CN112947048B - Control method, system and medium of multivariable coupling control system - Google Patents
Control method, system and medium of multivariable coupling control system Download PDFInfo
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- 230000008878 coupling Effects 0.000 title claims abstract description 31
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- 238000005859 coupling reaction Methods 0.000 title claims abstract description 31
- 239000013598 vector Substances 0.000 claims abstract description 123
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 29
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 14
- 239000001301 oxygen Substances 0.000 claims description 14
- 229910052760 oxygen Inorganic materials 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 8
- 238000003860 storage Methods 0.000 claims description 7
- 239000000446 fuel Substances 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 239000000779 smoke Substances 0.000 claims description 4
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- 230000001808 coupling effect Effects 0.000 abstract description 6
- 230000004927 fusion Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
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- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 description 2
- 229920002430 Fibre-reinforced plastic Polymers 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 239000011151 fibre-reinforced plastic Substances 0.000 description 2
- 239000003546 flue gas Substances 0.000 description 2
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- 230000003044 adaptive effect Effects 0.000 description 1
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Abstract
The invention discloses a control method, a system and a medium of a multivariable coupling control system, wherein the method comprises the steps of respectively calculating the difference delta e between the measured value and the set value of any controlled variable i in n controlled variables i Inputting a corresponding controller to obtain a control instruction; based on the measured value of the controlled variable i and the difference deltae thereof i Generating a common state vector of n controlled variables, performing dot product calculation on the state vector and a transpose of a preset correction instruction vector to obtain a correction instruction of the controlled variable i, and respectively adding the control instruction and the correction instruction to be used as a final control instruction of the controlled variable i. The invention ensures that the change of each controlled variable with the coupling effect is reacted to all controllers, realizes the closed-loop control of the coupling variable, and can remarkably improve the control quality of a multivariable coupling control system by presetting the experience of a correction instruction vector fusion expert.
Description
Technical Field
The invention relates to an automatic control technology of an industrial process, in particular to a control method, a control system and a medium of a multivariable coupling control system.
Background
Multivariable coupling control systems are widely used in various fields of metallurgy, electric power, chemical industry production and the like. The control of a multivariable system is much more complex than a univariate system. In a multivariable control system, the controlled object, the measurement element, the controller, and the actuator may all have more than one input variable or more than one output variable, and each output variable is typically controlled and affected by multiple input variables at the same time. The presence of cross-over effects makes it likely that a multi-variate system will be a conditionally stable system. It is difficult to achieve the desired control effect for a multivariable coupled control system with a single PID control algorithm.
Currently, researchers have conducted extensive research on the control problem of a multivariable coupled system in an attempt to overcome the effects of coupling between the variables of the system and to control the entire system stably. More common methods for overcoming coupling include decoupling control of linear multivariable systems, decoupling control of nonlinear multivariable systems, adaptive decoupling control of random multivariable systems, and the like. A common feature of such methods is the need for decoupling, thereby requiring the use of efficient decoupling control algorithms to transform a multi-variable system with coupling effects into a plurality of non-coupled univariate systems, involving relatively complex mathematical operations.
However, the complicated decoupling control algorithm has the following problems in engineering practical applications. Firstly, a control system adopted by an industrial process has the characteristics of high integration and function modularization, some complex control algorithms are difficult to realize on the existing platform, and most of the current related closed-loop control problems still depend on a PID controller; the second, current decoupling algorithm essentially compensates in a feedforward or other form in advance by predicting the influence of the input variable on the output variable, the control accuracy depends on the accuracy of a model describing the relationship of the input and output variables, the decoupling process is an open loop adjustment process, overshoot or undershoot is easy to cause, and the steady state index of the control system is difficult to ensure effectively. In short, how to improve the control quality of the multivariable coupling control system and facilitate engineering implementation and popularization is still a difficult problem to be solved.
Disclosure of Invention
The invention aims to solve the technical problems: aiming at the problems in the prior art, the invention provides a control method, a system and a medium of a multivariable coupling control system, which are characterized in that a state vector based on output variable analysis is established, and a correction instruction of a control instruction corresponding to an output variable is designed for each state according to expert experience, so that the change of each controlled variable with a coupling effect is reacted to all controllers, closed-loop control of the coupling variable is realized, and the control quality of the multivariable coupling control system can be remarkably improved through the vector fusion expert experience of the preset correction instruction.
