多变量热工系统模型辨识方法研究
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摘要
本文主要工作分两部分,第一部分推导出机组协调控制系统机理模型,并且通过基于遗传算法对机理模型参数进行辨识研究。根据单元机组的低阶非线性模型,推导出一个双输入双输出、能够描述机组动态特性及机炉间相互耦合关系的协调控制系统传递函数矩阵。依此模型为基础,提出一种基于改进的遗传算法的参数辨识方法。第二部分针对某600MW单元机组的实际闭环运行数据,进行数据预处理,将单元机组协调系统合理简化为一个双输入双输出的多变量对象模型。并将模型分解为子模型再进一步分解为子子模型,使用基于增广最小二乘和辅助变量辨识算法,估计出整个模型的结构和参数,得到一组线性数学模型。
Paper is composed of two parts,The first part is derived coordinated control system model of the mechanism, and the model parameters is identified through the mechanism of genetic algorithm. The model of coordinated control system can capture the essential dynamics of a unit so it is typical for the process.Based on this model and applyingthe model,an parameter identification algorithm based on the improved genetic algorithm is proposed.The second part utilized a set of actual close-loop running data from a 600MW unit. A lot of work was done on dealing the data. After that the unitcoordinated control system was simplified into a set of two-input andtwo-output multi variable object models for each equilibrium point. The model was then decomposed into submodels. through the same method,subsubmodels were gained. by Extend_LS_Identify and Auxiliary variable recursive algorithm,the models structure and parameters were obtained,and a set of mathematical models linear is gained.
Paper is composed of two parts,The first part is derived coordinated control system model of the mechanism, and the model parameters is identified through the mechanism of genetic algorithm. The model of coordinated control system can capture the essential dynamics of a unit so it is typical for the process.Based on this model and applyingthe model,an parameter identification algorithm based on the improved genetic algorithm is proposed.The second part utilized a set of actual close-loop running data from a 600MW unit. A lot of work was done on dealing the data. After that the unitcoordinated control system was simplified into a set of two-input andtwo-output multi variable object models for each equilibrium point. The model was then decomposed into submodels. through the same method,subsubmodels were gained. by Extend_LS_Identify and Auxiliary variable recursive algorithm,the models structure and parameters were obtained,and a set of mathematical models linear is gained.
引文
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[5]徐丽娜.神经网络控制[M].哈尔滨哈尔滨工业大学出版社,1999.102～125
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[8]Gopinath.On the Identification of Linear Time-invariant Systems from Input-Output Data[J].Bell Dydtem Techn,1969,48;1101-1113
[9]M.A.Budin.Minimal Realization of Discret Sytem from Input-output Observation[J].IEEE Trans,On Automatic Control,1971,AC-16:395～401
[10]M.A.Budin.A New Approach to System Identificaton[J].IEEE Trans,Mc,1972,2(5):396～402
[11]P.Passeri,C,J,Herget.Parameter Identification of a Class of Multiple Input-Output Linear Discrete-time System[C].JAAC,Stanford,1972.786～793
[12]R.D.Gupta,F.W.Fariman.Parameter Estimation for Multivariable Systems[J].IEEE Trans,On Automatic Control,1974,AC-19:546～549
[13]R.Guidorzi.Canonical Structure in the Identification of Multivariable System[J].Automatica,1975,11(4),361～374
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[15]J.Boker,Keviczky.Structural Properties and Structure Estimation of Vector Difference Equations[J].International Journal of Control,1982,36(7):461～475
[16]邓自立,郭一新.多变量CARMA模型的结构辨识[J].自动化学报,1986,12(1):18～24
[17]Diekmann,K.,Unbehauen H.Recursive Identification of Multivariable System.5th IFAC Symp.Identification and System Parameter Estimation,Darmstadt,FRG,1979
[18]Diekmann K,Unbehauen H.International Conference on Control and its Applications:Identification of Submodel of Multi-Input,Multi-Output Systems.University of Warwick,1981.22～25
[19]Diekmann,K.,Unbehauen,H.Proceedings of 6th IFAC Symposium:Identification and System Parameter Estimation ,New York,Pergamon,1983.235～240
[20]Pan Lideng,Du Huaijing,Structure and Parameters Identification of Multivariable CARMA Models Using SMM-Tech-nique,IFAC,The 8 th Idenfitication and System Parameters Estimation Symposium,Beijing,Aug.1988.1003～1007
[21]潘立登,杜怀京.多变量CARMA模型结构及参数辨识.中国自动化学会控制理论与应用论文集,曲阜,1988,10:436～439
[22]潘立登.多变量系统辨识.炼油化工自动化,1989,NO. 1
[23]潘立登.多变量系统子子模型辨识.北京化工大学学报,1988,15(4):80～90
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[25]聂云姬.多变量闭环系统辨识算法的研究.北京化工大学硕士论文,2005.5
[26]潘立登,潘仰东.系统辨识与建模.北京:化学工业出版社,2004
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[28]Astrom.K.J,Bell.R D,Drum-boiler dynamics[J].Automatica,2000,36:363～378
[29]范永胜,程芳真,眭喆，等.600MW超临界直流锅炉的动态特性研究[J].清华大学学报(自然科学版),2000,40(10):104～107, Fan Yongsheng,Cheng FangZhen,SuiZhe,et al. Study on the Dynamic Charactertstics or a 6600MW Supercritdcal Once-through Boiler[J].J.Tsinghua Univ(Sei&Tech),2000,40(10):104～107.
