CN115007303B - Predictive control method and storage medium for roller press pre-grinding system - Google Patents
Predictive control method and storage medium for roller press pre-grinding system Download PDFInfo
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- CN115007303B CN115007303B CN202210705415.3A CN202210705415A CN115007303B CN 115007303 B CN115007303 B CN 115007303B CN 202210705415 A CN202210705415 A CN 202210705415A CN 115007303 B CN115007303 B CN 115007303B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C25/00—Control arrangements specially adapted for crushing or disintegrating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C23/00—Auxiliary methods or auxiliary devices or accessories specially adapted for crushing or disintegrating not provided for in preceding groups or not specially adapted to apparatus covered by a single preceding group
- B02C23/18—Adding fluid, other than for crushing or disintegrating by fluid energy
- B02C23/20—Adding fluid, other than for crushing or disintegrating by fluid energy after crushing or disintegrating
- B02C23/22—Adding fluid, other than for crushing or disintegrating by fluid energy after crushing or disintegrating with recirculation of material to crushing or disintegrating zone
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The application relates to a predictive control method and a storage medium of a roller press pre-grinding system, which comprise the steps of eliminating high-frequency noise of roller press current through moving average; the effective adjusting range of the inclined plugboard adjustment and the response of the roller press current caused by the inclined plugboard adjustment are inspected through step test of the electric inclined plugboard; based on the test result, modeling a control system of the roller press in an effective adjustment range of the inclined plugboard; the opening degree of the inclined plugboard of the roller press is controlled by a model predictive control algorithm, and deviation accumulation is carried out; in order to prevent the damage of frequent actions to the electric actuator, a dead zone for adjusting the inclined plug board is preset, and when the accumulated value of the control deviation is larger than the preset dead zone value, the control deviation value is acted on the electric actuator of the inclined plug board. The application can ensure the work of the roller press pre-grinding system and simultaneously take the purpose of fine powder separation into consideration. Meanwhile, the automatic operation, the control precision improvement, the yield improvement and the consumption reduction can be realized, and the labor intensity of operators can be reduced.
Description
Technical Field
The application relates to the technical field of automatic control, in particular to a predictive control method and a storage medium of a roller press pre-grinding system.
Background
The roller press pre-grinding system is the most commonly used process configuration in the current grinding system, and has the advantages of high yield, low power consumption, excellent quality, convenient operation and the like. As the most important host equipment in the roller press pre-grinding system, the high-efficiency acting of the roller press directly influences the productivity and the power consumption of the pre-grinding system. The adjustment of the work of the roller press is completed by adjusting the opening degree of the symmetrical electric inclined plugboard arranged above the roller press. The adjustment of the opening of the inclined plugboard can control the feeding quantity of the roller press system, and further realize the adjustment of work done by the roller press. The conventional control method is that an operator manually adjusts the opening of the feeding inclined plugboard based on the current of the roller press in the DCS system, so that the feeding amount of the roller press is adjusted.
The stable and efficient working of the roller press is the key place of the grinding system for improving the yield and reducing the consumption, a central control operator controls the quantity of materials entering the roller press by adjusting the opening degree of a symmetrical electric inclined plugboard arranged above the roller press, and further the roller press is regulated in working, and the concrete analysis is as follows:
| sequence number | Content investigation | A state of A | B state | C state |
| 1 | Roller press current | Larger size | Smaller size | Moderate to moderate |
| 2 | Work done by roller press | Higher height | Lower level | Moderate to moderate |
| 3 | System feed amount | More than that | Less and less | Moderate to moderate |
| 4 | Size of cake | Larger size | Smaller size | Moderate to moderate |
| 5 | Difficulty of breaking up the cake | Higher height | Lower level | Lower level |
| 6 | Difficulty in sorting fine powder | Higher height | Lower level | Lower level |
| 7 | Separating the fine powder | Less and less | Less and less | More than that |
| 8 | Rolling machine energy consumption | Higher height | Lower level | Moderate to moderate |
| 9 | Overall energy efficiency | Lower level | Lower level | Higher height |
When the system is in the a state: the roller press has larger current, higher acting and larger feeding amount, and the treated material cakes are larger, and although sufficient materials are provided for a sorting link, the large material cakes are not easy to break up after entering V-sorting through a circulating lifter, and fine powder is not easy to sort to the next working procedure;
when the system is in the B state: the roller press has the advantages that the current is smaller, the acting is lower, the feeding amount is smaller, the treated material cakes are smaller, the material cakes are easy to break up after entering the V-type separator through the circulating lifter, and the fine powder is easy to separate into the next working procedure, but the amount of the fine powder which can be separated is also small due to the smaller material cakes;
when the system is in the C state: the roller press has the advantages of moderate current, moderate acting, moderate feeding quantity, moderate treated cake, moderate breaking difficulty and moderate fine powder sorting difficulty after the cake enters V-type through a circulating lifter, and can sort more fine powder.
