CN103970124B - The online test method of process control loops multicycle vibration - Google Patents
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Abstract
The invention discloses a kind of online test method of process control loops multicycle oscillation behavior, comprise the following steps：In control loop to be detected, one group of process data of online real time collecting；The online essential time scale being improved in real time to process data is decomposed, and the monitoring statisticss amount corresponding to each decomposition subsignal of calculating gained in real time；Judge whether each monitoring statisticss amount exceedes the threshold value Ω of setting, on-line checking result is obtained according to all judged results.Using the inventive method, the multicycle oscillation behavior of process control loops can quantitatively be detected, the acquisition multicycle vibrates regular degree and the cycle of each oscillating component.Evaluation and source of trouble diagnosis for oscillation behavior provide abundant data and supported.
Description
Technical field
The present invention relates to the Performance Evaluation field in industrial control system, and in particular to a kind of process control loops multicycle
The online test method of vibration.
Background technology
Modern industry flow sheet equipment has that scale is big, complexity is high, variable is more, and the characteristics of run under closed-loop control,
For complicated chemical process, often with thousands of loops, moreover, these loops couple mutual shadow due to existing
Ring.The oscillatory occurences of control loop crossed due to controller adjust, external disturbance and regulating valve nonlinear operation characteristic are generally deposited
It greatly affected the economic benefit and stability of industrial flow equipment operation.
Preliminary accurately oscillation test is carried out to industrial flow equipment can reduce the off-time, increase industrial flow equipment
The security of operation, while reducing manufacturing cost.Many controllers can also keep good performance in initial operating stage, but often pass through
After a period of time, due to being influenceed by external environment condition or plant issue, controller performance can be gradually reduced.It is embodied in
Multicycle vibration occurs for control loop process, and the safe and stable operation of industrial process is threatened.Simultaneously as load and work
Condition often changes, and most of industrial process shows the characteristic of Non-stationary Data, is embodied in the office of process data
Portion's average changes.For important control loop, find that its oscillating characteristic contributes to engineering staff as early as possible to failure in time
Diagnosed.Therefore, during industrial control system Performance Evaluation, timely by on-line monitoring means, effective detection
Go out the multiple vibration of non-stationary process data in control loop, and distinguish different frequencies of oscillation, commented for controller performance
Estimate significant with fault diagnosis.
In the prior art, for the oscillation test technology of control loop, the overwhelming majority all applies to stationary process data,
And need offline carry out.Some oscillation test technologies for being directed to non-stationary process data are occurred in that in recent years.Its main thought
There are three kinds：The time-domain statistical analysis of Kernel-based methods data；The auto-correlation function domain ACF analyses of Kernel-based methods data；Kernel-based methods
The signal decomposition method of data（Decomposed including empirical mode decomposition and base conversion）.Based on Time-domain Statistics and auto-correlation function domain point
There are 3 limitations in actual applications in the detection method of analysis：First, this method need to treat detection process have it is certain in advance
Understand and empirical parameter determined, second, Non-stationary Data and many cycles of oscillation can not be realized it is full-automatic without intervening detection, it is necessary to
Targetedly pre-designed wave filter carries out data tranquilization processing and vibration separation, third, most detection algorithms are without standard measure
Calculate the regular degree of vibration.The detection method of oscillations for being currently based on the signal decomposition of process data exists with upper class detection method
It is progressive, but limitation is essentially consisted in：The subsignal number redundancy that existing signal decomposition technology is obtained is various, and many subsignals lack
Weary physical significance is supported, also poor to the degree of fitting of the trend of non-stationary signal without good representativeness, calculates complicated
Degree is also higher.In addition, in existing multicycle oscillation test technology, requiring that method is carried out offline mostly.Minority can be realized
The online test method vibrated for the multicycle, its essence is the data using data window batch processed, i.e. batch processed
Compare short, approximate realizing timely is detected.But the assessment that its length of window greatly constrains multicycle vibration is accurate
Degree, too short window can not detect slower frequency of oscillation, and long window sacrifices the promptness of detection again.