In order to solve the technical problems, the invention adopts the following technical scheme:
a method of controlling a multivariable coupled control system, comprising:
1) Respectively obtaining measured values of n controlled variables;
2) For any controlled variable i in the n controlled variables, respectively calculating a difference delta e between the measured value and the set value of the controlled variable i i And the difference delta e i Inputting a controller corresponding to the controlled variable i to obtain a control instruction of the controlled variable i; based on the measured value of the controlled variable i and the difference deltae thereof i Generating a common state vector of n controlled variables, and carrying out dot product calculation on the common state vector of the n controlled variables and a transpose of a preset correction instruction vector of the controlled variable i to obtain a correction instruction of the controlled variable i;
3) And adding the control instruction and the correction instruction of the controlled variable i to any controlled variable i in the n controlled variables respectively to obtain a final control instruction of the controlled variable i.
Optionally, in step 2) the measured value of the controlled variable i and its difference Δe are determined based on i The step of generating a state vector common to the n controlled variables includes: for any controlled variable i in the n controlled variables, respectively calculating the change rate of the measured value of the controlled variable i to obtain the measured value of the controlled variable iRate of change of valueWherein u is i Is a measured value of a controlled variable i, and t is time; the difference deltae of the variable i to be controlled i Measurement value change rate->Respectively substituting the corresponding state attribute f (delta e) into a preset state function f (x) i ) And->And combining the state attributes of the n controlled variables to obtain a state vector common to the n controlled variables, wherein the preset state function f (x) comprises a mapping function relation between the corresponding state attributes f (x) of the independent variable x in various states.
Optionally, the combining the state attributes of the n controlled variables means: the state attribute f (deltae of any controlled variable i i ) As the ith state attribute in the state vector common to the controlled variables, the state attribute of any controlled variable i is usedThe (i+1) th state attribute in the state vector common to the controlled variables results in a state vector having 2n state attributes.
Optionally, the preset correction instruction vector of the controlled variable i includes 2n elements, and each element in the preset correction instruction vector is designed according to the action requirement of the controller corresponding to the controlled variable i.
Optionally, the preset state function f (x) is a piecewise function.
Optionally, the function expression of the preset state function f (x) is:
in the above formula, x is an independent variable of a preset state function f (x), and x > 0, x=0, and x < 0 respectively represent three states corresponding to the independent variable x.
Optionally, the multivariable coupling control system refers to a supercritical thermal power generating unit coordination control system.
Optionally, the n controlled variables in the step 1) include main steam pressure of the thermal power generating unit as a first controlled variable and middle point temperature as a second controlled variable, wherein the middle point temperature refers to steam outlet steam temperature of a steam-water separator of the supercritical thermal power generating unit, a controller corresponding to the first controlled variable is a main steam pressure controller, a control instruction corresponding to the first controlled variable refers to a boiler main control instruction output by the main steam pressure controller, a preset correction instruction vector corresponding to the first controlled variable is a boiler main control correction instruction vector, a correction instruction corresponding to the first controlled variable is a boiler main control correction instruction, and a final control instruction corresponding to the first controlled variable is a fuel set value; the controller corresponding to the second controlled variable is a middle point temperature controller, the control instruction corresponding to the second controlled variable is a water supply main control instruction output by the middle point temperature controller, the preset correction instruction vector corresponding to the second controlled variable is a water supply main control correction instruction vector, the correction instruction corresponding to the second controlled variable is a water supply main control correction instruction, and the final control instruction corresponding to the second controlled variable is a water supply set value.
