CN110376981B - Secondary optimization control method for rotary cement kiln firing process - Google Patents
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- 238000000034 method Methods 0.000 title claims abstract description 87
- 238000005457 optimization Methods 0.000 title claims abstract description 14
- 238000005526 cement kiln firing Methods 0.000 title claims description 20
- 239000004568 cement Substances 0.000 claims abstract description 42
- 238000010304 firing Methods 0.000 claims abstract description 12
- 239000003245 coal Substances 0.000 claims description 34
- 238000002347 injection Methods 0.000 claims description 32
- 239000007924 injection Substances 0.000 claims description 32
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000005245 sintering Methods 0.000 claims description 3
- 239000000243 solution Substances 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000009776 industrial production Methods 0.000 description 11
- 238000004519 manufacturing process Methods 0.000 description 6
- 239000002994 raw material Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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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
- 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] or computer integrated manufacturing [CIM]
- G05B19/41865—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] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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- Muffle Furnaces And Rotary Kilns (AREA)
- Curing Cements, Concrete, And Artificial Stone (AREA)
Abstract
The invention discloses a secondary optimization control method for a rotary cement kiln in a firing process. The method comprises the steps of firstly establishing a process model by collecting input and output data, then combining process state change and output tracking errors into a new process state quantity, further establishing a new process model according to the process state quantity, and finally designing a controller by using a quadratic objective function to design an optimal updating law. According to the invention, by introducing state change and output tracking error in the process, the controller is adjusted more flexibly, so that the fault tolerance of the system is improved, and the influence of partial actuator faults is improved.
Description
Technical Field
The invention belongs to the field of automatic industrial production process control, and relates to a secondary optimization control method for a rotary cement kiln firing process.
Background
In actual industrial production, industrial production process modeling and control strategies are becoming more and more important, and due to high requirements on product quality and operation safety, the operating specifications of industrial production process production become more and more strict, and the probability of control system failure is increased. For example, in the actual burning process of the rotary cement kiln, the kiln head coal injection actuator of the rotary cement kiln breaks down very often, which mainly reflects the failure of the kiln head coal injection valve, which causes the quality of the final cement clinker to be reduced, and meanwhile, considering the situation that the actuator is powered off and clamped, the burning process of the rotary cement kiln is not controllable any more, and designing the controller according to the situation is meaningless. Therefore, it is necessary to provide a control method to deal with the failure of part of the actuators, so as to ensure the stability of the rotary cement kiln in the burning process and ensure the high-standard and high-quality stable production of the final cement clinker.
Disclosure of Invention
The invention aims to provide a secondary optimization control method for a rotary cement kiln burning process, aiming at improving the influence of the faults of partial actuators of a control system of the rotary cement kiln burning process. The method comprises the steps of firstly establishing a process model by collecting input and output data, then combining process state change and output tracking errors into a new process state quantity, further establishing a new process model according to the process state quantity, and finally designing a controller by using a quadratic objective function to design an optimal updating law.
The technical scheme of the invention is that a secondary optimization control method for the rotary cement kiln firing process is established by means of data acquisition, model establishment, controller design and the like, and the method can effectively ensure the stability and the optimization control performance of the rotary cement kiln firing process and realize the fault-tolerant control of a system.
The method comprises the following steps:
step 1, establishing an industrial production process single-input single-output model, which comprises the following specific steps:
1-1, firstly, collecting real-time operation data of the industrial production process and establishing an industrial production process system model. The industrial process under variable interference is described in the form:
wherein k represents the process running time, y (z), u (z), e (z) respectively represent the process output y (k) at the time k, the process input u (k), and the form of the indefinite disturbance w (k) after z transformation. Delta is the difference operator, A (z)-1)，B(z-1)，C(z-1) Respectively, corresponding polynomials of appropriate dimensions.
1-2. partial actuator faults are described as follows:
uF(k)＝αu(k)
wherein u isF(k) The actual control operation of the actuator at time k is shown at α, which indicates the degree of influence of the actuator failure.
