CN112650055A - High-performance double-rate cascade PID control method, device and system - Google Patents
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Abstract
The invention discloses a high-performance double-rate cascade PID control method, a device and a system, belonging to the technical field of industrial production process control. The invention solves the problem that the control target of the cascade industrial process cannot be realized by adopting the conventional cascade PID control technology because the dynamic changes of the inner ring and the outer ring of the cascade industrial process, the mutual influence and even the resonance are caused by frequent unknown interference or unknown changes of the dynamic characteristics.
Description
Technical Field
The invention relates to the technical field of industrial production process control, in particular to a high-performance double-rate cascade PID control method, device and system.
Background
The cascade industrial process is widely applied to actual industrial generation, and consists of an inner ring and an outer ring with different time scales, wherein the inner ring is a fast process, the outer ring is a slow process, and the output of the inner ring is the input of the outer ring. Most cascade industrial process control adopts conventional cascade PID control, the design method of the conventional cascade PID controller adopts inner and outer rings to respectively design PID controllers, an inner ring PID controller is firstly designed, then an outer ring PID controller is designed, and the output of the outer ring PID controller is used as the set value of the inner ring controller. In a general cascade industrial process, an inner ring control system is stabilized, so the outer ring PID controller design does not consider the characteristics of the inner ring control system.
However, in a complex cascade industrial process, frequent unknown interference or unknown dynamic characteristic changes cause the inner ring and the outer ring to be in dynamic changes and influence each other, so that resonance is caused. In order to realize the operation optimization of the industrial process, the set value is frequently changed, which causes that the conventional cascade PID control technology cannot control the tracking error of the inner and outer ring output within a target value range in all operation time, thereby causing the fluctuation of product quality and increasing the energy consumption and material consumption.
Therefore, the research and development of a high-performance cascade PID control technology is a key problem which needs to be solved urgently in the operation optimization of the current industrial manufacturing process.
Disclosure of Invention
The invention provides a high-performance double-rate cascade PID control method, device and system, aiming at solving the problem that the control target of a cascade industrial process cannot be realized by adopting a conventional cascade PID control technology because the dynamic changes of an inner ring and an outer ring of the cascade industrial process, the mutual influence and even resonance are caused by frequent unknown interference or unknown dynamic characteristic changes.
The invention provides the following technical scheme:
in one aspect, the present invention provides a high performance dual rate cascade PID control method, including:
establishing an inner ring controlled object model and an outer ring controlled object model of a cascade controlled process by adopting a discrete model, and identifying inner ring model parameters and outer ring model parameters by adopting a system identification algorithm;
aiming at the inner ring controlled object model, determining an inner ring PID controller by adopting a first PID control parameter setting method;
obtaining an inner ring closed-loop control system based on the inner ring PID controller and the inner ring controlled object model; the method comprises the steps that a set value of an inner ring PID controller is unchanged in a sampling period of an outer ring, and a lifting technology is adopted to obtain an outer ring dynamic model which has the same sampling period as the outer ring and is based on an inner ring closed-loop control system; combining the outer ring controlled object model to obtain an outer ring controlled object dynamic model based on the outer ring dynamic model;
aiming at the obtained outer ring controlled object dynamic model, determining an outer ring PID controller by adopting a second PID parameter setting method;
and performing high-performance double-rate cascade PID control based on the inner ring PID controller and the outer ring PID controller.
Further, the first PID control parameter setting technology is a high-performance PID control parameter setting method driven by a compensation signal; the method for determining the inner ring PID controller by adopting the compensation signal driven high-performance PID control parameter setting method comprises the following steps:
calculating critical gain and critical period according to the conditions that the inner loop closed loop system under the proportional control is critically stable and oscillates;
setting parameters of the inner ring PID controller according to a discrete Z-N frequency setting method by utilizing the sampling period, the critical gain and the critical period of the inner ring;
introducing an inner ring dynamic performance compensation signal into the inner ring closed-loop control system, and establishing an inner ring closed-loop control system dynamic model with an inner ring tracking error as an output and the inner ring dynamic performance compensation signal as an input;
calculating an inner ring dynamic performance compensation signal according to the established inner ring closed-loop control system dynamic model by taking the minimum inner ring tracking error and the minimum inner ring dynamic performance compensation signal fluctuation as targets;
adopting a one-step optimal control performance index consisting of an inner ring tracking error and an inner ring dynamic performance compensation signal to minimize the performance index, and obtaining an inner ring dynamic performance compensation signal consisting of an inner ring control system set value, an inner ring tracking error and inner ring actual input and output data;
and superposing the inner ring dynamic performance compensation signal to the output of the inner ring PID controller to obtain the output of the high-performance inner ring PID controller.
Further, the second PID control parameter tuning technique is the same as the first PID control parameter tuning technique.
