CN116880382B - Chemical production control model generation method, chemical production control method and chemical production control device - Google Patents
Chemical production control model generation method, chemical production control method and chemical production control device Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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Abstract
The application discloses a chemical production control model generation method, a chemical production control method and a chemical production control device, wherein the generation method comprises the following steps: constructing a chemical simulation model for generating chemical product simulation concentration according to at least two production parameters of a chemical production mechanism; constructing a virtual control model, which is used for outputting virtual control quantity to a chemical engineering simulation model according to the target concentration and the error feedback gain so as to adjust production parameters; performing elimination processing of transfer functions on an equivalent control loop between the target concentration and the simulated concentration to generate a closed loop transfer function corresponding to a single production parameter; setting the closed loop parameters of the closed loop transfer function to obtain a parameter setting transfer function, and adjusting the error feedback gain of the virtual control model according to the parameter setting transfer function to generate the target control model. The coupling influence among different production parameters is eliminated through elimination treatment to generate a chemical production control model, so that a closed loop transfer function matrix of the model can more accurately express an actual chemical production process, and the chemical production process can be conveniently controlled through the model.
Description
Technical Field
The application relates to the field of chemical production control, in particular to a chemical production control model generation method, a chemical production control method and a chemical production device.
Background
The chemical production device is used for carrying out chemical production so as to convert the mixture raw materials into chemical products, and takes a rectifying tower as an example: the rectification tower utilizes the different volatilities of the components in the mixture to transfer the light components (low-boiling substances) in the liquid phase into the gas phase, and the heavy components (high-boiling substances) in the gas phase into the liquid phase, so as to realize the separation of the mixture and obtain a separated product.
Specifically, thermodynamic parameters and pressure parameters inside the rectifying tower can greatly influence the concentration of separated products in the chemical production process, different production parameters are mutually coupled and influenced, the high-precision and high-stability control of the rectifying tower is difficult to carry out, and in addition, larger disturbance can occur in the internal state of the chemical production tower in the chemical production process, so that the precision and stability of the control of the rectifying tower by using a traditional controller model are lower, and the parameter setting of the controller model is more complex.
Disclosure of Invention
The application provides a chemical production control model generation method, a chemical production control method and a chemical production device, which aim to eliminate coupling influence among different production parameters in a chemical production process in the establishment process of a model, generate a chemical production control model with high external disturbance resistance, enable a closed-loop transfer function matrix form of the obtained chemical production control model to more accurately express an actual chemical production process so as to realize high-precision and high-stability control, and facilitate the control of the chemical production process through the model so as to obtain the required product concentration.
In a first aspect, the present application provides a method for generating a chemical production control model, which is characterized in that the method includes:
constructing a chemical simulation model according to a chemical production mechanism, wherein the chemical simulation model is used for generating the simulation concentration of chemical products according to at least two production parameters of the chemical production mechanism;
constructing a virtual control model based on the chemical simulation model, wherein the virtual control model is used for generating a virtual control quantity according to the target concentration of the chemical product and the error feedback gain to be subjected to parameter setting, and outputting the virtual control quantity to the chemical simulation model so as to adjust the production parameters in the chemical simulation model;
generating an equivalent control loop between the target concentration and the simulated concentration according to the chemical simulation model and the virtual control model;
performing elimination processing on the control transfer function of the equivalent control loop to generate a closed loop transfer function, wherein the closed loop transfer function only comprises single production parameters;
acquiring a preset target performance index, and performing parameter setting on closed-loop parameters of a closed-loop transfer function according to the target performance index to obtain a fixed parameter transfer function;
and adjusting the error feedback gain of the virtual control model according to the set closed-loop parameters to generate a target control model.
In some embodiments, building a virtual control model based on the chemical simulation model includes:
constructing an observer model according to the chemical simulation model, wherein the observer model is used for receiving the target concentration, observing the simulation concentration according to the observer gain to generate an observed concentration, and generating an observer output according to the target concentration and the observed concentration;
constructing a controller model according to the chemical simulation model, wherein the controller model is used for receiving the output of the observer, and outputting virtual control quantity to the chemical simulation model according to the gain of the controller and the output of the observer so as to adjust production parameters in the chemical simulation model;
a virtual control model is constructed based on the controller model and the observer model, wherein the error feedback gain includes a controller gain and an observer gain.
In some embodiments, generating an equivalent control loop between the target concentration and the simulated concentration from the chemical simulation model and the virtual control model comprises:
converting the virtual control model into a combination of an equivalent filter and an equivalent controller, wherein the equivalent filter is used for outputting filtering concentration to the equivalent controller according to the input target concentration and the transfer function of the equivalent filter, and the equivalent controller is used for outputting virtual control quantity to the chemical simulation model according to the input filtering concentration and the transfer function of the equivalent controller;
Acquiring a chemical simulation model transfer function matrix between a virtual control quantity and a simulation concentration;
and generating an equivalent control loop according to the transfer function matrix of the chemical simulation model, the transfer function of the equivalent filter and the transfer function of the equivalent controller.
In some embodiments, the chemical production facility is configured to produce at least two chemical products, and to perform a degerming process on a control transfer function of the equivalent control loop, comprising:
decoupling the control transfer function to generate a transfer function expression between the target concentration and the simulation concentration of the single chemical product;
multiplying the transfer function expression with a preset elimination matrix to construct a closed loop transfer function between the single production parameter and the product concentration of the single chemical product.
