CN117872723A - Industrial control system process setting device and industrial fastest control system - Google Patents
Industrial control system process setting device and industrial fastest control system Download PDFInfo
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Abstract
The invention discloses an industrial control system process setting device and an industrial fastest control system, comprising: the system comprises a first-order inertial filter, a fourth-order inertial filter, a differentiator, a proportional controller and an adder; the output end of the first-order inertial filter is connected with the input end of the fourth-order inertial filter, the output end of the fourth-order inertial filter is connected with the first input end of the adder, the output end of the differentiator is connected with the input end of the proportional control, and the output end of the proportional controller is connected with the second input end of the adder. The invention uses the first-order inertial filter, the fourth-order inertial filter, the differentiator, the proportion controller and the adder, and can execute the smoothing processing, the change rate calculation and the proportion control of the signals, thereby improving the stability and the precision of the control system.
Description
Technical Field
The invention relates to the field of industrial process control, in particular to an industrial control system process setting device and an industrial fastest control system.
Background
In industrial process control practice, engineering researchers have invented an accelerated engineering fastest proportional-Integral (Accelerated engineering fastest Proportional-Integral, AEFPI) controller. AEFPI is suitable for use alone, and the magnitude of the improvement in relative Proportional-Integral-derivative (PI) control performance is sufficient. The AEFPI technology is popularized and applied in a large scale in the field of thermal power generating unit peak regulation and frequency modulation.
However, in practice, it has been found that the process overshoot of AEFPI control is large in a first-order lag process, a second-order process, a third-order process, a fourth-order process, etc., such as in a primary air duct pressure control system of a thermal power generating unit, which is an inherent characteristic of AEFPI control. In a boiler hearth temperature control system of a thermal power generating unit, larger process overshoot is not allowed to occur, and a first-order inertial filter (First order inertial filter, FOIF) is usually connected to a process given end to have a better effect on inhibiting the process overshoot. However, this simple approach significantly reduces the turndown performance of the AEFPI control. Particularly in an acceleration type industrial control system, the simple connection of a first-order inertial filter leads to lower performance of the acceleration type industrial fastest control system.
Therefore, there is a need for an industrial control system process-given strategy that addresses the performance degradation of an accelerated industrial fastest control system caused by the incorporation of a first order inertial filter.
Disclosure of Invention
The embodiment of the invention provides an industrial control system process setting device and an industrial fastest control system, which are used for solving the problem of performance reduction of an acceleration type industrial fastest control system caused by the fact that a first-order inertial filter is connected.
To solve the above problems, an embodiment of the present invention provides an industrial control system process setting apparatus, including: the system comprises a first-order inertial filter, a fourth-order inertial filter, a differentiator, a proportional controller and an adder;
the output end of the first-order inertial filter is connected with the input end of the fourth-order inertial filter, the output end of the fourth-order inertial filter is connected with the first input end of the adder, the output end of the differentiator is connected with the input end of the proportional controller, and the output end of the proportional controller is connected with the second input end of the adder.
As an improvement of the scheme, the input end of the first-order inertial filter is connected with a process given signal; the input end of the differentiator is connected with a process given signal; the output end of the adder outputs the process set of the industrial fastest control system.
The process as an improvement of the above scheme gives the signal specifically: and a process given signal of a primary air main pipe pressure control system of the thermal power generating unit.
As an improvement of the above-described scheme, the differentiator satisfies the following condition:
wherein f CD (s) is the laplace transfer function of the differentiator; t (T) CD Is the time constant of the differentiator in milliseconds (ms).
As an improvement of the above-described scheme, the fourth-order inertial filter satisfies the following condition:
wherein f FTOIF (s) is the laplace transfer function of a fourth order inertial filter; t (T) FTOIF The time constant of the fourth-order inertial filter is s; quantitatively, T FTOIF ＝T FOIF 。
As an improvement of the above-described scheme, the ratio controller satisfies the following conditions:
f PC (s)＝K PC
wherein f PC (s) is the transfer function of the proportional controller, K PC The gain of the proportional controller is dimensionless.