Further, an inner ring controlled object model and an outer ring controlled object model of the cascade controlled process are established by adopting a discrete model, and inner ring model parameters and outer ring model parameters are identified by adopting a system identification algorithm; the method comprises the following steps:
the method comprises the steps that an inner ring controlled object model and an outer ring controlled object model of the cascade controlled process are described by using a discrete linear model according to the characteristic that an industrial process runs near a working point;
and identifying the inner ring model parameters and the outer ring model parameters by using the actual input and output data and adopting a system identification algorithm.
In another aspect, the present invention further provides a high performance dual rate cascade PID control apparatus, comprising:
the first design unit is used for establishing an inner ring controlled object model and an outer ring controlled object model of a cascade controlled process by adopting a discrete model and identifying inner ring model parameters and outer ring model parameters by adopting a system identification algorithm;
the second design unit is used for determining the inner ring PID controller by adopting a first PID control parameter setting method aiming at the inner ring controlled object model designed by the first design unit;
the lifting unit is used for obtaining an inner ring closed-loop control system based on the inner ring PID controller determined by the second design unit and the inner ring controlled object model designed by the first design unit; the method comprises the steps that a set value of an inner ring PID controller is unchanged in a sampling period of an outer ring, and a lifting technology is adopted to obtain an outer ring dynamic model which has the same sampling period as the outer ring and is based on an inner ring closed-loop control system; obtaining an outer ring controlled object dynamic model based on the outer ring dynamic model by using the outer ring controlled object model designed by the first design unit;
the third design unit is used for determining an outer ring PID controller by adopting a second PID parameter setting method aiming at the outer ring controlled object dynamic model obtained by the lifting unit;
and the double-rate cascade control unit is used for carrying out high-performance double-rate cascade PID control on the basis of the inner ring PID controller determined by the second design unit and the outer ring PID controller determined by the first design unit.
Further, the first PID control parameter setting technology is a high-performance PID control parameter setting method driven by a compensation signal; the second design unit is specifically configured to:
calculating critical gain and critical period according to the conditions that the inner loop closed-loop control system under the proportional control is critically stable and oscillates;
setting parameters of the inner ring PID controller according to a discrete Z-N frequency setting method by utilizing the sampling period, the critical gain and the critical period of the inner ring;
introducing an inner ring dynamic performance compensation signal into the inner ring closed-loop control system, and establishing an inner ring closed-loop control system dynamic model with an inner ring tracking error as an output and the inner ring dynamic performance compensation signal as an input;
calculating an inner ring dynamic performance compensation signal according to the established inner ring closed-loop control system dynamic model by taking the minimum inner ring tracking error and the minimum inner ring dynamic performance compensation signal fluctuation as targets;
adopting a one-step optimal control performance index consisting of an inner ring tracking error and an inner ring dynamic performance compensation signal to minimize the performance index, and obtaining an inner ring dynamic performance compensation signal consisting of an inner ring control system set value, an inner ring tracking error and inner ring actual input and output data;
and superposing the inner ring dynamic performance compensation signal to the output of the inner ring PID controller to obtain the output of the high-performance inner ring PID controller.
Further, the second PID control parameter tuning technique is the same as the first PID control parameter tuning technique.
Further, the first design unit is specifically configured to:
the method comprises the steps that an inner ring controlled object model and an outer ring controlled object model of the cascade controlled process are described by using a discrete linear model according to the characteristic that an industrial process runs near a working point;
and identifying the inner ring model parameters and the outer ring model parameters by using the actual input and output data and adopting a system identification algorithm.
On the other hand, the invention also provides a high-performance double-rate cascade PID control system, which comprises an inner ring PID controller and an outer ring PID controller obtained according to the high-performance double-rate cascade PID control method, and the system carries out high-performance double-rate cascade PID control according to the high-performance double-rate cascade PID control method.
The invention has the advantages and positive effects that:
the invention discloses a high-performance double-rate cascade PID control method, a device and a system, which are characterized in that an inner ring PID controller is firstly designed to obtain a dynamic model of an inner ring PID closed-loop control system, then a set value of the inner ring PID controller is unchanged in a sampling period of an outer ring, an outer ring dynamic model based on the dynamic characteristic of the inner ring PID closed-loop control system is established by adopting a lifting technology, then the outer ring PID controller is designed based on the outer ring dynamic model, and the inner ring PID controller and the outer ring PID controller are adopted to carry out high-performance double-rate cascade PID control.
In the invention, when an inner ring PID controller and an outer ring PID controller are designed, a high-performance PID control parameter setting method driven by a compensation signal is adopted, a dynamic performance compensation signal is superposed to the output of the PID controller based on a Z-N setting technology, and the dynamic performance of the PID control system is improved by changing the output control quantity of the PID control system, so that the tracking error fluctuation of the control system is reduced, the tracking error is controlled in a target value range in all operation time, the optimized operation of an industrial process is realized, and the control target of a complex cascade industrial process is better realized.