In some embodiments, parameter tuning the closed loop parameters of the closed loop transfer function to obtain a parametric transfer function based on the target performance index comprises:
constructing a closed-loop curve dynamically corresponding to the closed-loop transfer function in a target coordinate system;
generating a target constraint area in a target coordinate system according to a target performance index;
adjusting the closed-loop parameters of the closed-loop transfer function until the closed-loop curve corresponding to the closed-loop transfer function is constrained in the target constraint area;
And taking the closed loop transfer function of the corresponding closed loop curve constraint in the target constraint area as a constant parameter transfer function.
In some implementations, the target performance metrics include a stability metric, a tracking performance metric, and an output disturbance rejection metric, generating a target constraint region from the target performance metrics, including;
constructing a first constraint boundary in a target coordinate system according to the stability index;
constructing a second constraint boundary in a target coordinate system according to the tracking performance index;
constructing a third constraint boundary in a target coordinate system according to the output disturbance suppression index;
in the target coordinate system, a connected domain formed by the first constraint boundary, the second constraint boundary and the third constraint boundary is taken as a target constraint region.
In some embodiments, the closed loop parameters include at least a zero, a pole, and a gain of the closed loop transfer function;
adjusting an error feedback gain of the virtual control model according to the set closed-loop parameters to generate a target control model, comprising:
the corresponding relation of the closed-loop parameters is called, and the zero point, the pole and the gain of the closed-loop transfer function are converted into the error feedback gain of the virtual control model according to the corresponding relation of the closed-loop parameters;
wherein, the corresponding relation of the closed loop parameters is determined according to the process of generating the equivalent control loop.
In some embodiments, after adjusting the error feedback gain of the virtual control model according to the set closed-loop parameters to generate the target control model, the method further comprises:
performing a preset stability test on the target control model to generate test data;
if the target control model passes the stability test, outputting the target control model for calling;
if the target control model fails the stability test, performing parameter setting on the closed-loop parameters of the closed-loop transfer function according to the target performance index and the test data to obtain a constant-parameter transfer function; and adjusting the error feedback gain of the virtual control model according to the set closed-loop parameters to generate a target control model until the target control model passes the stability test.
In a second aspect, the present application further provides a chemical production control method, including:
when a chemical production instruction is received, analyzing the chemical production instruction to obtain the target concentration of a chemical product;
invoking a target control model according to a chemical production instruction, wherein the target control model is generated by adopting the chemical production control model generation method provided by any embodiment of the application;
the target concentration is input to the target control model to cause the target control model to generate a virtual control quantity and output the virtual control quantity to the chemical production facility to adjust production parameters in the chemical production facility.
In a third aspect, the present application further provides a chemical production device, which is characterized by comprising:
a raw material supply mechanism for supplying a mixture raw material;
a chemical production mechanism for providing a reaction site for the mixture raw materials and performing chemical production in the reaction site to convert the mixture raw materials into chemical products;
a product conveying mechanism for conveying the generated chemical product to a target container;
the control mechanism is connected with the chemical production reaction mechanism and is used for executing the chemical production control method provided by any embodiment of the application to output virtual control quantity to the chemical production mechanism so as to adjust production parameters of the chemical production mechanism.
The application provides a chemical production control model generation method, a chemical production control method and a chemical production device, wherein the generation method comprises the following steps: constructing a chemical simulation model according to a chemical production mechanism, wherein the chemical simulation model is used for generating the simulation concentration of chemical products according to at least two production parameters of the chemical production mechanism; constructing a virtual control model based on the chemical simulation model, wherein the virtual control model is used for generating a virtual control quantity according to the target concentration of the chemical product and the error feedback gain to be subjected to parameter setting, and outputting the virtual control quantity to the chemical simulation model so as to adjust the production parameters in the chemical simulation model; generating an equivalent control loop between the target concentration and the simulated concentration according to the chemical simulation model and the virtual control model; the control transfer function of the equivalent control loop performs elimination processing to generate a closed loop transfer function, wherein the closed loop transfer function only comprises single production parameters; acquiring a preset target performance index, and performing parameter setting on closed-loop parameters of a closed-loop transfer function according to the target performance index to obtain a fixed parameter transfer function; and adjusting the error feedback gain of the virtual control model according to the set closed-loop parameters to generate a target control model. The coupling influence among different production parameters in the chemical production process is eliminated in the establishment process of the model, so that the chemical production control model with high external disturbance resistance is generated, and the chemical production process is conveniently controlled by the model to obtain the required product concentration. Compared with the existing control method, the closed-loop transfer function matrix expression of the chemical production control model obtained by the method can more accurately express the actual chemical production process.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a chemical production control model generating method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a chemical production control model generation method provided by an embodiment of the invention;
FIG. 3 is a structural block diagram of a virtual control model in a chemical production control model generation method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a transfer function of an equivalent control loop in a chemical production control model generating method according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart of elimination processing in a chemical production control model generation method provided by the embodiment of the invention;
FIG. 6 is a schematic diagram of a closed loop transfer function in a chemical production control model generation method according to an embodiment of the present invention;
FIG. 7 is a schematic flow chart of setting closed-loop parameters in the equivalent controller setting parameters in the chemical production control model generation method provided by the embodiment of the invention;
FIG. 8 is a schematic flow chart of a chemical production control method according to an embodiment of the present invention;
fig. 9 is a schematic block diagram of a chemical production device according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure. The flow diagrams depicted in the figures are merely illustrative, and not necessarily all of the elements and operations/steps are included, nor are they necessarily performed in the order described, some of the operations/steps may be split, combined, or partially combined.