[30]田亮,曾德良,刘吉臻,赵征.简化的330MW机组非线性动态模型.中国电机工程学报,2004 24(8),180-184
[31]房方,刘吉臻.单元机组协调系统的非线性控制研究.中国电力,2004.37(7);61～65
[32]Cheres E.Small and medium size Drum Boiler Models Ssuitable for Llong Term Dynamic Responsel[J]. IEEE Transaction on Energy Conversion,1900,5(4)
[33]房方,刘吉臻,谭文.火电单元机组协调控制系统的多变量IMC-PID设计.动力工程,2004年6月
[34]WenTan,Fang Fang,Liang Tian,Caifen Fu,Jizhen liu.Linear control of a boiler-turbine unit:Analysis and design. ISA Transactions, v 47, n 2, April, 2008, p 189～197
[35]WenTan, Jizhen liu, Fang Fang,Yaoqiao Chen,Tuning of PID Controllers for Boiler-turbine Units,ISA Transactions,Vol.43,No.3,571～583,2004.
[36]何衍庆,姜捷,江艳军,郑颖.控制系统分析、设计和应用——MATLAB语言的应用.北京:化学工业出版社,2003
[37]刘吉臻,李遵基.协调控制与给水全程控制.北京:水利电力出版社,1995
[38]Kristinn Kristinsson, Guy A Dumout. System identification and controlusing geneticalgorithms. IEEE Trans on Systems,Man and Cybernetics,1992,22(5):1033～1046
[39]Melanie Mitchell.An introduction to genetic algorithms,Cambridge,MA:The MIT Press,1996
[40]ramlette M F.Initialization.Mutation and Selection Methods in Genetic Algorithms for Function Optimization.Proc ICGA 4.1991
[41]Karr C L.Design of an Adaptive Fuzzy Logic Controller Using Geneticalgorithm.In Proceedings of Fourth International Conference on Genetic Algorithms,LosAlts,CA:Morgan Kaufmann Publisher,1991:450～457
[42]Michalewicz Z,ed.A Modified Genetic Algorithm for Optimal Control problems.Computers and Mathematical Applications,1992,23(12)83～94
[43]Van B P.Genetic Algorithm for Optimal Logical Database Design. Intern-ational Software Technology,1994,36(2):725～732
[44]Forrest S.Genetic Algorithm Principles of Natural Selection AppliCation to Computation.Science,Aug,1993,26(1):872～878
[45]王小平,曹立明.遗传算法—理论、应用与软件实现.西安:西安交通大学出版社,2002
[46]王正志,薄涛.进化计算[M].国防科技大学出版社,2000
[47]方崇智,萧德云.过程辨识[M].北京:清华大学出版社,1988.
