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CN101364082B - Human-like PID Intelligent Control Method for Industrial Process - Google Patents

Human-like PID Intelligent Control Method for Industrial Process Download PDF

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Publication number
CN101364082B
CN101364082B CN2008100794566A CN200810079456A CN101364082B CN 101364082 B CN101364082 B CN 101364082B CN 2008100794566 A CN2008100794566 A CN 2008100794566A CN 200810079456 A CN200810079456 A CN 200810079456A CN 101364082 B CN101364082 B CN 101364082B
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CN101364082A (en
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彭钢
高志存
徐欣航
刘永红
张洪涛
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State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Hebei Electric Power Co Ltd
Hebei Electric Power Construction Adjustment Test Institute
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Electric Power Research Institute of State Grid Hebei Electric Power Co Ltd
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Abstract

本发明涉及一种工业过程的仿人PID智能控制方法，适用于复杂工业过程大迟延、大惯性对象的自动调节和控制。本方法通过采用分散控制系统即仿人PID智能控制器，根据对象偏差变化的大小、方向及速率动态特征，采取变参数、智能积分、开闭环结合非线性的方法来实现快速、稳定的仿人PID智能控制；方法不论在稳定性、快速性以及准确性方面都比PID控制具有明显的优越性，它摈弃了复杂的推理与运算，直接吸收人工操作的专家经验，模仿人工的智能识别、智能决策，对于工业生产复杂系统中的一些难控特性，仿人智能PID控制方法表现出了很好的控制效果。

Figure 200810079456

The present invention relates to a human-like PID intelligent control method for industrial processes, which is suitable for automatic adjustment and control of large-delay and large-inertia objects in complex industrial processes. The method adopts a distributed control system, namely a human-like PID intelligent controller, and adopts a variable parameter, intelligent integration, open-closed loop combined with nonlinear methods to achieve fast and stable human-like PID intelligent control according to the size, direction and rate dynamic characteristics of the object deviation change; the method has obvious advantages over PID control in terms of stability, rapidity and accuracy. It abandons complex reasoning and calculation, directly absorbs the expert experience of manual operation, imitates artificial intelligent recognition and intelligent decision-making, and shows good control effect for some difficult-to-control characteristics in complex industrial production systems.