It is to be understood that the terminology used in the description is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. "and/or" means any and all possible combinations of one or more of the associated listed items, and includes such combinations.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
It should be noted that, the chemical production device is used for carrying out chemical production to convert the mixture raw materials into chemical products, taking the rectifying tower as an example: the rectification tower utilizes the different volatilities of the components in the mixture to transfer the light components (low-boiling substances) in the liquid phase into the gas phase, and the heavy components (high-boiling substances) in the gas phase into the liquid phase, so as to realize the separation of the mixture and obtain a separated product.
Referring to fig. 1, fig. 1 is a schematic view of a scenario of a chemical production control model generating method according to an embodiment of the present invention.
As shown in fig. 1, the chemical production mechanism is, for example, a rectifying tower, and comprises a main body, a condenser, a reboiler and a plurality of tower plates, wherein the feed enters the rectifying tower from a certain section of tower plate in the rectifying tower, the tower plates are called feed plates, the rectifying tower is divided into an upper section and a lower section by the feed plates, the upper part of the feed plates is called a rectifying section, and the lower part of the feed plates is called a stripping section.
The concentration of a separation product can be greatly influenced by thermal parameters and pressure parameters in a rectifying tower in the chemical production process, the mutual coupling influence among different production parameters is difficult to control the rectifying tower with high precision and high stability, and in addition, the internal state of the chemical production tower in the chemical production process can be greatly disturbed, so that the precision and stability of controlling a chemical production mechanism by using a traditional controller model are low, and the parameter setting of the controller model is complex.
Based on the method, the application provides a chemical production control model generation method. The chemical production control model generation method can be applied to electronic equipment, such as tablet computers, notebook computers, wearable equipment and the like or control mechanisms, wherein the control mechanisms can be independent control mechanisms or control mechanism clusters.
Taking the control mechanism as an example, the method is carried out to eliminate the coupling influence among different production parameters in the chemical production process in the model establishment process, and generate a chemical production control model with strong external disturbance resistance, so that the closed-loop transfer function matrix form of the obtained chemical production control model can more accurately express the actual chemical production process, thereby realizing high-precision and high-stability control, and being convenient for controlling the chemical production process through the model to obtain the required product concentration.
For example, production parameters in a chemical production process include, but are not limited to, pressure parameters of a rectifying column, in particular pressure differences between rectifying and stripping sections, and thermodynamic parameters used to characterize the feed heat conditions at a feed plate, taking a chemical production facility as an example of a rectifying column.
Referring to fig. 2, fig. 2 is a schematic flow chart of a chemical production control model generating method according to an embodiment of the invention.
As shown in fig. 2, the chemical production control model generation method specifically includes steps S1 to S6.
Step S1: and constructing a chemical simulation model according to a chemical production mechanism, wherein the chemical simulation model is used for generating the simulation concentration of chemical products according to at least two production parameters of the chemical production mechanism.
The chemical simulation model is used for carrying out simulation on the chemical production process of the chemical production mechanism, specifically, the production parameters of the chemical production mechanism are input into the chemical simulation model, and the chemical simulation model generates and outputs the simulation concentration of the chemical product based on the production parameters of the chemical production mechanism.
The simulation concentration of the chemical product specifically comprises a chemical product concentration value obtained by performing simulation on the chemical production process, and when production parameters are changed for the same chemical simulation model, the simulation concentration of the chemical product is changed.
Step S2: and constructing a virtual control model based on the chemical simulation model, wherein the virtual control model is used for generating a virtual control quantity according to the target concentration of the chemical product and the error feedback gain to be subjected to parameter setting, and outputting the virtual control quantity to the chemical simulation model so as to adjust the production parameters in the chemical simulation model.
For example, the production parameters include at least pressure parameters and thermal parameters in the chemical production facility, and the simulated concentration includes at least concentration values of various chemical products. The chemical production mechanism comprises a rectifying tower for concrete explanation, the top and the bottom of the rectifying tower can respectively produce a light component top product and a heavy component bottom product in the chemical production process, the production parameters of the chemical production mechanism at least comprise the pressure parameter and the thermal parameter of the rectifying tower, and the simulation concentration at least comprises the first product concentration of the top product and the second product concentration of the bottom product. Further, the pressure parameter in the rectifying tower refers to the pressure difference between the rectifying section and the stripping section in the rectifying tower, and the thermodynamic parameter is used for representing the thermal condition in the rectifying tower.
It should be noted that, in the chemical production process, the thermodynamic parameter and the pressure parameter inside the rectifying tower greatly affect the concentration of chemical products, the thermodynamic parameter, the pressure parameter and the concentration value of each chemical product generated are coupled with each other, and the adjustment of a single production parameter can bring uncontrollable change of the concentration value of each chemical product.
In contrast, the chemical simulation model constructed according to the chemical production mechanism is a multi-input multi-output model, wherein the input quantity of the chemical simulation model is the production parameter of the chemical production mechanism, and the output quantity at least comprises the simulation concentration of chemical products. The production parameters including the thermal parameters and the pressure parameters are adjusted by inputting corresponding control amounts into the chemical simulation model, so that the control of the chemical production engineering can be realized, based on the control amounts, after the chemical simulation model is determined, a virtual control model is constructed based on the chemical simulation model, wherein the virtual control model is used for generating the virtual control amounts according to the target concentration of chemical products and the error feedback gain to be subjected to parameter setting, and the virtual control amounts are output to the chemical simulation model so as to adjust the production parameters in the chemical simulation model.