As an improvement to the above, the industrial fastest control system process is given, satisfying the following conditions:
wherein f EFCSPGP (s) is ILaplace transfer function, f, given by the process of the fastest control system CD (s) is the laplace transfer function of the differentiator; t (T) CD Time constant of differentiator, unit is s; f (f) PC (s) is the transfer function of the proportional controller, K PC The unit is dimensionless for the gain of the proportional controller; f (f) FOIF:A (s) Laplacian transfer function, T, of the first-order inertial filter FOIF:A The time constant of the first-order inertial filter is s; f (f) FTOIF (s) Laplacian transfer function, T, of a four-inertial filter FTOIF The time constant of the fourth-order inertial filter is s; k (K) PC The unit is dimensionless for the gain of the proportional controller; t (T) FTOIF ＝T FOIF:A 。
Accordingly, an embodiment of the present invention further provides an industrial fastest control system, including: the system comprises an industrial control system process setting device, a subtracter, an acceleration engineering fastest proportional-integral controller and a process device; wherein the industrial control system process given device applies the industrial control system process given device according to the present invention;
the input end of the industrial control system process given device is connected with a process given signal, the output end of the industrial control system process given device is connected with the reduced number end of the subtracter, the output end of the subtracter is connected with the input end of the acceleration type engineering fastest rate proportional-integral controller, the output end of the acceleration type engineering fastest rate proportional-integral controller is connected with the process device, the output end of the process device is connected with the reduced number end of the subtracter, and the output process of the process device outputs a signal.
As an improvement of the scheme, the accelerating engineering fastest proportional-integral controller meets the following conditions:
f AEFPI (s)＝K AEFPI [1+f AEFI (s)],
T AEFI ＝T AEFTF
wherein f AEFPI (s) is the transfer function of AEFPI, K AEFPI The cascade proportional control gain is provided with a dimensionless unit; f (f) AEFI (s) is the transfer function of the acceleration engineering fastest integrator, f AEFTF (s) is the transfer function of the acceleration engineering fastest tracking filter; t (T) AEFI Time constant of AEFI, in ms; t (T) AEFTF Time constant of AEFTF, in ms; n is the order, the unit is dimensionless; i and l are process variables, both being positive integers; in quantity T AEFI ＝T AEFTF 。
As an improvement of the above scheme, the process device specifically comprises: a servo motor; the real-time servo motor satisfies the following conditions:
wherein, P is SM(s) is the transfer function of the servo motor, s is Laplacian, K SM The unit is dimensionless gain of the servo motor; t (T) sm1 And T sm2 The time constant of the servo motor is respectively shown in ms.
From the above, the invention has the following beneficial effects:
the present invention provides an industrial control system process giving device comprising: the system comprises a first-order inertial filter, a fourth-order inertial filter, a differentiator, a proportional controller and an adder; the output end of the first-order inertial filter is connected with the input end of the fourth-order inertial filter, the output end of the fourth-order inertial filter is connected with the first input end of the adder, the output end of the differentiator is connected with the input end of the proportional control, and the output end of the proportional controller is connected with the second input end of the adder. The invention uses the first-order inertial filter, the fourth-order inertial filter, the differentiator, the proportion controller and the adder, and can execute the smoothing processing, the change rate calculation and the proportion control of the signals, thereby improving the stability and the precision of the control system.
Drawings
FIG. 1 is a schematic diagram of a process set-up of an industrial control system according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of an industrial fastest control system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of simulation results of an industrial fastest control system without employing a process set-up of the industrial control system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an industrial fastest control system with a first order inertial filter according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of simulation results of an industrial fastest control system with a first-order inertial filter according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of simulation results of an industrial fastest control system employing a signal correction device for an industrial robot control process according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1, fig. 1 is a schematic structural diagram of a process-setting device of an industrial control system according to an embodiment of the present invention, as shown in fig. 1, including: a first-order inertial filter 101, a fourth-order inertial filter 102, a differentiator 103, a proportional controller 104, and an adder 105;
an output end of the first-order inertial filter 101 is connected with an input end of the fourth-order inertial filter 102, an output end of the fourth-order inertial filter 102 is connected with a first input end of the adder 105, an output end of the differentiator 103 is connected with an input end of the proportional controller 104, and an output end of the proportional controller 104 is connected with a second input end of the adder 105.
