CN110703718A - Industrial process control method based on signal compensation - Google Patents
Industrial process control method based on signal compensation Download PDFInfo
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- G05B19/00—Programme-control systems
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- 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]
- G05B19/41865—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], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention belongs to the technical field of industrial production process control, and relates to an industrial process control method based on signal compensation. The controlled object of the production process is described by using a determined linear model and unmodeled dynamic, the unmodeled dynamic is represented by accurately obtained unmodeled dynamic at the previous moment and the change rate of the unmodeled dynamic, and the unmodeled dynamic compensator at the previous moment and the compensator for eliminating the change rate are designed and are superposed on a PID controller designed based on the determined linear model, so that the PID control method based on signal compensation, which consists of a PID control algorithm and an unmodeled dynamic compensation algorithm, is obtained.
Description
Technical Field
The invention belongs to the technical field of industrial production process control, and particularly relates to an industrial process control method based on signal compensation.
Background
The industrial process is a production process consisting of one or more industrial equipments, and its function is to process the incoming raw materials into semi-finished materials required by the next process, and several production processes constitute a full-flow production line. In order to keep the operation index of the process within a target value range, to keep the product quality and efficiency as high as possible, to keep the cost and energy consumption as low as possible, and to realize the optimal control of the industrial process, the basic requirement is to accurately track the output of the loop control layer to the set value.
The controlled objects of the industrial process loop control mostly have dynamic characteristics of nonlinearity, multivariable strong coupling, uncertainty, complex mechanism model, difficulty in establishing accurate mathematical model and the like, but because the controlled objects operate near the working point, the controlled objects can be represented by a linear model and unmodeled dynamic near the working point, and the steady state of the unmodeled dynamic is mostly constant. Due to the integral effect of the PID controller, tracking errors can be eliminated, and when a controlled object is subjected to unknown and frequent random interference, the controlled object is always in a dynamic state, so that the integrator fails and good control performance is difficult to obtain. Advanced control methods based on the combination of data and models, such as intelligent control, are receiving wide attention from the engineering community, but due to the complexity of the methods, the methods are difficult to be directly applied to actual industrial processes. For example, the industrial heat exchange process is often affected by frequent random undeterminable interference, so that unknown random changes occur in the parameters of the controlled object model, and the integral action of the controller is invalid.
Therefore, in order to solve the problems, the research of a control method which is simple in calculation and easy to apply industrially has great theoretical and practical significance.
Disclosure of Invention
Aiming at the existing technical problems, the invention provides an industrial process control method based on signal compensation, which can solve the problem that the controlled output is difficult to control in a target value range specified by the process in the prior art when a controlled object is influenced by frequent random non-measurable interference.
In order to achieve the purpose, the invention adopts the main technical scheme that:
in a first aspect, the present invention provides a signal compensation based industrial process control method, comprising:
101. the method comprises the following steps of collecting real-time data in a steam heat exchange process in a preset time period, wherein the real-time data comprises the following steps: the opening of the steam regulating valve and the actual value of the steam flow;
102. establishing a steam flow controller design model by adopting a pre-established steam flow mechanism model and the real-time data;
103. determining a steam flow controller driving model according to the established steam flow controller design model;
104. and acquiring an industrial process controller based on signal compensation according to the steam flow controller driving model and the real-time data.
Optionally, the step 101 includes:
collecting a steam flow instantaneous value in a steam heat exchange process within a preset time period;
filtering the steam flow instantaneous value by adopting a first-order inertial filtering method to obtain an effective filtering value serving as an actual value of the steam flow;
and storing the effective filtering value and the collected opening of the steam regulating valve.
Optionally, the pre-established steam flow mechanism model in step 102 includes:
wherein the content of the first and second substances,
tau is the time constant of the steam regulating valve;
s is the cross-sectional area of the steam pipeline; k is a radical of2For steam regulation of valve characteristic constants, ζminAnd ζmaxRespectively the minimum and maximum resistance coefficient, delta P, of the steam regulating valve1(t) is the differential pressure before and after the valve; rhov(P1(t),T1(t)) is the vapor density, P1(T) is pressure, T1(t) is the steam temperature, u (t) is the opening of the steam regulating valve.