1-3. according to steps 1-1, 1-2, then the model of the industrial process with partial actuator failure is described as follows:
wherein u isF(z) represents uF(k) Differentiated version.
1-4, according to 1-3, obtaining the following industrial production process model in the form of discrete transfer function:
y(k+1)+F1y(k)+…+Fpy(k-p+1)
＝H1u(k)+H2u(k-1)+…+Hqu(k-q+1)
wherein y (k +1), y (k), …, y (k-p +1) represents the process output at the time k +1, k, …, k-p +1, u (k +1), u (k), …, u (k-q +1) represents the process input at the time k +1, k, …, k-q +1, F1,…,Fp，H1,…,HqRepresenting the model coefficients corresponding to the process output and input, respectively, and p, q are the order corresponding to the process output and input, respectively.
Adding a difference operator to the process model and defining a new vector as shown below:
Δxm(k)T＝[Δy(k)…Δy(k-p+1)Δu(k-1)…Δu(k-q+1)]
where m denotes the dimension, m ═ dim (Δ x)m)＝p+q-1，Δxm(k)TThe transpose of the state increment of dimension m at time k, Δ y (k +1), Δ y (k), …, Δ y (k-p +1) the process output increment at time k +1, k, …, k-p +1, and Δ u (k +1), Δ u (k), …, Δ u (k-q +1) the process input increment at time k +1, k, …, k-q + 1.
1-5, according to the steps 1-4, further obtaining a differential process model as follows:
Δxm(k+1)＝AmΔxm(k)+BmΔu(k)
Δy(k+1)＝CmΔxm(k+1)
wherein Δ xm(k),Δxm(k +1) represents the state increment of the m-dimension at the time k, k +1, respectively, and Δ y (k +1) represents the process output increment at the time k + 1. H2,…,Hm-1,HmRepresenting the differentiated model coefficients.
Bm＝[H10 0 … 0 10 0]T,Cm＝[1 0 0 … 0 0 0 0]
1-6. defining the output tracking error as:
e(k)＝y(k)-r(k)
where e (k) represents the output tracking error at time k, and r (k) represents the set value at time k.
The dynamic process of further deriving the output tracking error is represented as follows:
e(k+1)＝e(k)+CmAmΔxm(k)+CmBmΔu(k)
where e (k +1) represents the output tracking error at time k + 1.
1-7, according to the steps, a new process state space model is finally obtained as follows:
z(k+1)＝Az(k)+BΔu(k)
wherein z (k) ═ Δ xm(t) e(t)]TZ (k), z (k +1) represents the new process state at the time k, k +1, respectively.
Step 2, designing an industrial production process controller, which specifically comprises the following steps:
2-1, based on the step 1, selecting an objective function of secondary optimization control in the industrial production process as the following form:
where J is the objective function, Q, R are the weighting matrices corresponding to the new process state and input increment, respectively, and Q is a diagonal matrix, Q ═ diag { Q }j1,qj2,…,qjp+q-1,qje}，qj1,qj2,…,qjp+q-1Weighting parameters, q, for process output variations and input variations, respectivelyjeIs a weighting parameter for the output tracking error.
2-2, solving the objective function minimization in the step 2-1 to obtain the optimal control increment of the secondary optimization controller in the industrial production process, wherein the optimal control increment is as follows:
Δu(k)＝-R-1BT[I+K￥BR-1BT]-1K￥Az(k)
wherein K￥＝AT[I+K￥BR-1BT]-1K￥A+Q＝ATK￥A-ATK￥B(R+BTK￥B)-1BTK￥A+Q，
K￥To satisfy the solution of the above rica equation.
And 2-3, at the next moment, repeating the steps 1.6 to 2.2 to continuously solve a new optimal updating law to obtain an optimal control increment delta u (k), acting on a control object, and circulating in sequence.
The invention has the beneficial effects that: different from the traditional control method, the invention introduces state change and output tracking error between processes, so that the adjustment of the controller is more flexible, the fault tolerance of the system is improved, and the influence of partial actuator faults is improved.