[48]于春海,黄玉清,杨胜波.遗传算法在参数辨识中的应用进展,四川大学学报(自然科学版),2004.10
[49]付婧娇.遗传算法的研究及其在系统辨识中的应用[硕士学位论文].华北电力大学控制理论与控制专业,2005.6
[50]雷英杰.MATLAB遗传算法工具箱及应用.西安:西安电子科技大学出版社[M],2005
[51]张雷.遗传算法在控制系统闭环辨识中的应用研究[硕士学位论文]华北电力大学控制理论与控制专业,2007.6
[52]李嗣福.计算机控制基础[M].合肥:中国科技大学出版社
[53]吴旭光.系统建模和参数估计—理论与算法.北京:机械工业出版社,2002.7.94～111
[54]高志,余啸海.Matlab小波分析工具箱原理与应用.北京:国防工业出版社.2004
[55]高斌.大容量火电机组非线性度研究.华北电力大学硕士论文2004
[56] Gopinath,B.On the Identification of Linear Time-invariant Systems from In put-Output Data.Bell System Techn.J.,1969,48:1101～1113
[57]Budin,M.A.Minimal Realization of Discrete Linear Systems from Input-Output Observation.IEEE Trans.1971,AC-16:395～401
[58]Budin,M.A.A New Apporach to System Identification.IEEE Trans.SMc,1972,2:396～402
[59]Passeri,D.p.,Herget,C.J.Parameter Identification of a Class of Multivariable InputSystems.IEEE Trans.1974,AC-19:546～549
[60]Gupta,R.D.Faiman,F.W.Paranmeter Estimation for Multivariable Systems.IEEE Trans.1974,AC-19:546～549
[61]Guidorzi,R.Canonical Structure in the Identification of Multivariable Systems,Automatica,1975,11:381～398
[62]Van Overschee P.De Moor B.,Subspace algorithms for the stochastic identification problem,Automatica,Vol.29,No.3,1993,pp.649～660
[63]Van Overschee P.De Moor B.,N4SID:Subspace algorithms for the identification of combined deterministic-stochastic systems.Automatica,1994,30(1):75～93
[64]Mesarovic M.D.The Control of Multivariable Systems .New York,Wiley,1960
[65]刘晨晖.多变量解耦控制理论.北京:水利电力出版社,1985.13～27
[66]Clark,D.w.Generalised-least-squares Estimation of Parameters of a Dynamic Model.IFAC Symposium-Identification in Automac Control System,3,17,Prague,1967
[67]Hsia,T.C.A Discrete Method for Parameter Identification in Linear Systems with Transport Lags IEEE Transactions on Aerospace and Electronic Systems,Vol.AES-5:236～239,Mar.1969
[68]Akaike,H.A New Look at the Statistical Model Identification.IEEE Trans.On Automical Control,1986,AC～19 On System Science,Hawaii,1972
[69]邓自立,郭一新.动态系统分析及其应用.沈阳:辽宁科学技术出版社,1985
[70]吴旭光.系统建模和参数估计—理论与算法.机械工业出版社,2002
[71]李言俊,张科.系统辨识理论及应用.国防工业出版社,2003
[72]Unbehauen,H.gohring B.Tests for Determing Model Order in Parameter Estimation.Automatica,1974,10;233～244
[2]李言俊.系统辨识理论及应用[M].北京:国防工业出版社,2003
[3]胡德文.非线性多变量系统相关辨识[M].长沙:国防科技大学出版社, 2001.15～16
[4]张成乾.张国强系统辨识与参数估计[M].北京北京机械工业出版社,1986.23～27
[5]徐丽娜.神经网络控制[M].哈尔滨哈尔滨工业大学出版社,1999.102～125
[6]王树青,金晓明,荣冈.先进控制技术及应用之工业生产过程的先进控制.化工自动化及仪表,1999,V26(2):61～65
[7]周西峰.系统辨识与建模的一种新方法[J].信息与控制,2000,4(2):131～138
[8]Gopinath.On the Identification of Linear Time-invariant Systems from Input-Output Data[J].Bell Dydtem Techn,1969,48;1101-1113
[9]M.A.Budin.Minimal Realization of Discret Sytem from Input-output Observation[J].IEEE Trans,On Automatic Control,1971,AC-16:395～401
[10]M.A.Budin.A New Approach to System Identificaton[J].IEEE Trans,Mc,1972,2(5):396～402
[11]P.Passeri,C,J,Herget.Parameter Identification of a Class of Multiple Input-Output Linear Discrete-time System[C].JAAC,Stanford,1972.786～793
[12]R.D.Gupta,F.W.Fariman.Parameter Estimation for Multivariable Systems[J].IEEE Trans,On Automatic Control,1974,AC-19:546～549
