CN1226673C - Industrial process single parameter ration integrating and differential control method - Google Patents

Abstract

The present invention relates to an industrial process single parameter proportion integral and differential control method. A controlled object is sampled and filtered. After an analog quantity input signal is converted by A/D, the controlled object is identified, and a first order inertia simple hysteresis model is identified. A single parameter lambda is quantitatively adjusted in an on-line mode, or the single parameter lambda is directly set according to a performance index which is set. The single parameter lambda is read by a monitoring module, and a model parameter is identified by the monitoring module. Calculation is carried out according to a single parameter PID control algorithm to obtain a control signal. After the control signal is converted by D/A, the control signal is sent to an executor by an output channel to realize the setting of a system. The present invention is directly implemented in the existing industrial control system through working out a corresponding single parameter PID control monitoring module, and a specific empirical formula is given to guide the setting of the single parameter lambda. Only the single parameter lambda needs to be adjusted by the present invention, the system can achieve appointed performance, and the optimal compromise of the nominal performance and the robustness of the system is realized. The present invention has the advantages of simple and convenient operation, and fast and stable control effect, and can likewise and effectively control a large simple hysteresis object.

Description

Industrial process one-parameter PID control method

Technical field:

The present invention relates to a kind of industrial process one-parameter proportion integration differentiation (PID) control method, is a kind of at the industrial process controlling object, according to H _∞The one-parameter PID control method that the theory of optimal control proposes belongs to industrial process control technology field.

Background technology:

The most representative control method that is used for industrial process up to now mainly contains two classes: PID control and Smith Prediction Control, their control purpose all is consistent: guarantee system stability, suppress the influence of external disturbance and the performance of optimization system, require operation as far as possible simply effective, easy to use simultaneously.Wherein, the prediction compensating method (being called as the Smith prediction device afterwards) that Smith (nineteen fifty-seven) proposes is a kind of very effective control structure, but it is generally acknowledged that it is responsive to the error ratio of model, and antijamming capability is also relatively poor.Thereby in industrial process control most widely used general, the most ripe still PID controller, this is because the PID controller has simple form of fixing on the one hand, can both keep robustness preferably in very wide operating conditions scope; Be because the PID controller allows engineering technical personnel to come regulating system in a kind of simply and directly mode on the other hand.

The process of regulating the PID controller is exactly to determine the process of these three parameters of ratio, integration and derivative time at the controlling object that picks out.The PID controller setting method that grows up the earliest has Ziegler and Nichols at article Optimum Settiongs for Automatic Controllers (Trans.ASME, 1942,65, pp.433-444) frequency response method that proposes in is called for short the Z-N method, and Cohen and Coon are at Theoretical consideration of retarded control (Trans.ASME, 1953,75, pp.827-834) the response curve method that proposes in the literary composition is called for short the C-C method.What deserves to be mentioned is that the C-C method started a kind of typical modeling method, promptly controlling object set up one order inertia and add pure hysteresis approximate model by the step identification, and with this as the basis of determining controller parameter.Shinskey is at its works Process control systems (McGraw Hill Book Company, 1967) also point out in: though the dynamic response of most of industrial processs is complicated, they can add pure delay object with one order inertia quite exactly and simulate.Therefore in actual industrial process control, often at first pick out this model, up to the present based on this model a lot of PID controller parameter setting algorithms that also grown up.Consider that the PID controller overshoot of being adjusted by the Z-N method is bigger, C.C.Hang and K.J.Astrom are at Refinements of the Ziegler-Nichols tuningformula (IEE Proceedings-D, 1991,138,2, pp.111-118) a kind of improved Z-N method is proposed in the literary composition, be called for short the RZN method, improved system overshoot by set-point weighted sum correction integration constant, this method is considered to the most successful improvement of Z-N method.But because above these setting methods all are traditional methods based on experience, only utilized the partial information of system dynamic characteristic, so can't know and to what extent approach the Optimal Control state that system may reach, also be not easy to judge the compromise between system performance and the robustness.The control method based on the error intergal performance criteria of development in recent years is a kind of numerical method, because made full use of the dynamic characteristic information of system, be subjected to paying attention to widely, but it does not have the robustness problem of taking into account system.