The existing control method mainly relies on an operator to manually adjust in a central control DCS system, the mode needs the operator to pay close attention to the change trend of the current of the roller press, and meanwhile, the effective adjustment range of the electric inclined plugboard is considered, so that the adjustment is timely and effective while the effective range is not exceeded.
However, because the current signal in the DCS system has larger high-frequency noise, an operator can hardly grasp the change trend of the current of the roller press in time; at the same time, the bevel board is driven by an electric actuator, which has an inherent dead zone, and the operator cannot guarantee that each operation can be applied to the field device. Therefore, the manual operation is easy to cause the problems of control lag, low precision, large system fluctuation, low system yield, high power consumption per unit production and the like.
Disclosure of Invention
The application provides a predictive control method of a roller press pre-grinding system, which can solve the technical problems.
In order to achieve the above purpose, the present application adopts the following technical scheme:
a predictive control method of a roller press pre-grinding system comprises the following steps: the advanced process control server is utilized to read and write the technological process parameters of the roller press pre-grinding system in the distributed control system DCS in an OPC communication mode, and then the method is carried out according to the following steps:
firstly, eliminating high-frequency noise of the current of the roller press through moving average;
further, by step test of the electric inclined plugboard, the effective adjusting range of the inclined plugboard adjustment and the response of the roller press current caused by the inclined plugboard adjustment are inspected;
then, based on a test result, modeling a control system of the roller press in an effective adjustment range of the inclined plugboard;
finally, a model predictive control algorithm is used for accumulating control deviation of the opening of the inclined plugboard of the roller press; in order to prevent the damage of frequent actions to the electric actuator, a dead zone for adjusting the inclined plug board is preset, and when the accumulated value of the control deviation is larger than the preset dead zone value, the control deviation value is acted on the electric actuator of the inclined plug board.
Further, the method specifically comprises the following steps,
s1, acquiring a roller press current and an electric inclined plugboard opening degree from a distributed control system DCS;
s2, obtaining average current of the roller press through moving average; the effective adjusting range of the inclined plugboard is obtained through the adjusting test of the electric inclined plugboard;
s3, fine tuning the electric inclined plugboard in the adjusting range of the electric inclined plugboard, and determining the dead zone of the electric inclined plugboard actuator;
s4, in the adjusting range of the electric inclined plugboard, performing step test on the electric inclined plugboard, and determining the pure lag time and the inertia process duration time of the average current change of the roller press caused by adjustment of the electric inclined plugboard;
s5, determining the prediction time domain length of the prediction control system according to the pure lag time and the inertia process duration, and determining the control time domain length of the prediction control system according to the response speed of the system;
s6, in the predicted time domain length and the control time domain length, establishing and solving an optimization objective function to obtain the control deviation of the opening degree of the optimized electric inclined plugboard in the control time domain length;
s7, accumulating control deviation of the opening degree of the electric inclined plugboard;
s8, judging whether the control deviation accumulated quantity of the opening degree of the electric inclined plugboard exceeds the dead zone of an actuator of the electric inclined plugboard, if so, executing S9, and if not, returning to S6;
s9, calculating the sum of the current opening of the electric inclined plugboard and the control deviation accumulation amount thereof, executing S10, setting the control deviation accumulation amount of the electric inclined plugboard to zero, and continuously returning to S6 to calculate the control deviation;
s10, judging whether the sum of the current opening of the electric inclined plugboard and the cumulative amount of control deviation exceeds an effective adjusting range;
s11, if the sum is smaller than the lower limit of the effective adjusting range, taking the lower limit as a control output; if the sum is greater than the upper limit of the effective adjustment range, taking the upper limit as a control output; if the sum is between the upper and lower limits, the sum is taken as the control output.
