CN101364082B - Human-simulated PID intelligent control method for industrial process - Google Patents
Human-simulated PID intelligent control method for industrial process Download PDFInfo
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Abstract
The invention relates to a human-simulated PID intelligent control method of an industrial process, which is suitable for automatic regulation and control of large-delay and large-inertia objects in a complex industrial process. The method adopts a decentralized control system, namely a human-simulated PID intelligent controller, and adopts a method of combining variable parameters, intelligent integral, open-close loop and nonlinearity to realize rapid and stable human-simulated PID intelligent control according to the dynamic characteristics of the magnitude, direction and speed of the variation of the object deviation; the method has obvious advantages over PID control in aspects of stability, rapidity and accuracy, abandons complex reasoning and operation, directly absorbs expert experience of manual operation, simulates artificial intelligent identification and intelligent decision, and shows good control effect on some difficult-to-control characteristics in an industrial production complex system by the human-simulated intelligent PID control method.
Description
Technical field
The present invention relates to a kind of human simulation PID intelligence control method of industrial process, be applicable to that complex industrial process is delayed greatly, the automatic adjusting and the control of big inertia object (like Boiler Reheated-steam Temperature Control, boiler overheating steam temperature control, main Steam Pressure Control of Circulated).
Background technology
Industrial processes are very complicated; Particularly some main heating power controlling object (like main steam temperature, main vapour pressure system) of power generation process usually not only have non-linear, factor such as delay greatly; And structural parameters time to time change, its Changing Pattern often are difficult to confirm.Classical three controlled variable of PID control method (scale-up factor, integral time, differential coefficient) are the changeless constant of having adjusted; Its effective work based on more accurately, fixing mathematical model, this makes the control that it is difficult to realize ideal in these process control.Yet for the complicated industrial process of operating mode; Manual control has been given enlightenment in this respect, because veteran operating personnel can rely on its understanding to the controlled process characteristic; Controlled process is applied suitable manual control, still can obtain comparatively satisfied control effect.Therefore, according to the apery control features, to seek a kind of control method that does not rely on process mathematical model be highly significant.
Summary of the invention
Technical matters to be solved by this invention provides a kind of human simulation PID intelligence control method of industrial process.
The present invention adopts following technical scheme:
This method is the human-simulating PID intelligent controller through adopting scattered control system; According to size, direction and the rate dynamic characteristic that the object deviation changes, take variable element, Intelligent Integration, switching loops to close non-linear method and realize quick, stable human-simulating PID Based Intelligent Control; Its concrete grammar step is following:
(1) when
The time, and | e|≤e
0The time, the human-simulating PID intelligent controller is output as:
u＝u
n-1
(2) when
The time, and | e|＞e
0The time, the human-simulating PID intelligent controller is output as:
u＝K
1e+∫K
iedt
(3) when
The time, and | e|＞e
0The time, the human-simulating PID intelligent controller is output as:
u＝K
0e
(4) when
The time, and | e|≤e
0The time, the human-simulating PID intelligent controller is output as:
u＝K
0e+∫K
iedt
In the formula: e is setting value and deviation of measuring value;
e
0Be control dead area;
U is the output of human-simulating PID intelligent controller;
u
N-1Be last one output of human-simulating PID intelligent controller constantly;
K
0Be scale-up factor, obtain by traditional PI D setting method;
K
iBe the storage gain constant, obtain by traditional PI D setting method;
K
1For the larger proportion coefficient, press 2*K
0Just get, occurrence is looked the actual effect adjustment;
Said scattered control system adopts the method for model block configuration to realize said human-simulating PID Based Intelligent Control;
Said model block configuration is made up of summation module SUM, PID controller, first to the 3rd handover module T1-T3, hand/automatic module M/A and output module OUT;
Two input ends of said summation module SUM are respectively the input end of setting value and regulated variable, the deviation input end of the said PID controller of output termination of said summation module SUM;
The output terminal of said first and second handover module T1 and T2 meets the scale-up factor input end P and the integral coefficient input end I of said PID controller respectively;
The N end of said the 3rd handover module T3 of the output termination of said PID controller, the input end of the said hand of road output termination/automatic module M/A of said the 3rd handover module T3, its another its Y end of road output termination;
The input end of the output termination output module OUT of said hand/automatic module M/A;
The switching value of the Y end of the said first handover module T1 is K
1, the switching value of its N end is K
0When
The time, and | e|＞e
0The time, the scale-up factor of said PID is K
1, otherwise be K
0
The switching value of the Y end of the said second handover module T2 is K
i, the switching value of its N end is 0; When
The time, the integral coefficient of said PID controller is K
i, otherwise be 0;
When
And | e|≤e
0The time, the output of said the 3rd handover module T3 keeps going up output constantly, otherwise it is output as the output of said PID controller.
