JP5965953B2 - モデル不一致を補償するためのチューニングを有する頑健な適応モデル予測コントローラ - Google Patents
モデル不一致を補償するためのチューニングを有する頑健な適応モデル予測コントローラ Download PDFInfo
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Classifications
-
- 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
-
- 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
- G05B13/042—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 in which a parameter or coefficient is automatically adjusted to optimise the performance
-
- 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
-
- 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
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
-
- 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
- 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]
- G05B19/41885—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 modeling, simulation of the manufacturing system
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Description
xk+1=Axk+Buk+wk (4)
yk=Cxk+nk (5)
として表現されうる。
・MPCコントローラチューニング:
・P(予測ホライズン)、整数
・M(制御ホライズン)、整数
・Q(移動ペナルティ)、浮動小数点ベクト
・R(誤差ペナルティ)、浮動小数点ベクトル
・カルマンフィルタのタイプ(TKF):汎用または簡易、ブール的
・カルマンフィルタチューニング
・汎用
・QKF(外乱wの共分散)、浮動小数点マトリクス
・RKF(測定雑音zの共分散)、浮動小数点マトリクス
・簡易
・T(フィルタ時定数τi)、浮動小数点ベクトル
・SNR(各外乱についての信号対雑音比)、浮動小数点ベクトル
である)。
=1
=1
=2
=1.5
=1
=1
Claims (17)
- プロセスプラントを制御するのに使用されるチューニング可能なモデルベースプロセスコントローラをチューニングする方法であって、
前記プロセスコントローラの動作に関連する誤差信号を取得すること、
目下チューニングされている前記プロセスコントローラと前記プロセスプラントとの間のモデル不一致の存在の指標を確定するために、前記誤差信号に対して自己相関解析を実施すること、および、
前記モデル不一致の存在の指標を特定するために実施される前記自己相関解析の結果に基づいて新たなモデルを生成することなく前記プロセスコントローラを再チューニングするために、オンライン制御動作中にチューニングサイクルを実施することを含む方法。 - 前記プロセスコントローラの動作に関連する前記誤差信号を取得することは、プロセス変数の測定値と前記プロセス変数についての設定点との差として、前記プロセスコントローラに関連する制御誤差信号を確定するか、又は、プロセス変数の測定値と前記プロセスコントローラによって生成される前記プロセス変数についての予測値との差として、前記プロセスコントローラに関連する予測誤差信号を確定する、ことを含む請求項1に記載の方法。
- 前記プロセスコントローラの動作に関連する前記誤差信号を取得することは、第1の期間の間、誤差信号を取得すること、および、前記第1の期間より後の第2の期間の間、誤差信号を取得することを含み、モデル不一致の存在の指標を確定するために前記誤差信号に対して前記自己相関解析を実施することは、前記第1の期間の間、前記誤差信号に対して自己相関解析を実施すること、前記第2の期間の間、前記誤差信号に対して自己相関解析を実施すること、ならびに、前記第1および第2の期間の間の、前記自己相関解析の結果を比較することであって、それにより、前記第1の期間と前記第2の期間との間のモデル不一致の変化を確定することを含む請求項2に記載の方法。
- 前記プロセスコントローラの動作に関連する前記誤差信号を取得することは、プロセス変数の測定値と前記プロセスコントローラによって生成される前記プロセス変数についての予測値との差として、前記プロセスコントローラに関連する予測誤差信号を確定することを含む請求項3に記載の方法。
- 前記予測誤差信号は、前記プロセスコントローラの動作に関連する予測誤差を含む請求項4に記載の方法。
- 前記自己相関解析を実施することは、前記プロセス変数が外乱または負荷変化に応答して制御される期間に関連する予測誤差信号に対して前記自己相関解析を実施することを含む請求項5に記載の方法。
- プロセスプラントを制御するときに使用するための適応コントローラであって、
前記プロセスプラントを制御するための制御信号を生成するコントローラユニットであって、1つまたは複数の変更可能なチューニングパラメータを含む、コントローラユニットと、
前記コントローラユニットで使用するための1つまたは複数のチューニングパラメータ値を確定するチューニングユニットと、
前記コントローラユニットと前記チューニングユニットとの間に結合される推定器とを備え、前記推定器は、目下チューニングされている前記コントローラユニットと前記プロセスプラントとの間のモデル不一致の指標を確定するために、前記コントローラユニットに関連する誤差信号に対して自己相関解析を実施し、前記推定器は、前記モデル不一致の指標に基づいてオンライン制御動作中にチューニングサイクルを前記チューニングユニットに実施させる、適応コントローラ。 - 前記推定器は、前記コントローラユニットに関連する予測誤差信号に対して前記自己相関解析を実施し、前記予測誤差信号は、プロセス変数の測定値と前記プロセス変数についての予測値との差を示す請求項7に記載の適応コントローラ。
