CN111983997B - Coupling analysis-based control loop performance monitoring method and system - Google Patents
Coupling analysis-based control loop performance monitoring method and system Download PDFInfo
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- CN111983997B CN111983997B CN202010897208.3A CN202010897208A CN111983997B CN 111983997 B CN111983997 B CN 111983997B CN 202010897208 A CN202010897208 A CN 202010897208A CN 111983997 B CN111983997 B CN 111983997B
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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
- G05B23/00—Testing or monitoring of control systems or parts thereof
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- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
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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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0275—Fault isolation and identification, e.g. classify fault; estimate cause or root of failure
- G05B23/0281—Quantitative, e.g. mathematical distance; Clustering; Neural networks; Statistical analysis
Abstract
The invention discloses a method and a system for monitoring the performance of a control loop based on coupling analysis. The method comprises the following steps: according to the actual measured value, the preset value and the control mode of the current control loop, performing loop performance evaluation by adopting a minimum variance control method to obtain a performance evaluation result of the current control loop; judging whether the current control loop meets the preset performance requirement or not according to the performance evaluation result of the current control loop; and if the current control loop does not meet the preset performance requirement, judging whether the root loop causing the current control loop not to meet the preset performance requirement is the current control loop or an upstream control loop according to the coupling relation table. By adopting the method and the system, the relevance between the upstream and the downstream of the serial loops is found through the coupling analysis, so that the root loop causing poor performance of the control loop is found, and a user can find and solve the problem conveniently.
Description
Technical Field
The invention relates to the technical field of control loop performance monitoring, in particular to a control loop performance monitoring method and system based on coupling analysis.
Background
In the process of petroleum refining and processing, a proportional-integral-derivative control (PID) strategy is most widely applied. The PID control has the advantages that: simple structure, convenient adjustment and strong robustness. The performance of the control loop can be degraded along with the increase of the continuous operation time of the production device, performance defects of different degrees exist in the control loop of up to 60 percent in the device, if the important control loop is not effectively maintained in time, the degradation of the control performance can not only influence the operation stability, the product quality, the product yield, the material consumption, the energy consumption and the like of the device, but also even endanger the operation safety of the device in serious cases.
However, when the performance of a loop is poor, the problem of the current control loop is not always the problem, and may be affected by the upstream control loop, so that the conventional method cannot find the root cause of the poor loop performance, which brings inconvenience to the user to find and solve the problem.
Disclosure of Invention
The invention aims to provide a method and a system for monitoring the performance of a control loop based on coupling analysis, which find the upstream and downstream relevance among serial loops through the coupling analysis, thereby finding a root loop causing poor performance of the control loop and facilitating the discovery and the solution of problems for a user.
In order to achieve the purpose, the invention provides the following scheme:
a control loop performance monitoring method, comprising:
acquiring an actual measured value, a preset value and a control mode of a current control loop; the control mode comprises manual control and automatic control;
according to the actual measurement value, the preset value and the control mode of the current control loop, performing loop performance evaluation by adopting a minimum variance control method to obtain a performance evaluation result of the current control loop;
judging whether the current control loop meets the preset performance requirement or not according to the performance evaluation result of the current control loop; if the current control loop does not meet the preset performance requirement, judging whether the root loop causing the current control loop not to meet the preset performance requirement is the current control loop or an upstream control loop according to the coupling relation table; the coupling relation table is a table which is established by adopting a coupling analysis method and reflects the correlation degree of the current control loop and the upstream control loop.
Optionally, the performing, according to the actual measurement value, the preset value, and the control mode of the current control loop, loop performance evaluation by using a minimum variance control method specifically includes:
calculating a standard deviation according to the actual measurement value of the current control loop and a preset value of the current control loop;
calculating a control loop oscillation index according to the actual measurement value of the current control loop, the preset value and the control mode;
acquiring expected steady-state time and actual steady-state time of a control loop, and calculating a relative performance index of the control loop according to the expected steady-state time and the actual steady-state time of the control loop;
and evaluating the loop performance according to the standard deviation, the oscillation index of the control loop and the relative performance index of the control loop.