Referring to fig. 3, fig. 3 is a structural block diagram of a virtual control model in a chemical production control model generating method according to an embodiment of the present invention.
In some embodiments, building a virtual control model based on the chemical simulation model includes:
constructing an observer model according to the chemical simulation model, wherein the observer model is used for receiving the target concentration, observing the simulation concentration according to the observer gain to generate an observed concentration, and generating an observer output according to the target concentration and the observed concentration;
constructing a controller model according to the chemical simulation model, wherein the controller model is used for receiving the output of the observer, and outputting virtual control quantity to the chemical simulation model according to the gain of the controller and the output of the observer so as to adjust production parameters in the chemical simulation model;
a virtual control model is constructed based on the controller model and the observer model, wherein the error feedback gain includes a controller gain and an observer gain.
Specifically, the structure of the virtual control model at least comprises an observer model and a controller model, wherein the observer model is provided with a controller gain to be set, and the error feedback gain of the virtual control model comprises the controller gain and the observer gain. The observer model is used for receiving the target concentration, observing the simulated concentration according to the observer gain to generate the observed concentration and generating an observer output according to the target concentration and the observed concentration, and the controller model is used for receiving the observer output and outputting a virtual control quantity to the chemical simulation model according to the controller gain and the observer output so as to adjust production parameters in the chemical simulation model.
Step S3: and generating an equivalent control loop between the target concentration and the simulated concentration according to the chemical simulation model and the virtual control model.
In some embodiments, generating an equivalent control loop between the target concentration and the simulated concentration from the chemical simulation model and the virtual control model comprises:
converting the virtual control model into a combination of an equivalent filter and an equivalent controller, wherein the equivalent filter is used for outputting filtering concentration to the equivalent controller according to the input target concentration and the transfer function of the equivalent filter, and the equivalent controller is used for outputting virtual control quantity to the chemical simulation model according to the input filtering concentration and the transfer function of the equivalent controller;
acquiring a chemical simulation model transfer function matrix between a virtual control quantity and a simulation concentration;
and generating an equivalent control loop according to the transfer function matrix of the chemical simulation model, the transfer function of the equivalent filter and the transfer function of the equivalent controller.
In particular, the transfer function of the equivalent control loop is used to characterize the control transfer from the target concentration to the simulated concentration, and the transfer function of the equivalent control loop may be generated from the transfer function matrix, the transfer function of the equivalent filter, and the transfer function of the equivalent controller. The method for acquiring the chemical simulation model transfer function matrix between the virtual control quantity and the simulation concentration specifically comprises the following steps: and generating a chemical simulation model transfer function matrix according to the transfer characteristic of the chemical simulation model.
In some embodiments, the chemical production facility is configured to produce at least two chemical products, such as when the chemical production facility is a rectifying column, the chemical products produced by the chemical production facility include at least a top product and a bottom product of the rectifying column.
It should be noted that the control transfer function of the equivalent control loop is used herein to characterize the control transfer between the plurality of target concentrations to the plurality of analog concentrations.
Referring to fig. 4, fig. 4 is a schematic diagram of a transfer function of an equivalent control loop in a chemical production control model generating method according to an embodiment of the present invention.
As shown in fig. 4, the transfer function of the equivalent control loop is composed of the transfer function of the equivalent filter, the transfer function of the equivalent controller and the transfer function matrix of the chemical simulation model, the target concentration is converted into the filtered concentration by the action of the transfer function of the equivalent filter, then the filtered concentration is converted into the virtual control quantity by the action of the transfer function of the equivalent controller, and the virtual control quantity is input into the transfer function matrix of the chemical simulation model, so that the transfer function matrix of the chemical simulation model outputs the simulation concentration.
Further, the transfer function of the equivalent controller can be further split into a form of multiplying the diagonal matrix by the decoupling compensation matrix.
Step S4: and performing elimination processing on the control transfer function of the equivalent control loop to generate a closed-loop transfer function, wherein the closed-loop transfer function only comprises single production parameters.
It should be understood that the thermodynamic parameters and the pressure parameters inside the rectifying tower in the chemical production process greatly affect the concentration of the separated products, and the different production parameters are mutually coupled to affect, so that the high-precision and high-stability control of the rectifying tower is difficult. Based on the method, after a virtual control model is built based on a chemical simulation model, the control transfer function of the equivalent control loop is subjected to elimination processing to generate a closed-loop transfer function, and the closed-loop transfer function only comprises single production parameters.
Referring to fig. 5, fig. 5 is a schematic flow chart of elimination processing in a chemical production control model generating method according to an embodiment of the invention.
In some embodiments, the chemical production facility is configured to produce at least two chemical products, and the performing the elimination process on the control transfer function of the equivalent control loop in step S4 includes:
step S41: and decoupling the control transfer function to generate a transfer function expression between the target concentration and the simulation concentration of the single chemical product.
The transfer function expression is used for representing the control transfer relation between the target concentration of the single chemical product and the simulated concentration of the multiple chemical products.
Illustratively, the decoupling process is performed on the transfer function matrix, and the transfer function expression between the generated target concentration and the simulated concentration may be expressed as:
T(s)＝(I+P e (s)G β (s)) -1 P e (s)G β (s)F(s)
wherein I represents an identity matrix, P e (s) is the product of P(s) and the decoupling compensation matrix, P(s) is the multiple-input multiple-output chemical analog model transfer function matrix, and G β (s) is the transfer function of the diagonal matrix and F(s) is the transfer function of the equivalent filter.