Generally speaking, traditional setting method all can't solve two key issues of industrial process PID control well: the one, and the PID control problem of large time delay system.For example all there is the large time delay problem in the paper process in chemical reactor and the rectification column.A lot of methods when providing tuning formulae just the hysteresis scope to controlling object done restriction, and the setting method that has is not that poor performance after adjusting is exactly to can not get stable system though be not specifically limited the hysteresis scope of controlling object for the bigger system of time lag.Another problem is the system robustness problem.Because interference, noise and the dynamic perfromance that some can not be estimated, always there is uncertainty in the working control object, can not describe it with precise math model.But classic method is seldom considered the uncertainty of controlling object, engineering technical personnel need regulate three parameters simultaneously when adjusting controller, but lack clearly getting in touch between these three parameters and the system performance index, therefore people both can't know how effectively regulate parameter to reach the performance index of appointment, can't know also whether the back system of adjusting has robustness preferably, and, when the control of system being required to change or controlling object when being disturbed, do not know that more how effectively the adjustment control parameter is to reach the compromise between system performance and the robustness.

The article that Zhang Weidong was delivered in 1997 " a class Smith prediction device and robust thereof are adjusted " (the robotization journal, 1997,23,5, pp.660-663) in, from H _∞The theory of optimal control is set out robust Controller Design has been done more detailed theoretical property elaboration, this method for designing has guaranteed good interference suppressioning characteristic and robustness, just can regulate robustness easily by one-parameter, but owing to clearly do not provide implementation method, the concrete setting method of PID controller during particularly industrial process is controlled is so be difficult to be converted into application.

Summary of the invention:

The objective of the invention is to remedy the adjust deficiency of technology of conventional PID controllers, on existing theoretical property conclusion basis about robust Controller Design, a kind of more perfect industrial process one-parameter PID control method is proposed, can realize the one-parameter adjusting, the parameter of promptly only need adjusting just can reach the control purpose, and is easy and simple to handle effective.Most critical be quantitatively to set up getting in touch between this parameter and control system performance index, thereby can realize making things convenient for the regulating system robustness, make the purpose that reaches best compromise between system's nominal performance and the robustness.In addition, can implement effective control equally to process with long time delay.

For achieving the above object, the present invention proposes a kind of one-parameter PID control method at industrial process.Pick out after one order inertia adds the purely retarded control object at industrial control system, regulate one-parameter λ, and carry out the controlled signal of one-parameter pid control algorithm program that weaves, thereby realize adjusting system by monitoring module.One-parameter λ is the performance degree, both can be by engineering technical personnel's system performance as requested, quantitatively estimate and setting as overshoot, rise time and stability margin etc., also can determine by on-line tuning, be ascending increase λ, up to the nominal performance and the robustness that to require, and compromise with the mode between of the best.

The present invention directly implements in existing industrial control system by being compiled into corresponding one-parameter PID control monitoring module, adjusting of one-parameter λ has been provided clear and definite experimental formula coached.Concrete steps are as follows:

1, at first to the controlling object sampling filter, through the analog input channel transmission signals, and signal is inserted the detection change send device, after the A/D conversion, carry out process identification again, the process identification module picks out the first-order plus time delay model parameter based on step response method, be steady-state gain, time constant and pure retardation time, the model parameter that picks out delivered among the storage unit RAM of main frame.

The present invention is designated as the first-order plus time delay model wherein that K is a steady-state gain, and τ is a time constant, and θ is pure retardation time.When process identification, general industrial control system all can provide manual testing and two kinds of selections of test automatically, and the change curve of process output variable and control variable shows on control desk in real time.Can be according to the direct appraising model parameter of open loop step response curve when selecting the manual testing: steady-state gain K be the ratio of object input and output steady-state value; Make tangent line from point of inflexion on a curve, with the intercept of time shaft be pure retardation time of θ; Write down with step output and reach 0.63K _pTime corresponding, timeconstant is determined by the difference of θ and this time value.Industrial control system can be automatically by the identification of open loop step response least square area-method when selecting test automatically.

2, then enter system's closed loop process of adjusting, promptly by regulating the one-parameter λ controller of adjusting, industrial computer is also delivered to λ among the storage unit RAM.Can adopt a kind of simple online quantitative setting process to obtain suitable λ value in practice: to increase λ from small to large monotonously, until the response that obtains to require.The initial value of λ is 0, and typical step-length is 0.01 θ or littler.The very little controlling object of pure hysteresis can be determined typical step-length by timeconstant, and can consider to get typical step-length during such as θ≤0.1 τ is 0.001 τ or 0.01 τ.