Optionally, the performing loop performance evaluation according to the standard deviation difference, the control loop oscillation index, and the control loop relative performance index specifically includes:
acquiring a preset deviation standard deviation value, a preset oscillation index value of a control loop and a preset interval of relative performance indexes of the control loop;
when the deviation standard deviation is smaller than the deviation standard deviation preset value, the control loop oscillation index is smaller than the control loop oscillation index preset value and the control loop relative performance index is within the control loop relative performance index preset interval, the current control loop meets the preset performance requirement; otherwise, the current control loop does not meet the preset performance requirement.
Optionally, the method for establishing the coupling relationship table specifically includes:
acquiring actual measurement values of all upstream control loops which are in series with the current control loop;
determining the correlation degree of each upstream control loop and the current control loop by adopting a coupling analysis method according to the actual measurement value of each upstream control loop and the actual measurement value of the current control loop;
and establishing a coupling relation table according to the correlation degree.
Optionally, the determining, according to the coupling relationship table, whether the root loop that causes the current control loop to be inconsistent with the preset performance requirement is the current control loop or the upstream control loop specifically includes:
obtaining a preset value of correlation degree;
screening out an upstream control loop corresponding to the preset value of the correlation degree according to the coupling relation table to obtain an upstream control loop set; the upstream control loops in the upstream control loop set are adjacent to each other;
numbering each upstream control loop in the set of upstream control loops in a sequence from downstream to upstream;
searching whether an upstream control loop adjacent to the current control loop exists in the upstream control loop set; if not, determining that the current control loop is a root loop causing the current control loop to be not in accordance with the preset performance requirement; and if so, determining the upstream control loop corresponding to the maximum number in the upstream control loop set as a root loop causing the current control loop not to meet the preset performance requirement.
The invention also provides a control loop performance monitoring system, comprising:
the data acquisition module is used for acquiring an actual measured value, a preset value and a control mode of the current control loop; the control mode comprises manual control and automatic control;
the loop performance monitoring module is used for evaluating the loop performance by adopting a minimum variance control method according to the actual measurement value, the preset value and the control mode of the current control loop to obtain a performance evaluation result of the current control loop;
the coupling analysis module is used for judging whether the current control loop meets the preset performance requirement or not according to the performance evaluation result of the current control loop; if the current control loop does not meet the preset performance requirement, judging whether the root loop causing the current control loop not to meet the preset performance requirement is the current control loop or an upstream control loop according to the coupling relation table; the coupling relation table is a table which is established by adopting a coupling analysis method and reflects the correlation degree of the current control loop and the upstream control loop.
Optionally, the loop performance monitoring module specifically includes:
the standard deviation calculating unit is used for calculating standard deviation according to the actual measurement value of the current control loop and the preset value of the current control loop;
the control loop oscillation index calculation unit is used for calculating the control loop oscillation index according to the actual measurement value of the current control loop, the preset value and the control mode;
the control loop relative performance index calculation unit is used for acquiring expected steady-state time and actual steady-state time of the control loop and calculating a control loop relative performance index according to the expected steady-state time and the actual steady-state time of the control loop;
and the loop performance evaluation unit is used for evaluating the loop performance according to the standard deviation difference, the control loop oscillation index and the control loop relative performance index.
Optionally, the loop performance evaluation unit specifically includes:
the data acquisition subunit is used for acquiring a preset deviation standard deviation value, a preset oscillation index value of the control loop and a preset interval of a relative performance index of the control loop;
the loop performance evaluation subunit is used for simultaneously meeting the preset performance requirement of the current control loop when the deviation standard deviation is smaller than the preset deviation standard deviation value, the control loop oscillation index is smaller than the preset control loop oscillation index value, and the control loop relative performance index is within the preset control loop relative performance index interval; otherwise, the current control loop does not meet the preset performance requirement.
Optionally, the coupling analysis module specifically includes:
the coupling relation table establishing unit is used for acquiring actual measured values of all the upstream control loops which are connected with the current control loop in series; determining the correlation degree of each upstream control loop and the current control loop by adopting a coupling analysis method according to the actual measurement value of each upstream control loop and the actual measurement value of the current control loop; and establishing a coupling relation table according to the correlation degree.