Let P in the transfer function expression between the target concentration and the simulated concentration * (s)＝P e (s) -1 The following equation can be obtained:
(P * (s)G β (s))T(s)＝G β (s)F(s)
it will be appreciated that the equation is constructed to facilitate multiplication of the transfer function matrix expression with a pre-set vanishing matrix to extract the transfer relationship between the individual production parameters and the product concentration of the individual chemical products.
Step S42: multiplying the transfer function matrix expression with a preset vanishing matrix to construct a closed loop transfer function between the single production parameter and the product concentration of the single chemical product.
It should be noted that, the element elimination matrix is constructed according to the gaussian element elimination method, and M(s) is used to represent the element elimination matrix, specifically:
M(s)＝M m-1 (s)...M 2 (s)M 1 (s)
Wherein M is m-1 (s) matrix units which are respectively set corresponding to different single production parameters, target concentration and simulation concentration of single chemical products, and are specifically:
it should be noted that m in the above equation represents the number of input variables and the number of output variables in the control transfer function, that is, the number of terms of the production parameter and the chemical product. For example, when the number of production parameters is 2 and the number of chemical products is 2, the value of m is 2.
Multiplying the equal sign two ends of the transfer function matrix expression with a preset vanishing matrix respectively to obtain the following equation:
M(s)(P * (s)G β (s))T(s)＝M(s)G β (s)F(s)
substituting M(s) into the equation to obtain a closed loop transfer function expression between a single production parameter and the product concentration of a single chemical product is specifically:
wherein q is an equivalent variable of a chemical model transfer function matrix, g β For the equivalent variable of the diagonal matrix in the equivalent controller, f is the equivalent variable of the equivalent filter, c is the input disturbance, and specifically, the coupling effect can be regarded as the input disturbance.
After generating the expression for the closed loop transfer function, the closed loop transfer function is determined. Specifically, referring to fig. 6, fig. 6 is a schematic diagram of a closed loop transfer function in a chemical production control model generating method according to an embodiment of the present invention.
Step S5: and acquiring a preset target performance index, and carrying out parameter setting on the closed-loop parameters of the closed-loop transfer function according to the target performance index to obtain the constant-parameter transfer function.
Referring to fig. 7, fig. 7 is a schematic flow chart of setting closed-loop parameters in the equivalent controller setting parameters in the chemical production control model generation method according to the embodiment of the invention.
As shown in fig. 7, in some embodiments, in step S5, parameter tuning is performed on the closed-loop parameters of the closed-loop transfer function according to the target performance index to obtain the fixed-parameter transfer function, which includes steps S51-S54:
step S51: constructing a closed-loop curve dynamically corresponding to the closed-loop transfer function in a target coordinate system;
step S52: generating a target constraint area in a target coordinate system according to a target performance index;
step S53: adjusting the closed-loop parameters of the closed-loop transfer function until the closed-loop curve corresponding to the closed-loop transfer function is constrained in the target constraint area;
step S54: and taking the closed loop transfer function of the corresponding closed loop curve constraint in the target constraint area as a constant parameter transfer function.
In particular, the closed loop parameters of the closed loop transfer function include gain, zero, and pole. The control mechanism for executing the method firstly calls a two-dimensional target coordinate system, constructs a closed-loop curve corresponding to the closed-loop transfer function in the target coordinate system, and then generates a target constraint area according to the target performance index in the target coordinate system, wherein when the gain, zero point and pole of the closed-loop transfer function are changed, the closed-loop curve corresponding to the closed-loop transfer function is changed.
In some embodiments, the target performance metrics include a stability metric, a tracking performance metric, and an output disturbance rejection metric, step S52 generating a target constraint region from the target performance metrics, including;
constructing a first constraint boundary in a target coordinate system according to the stability index;
constructing a second constraint boundary in a target coordinate system according to the tracking performance index;
constructing a third constraint boundary in a target coordinate system according to the output disturbance suppression index;
in the target coordinate system, a target constraint area is determined based on a connected domain formed by the first constraint boundary, the second constraint boundary and the third constraint boundary.
As shown in fig. 6, in particular, the stability index includes a closed-loop resonance peak of the closed-loop transfer function.
Illustratively, the first constraint boundary may be expressed as:
wherein M (j omega) is a closed loop amplitude-frequency characteristic curve g β (jω) and q (jω) are the equivalent variable frequency characteristic of the chemical model transfer function matrix and the equivalent variable frequency characteristic of the diagonal matrix in the equivalent controller, respectively, W is the closed-loop resonance peak value, and ω is the angular frequency variable.
Specifically, the tracking performance index specifically includes an upper index limit and a lower index limit from which the coupling influence is removed, and the second constraint boundary may be expressed as:
Wherein M (j omega) is a closed loop amplitude-frequency characteristic curve g β And q is the equivalent variable of the transfer function matrix of the chemical model and the equivalent variable of the diagonal matrix in the equivalent controller respectively, a and b are the upper and lower index limits of the tracking performance index after the coupling influence is removed respectively, τ is the update step length of a and b, f is the equivalent variable of the equivalent filter, and c is the input disturbance.
Illustratively, the third constraint boundary may be expressed as:
wherein P is * (s)＝P e (s) -1 ，P e (s) is the product of P(s) and the decoupling compensation matrix, P(s) is the transfer function matrix of the multi-input multi-output chemical analog model, s is the output disturbance rejection index, g β And q is respectively a chemical mouldThe equivalent variable of the type transfer function matrix is equivalent to the equivalent variable of the diagonal matrix in the equivalent controller.