In the practical application of process oscillation detection algorithm, whether detection process control loops have oscillation behavior, and fixed
Amount assesses the rule degree index of oscillation behavior, is generally applicable to the process data that there is multicycle vibration and non-stationary, and energy
It is enough to realize on-line checking independent of Windowing lot data, have very for the existence that Accurate Diagnosis industrial process vibrates
Important Practical significance, is also beneficial to the control performance qualitative assessment of industrial process.
The content of the invention
Online test method is vibrated the invention provides a kind of process control loops multicycle, can be applied to the presence of week more
The process control loops process of phase oscillation behavior, detection method can on-line implement, be generally applicable to non-stationary or stable mistake
Number of passes evidence, only need to obtain conventional operation data online, without process mechanism knowledge, by being improved in real time to data to be tested
Essential time scale decompose, can be with so as to realize the on-line monitoring qualitative assessment to the industrial process multicycle oscillation behavior
The accuracy in detection and reliability of multicycle oscillation behavior are improved, there is important practical value at aspect of increasing economic efficiency.
A kind of online test method of process control loops multicycle oscillation behavior, comprises the following steps：
In control loop to be detected, one group of process data of online real time collecting；
The online essential time scale being improved in real time to process data is decomposed, and each decomposition of calculating gained in real time
Monitoring statisticss amount corresponding to subsignal；
Whether each monitoring statisticss amount of real-time judge exceedes the threshold value Ω of setting, and comprehensive all judged results are examined online
Survey result.
The present invention is directly using the measurable variable of chemical process as process data, and the data are obtained by field real-time acquisition
, i.e., and elapse, constantly gather and renewal process data to monitoring system over time.Improved essential time chi is used first
Degree is decomposed, and obtains decomposing subsignal set { xi, the decomposition can be real-time with the process data constantly updated in monitoring system
Carry out, it is not necessary to the processing of Windowing or batchization；Then each decomposition subsignal x is calculatediCorresponding monitoring statisticss amountThe statistics
The computation complexity of amount is minimum, and large batch of multi-group data can also be carried out in real time simultaneously.Finally, sentenced by defined threshold Ω
It is disconnected, as a certain decomposition subsignal xiCorresponding monitoring statisticss amountDuring more than the threshold value, illustrate that the subsignal and original signal occur
Vibration.
The method of online real time collecting process data is to record control to be detected within default each sampling interval
The process data collected in process data in loop, and each sampling interval is added in the process data previously gathered
End.
Sampling interval refers to the sampling interval of performance evaluation system.Process data x elapses continuous renewal over time, often passes through
The time span in a sampling interval is crossed, has new process data to be added to the end of the process data previously gathered.Performance
The sampling interval of assessment system is typically identical with the controlling cycle in industrial control system, can also select as the whole of controlling cycle
Several times, are determined with specific reference to performance monitoring and the limitation of the requirement of real-time and memory data output of industry spot.
Wherein, improved essential time scale decomposition method refers to, stops the bar decomposing when essential time scale is decomposed
Part is the index of oscillation I of residual components<0.7.
Improved essential time scale is decomposed, and is improved, is protected on essential time scale decomposition base in original improve
Stay former methodical all mathematics and calculated feature, simply simplified and changed on end condition, improved decomposition side
Method is for same process data, compared to former method, and the subsignal quantity of acquisition is less, is gone more suitable for analysis original signal vibration
For.The decomposition computation complexity is very low, thus can be online in real time progress, each sampling interval complete calculate, decompose
Subsignal arrangement set { xi}.Retain original subsignal construction and extracting method is constant, foundation prior art " Frei M G,
Osorio I.Intrinsic time-scale decomposition:time–frequency–energy analysis
and real-time filtering of non-stationary signals[J].Proceedings of the Royal
Society A:Mathematical,Physical and Engineering Science,2007,463(2078):321-
342. ", which implement essential time scale, decomposes, and the vibration that the condition that its original method is terminated into decomposition is revised as residual components refers to
Number I<0.7.