Optionally, the n controlled variables in the step 1) include main steam pressure of the thermal power generating unit as a first controlled variable, middle point temperature as a second controlled variable and smoke oxygen content as a third controlled variable, wherein the middle point temperature refers to steam outlet steam temperature of a steam-water separator of the supercritical thermal power generating unit, a controller corresponding to the first controlled variable is a main steam pressure controller, a control instruction corresponding to the first controlled variable refers to a boiler main control instruction output by the main steam pressure controller, a preset correction instruction vector corresponding to the first controlled variable is a boiler main control correction instruction vector, a correction instruction corresponding to the first controlled variable is a boiler main control correction instruction, and a final control instruction corresponding to the first controlled variable is a fuel set value; the controller corresponding to the second controlled variable is a middle point temperature controller, the control instruction corresponding to the second controlled variable is a water supply main control instruction output by the middle point temperature controller, the preset correction instruction vector corresponding to the second controlled variable is a water supply main control correction instruction vector, the correction instruction corresponding to the second controlled variable is a water supply main control correction instruction, and the final control instruction corresponding to the second controlled variable is a water supply set value; the controller corresponding to the third controlled variable is an oxygen content controller, the control instruction corresponding to the third controlled variable is a total air volume instruction output by the oxygen content controller, the preset correction instruction vector corresponding to the third controlled variable is a total air volume control correction instruction vector, the correction instruction corresponding to the third controlled variable is a total air volume control correction instruction, and the final control instruction corresponding to the third controlled variable is a total air volume set value.
Furthermore, the present invention provides a control system of a multivariable coupled control system comprising a microprocessor and a memory connected to each other, said microprocessor being programmed or configured to perform the steps of the control method of said multivariable coupled control system.
Furthermore, the present invention provides a computer readable storage medium having stored therein a computer program programmed or configured to execute the control method of the multivariable coupled control system.
Compared with the prior art, the invention has the following advantages:
1. the invention analyzes the states of all controlled variables, abstracts the state vector of state representation, is convenient for reacting the change condition of the controlled variables with coupling effect to all controllers, realizes the multivariable closed-loop control with coupling effect, remarkably improves the response precision of a control system, and is easier to converge.
2. The diagnosis analysis of the state vector to each controlled object not only comprises the static deviation of each controlled variable, but also comprises the change trend of each controlled variable, and the static deviation and the change trend are simultaneously fed back to the controller.
3. Each element in the state vector represents one state of a certain controlled variable, a response instruction for each controller containing expert experience is designed based on each state, the adjustment requirement of all the controlled variables on each controller is fully fused, the parameters of the mutual coupling effect are fully and dynamically decoupled, and the response instruction containing expert experience has better control precision than a general linear model.
Drawings
FIG. 1 is a basic flow chart of a method according to an embodiment of the invention.
Fig. 2 is a basic schematic of a method according to an embodiment of the invention.
Fig. 3 is a basic schematic diagram of a second method according to the embodiment of the invention.
Detailed Description
Embodiment one:
as shown in fig. 1, the control method of the multivariable coupling control system of the present embodiment includes:
1) Respectively obtaining measured values of n controlled variables;
2) For any controlled variable i in the n controlled variables, respectively calculating a difference delta e between the measured value and the set value of the controlled variable i i And the difference delta e i Inputting a controller corresponding to the controlled variable i to obtain a control instruction of the controlled variable i; based on the measured value of the controlled variable i and the difference deltae thereof i Generating a common state vector of n controlled variables, and carrying out dot product calculation on the common state vector of the n controlled variables and a transpose of a preset correction instruction vector of the controlled variable i to obtain a correction instruction of the controlled variable i;
3) And adding the control instruction and the correction instruction of the controlled variable i to any controlled variable i in the n controlled variables respectively to obtain a final control instruction of the controlled variable i.
It should be noted that fig. 1 only shows an alternative execution sequence of step 2), and the actual sequence of step 2) may vary according to the data dependency.
In this embodiment, the multivariable coupling control system refers to a supercritical thermal power generating unit coordination control system. In addition, under the principle of the present embodiment, the control method of the multivariable coupling control system of the present invention may be applied to other industrial control systems with multivariable coupling, and the principle is the same, so the description thereof will not be repeated here. Furthermore, the control method of the multivariable coupled control system of the present invention relies on the coupling relationship between the controlled variables, and neither the specific examples of the controlled variables given in this embodiment nor the second embodiment should be considered as limiting the control method of the multivariable coupled control system of the present invention.