After establishing the first constraint boundary, the second constraint boundary and the third constraint boundary, the connected domain formed by the first constraint boundary, the second constraint boundary and the third constraint boundary is taken as a target constraint region. After the constraint area is established, continuously adjusting the closed-loop parameters of the closed-loop transfer function until the closed-loop curve corresponding to the closed-loop transfer function is constrained in the target constraint area, and determining the current closed-loop parameters as the set closed-loop parameters when the corresponding closed-loop curve is constrained in the target constraint area so as to obtain the constant-parameter transfer function.
Step S6: and adjusting the error feedback gain of the virtual control model according to the set closed-loop parameters to generate a target control model.
In some embodiments, the closed loop parameters include at least a zero, a pole, and a gain of the closed loop transfer function;
adjusting an error feedback gain of the virtual control model according to the set closed-loop parameters to generate a target control model, comprising:
the corresponding relation of the closed-loop parameters is called, and the zero point, the pole and the gain of the closed-loop transfer function are converted into the error feedback gain of the virtual control model according to the corresponding relation of the closed-loop parameters; wherein, the corresponding relation of the closed loop parameters is determined according to the process of generating the equivalent control loop.
It should be noted that, the corresponding relation of the closed-loop parameters is specifically the corresponding relation between the zero and the pole of the closed-loop transfer function and the gain and the error feedback gain of the virtual control model.
For example, refer to the structure of the virtual control model as shown in fig. 2 and the structure of the closed loop transfer function as in fig. 6.
Specifically, in the process of generating the equivalent control loop, the corresponding relation of the closed-loop parameters between the zero point and the pole of the closed-loop transfer function and the gain and the error feedback gain of the virtual control model is obtained, and after the closed-loop parameters of the closed-loop transfer function are set, the virtual control model is reversely deduced according to the corresponding relation of the zero point and the pole of the closed-loop transfer function and the gain and the closed-loop parameters, and the virtual control model is endowed.
In some embodiments, after adjusting the error feedback gain of the virtual control model according to the set closed-loop parameters to generate the target control model, the method further comprises:
performing a preset stability test on the target control model to generate test data;
if the target control model passes the stability test, outputting the target control model for calling;
if the target control model fails the stability test, performing parameter setting on the closed-loop parameters of the closed-loop transfer function according to the target performance index and the test data to obtain a constant-parameter transfer function; and adjusting the error feedback gain of the virtual control model according to the set closed-loop parameters to generate a target control model until the target control model passes the stability test.
Specifically, a preset stability test is performed on the target control model to generate test data, and under the condition that the target control model passes the stability test, the control mechanism executing the method outputs the target control model for calling.
Under the condition that the target control model fails the stability test, the control mechanism executing the method carries out parameter setting again on the closed-loop parameters of the closed-loop transfer function according to the target performance index and the test data to obtain a fixed parameter transfer function, then adjusts the error feedback gain of the virtual control model according to the set closed-loop parameters to obtain a regenerated target control model, and carries out preset stability test on the regenerated target control model until the target control model passes the stability test.
Illustratively, performing a preset stability test on the target control model includes: detecting whether L value of a target control model meets a Nyquist stabilization criterion, wherein L=g β q，g β Q is the equivalent variable of the transfer function matrix of the chemical model and the equivalent variable of the diagonal matrix in the equivalent controller respectively;
illustratively, performing a preset stability test on the target control model further includes: detection g β And q is at the targetWhether pole-zero cancellation occurs in the right half plane of the coordinate system, where g β And q is the equivalent variable of the transfer function matrix of the chemical model and the equivalent variable of the diagonal matrix in the equivalent controller respectively.
Illustratively, performing a preset stability test on the target control model further includes: detecting whether there is a smith-maxwellian pole cancellation of P(s) and G(s) in the right half plane of the target coordinate system, wherein P(s) is a multiple-input multiple-output chemical analog model transfer function matrix, and G(s) =g α (s)G β (s)，G α (s) is a decoupling compensation matrix, G β And(s) is a transfer function of the diagonal matrix.
Exemplary, performing a preset stability test on the target control model, and specifically includes: detecting |P * (s)+G β (s) whether there is a smith-maxwell pole cancellation at the right half plane of the target coordinate system. Wherein P is * (s)＝P e (s) -1 ，P e (s) is P(s) and the decoupling compensation matrix G α Product of(s), G β And(s) is a transfer function of the diagonal matrix.
Detecting g when L value meeting a Nyquist stability criterion is met by the target control model β And q no pole-zero cancellation occurs in the right half plane of the target coordinate system, P(s) and G(s) no Smith-Maclausin pole-zero cancellation exists in the right half plane of the target coordinate system, and |P * (s)+G β (s) determining that the target control model passes the stability test under the condition that the Smith-Maxwell pole cancellation does not exist on the right half plane of the target coordinate system.
It should be understood that, since the rectifying tower may have mass transfer and heat transfer during the chemical production process, and the chemical production process itself has a certain external disturbance, such as errors in terms of feed flow rate, feed temperature, feed components, etc., the internal state of the rectifying tower may be greatly disturbed during the chemical production process. Based on the method, the coupling influence among different production parameters in the chemical production process is eliminated in the establishment process of the model, and the chemical production control model with high external disturbance resistance is generated, so that the closed-loop transfer function matrix form of the obtained chemical production control model can more accurately express the actual chemical production process, the control with high precision and high stability is realized, and the chemical production process is conveniently controlled by the model to obtain the required product concentration.
Referring to fig. 8, fig. 8 is a schematic flow chart of a chemical production control method according to an embodiment of the invention.