Optionally, the step 102 includes:
discretizing the formula 1) and linearizing the control target value to a deterministic linear model and an unmodeled dynamic state, such as formula 2);
A(z-1)y(k+1)＝B(z-1)u(k)+v(k) 2)
A(z-1)y(k+1)＝B(z-1) u (k) to determine the linear model,
A(z-1)＝1+a1z-1，B(z-1)＝b0，a1and b0Are all constants;
wherein v (k) is the unmodeled dynamics for u (t) and y (t); v (k) ═ v (k-1) + Δ v (k); v (k-1) ═ y (k) + a1y(k-1)-b0u(k-1)；
Equation 2) is: a (z)-1)y(k+1)＝B(z-1)u(k)+v(k-1)+Δv(k)。
Optionally, the step 103 includes:
let A*(z-1)＝A(z-1) 1, then y*(k)＝-A*(z-1)y(k)+B(z-1) u (k-1) is the steam flow controller driven model.
Optionally, the step 104 includes:
using the linear portion A (z) of equation 2)-1)y(k+1)＝B(z-1) u (k) designing the PI controller,
acquiring unmodeled dynamic v (k-1) at the previous moment, eliminating the influence of delta v (k) by designing a compensator for eliminating the tracking error e (k +1), and generating a compensation signal u by the compensator2(k)、u3(k) Superimposed on the output u of the PI controller1(k) In the above, the steam flow PI controller based on unmodeled dynamics is obtained as follows:
u(k)＝u1(k)+u2(k)+u3(k)；
wherein u is1(k)、u2(k)、u3(k) Respectively representing the output value of the PI controller, the output value of the unmodeled dynamic compensator at the previous moment and the output value of the unmodeled dynamic change rate compensator.
In a second aspect, the present invention further provides an electronic device, which includes a memory and a processor, where the memory stores programs, and the processor executes the programs in the memory, specifically including executing the method in any one of the first aspect.
The electronic device of the present embodiment may be a controller or other controlled apparatus.
The invention has the beneficial effects that:
the controlled object of the production process is described by using a determined linear model and an unmodeled dynamic model, the unmodeled dynamic model is represented by accurately obtained unmodeled dynamic state at the previous moment and the change rate of the unmodeled dynamic state, and the unmodeled dynamic state compensator at the previous moment and the compensator for eliminating the change rate are designed and are superposed on the PID controller designed on the basis of the determined linear model, so that the PID control method based on signal compensation, which consists of a PID control algorithm and an unmodeled dynamic compensation algorithm, is obtained.
The invention has the beneficial effects that: the control method provided by the invention comprises a PID controller, a previous moment unmodeled dynamic compensator and a change rate compensator thereof, and industrial experiment results show that when unknown random interference occurs, the control method can improve the control precision of steam flow and meet the control requirement of process regulation.
Drawings
FIG. 1 is a schematic view of a heat exchange process of an industrial heat exchange system in which the present invention is applied;
fig. 2 is a schematic structural diagram of a steam flow PI control method based on a signal compensation method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the signal compensator used in FIG. 2 according to the present invention;
FIG. 4 is a schematic diagram of the control effect of the steam flow under the condition of the steam pressure change when the conventional PI control algorithm is adopted;
FIG. 5 is a schematic diagram of the control effect of the steam flow under the condition of the change of the steam pressure when the control algorithm of the invention is adopted.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
Example one
The embodiment of the invention provides an industrial process PI control method based on a signal compensation method, which comprises the following steps:
101. the method comprises the following steps of collecting real-time data in a steam heat exchange process in a preset time period, wherein the real-time data comprises the following steps: the opening of the steam regulating valve and the actual value of the steam flow.
For example, a steam flow instantaneous value in a steam heat exchange process in a preset time period is collected;
filtering the steam flow instantaneous value by adopting a first-order inertial filtering method to obtain an effective filtering value serving as an actual value of the steam flow;
and storing the effective filtering value and the collected opening of the steam regulating valve.
102. And establishing a steam flow controller design model by adopting a pre-established steam flow mechanism model and the real-time data.
