CN110286591A - A kind of feed-forward and feedback composite control method and the investigating method based on this method - Google Patents
A kind of feed-forward and feedback composite control method and the investigating method based on this method Download PDFInfo
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Abstract
The disturbance of meteorology existing for process and elastic load problem are utilized for concentrating solar, the present invention provides a kind of feed-forward and feedback composite control method and based on the investigating method of this method, multiplex control system is collectively formed with PID/feedback control by the feedforward control based on model, the general model of static feedforward control is established according to the conservation of energy, and feed-forward control algorithm is formulated with definite value tracing control to disturbance rejection control respectively on this basis.Feedforward control can quickly determine adjusting principal part for can directly monitor disturbance, and for other non-linear factors such as feedforward error, random perturbation, control compensation is carried out using PID/feedback control algolithm, the present invention not only has high reliability, specific aim and adaptability, and fast response time, precision are high；In addition easy to operate, cost is relatively low, effectively improves solar thermal collection system output stability and application elasticity, increases the mobility of solar thermal collection system, reduces existing dismatching loss during energy Conversion and Utilization.
Description
Technical field
The invention belongs to solar energy utilization technique field, in particular to a kind of feed-forward and feedback composite control method and base
In the investigating method of this method.
Background technique
Face severe energy environment issues, human society has to seek alternative energy solution to reduce pair
The dependence of traditional fossil energy, while trying to reduce the side effect to environment, thus such as solar energy during using energy source
Renewable energy is more and more concerned.Concentration type solar can use parabolic trough type, linear Fresnel formula, butterfly using technology
The concentration structures such as formula, focusing ratio can change to several hundred or even thousands of from tens；Available working medium covers sky gas and water, synthesis
Oil, fuse salt and organic working medium etc.；Thus the technology be capable of providing the heat source of multi-level demand with meet extensive power generation with
Distributed energy solution.With the continuous decline of the maturation and cost of the relevant technologies, renewable energy technologies face wide
Prospect.But as the renewable energy such as solar energy are generally faced with congenital discontinuous defect, energy elasticity demand is asked in addition
Topic eventually leads to the dislocation of energy supply and demand, this not only damages the system equipment service life, while weakening energy Conversion and Utilization effect again
Rate.So high performance management and controlling tactics are significant in terms of energy conservation is with environmental protection.
Currently, PID/feedback control is widely used in industrial application, although the control model is with easy to operate, at low cost
The features such as honest and clean, adaptable, but PID controller is seldom adjustable to optimized operation state, in turn results in adjustment process presence
The problems such as energy loss and blunt response of large scale；It needs for the feed forward control method that can directly monitor disturbance to target system
System has accurate model description and dynamic control method, and theoretically feed forward control method can be realized with best response characteristic and be oriented
The target of control, but single feedforward control system bad adaptability, and can only be for can directly monitor disturbance, for various
The non-linear factors such as random disturbances, feedforward control will fail；On the other hand, based on intelligent algorithm, neural network algorithm,
The Dynamic matrix controls such as fuzzy logic algorithm device achieves obvious progress with the rapid development of computer technology, but Dynamic matrix control device needs
Operator is wanted to have higher know-how, high technical costs and cost of labor also constrain the popularization and application of technology.
For Photospot solar heat utilization technology, there has been no a set of high-performance, the control program of low cost at present.
Summary of the invention
In order to overcome the disadvantages of the above prior art, concentrating solar is solved using the disturbance of meteorology existing for process and bullet
Property loading problem, the purpose of the present invention is to provide a kind of feed-forward and feedback composite control method and the observing and controlling side based on this method
Method is, it can be achieved that the disturbance rejection control of concentrating solar collecting system and definite value tracing control.Not only there is high reliability, be directed to
Property and adaptability, and fast response time, precision are high；In addition easy to operate, cost is relatively low, and comprehensive history effectively improves too
It is positive can collecting system output stability and application elasticity, increase the mobility of solar thermal collection system, reduce energy conversion with
Utilize existing dismatching energy consumption in the process.