As shown in fig. 8, an embodiment of the present application further provides a chemical production control method, where the method includes:
step S7: when a chemical production instruction is received, analyzing the chemical production instruction to obtain the target concentration of a chemical product;
step S8: invoking a target control model according to a chemical production instruction, wherein the target control model is generated by adopting the chemical production control model generation method provided by any embodiment of the application;
step S9: the target concentration is input to the target control model to cause the target control model to generate a virtual control quantity and output the virtual control quantity to the chemical production facility to adjust production parameters in the chemical production facility.
The description will be made taking as an example that the chemical production control method is applied to a control mechanism connected with a chemical production mechanism to control a chemical production process of the chemical production mechanism, wherein the chemical production mechanism includes a chemical production mechanism such as a rectifying tower.
Specifically, when the control mechanism receives an input target rectification command, the target rectification command is analyzed to obtain a concentration target value of a chemical product, and current production parameters of the chemical production mechanism are obtained, wherein the production parameters of the chemical production mechanism are, for example, pressure parameters and thermal parameters of a rectification tower. Further, the pressure parameter of the rectifying tower is used for representing the pressure difference between the rectifying section and the stripping section in the rectifying tower, and the thermal parameter of the rectifying tower is used for representing the thermal condition in the rectifying tower.
Then, the control mechanism calls a target control model according to the target rectification instruction, and the target control model is a target control model generated by adopting any chemical production control model generation method provided by the embodiment of the application, and then the concentration target value and the production parameter of the chemical production mechanism are input into the target control model, so that the target control model generates a production parameter target value according to the concentration target value and the production parameter.
And after the production parameter target value is generated, corresponding production parameters in the chemical production mechanism are adjusted according to the production parameter target value so as to control the chemical production process of the chemical production mechanism. Specifically, the control mechanism adjusts corresponding production parameters in the chemical production mechanism to production parameter target values.
Therefore, the generated target control model is called, and the chemical production process of the chemical production mechanism is controlled according to the concentration target value and the target control model to obtain the required product concentration, so that the disturbance rejection capability, the precision and the stability of the chemical production process control are improved.
Referring to fig. 9, fig. 9 is a schematic block diagram of a chemical production apparatus according to an embodiment of the present invention.
As shown in fig. 9, an embodiment of the present application further provides a chemical production apparatus 100, including:
A raw material supply mechanism 110 for supplying a mixture raw material;
a chemical production mechanism 120, wherein the chemical production mechanism 120 is used for providing a reaction place for the mixture raw materials and performing chemical production in the reaction place so as to convert the mixture raw materials into chemical products;
a product delivery mechanism 130 for delivering the chemical product generated to a target container;
the control mechanism 140 is connected to the chemical production reaction mechanism 120 and is used for executing the chemical production control method as provided in any embodiment of the present application to output the virtual control amount to the chemical production mechanism 120 so as to adjust the production parameters of the chemical production mechanism 120.
By way of example, the chemical production facility is a rectifying column, for example, and the reaction site is disposed in the rectifying column, wherein the specific structure of the rectifying column can be referred to in fig. 1.
Specifically, the raw material supply mechanism 110 is used for providing a mixture raw material, the chemical production mechanism 120 is used for providing a reaction site for the mixture raw material, and chemical production is performed in the reaction site to convert the mixture raw material into a chemical product, the product conveying mechanism 130 is used for conveying the generated chemical product to a target container, and the control mechanism 140 is connected with the chemical production reaction mechanism 120 and is used for executing the chemical production control method as provided in any embodiment of the present application to output a virtual control amount to the chemical production mechanism 120 so as to adjust production parameters of the chemical production mechanism 120, thereby controlling a chemical production process of the chemical production mechanism. The production parameters of the chemical production mechanism are, for example, pressure parameters and thermodynamic parameters of the rectifying tower.
In summary, the present application provides a chemical production control model generating method, a chemical production control method, and a chemical production device, where the generating method includes: constructing a chemical simulation model according to a chemical production mechanism, wherein the chemical simulation model is used for generating the simulation concentration of chemical products according to at least two production parameters of the chemical production mechanism; constructing a virtual control model based on the chemical simulation model, wherein the virtual control model is used for generating a virtual control quantity according to the target concentration of the chemical product and the error feedback gain to be subjected to parameter setting, and outputting the virtual control quantity to the chemical simulation model so as to adjust the production parameters in the chemical simulation model; generating an equivalent control loop between the target concentration and the simulated concentration according to the chemical simulation model and the virtual control model; the control transfer function of the equivalent control loop performs elimination processing to generate a closed loop transfer function, wherein the closed loop transfer function only comprises single production parameters; acquiring a preset target performance index, and performing parameter setting on closed-loop parameters of a closed-loop transfer function according to the target performance index to obtain a fixed parameter transfer function; and adjusting the error feedback gain of the virtual control model according to the set closed-loop parameters to generate a target control model. The coupling influence among different production parameters in the chemical production process is eliminated in the establishment process of the model, so that the chemical production control model with high external disturbance resistance is generated, and the chemical production process is conveniently controlled by the model to obtain the required product concentration. Compared with the existing control method, the closed-loop transfer function matrix expression of the chemical production control model obtained by the method can more accurately express the actual chemical production process.
It is to be understood that the term "and/or" as used herein refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system is inherent to only those elements.