As shown in fig. 2, n controlled variables in step 1) of the present embodiment include main steam pressure of a thermal power generating unit as a first controlled variable and a second controlled variable (i.e., n=2) as intermediate point temperatures, where the intermediate point temperatures refer to steam outlet steam temperatures of steam separators of supercritical thermal power generating units, a controller corresponding to the first controlled variable is a main steam pressure controller, a control instruction corresponding to the first controlled variable refers to a main boiler control instruction output by the main steam pressure controller, a preset correction instruction vector corresponding to the first controlled variable is a main boiler control correction instruction vector, a correction instruction corresponding to the first controlled variable is a main boiler control correction instruction, and a final control instruction corresponding to the first controlled variable is a fuel set value; the controller corresponding to the second controlled variable is a middle point temperature controller, the control instruction corresponding to the second controlled variable is a water supply main control instruction output by the middle point temperature controller, the preset correction instruction vector corresponding to the second controlled variable is a water supply main control correction instruction vector, the correction instruction corresponding to the second controlled variable is a water supply main control correction instruction, and the final control instruction corresponding to the second controlled variable is a water supply set value.
Step 2) for any controlled variable i of the n controlled variables, calculating the difference Δe between the measured value and the set value of the controlled variable i i And the difference delta e i The controller corresponding to the input controlled variable i obtains a control instruction of the controlled variable i, specifically: in this embodiment, in step 1), differences between the set values and the measured values of the first controlled variable and the second controlled variable are calculated, and the differences are input to the first controlled variable and the second controlled variableThe calculation of the control instructions corresponding to the controlled variables and outputting the control instructions corresponding to the first controlled variable to the second controlled variable specifically means that the difference between the set value and the measured value of the first controlled variable is calculated, the first controller is input, the control instruction corresponding to the first controlled variable is calculated and output, the difference between the set value and the measured value of the second controlled variable is calculated, the controller corresponding to the second controlled variable is input, and the control instruction corresponding to the second controlled variable is calculated and output.
In this embodiment, in step 2), the measured value of the controlled variable i and the difference Δe thereof are used as the reference i The step of generating a state vector common to the n controlled variables includes: for any controlled variable i in the n controlled variables, calculating the change rate of the measured value of the controlled variable i respectively to obtain the change rate of the measured value of the controlled variable iWhere ui is the measured value of the controlled variable i, t is time; the difference deltae of the variable i to be controlled i Measurement value change rate->Respectively substituting the corresponding state attribute f (delta e) into a preset state function f (x) i ) And->And combining the state attributes of the n controlled variables to obtain a common state vector of the n controlled variables, wherein the preset state function f (x) comprises a mapping function relation among the corresponding state attributes f (x) of the independent variable x in various states. Specifically, in this embodiment, differences between the set values and the measured values of the first controlled variable and the second controlled variable are obtained, and are respectively denoted as Δe 1 ，Δe 2 The method comprises the steps of carrying out a first treatment on the surface of the Determining the rate of change of the measured values of the first controlled variable and the second controlled variable, which are denoted +.>Based on a predetermined state function f (x), f (Δe) is calculated 1 )，f(Δe 2 ) Values of>Each value of the state attribute f (x) represents one attribute of the state vector; 4) According to f (Δe) 1 )，f(Δe 2 ) And +.>The represented state attributes are combined to obtain a state vector. Wherein: Δe 1 =main steam pressure set point-main steam pressure measurement, Δe 2 Intermediate point temperature set point-intermediate point temperature measurement, u 1 Representing the main vapour pressure measurement, u 2 Representing the mid-point temperature measurement, the resulting state vector in this embodiment is represented as [ f (Δe) 1 )，f(Δe 2 )，/>]。