Optionally, the coupling analysis module further includes:
the source loop determining unit is used for acquiring a preset value of the correlation degree; screening out an upstream control loop corresponding to the preset value of the correlation degree according to the coupling relation table to obtain an upstream control loop set; the upstream control loops in the upstream control loop set are adjacent to each other; numbering each upstream control loop in the set of upstream control loops in a sequence from downstream to upstream; searching whether an upstream control loop adjacent to the current control loop exists in the upstream control loop set; if not, determining that the current control loop is a root loop causing the current control loop to be not in accordance with the preset performance requirement; and if so, determining the upstream control loop corresponding to the maximum number in the upstream control loop set as a root loop causing the current control loop not to meet the preset performance requirement.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a control loop performance monitoring method and system based on coupling analysis, wherein according to the actual measured value, the preset value and the control mode of the current control loop, a minimum variance control method is adopted to evaluate the loop performance to obtain the performance evaluation result of the current control loop; judging whether the current control loop meets the preset performance requirement or not according to the performance evaluation result of the current control loop; if the control loop does not meet the preset performance requirement, judging whether the root loop causing the current control loop not to meet the preset performance requirement is the current control loop or an upstream control loop according to the coupling relation table, and finding out the upstream and downstream relevance among the serial loops through coupling analysis so as to find out the root loop causing poor performance of the control loop, thereby being convenient for a user to find out and solve problems.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a flow chart of a method for monitoring performance of a control loop based on coupling analysis according to an embodiment of the present invention;
FIG. 2 is a block diagram of a performance monitoring system for a control loop based on coupling analysis according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a control loop performance monitoring system according to an embodiment of the present invention;
FIG. 4 is a flow chart of system data processing according to an embodiment of the present invention;
FIG. 5 is a flowchart illustrating a method for searching a root cause loop according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a method and a system for monitoring the performance of a control loop based on coupling analysis, which find the upstream and downstream relevance among serial loops through the coupling analysis, thereby finding a root loop causing poor performance of the control loop and facilitating the discovery and the solution of problems for a user.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Examples
Fig. 1 is a flowchart of a control loop performance monitoring method based on coupling analysis in an embodiment of the present invention, and as shown in fig. 1, a control loop performance monitoring method based on coupling analysis includes:
step 101: acquiring an actual measured value, a preset value and a control mode of a current control loop; the control modes include manual control and automatic control.
Step 102: and according to the actual measured value, the preset value and the control mode of the current control loop, performing loop performance evaluation by adopting a minimum variance control method to obtain a performance evaluation result of the current control loop.
calculating a standard deviation according to an actual measured value of a current control loop and a preset value of the current control loop;
calculating the oscillation index of the control loop according to the actual measured value, the preset value and the control mode of the current control loop;
acquiring expected steady-state time and actual steady-state time of a control loop, and calculating a relative performance index of the control loop according to the expected steady-state time and the actual steady-state time of the control loop;
according to the standard deviation, the oscillation index of the control loop and the relative performance index of the control loop, loop performance evaluation is carried out, and the method specifically comprises the following steps:
acquiring a preset deviation standard deviation value, a preset oscillation index value of a control loop and a preset interval of relative performance indexes of the control loop;
when the deviation standard deviation is smaller than the deviation standard deviation preset value, the control loop oscillation index is smaller than the control loop oscillation index preset value and the control loop relative performance index is within the control loop relative performance index preset interval, the current control loop meets the preset performance requirement; otherwise, the current control loop does not meet the preset performance requirement.
Step 103: judging whether the current control loop meets the preset performance requirement or not according to the performance evaluation result of the current control loop; if the current control loop does not meet the preset performance requirement, judging whether the root loop causing the current control loop not to meet the preset performance requirement is the current control loop or an upstream control loop according to the coupling relation table; the coupling relation table is a table which is established by adopting a coupling analysis method and reflects the correlation degree of the current control loop and the upstream control loop.
The specific establishing method of the coupling relation table comprises the following steps:
acquiring actual measurement values of all upstream control loops which are in series with a current control loop;
determining the correlation degree of each upstream control loop and the current control loop by adopting a coupling analysis method according to the actual measurement value of each upstream control loop and the actual measurement value of the current control loop;
and establishing a coupling relation table according to the correlation degree.
Judging whether a root loop causing the current control loop to be inconsistent with the preset performance requirement is the current control loop or an upstream control loop according to the coupling relation table, and specifically comprising the following steps:
obtaining a preset value of correlation degree;
screening out an upstream control loop corresponding to a preset value of the degree of correlation according to the coupling relation table to obtain an upstream control loop set; the upstream control loops in the upstream control loop set are adjacent in pairs;
numbering each upstream control loop in the upstream control loop set according to the sequence from downstream to upstream;
searching whether an upstream control loop adjacent to the current control loop exists in the upstream control loop set; if not, determining that the current control loop is a root loop causing the current control loop to be not in accordance with the preset performance requirement; and if so, determining the upstream control loop corresponding to the maximum number in the upstream control loop set as a root loop causing the current control loop not to meet the preset performance requirement.