Specify as the required nominal performance index that reaches of control system, operating personnel can estimate the λ value according to following experimental formula:

$\mathrm{\σ}=\left\{\begin{array}{cc}-8.06{(\mathrm{\λ}/\mathrm{\θ})}^3+14.21{(\mathrm{\λ}/\mathrm{\θ})}^2-8.72\mathrm{\λ}/\mathrm{\θ}+1.86,& 0.1\≤\mathrm{\λ}/\mathrm{\θ}\≤0.59\\ 0,& 0.59\≤\mathrm{\λ}/\mathrm{\θ}\≤1.2\end{array}\right\}$

$\mathrm{tr}=\left\{\begin{array}{cc}{30.34(\mathrm{\λ}/\mathrm{\θ})}^3-24.63{(\mathrm{\λ}/\mathrm{\θ})}^2+8.48\mathrm{\λ}/\mathrm{\θ}-0.45,& 0.1\≤\mathrm{\λ}/\mathrm{\θ}\≤0.59\\ 3.97\mathrm{\λ}/\mathrm{\θ}\θ1.02,& 0.59\≤\mathrm{\λ}/\mathrm{\θ}\≤1.2\end{array}\right\}---\left(1\right)$

In the formula: σ---overshoot

Tr---the rise time

θ---the pure hysteresis of controlling object

For example, requiring nominal performance is 5% overshoot, and then getting λ=0.5 θ can reach.

The above closed loop process of adjusting can have manual and automatic dual mode.When the control of the system that is moving requires to change or uncertainty when changing, the engineering staff also only needs the size of online adjusting λ can realize the new best compromise of system performance and robustness easily.

3, simultaneously, the monitoring module that includes the one-parameter pid control algorithm begins to read the program that weaves in advance: judge through the digital quantity input signal polarity after the A/D conversion, error signal in view of the above.

Concrete rule is: if positive interaction, then error signal e (n) equals the difference after the output y of system (n) subtracts the input r of system (n); If negative interaction, then e (n) equals the difference after r (n) subtracts y (n).

4, reading system performance degree parameter lambda and the model parameter that picks out then, and carry out the controlled signal of computing according to the one-parameter pid control algorithm.

Below explanation helps the programming of control algolithm in the monitoring module to realize:

With reference to the robust Controller Design conclusion that Zhang Weidong proposes, obtain PID controller continuous domain expression formula and be

$C\left(s\right)=K_c(1+\frac{1}{T_{i}s}+T_{d}s)\frac{1}{T_{f}s+1}---\left(2\right)$

The corresponding controller parameter is

$T_f=\frac{{\mathrm{\λ}}^2}{2\mathrm{\λ}+\frac{\mathrm{\θ}}{2}},T_i=\frac{\mathrm{\θ}}{2}+\mathrm{\τ},T_d=\frac{\mathrm{\θ\τ}}{2T_i},K_c=\frac{T_i}{K(2\mathrm{\λ}+\frac{\mathrm{\θ}}{2})}$

But consider the increment formula that utilizes computer-controlled realizability, the present invention further to provide corresponding discrete domain:

Δu(n)＝b ₁Δu(n-1)+b ₂e(n)+b ₃e(n-1)+b ₄e(n-2) (3)

Wherein

$b_1=\frac{T_f}{T_f+\mathrm{\τ}},b_2=\frac{K_c\mathrm{\τ}}{T_f+\mathrm{\τ}}(1+\frac{\mathrm{\τ}}{T_i}+\frac{T_d}{\mathrm{\τ}}),$

$b_3=\frac{K_c\mathrm{\τ}}{T_f+\mathrm{\τ}}(1+\frac{2T_d}{\mathrm{\τ}}),b_4=\frac{K_c{T}_d}{T_f+\mathrm{\τ}}$

More than various in: K---controlling object gain, θ---the pure hysteresis of controlling object, τ---controlling object time constant, λ---system performance degree, K _c---controller gain, T _i---controller integral time, T _d---controller derivative time, T _f---filter time constant, Δ u (n)---current (n) be the controller output signal increment constantly, Δ u (n-1)---(n-1) moment controller output signal increment, e (n)---n is tracking error constantly, e (n-1)---(n-1) moment tracking error, e (n-2)---(n-2) moment tracking error.

Based on (3) formula, read adjusted good system performance degree parameter lambda and the model parameter that picks out when working out this subprogram earlier, calculate the coefficient value b of Discrete PI D control formula ₁, b ₂, b ₃, b ₄, and then the value of controlled signal increment Delta u (n) is carried out the output control signal u (n) that additive operation just obtains current time with the control signal u (n-1) of previous moment by totalizer.

5, the output control signal u (n) to current time handles, prevent that integration is saturated, after actuator is delivered in the analog output channel, affact controlled device by actuator by the D/A conversion, controlled device is operated in the given scope, show current parameters such as state simultaneously.

