CN111443740B - Device and method for controlling thickness of raw material vertical grinding material layer of intelligent cement factory - Google Patents
Device and method for controlling thickness of raw material vertical grinding material layer of intelligent cement factory Download PDFInfo
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- G05D5/03—Control of dimensions of material of thickness, e.g. of rolled material characterised by the use of electric means
Abstract
The invention provides a device and a device for controlling the thickness of a raw material vertical grinding material layer in an intelligent cement factory, wherein the device comprises: a control unit for controlling the feeding amount to obtain the thickness T of the material layer h (ii) a A limiting unit for receiving the material layer thickness T h And is combined withLimiting the range of the feeding amount to obtain the thickness T of the material layer hc (ii) a The online observation unit is used for online estimating the estimated value of the material layer thickness and the estimated value of the pseudo partial derivative of the vertical mill system; a saturation compensation unit for compensating for the material layer thickness T h Material layer thickness T hc And obtaining a saturation compensation value based on the estimated value of the pseudo-partial derivative of the system; the input information of the control unit includes: the expected value of the material layer thickness, the deviation of the actual value of the material layer thickness and the estimated value, the saturation compensation value, the estimated value of the pseudo partial derivative of the system and the disturbance quantity of the system. The method is realized by the device. The system can solve the problems of optimality and instantaneity which are difficult to ensure by manual adjustment on the premise of ensuring the stability of a vertical mill system.
Description
Technical Field
The invention relates to the field of production control of intelligent cement factories, in particular to a device and a method for controlling the thickness of a raw material vertical grinding material layer of an intelligent cement factory.
Background
Raw material grinding is one of the core links in the production process of novel dry cement, and is the first grinding in the process of two-grinding and one-burning. The raw material grinding process is to grind the mixed raw materials of limestone, shale, sandstone and the like which are subjected to preliminary crushing, pre-homogenization and batching into powdery particles so as to enable the powdery particles to be subjected to more sufficient chemical reaction in the subsequent rotary kiln clinker firing link. The vertical mill is a milling core device commonly used in cement raw material production lines in China at present, integrates milling, powder selection and drying, has the characteristics of low investment cost, high production efficiency, energy conservation, environmental protection and the like, and is increased year by year in the use ratio of cement raw material plants.
The thickness of the vertical mill material layer is the longitudinal thickness value of the mixture on the grinding disc when the vertical mill normally operates. The thickness of the material layer reflects the operation condition of the vertical mill to a certain extent. The thickness is too large, the material is milled unevenly, and the efficiency is low; the thickness is too small, so that the grinding roller and the grinding disc are easy to contact and wear, the service life is shortened, and the mill is easy to vibrate, so that the machine is stopped. The general operation is to stabilize the thickness of the material layer in an expected range by controlling the feeding amount, and improve the production efficiency as much as possible on the premise of ensuring the stability. Most cement raw material plants in China still adopt the expert experience of operators to adjust the feeding amount, and the operators can independently judge and give the adjusting range of the feeding amount according to the data collected on site. The manual operation can not guarantee concentration degree and accuracy, is difficult to improve production efficiency, and even the condition of mill vibration shut down also happens occasionally.
At present most cement raw material plants adopt operator's expert experience to adjust the adjustable variable including the feeding volume in the raw meal grinding link, through the real-time detection feedback value of observing bed of material thickness, judge whether need adjust the feeding volume this moment according to own many years' on-the-spot operation experience, and it is big to adjust the range, and this kind of operation mode needs the operator to possess sufficient experience, and keeps the high degree of concentration constantly. Along with the popularization of the intelligent trend of industrial production, a small number of cement raw material plants adopt intelligent methods to adjust variables in real time, wherein the traditional PID control mode accounts for more than 85%, and fuzzy control, predictive control and other methods are introduced in other parts.
