CN115480478A - DMC-PID-based constant-speed variable-temperature process control method - Google Patents
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Abstract
The invention provides a constant-speed and variable-temperature process control method based on a DMC-PID technology. Aiming at the nonlinear characteristic of the heating furnace, based on the characteristic that the PID controller can improve the dynamic response of the controlled object, the PID controller is adopted in the control system secondary loop to reform the controlled object into a linear generalized object. And acquiring a system step response model based on the generalized object. Aiming at the problem of poor tracking performance in the control process, based on the characteristics of DMC algorithm advance predictability and optimal control, a DMC controller is adopted in a main loop to control a generalized linear object consisting of a PID controller and a heating furnace, static-error-free control is realized, the problem of slow system response in the initial stage of temperature rise control is solved, and the adjusting time is shortened. The invention can improve the tracking characteristic of the control process, effectively reduce the static error and improve the response speed of the system.
Description
Technical Field
The invention relates to a constant-speed variable-temperature process control method based on a DMC-PID technology, and belongs to the field of process control.
Background
The temperature rise process is stable without overshoot, and has important significance for accurately controlling the temperature and the temperature change rate of the heating furnace. At present, the most common algorithm and control unit for controlling the temperature of the heating furnace is a PID control module. The PID control is simple to apply and easy to realize, but the parameter setting of the controller is difficult, and the control effect on the controlled object with strong nonlinearity is poor. The PID control has the problems that in the constant-speed temperature rise control process, the temperature tracking performance is poor due to the fact that static difference exists between a measured value and a set value, the static difference between the measured value and the set value can influence the response effect of the heating furnace in the initial stage and the final stage of the temperature rise process, the linearity of a temperature rise curve is poor in the initial stage, and the maximum temperature value required by an experiment cannot be achieved in the final stage.
Disclosure of Invention
Aiming at the problems of poor tracking performance and poor control performance of the control method in the constant-speed heating process of the heating furnace, the invention provides a DMC-PID control device in the constant-speed heating process of the heating furnace.
The technical scheme adopted by the invention for realizing the purpose is as follows: a DMC-PID-based constant-speed and variable-temperature process control method controls the temperature of a heating furnace through a predictive control algorithm, and comprises the following steps:
forming a PID controller and a heating furnace into a generalized object, and constructing a prediction controller;
obtaining an input set value of a PID controller through a predictive controller;
and the PID controller controls the temperature of the heating furnace according to the input set value and the measured actual temperature value.
The PID controller and the heating furnace form a generalized object, and the PID parameter is set by adopting a critical proportion method.
The construction of the prediction model comprises the following steps:
forming a PID controller and a heating furnace into a generalized object, and obtaining a dynamic matrix A = { a } of a predictive controller model by adopting a finite impulse response test 1 ,a 2 ,…,a N The sampling period is selected to accord with Shannon theorem, so that the parameters of the predictive controller completely describe the dynamic information of the heating furnace, a i Representing the ith step response coefficient, i =1 … N, N represents the model length, the model length is greater than the adjusting time of the controlled object heating furnace, and measuringObtaining a lag time value t d (ii) a Setting a linear heating rate v, making a linear heating track, and maintaining the room temperature for a set value for more than 2 times t d Then increases linearly at a v-rate; and completing the construction of the prediction controller.
The method for obtaining the input set value of the PID controller through the predictive controller comprises the following steps:
according to the predictive controller and the temperature predictive control increment delta u at the current k moment M (k) Initial output predicted value at current time
Obtaining the output predicted value of the next time
Measuring the actual temperature output value y (k) at the same time, and obtaining a prediction error e by subtracting the actual temperature output value y (k) from the actual temperature output value y (k);
correcting the output predicted value by the prediction error, wherein the corrected output predicted value is
h is an N-dimensional correction vector, and the values are all 1;
and obtaining an initial output predicted value at the next moment after the shift operation is carried out:
wherein S is a shift matrix;
function of performance optimization
The first term is an output error coefficient which is the sum of squares of the linear heating set value and an output predicted value; the second term is a control increment coefficient which is the square sum of the control increments; minimizing two performance indexes of the output error coefficient and the control increment coefficient, and calculating the optimal control increment
The diagonal matrix Q, R formed by the weight coefficients is respectively called an error weight matrix and a control weight matrix;
form the actual control quantity u at the next moment 1 (k+1)＝u 1 (k)+Δu M (k + 1) as an input set value of the PID controller.