Fig. 2 is a structural diagram of a control loop performance monitoring system based on coupling analysis according to an embodiment of the present invention. As shown in fig. 2, a control loop performance monitoring system based on coupling analysis includes:
the data acquisition module 201 is used for acquiring an actual measured value, a preset value and a control mode of a current control loop; the control modes include manual control and automatic control.
And the loop performance monitoring module 202 is configured to perform loop performance evaluation by using a minimum variance control method according to an actual measurement value, a preset value, and a control mode of the current control loop to obtain a performance evaluation result of the current control loop.
The loop performance monitoring module 202 specifically includes:
the standard deviation calculating unit is used for calculating standard deviation according to the actual measurement value of the current control loop and the preset value of the current control loop;
the control loop oscillation index calculation unit is used for calculating the control loop oscillation index according to the actual measurement value, the preset value and the control mode of the current control loop;
the control loop relative performance index calculation unit is used for acquiring expected steady-state time and actual steady-state time of the control loop and calculating the control loop relative performance index according to the expected steady-state time and the actual steady-state time of the control loop;
and the loop performance evaluation unit is used for evaluating the loop performance according to the standard deviation, the oscillation index of the control loop and the relative performance index of the control loop.
The loop performance evaluation unit specifically comprises:
the data acquisition subunit is used for acquiring a preset deviation standard deviation value, a preset oscillation index value of the control loop and a preset interval of a relative performance index of the control loop;
the loop performance evaluation subunit is used for simultaneously meeting the conditions that the deviation standard deviation is smaller than the deviation standard deviation preset value, the control loop oscillation index is smaller than the control loop oscillation index preset value, and the control loop relative performance index is within the control loop relative performance index preset interval, wherein the current control loop meets the preset performance requirement; otherwise, the current control loop does not meet the preset performance requirement.
The coupling analysis module 203 is configured to determine whether the current control loop meets a preset performance requirement according to a performance evaluation result of the current control loop; if the current control loop does not meet the preset performance requirement, judging whether the root loop causing the current control loop not to meet the preset performance requirement is the current control loop or an upstream control loop according to the coupling relation table; the coupling relation table is a table which is established by adopting a coupling analysis method and reflects the correlation degree of the current control loop and the upstream control loop.
The coupling analysis module 203 specifically includes:
the coupling relation table establishing unit is used for acquiring actual measured values of all upstream control loops which are in series with the current control loop; determining the correlation degree of each upstream control loop and the current control loop by adopting a coupling analysis method according to the actual measurement value of each upstream control loop and the actual measurement value of the current control loop; and establishing a coupling relation table according to the correlation degree.
The coupling analysis module 203 further includes:
the source loop determining unit is used for acquiring a preset value of the correlation degree; screening out an upstream control loop corresponding to a preset value of the degree of correlation according to the coupling relation table to obtain an upstream control loop set; the upstream control loops in the upstream control loop set are adjacent in pairs; numbering each upstream control loop in the upstream control loop set according to the sequence from downstream to upstream; searching whether an upstream control loop adjacent to the current control loop exists in the upstream control loop set; if not, determining that the current control loop is a root loop causing the current control loop to be not in accordance with the preset performance requirement; and if so, determining the upstream control loop corresponding to the maximum number in the upstream control loop set as a root loop causing the current control loop not to meet the preset performance requirement.
As shown in fig. 3, the control loop performance monitoring system includes six modules, namely, data acquisition, loop overview, loop performance monitoring, coupling analysis, statistical query, and historical data storage.
As shown in fig. 4, the system data processing flow is as follows: the loop overview (loop information management) transmits the edited loop information to the loop performance monitoring module and the coupling analysis module; the data acquisition module acquires data in real time and transmits the data to the loop performance monitoring module and the coupling analysis module; the loop performance monitoring module and the coupling analysis module transmit the calculation result to the historical data storage module to store data; and the statistical query module reads data through the historical data storage module to perform statistical and query operations.