At the Industry Control field by using one-parameter PID of the present invention control method controller of adjusting, only the dull adjusting of need single controller parameter---performance degree λ can make system reach specified performance, the best compromise of realization system nominal performance and robustness, easy and simple to handle, control the effect quick and stable, and can implement effective control equally process with long time delay.This is that traditional design method can't be accomplished.Take the industrial control system regulative mode of control method of the present invention to have manually, select automatically, can have upper and lower limit and the output etc. of reporting to the police, can be widely used in the production run control of all kinds of enterprises in the industries such as the energy, metallurgy, petrochemical industry, light industry, medicine, building materials, weaving.

Description of drawings:

Fig. 1 is for adopting the present invention---the industrial control system workflow diagram of one-parameter PID control method.

The course of work shown in Figure 1 is as follows: after the system start-up, industrial computer reads the program in the monitoring module, and order is carried out control procedure, at first to the controlling object sampling filter, the analog quantity input signal is carried out process identification earlier by instruction after the A/D conversion, promptly pick out one order inertia and add pure lag model.Online quantitative adjusting one-parameter λ or directly set λ according to the specified performance index.The model parameter that monitoring module reads λ and picks out, and carry out the controlled signal of computing according to the one-parameter pid control algorithm, deliver to actuator by D/A conversion back output channel again, affact controlled device by actuator, controlled device is operated in the given scope, show current parameters such as state simultaneously.Controlling object Model Distinguish and system's closed loop adjustment mode all have manually, select automatically, have upper and lower limit and the output etc. of reporting to the police.

Fig. 2 is an one-parameter PID control program FB(flow block) in the monitoring module.

As shown in Figure 2, judge by the polarity to input digit amount signal, calculate tracking error, combination λ that sets and the model parameter that picks out calculated the coefficient value b of Discrete PI D control formula then ₁, b ₂, b ₃, b ₄And then with the value of the control signal increment Delta u (n) that obtains, obtain the output control signal u (n) of current time with control signal u (n-1) addition of previous moment, change after output channel is delivered to actuator by D/A again, affact controlled device by actuator, controlled device is operated in the given scope.So go round and begin again, whole industrial control system can be realized the control reliable and stable to control procedure.

Fig. 3 is the system responses curve in the embodiment of the invention.

Fig. 4 is the control design sketch of the embodiment of the invention.

Embodiment:

Below in conjunction with drawings and Examples technical scheme of the present invention is further described.

Embodiment:

The control method that the present invention is proposed is used for the paper process automatic control system, its objective is to produce to have constant quantitative paper.So-called promptly is the weight of every square metre of paper quantitatively.The controlling object of system is a paper machine.The input of paper machine is certain density paper pulp, and output is paper.The host machine part of industrial control system adopts grinds magnificent industrial computer, realizes controller function.Actuator is a variable valve of regulating pulp flow, adopts the accurate solenoid valve of ZBJV.Sensor is a WDT-3 β quantitative instrument of measuring Substance.Realize A/D, D/A conversion by RTU-88 configuration hardware.

According to the control method that the present invention proposes, concrete implementation step has following a few step:

1. at first to controlling object---the paper machine sampling filter, through the analog input channel transmission signals, and signal is inserted the detection change send device, after the A/D conversion, carry out process identification again, the paper machine dynamic model that industrial control system is quantitatively controlled by the identification of open loop step response area-method automatically is for being that the first-order plus time delay model parameter is: K=5.15, τ=1.8, θ=2.8.

This control procedure has typical pure hysteresis characteristic.The model parameter that picks out is delivered among the storage unit RAM of main frame.

2. then enter system's closed loop process of adjusting.The required nominal performance index that reaches of this paper process automatic control system is specified, as to require nominal performance be 5% overshoot, engineering technical personnel are according to the desirable λ of (1) formula process simple computation=0.5 θ=1.4, by control panel system performance degree parameter lambda is adjusted to this size position, simultaneously, memory is also read in it in system.

3. simultaneously, the monitoring module that includes the one-parameter pid control algorithm begins to read the program that weaves in advance: judge through the digital quantity input signal polarity after the A/D conversion, error signal in view of the above.If positive interaction, then error signal e (n) equals the difference after the output y of system (n) subtracts the input r of system (n); If negative interaction, then e (n) equals the difference after r (n) subtracts y (n).