The above embodiment numbers do not represent the advantages or disadvantages of the embodiments. Various equivalent modifications and substitutions will occur to those skilled in the art and are intended to be included within the scope of the present disclosure. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (7)
1. The chemical production control model generation method is characterized by comprising the following steps of:
constructing a chemical simulation model according to a chemical production mechanism, wherein the chemical production mechanism is used for producing at least two chemical products, and the chemical simulation model is used for generating simulation concentrations of the chemical products according to at least two production parameters of the chemical production mechanism;
constructing an observer model according to the chemical simulation model, wherein the observer model is used for receiving target concentration, observing the simulation concentration according to observer gain to generate observed concentration, and generating observer output according to the target concentration and the observed concentration;
Constructing a controller model according to the chemical simulation model, wherein the controller model is used for receiving the observer output and outputting virtual control quantity to the chemical simulation model according to the controller gain and the observer output so as to adjust the production parameters in the chemical simulation model;
constructing a virtual control model based on the controller model and the observer model, wherein the error feedback gain comprises the controller gain and the observer gain, and the virtual control model is used for generating a virtual control quantity according to the target concentration of the chemical product and the error feedback gain to be subjected to parameter setting, and outputting the virtual control quantity to the chemical simulation model so as to adjust the production parameters in the chemical simulation model;
converting the virtual control model into a combination of an equivalent filter and an equivalent controller, wherein the equivalent filter is used for outputting filtering concentration to the equivalent controller according to the input target concentration and the transfer function of the equivalent filter, and the equivalent controller is used for outputting the virtual control quantity to the chemical simulation model according to the input filtering concentration and the transfer function of the equivalent controller;
Acquiring a chemical engineering simulation model transfer function matrix between the virtual control quantity and the simulation concentration;
generating an equivalent control loop according to the transfer function matrix of the chemical simulation model, the transfer function of the equivalent filter and the transfer function of the equivalent controller;
decoupling the control transfer function to generate a transfer function expression between the target concentration and the simulated concentration of the chemical product;
multiplying the transfer function expression with a preset elimination matrix to construct a closed-loop transfer function between the single production parameter and the product concentration of the single chemical product, wherein the closed-loop transfer function only comprises the single production parameter;
acquiring a preset target performance index, and carrying out parameter setting on closed-loop parameters of the closed-loop transfer function according to the target performance index to obtain a constant-parameter transfer function;
and adjusting the error feedback gain of the virtual control model according to the set closed-loop parameters to generate a target control model.
2. The method for generating a chemical production control model according to claim 1, wherein the parameter setting the closed-loop parameters of the closed-loop transfer function according to the target performance index to obtain a constant-parameter transfer function comprises:
Constructing a closed-loop curve dynamically corresponding to the closed-loop transfer function in a target coordinate system;
generating a target constraint area in the target coordinate system according to a target performance index;
adjusting the closed-loop parameters of the closed-loop transfer function until the closed-loop curve corresponding to the closed-loop transfer function is constrained in the target constraint area;
and taking the closed loop transfer function of the corresponding closed loop curve constraint on the target constraint area as the constant parameter transfer function.
3. The chemical production control model generation method of claim 2, wherein the target performance index includes a stability index, a tracking performance index and an output disturbance rejection index, and the generating the target constraint area according to the target performance index includes;
constructing a first constraint boundary in the target coordinate system according to the stability index;
constructing a second constraint boundary in the target coordinate system according to the tracking performance index;
constructing a third constraint boundary in the target coordinate system according to the output disturbance suppression index;
in the target coordinate system, a connected domain formed based on the first constraint boundary, the second constraint boundary and the third constraint boundary is used as the target constraint region.
4. The chemical production control model generation method of claim 1, wherein the closed loop parameters include at least a zero, a pole, and a gain of the closed loop transfer function;
the adjusting the error feedback gain of the virtual control model according to the set closed-loop parameters to generate a target control model includes:
a corresponding relation of closed-loop parameters is called, and zero, poles and gain of the closed-loop transfer function are converted into the error feedback gain of the virtual control model according to the corresponding relation of the closed-loop parameters;
wherein the closed-loop parameter correspondence is determined according to a process of generating the equivalent control loop.
5. The method of claim 1, further comprising, after said adjusting said error feedback gain of said virtual control model according to said set closed-loop parameters to generate a target control model:
performing a preset stability test on the target control model to generate test data;
outputting the target control model for calling if the target control model passes the stability test;
if the target control model fails the stability test, performing parameter setting on the closed-loop parameters of the closed-loop transfer function according to the target performance index and the test data to obtain a fixed parameter transfer function; and adjusting the error feedback gain of the virtual control model according to the set closed-loop parameters to generate a target control model until the target control model passes the stability test.
6. A chemical production control method, characterized in that the method comprises:
when a chemical production instruction is received, analyzing the chemical production instruction to obtain the target concentration of the chemical product;
invoking a target control model according to the chemical production instruction, wherein the target control model is generated by adopting the chemical production control model generation method according to any one of claims 1-5;
inputting the target concentration to the target control model to enable the target control model to generate a virtual control quantity and outputting the virtual control quantity to a chemical production mechanism to adjust the production parameters in the chemical production mechanism.
7. A chemical production device, characterized by comprising:
a raw material supply mechanism for supplying a mixture raw material;
a chemical production mechanism for providing a reaction site for the mixture raw material, and performing chemical production in the reaction site to convert the mixture raw material into a chemical product;
a product conveying mechanism for conveying the chemical product to a target container;
a control mechanism connected to the chemical production reaction mechanism and configured to execute the chemical production control method as set forth in claim 6 to output the virtual control amount to the chemical production mechanism to adjust production parameters of the chemical production mechanism.
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