In this embodiment, combining the state attributes of n controlled variables means: the state attribute f (deltae of any controlled variable i i ) As the ith state attribute in the state vector common to the controlled variables, the state attribute of any controlled variable i is usedThe (i+1) th state attribute in the state vector common to the controlled variables results in a state vector having 2n state attributes. Specifically, f (Δe) is taken in the present embodiment 1 ) Any one of the three values is taken as the first parameter of the state vector, f (deltae 2 ) Any one of the three values is taken as the 2 nd parameter of the state vector, and +.>Any one of the three values is taken as the 3 rd parameter of the state vector, and +.>Any one of the three values is used as the 4 th parameter of the state vector. This embodimentAny one of the state vectors is marked as: [ f (Δe) 1 ) i ，f(Δe 2 ) i ，/>]Where i=1, 2,3, represents the number of state categories of state vector elements, each element having three states, the state vector in combination theoretically coexists in 81 different states, such as: [0,0,0,0]，[0，0，0，1]，[1，0，0，1]，[-1，0，0，-1]……[1，1，1，1]。
In this embodiment, the preset correction instruction vector of the controlled variable i includes 2n elements, and each element in the preset correction instruction vector is designed according to the action requirement of the controller corresponding to the controlled variable i. In this embodiment, according to expert experience, designing the correction instruction vector of the controller corresponding to the first controlled variable and the second controlled variable is specifically implemented by the following method: analyzing the action requirement of each element in the state vector for the controller corresponding to the first controlled variable, and designing a correction instruction vector of the controller corresponding to the first controlled variable with the same dimension as the state vector according to the requirement; and analyzing the action requirement of each element in the state vector for the controller corresponding to the second controlled variable, and designing a correction instruction vector of the controller corresponding to the second controlled variable with the same dimension as the state vector according to the requirement. In this embodiment, the correction instruction vector of the controller corresponding to the first controlled variable is [ w ] 11 ，w 12 ，w 13 ，w 14 ]The correction instruction vector of the controller corresponding to the second controlled variable is [ w ] 21 ，w 22 ，w 23 ，w 24 ]. Wherein w is 11 ，w 12 ，w 13 ，w 14 ，w 21 ，w 22 ，w 23 ，w 24 Are all designed as broken line functions, respectively w 11 ＝G 1 (x)，w 12 ＝G 2 (x)，......，w 24 ＝G 8 (x) A. The invention relates to a method for producing a fibre-reinforced plastic composite Wherein G is 1 (x) And G 5 (x) Independent variable of (1) is the deviation between the set value and the measured value of the main steam pressure, G 2 (x) And G 6 (x) Independent variable of (2) is main steam pressure measurementDerivative of magnitude with respect to time, G 3 (x) And G 7 (x) The independent variable of (2) is the set value and the measured value of the middle point temperature, G 4 (x) And G 8 (x) Is the derivative of the measured value of the intermediate point temperature with respect to time.
In this embodiment, the preset state function f (x) is a piecewise function. For example, as an alternative implementation manner, in this embodiment, the function expression of the preset state function f (x) is:
in the above formula, x is an independent variable of a preset state function f (x), and x > 0, x=0, and x < 0 respectively represent three states corresponding to the independent variable x. In the present embodiment of the present invention,
according to the control method of the multivariable coupling control system, on the basis of conventional feedback control, a correction instruction based on controlled quantity state analysis with coupling influence is added, the correction instruction is directly overlapped on a final instruction of a controller, the comprehensiveness of feedback and the timeliness of response are improved, and the dynamic and static response characteristics of the multivariable coupling control system are remarkably improved.
In addition, the present embodiment also provides a control system of a multivariable coupled control system, comprising a microprocessor and a memory connected to each other, the microprocessor being programmed or configured to perform the steps of the control method of the multivariable coupled control system.
Furthermore, the present embodiment provides a computer-readable storage medium having stored therein a computer program programmed or configured to execute the control method of the multivariable coupling control system.