In this embodiment, the pre-established steam flow mechanism model includes:
wherein the content of the first and second substances,
tau is the time constant of the steam regulating valve;
s is the cross-sectional area of the steam pipeline; k is a radical of2For steam regulation of valve characteristic constants, ζminAnd ζmaxRespectively the minimum and maximum resistance coefficient, delta P, of the steam regulating valve1(t) is the differential pressure before and after the valve; rhov(P1(t),T1(t)) is the vapor density, P1(T) is pressure, T1(t) is the steam temperature, u (t) is the opening of the steam regulating valve.
Discretizing the formula 1) and linearizing the control target value to a deterministic linear model and an unmodeled dynamic state, such as formula 2);
A(z-1)y(k+1)＝B(z-1)u(k)+v(k) 2)
A(z-1)y(k+1)＝B(z-1) u (k) to determine the linear model,
A(z-1)＝1+a1z-1，B(z-1)＝b0，a1and b0Are all constants;
wherein v (k) is the unmodeled dynamics for u (t) and y (t); v (k) ═ v (k-1) + Δ v (k); v (k-1) ═ y (k) + a1y(k-1)-b0u(k-1)；
Equation 2) is: a (z)-1)y(k+1)＝B(z-1)u(k)+v(k-1)+Δv(k)。
103. And determining a steam flow controller driving model according to the established steam flow controller design model.
In this embodiment, let A*(z-1)＝A(z-1) 1, then y*(k)＝-A*(z-1)y(k)+B(z-1) u (k-1) is the steam flow controller driven model.
104. And acquiring an industrial process controller based on signal compensation according to the steam flow controller driving model and the real-time data.
Specifically, the linear portion A (z) in equation 2) is adopted-1)y(k+1)＝B(z-1) u (k) designing the PI controller,
acquiring unmodeled dynamic v (k-1) at the previous moment, eliminating the influence of delta v (k) by designing a compensator for eliminating the tracking error e (k +1), and generating a compensation signal u by the compensator2(k)、u3(k) Superimposed on the output u of the PI controller1(k) In the above, the steam flow PI controller based on unmodeled dynamics is obtained as follows:
u(k)＝u1(k)+u2(k)+u3(k)；
wherein u is1(k)、u2(k)、u3(k) Respectively representing the output value of the PI controller, the output value of the unmodeled dynamic compensator at the previous moment and the output value of the unmodeled dynamic change rate compensator.
In this embodiment, the controlled object in the production process is described by using a determined linear model and an unmodeled dynamic model, the unmodeled dynamic model is represented by an accurately obtained unmodeled dynamic state at the previous time and a change rate thereof, and the unmodeled dynamic state at the previous time and a compensator for eliminating the change rate thereof are designed and are superimposed on a PID controller designed based on the determined linear model, so that a PID control method based on signal compensation, which is composed of a PID control algorithm and an unmodeled dynamic compensation algorithm, is obtained.
Example two
Referring to fig. 2 and 3, the invention discloses an industrial process PI control method based on a signal compensation method, which comprises the following steps:
the method comprises the following steps: establishing a steam flow mechanism model;
through changing the aperture of steam governing valve, change the restriction area of governing valve and then change steam pipeline steam flow, the hypothetical condition when setting up steam flow model is: the steam flow is one-dimensional; flows in the pipeline in an isothermal process.
By utilizing the flow characteristics of the linear regulating valve, a static mathematical model with the opening u (t) of the steam regulating valve as input and the steam flow y (t) as output can be established, namely:
in the formula I, S is the cross-sectional area of the steam pipeline; k is a radical of2For steam regulation of valve characteristic constants, ζminAnd ζmaxMinimum and maximum resistance coefficients for the steam regulating valve, respectively, are unknown constants related to the steam characteristics and the valve characteristics; delta P1(t) is the differential pressure before and after the valve; rhov(P1(t),T1(t)) is the steam density, is related to the steam pressure P1(T) and steam temperature T1(t) an unknown non-linear function of interest, t representing a continuous time t, e.g. y (t) represents the value of y at time t.
Because the first formula is based on the static model described by the dynamic equation of the regulating valve, the inertia link of the actual regulating valve is ignored, and therefore, the first formula is expressed as follows by considering the inertia link of the valve:
in the formula II, tau is the time constant of the steam regulating valve, and u (t) represents the opening degree of the valve at the time t.
Equation two is expressed as:
in the formula III, the first step is carried out,
the steam flow dynamic model is described by formula three and formula four.
