JP4781641B2 - 非線形予測機能を備える多重入力/多重出力制御ブロック - Google Patents
非線形予測機能を備える多重入力/多重出力制御ブロック Download PDFInfo
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- JP4781641B2 JP4781641B2 JP2004166711A JP2004166711A JP4781641B2 JP 4781641 B2 JP4781641 B2 JP 4781641B2 JP 2004166711 A JP2004166711 A JP 2004166711A JP 2004166711 A JP2004166711 A JP 2004166711A JP 4781641 B2 JP4781641 B2 JP 4781641B2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
- G05B13/027—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using neural networks only
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/048—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators using a predictor
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Description
sはスキャン周期であり、
iは未来のスキャン番号であり(ここで、iは0からp−1までの数である)、
τは仮のプロセス出力時定数であり、この時定数は、補正出力の最大ステップ応答時定数と想定しうる。所望ならば、τは、定常状態に達するのに必要な時間を3または4で割った数の如き定常状態に達するのに必要な時間を割って得られる数であってもよい。この式によれば、
予測ベクトル
f(i、s、TSS)は、予測補正に用いられる一次元よりも高次元の一般指数関数である。原則的には、予測補正式は、該当する出力の線形ステップ応答に用いられる関数の次元と同一の次元であることが推奨される。
A、B、Cは、プロセスモデル行列であり、
0≦F≦1は、非測定外乱補正用のフィルタであり、
0≦f≦1は、ニューラルネットワーク補正用のフィルタである。
もちろん、上記の式を変形したものを同様に適用してもよい。
図6は、MPCブロック44と、HYSYS(登録商標)、Cape(登録商標)などにより提供される高忠実度のプロセスモデルもしくはシミュレーション110またはその他の高忠実度プロセスモデルとを備えるアドバンスト制御システム109のさらなる実施例を例示している。このような高忠実度プロセスモデル110は、多重入力/多重出力プロセスモデル、第一の原理に基づく多重入力/単一プロセスモデル(線形または非線形)、ニューラルネットワークロジック、ファジーロジック、またはプロセス入力に基づくプロセス出力のうちの一または複数に対して予測信号を生成するその他のロジックでありうる。いうまでもなく、MPCブロック44は、図3のMPC予測ブロック70によりプロセス出力に対して作成されるさまざまな予測ベクトルを補正または補償すべく、さまざまな予測信号の各々を用いる。また、図6は高忠実度プロセスモデル110が三つの予測信号を生成することを例示しているが、高忠実度プロセスモデル110は、MPCブロック44により用いられるべくその他いかなる数の予測信号を生成してもよい。なお、その正確な数は、通常、プロセス入力のうちの一または複数に対して非線形応答を示すプロセス出力数に依存する。
12 プロセスコントローラ
12a プロセッサ
12b コンピュータ読み取り可能メモリ
14 データヒストリアン
16 ワークステーションまたはコンピュータ
18 通信ネットワーク
20〜27 フィールドデバイス
28、29 入力/出力(I/O)カード
32、34 ルーチン
36 アドバンスト制御ループ
38 アドバンスト制御ブロック
40 アドバンスト制御ブロック生成ルーチン
42 非線形プロセスモデル
44 MPC制御ブロック
48 プロセス出力
50 プロセスプラント
52 プロセス外乱、外乱変数および制約変数
54 操作変数制御信号
56、76 入力
60 予測信号
70 制御予測プロセスモデル
72 出力回線
74、84 ベクトル加算器
78 補正ユニットまたは補償ユニット
80 制御目標ブロック
82 軌道フィルタ
86 MPCアルゴリズムブロック
90 グラフ
92、94、96、98 予測ベクトル
100、109 アドバンスト制御システム
102、104 ニューラルネットワークプロセスモデル
106、108 予測信号
110 高忠実度プロセスモデル、シミュレーション
124 予測信号
126 オプチマイザ
128 コントローラ
130 線形プロセスモデル
132 補正ユニット
Claims (5)
- 一組のプロセス制御入力信号から一組のプロセス出力をもたらすプロセスを制御すべくプロセッサにより実行されるプロセス制御ルーチンの一部として用いられるプロセス制御エレメントであって、
コンピュータが実行可能な指示が記憶されるコンピュータ可読媒体と、
前記コンピュータ可読媒体に格納され、前記プロセッサで実行されると前記プロセスの一部である多重入力/多重出力制御を実行する制御エレメントとを備え、
前記制御エレメントは、
前記一組のプロセス制御入力信号から前記プロセス出力のうちの一つに対して、前記プロセス出力のうちの一つに対する定常状態値である予測信号を生成する非線形の第一のプロセスモデルと、
前記プロセス出力に関連する制御変数に対応する信号を受信し、前記制御変数に基づいて一組の制御信号を作成する多重入力/多重出力制御エレメントとを有しており、
前記多重入力/多重出力制御エレメントは、所定の時間範囲において定常状態値を有する前記プロセス出力の各々に対する予測ベクトルを作成する線形の第二のプロセスモデルと、前記プロセス出力のうちの一または複数に対する前記予測信号を用いて、前記第二のプロセスモデルにより作成された前記予測ベクトルに対して前記時間範囲の終点における第一のモデル予測値と第二のモデル予測値との差に一次またはそれより大きい次数の指数関数を乗じることにより得られる数を加えることにより前記第二のプロセスモデルにより作成された前記予測ベクトルを修正するように構成されている補正ユニットとを有してなる、プロセス制御エレメント。 - 前記第一のプロセスモデルがニューラルネットワークプロセスモデルである、請求項1記載のプロセス制御エレメント。
- 前記多重入力/多重出力制御エレメントがモデル予測制御コントローラであり、前記一組の制御信号が、前記プロセス出力を制御すべく、前記プロセス制御入力信号として伝送されるように構成されている、請求項2記載のプロセス制御エレメント。
- 前記多重入力/多重出力制御エレメントがオプチマイザであり、前記一組の制御信号がプロセスコントローラの目標値を有してなる、請求項2記載のプロセス制御エレメント。
- 前記時間範囲上の終点における第一のモデル予測値と第二のモデル予測値との差に乗じる一次またはそれより大きい次数の指数関数は、定常状態に達するのに必要なプロセス出力時間を所定の値で割った時間と同等の時定数を含んでいる、請求項1記載のプロセス制御エレメント。
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US10/454,937 US7272454B2 (en) | 2003-06-05 | 2003-06-05 | Multiple-input/multiple-output control blocks with non-linear predictive capabilities |
US10/454,937 | 2003-06-05 |
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DE (1) | DE102004026979B4 (ja) |
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