And the data acquisition module is used for acquiring real-time data required by loop calculation, mainly including a real-time measured value (PV), a Set Value (SV), an output value (MV) and a MODE (manual/automatic). PV, SV, MV and MODE are provided to a loop performance monitoring module for calculating loop performance, and PV is provided to a coupling analysis module for calculating the coupling between loops. The data acquisition module supports OPC communication specification and MODBUS RTU protocol.
The loop overview is mainly used for managing and editing loop information monitored by a system, and comprises addition, modification and deletion of single loop information, and bit number editing of PV, SV, MV and MODE (the bit number must be consistent with a data point on an OPC server to obtain real-time data); and loop information bulk data import (file format CSV).
The loop performance monitoring mainly calculates the performance of the control loop in real time. By collecting real-time measured values (PV), Set Values (SV), output values (MV), MODE (manual/automatic) of a certain loop over a period of time. Indexes such as a deviation mean value, a deviation standard deviation, actual steady-state time, relative performance indexes and the like are calculated by a Minimum Variance Control (MVC) evaluation method (the principle is that the control performance of a theoretically optimal minimum variance controller is used as an evaluation reference line, and the control performance of a current loop is measured based on data analysis of normal operation of a process).
The average value AvgDiff of deviation calculation formula:
in the formula, i is the ith sample, t is the total number of samples, SP [ i ] is the set value of the ith sample, PV [ i ] is the actual measurement value of the ith sample, Mode is 1 for automatic, and 0 is manual.
Standard deviation stdfiff formula:
where n is the total number of samples when MODE is 1 (auto), and MODE [ i ] is the MODE of the ith sample.
Relative performance index is ideal steady state time/actual steady state time.
The ideal steady-state time is set artificially according to experience, and the actual steady-state time is obtained according to sample data smoothness statistics.
And calculating the oscillation index by combining the characteristics of the collected PV, SV and MODE real-time data in the time domain and the frequency domain, and assisting to know the oscillation condition of the loop.
The oscillation index is calculated as follows:
wherein the content of the first and second substances,
where Osc is the oscillation index, n is the total number of samples for mode 1 (auto), where the samples are all calculated for mode 1, and x is1、x2、y1、y2、y3Are all intermediate variables.
And finally, comprehensively evaluating the loop through the relative performance index, the oscillation index and the standard deviation to obtain four grades of excellence, goodness, medium and difference.
When the relative performance index is between 0.4 and 2.5, the relative performance index is better, and vice versa.
The smaller the oscillation index, the better; the smaller the standard deviation, the better.
And if the three indexes are combined and are in a better level, the loop performance is evaluated to be excellent.
If only one of the indicators is good, or all the indicators are poor, the loop performance is evaluated as poor.
The system calculates in a certain period, and stores the calculation results of the deviation mean value, the deviation standard deviation, the actual steady-state time, the relative performance index, the oscillation index, the comprehensive evaluation and the like into a data file of the system.
The coupling analysis is to obtain PV data in a certain period of time as a data source through a data acquisition module, and calculate the coupling degree (correlation coefficient) between each loop in a certain period of time. A coupling analysis algorithm, i.e. correlation analysis, may be used to find the correlation between different variables, which refers to the similarity of changes between data, which may be described by a correlation coefficient. The correlation coefficient is a widely-used one of the correlation coefficients, and is mainly used for analyzing the degree coupling degree of linear correlation between two continuous variables. And storing the coupling analysis calculation result into a system data file, and providing a historical coupling degree query function.
The different coupling degrees are distinguished by colors in the system, and are specifically shown in table 1.
TABLE 1 corresponding relationship between degree of coupling and color
| Absolute value of degree of coupling | Colour(s) |
| 0.8-1 | Red colour |
| 0.5-0.8 | Orange colour |
| 0.3-0.5 | Yellow colour |
| 0-0.3 | No color |
The statistical query mainly carries out mean calculation on the performance indexes of a certain control loop according to the time of day, week, month, year and the like, meanwhile, the grade evaluation distribution condition in the designated time is displayed in the form of a pie chart, and the application rate and the effective application rate are displayed in the form of comparison of a histogram.
The historical data storage is used for storing calculation results such as a deviation mean value, a deviation standard deviation, actual steady-state time, a relative performance index, an oscillation index, comprehensive evaluation, the coupling degree of a loop and the like.