The control effect of the expert experience adjustment depends to some extent on the knowledge reserve and the concentration level of the operator. Operators with abundant experience can effectively ensure stable operation of production equipment, and the yield meets the requirements. However, human response speed and judgment cannot be compared with a computer, and real-time performance and optimality cannot be achieved. The traditional PID control is developed and applied for hundreds of years, is mature, has obvious defects, namely has the problems of poor parameter setting, poor performance, narrow control range, poor adaptability to operation conditions and the like, and is difficult to meet the requirements of people on control precision and energy efficiency.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention at least aims to provide an intelligent control device and method for the thickness of a raw material vertical grinding material layer in a cement factory, which can solve the problem of optimality and instantaneity that manual adjustment is difficult to guarantee on the premise of ensuring the stability of a vertical grinding system.
To achieve the above and other related objects, an embodiment of the present invention provides an intelligent control apparatus for thickness of a raw material vertical mill bed in a cement plant, comprising:
a control unit for controlling the feeding amount to obtain the thickness T of the material layer h ；
A limiting unit for receiving the material layer thickness T h And limiting the range of the feeding amount to obtain the thickness T of the material layer hc ；
The online observation unit is used for online estimating the estimated value of the material layer thickness and the estimated value of the pseudo partial derivative of the vertical mill system;
a saturation compensation unit for compensating for the material layer thickness T h Material layer thickness T hc And obtaining a saturation compensation value based on the estimated value of the pseudo-partial derivative of the system;
the input information of the control unit includes: the expected value of the material layer thickness, the deviation of the actual value of the material layer thickness and the estimated value, the saturation compensation value, the estimated value of the pseudo partial derivative of the system and the disturbance quantity of the system.
Optionally, the control unit comprises an MFA controller.
Optionally, the online observation unit comprises a PPD observer.
Optionally, the control signals of the MFA controller are:
optionally, the clipping control signal of the clipping unit is:
optionally, the PPD observer satisfies:
ΔL(k+1)＝φ 1 (k)ΔT h (k-n d )+φ 2 (k)Δp(k)
φ 1 (k),φ 2 (k) For the two parameters of the PPD observer,
L(k+1)＝f(L(k),...,L(k-n L ),T h (k-n d ),...,T h (k-n d -n T ),p(k),...,p(k-n p ))。
optionally, the saturation compensation value is:
to achieve the above and other related objects, an embodiment of the present invention further provides a method implemented by the apparatus, including the steps of:
the deviation of the real-time value of the material layer thickness and the expected value and the system pseudo partial derivative estimated online by the online observation unit are sent to the control unit, and the output of the control unit is the ideal regulating value of the feeding amount;
the ideal regulating value gives an actual regulating value after passing through the amplitude limiting unit, and the actual regulating value acts on the feeding valve to regulate the feeding amount; if the amplitude limiting unit is in action, generating a saturation compensation and sending the saturation compensation to the control unit;
the control unit adjusts the output signal according to the input signal so as to realize the control of the thickness of the raw material vertical grinding material layer of the intelligent cement factory.
According to the technical scheme provided by the embodiment of the invention, the MFA controller is adopted to adjust the feeding amount of the cement raw material vertical mill system on line, so that the tracking expected value of the thickness of the vertical mill layer is not deviated, and the problems of large fluctuation of the thickness of the material layer, inaccurate tracking expected value and the like caused by manual adjustment of the feeding amount in most cement raw material plants are solved. The feeding amount is automatically controlled, the consumption of manpower and material resources is reduced, a better control effect is achieved, and actual benefits are brought to cement plants. Meanwhile, the MFA control strategy introduces the concept of 'pseudo partial derivatives', the nonlinear dynamic relation of a detailed internal mechanism model is difficult to obtain at different moments and is approximately in the same linear representation form through I/O data, and the pseudo partial derivatives change along with time. And because an accurate model cannot be obtained, accurate pseudo-partial derivatives cannot be obtained, and the expected value of the material layer thickness tracking can be realized only by estimating the pseudo-partial derivatives of the system on line through a PPD state observer and adjusting the parameters of the controller.