Detailed Description
Taking the firing process of a cement rotary kiln as an example:
in the cement flow production process, the rotary cement kiln firing process is an important ring in cement production. After the cement raw material is prepared, the cement raw material continues to enter the cement rotary kiln, at the moment, the coal spraying kiln head of the rotary kiln starts to spray coal to the rotary kiln, the rotary kiln is heated, the cement clinker reacts, and the cement raw material is gradually converted into the cement clinker as the temperature of a burning zone of the rotary kiln rises to a certain degree.
Step 1, establishing a single-input single-output model in a rotary cement kiln sintering process, which comprises the following specific steps:
1-1, firstly, collecting real-time operation data of a rotary cement kiln in a firing process, and establishing a rotary cement kiln firing process system model. The rotary cement kiln firing process with variable disturbances is described in the form:
wherein k represents the operation time of the rotary cement kiln, y (z), u (z), e (z) representAnd at the moment k, the temperature y (k) of the rotary kiln, the opening u (k) of a kiln head coal injection input valve and the form of the variable interference w (k) after z transformation are determined. Delta is the difference operator, A (z)-1)，B(z-1)，C(z-1) Is a corresponding polynomial of appropriate dimensions.
1-2. the fault of the opening part of the kiln head coal injection input valve is described as follows:
uF(k)＝αu(k)
wherein u isF(k) The actual opening degree of the kiln head coal injection inlet valve at the moment k is shown as α, and the influence degree of the opening degree fault of the kiln head coal injection inlet valve is shown.
1-3, according to the steps 1-1 and 1-2, the firing process of the rotary cement kiln with the opening fault of a partial kiln head coal injection input valve is described as follows:
wherein u isF(z) represents uF(k) Differentiated version.
1-4, according to 1-3, obtaining a rotary cement kiln burning process model in the form of the following discrete transfer function:
y(k+1)+F1y(k)+…+Fpy(k-p+1)
＝H1u(k)+H2u(k-1)+…+Hqu(k-q+1)
where m denotes the dimension, m ═ dim (Δ x)m) P + q-1, y (k +1), y (k), …, y (k-p +1) represents the rotary kiln temperature at the time of k +1, k, …, k-p +1, u (k +1), u (k), …, u (k-q +1) represents the opening degree of the kiln head coal injection input valve actuator at the time of k +1, k, …, k-q +1, F1,…,Fp，H1,…,HqAnd model coefficients corresponding to the temperature of the rotary kiln and the opening degree of the kiln head coal injection valve are respectively represented, and p and q are orders corresponding to the temperature of the rotary kiln and the opening degree of the kiln head coal injection valve.
Adding a difference operator to the rotary cement kiln firing process model and defining a new vector as shown in the following:
Δxm(k)T＝[Δy(k)…Δy(k-p+1)Δu(k-1)…Δu(k-q+1)]
wherein Δ xm(k)TTransposing state increment of rotary cement kiln in m dimension at k time, where m is dim (delta x)m) P + q-1, Δ y (k +1), Δ y (k), …, Δ y (k-p +1) indicates the increment of the rotary kiln temperature at the time of k +1, k, …, k-p +1, and Δ u (k +1), Δ u (k), …, Δ u (k-q +1) indicates the increment of the opening degree of the kiln head coal injection valve at the time of k +1, k, …, k-q + 1.
1-5, according to the steps 1-4, further obtaining a differential cement rotary kiln firing process model as follows:
Δxm(k+1)＝AmΔxm(k)+BmΔu(k)
Δy(k+1)＝CmΔxm(k+1)
wherein Δ xm(k),ΔxmAnd (k +1) represents the state increment of the rotary cement kiln at the time of k and k +1 in an m-dimension manner, and delta y (k +1) represents the temperature increment of the rotary cement kiln at the time of k + 1. H2,…,Hm-1,HmRepresenting the differentiated model coefficients.
Bm＝[H10 0 … 0 10 0]T,Cm＝[1 0 0 … 0 0 0 0]
1-6, defining the temperature tracking error of the rotary kiln as follows:
e(k)＝y(k)-r(k)
wherein e (k) represents the tracking error of the rotary kiln temperature at the time k, and r (k) represents the set value of the rotary kiln temperature at the time k.