The invention mainly applies the coupling analysis algorithm to the performance evaluation of the control loop. When the performance of the control loop is evaluated to be poor, the root loop can be accurately found through the coupling analysis. Real-time measurement values (PV) are collected in all loops to be monitored within a period of time, and correlation coefficients are calculated in pairs for the upstream loop and the downstream loop after collection is finished.
In actual operation, the control performance of the current loop needs to be obtained first, if the loop performance is poor, the coupling degree (correlation) between the upstream loop and the current loop can be checked through the coupling analysis module, and if the coupling degree is above 0.8 and the evaluation of the upstream loop performance is also poor, it can be considered that the main reason for the poor performance of the current loop is due to the influence of the upstream loop. And so on until finding the last loop with high coupling and poor control performance, the loop can be regarded as a root loop, and a user can find a reason according to the root loop and make a loop-related control scheme. Table 2 shows the correspondence between the coupling degree and the correlation, and fig. 5 is a flowchart of the method for finding the root cause loop.
TABLE 2 correspondence of degree of coupling and relevance
The coupling analysis algorithm, i.e. correlation analysis, is a statistical analysis method. Can be used for finding the relevance among different variables, and the relevance refers to the similarity of change among data, which can be described by a correlation coefficient. The correlation coefficient is one of the correlation coefficients which is widely applied, and is mainly used for analyzing the degree of linear correlation between two continuous variables, and the calculation formula is as follows:
wherein n is the total number of samples, and X and Y have n numbers of samples, respectively. The value of i is 1 to n. Y isiIs the ith PV sample value for the current control loop.
Is the PV mean of the current control loop. XiIs the ith PV sample value of the upstream control loop.
Is the PV mean of the upstream control loop.
The calculation is as follows (X and Y represent the PV value of the upstream loop and the PV value of the current loop, respectively): first, the average of sample data X and Y is calculated:
then, calculating sample data variances temp _ X and temp _ Y:
calculating covariance Cov (X, Y) of sample data X and Y:
the formula of calculation substituted into the correlation coefficient:
and finally, obtaining a coupling calculation formula:
wherein r is a correlation coefficient, and the value range of the correlation coefficient r is as follows: -1. ltoreq. r.ltoreq.1, characterized by the following:
r > 0 indicates positive correlation and r < 0 indicates negative correlation;
r-0 indicates that no linear relationship exists;
r-1 or r-1 indicates that a completely linear relationship exists.
Indicating that there are varying degrees of linear relationships between variables, the convention is generally as follows:
r > 0.8: high coupling, which is considered to have a very strong linear relationship;
| r | is more than 0.5 and less than or equal to 0.8: the linear correlation is obvious, and strong linear correlation and obvious linear relation exist;
r is less than 0.3 and less than or equal to 0.5: a low degree of linear correlation, which is considered to exist but is not significant;
r | < 0.3: weak linear correlation or no linear relationship.
The invention applies the coupling analysis algorithm to the performance evaluation of the control loop, and assists the user to find out the root loop causing the poor performance evaluation of a certain loop in the serial loop.
The invention is specifically illustrated below by three cases:
case one
The liquid level of a feeding tank of an atmospheric and vacuum distillation unit of a certain oil refinery is controlled by a cascade loop, the liquid level of a main loop is controlled by a tank, and the discharge flow of an auxiliary loop is controlled by a secondary loop. The loop performance monitoring system collects measured values (PV), Set Values (SV), output values (MV) and a MODE (manual/automatic) of each loop in real time in a 10-second sampling period, wherein for a main loop, PV is a current liquid level measured value of a tank, SV is a liquid level set value of the tank, MV is output of a liquid level loop, and MODE is a control MODE; for the secondary loop, PV is the measured value of the discharge flow, SV is the set value of the discharge flow, MV is the control valve position of the discharge flow, and MODE is the control MODE. The loop performance calculation period of the system is 1 hour, and the coupling degree calculation period among the loops is 1 hour. In the actual operation process, the evaluation result of the discharge flow control performance is poor, and the discharge flow control performance is not improved after the parameters are adjusted. Through coupling analysis and calculation, the discharge flow control performance is improved after the liquid level parameters are adjusted by finding that the liquid level loop is highly coupled.
