CN112180877B - Method for determining feedforward coefficient compensation - Google Patents
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- CN112180877B CN112180877B CN202011118394.2A CN202011118394A CN112180877B CN 112180877 B CN112180877 B CN 112180877B CN 202011118394 A CN202011118394 A CN 202011118394A CN 112180877 B CN112180877 B CN 112180877B
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- 238000001514 detection method Methods 0.000 claims abstract description 13
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- 238000010606 normalization Methods 0.000 claims abstract description 4
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 238000004886 process control Methods 0.000 abstract description 3
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- 238000004519 manufacturing process Methods 0.000 description 2
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41875—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by quality surveillance of production
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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Abstract
A method for determining feedforward coefficient compensation belongs to the technical field of process control and automatic control. It comprises the following steps: step 1, collecting corresponding signal data through a detection device, and carrying out normalization processing on the collected data to enable units of physical quantities represented by the collected data to be uniform; step 2, storing the data collected in the step 1, processing the data and drawing a curve chart; and 3, adding an interference signal R with fixed flow into the water tank under the set liquid level according to the curve chart drawn in the step 2 to obtain a feedforward compensation coefficient. The invention provides a simple method, which only needs to perform a test once, obtains a feedforward coefficient lookup table after data processing, can obtain different feedforward coefficients by querying according to interference signals with different sizes, improves the accuracy of determining the feedforward compensation coefficient, and reduces the use of empirical formulas.
Description
Technical Field
The invention belongs to the technical field of process control and automatic control, and particularly relates to a method for determining feedforward coefficient compensation.
Background
Process control is an important component of automation technology, and usually, process parameters such as liquid level, temperature, pressure and the like in the production process are controlled to be constant values or changed according to a certain rule so as to ensure the product quality and the production safety.
Feedforward-feedback composite control is widely used in various industrial production sectors, wherein the feedforward compensators are divided into dynamic feedforward compensators and static feedforward compensators, but the investment of the dynamic feedforward compensators is higher than that of the static feedforward compensators, so if the static feedforward compensators can meet the process requirements, the static feedforward compensators are adopted as far as possible instead of the dynamic feedforward compensators.
The determination of the feedforward coefficient used at the present stage can calculate the static feedforward gain according to mechanism analysis, and can also determine the static feedforward gain by the following two actual measurement methods. Firstly, actually measuring the gain of a disturbance channel and the gain of a control channel under a working condition, and then dividing to obtain a static feedforward gain; and secondly, under the influence of the disturbance variable quantity delta f, the controlled variable is returned to a set value through a feedback control system, at the moment, the output variable quantity of the controller is delta u, and the static feedforward gain is delta u/delta f.
A simpler method is provided, only one test is needed, a feedforward coefficient lookup table is obtained after data processing, and different feedforward coefficients can be obtained through querying according to interference signals with different sizes.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide a novel method for determining a feedforward compensation coefficient, which is simple in operation and can obtain different feedforward coefficients by querying according to interference signals of different sizes.
The invention provides the following technical scheme: a method for determining feedforward coefficient compensation, comprising the following devices:
the valve position detection device ZT is used for acquiring and recording a real-time valve position signal PV;
the flow detection device FT is used for acquiring and recording a flow signal Q in a pipeline;
the liquid level detection device LT is used for acquiring and recording a liquid level signal h in the water tank;
the method comprises the following steps:
2.1, for the acquired signal regulating valve opening signal PV and the flow signal Q in the pipeline, taking the flow signal Q in the pipeline as an abscissa, taking the valve opening signal PV as an ordinate, and fitting a curve to generate a curve graph y1 of PV and Q;
2.2, acquiring the acquired liquid level signal h of the water tank and the acquired flow signal Q in the pipeline, taking the liquid level signal h of the water tank as an abscissa, taking the flow signal Q in the pipeline as an ordinate, and fitting a curve to generate a curve y2 of h and Q;
2.3, setting a liquid level H1 (0 < H1< H), wherein the set liquid level H1 is known in a curve y2, and obtaining a flow signal Q1 in a pipeline under the liquid level H1;
2.4, setting a flow signal Q1 in the pipeline, and obtaining a valve opening signal PV1 under the flow signal Q1 by knowing a flow signal Q1 in a curve y 1;
step 3, adding an interference signal R with fixed flow into the water tank under the set liquid level according to the curve chart drawn in the step 2 to obtain a feedforward compensation coefficient, and the specific steps are as follows:
3.1, according to the flow signal Q1 in the pipeline obtained in the step 2.3, adding a new flow value Q2 obtained by adding the interference signal R with fixed flow into the curve y1 again to obtain a valve opening signal PV2 under the flow Q2;
3.2, according to the step 2.4 and the step 3.1, obtaining a feedforward compensation coefficient as follows: PV1-PV 2.
In the method for determining feedforward coefficient compensation, in step 1, the acquiring of the signal data includes the following steps:
1.1, knowing that the highest water level of the water tank is H, setting water level signals to be step signals of 0.1H, 0.2H, 0.3H, 0.4H, 0.5H, 0.6H, 0.7H, 0.8H and 0.9H, wherein the duration t of each step is equal, and the liquid level can be stable within the time t;
1.2, collecting opening signal PV of regulating valve when each set liquid level is stable, flow signal Q in pipeline, liquid level h of water tank
By adopting the technology, compared with the prior art, the invention has the following beneficial effects:
the invention provides a simple method, which only needs to perform a test once, obtains a feedforward coefficient lookup table after data processing, can obtain different feedforward coefficients by querying according to interference signals with different sizes, improves the accuracy of determining the feedforward compensation coefficient, and reduces the use of empirical formulas.