In a specific embodiment, the first-order inertial filter satisfies the following condition:
wherein f FOIF:A (s) is the laplace transfer function of the first order inertial filter; t (T) FOIF:A Is the time constant of the first order inertial filter, and has the unit of s.
It will be appreciated that the first order inertial filter is a filter for filtering and smoothing the input signal.
As an improvement of the scheme, the input end of the first-order inertial filter is connected with a process given signal; the input end of the differentiator is connected with a process given signal; the output end of the adder outputs the process set of the industrial fastest control system.
The process as an improvement of the above scheme gives the signal specifically: and a process given signal of a primary air main pipe pressure control system of the thermal power generating unit.
As an improvement of the above-described scheme, the differentiator satisfies the following condition:
wherein f CD (s) is the laplace transfer function of the differentiator; t (T) CD Is the time constant of the differentiator in milliseconds (ms).
It will be appreciated that the differentiator is a mathematical operator for calculating the rate of change of the input signal.
As an improvement of the above-described scheme, the fourth-order inertial filter satisfies the following condition:
wherein f FTOIF (s) is the laplace transfer function of a fourth order inertial filter; t (T) FTOIF The time constant of the fourth-order inertial filter is s; quantitatively, T FTOIF ＝T FOIF 。
It will be appreciated that the fourth order inertial filter is a higher order filter for further smoothing and filtering the signal.
As an improvement of the above-described scheme, the ratio controller satisfies the following conditions:
f PC (s)＝K PC
wherein f PC (s) is the transfer function of the proportional controller, K PC The gain of the proportional controller is dimensionless.
It is understood that a proportional controller is a controller whose output signal is proportional to the input signal.
As an improvement to the above, the industrial fastest control system process is given, satisfying the following conditions:
wherein f EFCSPGP (s) Laplace transfer function given for industrial fastest control system process, f CD (s) is the laplace transfer function of the differentiator; t (T) CD Time constant of differentiator, unit is s; f (f) PC (s) is the transfer function of the proportional controller, K PC The unit is dimensionless for the gain of the proportional controller; f (f) FOIF : A (s) Laplacian transfer function, T, of the first-order inertial filter FOIF : A Time constant of the first-order inertial filter is expressed in units ofs；f FTOIF (s) Laplacian transfer function, T, of a four-inertial filter FTOIF The time constant of the fourth-order inertial filter is s; k (K) PC The unit is dimensionless for the gain of the proportional controller; t (T) FTOIF ＝T FOIF : A 。
Referring to fig. 2, fig. 2 is a schematic structural diagram of an industrial fastest control system according to an embodiment of the present invention, including: an industrial control system process giving device 201, a subtracter 202, an acceleration engineering fastest proportional-integral controller 203 and a process device 204; wherein the industrial control system process given device 201 applies an industrial control system process given device according to the present invention;
the input end of the industrial control system process setting device 201 is connected with a process setting signal, the output end of the industrial control system process setting device 201 is connected with the reduced end of the subtracter 202, the output end of the subtracter 202 is connected with the input end of the acceleration type engineering fastest speed proportional-integral controller 203, the output end of the acceleration type engineering fastest speed proportional-integral controller 203 is connected with the process device 204, the output end of the process device 204 is connected with the reduced end of the subtracter 202, and the output process of the process device 204 outputs a process output signal.
As an improvement of the scheme, the accelerating engineering fastest proportional-integral controller meets the following conditions:
f AEFPI (s)＝K AEFPI [1+f AEFI (s)],
T AEFI ＝T AEFTF
wherein f AEFPI (s) is the transfer function of AEFPI, K AEFPI Cascade proportional control gain in noDimension is shown; f (f) AEFI (s) is the transfer function of the acceleration engineering fastest integrator, f AEFTF (s) is the transfer function of the acceleration engineering fastest tracking filter; t (T) AEFI Time constant of AEFI, in ms; t (T) AEFTF Time constant of AEFTF, in ms; n is the order, the unit is dimensionless; i and l are process variables, both being positive integers; in quantity T AEFI ＝T AEFTF 。
In a specific embodiment, an accelerated engineering fastest proportional-Integral controller (Accelerated engineering fastest Proportional-integrate, AEFPI), an accelerated engineering fastest integrator (Acceleration engineering fastest integrator, AEFI), and an accelerated engineering fastest tracking filter (Acceleration engineering fastest tracking filter, AEFTF).
