WO2009106095A1 - Dispositif de régulation pour une installation technique de procédé - Google Patents

Dispositif de régulation pour une installation technique de procédé Download PDF

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Publication number
WO2009106095A1
WO2009106095A1 PCT/EP2008/001546 EP2008001546W WO2009106095A1 WO 2009106095 A1 WO2009106095 A1 WO 2009106095A1 EP 2008001546 W EP2008001546 W EP 2008001546W WO 2009106095 A1 WO2009106095 A1 WO 2009106095A1
Authority
WO
WIPO (PCT)
Prior art keywords
measured value
control
value
controller
control device
Prior art date
Application number
PCT/EP2008/001546
Other languages
German (de)
English (en)
Inventor
Bernd-Markus Pfeiffer
Christian Preusse
Original Assignee
Siemens Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Priority to PCT/EP2008/001546 priority Critical patent/WO2009106095A1/fr
Publication of WO2009106095A1 publication Critical patent/WO2009106095A1/fr

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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
    • G05B21/00—Systems involving sampling of the variable controlled
    • G05B21/02—Systems involving sampling of the variable controlled electric

Definitions

  • the invention relates to a control device for a process plant with at least one transmitter for detecting a physical or chemical quantity of a process and with a controller according to the preamble of claim 1.
  • transducers for determining physical or chemical properties of the process medium are usually used, which must be fastened by means of expensive flanges or bushings on media-carrying containers or pipes.
  • this has the disadvantage that with a transmitter only the prevailing at the installation of the transmitter media properties can be determined.
  • a multitude of transmitters is required, which must be installed in each case at the locations at which measured values are to be recorded.
  • this procedure is very expensive.
  • a control system for process engineering equipment which has sensors and actuators that float in the medium movable.
  • the sensors described there are also transducers that serve to detect a physical or chemical size of the medium.
  • a location-dependent detection of a physical or chemical size of the medium is possible and processes in which the process medium is not homogeneously mixed, for example, or in which locally different process conditions occur, can be better managed, so that ultimately achieves an increase in the quality of the products produced becomes.
  • the well-known transmitter is wireless and works energy self-sufficient. To supply it with the energy required for operation, it is provided with an energy store. Because of the energy consumption associated with the determination of measurements and their wireless data transmission, the energy storage device must be frequently changed or, in the case of a loadable memory, recharged. This is associated with a high maintenance or the service life of the transmitter are limited.
  • transducers which are firmly mounted in a process engineering system, but are not constantly fed, for example via a cable with the required auxiliary power and thus also need their own energy storage.
  • wireless transducers it is therefore desirable to minimize energy consumption in order, for example, to lengthen the maintenance cycles for battery replacement or to enable the technical feasibility of certain innovative energy supply concepts which can only provide low power.
  • Control loops for process variables usually work with a constant cycle time.
  • a discrete-time control also called digital control or sampling control, be
  • Control variable and target size sampled in fixed, uniform time intervals and converted into digital numerical values, so quantized. Therefore, the transmission of readings from the transmitter to the controller is tied to a fixed cycle that monitors transmitters with wireless data transmission that are suitable for control purposes, or that have a network-wide clock or clock synchronization.
  • the invention has for its object to provide a control device for a process engineering plant and a method for operating such a control device, by which a lower power consumption of transducers is made possible.
  • the new control device for a process engineering plant of the type mentioned in the characterizing part of claim 1 features.
  • Advantageous further developments, a method for operating such a control device, a computer program and a computer program product for carrying out the method are described in the further claims.
  • the design of the controller in which, for example, the time constants readjustment time and derivative time of a PID controller are adapted to the time constants of the controlled system, as hitherto done guasi continuously.
  • the conversion of the time constants designed for a continuously operating controller into a discrete-time, digital algorithm, to which the Laplace transfer function is usually converted to the Z transfer function or to a difference equation, takes into account a variable duration of the sampling intervals carried out.
  • the manipulated variable which the controller outputs to an actuator for influencing the process is therefore not only dependent on setpoints and measured values determined on the process but also on the duration of the last sampling interval and possibly also on further past sampling intervals.
  • the dependence on the respective duration of the last sampling interval can consist, for example, in an adjustment of the control algorithm, for example by simple recalculation of at least a part of the coefficients in a difference equation, into which, for example, in a PID controller the ratio of readjustment time can be included in the sampling interval, after receiving the last transmitted reading.
  • a manipulated variable calculated with the adjusted control algorithm can then be kept constant until the next measured value of the transmitter is received by the controller.
  • a control device is thus obtained which does not require a constant cycle time in the measured value acquisition and thus manages without a clock available throughout the network. An equidistant sampling of process variables is no longer required.
  • a design of the controller in such a way that it recalculates a control value on receipt of the second measured value and outputs this, has the advantage that only one control value is transmitted in each sampling interval and the control effort, for example, the energy consumption and wear of a valve as an actuator , reduced accordingly.
  • an incremental algorithm as a control algorithm for determining the manipulated value, in which a new control value is equal to the increased increment by a calculated increment, has the advantage that no information from further scanning with lengths of the sampling intervals is required to calculate this increment - are those that may differ from the last sampling interval.
  • a continuous controller determined in the design is transformed into a discrete-time controller according to the trapezoidal rule, comparatively many past values must be included and it is necessary to take into account the duration of the various sampling intervals between these historical values.