- 前記推定器は、前記プロセス変数が外乱または負荷変化を経験する期間中に収集される予測誤差データに基づいて、前記コントローラユニットに関連する前記予測誤差信号に対して前記自己相関解析を実施する請求項8に記載の適応コントローラ。
- 前記推定器は、第1の期間の間、前記誤差信号を取得し、前記第1の期間より後の第2の期間の間、前記誤差信号を取得し、前記推定器は、前記第1の期間の間、前記誤差信号に対して自己相関解析を実施し、前記第2の期間の間、前記誤差信号に対して自己相関解析を実施し、前記第1および第2の期間の間の、前記自己相関解析の結果を比較して、前記第1の期間と前記第2の期間との間のモデル不一致の変化を確定する請求項7に記載の適応コントローラ。
- 前記コントローラユニットは、モデル予測コントローラである請求項7に記載の適応コントローラ。
- 前記コントローラユニットは、カルマンフィルタを有するモデル予測コントローラである請求項7に記載の適応コントローラ。
- 予測プロセスコントローラによって使用されるコントローラモデルとプロセスプラントとの間のプロセスモデル不一致を検出することにより前記予測プロセスコントローラをチューニングする方法であって、
前記プロセスプラントの制御に関連する誤差信号を確定すること、
前記誤差信号に対して自己相関解析を実施すること、
前記コントローラモデルと前記プロセスプラントとの間のプロセスモデル不一致を検出するために、前記自己相関解析を解析すること、および、
前記プロセスモデル不一致に基づいてオンライン制御動作中に前記予測プロセスコントローラを再チューニングすること
を含む方法。 - 前記プロセスプラントの前記制御に関連する前記誤差信号を確定することは、プロセス変数の予測値と前記プロセス変数の測定値との差として、前記予測プロセスコントローラに関連する予測誤差信号を確定することを含む請求項13に記載の方法。
- 前記誤差信号に対して前記自己相関解析を実施することは、前記プロセス変数が外乱または負荷変化に応答して制御される期間中に収集される予測誤差データに対して前記自己相関解析を実施することを含む請求項14に記載の方法。
- 前記プロセスプラントの前記制御に関連する前記誤差信号を確定することは、第1の期間の間、第1の制御誤差信号を、前記第1の期間の間の、プロセス変数の測定値と前記プロセス変数についての設定点との差として取得すること、および、前記第1の期間より後の第2の期間の間、第2の制御誤差信号を、前記第2の期間の間の、前記プロセス変数の測定値と前記プロセス変数についての設定点との差として取得することを含み、前記誤差信号に対して自己相関解析を実施することは、前記第1の制御誤差信号に対して自己相関解析を実施すること、および、前記第2の制御誤差信号に対して自己相関解析を実施することを含み、プロセスモデル不一致を検出するために前記自己相関解析を解析することは、前記第1の期間と前記第2の期間との間のプロセスモデル不一致の変化を確定するため、前記第1および第2の制御誤差信号に対する前記自己相関解析の結果を比較することを含む請求項15に記載の方法。
- 前記第1の制御誤差信号を取得すること、および、前記第2の制御誤差信号を取得することは、前記プロセス変数が定常状態条件にある前記第1および第2の期間中に前記第1および第2の制御誤差信号を取得することを含む請求項16に記載の方法。
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JP2014192445A Active JP5965953B2 (ja) | 2008-01-31 | 2014-09-22 | モデル不一致を補償するためのチューニングを有する頑健な適応モデル予測コントローラ |
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JP (3) | JP5504175B2 (ja) |
CN (2) | CN101925866B (ja) |
DE (2) | DE112009000224T5 (ja) |
GB (2) | GB2469239B (ja) |
HK (1) | HK1145885A1 (ja) |
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US7738975B2 (en) | 2005-10-04 | 2010-06-15 | Fisher-Rosemount Systems, Inc. | Analytical server integrated in a process control network |
US7444191B2 (en) | 2005-10-04 | 2008-10-28 | Fisher-Rosemount Systems, Inc. | Process model identification in a process control system |
US8036760B2 (en) * | 2005-10-04 | 2011-10-11 | Fisher-Rosemount Systems, Inc. | Method and apparatus for intelligent control and monitoring in a process control system |
US7840287B2 (en) * | 2006-04-13 | 2010-11-23 | Fisher-Rosemount Systems, Inc. | Robust process model identification in model based control techniques |
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JP5649633B2 (ja) | 2015-01-07 |
US9904257B2 (en) | 2018-02-27 |
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