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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 description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow chart of a high performance dual rate cascade PID control method according to an embodiment of the invention;
FIG. 2 is a flowchart of determining an inner loop PID controller using a compensation signal driven high performance PID control parameter tuning method in an embodiment of the invention;
FIG. 3 is a flowchart of determining an outer loop PID controller using a compensation signal driven high performance PID control parameter tuning method according to an embodiment of the invention;
FIG. 4 is a block diagram of a cascade control system for water supply temperature and steam flow, which is designed by a high-performance cascade PID control method according to an embodiment of the invention;
FIG. 5 shows the control effect of the outer ring water supply temperature and the inner ring steam flow when the conventional cascade PID control technique is adopted;
FIG. 6 shows the control effect of the outer loop water supply temperature and the inner loop steam flow when the dual rate cascade PID control technique of the invention is adopted.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, a flowchart of a high-performance double-rate cascade PID control method according to an embodiment of the present invention is shown, where the method includes the following steps:
s101, establishing an inner ring controlled object model and an outer ring controlled object model of a cascade controlled process by adopting a discrete model, and identifying inner ring model parameters and outer ring model parameters by adopting a system identification algorithm;
the method is characterized in that the characteristic that an industrial process runs near a working point is utilized, a discrete linear model is used for describing a controller design model of the cascade controlled process, the controller design model comprises an inner ring controlled object model and an outer ring controlled object model, actual input and output data are utilized, and system identification algorithm is used for identifying inner ring model parameters and outer ring model parameters.
S102, aiming at the inner ring controlled object model established in the S101, determining an inner ring PID controller by adopting a first PID control parameter setting method;
the first PID control parameter setting method is used for determining parameters of the PID controller, and then the PID controller is designed, and can be any one of an empirical data method, a critical proportion method, a trial and error method and the like.
In order to improve the dynamic performance of the PID control system, reduce the tracking error fluctuation of the control system, ensure that the tracking error is controlled within a target value range in all the operating time, and realize the optimized operation of the industrial process, preferably, the first PID control parameter setting method adopts a high-performance PID control parameter setting method driven by a compensation signal, the high-performance PID control parameter setting method driven by the compensation signal is to set a conventional PID controller, and the output signal of the conventional PID controller is changed by superposing the dynamic performance compensation signal to the output of the conventional PID controller, which is equivalent to the change of the output signal of the PID controller caused by changing the parameters of the conventional PID controller, so as to obtain the high-performance PID controller. The method specifically comprises the following steps: calculating critical gain and critical period according to the conditions that the closed loop system under the proportional control is critically stable and oscillates; setting the PID controller parameters according to a discrete Z-N frequency setting method by utilizing the sampling period, the critical gain and the critical period of the controlled object; introducing a dynamic performance compensation signal into a closed-loop control system formed by a controlled object and a PID controller, and establishing a dynamic model of the closed-loop control system by taking a tracking error as an output and taking the dynamic performance compensation signal as an input; calculating a dynamic performance compensation signal according to the established dynamic model of the closed-loop control system by taking the minimum tracking error and the minimum fluctuation of the dynamic performance compensation signal as targets; adopting a one-step optimal control performance index consisting of a tracking error and a dynamic performance compensation signal to enable the performance index to be extremely small, and accurately obtaining the dynamic performance compensation signal consisting of a control system set value, the tracking error and actual input and output data; and superposing the dynamic performance compensation signal to the output of the PID controller to obtain the output of the high-performance PID controller. The formula of the discrete Z-N frequency setting method is as follows:
wherein, KP、KI、KDProportional, integral and differential parameters of the PID controller are respectively; kPuCritical gain, T, of the controlled objectuCritical period, T, for the controller design model0Is the system sampling period.
In one embodiment, as shown in fig. 2, the determining the inner loop PID controller by using the compensation signal driven high performance PID control parameter tuning method includes the following steps:
s201, calculating critical gain and a critical period according to conditions of critical stability and oscillation of an inner ring closed-loop control system under proportional control; the inner ring closed-loop control system is obtained based on an inner ring PID controller and an inner ring controlled object model;
s202, setting parameters of the inner ring PID controller according to a discrete Z-N frequency setting method by using a sampling period, a critical gain and a critical period of the inner ring;
s203, introducing a dynamic performance compensation signal into the inner loop closed-loop control system, and establishing an inner loop closed-loop control system dynamic model with an inner loop tracking error as output and an inner loop dynamic performance compensation signal as input;
s204, calculating an inner ring dynamic performance compensation signal according to the established inner ring closed-loop control system dynamic model by taking the minimum inner ring tracking error and the minimum inner ring dynamic performance compensation signal fluctuation as targets;
s205, adopting a one-step optimal control performance index consisting of an inner ring tracking error and an inner ring dynamic performance compensation signal to minimize the performance index, and obtaining an inner ring dynamic performance compensation signal consisting of an inner ring control system set value, an inner ring tracking error and inner ring actual input and output data;
and S206, superposing the inner ring dynamic performance compensation signal to the output of the inner ring PID controller to obtain the output of the high-performance inner ring PID controller.