  • Such a control algorithm would therefore be associated with a considerably greater amount of computation, so that in this context the use of an incremental algorithm is recommended.
  • the threshold value the changes of currently determined measured values compared to the last transmitted measuring must be exceeded, so that a new measured value is sent, depending on a predetermined control target, depending on predetermined process parameters and / or determined and predetermined depending on a predetermined average number of transmissions of the transmitter per unit time.
  • the dimensioning of the threshold value can in fact be regarded as the solution to an optimization problem in which the goal of minimizing the communication effort under the secondary condition of compliance with specific control objectives, such as limiting the variance of the controlled variable or the maximum control deviation, is achieved as well as possible.
  • the optimization-based design ensures that the various, sometimes even conflicting, functional objectives for the control loop system are coordinated.
  • the transfer function of the process which represents the controlled system in the control loop, is not known in advance, but must first be identified in a phase of process identification on the basis of measured data, it is advantageously possible to determine measured values in fixed modes in a special operating mode of the transmitters To send uniform time intervals, so that the process identification can be performed with the already known for discrete-time arrangements of conventional type known method.
  • the method for operating a control device is preferably implemented in software or in a combination of soft / hardware, so that the invention also relates to a computer program with computer-executable program code instructions for implementing the method.
  • the invention also relates to a computer program product, in particular a data carrier or a storage medium, with such a computer program that can be executed by a computer.
  • Such a computer program is preferably part of a software function block in the CPU of a process control system or is kept in a memory of the process control system or can be loaded into this memory. so that during operation, the process control system automatically performs a control according to the method for operating the control device.
  • the figure shows a schematic representation of a batch reactor with control device.
  • a batch reactor 1 to which a process medium 3 can be supplied through an inlet 2 and can be removed again by a drain 4 after completion of a desired reaction, is provided with a device for temperature control.
  • a device for temperature control For better mixing of the process medium 3, an agitator 13 is provided in the reactor 1.
  • a heating means For heating the process medium 3 is a jacket 5 of the reactor 1, in which a heating means can be introduced through an inlet 6, which flows out through a drain 7 again. The inflow amount of
  • Heating means is adjustable with a valve 8.
  • the setting of the valve 8 is determined by a control value y, which determines a controller from a controlled variable x and a predetermined setpoint w.
  • the controller includes a comparator 9, which determines a control difference e from the desired value w and the control variable x, and a controller core 10, which calculates the control value y from the control difference e.
  • An energy-autonomous transmitter 11 floats in the reactor 1, detects the temperature in the process medium 3 as a process variable, determines corresponding measured values and transmits them wirelessly via an antenna.
  • the transmission signals are received by a receiver 12 outside of the reactor 1, which also has an antenna, so that values of the temperature are available as controlled variable x for the controller.
  • the wireless data transmission between the transmitter 11 and the receiver 12 can take place, for example, via Industrial WLAN, ZigBee, Bluetooth or other radio networks.
  • the receiver 12 is, for example, for example, this is an access point
  • valve 8 is an electro-pneumatic control valve
  • the other components of the control unit are software function blocks which are loaded into a process control system for implementing the control device.
  • the transmitter 11 delivers values of the temperature in chronologically equidistant cycles and sends them to the receiver 12.
  • a heating experiment is performed for the process identification, that is to say for determining the parameters of a suitable process model, in which the manipulated variable y is set to its maximum value and with the aid of the transmitter 11, the resulting heating curve is determined.
  • the transfer function of the temperature control path and a suitable time-continuous controller are designed in a known manner. The time-continuous controller obtained in this way is then converted into an incremental control algorithm of a discrete-time variable-time controller.
  • a threshold is set, for example, 0.5 0 C, which determines at which changes in temperature during normal operation by the transmitter 11 again measured values should be transmitted. This measure serves to reduce the frequency of transmission of transmissions over the wireless network, thus minimizing the power consumption of the transmitter 11 and making better use of the available bandwidth of the wireless network.
  • the transmitter sends new measured values of the temperature of the process medium 3 only if they deviate by more than 0.5 0 C from the last transmitted measured value.
  • the controller Each time a new measured value is received by the controller with the aid of the receiver 12, the measured value corresponding to the controlled variable x in the control device, the manipulated variable y becomes dependent on itself recalculated resulting control difference e and the duration of the last sampling interval, which is taken into account in the control algorithm as a variable size. Subsequently, the position of the valve 8 is kept constant until a new measured value is received. This also reduces the energy consumption of the valve 8 as an actuator and its wear.
  • the invention has been described with reference to an embodiment with only one transmitter 11 and only one access point 12.
  • a large number of wirelessly communicating transducers, actuators or actuators, regulators and the like are combined in a sensor network.
  • the subscribers communicate with each other wirelessly and messages can contain a time stamp which, for example, indicates the time of the measured value acquisition or the time of the manipulated variable calculation. If all subscribers were to transmit constantly in a common clock as before, for example a message every 10 ms for each subscriber, the available bandwidth of the communication network would already be exhausted with relatively few subscribers. In addition, the clock would have to be distributed extensively over the network.
  • transducers and controllers are designed to discretely respond to changes in the measured physical or chemical quantities, messages with new measured values are only sent if events have changed. It becomes clear from these statements that the new control method has a particularly advantageous effect on the utilization of the available bandwidth of the communication network.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)