Index of oscillation, according to prior art " An autonomous valve stiction detection system
based on data characterization.Zakharov,A.;Zattoni,E.;Xie,L.;Garcia,O.P.;
Jamsa-Jounela,S.L.Control Engineering Practice vol.21issue11November,
2013.p.1507-1518 " obtain.
Improved essential time scale is decomposed real-time online and carried out, it is thus understood that between each sampling of performance evaluation system
Every the essential time scale for completing to be improved the process data x of control loop to be detected is decomposed.That is process data x's
Decompose subsignal arrangement set { xiIt is that passage is constantly updated over time, often by the time span in a sampling interval,
There are new decomposition subsignal data to be added to the former end for decomposing subsignal data.Due to the computation complexity pole of this detection method
Small, the sampling interval of performance evaluation system can fully meet the requirement of calculating time, and span was from 1 second to 1 minute.
For each decomposition subsignal, monitoring statisticss amount computational methods specifically include following steps：
Step 3-1, obtain each decomposition subsignal zero passes through an intervening sequence, and subsignal x is decomposed for k-thk, its
Zero passes through an intervening sequence for Tk；
Step 3-2, calculates zero and passes through an intervening sequence TkMedian
Step 3-3, calculates zero and passes through an intervening sequence TkRobustness variance
Step 3-4, according to medianWith robustness varianceCalculate monitoring statisticss amount
In step 3-1, zero, which passes through an intervening sequence, refers to, the interval between the decomposition subsignal and the intersection point of time shaft
Intervening sequence between the sign symbol reversion position of sequence, i.e. the decomposition subsignal.Pass through each in an intervening sequence by zero
Individual value is arranged from big to small, is chosen middle number and is used as median.
In step 3-3, Q is utilizednAlgorithm for estimating calculates robustness variance
There is more preferable robustness using the algorithm estimate variance.
In step 3-4, monitoring statisticss amountCalculation formula it is as follows:
Wherein, N is the data length of the decomposition subsignal,It is the card that the free degree is N-1 when confidence level is 1- α
Side's distribution critical value.
Chi square distribution critical value can table look-up acquisition.Data length N is elapsed over time, as subsignal data update,
It is continuously increased.Sequence TkMedianWith robustness varianceAlso with decomposition subsignal xkReal-time update and be continually changing,
Therefore monitoring statisticss amountConstantly update over time.
It is according to the concrete mode that judged result obtains on-line checking result：If one of monitoring statisticss amountExceed
Threshold value Ω, then judge that the control loop is corresponding and decompose subsignal xkIn the presence of vibration, if having multiple in the process data gathered
Decompose subsignal and there is oscillation behavior, then judge that the control loop has multicycle oscillation behavior.
Described threshold value Ω is 3.
Threshold value is excessive, and detection sensitivity is not enough, and threshold value is too small, and mid-frequency noise component easily is mistaken for into oscillating component, makees
To be preferred, threshold value is set to 3.
WhenIllustrate xkIn there is oscillation behavior.
The present invention has the advantage that compared with prior art：
1st, without external signal encourage, to system without additional disturbance, can realize complete Noninvasive testing and
Diagnosis.
2nd, calculate simple, be easy to operation, without complicated algorithm, it is easy in existing DCS work stations or control system
Implement on host computer.
3rd, being decomposed using improved essential time scale realizes being automatically separated for non-stationary component, compared to existing skill
Art, decomposition efficiency is higher, and computation complexity is lower, can fully meet and be carried out in fact within a performance evaluation system sampling interval
When the requirement that calculates.
4th, quantizating index detection can be carried out to the multicycle oscillation behavior of process control loops, is the evaluation of oscillation behavior
Diagnosed with the source of trouble and provide abundant data support.
5th, without possessing process mechanism and dynamic characteristic reasoning, also it is not required into pedestrian using the method for data-driven completely
Work is intervened.
Brief description of the drawings
Fig. 1 be present example of the present invention in chemical process schematic flow sheet；
Fig. 2 is the process data of the one group of furnace temp control loop gathered in real time in present example of the present invention；
Fig. 3 is decomposition subsignal arrangement set { x in present example of the present inventioni}；
Fig. 4 is the corresponding monitoring statisticss amount of decomposition subsignal in present example of the present inventionAnd threshold value Ω positions,
Do not illustrate residual components wherein；
Fig. 5 is flow chart of the method for the present invention.
