CN110471375A - A kind of anti-interference optimization tracking of cement denitrification process - Google Patents

A kind of anti-interference optimization tracking of cement denitrification process Download PDF

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CN110471375A
CN110471375A CN201910608095.8A CN201910608095A CN110471375A CN 110471375 A CN110471375 A CN 110471375A CN 201910608095 A CN201910608095 A CN 201910608095A CN 110471375 A CN110471375 A CN 110471375A
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cement
moment
kth
denitrification process
increment
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CN110471375B (en
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张日东
欧丹林
吴胜
袁亦斌
朱永治
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Zhejiang Bonyear Technology Co ltd
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Zhejiang Bonyear Technology Co ltd
Hangzhou Dianzi University
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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], 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
    • 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
    • G05B2219/32339—Object oriented modeling, design, analysis, implementation, simulation language
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • 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
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Manufacturing & Machinery (AREA)
  • General Engineering & Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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Abstract

The invention discloses a kind of anti-interference optimization trackings of cement denitrification process.The present invention integrates the new state spatial model with dynamic process and tracking error first, by introducing new state spatial model formula, the system optimization method of norm is devised for linear quadratic tracing control, by the way that state variable and tracking error are combined and are adjusted respectively in new state spatial model, be accurately controlled rule, and quickly repairs the failure of part actuator.The present invention effectively raises the performance of tracing control, meets the demand of practical cement denitration industrial process.