Abstract

L’invention concerne un dispositif de régulation pour une installation technique de procédé ainsi qu’un procédé pour exploiter un tel dispositif de régulation. Au moins un convertisseur de mesure (11) permettant la saisie d’une grandeur physique ou chimique compare une valeur de mesure déterminée momentanément à une première valeur de mesure émise en dernier, et émet seulement après, lors du fonctionnement normal, la valeur de mesure momentanément déterminée comme deuxième valeur de mesure, si l’écart déterminé lors de la comparaison dépasse une valeur de seuil spécifiée. Un régulateur (9, 10) détermine la durée respective de l’intervalle d’échantillonnage entre la première valeur de mesure et la deuxième valeur de mesure et détermine la valeur de réglage (y) en fonction de cette durée. Les intervalles d’échantillonnage variables de la régulation discrète en temps permettent de réduire le nombre des transmissions sans fil des valeurs de mesure du convertisseur de mesure (11), et ainsi sa consommation en énergie. Ainsi, le remplacement de son accumulateur d’énergie est plus rarement nécessaire et la bande passante disponible d’un réseau de communication est mieux utilisée.
PCT/EP2008/001546 2008-02-27 2008-02-27 Dispositif de régulation pour une installation technique de procédé WO2009106095A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2008/001546 WO2009106095A1 (fr) 2008-02-27 2008-02-27 Dispositif de régulation pour une installation technique de procédé

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2008/001546 WO2009106095A1 (fr) 2008-02-27 2008-02-27 Dispositif de régulation pour une installation technique de procédé

Publications (1)

Publication Number Publication Date
WO2009106095A1 true WO2009106095A1 (fr) 2009-09-03

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011134589A1 (fr) * 2010-04-30 2011-11-03 Abb Technology Ag Dispositif et procédé de transmission de signaux de mesure sur des réseaux d'alimentation étendus dans l'espace

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3575587A (en) * 1966-02-07 1971-04-20 Sybron Corp Digital proportional plus reset process controller
US4349868A (en) * 1980-06-23 1982-09-14 Hewlett-Packard Company Sampled control loop with dynamic gain optimization
US4660152A (en) * 1984-06-18 1987-04-21 Xerox Corporation System and method for monitoring and maintaining concentrate material in a fluid carrier
US5177695A (en) * 1990-07-05 1993-01-05 Motorola, Inc. Device and method for adaptive digital power control
US20030008692A1 (en) * 2001-07-05 2003-01-09 Phelan John Roux Energy conservation in battery powered tag
US20040178905A1 (en) * 2001-07-25 2004-09-16 Dernier William Phillip Method and system for efficiently regulating data transmissions
DE102006009979A1 (de) * 2006-03-03 2007-09-06 Siemens Ag Einrichtung zur drahtlosen Kommunikation mit einem Feldgerät

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3575587A (en) * 1966-02-07 1971-04-20 Sybron Corp Digital proportional plus reset process controller
US4349868A (en) * 1980-06-23 1982-09-14 Hewlett-Packard Company Sampled control loop with dynamic gain optimization
US4660152A (en) * 1984-06-18 1987-04-21 Xerox Corporation System and method for monitoring and maintaining concentrate material in a fluid carrier
US5177695A (en) * 1990-07-05 1993-01-05 Motorola, Inc. Device and method for adaptive digital power control
US20030008692A1 (en) * 2001-07-05 2003-01-09 Phelan John Roux Energy conservation in battery powered tag
US20040178905A1 (en) * 2001-07-25 2004-09-16 Dernier William Phillip Method and system for efficiently regulating data transmissions
DE102006009979A1 (de) * 2006-03-03 2007-09-06 Siemens Ag Einrichtung zur drahtlosen Kommunikation mit einem Feldgerät

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011134589A1 (fr) * 2010-04-30 2011-11-03 Abb Technology Ag Dispositif et procédé de transmission de signaux de mesure sur des réseaux d'alimentation étendus dans l'espace
CN102860036A (zh) * 2010-04-30 2013-01-02 Abb技术有限公司 用于在空间上扩展的供应网络中传输测量信号的设备与方法
US9693120B2 (en) 2010-04-30 2017-06-27 Abb Schweiz Ag System and method for transmitting measurement signals in spatially extensive supply networks

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