In one embodiment, n is 16, where the AEFPI is a 16 th order AEFPI (SOAEFPI), expressed as:
f SOAEFPI (s)＝K SOAEFPI [1+f SOAEFI (s)],
T SOAEFI ＝T SOAEFTF
wherein f SOAEFPI (s) transfer function of 16 th order AEFPI, K SOAEFPI Control gain, f, for 16-order AEFPI cascade proportional SOAEFI (s) is the transfer function of a 16 th order accelerating engineering fastest integrator (Sixteen order acceleration engineering fastest integrator, SOAEFI), f SOAEFTF (s) is the transfer function of a 16 th order accelerating engineering fastest tracking filter (Sixteen order acceleration engineering fastest tracking filter, SOAEFTF); t (T) SOAEFI Time constant of SOAEFI, unit is ms; t (T) SOAEFTF Time constant is SOAEFTF, and is expressed in ms; in quantity T SOAEFI ＝T SOAEFTF 。
As an improvement of the above scheme, the process device specifically comprises: a servo motor; the real-time servo motor satisfies the following conditions:
wherein, P is SM(s) is the transfer function of the servo motor, s is Laplacian, K SM The unit is dimensionless gain of the servo motor; t (T) sm1 And T sm2 The time constant of the servo motor is respectively shown in ms.
In a specific embodiment, a Process, P, servomotor (SM).
In one embodiment, K SM ＝1，T sm1 ＝100ms，T sm2 =30 ms, process device P is:
wherein f P (s) is a transfer function of the process device P, s representing the Laplacian.
In a specific embodiment, when the open loop system phase is equal to-135 °, the open loop system gain is equal to 0.5, and the optimal parameters of AEFPI are searched for, where the AEFPI parameters are: t (T) AEFI ＝119s，K AEFPI ＝2.548；
To better illustrate the benefits of this embodiment, three reference sets are provided for comparison:
reference group one: before a process of the industrial control system of this embodiment is given as a unit step, the simulation results obtained are shown in fig. 3, where the first peak value of the process output is 1.586. The process overshoot was 58.6% and the adjustment time was 643s (adjustment time refers to the time the process entered less than 5% deviation).
Reference group two: before a process of an industrial control system of the invention is adopted for a given device, a first-order inertial filter (First order inertial filter, FOIF) is given to be connected to the process, and the structure is shown in fig. 4; wherein, the first order inertial filter is:
wherein f FOIF (s) is the laplace transfer function of the first order inertial filter; t (T) FOIF Time constant, in milliseconds (ms), for a first order inertial filter;
setting a parameter T FOIF:B As shown in fig. 5, the process overshoot was 11.6% and the adjustment time was 420s.
Reference group three: by adopting the process setting device of the industrial control system, the parameter T is set FTOIF ＝T FOIF:A ＝T FOIF:B ＝100s，T CD ＝150s,K PC =0.2, and the simulation result obtained, as shown in fig. 6, shows that the process is overshot by 1.6% and the adjustment time is 279s.
It can be seen that a given device for an industrial control system process of the present invention significantly reduces process overshoot and significantly reduces conditioning time. Compared with the method that a first-order inertial filter (First order inertial filter, FOIF) is connected to a given end of the industrial fastest control system, the performance of the acceleration type engineering fastest control system is remarkably improved.
The embodiment is provided with a first-order inertial filter, a fourth-order inertial filter, a differentiator, a proportional controller and an adder; the output end of the first-order inertial filter is connected with the input end of the fourth-order inertial filter, the output end of the fourth-order inertial filter is connected with the first input end of the adder, the output end of the differentiator is connected with the input end of the proportional control, and the output end of the proportional controller is connected with the second input end of the adder. The invention uses the first-order inertial filter, the fourth-order inertial filter, the differentiator, the proportion controller and the adder, and can execute the smoothing processing, the change rate calculation and the proportion control of the signals, thereby improving the stability and the precision of the control system.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (10)
1. An industrial control system process-given apparatus, comprising: the system comprises a first-order inertial filter, a fourth-order inertial filter, a differentiator, a proportional controller and an adder;
the output end of the first-order inertial filter is connected with the input end of the fourth-order inertial filter, the output end of the fourth-order inertial filter is connected with the first input end of the adder, the output end of the differentiator is connected with the input end of the proportional controller, and the output end of the proportional controller is connected with the second input end of the adder.