The dynamic process for further obtaining the temperature tracking error of the rotary kiln is represented as follows:
e(k+1)＝e(k)+CmAmΔxm(k)+CmBmΔu(k)
wherein e (k +1) represents the tracking error of the rotary kiln temperature at the moment k + 1.
1-7, according to the steps, a new rotary cement kiln burning process model is finally obtained as follows:
z(k+1)＝Az(k)+BΔu(k)
wherein z (k) ═ Δ xm(t) e(t)]TAnd z (k), and z (k +1) respectively represent the new rotary cement kiln firing process state at the time of k and k + 1.
Step 2, designing a firing process controller of the rotary cement kiln, which specifically comprises the following steps:
2-1, based on the step 1, selecting an objective function of secondary optimization control in the rotary cement kiln firing process as follows:
wherein J is an objective function, Q and R are weighting matrixes corresponding to the new firing process state of the rotary cement kiln and the opening increment of a coal injection input valve at the kiln head respectively, Q is a diagonal matrix, and Q is diag { Q ═ diag { Q }j1,qj2,…,qjp+q-1,qje}，qj1,qj2,…,qjp+q-1Is a weighting parameter of the temperature change of the rotary kiln and the change of the kiln head coal injection input valve, qjeIs a weighting parameter of the tracking error of the temperature of the rotary kiln.
2-2, solving the objective function minimization in the step 2-1 to obtain the optimal kiln head coal injection input valve opening increment of the secondary optimization controller in the rotary cement kiln firing process, wherein the optimal kiln head coal injection input valve opening increment is as follows:
Δu(k)＝-R-1BT[I+K￥BR-1BT]-1K￥Az(k)
wherein K￥＝AT[I+K￥BR-1BT]-1K￥A+Q＝ATK￥A-ATK￥B(R+BTK￥B)-1BTK￥A+Q，K￥To satisfy the solution of the above rica equation.
And 2-3, at the next moment, repeating the steps 1.6 to 2.2 to continuously solve a new optimal updating law to obtain the optimal opening increment delta u (k) of the kiln head coal injection input valve, acting on the kiln head coal injection input valve, and circulating in sequence.
Claims (1)
1. A secondary optimization control method for a rotary cement kiln firing process is characterized by comprising the following steps:
step 1, establishing a single-input single-output model in a rotary cement kiln sintering process, which comprises the following specific steps:
1-1, collecting real-time operation data of a rotary cement kiln in a firing process, and establishing a rotary cement kiln firing process system model; the rotary cement kiln firing process with variable disturbances is described in the form:
wherein k represents the running time of the rotary cement kiln in the sintering process, y (z), u (z), e (z) respectively represent the temperature y (k) of the rotary cement kiln at the time k, the opening u (k) of a kiln head coal injection input valve and the form of the variable interference w (k) after z transformation; delta is the difference operator, A (z)-1)，B(z-1)，C(z-1) Is a corresponding polynomial of appropriate dimension;
1-2. the fault of the opening part of the kiln head coal injection input valve is described as follows:
uF(k)＝αu(k)
wherein u isF(k) The actual opening degree of the kiln head coal injection input valve at the moment k is shown as α, and the influence degree of the opening degree fault of the kiln head coal injection input valve is shown as α;
1-3, according to the steps 1-1 and 1-2, the firing process of the rotary cement kiln with the opening fault of partial kiln head coal injection input valves is described as follows:
wherein u isF(z) represents uF(k) A differentiated form;
1-4, according to 1-3, obtaining a rotary cement kiln burning process model in the form of the following discrete transfer function:
y(k+1)+F1y(k)+…+Fpy(k-p+1)
＝H1u(k)+H2u(k-1)+…+Hqu(k-q+1)