Case two
In a catalytic cracking unit of a certain oil refinery, a loop performance monitoring system acquires a measured value (PV), a Set Value (SV), an output value (MV) and a MODE (manual/automatic) of each control loop in real time in a 10-second sampling period. A feed preheating temperature control loop and a fractionating tower top temperature control loop in the device are two independent control loops, and the feed preheating temperature control loop is an upstream loop of the fractionating tower top temperature control loop. PV of the feeding preheating temperature control loop is a feeding temperature measured value, SV is a set value of the feeding temperature, MV is a heat exchange three-way valve position, and MODE is a control MODE; PV of the fractionating tower top temperature control loop is a tower top temperature measured value, SV is a set value of the tower top temperature, MV is a heat exchange three-way valve position, and MODE is a control MODE.
The loop performance calculation period of the system is 1 hour, and the coupling degree calculation period among the loops is 1 hour. After 1 hour of operation, the fractionation overhead temperature loop performance was found to be poor, as was the feed preheat temperature loop performance. Because the deviation of the measured value of the tower top temperature and the set value of the temperature is large, the temperature control parameter of the tower top of the fractionating tower is firstly adjusted, but the control performance is not improved. And the tower top temperature loop is highly coupled with the feed preheating temperature loop through coupling analysis and calculation. The control parameters of the feed preheat temperature loop are adjusted, the performance of the feed preheat temperature loop is improved, the evaluation performance is good, and the performance of the tower top temperature control loop is good.
Case three
A hydrocracking unit for oil refinery is composed of two serially connected rectifying towers with respective pressure control loops. The loop performance monitoring system collects the measured value (PV), the Set Value (SV), the output value (MV) and the MODE (manual/automatic) of each control loop in real time in a 10-second sampling period. PV of the rectifying tower pressure control loop is a pressure measurement value, SV is a pressure set value, MV is a heat exchange three-way valve position, and MODE is a control MODE.
The loop performance calculation period of the system is 1 hour, and the coupling degree calculation period among the loops is 1 hour. After 1 hour of operation, the performance of both the pressure control loops of the two rectification columns was found to be poor. Through coupling analysis and calculation, the two pressure control loops of the rectification towers connected in series belong to low degree coupling. The performance of the pressure loop of the upstream rectifying tower is improved by adjusting the control parameters of the pressure loop of the upstream rectifying tower, and the conversion is good. The performance of the downstream rectification column pressure control loop is still poor. After independent adjustment, the performance of the pressure control loop of the downstream rectifying tower is converted into good.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In summary, this summary should not be construed to limit the present invention.
Claims (4)
1. A method of monitoring control loop performance, comprising:
acquiring an actual measured value, a preset value and a control mode of a current control loop; the control mode comprises manual control and automatic control;
according to the actual measurement value, the preset value and the control mode of the current control loop, performing loop performance evaluation by adopting a minimum variance control method to obtain a performance evaluation result of the current control loop;
judging whether the current control loop meets the preset performance requirement or not according to the performance evaluation result of the current control loop; if the current control loop does not meet the preset performance requirement, judging whether the root loop causing the current control loop not to meet the preset performance requirement is the current control loop or an upstream control loop according to the coupling relation table; the coupling relation table is a table which is established by adopting a coupling analysis method and reflects the correlation degree of the current control loop and the upstream control loop;
the loop performance evaluation is performed by adopting a minimum variance control method according to the actual measurement value, the preset value and the control mode of the current control loop, and specifically comprises the following steps: calculating a standard deviation according to the actual measurement value of the current control loop and a preset value of the current control loop; calculating a control loop oscillation index according to the actual measurement value of the current control loop, the preset value and the control mode; acquiring expected steady-state time and actual steady-state time of a control loop, and calculating a relative performance index of the control loop according to the expected steady-state time and the actual steady-state time of the control loop; performing loop performance evaluation according to the standard deviation, the control loop oscillation index and the control loop relative performance index;
the method for establishing the coupling relation table specifically comprises the following steps: acquiring actual measurement values of all upstream control loops which are in series with the current control loop; determining the correlation degree of each upstream control loop and the current control loop by adopting a coupling analysis method according to the actual measurement value of each upstream control loop and the actual measurement value of the current control loop; establishing a coupling relation table according to the correlation degree;
the determining, according to the coupling relationship table, whether the root loop that causes the current control loop to fail to meet the preset performance requirement is the current control loop or an upstream control loop specifically includes: obtaining a preset value of correlation degree; screening out an upstream control loop corresponding to the preset value of the correlation degree according to the coupling relation table to obtain an upstream control loop set; the upstream control loops in the upstream control loop set are adjacent to each other; numbering each upstream control loop in the set of upstream control loops in a sequence from downstream to upstream; searching whether an upstream control loop adjacent to the current control loop exists in the upstream control loop set; if not, determining that the current control loop is a root loop causing the current control loop to be not in accordance with the preset performance requirement; and if so, determining the upstream control loop corresponding to the maximum number in the upstream control loop set as a root loop causing the current control loop not to meet the preset performance requirement.