Description

A kind of anti-interference optimization tracking of cement denitrification process
Technical field
The invention belongs to automatic industrial process control field, be related to the anti-interference optimization of cement denitrification process a kind of with Track method.
Background technique
The discharge of oxynitrides is with process inevitable in manufacture of cement, since China faces the big of sternness Gas pollution problem, the discharge of the oxynitrides of cement industry are limited by country is increasingly stringent, and cement production enterprise faces very big Environmental protection pressure.The denitration that selective non-catalytic reduction (SNCR) technology generallyd use carries out cement industry is asked there are still many Topic, and the disturbing factors such as denitrification process itself is there are purely retarded, transit time is longer, friction, saturation are more, lead to actuator It breaks down.If actuator failures cannot be repaired quickly, causes ammonia spraying amount to adjust unreasonable, not can guarantee environmental quality It is up to standard, so a kind of anti-interference optimization tracking of cement denitrification process is proposed in order to quickly repair the failure of actuator, Reasonable ammonia spraying amount is controlled, enterprise operation cost is reduced.
Summary of the invention
The purpose of the present invention is quickly repairing part actuator failures by implementing accurate control law, guarantee environmental quality While up to standard, enterprise operation cost is reduced.
The present invention integrates the new state spatial model with dynamic process and tracking error first, empty by introducing new state Between model formation, devise H for linear quadratic tracing control$The system optimization method of norm, by new state spatial model Middle that state variable and tracking error are combined and are adjusted respectively, be accurately controlled rule, and quickly repairs part and execute The failure of device.
Method and step of the invention includes:
Step 1 establishes anti-interference optimization tracing control model, comprises the concrete steps that:
1-1. establishes single-input single-output state-space model, and form is as follows:
Wherein, k and d is the time of running and delay time respectively, when x (k) and x (k+1) are kth moment and kth+1 respectively The state variable at quarter, w (k) are the interference at kth moment, and u (k-d) is the input at kth-d moment, and y (k+1) is+1 moment of kth Output,It is the sytem matrix with appropriate dimension.
1-2. combination step 1-1, the state-space model of introducing portion actuator failures, form are as follows:
Wherein, uF=α u (k), u (k) are the inputs at kth moment, and α is the influence of actuator failures, and 0 < α≤1, uF(k- It d) is the actual input of kth-d moment.
1-3. introduces the state-space model for eliminating delay time, and form is as follows:
Δxm(k+1)=AmΔxm(k)+BmΔu(k)+BwmΔw(k)
Δ y (k)=CmΔxm(k)
Wherein, Δ xm(k)=[Δ x (k) Δ u (k-1) ... Δ u (k-d)], Δ xm(k) and Δ xmIt (k+1) is kth respectively Moment and+1 moment of kth eliminate the state variable of delay time, Δ u (k-1), Δ u (k-2) ..., Δ u (k-d) be kth-respectively 1 moment, -2 moment of kth ..., the kth-d moment input increment, when Δ x (k), Δ u (k), Δ w (k) and Δ y (k) are kth respectively State variable increment, input increment, disturbance increment and the output increment at quarter, Am、Bm、BwmAnd CmIt is the constant with appropriate dimension Matrix, and
Bwm=[Bw 0 0 … 0]T, It is the null vector of appropriate dimension with 0.
1-4. defines output tracking error function:
E (k)=y (k)-yr(k)
E (k+1)=e (k)+CmAmΔx(k)+CmBmΔu(k)+CmBwmΔw(k)
Wherein, yrIt (k) is the reference value exported, e (k) and e (k+1) are kth moment and+1 moment of kth output tracking respectively Error.
1-5. combination step 1-3 and 1-4 obtain the state-space model of anti-interference optimization tracing control, and form is as follows:
Z (k+1)=Az (k)+B Δ u (k)+BwΔw(k)
Wherein,Z (k) and z (k+1) be respectively+1 moment of kth moment and kth state variable with The combination of output tracking error, A, B and BwBe there is the constant matrices of appropriate dimension, and
Step 2, the anti-interference optimization tracking control unit of design, specifically:
2-1. is based on step 1, and the objective function of anti-interference optimization tracing control is as follows:
Wherein,It is the increment minimum of input,It is the increment maximum of interference,Be about The objective function of state variable increment and interference increment, T are the transposition of matrix, kfIt is the terminal at moment, Q, R are that state becomes respectively The weighting matrix of amount, input weighting matrix, γ2It is square of the weighting positive coefficient of w (k), QfIt is the weighting of state terminal variable Matrix, z (kf) it is kthfThe combination of moment state variable and output tracking error.
2-2. is based on step 2-1, show that anti-interference optimization tracing control rule, form are as follows:
Wherein WithIt is recursion matrix, A, B are the constant matrices with appropriate dimension respectively, and I is that have appropriate dimension The unit matrix of degree.
2-3. repeats step 1-5 to 2-2 and obtains new anti-interference optimization tracing control rule Δ u (k) and Δ in subsequent time W (k), then control object is acted on, and circuit sequentially.