where m denotes the dimension, m ═ dim (Δ x)m) P + q-1, y (k +1), y (k), …, y (k-p +1) represents the rotary kiln temperature at the time of k +1, k, …, k-p +1, u (k +1), u (k), …, u (k-q +1) represents the opening degree of the kiln head coal injection input valve actuator at the time of k +1, k, …, k-q +1, F1,…,Fp，H1,…,HqModel coefficients corresponding to the temperature of the rotary kiln and the opening degree of a kiln head coal injection valve are respectively represented, and p and q are orders corresponding to the temperature of the rotary kiln and the opening degree of the kiln head coal injection valve respectively;
adding a difference operator to the rotary cement kiln firing process model and defining a new vector as shown in the following:
Δxm(k)T＝[Δy(k)…Δy(k-p+1)Δu(k-1)…Δu(k-q+1)]
wherein Δ xm(k)TTransposing state increment of rotary cement kiln in m dimension at k time, where m is dim (delta x)m) P + q-1, Δ y (k +1), Δ y (k), …, Δ y (k-p +1) indicates the increment of the rotary kiln temperature at the time of k +1, k, …, k-p +1, Δ u (k +1), Δ u (k), …, Δ u (k-q +1) indicates the increment of the opening degree of the kiln head coal injection input valve at the time of k +1, k, …, k-q + 1;
1-5, according to the steps 1-4, further obtaining a differential cement rotary kiln firing process model as follows:
Δxm(k+1)＝AmΔxm(k)+BmΔu(k)
Δy(k+1)＝CmΔxm(k+1)
wherein Δ xm(k),Δxm(k +1) respectively represents m-dimensional increment of the state of the rotary cement kiln at the moment k and k +1, and delta y (k +1) represents the temperature increment of the rotary cement kiln at the moment k + 1; h2,…,Hm-1,HmRepresenting the differentiated model coefficients;
Bm＝[H10 0…0 1 0 0]T,Cm＝[1 0 0…0 0 0 0]
1-6, defining the temperature tracking error of the rotary kiln as follows:
e(k)＝y(k)-r(k)
wherein e (k) represents the tracking error of the rotary kiln temperature at the moment k, and r (k) represents the set value of the rotary kiln temperature at the moment k;
the dynamic process for obtaining the temperature tracking error of the rotary kiln is shown as follows:
e(k+1)＝e(k)+CmAmΔxm(k)+CmBmΔu(k)
wherein e (k +1) represents the temperature tracking error of the rotary kiln at the k +1 moment;
1-7, obtaining a new rotary cement kiln firing process model as follows:
z(k+1)＝Az(k)+BΔu(k)
wherein z (k) ═ Δ xm(t) e(t)]TZ (k), z (k +1) respectively represents the new rotary cement kiln firing process state at the moment k and k + 1;
step 2, designing a firing process controller of the rotary cement kiln, which specifically comprises the following steps:
2-1, based on the step 1, selecting an objective function of secondary optimization control in the rotary cement kiln firing process as follows:
wherein J is an objective function, Q and R are weighting matrixes corresponding to the new firing process state of the rotary cement kiln and the opening increment of a coal injection input valve at the kiln head respectively, Q is a diagonal matrix, and Q is diag { Q ═ diag { Q }j1,qj2,…,qjp+q-1,qje}，qj1,qj2,…,qjp+q-1Is a weighting parameter of the temperature change of the rotary kiln and the change of the kiln head coal injection input valve, qjeIs a weighting parameter of the temperature tracking error of the rotary kiln;
2-2, solving the objective function minimization in the step 2-1 to obtain the optimal kiln head coal injection input valve opening increment of the secondary optimization controller in the rotary cement kiln firing process, wherein the optimal kiln head coal injection input valve opening increment is as follows:
Δu(k)＝-R-1BT[I+K∞BR-1BT]-1K∞Az(k)
wherein K∞＝AT[I+K∞BR-1BT]-1K∞A+Q＝ATK∞A-ATK∞B(R+BTK∞B)-1BTK∞A+Q，K∞To satisfy the solution of the above equation;
and 2-3, at the next moment, repeating the steps 1.6 to 2.2 to continuously solve a new optimal updating law to obtain the optimal opening increment delta u' (k) of the kiln head coal injection input valve, acting on the kiln head coal injection input valve, and circulating in sequence.
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