To achieve the goals above, the technical solution adopted by the present invention is that: be primarily based on the conservation of energy establish it is light collecting too
The general model of the static feedforward control of positive energy heat utilization process；Disturbance can be directly monitored in the process for heat collector thermal-arrest
It influences, establishes disturbance rejection feed-forward control algorithm respectively and definite value tracks feed-forward control algorithm；It not directly monitors and disturbs for other
It is dynamic, using PID/feedback control algolithm as compensation adjustment.
The general model of the static state feedforward control refers to performance variable, and controlled variable can directly monitor disturbance variable, with
And other not directly monitor the static balancing relationship between disturbance, it is as follows:
Wherein, m is heat collector inlet flow rate, i.e. performance variable；toutFor heat collector outlet temperature, i.e. controlled variable；Effectively to receive irradiation, disturbance variable can be directly monitored；munFor nonlinear disturbance amount, i.e., other are not directly supervised
Survey disturbance；IbFor beam radia, θ is solar incident angle, cpFor level pressure working medium specific heat capacity, C is solar energy collector system knot
Structure constant, tinFor thermal-arrest circuit entrance temperature, tfFor Temperature of Working.
The disturbance rejection feed-forward control algorithm is the influence for ignoring nonlinear disturbance, establishes the feedforward adjustment amount of performance variable
△mFWithRelationship:
Wherein tsetFor set temperature.
The definite value tracking feed-forward control algorithm is the influence for ignoring nonlinear disturbance, according to setting value tsetVariation meter
Calculate the feedforward adjustment amount △ m of performance variable1:
The PID/feedback control algolithm is based on the instant output t for eliminating controlled variableoutWith setting value tsetDeviation e
(τ), performance variable feedback modifiers amount △ mB:
Wherein KPFor scale parameter, KIFor integral parameter, KDFor differential parameter, τ is the time.
The accumulative output of the feedforward control and feedback control, i.e. the synthetic corrections △ m of performance variable are as follows:
△ m=△ mF+△mB。
It is described directly to monitor disturbance variableInclude solar irradiation Ib, geographic latitude and longitude and the time of running, wherein
Irradiation intensity variation is main disturbance unit point, the random perturbation that nonlinear disturbance includes feedforward error, he not directly monitors because
Element.
The present invention also provides a kind of investigating method based on the feed-forward and feedback composite control method, arrangement control institutes
The senser element needed establishes observing and controlling structural system, measures system inherent structure parameter C:
Wherein subscript 1,2 respectively indicates measurement process different twice.
Compared with prior art, the beneficial effects of the present invention are:
(1) for can directly monitor disturbance, feedforward controller can quickly determine the main adjusting part of performance variable, increase
It emphasizes the specific aim of section, improve response speed；
(2) for other non-linear factors such as error, random perturbation existing for feed-forward regulation, feedback controller is capable of providing
Compensation adjustment improves the reliability, accuracy and adaptability of control system；
(3) feed-forward and feedback complex control algorithm can be achieved at the same time disturbance rejection control and definite value tracing control, the control system
System not only realizes that stablizing for system exports, but also is able to satisfy elastic energy requirements；
(4) compared to PID/feedback control method, this feed-forward and feedback multiplex control system is operated without additional knowledge requirement,
No obvious complexity increases, and technical costs is increased slightly (hardware configuration for being mainly reflected in feedforward system)；It is calculated with Dynamic matrix control
Method is compared, and cost advantage is more prominent；
(5) it is existing non-matching in the process to reduce energy Conversion and Utilization for the mobility for increasing solar thermal collection system
Performance consumption.
Detailed description of the invention
Fig. 1 is the structure arrangement for implementing feed-forward and feedback multiplex control system.
Fig. 2 is irradiation shock wave.
Fig. 3 is respectively in feedforward control, PID/feedback control under compound control action, and the instant adjustment of performance variable m becomes
Change.
Fig. 4 is the controlled variable t respectively under feedforward control, PID/feedback control and compound control actionoutInstant output
Situation.
Specific embodiment
The embodiment that the present invention will be described in detail with reference to the accompanying drawings and examples.