The PID controller controls the temperature of the heating furnace according to the input set value and the measured actual temperature value, and comprises the following steps:
the PID controller obtains the control quantity u of the heating mechanism according to the input set value and the measured actual temperature value 2 So that the heating mechanism performs a heating operation for the heating furnace.
A DMC-PID-based constant-speed variable-temperature process control device comprises a memory and a processor; the memory for storing a computer program; the processor is used for realizing a DMC-PID-based constant-speed and variable-temperature process control method when executing the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a DMC-PID based constant speed temperature varying process control method.
The invention has the following beneficial effects and advantages:
a PID controller is adopted in a control system secondary loop, the dynamic response characteristic of a controlled object is improved, the linearity of the controlled object is effectively improved, and a generalized object consisting of the PID controller and a heating furnace can be obtained as a linear object through a step response test. By adopting the DMC controller in the main loop, the non-static control of a generalized linear object consisting of the PID controller and the heating furnace can be realized. Finally, a feedforward controller is introduced, and the slow change of the control quantity in the initial stage is improved through feedforward compensation, so that the adjusting time of the control system is shortened. The invention has the advantages of high control precision, good set value tracking performance, capability of reducing initial effective temperature and expanding effective temperature range.
Drawings
FIG. 1 is a schematic structural diagram of a DMC-PID control device in a constant-speed heating process of a heating furnace;
FIG. 2 is a schematic diagram of a DMC-PID control device in a constant-speed heating process of a heating furnace;
FIG. 3 is a diagram of a DMC-PID control method in a constant temperature rise process of a heating furnace;
FIG. 4 is a flow chart of DMC-PID control method in the constant-speed heating process of the heating furnace.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples.
As shown in fig. 1, a control apparatus for precisely controlling a temperature change rate of a heating furnace, comprising: the device comprises an input and output unit, an embedded DMC-PID control unit and an execution unit.
The input and output unit comprises a temperature sensor, an A/D conversion short circuit and anti-interference circuit and a filter circuit. The thermal resistors and the thermocouples are connected with an A/D conversion circuit to convert signals of the thermal resistors and the thermocouples into voltage and current signals, the output end of the A/D conversion circuit is connected with an anti-interference circuit to realize anti-surge, anti-series mode, anti-common mode, anti-periodic drop, anti-static, anti-group pulse and the like, and the filter circuit transmits pure digital signals to the DMC-PID control unit; and the given control signal calculated by the embedded DMC-PID control unit is output to the execution unit through current output, voltage pulse output and a relay.
The execution unit comprises a phase modulation control module for controlling heating of the heating wire and a relay control module for controlling liquid nitrogen cooling, the phase modulation control module comprises a main loop silicon controlled rectifier and a phase-shifting control circuit, and the relay control module comprises a relay and an electromagnetic valve. The control quantity of the heating controller is converted into 4-20mA/0-10mA/0-20mA current by a phase modulation control module, the voltage of the trigger circuit is subjected to power modulation heating, and the temperature control effect is realized by changing the heating power of the heating wire.
The DMC-PID control unit comprises an SPI interface, a filter, a DMC-PID control core algorithm controller and a PWM module. Conventional parameters enter a control unit through an SPI interface, enter a control algorithm core controller after being filtered by a filter, a DMC-PID algorithm in a chip is automatically completed, manual control is used for starting process control, a commissioning phase or when the system is abnormal, valve position output is manually adjusted until the abnormality is eliminated, and then automatic control is switched.
The DMC-PID control algorithm of the heating furnace in the constant-speed heating process adopts a cascade control method of a main loop DMC controller and a secondary loop PID controller.
The main loop DMC controller is characterized in that the controlled object is a generalized object composed of a PID controller and a heating furnace, and the input of the controller is a linear heating set value w p I.e. temperature setting reference trajectory, output as temperature predicted control quantity u 1 And a dynamic matrix predictive control algorithm is adopted. The controller comprises a step response model of the generalized object, feedback correction and rolling optimization based on a reference track.