Drawings
FIG. 1 shows a block diagram of the MFA control principle;
FIG. 2 is a graph showing a trace of bed thickness;
FIG. 3 shows a disturbance variation curve;
FIG. 4 shows PPD parameter variation curves;
FIG. 5 shows a curve of the change in the amount of feed and a curve of the saturation compensation.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings are only used for matching the disclosure of the present disclosure, and are not used for limiting the conditions that the present disclosure can be implemented, so that the present disclosure is not technically significant, and any structural modifications, ratio changes or size adjustments should still fall within the scope of the present disclosure without affecting the efficacy and the achievable purpose of the present disclosure. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are used for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms may be changed or adjusted without substantial change in the technical content.
One embodiment of the present invention provides an intelligent control device for the thickness of a raw material vertical grinding material layer in a cement factory, comprising:
a control unit for controlling the feeding amount to obtain the thickness T of the material layer h ；
A limiting unit for receiving the material layer thickness T h And limiting the range of the feeding amount to obtain the thickness T of the material layer hc ；
The online observation unit is used for online estimating the estimated value of the material layer thickness and the estimated value of the pseudo partial derivative of the vertical mill system;
a saturation compensation unit for compensating for the material layer thickness T h Material layer thickness T hc And obtaining a saturation compensation value based on the estimated value of the pseudo-partial derivative of the system;
the input information of the control unit includes: the expected value of the material layer thickness, the deviation of the actual value of the material layer thickness and the estimated value, the saturation compensation value, the estimated value of the pseudo partial derivative of the system and the disturbance quantity of the system.
According to the technical scheme, a control strategy is combined with amplitude limiting and saturation compensation, the control strategy is applied to a cement raw material vertical mill system, the thickness of a material layer is controlled by adjusting the feeding amount, a good tracking effect is obtained through simulation, and the tracking device has certain anti-interference capacity; and the feeding amount is limited in range by adopting an amplitude limiting link according to the actual situation on site, and a saturation compensation is added to the controller to solve the problem of unequal saturation of the output of the controller and the input of the controlled object.
As shown in FIG. 1, L * Indicating the desired value, T, of the thickness of the vertical abrasive layer h Indicating the controller output bed thickness value, T hc The thickness value of the material layer after the amplitude limiting link is shown, L represents the actual value of the thickness of the vertical abrasive material layer,
representing an estimate of the opposite abrasive layer thickness by a PPD state observer,
shows the deviation of the actual value and the estimated value of the thickness of the vertical abrasive layer,
an estimate representing the pseudo-partial derivative of the system,
and the saturation compensation value after the amplitude limiting link acts is represented, and p is the system disturbance quantity.
In one embodiment, the control unit comprises an MFA controller.
In one embodiment, the online observation unit includes a PPD observer.
The specific algorithm derivation and controller design process involved in the invention is as follows:
1. design for PPD State observer
Firstly, the feeding amount is a limiting amount, and an allowable change interval is generated in an actual field, and the limiting interval is represented as T hmin ≤T h ≤T hmax (1)
Wherein, T hmin ,T hmax The upper and lower limits of the feeding amount are respectively.
The relationship between the feeding amount and the thickness of the material layer is expressed as the following nonlinear function
L(k+1)＝f(L(k),...,L(k-n L ),T h (k-n d ),...,T h (k-n d -n T ),p(k),...,p(k-n p ))
(2)
Assume 1.
Exist and are continuous.
Suppose 2. System (2) satisfies Δ L (k + 1) ≦ C 1 |ΔT h (k-n d ) And to
ΔT h (k-n d ) Not equal to 0 and Δ p (k) not equal to 0, with Δ L (k + 1) not more than C 2 | Δ p (k) |. Wherein Δ L (k + 1) = L (k + 1) -L (k), Δ T h (k)＝T h (k)-T h (k-1) and Δ p (k) = p (k) -p (k-1), C 1 ,C 2 Are unknown constants.
ΔL(k+1)＝φ 1 (k)ΔT h (k-n d )+φ 2 (k)Δp(k) (3)
Wherein phi is 1 (k)≤C 1 ,φ 2 (k)≤C 2 ，n d Is the latency of the system.