2. The method for monitoring the performance of the control loop according to claim 1, wherein the evaluating the performance of the control loop according to the standard deviation, the oscillation index of the control loop and the relative performance index of the control loop specifically comprises:
acquiring a preset deviation standard deviation value, a preset oscillation index value of a control loop and a preset interval of relative performance indexes of the control loop;
when the deviation standard deviation is smaller than the deviation standard deviation preset value, the control loop oscillation index is smaller than the control loop oscillation index preset value and the control loop relative performance index is within the control loop relative performance index preset interval, the current control loop meets the preset performance requirement; otherwise, the current control loop does not meet the preset performance requirement.
3. A control loop performance monitoring system, comprising:
the data acquisition module is used for acquiring an actual measured value, a preset value and a control mode of the current control loop; the control mode comprises manual control and automatic control;
the loop performance monitoring module is used for evaluating the loop performance by adopting a minimum variance control method according to the actual measurement value, the preset value and the control mode of the current control loop to obtain a performance evaluation result of the current control loop;
the loop performance monitoring module specifically comprises:
the standard deviation calculating unit is used for calculating standard deviation according to the actual measurement value of the current control loop and the preset value of the current control loop;
the control loop oscillation index calculation unit is used for calculating the control loop oscillation index according to the actual measurement value of the current control loop, the preset value and the control mode;
the control loop relative performance index calculation unit is used for acquiring expected steady-state time and actual steady-state time of the control loop and calculating a control loop relative performance index according to the expected steady-state time and the actual steady-state time of the control loop;
the loop performance evaluation unit is used for evaluating the loop performance according to the standard deviation difference, the control loop oscillation index and the control loop relative performance index;
the coupling analysis module is used for judging whether the current control loop meets the preset performance requirement or not according to the performance evaluation result of the current control loop; if the current control loop does not meet the preset performance requirement, judging whether the root loop causing the current control loop not to meet the preset performance requirement is the current control loop or an upstream control loop according to the coupling relation table; the coupling relation table is a table which is established by adopting a coupling analysis method and reflects the correlation degree of the current control loop and the upstream control loop;
the coupling analysis module specifically comprises: the coupling relation table establishing unit is used for acquiring actual measured values of all the upstream control loops which are connected with the current control loop in series; determining the correlation degree of each upstream control loop and the current control loop by adopting a coupling analysis method according to the actual measurement value of each upstream control loop and the actual measurement value of the current control loop; establishing a coupling relation table according to the correlation degree;
the coupling analysis module further comprises: the source loop determining unit is used for acquiring a preset value of the correlation degree; screening out an upstream control loop corresponding to the preset value of the correlation degree according to the coupling relation table to obtain an upstream control loop set; the upstream control loops in the upstream control loop set are adjacent to each other; numbering each upstream control loop in the set of upstream control loops in a sequence from downstream to upstream; searching whether an upstream control loop adjacent to the current control loop exists in the upstream control loop set; if not, determining that the current control loop is a root loop causing the current control loop to be not in accordance with the preset performance requirement; and if so, determining the upstream control loop corresponding to the maximum number in the upstream control loop set as a root loop causing the current control loop not to meet the preset performance requirement.
4. The control loop performance monitoring system according to claim 3, wherein the loop performance evaluation unit specifically includes:
the data acquisition subunit is used for acquiring a preset deviation standard deviation value, a preset oscillation index value of the control loop and a preset interval of a relative performance index of the control loop;
the loop performance evaluation subunit is used for simultaneously meeting the preset performance requirement of the current control loop when the deviation standard deviation is smaller than the preset deviation standard deviation value, the control loop oscillation index is smaller than the preset control loop oscillation index value, and the control loop relative performance index is within the preset control loop relative performance index interval; otherwise, the current control loop does not meet the preset performance requirement.
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