Step two: the real-time data of the heat exchange process is collected and stored, and the real-time data needing to be collected comprises the following steps: the opening of the steam regulating valve and the actual value of the steam flow.
In the heat exchange process, the steam pressure, the outdoor temperature, the quality of the circulating water and the flow of the circulating water fluctuate, so that the industrial heat exchange process is frequently and randomly interfered. These disturbances have a serious effect on the instantaneous value of the steam flow, and therefore, the collected instantaneous value of the steam flow needs to be filtered and stored in the database to ensure the accuracy and validity of the measured data.
The filtering adopts a first-order inertia filtering method, the sampling value of this time and the filtering output value of the last time are weighted, and an effective filtering value is obtained and is used as an instantaneous value of the current steam flow.
Step three: establishing a steam flow controller design model
Discretizing the controlled object to a steam flow model formula III by adopting an Euler method, and linearizing the controlled object to be described by a deterministic linear model and unmodeled dynamics near a working point as follows:
A(z-1)y(k+1)＝B(z-1) u (k) + v (k) formula five;
the working point is a control target value and a steady-state value of the process requirement. Equation five describes a relational model expression between the steam flow y and the valve opening u in the vicinity of the control target value. Z represents the expression in the Z domain after the transformation of the formula Z. K in the formula five represents the k-th point discretized by the original continuous time t.
A(z-1)y(k+1)＝B(z-1) u (k) to determine the Linear model, A (z)-1)＝1+a1z-1，B(z-1)＝b0，a1And b0Determining A (z) for the constant to be solved by least squares identification using the steam flow output data and the damper opening input data-1)、B(z-1) The parameters of (1); v (k) is the unmodeled dynamics for u (t) and y (t), including the changes in dynamic performance due to lag time in the steam flow model, pressure differential across the valve, and steam density changes, and v (k) is bounded.
If the unmodeled dynamics v (k) is unknown at the time k and is expressed as the sum of the unmodeled dynamics and the change rate thereof at the previous time, that is, v (k) ═ v (k-1) + Δ v (k), Δ v (k) represents the difference between v (k) and v (k-1), the steam flow controller design model obtained by the steam flow dynamics model formula five is:
A(z-1)y(k+1)＝B(z-1) u (k) + v (k-1) + Δ v (k) formula six;
step four: drive model for steam flow controller
Let A*(z-1)＝A(z-1) 1, then y*(k)＝-A*(z-1)y(k)+B(z-1) u (k-1) is the steam flow controller driven model.
In the embodiment, Z represents the same meaning, and the model is put in the Z domain for analysis.
Step five: solving the unmodeled dynamic v (k-1) at the moment of k-1
From equation six, the unmodeled dynamics v (k-1) at the previous time is:
in this step, the solution of v (k-1) for unmodeled dynamics at time k-1 comprises the following specific steps:
step a: collecting historical data of steam flow and opening of a regulating valve, and identifying parameter a in a steam flow controller design model formula six by using a least square method1And b0；
Step b: collecting steam flow data y (k), y (k-1) and regulating valve opening u (k-1) at k and k-1 moments;
step c: substituting the model-free dynamic calculation equation formula seven into the model-free dynamic calculation equation formula seven to obtain the model-free dynamic at the moment k-1:
v(k-1)＝y(k)+a1y(k-1)-b0u (k-1) formula eight;
step six: industrial process controller design based on signal compensation method
Determining linear portion A (z) using model equation six-1)y(k+1)＝B(z-1) u (k) can design PI controller, and according to the formula eight, the unmodeled dynamic v (k-1) at the previous moment can be accurately obtained, so that the controller for eliminating the influence can be designed, although the unmodeled dynamic change rate Deltav (k) is unknown, the influence of Deltav (k) can be eliminated by designing compensator for eliminating tracking error e (k +1), and the compensation signal u generated by the compensator is used2(k)、u3(k) Superimposed on the output u of the PI controller1(k) Thus, the steam flow PI controller based on unmodeled dynamics is:
u(k)＝u1(k)+u2(k)+u3(k) a formula of nine;
to better understand the process in the sixth step, the following specific steps are performed for the industrial process controller design based on the signal compensation method in the sixth step:
step A: determining linear model A (z) with equation six-1)y(k+1)＝B(z-1) u (k) design the PI controller as:
H(z-1)u1(k)＝G(z-1) e (k) equation ten;
in the formula, H (z)-1)＝1-z-1，G(z-1)＝g0+g1z-1，g0And g1Controlling parameters for PINumber e (k) ═ ysp(k) -y (k) is the tracking error, ysp(k) Is the steam flow set point.