For convenience, Φ (k) = [ Φ (k) =isdefined 1 (k),φ 2 (k)] T ,Ω(k)＝[ΔT h (k-n d ),Δp(k)] T Then (2) can be described as the following form
Wherein L is Initial The initial value of the vertical abrasive layer thickness is indicated. Thus, the PPD observer structure,The output error and parameter estimation equation can be expressed as follows
Wherein the content of the first and second substances,
represents the output estimation error, K c Satisfies F c ＝1-K c Within the unit circle.
Γ(k)＝2(||Ω(k)|| 2 +λ) -1 (8)
Where λ is a positive constant. It can be seen that Γ (k) is positive for any k. Assuming | Ω (k) | ≦ η |, we can get the constraint range of Γ (k) as follows
By substituting formula (6) for formula (5), the compounds are obtained
Wherein R is obtained by the following equation
R＝I-Ω(k)Γ(k)Ω T (k)
Where I is a (2 × 2) identity matrix.
And (3) proving that: let the Lyapunov function be of the form
Wherein, P-F c 2 P = Q, ω, P, Q is a positive constant, and the formulae (8) and (9) are combined to obtain
Wherein the content of the first and second substances,
the following inequality can be obtained
Through the above proving process and the Barbalt theorem, it can be known that the theorem is correct, i.e., lim k→∞ e oe (k)＝0。
2. Design of MFAC controller
The whole control signal generation is divided into two parts of a controller and a restraint ring. The output of the controller through the constraint link is the system control quantity, namely the opening of the cold air valve. Based on the observer's estimated equation (4), a controller structure without constraints can be obtained as
Where α is a small positive constant. The clipping control signal is expressed as
Where T is the sample time. The constraint function Con (-) is defined as follows
When the constraint link is in effect, namely the feeding quantity output by the controller exceeds the limit range, in order to enable the actual thickness value of the vertical abrasive material layer to track the expected value, a saturation compensation is required to be added to the controller
The structure is as follows
Where τ is a constant within a unit circle. So that the control signal becomes
Demonstration of stability
To demonstrate the stability of the control device, we need to demonstrate that the deviation between the observer estimated output value and the expected value approaches 0. Definition of
By combining the equations (12), (13), we can obtain the following equations
From equations (11) and (13), the following theorem holds:
theorem 3. For a given | L ≦ Δ L ≦ k-1 ≦ Δ L, the system (14) eventually stabilizes for any k, i.e., lim k→∞ |e(k)|≤h。
Wherein Δ L is a given normal number, h = c/(1-b), wherein
And (3) proving that: the absolute value of equation (14)
Selecting Lyapunov function as V c (k) = | e (k) |, available
ΔV c (k+1)＝|e(k+1)|-|e(k)|＝(1-b)V c (k)+c
In summary, since 0 ≦ b < 1 and c is bounded, combining the Barbalt theorem and equations (11), (13) may prove lim k→∞ |e(k)|≤h。
The objective function is set as
J(T h (k))＝|L*(k+1)-L(k+1)| 2 +κ|T h (k)-T h (k-1)| 2 (15)
Wherein, k is a weight value to solve the output saturation problem of the controller.
So far, the controller structure and the parameter estimation equation are obtained, and thus the control block diagram shown in fig. 2 can be obtained.
3. matlab simulation
According to the expert experience, the initial value of the thickness of the raw material vertical grinding material layer is set to be L (0) =120mm, and the initial value of the feeding amount is T h (0) =175t/h, expected value of the layer thickness
The approximate mathematical model of the feeding amount and the material layer thickness is
Wherein, beta 1 ,β 2 ,β 3 Is the parameter matrix of the system, g (-) is the sigmoid function.
The upper and lower limits of the feeding amount are set as [ T ] hmin ,T hmax ]＝[172,182]t/h, the values of the parameters directly given in the controller are α =0.3, τ =0.15, k c =0.9, μ =5, the tracking curve of the bed thickness and the variation of the perturbation are shown in fig. 2 and 3, and the PPD parameter variation curve and the saturation compensation effect curve are shown in fig. 4 and 5.