Further, the subdivision step of the step S4 is as follows:
according to the deviation range between the feedback value and the set value of the average current of the roller press in the prediction time domain and the variation range of the opening of the electric inclined plugboard in the control time domain, an optimization objective function at the moment t is established;
specifically, the objective function established is:
wherein: y is a predicted value of average current of the roller press, w is a set value of average current of the roller press, deltau is an adjustment variation of the opening of the electric inclined plugboard, lambda is a weight factor of the adjustment of the opening of the electric inclined plugboard, and j is the number of control steps of the control loop;
according to the established optimization objective function, obtaining the optimized electric inclined plugboard opening change quantity delta u in the time domain controlled at the time t t ,Δu t+1 ,…,Δu t+M 。
Further, in the step S7, the cumulative amount of the opening of the electric bevel board is:
further, the data read from the distributed control system DCS includes: the rotational speed, frequency of the device; opening of the valve; current and vibration of the host; the temperature of the clinker; total feed to the system.
Further, step S5 specifically includes predicting a time domain N from a minimum pure delay step number d to a maximum of each loop, and determining, according to the desired control loop response speed, a control time domain as: from 0 to the maximum control time domain M.
Further, the opening degree of the next electric bevel board calculated in step S9 is: u (u) t ＝u t-1 +∑Δu t 。
In yet another aspect, the application also discloses a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of the method as described above.
According to the technical scheme, the predictive control method of the roller press pre-grinding system applies advanced process control and expert control algorithm to the control of the roller press:
firstly, eliminating high-frequency noise of the current of the roller press through moving average; further, by step test of the electric inclined plugboard, the effective adjusting range of the inclined plugboard adjustment and the response of the roller press current caused by the inclined plugboard adjustment are inspected; then, based on a test result, modeling a control system of the roller press in an effective adjustment range of the inclined plugboard; finally, a model predictive control algorithm is used for accumulating control deviation of the opening of the inclined plugboard of the roller press; in order to prevent the damage of frequent actions to the electric actuator, a dead zone for adjusting the inclined plug board is preset, and when the accumulated value of the control deviation is larger than the preset dead zone value, the control deviation value is acted on the electric actuator of the inclined plug board.
The application can achieve the following steps: the aim of sorting fine powder is achieved while the work of a roller press pre-grinding system is ensured. Meanwhile, the automatic operation, the control precision improvement, the yield improvement and the consumption reduction can be realized, and the labor intensity of operators can be reduced.
The application has the following advantages:
stability: the adjustment of the processing capacity of the roller press is greatly changed from low frequency to high frequency and small amplitude through the application of an advanced process control system, so that key process parameters are stabilized, and the stability of system operation and product quality is improved;
yield is improved: the cake produced by the roller press is moderate, the cake scattering difficulty is low, the fine powder sorting difficulty is low, and the system yield is improved;
the loss is reduced: the increase of the system output reduces the power consumption of unit products, and achieves the purposes of saving electricity and reducing CO2 emission;
labor is saved: the input of the control system can improve the consistency of production control and reduce the working strength of operators, so that operators can be liberated from repeated production operation, one operator can carry out production control of a plurality of sets of grinding systems, and the labor cost is saved for enterprises.
Drawings
FIG. 1 is a block diagram of a roller press pre-grinding system of the present application;
FIG. 2 is a schematic diagram of a control method of the present application;
FIG. 3 is a graph of the current of the roller press without the present method;
fig. 4 is a graph of the current of the roller press when the method is applied.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application.
As shown in fig. 1, the predictive control method of the roller press pre-grinding system according to the embodiment includes:
specifically, the technological process of the roller press pre-grinding system is shown in the above chart, and the chart comprises the following steps: 1 is a batching belt; 2 is a weighing bin; 3 is a manual stick valve; 4 is a pneumatic valve; 5 is a roller press; 6 is a cake elevator; 7 is a V-shaped powder concentrator; 8 is a powder concentrator; 9 is a cyclone; 10 is a flap valve; 11 is a circulating fan; 12 is an air release dust collector; 13 is a wind discharging dust collecting fan; 14 is an iron remover.