Foundation of the present invention, control principle and human-simulating PID intelligent controller:
1, foundation of the present invention:
The basic thought of human simulation PID intelligence control method is in control procedure; Utilize computer control system; Apish control behavioral function; The characteristic information of discerning to greatest extent and utilizing the control system dynamic process to be provided inspires and the intuition reasoning, realizes the object that lacks accurate model is effectively controlled.Realize Human Simulating Intelligent Control, at first should obtain the characteristic variable of reflection process feature information.Utilize the integral action among the characteristic variable control PID, make integral action meet people's controlling features more.The present invention has proposed a kind of apery non-linearity PID intelligence control method as design basis.
2, the control principle of this method:
(1) when
The time, adopt vast scale (can substantially exceed traditional proportionality constant), strengthen regulating action with quick inhibition overshoot, scale-up factor K=K
1(big coefficient, desirable 2K
0, occurrence is adjusted according to the working control effect), when embodying deviation and changing greatly, get bigger ratio, make different operating modes are had certain adaptability;
(2) when
The time, controlled volume will fall after rise to desired value, and this moment, ratio should significantly reduce to K
0(less coefficient);
(3) take the Intelligent Integration strategy, carry out optionally integration according to the different phase imitation manual control that deviation changes; During promptly as
, carry out integration; Stop integration during as
;
(4) when system stability and deviation hour, promptly
And | e|≤e
0The time, system is in the open loop waiting status.
3, the described human-simulating PID intelligent controller of this method:
The human-simulating PID intelligent controller adopts scattered control system (DCS), and the DCS of main flow all can adopt the method for model block configuration to realize above-mentioned artificial intelligent pid algorithm.It is the configuration synoptic diagram for Fig. 1.
Traditional PID controller is regulated, and ratio, integral action are crossed conference generation vibration or dispersed; And the human simulation PID intelligence control method effect that can tighten control when suppressing dynamic deviation fast, but can not bring instability, and this is because deviation when crossing limit, and system gets into the open loop standby mode at once, makes the rapidity of adjusting obtain unifying with stability.This method is in actual putting into operation, and parameter is easy to adjustment, direction is clear and definite, the control effect is remarkable.
Beneficial effect of the present invention is following: human simulation PID intelligence control method changes not very sensitive to the controlling object parameter, can guarantee still when the time constant of controlled device or when changing retardation time that controlled process is dull, non-overshoot and astatic tracking setting value.To having the object that big delay and super large lag behind; No matter human simulation PID intelligence control method all has obvious superiority than PID control aspect stability, rapidity and the accuracy; It has abandoned intricate reasoning and computing, directly absorbs manually-operated expertise, Intelligent Recognition, intelligent decision that imitation is artificial; For some the difficult control characteristics in the commercial production complication system, artificial intelligent PID control method has shown excellent control effect.
Description of drawings
The DCS configuration synoptic diagram that Fig. 1 adopts for the present invention.
In Fig. 1, condition 1 does
And | e|＞e
0, condition 2 does
Condition 3 does
And | e|≤e
0SUM is a summation module, and T1-T3 is first to the 3rd handover module, and M/A is hand/automatic module.
According to shown in Figure 1, progressively each the functional block configuration among Fig. 1 is gone out, connect with signal wire, compiling dress down gets final product.
Embodiment
Technical scheme concrete operations according in the foregoing invention content part get final product.