And B: designing an unmodeled dynamic v (k-1) compensator at the moment k-1 as follows:
u22(k)＝-K(z-1) v (k-1) formula eleven;
in the formula, K (z)-1) Are parameters of the compensator.
And C: solving for G (z) using a one-step optimal feedforward compensation law-1) And K (z)-1) Parameter of (c) is given by u in formula ten1(k) And u in formula eleven2(k) Substituting into equation nine to obtain u (k) as:
step D: the following performance indicators were introduced:
wherein, P (z)-1)、R(z-1)、Q(z-1) And
are all about z-1Weighted polynomial of (c).
Step E: the generalized output φ (k +1) is introduced as:
φ(k+1)＝P(z-1) y (k +1) formula fourteen;
step F: defining a generalized ideal output y*(k +1) is:
step G: define P (z) in formula fourteen-1) Comprises the following steps:
P(z-1)＝A(z-1)+z-1G(z-1) Sixthly, a formula is formed;
step H: the formula six and the formula fourteen can be used as follows:
P(z-1)y(k+1)＝G(z-1)y(k)+B(z-1) u (k) + v (k-1) + Δ v (k) formula seventeen;
step I: substituting equation fifteen into equation thirteen to minimize J (J)min＝Δvi(k) One-step optimal control law with unmodeled dynamic compensation can be obtained as follows:
step J: q (z) is obtained from formula twelve and formula eighteen-1)、R(z-1) And
comprises the following steps:
step K: substituting the eighteen formula and the nineteen formula into the sixteenth steam flow controller design model formula to obtain a steam flow closed-loop system equation as follows:
step L: selection of G (z)-1) Parameter g of0And g1The closed loop system shown in equation twenty is stabilized, i.e.: a (z)-1)H(z-1)+z-1B(z-1)G(z-1) Not equal to 0, | z | > 1, thereby obtaining the PI controller u1(k)：
u1(k)＝u1(k-1)+[g0+g1z-1]e (k) equation twenty-one;
step M: from equation twenty, to compensate for the effect of v (K-1) on steam flow, K (z) is chosen-1) 1-B (z)-1)K(z-1) 0, namely:
thus, the unmodeled dynamic v (k-1) complement at the previous time is obtainedPayment device u2(k)：
u2(k)＝-kvv (k-1) formula twenty-two;
for u is paired2(k) Output clipping is done as shown in equation twenty three:
in the formula, c1Represents u2(k) The output clipping value of (1).
And step N: then equation twenty is:
step O: although the unmodeled dynamic change rate Δ v (k) is unknown, the tracking error e (k) caused by the unmodeled dynamic change rate Δ v (k) is known, so the compensator u is designed with the aim of eliminating the tracking error e (k +1)3(k) Subtracting A (z) from twenty-four sides of the formula-1)H(z-1)ysp(k +1), the formula twenty-four can be expressed as e (k +1) as the output, u3(k) A system that is an input, namely:
[A(z-1)H(z-1)+z-1B(z-1)G(z-1)]e(k+1)＝-B(z-1)H(z-1)u3(k)-H(z-1)Δv(k)+A(z-1)H(z-1)ysp(k+1)
twenty-five of a formula;
step P: to eliminate e (k +1) as much as possible, a one-step optimal regulation law design u is introduced3(k) The following performance indicators were introduced:
J′＝[e(k+1)+λ(1-z-1)u3(k)]2a formula of twenty six;
step Q: introducing a Diphantine equation:
A(z-1)H(z-1)+z-1B(z-1)G(z-1)+z-1G′(z-1)＝1
twenty-seven of the formula;
step R: composed ofG' of twenty-seven available formula (z)-1) Comprises the following steps:
G′(z-1)＝A(z-1)-B(z-1)G(z-1)-a1＝g′0+g′1z-1
twenty-eight of the formula;
wherein, g'0＝1-b0g0-a1，g'1＝a1-b0g1。
Step S: substituting the formula twenty-seven into the formula twenty-five to obtain:
e(k+1)＝G′(z-1)e(k)-B(z-1)H(z-1)u3(k)-H(z-1)Δv(k)+A(z-1)H(z-1)ysp(k+1)
twenty-nine of a formula;
and T: as known from twenty-nine formula, the one-step optimal prediction e of tracking error* i(k +1/k) is:
e*(k+1/k)＝G′(z-1)e(k)-B(z-1)H(z-1)u3(k)-H(z-1)Δv(k-1)+A(z-1)H(z-1)ysp(k+1)
thirty formulas;
wherein Δ v (k-1) ═ v (k-1) -v (k-2).