2. The industrial control system process-given device of claim 1, wherein the input of the first-order inertial filter is coupled to a process-given signal; the input end of the differentiator is connected with a process given signal; the output end of the adder outputs the process set of the industrial fastest control system.
3. The industrial control system process-given device according to claim 2, characterized in that the process-given signal is in particular: and a process given signal of a primary air main pipe pressure control system of the thermal power generating unit.
4. The industrial control system process-given device of claim 3, wherein the differentiator satisfies the following condition:
wherein f CD (s) is the laplace transfer function of the differentiator; t (T) CD Is the time constant of the differentiator in milliseconds (ms).
5. The industrial control system process-given device of claim 4, wherein the fourth-order inertial filter satisfies the following condition:
wherein f FTOIF (s) is the laplace transfer function of a fourth order inertial filter; t (T) FTOIF The time constant of the fourth-order inertial filter is s; quantitatively, T FTOIF ＝T FOIF 。
6. The industrial control system process-given device of claim 5, wherein the proportional controller satisfies the following condition:
f PC (s)＝K PC
wherein f PC (s) is the transfer function of the proportional controller, K PC The gain of the proportional controller is dimensionless.
7. The industrial control system process-given device according to claim 6, wherein the industrial fastest control system process-given satisfies the following condition:
wherein f EFCSPGP (s) Laplace transfer function given for industrial fastest control system process, f CD (s) is the laplace transfer function of the differentiator; t (T) CD Time constant of differentiator, unit is s; f (f) PC (s) isTransfer function of the proportional controller, K PC The unit is dimensionless for the gain of the proportional controller; f (f) FOIF:A (s) Laplacian transfer function, T, of the first-order inertial filter FOIF:A The time constant of the first-order inertial filter is s; f (f) FTOIF (s) Laplacian transfer function, T, of a four-inertial filter FTOIF The time constant of the fourth-order inertial filter is s; k (K) PC The unit is dimensionless for the gain of the proportional controller; t (T) FTOIF ＝T FOIF:A 。
8. An industrial fastest control system, comprising: the system comprises an industrial control system process setting device, a subtracter, an acceleration engineering fastest proportional-integral controller and a process device; wherein the industrial control system process-given device employs the industrial control system process-given device according to any one of claims 1 to 7;
the input end of the industrial control system process given device is connected with a process given signal, the output end of the industrial control system process given device is connected with the reduced number end of the subtracter, the output end of the subtracter is connected with the input end of the acceleration type engineering fastest rate proportional-integral controller, the output end of the acceleration type engineering fastest rate proportional-integral controller is connected with the process device, the output end of the process device is connected with the reduced number end of the subtracter, and the output process of the process device outputs a signal.
9. The industrial maximum speed control system according to claim 8, wherein the acceleration engineering maximum speed proportional-integral controller satisfies the following condition:
f AEFPI (s)＝K AEFPI [1+f AEFI (s)],
T AEFI ＝T AEFTF
wherein f AEFPI (s) is the transfer function of AEFPI, K AEFPI The cascade proportional control gain is provided with a dimensionless unit; f (f) AEFI (s) is the transfer function of the acceleration engineering fastest integrator, f AEFTF (s) is the transfer function of the acceleration engineering fastest tracking filter; t (T) AEFI Time constant of AEFI, in ms; t (T) AEFTF Time constant of AEFTF, in ms; n is the order, the unit is dimensionless; i and l are process variables, both being positive integers; in quantity T AEFI ＝T AEFTF 。
10. The industrial maximum speed control system according to claim 9, wherein the process device is in particular: a servo motor; the real-time servo motor satisfies the following conditions:
wherein, P is SM(s) is the transfer function of the servo motor, s is Laplacian, K SM The unit is dimensionless gain of the servo motor; t (T) sm1 And T sm2 The time constant of the servo motor is respectively shown in ms.
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