Embodiment two:
the present embodiment is substantially the same as the first embodiment, and the main differences include:
as shown in fig. 3, the n controlled variables in step 1) of the present embodiment include main steam pressure of the thermal power generating unit as a first controlled variable, intermediate point temperature as a second controlled variable and oxygen content of flue gas as a third controlled variable (n=3), the intermediate point temperature refers to steam outlet steam temperature of a steam-water separator of the supercritical thermal power generating unit, a controller corresponding to the first controlled variable is a main steam pressure controller, a control instruction corresponding to the first controlled variable refers to a main boiler control instruction output by the main steam pressure controller, a preset correction instruction vector corresponding to the first controlled variable is a main boiler control correction instruction vector, a correction instruction corresponding to the first controlled variable is a main boiler control correction instruction, and a final control instruction corresponding to the first controlled variable is a fuel set value; the controller corresponding to the second controlled variable is a middle point temperature controller, the control instruction corresponding to the second controlled variable is a water supply main control instruction output by the middle point temperature controller, the preset correction instruction vector corresponding to the second controlled variable is a water supply main control correction instruction vector, the correction instruction corresponding to the second controlled variable is a water supply main control correction instruction, and the final control instruction corresponding to the second controlled variable is a water supply set value; the controller corresponding to the third controlled variable is an oxygen content controller, the control instruction corresponding to the third controlled variable is a total air volume instruction output by the oxygen content controller, the preset correction instruction vector corresponding to the third controlled variable is a total air volume control correction instruction vector, the correction instruction corresponding to the third controlled variable is a total air volume control correction instruction, and the final control instruction corresponding to the third controlled variable is a total air volume set value. Correspondingly:
in step 2) of this embodiment, the difference between the set values and the measured values of the first controlled variable to the third controlled variable is calculated, the first controlled variable to the third controller is input, the first controlled variable to the third control command is calculated, the first controller is input, the control command corresponding to the first controlled variable is calculated, the difference between the set value and the measured value of the second controlled variable is calculated, the controller corresponding to the second controlled variable is input, the control command corresponding to the second controlled variable is calculated, the difference between the set value and the measured value of the third controlled variable is calculated, the third controller is input, and the third control command is calculated.
The obtaining of the state vector covering the feedback measured values of the first controlled variable to the third controlled variable in step 2) of the embodiment is specifically realized by the following method: the difference between the set value and the measured value of the first controlled variable to the third controlled variable is obtained and is respectively marked as delta e 1 ，Δe 2 ，Δe 3 The method comprises the steps of carrying out a first treatment on the surface of the The change rates of the measured values of the first controlled variable to the third controlled variable are obtained and respectively marked as The state function f (x) is designed, and f (Δe) is calculated 1 )～f(Δe 3 ) Values of>Each value of f (x) represents an attribute of the state vector; 4) According to f (Δe) 1 )～f(Δe 3 ) And +.>The represented state attributes are combined to obtain a state vector. Δe 1 =main steam pressure set point-main steam pressure measurement, Δe 2 Intermediate point temperature set point-intermediate point temperature measurement, Δe 3 Smoke oxygen content set value-smoke oxygen content measured value, u 1 Representing the main vapour pressure measurement, u 2 Representing intermediate point temperature measurements, u 3 Representing the oxygen content measurement of the flue gas, the state vector is expressed as [ f (deltae) 1 ),f(Δe 2 ),f(Δe 3 )，/> ]。
According to f (Δe) 1 )～f(Δe 2 ) and The combination of the represented state attributes is achieved, in particular, by taking f (Δe 1 ) Any one of the three values is taken as the first parameter of the state vector, f (deltae 2 ) Any one of the three values is taken as the 2 nd parameter of the state vector, f (deltae 3 ) Any one of the three values is taken as the third parameter of the state vector, and +.>Any one of the three values is taken as 4 parameters of the state vector, and +.>Any one of the three values is taken as the 5 th parameter of the state vector, and +.>Any one of the three values is used as the 6 th parameter of the state vector.
In this embodiment, any one of the state vectors is marked as:where i=1, 2,3, represents the number of state categories of the state vector elements, each element has three states, and the state vector in combination theoretically co-exists in 729 different states, such as: [0,0,0,0,0,0]，[0,0,0,1,0,0]，[1,0,0,1,1,1]，[-1,0,0,-1,-1,-1]……[1,1,1,1,1,1]。
In this embodiment, according to expert experience, designing the first controlled variable to the third correction instruction vector of the first controlled variable to the third controller is specifically realized by the following method: analyzing the action requirement of each element in the state vector for the first controller, and designing a correction instruction vector of the first controller with the same dimension as the state vector according to the requirement; analyzing the action requirement of each element in the state vector for the controller corresponding to the second controlled variable, designing a correction instruction vector of the controller corresponding to the second controlled variable with the same dimension as the state vector according to the requirement, analyzing the action requirement of each element in the state vector for the third controller, and designing the correction instruction vector of the third controller with the same dimension as the state vector according to the requirement.