Figure 200810079456

Description

The human simulation PID intelligence control method of industrial process
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
Figure GSB00000542127500011
The time, and | e|≤e 0The time, the human-simulating PID intelligent controller is output as:
u＝u n-1
(2) when
Figure GSB00000542127500012
The time, and | e|＞e 0The time, the human-simulating PID intelligent controller is output as:
u＝K 1e+∫K iedt
(3) when
Figure GSB00000542127500013
The time, and | e|＞e 0The time, the human-simulating PID intelligent controller is output as:
u＝K 0e
(4) when
Figure GSB00000542127500021
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;
Figure GSB00000542127500022
is the differential of e;
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
Figure GSB00000542127500023
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
Figure GSB00000542127500024
The time, the integral coefficient of said PID controller is K i, otherwise be 0;
When
Figure GSB00000542127500025
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
Figure GSB00000542127500031
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
Figure GSB00000542127500032
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
Figure GSB00000542127500033
, carry out integration; Stop integration during as
Figure GSB00000542127500034
;
(4) when system stability and deviation hour, promptly
Figure GSB00000542127500035
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
Figure GSB00000542127500041
And | e|＞e 0, condition 2 does
Figure GSB00000542127500042
Condition 3 does
Figure GSB00000542127500043
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.用于锅炉再热汽温控制的仿人PID智能控制方法，其特征在于本方法通过采用分散控制系统即仿人PID智能控制器，根据对象偏差变化的大小、方向及速率动态特征，采取变参数、智能积分、开闭环结合非线性的方法来实现快速、稳定的仿人PID智能控制；其具体方法步骤如下：1. The humanoid PID intelligent control method for boiler reheating steam temperature control is characterized in that the method adopts a distributed control system, that is, a humanoid PID intelligent controller, according to the size, direction and rate dynamic characteristics of the object deviation change. Variable parameters, intelligent integration, open and closed loop combined with nonlinear methods to achieve fast and stable humanoid PID intelligent control; the specific method steps are as follows: (1)当
Figure FSB00000680757400011
时，且|e|≤e0时，仿人PID智能控制器的输出为：(1) when
Figure FSB00000680757400011
, and when |e|≤e 0 , the output of the humanoid PID intelligent controller is: u＝un-1 u=u n-1 (2)当时，且|e|＞e0时，仿人PID智能控制器的输出为：(2) when , and when |e|＞e 0 , the output of the humanoid PID intelligent controller is: u＝K1e+∫Kiedtu＝K 1 e+∫K i edt (3)当
Figure FSB00000680757400013
时，且|e|＞e0时，仿人PID智能控制器的输出为：(3) when
Figure FSB00000680757400013
, and when |e|＞e 0 , the output of the humanoid PID intelligent controller is: u＝K0eu＝K 0 e (4)当
Figure FSB00000680757400014
时，且|e|≤e0时，仿人PID智能控制器的输出为：(4) when
Figure FSB00000680757400014
, and when |e|≤e 0 , the output of the humanoid PID intelligent controller is: u＝K0e+∫Kiedtu＝K 0 e+∫K i edt 式中：e为设定值与测量值的偏差；In the formula: e is the deviation between the set value and the measured value;
Figure FSB00000680757400015
为e的微分；
Figure FSB00000680757400015
is the differential of e; e0为控制死区；e 0 is the control dead zone; u为仿人PID智能控制器的输出；u is the output of the humanoid PID intelligent controller; un-1为上一时刻仿人PID智能控制器的输出；u n-1 is the output of the humanoid PID intelligent controller at the last moment; K0为比例系数，由传统PID整定方法获得；K 0 is the proportional coefficient, which is obtained by the traditional PID tuning method; Ki为积分增益常数，由传统PID整定方法获得；K i is the integral gain constant, which is obtained by the traditional PID tuning method; K1为较大比例系数，按2*K0初取，具体值视实际效果调整；K 1 is a large proportional coefficient, which is initially taken as 2*K 0 , and the specific value is adjusted according to the actual effect; 所述分散控制系统采用模块组态的方法实现所述仿人PID智能控制；The distributed control system adopts the method of module configuration to realize the humanoid PID intelligent control; 所述模块组态由求和模块SUM、PID控制器、第一至第三切换模块T1-T3、手/自动模块M/A和输出模块OUT组成；The module configuration is composed of a summation module SUM, a PID controller, the first to third switching modules T1-T3, a manual/automatic module M/A and an output module OUT; 所述求和模块SUM的两个输入端分别为设定值和被调量的输入端，所述求和模块SUM的输出端接所述PID控制器的偏差输入端；The two input terminals of the summation module SUM are the input terminals of the set value and the adjusted quantity respectively, and the output terminal of the summation module SUM is connected to the deviation input terminal of the PID controller; 所述第一和第二切换模块T1和T2的输出端分别接所述PID控制器的比例系数输入端P和积分系数输入端I；The output terminals of the first and second switching modules T1 and T2 are respectively connected to the proportional coefficient input terminal P and the integral coefficient input terminal I of the PID controller; 所述PID控制器的输出端接所述第三切换模块T3的N端，所述第三切换模块T3的一路输出端接所述手/自动模块M/A的输入端，所述第三切换模块T3的另一路输出端接所述第三切换模块T3的Y端；The output terminal of the PID controller is connected to the N terminal of the third switching module T3, and one output terminal of the third switching module T3 is connected to the input terminal of the manual/automatic module M/A, and the third switching module The other output terminal of the module T3 is connected to the Y terminal of the third switching module T3; 所述手/自动模块M/A的输出端接输出模块OUT的输入端；The output terminal of the manual/automatic module M/A is connected to the input terminal of the output module OUT; 所述第一切换模块T1的Y端的切换值为K1，其N端的切换值为K0；当
Figure FSB00000680757400021
时，且|e|＞e0时，所述PID的比例系数为K1，否则为K0；The switching value of the Y terminal of the first switching module T1 is K 1 , and the switching value of the N terminal is K 0 ; when
Figure FSB00000680757400021
, and when |e|>e 0 , the proportional coefficient of the PID is K 1 , otherwise it is K 0 ; 所述第二切换模块T2的Y端的切换值为Ki，其N端的切换值为0；当
Figure FSB00000680757400022
时，所述PID控制器的积分系数为Ki，否则为0；The switching value of the Y terminal of the second switching module T2 is K i , and the switching value of the N terminal is 0; when
Figure FSB00000680757400022
When , the integral coefficient of the PID controller is K i , otherwise it is 0; 当
Figure FSB00000680757400023
且|e|≤e0时，所述第三切换模块T3的输出保持上时刻的输出，否则其输出为所述PID控制器的输出。when
Figure FSB00000680757400023
And when |e|≤e 0 , the output of the third switching module T3 remains the output at the previous moment, otherwise its output is the output of the PID controller. 2.根据权利要求1所述的仿人PID智能控制方法，其特征在于用锅炉过热汽温控制替换锅炉再热汽温控制。2. The humanoid PID intelligent control method according to claim 1, characterized in that the boiler reheated steam temperature control is replaced by boiler superheated steam temperature control. 3.根据权利要求1所述的仿人PID智能控制方法，其特征在于用主汽压控制替换锅炉再热汽温控制。3. The humanoid PID intelligent control method according to claim 1, characterized in that the boiler reheating steam temperature control is replaced by main steam pressure control.
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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 A human-like intelligent speed control method of brushless DC motor

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