The compound regulation and control system structure of feed-forward and feedback of the present invention is as shown in Figure 1.In solar energy heating circuit, for anti-
Control problem is disturbed, for stabilization of export temperature, mainly offsets the disturbance based on solar irradiation to being by adjusting flow
The interference of system output；For definite value Tracing Control problem, also need to adjust flow to realize that outlet temperature configures on demand.Thus
Need to establish the equilibrium relation of these variables for feed-forward regulation.The problems such as random perturbation, feed forward models then fail, thus
It is adjusted using feedback compensation.
Complex controll of the invention specifically includes that
(A) it is utilized for concentration type solar, the general model of static feedforward control is established based on the conservation of energy；
(B) for the main perturbation actions such as irradiation are become, disturbance rejection feed-forward control algorithm and definite value tracking feedforward control are established respectively
Algorithm processed.Specifically, for can directly monitor disturbance factor, disturbance rejection feed-forward control algorithm is established；It is needed for variable load operation
It wants, exploitation definite value tracks feed-forward control algorithm, can quickly determine and adjust principal part；
(C) for other non-linear factors such as feedforward error, random perturbations, supplement PID/feedback control algolithm is compensated
It adjusts.
And the compound regulation and control system of feed-forward and feedback can be constructed according to the above method, it is used for specific observing and controlling, implements control
It is preceding first to reasonable Arrangement sensor and to ensure that information is correctly transmitted, while the intrinsic parameter C of system is measured.
Specifically, each major part of the present invention is described below in conjunction with the embodiments.
(1) feed-forward control portion
Length is the parabolic trough type solar energy heating technology thermal-arrest loop power equilibrium equation of L are as follows:
Wherein ρ is condenser reflectivity, and τ is glass tube transmissivity, and α is metal tube absorptivity, and γ is guillotine factor, IbToo
Positive direct solar radiation intensity AcCondenser opening span, KIAMIt (can be according to the selected amendment of thermal-collecting tube model for incidence angle modifying factor
Model), θ is solar incident angle (tracking the geometric angle that mode determines by location longitude and latitude, time and heat collector), and m is
Mass flow, qlostFor the heat loss amount of unit length.The equation can be further regular for following form:
Wherein
The solar thermal collection system determining for one, C are invariant parameters system-related,It is having of can directly monitoring
Effect receives irradiation, QlostThe heat loss item usually not directly measured.Comprehensive other do not monitor factor directly, and equation (2) can
In the form of being further adjusted to following:
Omit munAfterwards, then disturbance rejection is controlled and customizes Tracing Control problem, corresponding feed-forward regulation model distinguishes table
It is shown as:
Feed-forward control portion needs to irradiate measuring instrument measurement solar irradiation Ib, entrance temperature measurer measurement temperature tin, for pressure
Power responsive type working medium (if any the device of working medium of phase transformation), while needing to measure corresponding pressure value；It is inputted simultaneously to feedforward controller
Time, set temperature tsetAnd the certainty informations such as geographic latitude and longitude, controller store the thermal physical property data library of selected working medium,
Then equation (4) or (5) are selected and calculate quality correction amount △ m1。
(2) PID/feedback control section
Feedback control then adjusts performance variable, PID according to the deviation e (τ) of the instant output of controlled variable and setting value
Controller includes that proportion adjustment, integral adjustment and differential adjust part, is integrated i.e. are as follows:
Feedback-system section needs to input instant outlet temperature and set temperature value, is transferred to instead after calculating the deviation of the two
Controller is presented, then calculates quality correction amount △ m according to equation (6)2。
(3) the compound regulation of feed-forward and feedback
Final mass regulated quantity is then that feedforward controller is superimposed with what feedback controller exported, i.e.,
△ m=△ m1+△m2 (7)
According to resulting quality adjustment amount, actuator is triggered in next step and adjusts the inlet flow rate (side such as adjusting pump speed, frequency
Formula), the control and regulation in a sampling period are completed to this.