Beneficial effects of the present invention: the technical scheme is that designed by model foundation, controller design, algorithm, The means such as optimization, propose a kind of anti-interference optimization tracking of cement denitrification process, effectively raise tracing control Performance meets the demand of practical cement denitration industrial process.Different from traditional method, this method is devised under closed-loop system System stability and robustness, and be satisfied the necessary and sufficient condition of stability.
Specific embodiment
By taking cement denitration industrial process as an example:
Cement industry denitration generallys use selective non-catalytic reduction method, and this method uses reducing agent (generally ammonium hydroxide) In In dore furnace with the NO in flue gasxReaction generates at 800 DEG C -1100 DEG C to the free of contamination nitrogen of atmosphere and water.Here with water NO in mud denitrationxConcentration parameter control is controlled device, using the aperture of ammonium hydroxide regulating valve as control amount.By being adjusted to ammonium hydroxide The regulation and control of valve opening is realized to NOxConcentration parameter control, it is ensured that environmental quality is up to standard, reduces entreprise cost.
Step 1, establish cement denitrification process anti-interference optimization tracing control model, comprise the concrete steps that:
1-1. establishes the single-input single-output state-space model of cement denitrification process, and form is as follows:
Wherein, k and d is the time of running and delay time of cement denitrification process respectively, and x (k) and x (k+1) are kth respectively The state variable at moment and+1 moment of kth cement denitrification process, w (k) are the interference of kth moment cement denitrification process, u (k-d) It is the valve opening of the ammonium hydroxide regulating valve of kth-d moment cement denitrification process, y (k+1) is the NO at+1 moment of kthxConcentration parameter Output,It is the sytem matrix with appropriate dimension.
1-2. combination step 1-1, the state-space model of the cement denitrification process of introducing portion actuator failures, form is such as Under:
Wherein, uF=α u (k), α are the influences of actuator failures, and 0 < α≤1, uFIt (k-d) is kth-d moment actual ammonia The valve opening of water regulating valve, u (k) are the valve openings of the ammonium hydroxide regulating valve at kth moment.
1-3. introduces the state-space model for eliminating the cement denitrification process of delay time, and form is as follows:
Δxm(k+1)=AmΔxm(k)+BmΔu(k)+BwmΔw(k)
Δ y (k)=CmΔxm(k)
Wherein, Δ xm(k)=[Δ x (k) Δ u (k-1) ... Δ u (k-d)], Δ xm(k) and Δ xmIt (k+1) is kth respectively Moment and+1 moment of kth eliminate the state variable of the cement denitrification process of delay time, Δ u (k-1), Δ u (k-2) ..., Δ u (k-d) be respectively -1 moment of kth, -2 moment of kth ..., the valve opening increment of the ammonium hydroxide regulating valve at kth-d moment, Δ x (k), Δ u (k), Δ w (k) and Δ y (k) are the valve of the state variable increment of kth moment cement denitrification process, ammonium hydroxide regulating valve respectively Aperture increment, disturbance increment and NOxConcentration parameter increment, Am、Bm、BwmAnd CmBe there is the constant matrices of appropriate dimension, and
Bm=[0 10 ... 0]T, Bwm=[Bw 0 0 … 0]T, It is the null vector of appropriate dimension with 0.
1-4. defines the output tracking error function of cement denitrification process:
E (k)=y (k)-yr(k)
E (k+1)=e (k)+CmAmΔx(k)+CmBmΔu(k)+CmBwmΔw(k)
Wherein, yrIt (k) is NOxThe reference value of concentration parameter, e (k) and e (k+1) are+1 moment of kth moment and kth respectively NOxConcentration parameter tracking error.
1-5. establishes the state-space model of the anti-interference optimization tracing control of cement denitrification process, and form is as follows:
Z (k+1)=Az (k)+B Δ u (k)+BwΔw(k)
Wherein,Z (k) and z (k+1) are kth moment and+1 moment of kth cement denitrification process respectively State variable and NOxThe combination of concentration parameter tracking error, A, B and BwBe there is the constant matrices of appropriate dimension, and
The controller of the anti-interference optimization tracking of step 2, design cement denitrification process, specifically:
2-1. is based on step 1, and the objective function of the anti-interference optimization tracing control of cement denitrification process is as follows:
Wherein,It is the valve opening increment minimum of ammonium hydroxide regulating valve,It is NOxThe increment of concentration parameter is maximum,It is the objective function about state variable increment and interference increment, kfIt is the terminal at moment, Q, R difference It is the weighting matrix of the weighting matrix of state variable, ammonium hydroxide controlling opening of valve, γ2It is square of the weighting positive coefficient of w (k), Qf It is the weighting matrix of state terminal variable.
2-2. is based on step 2-1, show that the anti-interference optimization tracing control rule of cement denitrification process, form are as follows:
Wherein WithIt is recursion matrix, A, B are the constant matrices with appropriate dimension respectively, and I is the unit with appropriate dimension Matrix.
2-3. repeats step 1-5 to 2-2 and obtains new anti-interference optimization tracing control rule Δ u (k) and Δ in subsequent time W (k), then acted on the NO of cement denitrification processxConcentration parameter control, and circuit sequentially.