Embodiment
It is right exemplified by the Performance Evaluation of main heating furnace in certain domestic large petrochemical plant delayed coking production process
The multicycle oscillation behavior detection method that the present invention has the chemical process of control valve viscosity property is described in detail.
As shown in figure 1, petrochemical process heating furnace is one of important step and main energy consumption element in production procedure, stove goes out
The steady control of mouth temperature is for improving product quality and reduction energy consumption important in inhibiting.
Heating furnace takes heat by device in Gas supply, and gas amount changes according to upstream oiliness and fluctuated, it is necessary to control air to enter
Air quantity makes device in Gas fully burn to obtain maximum heat, while certain air surplus is should ensure that, but excessive Cryogenic air
Furnace heat can be taken away, waste of fuel is caused, economic benefit is lost, therefore, using furnace outlet temperature as controlled variable, combustion
Device in Gas aperture is expected as performance variable and carries out circuit controls, while process has random perturbation.
Device in Gas degree adjustment valve（Control valve）Occur one after belonging to the executing agency of the control loop, operation a period of time
Fixed nonlinear characteristic, is crossed due to controller and the reason such as adjusts, and multicycle oscillation behavior easily occurs in control loop.External disturbance
The loop is introduced by coupling circuit, easily causes the loop multicycle to be vibrated.What present example of the present invention was gathered crosses number of passes
According to for furnace outlet temperature data.Furnace outlet temperature data after standardization is as shown in Fig. 2 abscissa in Fig. 2
For sampled point ordinal number, unit is Samples（The sampling interval of 1 Sample one data of correspondence）, ordinate is to pass through standard
Furnace outlet temperature under nominal situation after change, unit for DEG C.
As shown in figure 5, the specific implementation of the present invention is as follows：
In control loop to be detected, real-time online gathers one group of process data x, as shown in Figure 2.
To the process data x collectedt, the essential time scale being improved is decomposed real-time online, wherein stopping dividing
The condition of solution is, the index of oscillation I of residual components<0.7.In decomposable process, calculate residual components and find, a certain residual components
Index of oscillation I=0.13, now stops decomposing.Residual components now correspond to subsignal x4.Obtain improving essential time scale
The decomposition subsignal arrangement set { x of decomposition1,x2,x3,x4, as shown in Figure 3.
For decomposing subsignal arrangement set { x1,x2,x3,x4In each decompose subsignal sequence, in real time calculate correspondence
Monitoring statisticss amount, gatheredCalculation is as follows：
Step 3-1, obtain each decomposition subsignal zero passes through an intervening sequence, and subsignal x is decomposed for k-thk, its
Zero passes through an intervening sequence for Tk；
Step 3-2, calculates zero and passes through an intervening sequence TkMedian
Step 3-3, utilizes QnAlgorithm for estimating calculates zero and passes through an intervening sequence TkRobustness variance
Step 3-4, according to medianWith robustness varianceCalculate monitoring statisticss amount
Monitoring statisticss amountCalculation formula it is as follows:
Wherein, N is the data length of the decomposition subsignal,It is the card that the free degree is N-1 when confidence level is 1- α
Side's distribution critical value.Confidence level 1- α take 0.95 in embodiments of the present invention, and correspondence parameter alpha is 0.05, monitoring statisticss amountEach sampling interval real-time result of calculation as shown in figure 4,Correspondence residual components subsignal x4Monitoring
Amount, is always 0, when actually implementing, in order to which simplicity may not necessarily be calculated and be mapped.
Figure 4, it is seen that monitoring statisticss amountWithMore than defined threshold Ω=3, threshold value is shown in dotted line, explanation
Loop correspondence subsignal component x1And x3Vibrate, so as to confirm that the furnace outlet temperature data has two different weeks
The oscillation behavior of phase.