S103, obtaining an inner ring closed-loop control system based on the inner ring PID controller obtained in the S102 and the inner ring controlled object model obtained in the S101; in the sampling period of the outer ring, the set value of the inner ring PID controller is unchanged, and a lifting technology is adopted to obtain an outer ring dynamic model based on the inner ring closed-loop control system, wherein the outer ring dynamic model has the same sampling period as the outer ring; and obtaining an outer ring controlled object dynamic model based on the outer ring dynamic model by using the outer ring controlled object model obtained in the step S101.
The lifting technology refers to that an object of a fast sampling period is obtained through iterative operation by using a set value in a slow sampling period to be unchanged.
S104, aiming at the outer ring controlled object dynamic model obtained in the S103, determining an outer ring PID controller by adopting a second PID parameter setting method;
the second PID control parameter setting method is also used for determining parameters of the PID controller, and then the PID controller is designed, and may be any one of an empirical data method, a critical proportion method, a trial and error method, and the like. The second PID parameter tuning method may be the same as or different from the first PID parameter tuning method. Preferably, the second PID parameter tuning method also adopts the above compensation signal driven high performance PID control parameter tuning method.
In a specific embodiment, as shown in fig. 3, the determining the outer loop PID controller by using the compensation signal driven high performance PID control parameter tuning method includes the following steps:
s401, calculating critical gain and a critical period according to conditions that an outer ring closed-loop control system under proportional control is critical and stable and vibrates; the outer ring closed-loop control system is obtained based on an outer ring PID controller and an outer ring controlled object model;
s402, setting parameters of the outer ring PID controller according to a discrete Z-N frequency setting method by using the sampling period, the critical gain and the critical period of the outer ring;
s403, introducing a dynamic performance compensation signal into the outer loop closed-loop control system, and establishing an outer loop closed-loop control system dynamic model with an outer loop tracking error as output and an outer loop dynamic performance compensation signal as input;
s404, according to the established outer ring closed loop control system dynamic model, an outer ring dynamic performance compensation signal is calculated by taking the minimum outer ring tracking error and the minimum outer ring dynamic performance compensation signal fluctuation as targets;
s405, adopting a one-step optimal control performance index consisting of an outer ring tracking error and an outer ring dynamic performance compensation signal to minimize the performance index, and obtaining an outer ring dynamic performance compensation signal consisting of an outer ring control system set value, an outer ring tracking error and outer ring actual input and output data;
and S406, superposing the outer ring dynamic performance compensation signal to the output of the outer ring PID controller to obtain the output of the high-performance outer ring PID controller.
And S105, performing high-performance double-rate cascade PID control based on the inner loop PID controller determined in the S102 and the outer loop PID controller determined in the S104.
The high-performance double-rate cascade PID control method disclosed in the embodiment of the invention comprises the steps of firstly designing an inner ring PID controller to obtain a dynamic model of an inner ring PID closed-loop control system, then utilizing the constant set value of the inner ring PID controller in the sampling period of an outer ring, establishing an outer ring dynamic model based on the dynamic characteristics of the inner ring PID closed-loop control system by adopting a lifting technology, then designing an outer ring PID controller based on the outer ring dynamic model, and carrying out high-performance double-rate cascade PID control by adopting the inner ring PID controller and the outer ring PID controller.
The invention also provides a high-performance double-rate cascade PID control system which comprises an inner ring PID controller and an outer ring PID controller determined in the high-performance double-rate cascade PID control method, and the high-performance double-rate cascade PID control method is utilized to carry out the performance double-rate cascade PID control.
For easy understanding, the high-performance double-rate cascade PID control system is described below by taking an industrial heat exchange process in a certain mineral processing enterprise in northwest of China as an example. Because the process is in the northwest region of China with large environmental temperature difference change, the return water temperature and the flow rate change in a large range, a steam supply system in the process also supplies steam to the intermittent production process, the steam pressure changes frequently in a large range, the steam flow rate in the heat exchange process fluctuates frequently, the outer ring of the water supply temperature changes dynamically, the water quality of circulating water changes heat transfer coefficients, and the control targets of the water supply temperature and the steam flow rate cannot be realized by adopting a conventional cascade PID control method. Aiming at the complex cascade industrial process, the cascade control system for the water supply temperature and the steam flow, which is designed by adopting the high-performance cascade PID control method, realizes the control target in all the running time.
Referring to fig. 4, it shows a block diagram of a cascade control system for water supply temperature and steam flow, which is designed by using a high-performance cascade PID control method according to an embodiment of the present invention. The specific implementation steps of designing the cascade control system for the water supply temperature and the steam flow by adopting the high-performance cascade PID control method are described as follows:
the method comprises the following steps: the method is characterized in that the characteristic that the industrial heat exchange process runs near a working point is utilized, a discrete linear model is adopted to describe an inner and outer ring controlled object model of the controlled process of the industrial heat exchange process, actual input and output data are utilized, and a system identification algorithm is adopted to identify parameters of the inner and outer ring model.