As can be seen from fig. 2 and 3, due to the delay, the thickness of the material bed is firstly maintained at the initial value without changing, and then when the disturbance of the expected value is changed in a fast tracking manner, the disturbance directly occurs at the thickness of the material bed, so that the thickness of the material bed changes suddenly, and the expected value is gradually tracked after a period of delay; after the expected value changes, the thickness of the material layer gradually tracks the expected value after a period of time delay.
FIG. 4 is a plot of the variation of two PPD parameters, reflecting the pseudo-partial derivative estimates at different times for a nonlinear system.
Fig. 5 shows a curve of the change of the feeding amount and a curve of saturation compensation under the set amplitude limit, and it can be seen that, at 1000 seconds, the feeding amount suddenly decreases due to the change of the expected value of the thickness of the material layer, and is lower than the lower limit, and the amplitude limit link acts to provide the saturation compensation for the controller.
An embodiment of the present invention further provides a method implemented by the apparatus, including:
the deviation of the real-time value of the material layer thickness and the expected value and the system pseudo partial derivative estimated online by the online observation unit are sent to the control unit, and the output of the control unit is the ideal regulating value of the feeding amount;
the ideal regulating value gives an actual regulating value after passing through the amplitude limiting unit, and the actual regulating value acts on the feeding valve to regulate the feeding amount; if the amplitude limiting unit is in action, generating a saturation compensation and sending the saturation compensation to the control unit;
the control unit adjusts the output signal according to the input signal so as to realize the control of the thickness of the raw material vertical grinding material layer of the intelligent cement plant.
Aiming at the current situation that the automation degree of the raw material vertical mill link of most cement raw material plants is low, the invention designs an MFA control strategy of the raw material vertical mill based on an MFA control method, and the feeding amount of a vertical mill system is adjusted on line by an MFA controller and an amplitude limiting link, so that the thickness of a vertical mill material layer reaches a desired value. Firstly, the deviation of the real-time value of the material layer thickness and the expected value and the system pseudo-partial derivative estimated on line by a PPD state observer are sent to an MFA controller, and the output of the controller is the ideal regulating value of the feeding amount; then, the ideal regulating value is judged whether to exceed the limit through an amplitude limiting link, and an actual regulating value is given and is acted on a feeding valve to regulate the feeding amount; meanwhile, if the amplitude limiting link acts, a saturation compensation is generated and sent to the MFA controller to solve the saturation problem; finally, matlab simulation shows that the thickness of the material layer can stably and unbiased track an expected value after a period of time adjustment, and the expected value can be stably returned in a short time when the disturbance has sudden change. The control strategy improves the automation degree of the cement plant to a certain extent, reduces the pressure of operators and improves the production efficiency.
The technical scheme of the invention has the beneficial effects that:
(1) The invention adopts the MFA controller to online adjust the feeding amount of the cement raw material vertical mill system, thereby ensuring that the thickness of the vertical mill material layer has no deviation tracking expectation value, and solving the problems of large material layer thickness fluctuation, inaccurate tracking expectation and the like caused by manual adjustment of the feeding amount in most cement raw material factories. The feeding amount is automatically controlled, the consumption of manpower and material resources is reduced, a better control effect is achieved, and actual benefits are brought to cement plants.
(2) The invention adopts the MFA control method based on the online data, can realize the control only through the real-time I/O data of the controlled object, does not need to know a detailed internal mechanism model, not only reduces the energy loss of the nonlinear system modeling, but also avoids the situations of inaccurate modeling and poor control effect caused by inaccurate process knowledge.
(3) The MFA control strategy introduces the concept of "pseudo-partial derivatives" that vary with time by virtue of I/O data that would make it difficult to obtain a nonlinear dynamic relationship of a detailed internal mechanistic model that approximates the same linear representation at different times. And because an accurate model cannot be obtained, accurate pseudo-partial derivatives cannot be obtained, and the expected value of the material layer thickness tracking can be realized only by estimating the pseudo-partial derivatives of the system on line through a PPD state observer and adjusting the parameters of the controller.