The auxiliary loop PID controller is characterized in that the controlled object is a heating furnace, and the controller input is a main loop temperature prediction control quantity u 1 The output is the control quantity u of the heating mechanism 2 The algorithm adopts a proportional-integral-derivative algorithm.
The DMC-PID control method for the constant-speed heating process of the heating furnace comprises the following steps:
(1) Designing a secondary loop PID controller, and setting PID controller parameters.
(2) The PID controller and the heating furnace in the step (1) form a generalized object, and step response test is carried out on the generalized object to obtain a prediction model of the generalized object and a lag time value t d (ii) a And (4) according to the lag time and the linear heating rate, establishing a linear heating track, namely a linear heating set value at each moment.
(3) Predicting the control quantity u according to the prediction model and the temperature 1 Calculating the output predicted value at the next moment, and measuring the actual temperature output value at the current momentMaking a difference to obtain a prediction error;
(4) Correcting the output predicted value by the prediction error;
(5) And optimizing the performance index. The output error coefficient is the square sum of the linear heating set value and the output predicted value, and the control increment coefficient is the control increment square sum. Minimizing two performance indexes of an output error coefficient and a control increment coefficient, calculating an optimal control increment, and taking the control increment at the current moment to form an actual control quantity as an input set value of a PID controller;
(6) The PID controller calculates and obtains the control quantity u of the heating mechanism 2 The heating mechanism performs heating operation for the heating furnace;
(7) And (5) repeating the steps (3) to (6) until the temperature rising process is finished.
The invention takes a certain type of heating furnace constant-speed temperature rise process based on a phase modulation type voltage regulation control heating mechanism of an electric heating wire as an example. The DMC-PID control method for the constant-speed heating process of the heating furnace is explained in a specific implementation mode, and other forms of controllers can be popularized according to the method.
The predictive control algorithm is an optimal control algorithm, and one performance index is minimized in each control period, so that an optimal control law is obtained. The control quantity obtained by the rolling optimization is an optimal solution under the condition of pursuing the minimum set value and the minimum predicted value to a certain extent. Therefore, the predictive control algorithm can reduce the static difference between the set value and the output value, and realize the non-static difference control. Therefore, the main controller is designed to be a prediction controller, and the tracking characteristic of the system is improved. The parameters of the main controller DMC controller are selected according to the processor capacity of the device, the model time domain N =200, the prediction time domain P =200, and the control time domain M =100.
The method comprises the following implementation steps:
(1) And designing a secondary loop PID controller, and firstly controlling a comprehensive nonlinear controlled object of a phase modulation type voltage regulator heating mechanism and a room temperature low convection temperature transfer model through PID to form a generalized linear object. And setting PID parameters for the controller by adopting a critical proportion method.
(2) The PID controller and the heating furnace in the step (1) form a generalized pairSuch as a mouse. Obtaining a model vector A = { a ] by adopting a finite impulse response test 1 ,a 2 ,…,a N And selecting a sampling period according with Shannon's theorem, requiring that the prediction model parameters describe the dynamic information of the controlled object as completely as possible, so that N is 200, the model step length is 0.25s, and the measured lag time value t d (ii) a Setting a linear heating rate v, making a linear heating track, and maintaining the room temperature for a set value for more than 2 times t d And then increases linearly at the v rate.
(3) Predicting and controlling the increment delta u according to the prediction model and the temperature at the current k moment M (k) Initial output predicted value at current time
Calculating the output predicted value at the next time
Measuring the actual temperature output value y (k) at the same time, and obtaining a prediction error e by subtracting the actual temperature output value y (k) from the actual temperature output value y (k);
(4) Correcting the output predicted value by the prediction error, wherein the corrected output predicted value is
h is an N-dimensional correction vector, and the values are all 1.
And obtaining an initial output predicted value at the next moment after the shift operation is carried out:
where S is a shift matrix.