The process flow is as follows:
raw materials of a roller press pre-grinding system are conveyed to a roller press cake lifting machine by a batching belt, then are conveyed into V-shaped powder selecting (V-selecting) for dispersion and classification, fine powder enters the powder selecting machine along with air flow for secondary classification, coarse materials return to a weighing bin for secondary extrusion, fine materials are further separated by the powder selecting machine, fine powder is brought into a cyclone along with air flow for collection, and coarse powder also returns to the weighing bin of the roller press for re-extrusion. The cyclone cylinder collects fine powder and sends the fine powder to the subsequent working procedure through a chute, namely the finished product of the roller press pre-grinding system. The wind used in the whole roller press pre-grinding system is led by a circulating fan, most of the dust-containing wind after the dust collection of the cyclone cylinder passes through the circulating fan and then returns to the V for internal circulation, and the small part of the dust-containing wind is led into a wind-discharging dust collector and the fan for treatment, the collected dust is ground in a mill, and the waste gas is discharged to the atmosphere.
Firstly, an advanced process control server reads and writes technological process parameters in a DCS (distributed control system) in an OPC (optical proximity correction) communication mode. The data read from the DCS system includes: the rotational speed, frequency of the device; opening of the valve; current and vibration of the host; the temperature of the clinker; total feed of the system, etc.
S1, acquiring a roller press current and an electric inclined plugboard opening degree from a distributed control system DCS;
in practical application, the current of the roller press is detected by a current transformer and an ammeter which are arranged on a medium-voltage cabinet feeding the roller press, and is transmitted to a DCS system in the form of analog quantity; the opening of the electric inclined plugboard is the opening of the electric actuator, and the numerical value enters the DCS system in the form of analog quantity.
S2, obtaining average current of the roller press through moving average; the effective adjusting range of the inclined plugboard is obtained through the adjusting test of the electric inclined plugboard;
specifically, because of the grindability and the fluctuation of granularity of the raw materials, the roller press current has large high-frequency noise, so that the roller press current needs to be subjected to sliding average; because the adjusting range of the electric inclined plugboard has an effective area, the adjusting of the electric inclined plugboard has a linear relation to the average current of the roller press in the effective area, and the adjusting of the electric inclined plugboard has little influence to the average current of the roller press after exceeding the effective area, so that the effective adjusting range is required to be determined to be between a and b in order to ensure the effectiveness of control.
S3, fine tuning the electric inclined plugboard in the adjusting range of the electric inclined plugboard, and determining the dead zone of the electric inclined plugboard actuator;
in particular, to prevent the damage to the electric actuator from frequent movements, the electric actuator has an inherent dead zone. Firstly, the size of a dead zone c of the electric actuator is determined through a fine tuning test, and the change amount of control output is required to be larger than c to cause the change of the opening degree of the electric actuator.
S4, in the adjusting range of the electric inclined plugboard, performing step test on the electric inclined plugboard, and determining the pure lag time and the inertia process duration time of the average current change of the roller press caused by adjustment of the electric inclined plugboard;
specifically, the pure lag time and the inertia process duration of the average current change of the roller press caused by the change of the opening degree of the electric inclined plugboard are determined by observing the response curve of the average current of the roller press.
S5, determining the prediction time domain length of the prediction control system according to the pure lag time and the inertia process duration, and determining the control time domain length of the prediction control system according to the response speed of the system;
specifically, in this embodiment, from the minimum pure delay step number d to the maximum prediction time domain N of each loop, and according to the expected control loop response speed, the control time domain is determined as follows: from 0 to the maximum control time domain M.
S6, in the predicted time domain length and the control time domain length, establishing and solving an optimization objective function to obtain the control deviation of the opening degree of the optimized electric inclined plugboard in the control time domain length;
the subdivision step of step S4 is as follows:
according to the deviation range between the feedback value and the set value of the average current of the roller press in the prediction time domain and the variation range of the opening of the electric inclined plugboard in the control time domain, an optimization objective function at the moment t is established;
specifically, the objective function established is:
wherein: y is a predicted value of average current of the roller press, w is a set value of average current of the roller press, deltau is an adjustment variation of the opening of the electric inclined plugboard, lambda is a weight factor of the adjustment of the opening of the electric inclined plugboard, and j is the number of control steps of the control loop.
In practical application, in order to ensure the stability, the rapidness and the accuracy of the operation of the control system, the deviation range between the feedback value and the set value of the average current of the roller press in the prediction time domain is required to be set as small as possible, and the variation range of the opening of the electric inclined plugboard is controlled as small as possible in the control time domain.