Claims (3)
1. the human simulation PID intelligence control method that is used for Boiler Reheated-steam Temperature Control; It is characterized in that this method is the human-simulating PID intelligent controller through adopting scattered control system; According to size, direction and the rate dynamic characteristic that the object deviation changes, take variable element, Intelligent Integration, switching loops to close non-linear method and realize quick, stable human-simulating PID Based Intelligent Control; Its concrete grammar step is following:
(1) when
The time, and | e|≤e
0The time, the human-simulating PID intelligent controller is output as:
u＝u
n-1
(2) when
The time, and | e|＞e
0The time, the human-simulating PID intelligent controller is output as:
u＝K
1e+∫K
iedt
(3) when
The time, and | e|＞e
0The time, the human-simulating PID intelligent controller is output as:
u＝K
0e
(4) when
The time, and | e|≤e
0The time, the human-simulating PID intelligent controller is output as:
u＝K
0e+∫K
iedt
In the formula: e is setting value and deviation of measuring value;
e
0Be control dead area;
U is the output of human-simulating PID intelligent controller;
u
N-1Be last one output of human-simulating PID intelligent controller constantly;
K
0Be scale-up factor, obtain by traditional PI D setting method;
K
iBe the storage gain constant, obtain by traditional PI D setting method;
K
1For the larger proportion coefficient, press 2*K
0Just get, occurrence is looked the actual effect adjustment;
Said scattered control system adopts the method for model block configuration to realize said human-simulating PID Based Intelligent Control;
Said model block configuration is made up of summation module SUM, PID controller, first to the 3rd handover module T1-T3, hand/automatic module M/A and output module OUT;
Two input ends of said summation module SUM are respectively the input end of setting value and regulated variable, the deviation input end of the said PID controller of output termination of said summation module SUM;
The output terminal of said first and second handover module T1 and T2 meets the scale-up factor input end P and the integral coefficient input end I of said PID controller respectively;
The N end of said the 3rd handover module T3 of the output termination of said PID controller; The input end of the said hand of road output termination/automatic module M/A of said the 3rd handover module T3, the Y end of said the 3rd handover module T3 of another road output termination of said the 3rd handover module T3;
The input end of the output termination output module OUT of said hand/automatic module M/A;
The switching value of the Y end of the said first handover module T1 is K
1, the switching value of its N end is K
0When
The time, and | e|＞e
0The time, the scale-up factor of said PID is K
1, otherwise be K
0
The switching value of the Y end of the said second handover module T2 is K
i, the switching value of its N end is 0; When
The time, the integral coefficient of said PID controller is K
i, otherwise be 0;
When
And | e|≤e
0The time, the output of said the 3rd handover module T3 keeps going up output constantly, otherwise it is output as the output of said PID controller.
2. human simulation PID intelligence control method according to claim 1 is characterized in that with boiler overheating steam temperature control replacement Boiler Reheated-steam Temperature Control.
3. human simulation PID intelligence control method according to claim 1 is characterized in that with main Steam Pressure Control of Circulated replacement Boiler Reheated-steam Temperature Control.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101859097B (en) * | 2010-06-02 | 2012-02-08 | 西安科技大学 | System control method based on maintenance type human-simulating PID |
| CN102331712B (en) * | 2011-08-18 | 2014-04-09 | 中国烟草总公司郑州烟草研究院 | Variable-parameter drum control method in tobacco shred drying process |
| CN102426417B (en) * | 2011-12-13 | 2013-10-02 | 中冶南方（武汉）自动化有限公司 | PI (Proportional Integral) parameter mixed setting method |
| CN102777878B (en) * | 2012-07-06 | 2015-02-11 | 广东电网公司电力科学研究院 | Main steam temperature PID control method of ultra supercritical unit based on improved genetic algorithm |
| CN109884884A (en) * | 2019-03-28 | 2019-06-14 | 润电能源科学技术有限公司 | A kind of method of adjustment and relevant apparatus of system Control platform |
| CN110474576B (en) * | 2019-09-23 | 2021-06-22 | 西南交通大学 | Humanoid intelligent rotating speed control method for brushless direct current motor |
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| US5586221A (en) * | 1994-07-01 | 1996-12-17 | Syracuse University | Predictive control of rolling mills using neural network gauge estimation |
| CN1307256A (en) * | 2000-02-03 | 2001-08-08 | 中国石油天然气股份有限公司独山子分公司 | Human imitating intelligent regulator |
| CN101261007A (en) * | 2008-03-31 | 2008-09-10 | 哈尔滨工程大学 | Once-through steam generator steam pressure fuzzy -PID control apparatus and control method |
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2008
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Patent Citations (3)
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|---|---|---|---|---|
| US5586221A (en) * | 1994-07-01 | 1996-12-17 | Syracuse University | Predictive control of rolling mills using neural network gauge estimation |
| CN1307256A (en) * | 2000-02-03 | 2001-08-08 | 中国石油天然气股份有限公司独山子分公司 | Human imitating intelligent regulator |
| CN101261007A (en) * | 2008-03-31 | 2008-09-10 | 哈尔滨工程大学 | Once-through steam generator steam pressure fuzzy -PID control apparatus and control method |
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