optimal sample (the corresponding sample of v minimum value) is
For the optimal value for the α that optimizing obtains.So, the parameter of the corresponding transmission function of minimum value in multiple errors of fitting is optimizing
The optimal value of the parameter of obtained transmission function, wherein the fractional part α of the order in the optimal value of the parameter of transmission function with
The fractional part α of order in the initial value of the parameter of transmission function is different, in the optimal value of the parameter of transmission function
The integer part n of amplification coefficient K, time constant T and order1With in the initial value of the parameter of transmission function amplification coefficient K, when
Between constant T and order integer part n1It is identical.
Fig. 3 is the block diagram of control parameter adjusting system provided by the invention, as shown in figure 3, the system includes model foundation
Module 301, parameter optimization module 302 and parameter tuning module 303.Model building module 301 is used for the rank according to control parameter
The response curve that jumps carries out two-point method modeling, obtains the initial value of the parameter of the transmission function of step response curve；Parameter optimization mould
Block 302 is used to carry out optimizing to the parameter of transmission function, and the optimal value of the parameter of the transmission function obtained according to optimizing is to transmitting
Function optimizes；Parameter tuning module 303 is for adjusting control parameter using the transmission function after optimization.
It should be noted that the detail and benefit of control parameter adjusting system provided by the invention and the present invention provide
Control parameter setting method it is similar, in this, it will not go into details.
The optional embodiment of the embodiment of the present invention is described in detail in conjunction with attached drawing above, still, the embodiment of the present invention is simultaneously
The detail being not limited in above embodiment can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection scope of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the embodiment of the present invention pair
No further explanation will be given for various combinations of possible ways.
It will be appreciated by those skilled in the art that implementing the method for the above embodiments is that can pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, including some instructions are used so that single
Piece machine, chip or processor (processor) execute all or part of the steps of each embodiment the method for the application.And it is preceding
The storage medium stated includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic or disk.
In addition, any combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, equally should be considered as disclosure of that of the embodiment of the present invention.
Claims (10)
1. a kind of control parameter setting method, which is characterized in that this method comprises:
Two-point method modeling is carried out according to the step response curve of the control parameter, obtains the transmitting letter of the step response curve
The initial value of several parameters；
Optimizing is carried out to the parameter of the transmission function, the optimal value of the parameter of the transmission function obtained according to optimizing is to the biography
Delivery function optimizes；And
The control parameter is adjusted using the transmission function after optimization.
2. the method according to claim 1, wherein the parameter of the transmission function includes amplification coefficient, time
Constant and order, wherein the order has integer part and fractional part.
3. according to the method described in claim 2, it is characterized in that, the parameter progress optimizing to the transmission function includes:
Optimizing is carried out using fractional part of the objective function to the order.
4. according to the method in claim 2 or 3, which is characterized in that carrying out optimizing to the parameter of the transmission function includes:
For the actual value of multiple output valves of the step response curve of each of multiple samples sample, according to the transmitting
The calculated value for the multiple output valve that the calculation of initial value of the parameter of function obtains and the number of the multiple output valve, respectively
Digital simulation error obtains multiple errors of fitting；And
It is the transmission function that optimizing obtains by the parameter setting of the corresponding transmission function of minimum value in the multiple error of fitting
Parameter optimal value, wherein in the initial value of the parameter of the optimal value of the parameter of the transmission function and the transmission function
Amplification coefficient, time constant are identical with the integer part of order, the optimal value of the parameter of the transmission function and the transmitting letter
The fractional part of order in the initial value of several parameters is different.
5. the method according to claim 1, wherein carrying out two according to the step response curve of the control parameter
Point method modeling, the initial value for obtaining the parameter of the transmission function of the step response curve include:
The output valve of selected two o'clock is calculated according to the initial value of the step response curve and end value；
According to the step response curve obtain the output valve of the two o'clock corresponding to time point；And
The time point according to corresponding to the output valve of the output valve of the two o'clock and the two o'clock obtains the ginseng of the transmission function
Several initial values.
6. a kind of control parameter adjusting system, which is characterized in that the system includes:
Model building module obtains the rank for carrying out two-point method modeling according to the step response curve of the control parameter
The initial value of the parameter of the transmission function of jump response curve；
Parameter optimization module carries out optimizing for the parameter to the transmission function, according to the ginseng for the transmission function that optimizing obtains
Several optimal values optimizes the transmission function；And
Parameter tuning module, for being adjusted using the transmission function after optimization to the control parameter.
7. system according to claim 6, which is characterized in that the parameter of the transmission function includes amplification coefficient, time
Constant and order, wherein the order has integer part and fractional part.
8. system according to claim 7, which is characterized in that carrying out optimizing to the parameter of the transmission function includes:
Optimizing is carried out using fractional part of the objective function to the order.
9. system according to claim 7 or 8, which is characterized in that carrying out optimizing to the parameter of the transmission function includes:
For the actual value of multiple output valves of the step response curve of each of multiple samples sample, according to the transmitting
The calculated value for the multiple output valve that the calculation of initial value of the parameter of function obtains and the number of the multiple output valve, respectively
Digital simulation error obtains multiple errors of fitting；And
It is the transmission function that optimizing obtains by the parameter setting of the corresponding transmission function of minimum value in the multiple error of fitting
Parameter optimal value, wherein in the initial value of the parameter of the optimal value of the parameter of the transmission function and the transmission function
Amplification coefficient, time constant are identical with the integer part of order, the optimal value of the parameter of the transmission function and the transmitting letter
The fractional part of order in the initial value of several parameters is different.
10. system according to claim 6, which is characterized in that carried out according to the step response curve of the control parameter
Two-point method modeling, the initial value for obtaining the parameter of the transmission function of the step response curve include:
The output valve of selected two o'clock is calculated according to the initial value of the step response curve and end value；
According to the step response curve obtain the output valve of the two o'clock corresponding to time point；And
The time point according to corresponding to the output valve of the output valve of the two o'clock and the two o'clock obtains the ginseng of the transmission function
Several initial values.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110231772A (en) * | 2019-07-22 | 2019-09-13 | 广东电网有限责任公司 | A kind of method, device and equipment of acquisition process model |
| CN110456780A (en) * | 2019-09-02 | 2019-11-15 | 润电能源科学技术有限公司 | Control platform method of adjustment, device and the readable storage medium storing program for executing of automatic control system |
| CN110940320A (en) * | 2019-07-19 | 2020-03-31 | 华北电力大学（保定） | Open stock ground monitored control system based on unmanned aerial vehicle cruises |
-
2018
- 2018-06-25 CN CN201810664459.XA patent/CN108958029A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110940320A (en) * | 2019-07-19 | 2020-03-31 | 华北电力大学（保定） | Open stock ground monitored control system based on unmanned aerial vehicle cruises |
| CN110231772A (en) * | 2019-07-22 | 2019-09-13 | 广东电网有限责任公司 | A kind of method, device and equipment of acquisition process model |
| CN110456780A (en) * | 2019-09-02 | 2019-11-15 | 润电能源科学技术有限公司 | Control platform method of adjustment, device and the readable storage medium storing program for executing of automatic control system |
| CN110456780B (en) * | 2019-09-02 | 2021-05-04 | 润电能源科学技术有限公司 | Control quality adjusting method and device for automatic control system and readable storage medium |
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Application publication date: 20181207 |
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| RJ01 | Rejection of invention patent application after publication |