Claims (1)

1. a kind of anti-interference optimization tracking of cement denitrification process, it is characterised in that method includes the following steps:
Step 1, establish cement denitrification process anti-interference optimization tracing control model, comprise the concrete steps that:
1-1. establishes the single-input single-output state-space model of cement denitrification process, and form is as follows:
Wherein, k and d is the time of running and delay time of cement denitrification process respectively, and x (k) and x (k+1) are the kth moment respectively With the state variable of+1 moment of kth cement denitrification process, w (k) is the interference of kth moment cement denitrification process, and u (k-d) is The valve opening of the ammonium hydroxide regulating valve of k-d moment cement denitrification process, y (k+1) are the NO at+1 moment of kthxConcentration parameter output,It is the sytem matrix with appropriate dimension；
1-2. combination step 1-1, the state-space model of the cement denitrification process of introducing portion actuator failures, form are as follows:
Wherein, uF=α u (k), α are the influences of actuator failures, and 0 < α≤1, uFIt (k-d) is kth-d moment actual ammonium hydroxide tune The valve opening of valve is saved, u (k) is the valve opening of the ammonium hydroxide regulating valve at kth moment；
1-3. introduces the state-space model for eliminating the cement denitrification process of delay time, and form is as follows:
Δxm(k+1)=AmΔxm(k)+BmΔu(k)+BwmΔw(k)
Δ y (k)=CmΔxm(k)
Wherein, Δ xm(k)=[Δ x (k) Δ u (k-1) ... Δ u (k-d)], Δ xm(k) and Δ xm(k+1) when being kth respectively Carve and+1 moment of kth eliminate delay time cement denitrification process state variable, Δ u (k-1), Δ u (k-2) ..., Δ u (k- D) be respectively -1 moment of kth, -2 moment of kth ..., the valve opening increment of the ammonium hydroxide regulating valve at kth-d moment, Δ x (k), Δ u (k), Δ w (k) and Δ y (k) be respectively the state variable increment of kth moment cement denitrification process, ammonium hydroxide regulating valve valve open Spend increment, disturbance increment and NOxConcentration parameter increment, Am、Bm、BwmAnd CmBe there is the constant matrices of appropriate dimension, and
Bm=[0 10 ... 0]T, Bwm=[Bw 0 0 … 0]T, With0It is the null vector of appropriate dimension；
1-4. defines the output tracking error function of cement denitrification process:
E (k)=y (k)-yr(k)
E (k+1)=e (k)+CmAmΔx(k)+CmBmΔu(k)+CmBwmΔw(k)
Wherein, yrIt (k) is NOxThe reference value of concentration parameter, e (k) and e (k+1) are kth moment and+1 moment of kth NO respectivelyxIt is dense Spend parameter tracking error；
1-5. establishes the state-space model of the anti-interference optimization tracing control of cement denitrification process, and form is as follows:
Z (k+1)=Az (k)+B Δ u (k)+BwΔw(k)
Wherein,Z (k) and z (k+1) are the shape at kth moment and+1 moment of kth cement denitrification process respectively State variable and NOxThe combination of concentration parameter tracking error, A, B and BwBe there is the constant matrices of appropriate dimension, and
The controller of the anti-interference optimization tracking of step 2, design cement denitrification process, specifically:
2-1. is based on step 1, and the objective function of the anti-interference optimization tracing control of cement denitrification process is as follows:
Wherein,It is the valve opening increment minimum of ammonium hydroxide regulating valve,It is NOxThe increment of concentration parameter is maximum,It is the objective function about state variable increment and interference increment, kfIt is the terminal at moment, Q, R difference It is the weighting matrix of the weighting matrix of state variable, ammonium hydroxide controlling opening of valve, γ2It is square of the weighting positive coefficient of w (k), Qf It is the weighting matrix of state terminal variable；
2-2. is based on step 2-1, show that the anti-interference optimization tracing control rule of cement denitrification process, form are as follows:
Wherein WithIt is recursion matrix, A, B are the constant matrices with appropriate dimension respectively, and I is the unit with appropriate dimension Matrix；
2-3. repeats step 1-5 to 2-2 and obtains new anti-interference optimization tracing control rule Δ u (k) and Δ w in subsequent time (k), then the NO of cement denitrification process is acted onxConcentration parameter control, and circuit sequentially.
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CN111123874A (en) * 2019-12-30 2020-05-08 杭州电子科技大学 Fractional-order LQG-reference-based method for determining performance of rotary cement kiln in firing process
CN113893685A (en) * 2021-09-30 2022-01-07 湖北华电江陵发电有限公司 Advanced denitration system control system and method based on hysteresis inertia compensation

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CN109847916A (en) * 2018-12-26 2019-06-07 厦门邑通软件科技有限公司 A kind of energy conservation optimizing method of cement raw material vertical mill system
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CN104793651A (en) * 2015-04-20 2015-07-22 四川大学 Ammonia spraying amount controlling method for SNCR (selective no catalytic reduction) flue gas denitrating system for cement manufacturing
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