When the method is implemented, the first step comprises the following two specific steps:
step A: as the heat exchange industrial process runs near the working point, the following discrete linear models are adopted as a PID controller design model, namely a controlled object model, wherein the water supply temperature outer ring controlled object model is as the formula (1):
A1(z-1)y1(T+1)＝B1(z-1)y2(T) (1)
wherein, y1(T)、y2(T) represents the output of the water supply temperature outer ring and the output of the steam flow inner ring, respectively, and T is T/T 010,1,2.. discrete outer loop sampling times, the system sampling period is set to 5 s. A. the1(z-1)＝1+a11z-1，B1(z-1)＝b10Wherein a is11And b10And the outer ring model parameters of the water supply temperature.
The steam flow inner ring controlled object model is as follows:
A2(z-1)y2(k+1)＝B2(z-1)u2(k) (2)
wherein, y2(k)、u2(k) Respectively representing the output of the inner loop of the steam flow and the input of the valve opening, k being T/T 020,1,2.. is a discrete inner loop sampling time, the system sampling period is set to 1 s. A. the2(z-1)＝1+a21z-1，B2(z-1)＝b20Wherein a is21And b20Is a steam flow inner loop model parameter.
And B: collecting input and output data of a controlled object, and identifying model parameters by adopting a system identification algorithm to obtain a11＝-0.9729、b10＝0.0637、a21-0.7838 and b20＝0.0266。
Step two: and designing a steam flow inner ring PID controller by adopting a high-performance PID control parameter setting method.
For convenience of description, the inner-loop PID controller before being set by the high-performance PID control parameter setting method is referred to as a conventional inner-loop PID controller, and the inner-loop PID controller after being set by the high-performance PID control parameter setting method is referred to as a high-performance inner-loop PID controller.
The specific implementation process of the second step is as follows:
the steam flow high performance inner loop PID controller can be expressed as:
u2(k)＝u21(k)+u22(k) (3)
wherein u is2(k) Is the output of a high performance inner loop PID controller, u21(k) Is the output of a conventional inner loop PID controller, u22(k) Inner loop compensation signal for data driving, u21(k) Expressed as:
u21(k)＝u21(k-1)+kp2[e2(k)-e2(k-1)]+ki2e2(k)+kd2[e2(k)-2e2(k-1)+e2(k-2)] (4)
wherein e is2(k)＝y2sp(k)-y2(k) Error in tracking of the controlled object for steam flow, y2sp(k) Is the set value, k, of a high performance inner loop PID controllerp2、ki2And kd2Are parameters of a conventional inner loop PID controller.
And calculating critical gain and critical period according to the conditions that the inner loop closed-loop control system under the proportional control is critically stable and oscillates.
Sampling period T using steam flow model021s, critical gain KPu2Critical period T of 29.17u27.0, according to the discrete Z-N frequency setting method, the parameter k of the conventional inner ring PID controller of the steam flow is adjustedp2、ki2And kd2Setting:
the following performance indexes of one-step optimal control consisting of steam flow tracking errors and compensation signals are introduced:
J2＝[e2(k+1)]2+[λ2(1-z-1)u22(k)]2 (6)
make J2Minimum, find u22(k) Comprises the following steps:
wherein the content of the first and second substances,
z-1G′2(z-1)＝1-{A2(z-1)(1-z-1)+z-1B2(z-1)[kp2+ki2+kd2-(kp2+2kd2)z-1+kd2z-2]}, weighting factor λ2Satisfies the following formula:
B2(z-1){1-λ2z-1[kp2+ki2+kd2-(kp2+2kd2)z-1+kd2z-2]}-λ2A2(z-1)(1-z-1)≠0,|z|＞1 (8)
in this embodiment, λ is taken2＝-0.02。
The output of the steam flow high-performance inner-ring PID controller, namely the opening u of the regulating valve can be obtained by the formula (3) -the formula (8)2(k) Comprises the following steps:
step three: and establishing a water supply temperature outer ring controlled object dynamic model based on the dynamic characteristics of the steam flow inner ring closed-loop control system by adopting a lifting technology.