4. monitoring module reading system performance degree parameter lambda and the model parameter that picks out then, and carry out the controlled signal of computing according to the one-parameter pid control algorithm.Obtaining the PID controller parameter according to (2) formula is

T _i＝3.2，T _d＝0.7875，K _c＝0.1479，T _f＝0.4667；

Further the coefficient value according to (3) formula calculating Discrete PI D control formula is

b ₁＝0.2059，b ₂＝0.2350，b ₃＝0.2203，b ₄＝0.0514，

So the expression formula of controlled signal increment Delta u (n) is

Δu(n)＝0.2059Δu(n-1)+0.2350e(n)+0.2203e(n-1)+0.0514e(n-2)

Carry out the output control signal u (n) that additive operation just obtains current time with the control signal u (n-1) of previous moment by totalizer.

5. the output control signal u (n) to current time handles, prevent that integration is saturated, change after the variable valve of regulating pulp flow is delivered in the analog output channel by D/A, affact paper machine by variable valve, paper machine is operated in the given scope, produce quantitative paper, show current parameters such as state simultaneously.

So go round and begin again, whole papermaking control system can realize the paper production process stabilization is controlled reliably.The system responses curve that obtains as shown in Figure 3.

The error that consideration produces the paper machine modeling, 10% perturbation takes place respectively in three parameters of hypothesized model, and wherein, K increases, and τ reduces, and θ increases.As keep the original λ value of setting constant, the overshoot that can observe system responses by monitor supervision platform becomes big, at this moment only need fine setting λ just can reach the satisfied compromise of robustness and system performance, transfer to λ=0.55 θ, the control effect as shown in Figure 4, realized the best compromise of system's nominal performance and robustness, and simple operation, control is steadily.

Claims (1)

1, a kind of industrial process one-parameter PID control method is characterized in that comprising following concrete steps:

1) to the controlling object sampling filter, through the analog input channel transmission signals, and signal is inserted the detection change send device, after the A/D conversion, carry out process identification again, the process identification module picks out the first-order plus time delay model based on step response method $G\left(s\right)=\frac{K{e}^{-\mathrm{\θs}}}{\mathrm{\τs}+1}$ Parameter, steady-state gain K, timeconstant and pure retardation time θ, and the model parameter that picks out is delivered among the storage unit RAM of main frame;

2) enter system's closed loop process of adjusting, regulate the one-parameter λ controller of adjusting by dull increasing from small to large, until the response that obtains to require, and λ delivered among the storage unit RAM, the initial value of λ is 0, and typical step-length is 0.01 θ or littler; Specify as the required nominal performance index that reaches of control system, estimate the λ value according to following formula:

$\mathrm{\σ}=\left\{\begin{array}{cc}-8.06{(\mathrm{\λ}/\mathrm{\θ})}^3+14.21{(\mathrm{\λ}/\mathrm{\θ})}^2-8.72\mathrm{\λ}/\mathrm{\θ}+1.86,& 0.1\≤\mathrm{\λ}/\mathrm{\θ}\≤0.59\\ 0,& 0.59\≤\mathrm{\λ}/\mathrm{\θ}\≤1.2\end{array}\right.$

$\mathrm{tr}=\left\{\begin{array}{cc}30.34{(\mathrm{\λ}/\mathrm{\θ})}^3-24.63{(\mathrm{\λ}/\mathrm{\θ})}^2+8.48\mathrm{\λ}/\mathrm{\θ}-0.46,& 0.1\≤\mathrm{\λ}/\mathrm{\θ}\≤0.59\\ 3.97\mathrm{\λ}/\mathrm{\θ}-1.02,& 0.59\≤\mathrm{\λ}/\mathrm{\θ}\≤1.2\end{array}\right.$

In the formula: σ---overshoot, tr---rise time, θ---the pure hysteresis of controlling object, λ---system performance degree;

3) judge through the digital quantity input signal polarity after the A/D conversion, error signal in view of the above by the monitoring module that includes the one-parameter pid control algorithm;

4) reading system performance degree parameter lambda and the model parameter that picks out are calculated as follows the coefficient value of PID control formula:

$T_f=\frac{{\mathrm{\λ}}^2}{2\mathrm{\λ}+\frac{\mathrm{\θ}}{2}},T_i=\frac{\mathrm{\θ}}{2}+\mathrm{\τ},T_d=\frac{\mathrm{\θ\τ}}{2T_i},K_c=\frac{T_i}{K(2\mathrm{\λ}+\frac{\mathrm{\θ}}{2})}$

In the formula: K---controlling object gain, θ---the pure hysteresis of controlling object, τ---controlling object time constant, λ---system performance degree, K _c---controller gain, T _i---controller integral time, T _d---controller derivative time, T _f---filter time constant; And then controlled signal increment, and obtain the output control signal of current time;

5) the output control signal of current time is handled, after actuator is delivered in the analog output channel, affacted controlled device by actuator by the D/A conversion.

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