Using the inventive method, the multicycle oscillation behavior of process control loops can quantitatively be detected, be obtained many
The regular degree of each oscillating component of rectilinear oscillation and cycle.Evaluation and source of trouble diagnosis for oscillation behavior provide abundant
Data are supported.
Claims (3)
1. a kind of online test method of process control loops multicycle oscillation behavior, comprises the following steps：
In control loop to be detected, one group of process data of online real time collecting；
The online essential time scale being improved in real time to process data is decomposed, and each decomposition son letter of calculating gained in real time
Monitoring statisticss amount corresponding to number；
It is characterized in that：The method of online real time collecting process data is to be recorded within default each sampling interval to be checked
The process data that is collected in process data in the control loop of survey, and each sampling interval, which is added, previously to be gathered
Process data end；
Described improved essential time scale decomposition method refers to that the condition for stopping decomposing when essential time scale is decomposed is
The index of oscillation I of residual components<0.7；
For each decomposition subsignal, monitoring statisticss amount computational methods specifically include following steps：
Step 3-1, obtain each decomposition subsignal zero passes through an intervening sequence, and subsignal x is decomposed for k-thk, it zero is worn
More point intervening sequence is Tk；
Step 3-2, calculates zero and passes through an intervening sequence TkMedian
Step 3-3, calculates zero and passes through an intervening sequence TkRobustness variance
Step 3-4, according to medianWith robustness varianceCalculate k-th and decompose subsignal xkCorresponding monitoring statisticss amount
In step 3-3, Q is utilizednAlgorithm for estimating calculates robustness variance
In step 3-4, monitoring statisticss amountCalculation formula it is as follows:
Wherein, N is the data length of the decomposition subsignal,It is the card side point that the free degree is N-1 when confidence level is 1- α
Cloth critical value；
Whether each monitoring statisticss amount of real-time judge exceedes the threshold value Ω of setting, and comprehensive all judged results obtain on-line checking knot
Really.
2. the online test method of process control loops multicycle oscillation behavior as claimed in claim 1, it is characterised in that according to
The concrete mode that judged result obtains on-line checking result is：If one of monitoring statisticss amountMore than threshold value Ω, then sentence
The control loop of breaking is corresponding to decompose subsignal xkIn the presence of vibration, if there is multiple decomposition subsignals to deposit in the process data gathered
In oscillation behavior, then judge that the control loop has multicycle oscillation behavior.
3. the online test method of process control loops multicycle oscillation behavior as claimed in claim 1, it is characterised in that described
Threshold value Ω be 3.
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| CN104950873B (en) * | 2015-05-29 | 2017-07-21 | 浙江大学 | The online test method of process control loops intermittent oscillation |
| CN105607477B (en) * | 2016-01-20 | 2018-05-11 | 浙江大学 | A kind of process control loops detection method of oscillations decomposed based on improvement local mean value |
| CN105511454B (en) * | 2016-01-20 | 2018-05-22 | 浙江大学 | A kind of process control loops time-varying oscillation behavior detection method |
| CN106773693B (en) * | 2016-12-21 | 2020-02-21 | 浙江大学 | Industrial control multi-loop oscillation behavior sparse causal analysis method |
| CN107368059B (en) * | 2017-07-21 | 2019-08-30 | 浙江大学 | A kind of industrial process multi-loop oscillation detection method decomposed based on quick multiple dimension essence time scale |
| CN107436598B (en) * | 2017-07-21 | 2019-09-03 | 浙江大学 | The industrial multi-loop oscillation detection method decomposed based on Multidimensional Nature time scale |
| CN110687791B (en) * | 2019-10-31 | 2021-04-06 | 浙江大学 | Nonlinear oscillation detection method based on improved adaptive frequency modulation modal decomposition |
| CN111537893A (en) * | 2020-05-27 | 2020-08-14 | 中国科学院上海高等研究院 | Method and system for evaluating operation safety of lithium ion battery module and electronic equipment |
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| "An autonomous value stiction detection system based on data characterization";Alexey Zakharov 等;《Control Engineering Practice》;20131231;第21卷;第1507-1518页 * |
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