The steam flow inner loop closed-loop control system obtained by the formula (9) and the formula (2) is as follows:
{B2(z-1){1-λ2z-1[kp2+ki2+kd2-(kp2+2kd2)z-1+kd2z-2]}-λ2A2(z-1)(1-z-1)}y2(k+1)＝B2(z-1){1-λ2z-1[kp2+ki2+kd2-(kp2+2kd2)z-1+kd2z-2]}y2sp(k+1)
(10)
in order to establish a water supply temperature outer ring dynamic model reflecting the dynamic characteristics of a steam flow inner ring closed-loop control system, firstly, a closed-loop control system formula (10) at the moment k is converted into a closed-loop equation at the moment T of a water supply temperature outer ring sampling period. For this reason, equation (10) is expressed in the form of a state space:
from the formula (11)
When i is 0,1,2,3,4, iteration of equation (13) can yield:
high performance inner loop PID controller setpoint y due to outer loop control2sp(k) And the sampling period T of the outer ring is unchanged, wherein the sampling period of the outer ring is 5 times that of the inner ring, and T is 5k, that is:
y2sp(5k)＝y2sp(5k+i)(i＝1,2,3,4) (15)
from formulas (14) and (15):
equation (12) can be expressed as:
the closed-loop control system equation of the steam flow at the time of the outer loop T of the water supply temperature can be obtained by the equations (16) and (17):
T(z-1)y2(T)＝D(z-1)y2sp(T) (18)
wherein the content of the first and second substances,
T(z-1)＝1+t1z-1+t2z-2+t3z-3＝1+1.0345z-1-0.569z-2+0.0002z-3
D(z-1)＝d0+d1z-1+d2z-2+d3z-3＝0.57-0.0655z-1-0.4364z-2+0.001z-3
equation (18) represents the steam flow at the time of the sampling period of the outer loop of the supply water temperature, and a dynamic model of the outer loop of the supply water temperature based on the closed-loop control system of the steam flow can be obtained from equation (18) and equation (1):
A(z-1)y1(T+1)＝B(z-1)y2sp(T) (19)
wherein the content of the first and second substances,
A(z-1)＝T(z-1)A1(z-1)＝1+0.0616z-1-1.5755z-2+0.5538z-3-0.0002z-4；
B(z-1)＝D(z-1)B1(z-1)＝0.0363-0.0042z-1-0.0278z-2+0.0001z-3；
step four: aiming at the water supply temperature outer ring dynamic model formula (19), a high-performance PID control parameter setting method is adopted to design a water supply temperature outer ring PID controller.
For the convenience of expression, the outer ring PID controller before being set by the high-performance PID control parameter setting method is referred to as a conventional outer ring PID controller, and the outer ring PID controller after being set by the high-performance PID control parameter setting method is referred to as a high-performance outer ring PID controller.
The specific implementation process of the step four is as follows:
the high performance outer loop PID controller for the supply water temperature can be expressed as:
y2sp(T)＝y2sp1(T)+y2sp2(T) (20)
in the formula, y2sp(T) is the output of the high performance outer loop controller, y2sp1(T) is the output of a conventional outer loop PID controller, y2sp2(T) is the outer loop compensation signal for the data drive. y is2sp1(T) is represented by:
y2sp1(T)＝y2sp1(T-1)+kp1[e1(T)-e1(T-1)]+ki1e1(T)+kd1[e1(T)-2e1(T-1)+e1(T-2)]
(21)
wherein e is1(T)＝y1sp(T)-y1(T) is a tracking error of the water supply temperature controlled object, y1sp(T) is a set value, k, of the high performance outer loop controllerp1、ki1And kd1Are parameters of a conventional outer loop PID controller.
And calculating critical gain and a critical period according to the conditions that the outer loop closed-loop control system under the proportional control is critically stable and oscillates.
Sampling period T using water supply temperature model01Critical gain K of 5sPu12.21, critical period Tu153, according to the discrete Z-N frequency setting method, the parameter k of the conventional outer ring PID controller of the water supply temperaturep1、ki1And kd1Setting:
the following performance indexes which are optimally controlled by one step and composed of a water supply temperature tracking error and a compensation signal are introduced:
J1＝[e1(T+1)]2+[λ1(1-z-1)y2sp2(T)]2 (23)
make J2Minimum, find y2sp2(T) is:
wherein the content of the first and second substances,
z-1G′1(z-1)＝1-{A(z-1)(1-z-1)+z-1B(z-1)[kp1+ki1+kd1-(kp1+2kd1)z-1+kd1z-2]are weighted
Coefficient lambda1Satisfies the following formula:
B(z-1){1-λ1z-1[kp1+ki1+kd1-(kp1+2kd1)z-1+kd1z-2]}-λ1A(z-1)(1-z-1)≠0,|z|＞1 (25)
in this embodiment, λ is taken1＝1.2。
The output of the water temperature high-performance outer ring PID controller, namely the set value y of the steam flow can be obtained by the formula (20) -the formula (25)2sp(T) is:
step five: and performing high-performance double-rate cascade PID control based on a high-performance inner ring PID controller formula (9) and a high-performance outer ring PID controller formula (26).
The cascade control system for the industrial heat exchange process designed by the technical scheme is successfully applied. The industrial application result shows that when the steam pressure, the outdoor temperature and the unknown change of the quality of the circulating water are received, the cascade control system has the dynamic performance which is obviously superior to that of the conventional cascade PID control system. As can be seen from FIG. 5, when the conventional cascade PID control method is adopted, the fluctuation range of the water supply temperature is + -5.0 ℃, and the fluctuation range of the steam flow rate is + -0.8 t/h, which respectively exceed the target value ranges of 66.67% and 60%. As can be seen from FIG. 6, when the high-performance double-rate cascade PID control method is adopted, the fluctuation range of the water supply temperature is +/-3 ℃, the fluctuation range of the steam flow rate change rate is +/-0.45 t/h, and the control target is met. Compared with the conventional cascade PID control technology, the fluctuation of the change rate of the water supply temperature and the steam flow is respectively reduced by 40 percent and 43.75 percent.