Drawings
FIG. 1 is a schematic diagram of input signals according to the present invention;
FIG. 2 is a water level step signal diagram according to the present invention;
FIG. 3 is a graph of flow versus valve opening for the present invention;
FIG. 4 is a graph of liquid level versus flow for the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
On the contrary, the invention is intended to cover alternatives, modifications, equivalents and alternatives which may be included within the spirit and scope of the invention as defined by the appended claims. Furthermore, in the following detailed description of the present invention, certain specific details are set forth in order to provide a better understanding of the present invention. It will be apparent to one skilled in the art that the present invention may be practiced without these specific details.
Referring to fig. 1-4, a method for determining feedforward coefficient compensation includes the following hardware devices:
the valve position detection device ZT is used for acquiring and recording a real-time valve position signal PV;
the flow detection device FT is used for acquiring and recording a flow signal Q in a pipeline;
and the liquid level detection device LT is used for acquiring and recording a liquid level signal h in the water tank.
The method comprises the following specific steps:
1.1, knowing that the highest water level of the water tank is H, setting water level signals to be step signals of 0.1H, 0.2H, 0.3H, 0.4H, 0.5H, 0.6H, 0.7H, 0.8H and 0.9H, wherein the duration t of each step is equal, and the liquid level can be stable within the time t, as shown in FIG. 2;
1.2, acquiring an opening signal PV of the regulating valve when each set liquid level is stable, a flow signal Q in a pipeline and a liquid level h of the water tank.
2.1, for the acquired signal regulating valve opening signal PV and the flow signal Q in the pipeline, taking the flow signal Q in the pipeline as an abscissa, taking the valve opening signal PV as an ordinate, and fitting a curve, as shown in FIG. 3, generating a curve graph y1 of PV and Q;
2.2, acquiring the acquired liquid level signal h of the water tank and the acquired flow signal Q in the pipeline, taking the liquid level signal h of the water tank as an abscissa, taking the flow signal Q in the pipeline as an ordinate, and fitting a curve, as shown in fig. 4, to generate a curve graph y2 of h and Q;
2.3, setting a liquid level H1 (0 < H1< H), wherein the set liquid level H1 is known in a curve y2, and obtaining a flow signal Q1 in a pipeline under the liquid level H1;
2.4, setting a flow signal Q1 in the pipeline, knowing a flow signal Q1 in the curve y1 and obtaining a valve opening signal PV1 under the flow signal Q1.
Step 3, adding an interference signal R with fixed flow into the water tank under the set liquid level according to the curve chart drawn in the step 2 to obtain a feedforward compensation coefficient, and the method comprises the following steps:
3.1, according to the flow signal Q1 in the pipeline obtained in the step 2.3, adding a new flow value Q2 obtained by adding the interference signal R with fixed flow into the curve y1 again to obtain a valve opening signal PV2 under the flow Q2;
3.2, according to the step 2.4 and the step 3.1, obtaining a feedforward compensation coefficient as follows: PV1-PV 2.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (2)
1. A method for determining feedforward coefficient compensation, involving the following devices:
the valve position detection device ZT is used for acquiring and recording a real-time valve position signal PV;
the flow detection device FT is used for acquiring and recording a flow signal Q in a pipeline;
the liquid level detection device LT is used for acquiring and recording a liquid level signal h in the water tank;
the method is characterized in that: the method comprises the following steps:
step 1, collecting corresponding signal data through a detection device, and carrying out normalization processing on the collected data to enable units of physical quantities represented by the collected data to be uniform;
step 2, storing the data collected in the step 1, processing the data, and drawing a curve graph, wherein the data processing comprises the following specific steps:
2.1, for the acquired signal regulating valve opening signal PV and the flow signal Q in the pipeline, taking the flow signal Q in the pipeline as an abscissa, taking the valve opening signal PV as an ordinate, and fitting a curve to generate a curve graph y1 of PV and Q;
2.2, acquiring the acquired liquid level signal h of the water tank and the acquired flow signal Q in the pipeline, taking the liquid level signal h of the water tank as an abscissa, taking the flow signal Q in the pipeline as an ordinate, and fitting a curve to generate a curve y2 of h and Q;
2.3, setting a liquid level H1, wherein 0< H1< H, H is the highest water level of the water tank, the set liquid level H1 is known in a curve y2, and a flow signal Q1 in a pipeline under the liquid level H1 is obtained;
2.4, setting a flow signal Q1 in the pipeline, and obtaining a valve opening signal PV1 under the flow signal Q1 by knowing a flow signal Q1 in a curve y 1;
step 3, adding an interference signal R with fixed flow into the water tank under the set liquid level according to the curve chart drawn in the step 2 to obtain a feedforward compensation coefficient, and the specific steps are as follows:
3.1, according to the flow signal Q1 in the pipeline obtained in the step 2.3, adding a new flow value Q2 obtained by adding the interference signal R with fixed flow into the curve y1 again to obtain a valve opening signal PV2 under the flow Q2;
3.2, according to the step 2.4 and the step 3.1, obtaining a feedforward compensation coefficient as follows: PV1-PV 2.
2. A method for determining feedforward coefficient compensation according to claim 1, wherein the step 1 of acquiring signal data includes the steps of:
1.1, knowing that the highest water level of the water tank is H, setting water level signals to be step signals of 0.1H, 0.2H, 0.3H, 0.4H, 0.5H, 0.6H, 0.7H, 0.8H and 0.9H, wherein the duration t of each step is equal, and the liquid level can be stable within the time t;
1.2, acquiring an opening signal PV of the regulating valve when each set liquid level is stable, a flow signal Q in a pipeline and a liquid level h of the water tank.
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| CN101587354A (en) * | 2008-05-23 | 2009-11-25 | 上海宝信软件股份有限公司 | A kind of feedforward compensation open loop is in conjunction with the steam pressure controlling method of feedback closed loop control |
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