In this embodiment, the correction instruction vector of the first controller is [ w ] 11 ,w 12 ，w 13 ，w 14 ，w 15 ，w 16 ]The correction instruction vector of the controller corresponding to the second controlled variable is [ w ] 21 ,w 22 ，w 23 ，w 24 ，w 25 ，w 26 ]The correction instruction vector of the controller corresponding to the second controlled variable is [ w ] 21 ,w 22 ，w 23 ，w 24 ，w 25 ，w 26 ]The correction instruction vector of the third controller is [ w ] 31 ,w 32 ，w 33 ，w 34 ，w 35 ，w 36 ]. Wherein w is 11 ～w 36 Are all designed as broken line functions, respectively w 11 ＝H 1 (x)，w 12 ＝H 2 (x)，……，w 36 ＝H 18 (x) A. The invention relates to a method for producing a fibre-reinforced plastic composite Wherein H is 1 (x)，H 7 (x)，H 13 (x) Independent variable of (1) is the deviation between the set value and the measured value of the main steam pressure, H 2 (x)，H 8 (x) And H 14 (x) Independent of (H) is the derivative of the main vapour pressure measurement with respect to time 3 (x)，H 9 (x) And H 15 (x) The independent variable of (a) is the set value and the measured value of the intermediate point temperature, H 4 (x)，H 10 (x) And H 16 (x) The independent variable of (a) is the derivative of the measured value of the middle point temperature with respect to time, H 5 (x)，H 11 (x)，H 17 (x) The independent variable of (a) is the deviation between the oxygen content set value and the measured value, H 6 (x)，H 12 (x) And H 18 (x) Is the derivative of the oxygen content measurement with respect to time, where H 1 (x)～H 18 (x) And the limiting output is set to prevent the excessive or insufficient correction instruction from affecting the operation safety of the unit.
In this embodiment, dot product calculation is performed on the state vector and the first controlled variable to the third correction instruction vector, and the calculation results are respectively used as correction instructions of the first controlled variable to the third controller, specifically, the method is implemented by the following steps: and performing dot product calculation on the state vector and the transposition of the correction instruction vector of the first controller, taking the calculated result as the correction instruction of the first controller, performing dot product calculation on the state vector and the transposition of the correction instruction vector of the controller corresponding to the second controlled variable, taking the calculated result as the correction instruction of the controller corresponding to the second controlled variable, performing dot product calculation on the state vector and the transposition of the correction instruction vector of the third controller, and taking the calculated result as the correction instruction of the third controller. In the present embodiment of the present invention,
according to the control method of the multivariable coupling control system, on the basis of conventional feedback control, a correction instruction based on controlled quantity state analysis with coupling influence is added, the correction instruction is directly overlapped on a final instruction of a controller, the comprehensiveness of feedback and the timeliness of response are improved, and the dynamic and static response characteristics of the multivariable coupling control system are remarkably improved.
In addition, the present embodiment also provides a control system of a multivariable coupled control system, comprising a microprocessor and a memory connected to each other, the microprocessor being programmed or configured to perform the steps of the control method of the multivariable coupled control system.
Furthermore, the present embodiment provides a computer-readable storage medium having stored therein a computer program programmed or configured to execute the control method of the multivariable coupling control system.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein. The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (9)
1. A method of controlling a multivariable coupled control system, comprising:
1) Respectively obtaining measured values of n controlled variables;
2) For any controlled variable i in the n controlled variables, respectively calculating a difference delta e between the measured value and the set value of the controlled variable i i And the difference delta e i Inputting a controller corresponding to the controlled variable i to obtain a control instruction of the controlled variable i; based on the measured value of the controlled variable i and the difference deltae thereof i Generating a common state vector of n controlled variables, and carrying out dot product calculation on the common state vector of the n controlled variables and a transpose of a preset correction instruction vector of the controlled variable i to obtain a correction instruction of the controlled variable i;
3) Adding a control instruction and a correction instruction of the controlled variable i to any controlled variable i in the n controlled variables respectively to be used as a final control instruction of the controlled variable i;
in step 2) according to the measured value of the controlled variable i and the difference deltae thereof i The step of generating a state vector common to the n controlled variables includes: for n controlledCalculating the change rate of the measured value of the controlled variable i respectively to obtain the change rate of the measured value of the controlled variable iWherein u is i Is a measured value of a controlled variable i, and t is time; the difference deltae of the variable i to be controlled i Measurement value change rate->Respectively substituting the corresponding state attribute f (delta e) into a preset state function f (x) i ) Andand combining the state attributes of the n controlled variables to obtain a state vector common to the n controlled variables, wherein the preset state function f (x) comprises a mapping function relation between the corresponding state attributes f (x) of the independent variable x in various states.