(4) The invention designs an amplitude limiting link after the output of the controller, and the amplitude limiting link is realized by defining a simple regular inference function. The output of the controller does not consider the reality, so the situation that the feeding quantity value output at a certain moment can not be achieved in the actual production can occur, and the amplitude limiting link designed based on the production practice of a specific raw material factory plays a role in restricting the filtering of the output of the controller. The MFA control strategy is combined with an amplitude limiting link and saturation compensation, the MFA control strategy is applied to a cement raw material vertical mill system, the thickness of a material layer is controlled by adjusting the feeding amount, a better tracking effect is obtained through simulation, and the MFA control strategy has certain anti-interference capability.
(5) Limiting the range of the feeding amount by adopting an amplitude limiting link according to the actual situation on site, and adding a saturation compensation to the controller to solve the problem of unequal saturation of the output of the controller and the input of a controlled object; aiming at the 'saturation phenomenon' that the controlled object input is not equal to the controller output (u ≠ u ') after the amplitude limiting link acts, the invention designs a saturation compensation link, and linearly feeds back and compensates the value of u-u' into the MFA controller, so that the system exits the saturation area as soon as possible.
(6) Considering that disturbance always exists in actual production, the disturbance quantity is set to be a constant value in stages, and the anti-interference capability of the control strategy is verified through matlab simulation according to time period change.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (5)
1. The utility model provides a controlling means of vertical mill bed thickness of raw material of intelligent cement mill which characterized in that includes:
a control unit for controlling the feeding amount to obtain the thickness T of the material layer output by the controller h ；
An amplitude limiting unit for receiving the material layer thickness Th and limiting the range of the feeding amount to obtain the material layer thickness T after amplitude limiting hc ；
The amplitude limiting control signal of the amplitude limiting unit is as follows:
the online observation unit is used for online estimating the estimated value of the material layer thickness and the estimated value of the pseudo partial derivative of the vertical mill system;
a saturation compensation unit for outputting the thickness T of the material layer by a controller h Material layer thickness T after amplitude limiting hc And obtaining a saturation compensation value based on the estimated value of the system pseudo partial derivative;
the input information of the control unit includes: the expected value of the material layer thickness, the deviation of the actual value of the material layer thickness and the estimated value, the saturation compensation value, the estimated value of the pseudo partial derivative of the system and the disturbance quantity of the system;
the following steps: k is denoted as kth step, and t is a sampling period; t is hmin ，T hmax Respectively the upper limit and the lower limit of the feeding amount,
and
the rates of change of the upper and lower limits of the feeding amount, con (. Cndot.) is a constraint function defined as follows:
2. an intelligent cement plant raw mill bed thickness control device as claimed in claim 1, characterized in that the control unit comprises an MFA controller.
3. An intelligent cement plant raw mill bed thickness control device as claimed in claim 1, characterized in that the on-line observation unit comprises a PPD observer.
4. The apparatus for controlling the thickness of a raw cement clinker layer in an intelligent cement plant according to claim 3, wherein the PPD observer satisfies:
ΔL(k+1)＝φ 1 (k)ΔT h (k-n d )+φ 2 (k)Δp(k)
φ 1 (k)，φ 2 (k) For the two parameters of the PPD observer,
L(k+1)＝f(L(k)，...，L(k-n L )，T h (k-n d )，...，T h (k-n d -n T )，p(k)，...，p(k-np))；
the following steps: Δ L (k + 1) = L (k + 1) -L (k), Δ T h (k)＝T h (k)-T h (k-1)，Δp(k)＝p(k)-p(k-1)；
L (k) represents an actual value of the thickness of the vertical abrasive layer; n is d 、n L 、n T 、n p Are all corresponding T h (k) L (k), and p (k).
5. The apparatus for controlling the thickness of a raw cement clinker layer in an intelligent cement plant according to claim 1, wherein the saturation compensation value is:
the following steps: tau is a constant in a unit circle, theta (k) is a saturation compensation value after the amplitude limiting link acts,
is an estimate of the pseudo-partial derivative of the system.
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