And obtaining the opening variable quantity of the optimized electric inclined plugboard in the time domain controlled at the time t according to the established optimization objective function.
Specifically, the obtained electric bevel board opening degree variation optimized in the time domain of t time control is deltau t ,Δu t+1 ,…,Δu t+M 。
S7, accumulating control deviation of the opening degree of the electric inclined plugboard;
specifically, the cumulative amount of the electric bevel board opening is:
s8, judging whether the control deviation accumulated quantity of the opening degree of the electric inclined plugboard exceeds the dead zone of an actuator of the electric inclined plugboard, if so, executing S9, and if not, returning to S6;
specifically, the cumulative amount of the electric bevel board opening is Δu t >c, S9 is performed, otherwise q=q+1, Δu t And continuing to accumulate.
S9, calculating the sum of the current opening of the electric inclined plugboard and the control deviation accumulation amount thereof, executing S10, setting the control deviation accumulation amount of the electric inclined plugboard to zero, and continuously returning to S6 to calculate the control deviation;
specifically, the calculated opening of the next step of electric inclined plugboard is: u (u) t ＝u t-1 +∑Δu t 。
S10, judging whether the sum of the current opening of the electric inclined plugboard and the cumulative amount of control deviation exceeds an effective adjusting range;
s11, if the sum is smaller than the lower limit of the effective adjusting range, taking the lower limit as a control output; if the sum is greater than the upper limit of the effective adjustment range, taking the upper limit as a control output; if the sum is between the upper and lower limits, the sum is taken as the control output.
Specifically: when u is t When a is less than or equal to a, u t =a; when u is t When not less than b, u t =b; when a is<u t <b is u t ＝u t 。
The significance of the design of the current loop of the roller press is mainly to stabilize the roller press to do work, so that the phenomenon that a cake is difficult to break up and electric energy is wasted caused by excessive grinding is avoided, as shown by the manual curve of fig. 3, the roller press current around 85A cannot bring more capacity rise, but the power consumption of a working procedure is increased, so that the method is unnecessary. The same current of about 75A may result in insufficient roll squeezer output and a decrease in throughput.
If the curve in fig. 4 is in an automatic control state, the output of the roller press is always stabilized at about 80A, and the roller press can be adjusted to return to a normal level after larger process fluctuation, so that the good work of the roller press and the easy breaking of a cake are both considered.
In summary, the embodiment of the application can achieve: the aim of sorting fine powder is achieved while the work of a roller press pre-grinding system is ensured. Meanwhile, the automatic operation, the control precision improvement, the yield improvement and the consumption reduction can be realized, and the labor intensity of operators can be reduced.
In yet another aspect, the application also discloses a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of any of the methods described above.
In yet another aspect, the application also discloses a computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of any of the methods described above.
In a further embodiment of the present application, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the steps of any of the methods of the above embodiments.
It may be understood that the system provided by the embodiment of the present application corresponds to the method provided by the embodiment of the present application, and explanation, examples and beneficial effects of the related content may refer to corresponding parts in the above method.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (7)
1. A predictive control method of a roller press pre-grinding system is based on the roller press pre-grinding system and is characterized in that an advanced process control server is utilized to read and write technological process parameters of the roller press pre-grinding system in a distributed control system DCS in an OPC communication mode, and then the method is executed according to the following steps:
firstly, eliminating high-frequency noise of the current of the roller press through moving average;
further, by step test of the electric inclined plugboard, the effective adjusting range of the inclined plugboard adjustment and the response of the roller press current caused by the inclined plugboard adjustment are inspected;
then, based on a test result, modeling a control system of the roller press in an effective adjustment range of the inclined plugboard;
finally, a model predictive control algorithm is used for accumulating control deviation of the opening of the inclined plugboard of the roller press; in order to prevent the damage of frequent actions to the electric actuator, presetting a dead zone for adjusting the inclined plugboard, and applying a control deviation value to the electric actuator of the inclined plugboard when the accumulated value of the control deviation is larger than the preset dead zone value;
the steps are specifically subdivided into:
s1, acquiring a roller press current and an electric inclined plugboard opening degree from a distributed control system DCS;
s2, obtaining average current of the roller press through moving average; the effective adjusting range of the inclined plugboard is obtained through the adjusting test of the electric inclined plugboard;