2. The method of claim 1, wherein the combining the state attributes of the n controlled variables is: the state attribute f (deltae of any controlled variable i i ) As the ith state attribute in the state vector common to the controlled variables, the state attribute of any controlled variable i is usedThe (i+1) th state attribute in the state vector common to the controlled variables results in a state vector having 2n state attributes.
3. The method according to claim 2, wherein the preset correction command vector of the controlled variable i includes 2n elements, and each element in the preset correction command vector is designed according to the action requirement of the controller corresponding to the controlled variable i.
4. The method of claim 1, wherein the function expression of the predetermined state function f (x) is:
in the above formula, x is an independent variable of a preset state function f (x), and x > 0, x=0, and x < 0 respectively represent three states corresponding to the independent variable x.
5. The method for controlling a multi-variable coupling control system according to claim 1, wherein the multi-variable coupling control system is a supercritical thermal power plant coordination control system.
6. The control method of the multivariable coupling control system according to claim 5, wherein the n controlled variables in the step 1) comprise main steam pressure of the thermal power generating unit as a first controlled variable and intermediate point temperature as a second controlled variable, the intermediate point temperature is steam outlet steam temperature of a steam-water separator of the supercritical thermal power generating unit, a controller corresponding to the first controlled variable is a main steam pressure controller, a control instruction corresponding to the first controlled variable is a boiler main control instruction output by the main steam pressure controller, a preset correction instruction vector corresponding to the first controlled variable is a boiler main control correction instruction vector, a correction instruction corresponding to the first controlled variable is a boiler main control correction instruction, and a final control instruction corresponding to the first controlled variable is a fuel set value; the controller corresponding to the second controlled variable is a middle point temperature controller, the control instruction corresponding to the second controlled variable is a water supply main control instruction output by the middle point temperature controller, the preset correction instruction vector corresponding to the second controlled variable is a water supply main control correction instruction vector, the correction instruction corresponding to the second controlled variable is a water supply main control correction instruction, and the final control instruction corresponding to the second controlled variable is a water supply set value.
7. The control method of the multivariable coupling control system according to claim 5, wherein the n controlled variables in the step 1) comprise main steam pressure of the thermal power generating unit as a first controlled variable, intermediate point temperature as a second controlled variable and smoke oxygen content as a third controlled variable, the intermediate point temperature is steam outlet steam temperature of a steam-water separator of the supercritical thermal power generating unit, a controller corresponding to the first controlled variable is a main steam pressure controller, a control instruction corresponding to the first controlled variable is a boiler main control instruction output by the main steam pressure controller, a preset correction instruction vector corresponding to the first controlled variable is a boiler main control correction instruction vector, a correction instruction corresponding to the first controlled variable is a boiler main control correction instruction, and a final control instruction corresponding to the first controlled variable is a fuel set value; the controller corresponding to the second controlled variable is a middle point temperature controller, the control instruction corresponding to the second controlled variable is a water supply main control instruction output by the middle point temperature controller, the preset correction instruction vector corresponding to the second controlled variable is a water supply main control correction instruction vector, the correction instruction corresponding to the second controlled variable is a water supply main control correction instruction, and the final control instruction corresponding to the second controlled variable is a water supply set value; the controller corresponding to the third controlled variable is an oxygen content controller, the control instruction corresponding to the third controlled variable is a total air volume instruction output by the oxygen content controller, the preset correction instruction vector corresponding to the third controlled variable is a total air volume control correction instruction vector, the correction instruction corresponding to the third controlled variable is a total air volume control correction instruction, and the final control instruction corresponding to the third controlled variable is a total air volume set value.
8. A control system for a multivariable coupled control system comprising a microprocessor and a memory interconnected, wherein the microprocessor is programmed or configured to perform the steps of the control method for a multivariable coupled control system of any one of claims 1-7.
9. A computer readable storage medium having stored therein a computer program programmed or configured to perform a control method of the multivariable coupled control system of any one of claims 1-7.
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