Step U: from twenty-six and thirty, there are:
step V: from the formula thirty-one, the compensation signal u can be obtained3(k) Comprises the following steps:
wherein the unmodeled dynamics rate compensator parameter G' (z-1) Obtained from the formula twenty-eight.
For u is paired3(k) Make incremental clipping as shown in formula thirty-three and as shown in formula thirty-fourAmplitude clipping is shown:
in the formula, c2Represents u3(k) Incremental limit value of c3Represents u3(k) The amplitude clipping value of (1).
Step W: substituting the twenty-seven formula and the thirty-one formula into the twenty-five formula includes:
[B(z-1)-λA(z-1)H(z-1)-z-1λG(z-1)B(z-1)]e(k+1)
＝[λ-B(z-1)H(z-1)]H(z-1)Δv(k)-λA(z-1)H(z-1)ysp(k+1)
a formula thirty-five;
step X: according to the formula thirty-five, the parameter λ is selected to satisfy:
B(z-1)-λA(z-1)H(z-1)-z-1λG(z-1)B(z-1) Not equal to 0, | z | > 1 formula thirty-six;
the output u (k) of the industrial process controller based on the signal compensation method, which is composed of the PI controller, the unmodeled dynamic compensator at the previous moment and the sum of the change rate compensator, can be obtained by the formula twenty-one, the formula twenty-two, the formula thirty-two and the formula nine, is as follows:
output clipping is done for u (k) as shown in equation thirty-eight:
where c represents the amplitude clipping value of u (k).
EXAMPLE III
The method of the first embodiment and the second embodiment is applied to the industrial heat exchange process as shown in fig. 1, at this time, the controller is implemented by using a siemens S7-300 PLC control system, and the information of relevant devices is referred to table 1 below.
According to the process characteristics of industrial heat exchange, the designed controller parameters are as follows:
controller design model parameters: a is1＝-0.953z-1,b0＝0.2149；
PI controller parameters: g0＝11.9636,g1＝-9.7884；
Unmodeled dynamic compensator parameters at the previous time: k is a radical ofv＝37.594；
Unmodeled dynamic compensator output clipping at the previous time: c. C1＝10；
Unmodeled dynamic rate of change compensator parameters: g'0＝1.4656,g′1＝-0.5234；
The unmodeled dynamic rate of change compensator outputs an incremental clipping and an amplitude clipping: c. C2＝5c3＝10；
The industrial process controller output amplitude limiting based on the signal compensation method: c is 10;
the invention can better realize the automatic control of the steam flow in the industrial heat exchange process. Fig. 4 shows the steam flow control effect under the condition of steam pressure change by adopting the traditional PI algorithm, fig. 5 shows the steam flow control effect under the condition of steam pressure change by adopting the control algorithm of the invention, and as can be seen from fig. 4 and fig. 5, under the condition that the sampling period is the same as 1s, the steam flow greatly fluctuates under the PI control, the measured value of the steam flow cannot be stabilized on the target value, the adjustment time is long, and the overshoot is large; the fluctuation of the steam flow under the control method of the invention is obviously smaller than that under the PI control, the steam flow in the industrial heat exchange process can be controlled on a target value, and the process requirement is met.
As can be seen from the performance evaluation data shown in the following Table 2, after steam pressure is changed, compared with the traditional PI control method, the method provided by the invention can reduce overshoot by 6.48%, mean square error by 53.49% and mean square error by 78.04%. The fluctuation of the steam flow can be greatly reduced, and the steam flow can be accurately controlled on a target value. The control effect of the invention is obviously superior to that of the traditional PI control method.