(4) testing and control project is implemented
Testing and control project implementation is broadly divided into two stages, i.e. the system testing stage and system controls the stage.Feedforward control mould
Parameter C is subordinated to system inside type, does not change within the runtime, but the parameter is difficult to directly know, is testing thus
Stage needs to estimate its value.Method is as follows: in the case where meteorological condition is relatively steady, two groups of test run datas are measured respectively,
It is estimated according to following relationship:
In order to improve computational accuracy and reliability, appropriate repeatedly measurement and then averaged.System controls stage then root
Real-time control adjusting is carried out according to above-mentioned complex controll model and method.Fig. 2, Fig. 3, Fig. 4 give when becoming irradiation disturbance, preceding
Feedback-feedback complex adjusts the adjusted result for disturbance rejection control, compared to single feedforward or feedback regulation mode, compound tune
Fast response time is saved, steady-state error is small, function admirable.
Claims (8)
1. a kind of feed-forward and feedback composite control method, which is characterized in that be primarily based on the conservation of energy and establish concentration type solar
Utilize the general model of the static feedforward control of process；The influence of disturbance can directly be monitored in the process for heat collector thermal-arrest,
Disturbance rejection feed-forward control algorithm is established respectively and definite value tracks feed-forward control algorithm；Disturbance is not directly monitored for other, with
PID/feedback control algolithm is compensation adjustment.
2. feed-forward and feedback composite control method according to claim 1, which is characterized in that the one of the static state feedforward control
As property model refer to performance variable, controlled variable, can directly monitor disturbance variable and other are not directly monitored between disturbance
Static balancing relationship is as follows:
Wherein, m is heat collector inlet flow rate, i.e. performance variable；toutFor heat collector outlet temperature, i.e. controlled variable；For
Effectively receive irradiation, can directly monitor disturbance variable；munFor nonlinear disturbance amount, i.e., other not directly monitor disturbance；Ib
For beam radia, θ is solar incident angle, cpFor level pressure working medium specific heat capacity, C is solar energy collector system structural constant,
tinFor thermal-arrest circuit entrance temperature, tfFor Temperature of Working.
3. feed-forward and feedback composite control method according to claim 2, which is characterized in that the disturbance rejection feedforward control is calculated
Method is to ignore the influence of nonlinear disturbance, establishes the feedforward adjustment amount △ m of performance variableFWithRelationship:
Wherein tsetFor set temperature.
4. feed-forward and feedback composite control method according to claim 3, which is characterized in that the definite value tracks feedforward control
Algorithm is the influence for ignoring nonlinear disturbance, according to setting value tsetVariation calculating operation variable feedforward adjustment amount △ m1:
5. feed-forward and feedback composite control method according to claim 4, which is characterized in that the PID/feedback control algolithm is
Based on the instant output t for eliminating controlled variableoutWith setting value tsetDeviation e (τ), performance variable feedback modifiers amount △ mB:
Wherein KPFor scale parameter, KIFor integral parameter, KDFor differential parameter, τ is the time.
6. feed-forward and feedback composite control method according to claim 5, which is characterized in that the feedforward control and feedback are controlled
The accumulative output of system, i.e. the synthetic corrections △ m of performance variable are as follows:
△ m=△ mF+△mB。
7. feed-forward and feedback composite control method according to claim 1, which is characterized in that described directly to monitor disturbance change
AmountInclude solar irradiation Ib, geographic latitude and longitude and the time of running, wherein irradiation intensity variation is main disturbance unit point,
Nonlinear disturbance includes feedforward error, other random perturbation factors.
8. a kind of investigating method based on feed-forward and feedback composite control method described in claim 1, which is characterized in that arrangement control
Senser element needed for system, establishes observing and controlling structural system, measures system inherent structure parameter C:
Wherein subscript 1,2 respectively indicates measurement process different twice.
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| CN111650904A (en) * | 2020-05-27 | 2020-09-11 | 紫金铜业有限公司 | Construction and application of digital-analog control system of purple gold flash furnace |
| CN113359907A (en) * | 2021-05-27 | 2021-09-07 | 西安交通大学 | Quick-response active temperature control method |
| CN114035437A (en) * | 2021-11-25 | 2022-02-11 | 云南电网有限责任公司电力科学研究院 | Anti-interference control method and device for outlet temperature of trough type solar heat collection field |
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| CN114035437A (en) * | 2021-11-25 | 2022-02-11 | 云南电网有限责任公司电力科学研究院 | Anti-interference control method and device for outlet temperature of trough type solar heat collection field |
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Application publication date: 20190927 |