Corresponding to the high-performance double-rate cascade PID control method in the above embodiment, the present invention also provides a high-performance double-rate cascade PID control device, which includes:
the first design unit is used for establishing an inner ring controlled object model and an outer ring controlled object model of a cascade controlled process by adopting a discrete model and identifying inner ring model parameters and outer ring model parameters by adopting a system identification algorithm;
the second design unit is used for determining the inner ring PID controller by adopting a first PID control parameter setting method aiming at the inner ring controlled object model designed by the first design unit;
the lifting unit is used for obtaining an inner ring closed-loop control system based on the inner ring PID controller determined by the second design unit and the inner ring controlled object model designed by the first design unit; the method comprises the steps that a set value of an inner ring PID controller is unchanged in a sampling period of an outer ring, and a lifting technology is adopted to obtain an outer ring dynamic model which has the same sampling period as the outer ring and is based on an inner ring closed-loop control system; obtaining an outer ring controlled object dynamic model based on the outer ring dynamic model by using the outer ring controlled object model designed by the first design unit;
the third design unit is used for determining an outer ring PID controller by adopting a second PID parameter setting method aiming at the outer ring controlled object dynamic model obtained by the lifting unit;
and the double-rate cascade control unit is used for carrying out high-performance double-rate cascade PID control on the basis of the inner ring PID controller determined by the second design unit and the outer ring PID controller determined by the first design unit.
Further, the first PID control parameter setting technology is a high-performance PID control parameter setting method driven by a compensation signal; the second design unit is specifically configured to:
calculating critical gain and critical period according to the conditions that the inner loop closed-loop control system under the proportional control is critically stable and oscillates;
setting parameters of the inner ring PID controller according to a discrete Z-N frequency setting method by utilizing the sampling period, the critical gain and the critical period of the inner ring;
introducing an inner ring dynamic performance compensation signal into the inner ring closed-loop control system, and establishing an inner ring closed-loop control system dynamic model with an inner ring tracking error as an output and the inner ring dynamic performance compensation signal as an input;
calculating an inner ring dynamic performance compensation signal according to the established inner ring closed-loop control system dynamic model by taking the minimum inner ring tracking error and the minimum inner ring dynamic performance compensation signal fluctuation as targets;
adopting a one-step optimal control performance index consisting of an inner ring tracking error and an inner ring dynamic performance compensation signal to minimize the performance index, and obtaining an inner ring dynamic performance compensation signal consisting of an inner ring control system set value, an inner ring tracking error and inner ring actual input and output data;
and superposing the inner ring dynamic performance compensation signal to the output of the inner ring PID controller to obtain the output of the high-performance inner ring PID controller.
Further, the second PID control parameter tuning technique is the same as the first PID control parameter tuning technique.
Further, the first design unit is specifically configured to:
the method comprises the steps that an inner ring controlled object model and an outer ring controlled object model of the cascade controlled process are described by using a discrete linear model according to the characteristic that an industrial process runs near a working point;
and identifying the inner ring model parameters and the outer ring model parameters by using the actual input and output data and adopting a system identification algorithm.
For the high-performance double-rate cascade PID control apparatus according to the embodiment of the present invention, since it corresponds to the high-performance double-rate cascade PID control method in the above embodiment, the description is relatively simple, and for the relevant similar points, please refer to the description in the above embodiment, and the detailed description is omitted here.
It should be understood that the disclosed technology may be implemented in other ways in several embodiments of the present invention. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A high-performance double-rate cascade PID control method is characterized by comprising the following steps:
establishing an inner ring controlled object model and an outer ring controlled object model of a cascade controlled process by adopting a discrete model, and identifying inner ring model parameters and outer ring model parameters by adopting a system identification algorithm;
aiming at the inner ring controlled object model, determining an inner ring PID controller by adopting a first PID control parameter setting method;
obtaining an inner ring closed-loop control system based on the inner ring PID controller and the inner ring controlled object model; the method comprises the steps that a set value of an inner ring PID controller is unchanged in a sampling period of an outer ring, and a lifting technology is adopted to obtain an outer ring dynamic model which has the same sampling period as the outer ring and is based on an inner ring closed-loop control system; combining the outer ring controlled object model to obtain an outer ring controlled object dynamic model based on the outer ring dynamic model;
aiming at the obtained outer ring controlled object dynamic model, determining an outer ring PID controller by adopting a second PID parameter setting method;
and performing high-performance double-rate cascade PID control based on the inner ring PID controller and the outer ring PID controller.