s3, fine tuning the electric inclined plugboard in the adjusting range of the electric inclined plugboard, and determining the dead zone of the electric inclined plugboard actuator;
s4, in the adjusting range of the electric inclined plugboard, performing step test on the electric inclined plugboard, and determining the pure lag time and the inertia process duration time of the average current change of the roller press caused by adjustment of the electric inclined plugboard;
s5, determining the prediction time domain length of the prediction control system according to the pure lag time and the inertia process duration, and determining the control time domain length of the prediction control system according to the response speed of the system;
s6, in the predicted time domain length and the control time domain length, establishing and solving an optimization objective function to obtain the control deviation of the opening degree of the optimized electric inclined plugboard in the control time domain length;
s7, accumulating control deviation of the opening degree of the electric inclined plugboard;
s8, judging whether the control deviation accumulated quantity of the opening degree of the electric inclined plugboard exceeds the dead zone of an actuator of the electric inclined plugboard, if so, executing S9, and if not, returning to S6;
s9, calculating the sum of the current opening of the electric inclined plugboard and the control deviation accumulation amount thereof, executing S10, setting the control deviation accumulation amount of the electric inclined plugboard to zero, and continuously returning to S6 to calculate the control deviation;
s10, judging whether the sum of the current opening of the electric inclined plugboard and the cumulative amount of control deviation exceeds an effective adjusting range;
s11, if the sum is smaller than the lower limit of the effective adjusting range, taking the lower limit as a control output; if the sum is greater than the upper limit of the effective adjustment range, taking the upper limit as a control output; if the sum is between the upper and lower limits, the sum is taken as the control output.
2. The predictive control method of a roller press pre-grinding system according to claim 1, characterized in that: the subdivision step of the step S4 is as follows:
according to the deviation range between the feedback value and the set value of the average current of the roller press in the prediction time domain and the variation range of the opening of the electric inclined plugboard in the control time domain, an optimization objective function at the moment t is established;
specifically, the objective function established is:
wherein: y is a predicted value of average current of the roller press, w is a set value of average current of the roller press, deltau is an adjustment variation of the opening of the electric inclined plugboard, lambda is a weight factor of the adjustment of the opening of the electric inclined plugboard, j is a control step number of a control loop, N represents a predicted maximum step number of a time domain, M represents a maximum step number of the control time domain, d represents a minimum pure time delay step number of the current time t, and E represents an expected operator;
according to the established optimization objective function, obtaining the optimized electric inclined plugboard opening change quantity delta u in the time domain controlled at the time t t ,Δu t+1 ,…,Δu t+M 。
3. The predictive control method of a roller press pre-grinding system according to claim 2, characterized in that: the cumulative amount of the opening of the electric inclined plugboard in the step S7 is as follows:
wherein u is t The opening degree of the electric inclined plugboard at the moment t is represented, i represents the ith control step, q represents the total number of control steps, and Deltau t Represents the electric bevel board opening degree control deviation of the moment t, deltau ti Represents the opening control deviation of the electric inclined plugboard at the ith control step moment.
4. The predictive control method of a roller press pre-grinding system according to claim 1, characterized in that: the data read from the distributed control system DCS includes: the rotational speed, frequency of the device; opening of the valve; current and vibration of the host; the temperature of the clinker; total feed to the system.
5. The predictive control method of a roller press pre-grinding system according to claim 1, characterized in that: step S5 specifically comprises the steps of from the minimum pure time delay step number d of each loop to the maximum prediction time domain N, and determining the control time domain as follows according to the expected response speed of the control loop: from 0 to the maximum control time domain M.
6. The predictive control method of a roller press pre-grinding system according to claim 2, characterized in that: the opening degree of the next step of electric inclined plugboard calculated in the step S9 is as follows: u (u) t ＝u t-1 +∑Δu t 。
7. A computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of the method of any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210705415.3A CN115007303B (en) | 2022-06-21 | 2022-06-21 | Predictive control method and storage medium for roller press pre-grinding system |
Applications Claiming Priority (1)
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| JPH02157053A (en) * | 1988-07-29 | 1990-06-15 | Babcock Hitachi Kk | Vertical mill control apparatus |
| US5454520A (en) * | 1991-11-01 | 1995-10-03 | F. L. Smidth & Co. A/S | Method for controlling the material feed to a roller press for grinding particulate material |
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