Through the above explanation, the method is superior to the traditional PI control method in the aspect of controlling the steam flow, has reference value for the design of the controller of the complex industrial process which is difficult to adopt the conventional PI control method, and has guiding significance for the actual production.
TABLE 1
Controller performance evaluation meter (disturbance is steam pressure)
TABLE 2
In addition, an embodiment of the present invention further provides an electronic device, such as a controller or a controlled device, where the electronic device includes a memory and a processor, the memory stores a program, and the processor executes the program in the memory, specifically including executing the method in the foregoing first embodiment or the second embodiment.
The above description of the embodiments of the present invention is provided for the purpose of illustrating the technical lines and features of the present invention and is provided for the purpose of enabling those skilled in the art to understand the contents of the present invention and to implement the present invention, but the present invention is not limited to the above specific embodiments. It is intended that all such changes and modifications as fall within the scope of the appended claims be embraced therein.
Claims (7)
1. A method for signal compensation based industrial process control, comprising:
101. the method comprises the following steps of collecting real-time data in a steam heat exchange process in a preset time period, wherein the real-time data comprises the following steps: the opening of the steam regulating valve and the actual value of the steam flow;
102. establishing a steam flow controller design model by adopting a pre-established steam flow mechanism model and the real-time data;
103. determining a steam flow controller driving model according to the established steam flow controller design model;
104. and acquiring an industrial process controller based on signal compensation according to the steam flow controller driving model and the real-time data.
2. The method of claim 1, wherein the step 101 comprises:
collecting a steam flow instantaneous value in a steam heat exchange process within a preset time period;
filtering the steam flow instantaneous value by adopting a first-order inertial filtering method to obtain an effective filtering value serving as an actual value of the steam flow;
and storing the effective filtering value and the collected opening of the steam regulating valve.
3. The method of claim 1, wherein the pre-established steam flow mechanization model of step 102 comprises:
wherein the content of the first and second substances,
tau is the time constant of the steam regulating valve;
s is the cross-sectional area of the steam pipeline; k is a radical of2For steam regulation of valve characteristic constants, ζminAnd ζmaxRespectively the minimum and maximum resistance coefficient, delta P, of the steam regulating valve1(t) is the differential pressure before and after the valve; rhov(P1(t),T1(t)) is the vapor density, P1(T) is pressure, T1(t) is the steam temperature, u (t) is the opening of the steam regulating valve.
4. The method of claim 3, wherein the step 102 comprises:
discretizing the formula 1) and linearizing the control target value to a deterministic linear model and an unmodeled dynamic state, such as formula 2);
A(z-1)y(k+1)＝B(z-1)u(k)+v(k) 2)
A(z-1)y(k+1)＝B(z-1) u (k) to determine the linear model,
A(z-1)＝1+a1z-1，B(z-1)＝b0，a1and b0Are all constants;
wherein v (k) is the unmodeled dynamics for u (t) and y (t); v (k) ═ v (k-1) + Δ v (k); v (k-1) ═ y (k) + a1y(k-1)-b0u(k-1)；
Equation 2) is: a (z)-1)y(k+1)＝B(z-1)u(k)+v(k-1)+Δv(k)。
5. The method of claim 4, wherein the step 103 comprises:
let A*(z-1)＝A(z-1) 1, then y*(k)＝-A*(z-1)y(k)+B(z-1) u (k-1) is the steam flow controller driven model.
6. The method of claim 5, wherein the step 104 comprises:
using the linear portion A (z) of equation 2)-1)y(k+1)＝B(z-1) u (k) designing the PI controller,
acquiring unmodeled dynamic v (k-1) at the previous moment, eliminating the influence of delta v (k) by designing a compensator for eliminating the tracking error e (k +1), and generating a compensation signal u by the compensator2(k)、u3(k) Superimposed PI controllerOutput u of1(k) In the above, the steam flow PI controller based on unmodeled dynamics is obtained as follows:
u(k)＝u1(k)+u2(k)+u3(k)；
wherein u is1(k)、u2(k)、u3(k) Respectively representing the output value of the PI controller, the output value of the unmodeled dynamic compensator at the previous moment and the output value of the unmodeled dynamic change rate compensator.
7. An electronic device, comprising a memory and a processor, the memory storing a program, the processor executing the program in the memory, in particular comprising performing the method of any of the preceding claims 1 to 6.
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