2. The high-performance double-rate cascade PID control method of claim 1, wherein the first PID control parameter tuning technique is a compensation signal driven high-performance PID control parameter tuning method; the method for determining the inner ring PID controller by adopting the compensation signal driven high-performance PID control parameter setting method comprises the following steps:
calculating critical gain and critical period according to the conditions that the inner loop closed-loop control system under the proportional control is critically stable and oscillates;
setting parameters of the inner ring PID controller according to a discrete Z-N frequency setting method by utilizing the sampling period, the critical gain and the critical period of the inner ring;
introducing an inner ring dynamic performance compensation signal into the inner ring closed-loop control system, and establishing an inner ring closed-loop control system dynamic model with an inner ring tracking error as an output and the inner ring dynamic performance compensation signal as an input;
calculating an inner ring dynamic performance compensation signal according to the established inner ring closed-loop control system dynamic model by taking the minimum inner ring tracking error and the minimum inner ring dynamic performance compensation signal fluctuation as targets;
adopting a one-step optimal control performance index consisting of an inner ring tracking error and an inner ring dynamic performance compensation signal to minimize the performance index, and obtaining an inner ring dynamic performance compensation signal consisting of an inner ring control system set value, an inner ring tracking error and inner ring actual input and output data;
and superposing the inner ring dynamic performance compensation signal to the output of the inner ring PID controller to obtain the output of the high-performance inner ring PID controller.
3. The high-performance dual-rate cascade PID control method of claim 2, wherein the second PID control parameter tuning technique is the same as the first PID control parameter tuning technique.
4. The high-performance double-rate cascade PID control method according to claim 1, wherein the discrete model is used to build an inner ring controlled object model and an outer ring controlled object model of the cascade controlled process, and the system identification algorithm is used to identify the inner ring model parameters and the outer ring model parameters; the method comprises the following steps:
the method comprises the steps that an inner ring controlled object model and an outer ring controlled object model of the cascade controlled process are described by using a discrete linear model according to the characteristic that an industrial process runs near a working point;
and identifying the inner ring model parameters and the outer ring model parameters by using the actual input and output data and adopting a system identification algorithm.
5. A high performance, double rate, cascaded PID control apparatus, said apparatus comprising:
the first design unit is used for establishing an inner ring controlled object model and an outer ring controlled object model of a cascade controlled process by adopting a discrete model and identifying inner ring model parameters and outer ring model parameters by adopting a system identification algorithm;
the second design unit is used for determining the inner ring PID controller by adopting a first PID control parameter setting method aiming at the inner ring controlled object model designed by the first design unit;
the lifting unit is used for obtaining an inner ring closed-loop control system based on the inner ring PID controller determined by the second design unit and the inner ring controlled object model designed by the first design unit; the method comprises the steps that a set value of an inner ring PID controller is unchanged in a sampling period of an outer ring, and a lifting technology is adopted to obtain an outer ring dynamic model which has the same sampling period as the outer ring and is based on an inner ring closed-loop control system; obtaining an outer ring controlled object dynamic model based on the outer ring dynamic model by combining the outer ring controlled object model designed by the first design unit;
the third design unit is used for determining an outer ring PID controller by adopting a second PID parameter setting method aiming at the outer ring controlled object dynamic model obtained by the lifting unit;
and the double-rate cascade control unit is used for carrying out high-performance double-rate cascade PID control on the basis of the inner ring PID controller determined by the second design unit and the outer ring PID controller determined by the first design unit.
6. The high-performance double-rate cascade PID control device according to claim 5, wherein the first PID control parameter tuning technique is a compensation signal driven high-performance PID control parameter tuning method; the second design unit is specifically configured to:
calculating critical gain and critical period according to the conditions that the inner loop closed-loop control system under the proportional control is critically stable and oscillates;
setting parameters of the inner ring PID controller according to a discrete Z-N frequency setting method by utilizing the sampling period, the critical gain and the critical period of the inner ring;
introducing an inner ring dynamic performance compensation signal into the inner ring closed-loop control system, and establishing an inner ring closed-loop control system dynamic model with an inner ring tracking error as an output and the inner ring dynamic performance compensation signal as an input;
calculating an inner ring dynamic performance compensation signal according to the established inner ring closed-loop control system dynamic model by taking the minimum inner ring tracking error and the minimum inner ring dynamic performance compensation signal fluctuation as targets;
adopting a one-step optimal control performance index consisting of an inner ring tracking error and an inner ring dynamic performance compensation signal to minimize the performance index, and obtaining an inner ring dynamic performance compensation signal consisting of an inner ring control system set value, an inner ring tracking error and inner ring actual input and output data;
and superposing the inner ring dynamic performance compensation signal to the output of the inner ring PID controller to obtain the output of the high-performance inner ring PID controller.
7. The high-performance dual-rate cascaded PID control device of claim 6, wherein the second PID control parameter tuning technique is the same as the first PID control parameter tuning technique.
8. The high-performance double-rate cascade PID control device according to claim 5, wherein the first design unit is specifically configured to:
the method comprises the steps that an inner ring controlled object model and an outer ring controlled object model of the cascade controlled process are described by using a discrete linear model according to the characteristic that an industrial process runs near a working point;
and identifying the inner ring model parameters and the outer ring model parameters by using the actual input and output data and adopting a system identification algorithm.
9. A high-performance double-rate cascade PID control system is characterized by comprising an inner ring PID controller and an outer ring PID controller obtained by the high-performance double-rate cascade PID control method according to any one of claims 1 to 4, and performing high-performance double-rate cascade PID control according to the high-performance double-rate cascade PID control method according to any one of claims 1 to 4.
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