(5)
The first term is an output error coefficient which is the square sum of the linear heating set value and an output predicted value; the second term is the control increment coefficient, which is the control increment sum of squares. Minimizing two performance indexes of the output error coefficient and the control increment coefficient, and calculating the optimal control increment
The diagonal matrix Q, R formed by the weight coefficients are referred to as the error weight matrix and the control weight matrix, respectively.
Form the actual control quantity u at the next moment 1 (k+1)＝u 1 (k)+Δu M (k + 1) as an input set value of the PID controller;
(6) The PID controller calculates and obtains the control quantity u of the heating mechanism 2 (k) The heating mechanism performs heating operation for the heating furnace;
(7) And (5) repeating the steps (3) to (6) until the temperature rise process is finished.
Claims (7)
1. A DMC-PID-based constant-speed temperature-changing process control method is characterized in that the temperature of a heating furnace is controlled through a predictive control algorithm, and the method comprises the following steps:
forming a PID controller and a heating furnace into a generalized object, and constructing a prediction controller;
obtaining an input set value of a PID controller through a prediction controller;
and the PID controller controls the temperature of the heating furnace according to the input set value and the measured actual temperature value.
2. The DMC-PID-based constant-speed and variable-temperature process control method according to claim 1, wherein the PID controller and the heating furnace form a generalized object, and a critical proportionality method is used to adjust the PID parameters.
3. The DMC-PID based constant speed temperature change process control method according to claim 1, wherein: the construction of the prediction model comprises the following steps:
control PIDThe system and the heating furnace form a generalized object, and a dynamic matrix A = { a } of a predictive controller model is obtained by adopting a finite impulse response test 1 ,a 2 ,…,a N The sampling period is selected to accord with Shannon theorem, so that the parameters of the predictive controller completely describe the dynamic information of the heating furnace, a i The step response coefficient of the ith is shown, i =1 … N, N represents the length of a model, the length of the model is larger than the adjusting time of a heating furnace of a controlled object, and a measured lag time value t d (ii) a Setting a linear heating rate as v, making a linear heating track, and maintaining the room temperature for a set value for more than 2 times t d Then increases linearly at a v-rate; and completing the construction of the prediction controller.
4. The DMC-PID based constant speed temperature change process control method according to claim 1, wherein the obtaining of the input set point of the PID controller by the predictive controller comprises the steps of:
according to the predictive controller and the temperature predictive control increment delta u at the current k moment M (k) Initial output predicted value at current time
Obtaining the output predicted value of the next time
Measuring the actual temperature output value y (k) at the same time, and obtaining a prediction error e by subtracting the actual temperature output value y (k) from the actual temperature output value y (k);
correcting the output predicted value by the prediction error, wherein the corrected output predicted value is
h is an N-dimensional correction vector, and the values are all 1;
and obtaining an initial output predicted value at the next moment after the shift operation is carried out:
wherein S is a shift matrix;
function of performance optimization
The first term is an output error coefficient which is the square sum of the linear heating set value and an output predicted value; the second term is a control increment coefficient which is the square sum of the control increments; minimizing two performance indexes of the output error coefficient and the control increment coefficient, and calculating the optimal control increment
The diagonal matrix Q, R formed by the weight coefficients is respectively called an error weight matrix and a control weight matrix;
form the actual control quantity u at the next moment 1 (k+1)＝u 1 (k)+Δu M (k + 1) as an input set value of the PID controller.
5. The DMC-PID based constant speed temperature varying process control method according to claim 1, wherein the PID controller controls the temperature of the heating furnace according to the input set value and the measured actual temperature value, comprising the steps of:
the PID controller obtains the control quantity u of the heating mechanism according to the input set value and the measured actual temperature value 2 So that the heating mechanism performs a heating operation for the heating furnace.
6. A DMC-PID-based constant-speed and variable-temperature process control device is characterized by comprising a memory and a processor; the memory for storing a computer program; the processor, when executing the computer program, is configured to implement a DMC-PID based constant speed temperature swing process control method according to any of claims 1-5.
7. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, carries out a DMC-PID based constant speed temperature change process control method according to any one of claims 1 to 5.
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| CN103676651A (en) * | 2013-12-02 | 2014-03-26 | 国家电网公司 | Method for predicting and controlling steam temperatures of boilers on basis of state observation model |
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