[13]R.Guidorzi.Canonical Structure in the Identification of Multivariable System[J].Automatica,1975,11(4),361～374
[14]N.K.Sinha,Y.H.Kwong.RcursiveIdentification of Parameter of Multivariable System[C].Proc,of the 4th IFAC Symp,On Multivariable Technological System,1976.323～328
[15]J.Boker,Keviczky.Structural Properties and Structure Estimation of Vector Difference Equations[J].International Journal of Control,1982,36(7):461～475
[16]邓自立,郭一新.多变量CARMA模型的结构辨识[J].自动化学报,1986,12(1):18～24
[17]Diekmann,K.,Unbehauen H.Recursive Identification of Multivariable System.5th IFAC Symp.Identification and System Parameter Estimation,Darmstadt,FRG,1979
[18]Diekmann K,Unbehauen H.International Conference on Control and its Applications:Identification of Submodel of Multi-Input,Multi-Output Systems.University of Warwick,1981.22～25
[19]Diekmann,K.,Unbehauen,H.Proceedings of 6th IFAC Symposium:Identification and System Parameter Estimation ,New York,Pergamon,1983.235～240
[20]Pan Lideng,Du Huaijing,Structure and Parameters Identification of Multivariable CARMA Models Using SMM-Tech-nique,IFAC,The 8 th Idenfitication and System Parameters Estimation Symposium,Beijing,Aug.1988.1003～1007
[21]潘立登,杜怀京.多变量CARMA模型结构及参数辨识.中国自动化学会控制理论与应用论文集,曲阜,1988,10:436～439
[22]潘立登.多变量系统辨识.炼油化工自动化,1989,NO. 1
[23]潘立登.多变量系统子子模型辨识.北京化工大学学报,1988,15(4):80～90
[24]潘立登,杜怀京.动态多变量CARMA模型结构及参数辨识.系统工程学报,1992,7(1):136～144
[25]聂云姬.多变量闭环系统辨识算法的研究.北京化工大学硕士论文,2005.5
[26]潘立登,潘仰东.系统辨识与建模.北京:化学工业出版社,2004
[27]F.P.de Mello.Boiler Models for System Dynamic Ferformance Studies.IEEE Transaction on Power Systems,1991,16(1)
[28]Astrom.K.J,Bell.R D,Drum-boiler dynamics[J].Automatica,2000,36:363～378
[29]范永胜,程芳真,眭喆，等.600MW超临界直流锅炉的动态特性研究[J].清华大学学报(自然科学版),2000,40(10):104～107, Fan Yongsheng,Cheng FangZhen,SuiZhe,et al. Study on the Dynamic Charactertstics or a 6600MW Supercritdcal Once-through Boiler[J].J.Tsinghua Univ(Sei&Tech),2000,40(10):104～107.
[30]田亮,曾德良,刘吉臻,赵征.简化的330MW机组非线性动态模型.中国电机工程学报,2004 24(8),180-184
[31]房方,刘吉臻.单元机组协调系统的非线性控制研究.中国电力,2004.37(7);61～65
[32]Cheres E.Small and medium size Drum Boiler Models Ssuitable for Llong Term Dynamic Responsel[J]. IEEE Transaction on Energy Conversion,1900,5(4)
[33]房方,刘吉臻,谭文.火电单元机组协调控制系统的多变量IMC-PID设计.动力工程,2004年6月
[34]WenTan,Fang Fang,Liang Tian,Caifen Fu,Jizhen liu.Linear control of a boiler-turbine unit:Analysis and design. ISA Transactions, v 47, n 2, April, 2008, p 189～197
[35]WenTan, Jizhen liu, Fang Fang,Yaoqiao Chen,Tuning of PID Controllers for Boiler-turbine Units,ISA Transactions,Vol.43,No.3,571～583,2004.
[36]何衍庆,姜捷,江艳军,郑颖.控制系统分析、设计和应用——MATLAB语言的应用.北京:化学工业出版社,2003
[37]刘吉臻,李遵基.协调控制与给水全程控制.北京:水利电力出版社,1995
[38]Kristinn Kristinsson, Guy A Dumout. System identification and controlusing geneticalgorithms. IEEE Trans on Systems,Man and Cybernetics,1992,22(5):1033～1046
[39]Melanie Mitchell.An introduction to genetic algorithms,Cambridge,MA:The MIT Press,1996
[40]ramlette M F.Initialization.Mutation and Selection Methods in Genetic Algorithms for Function Optimization.Proc ICGA 4.1991
[41]Karr C L.Design of an Adaptive Fuzzy Logic Controller Using Geneticalgorithm.In Proceedings of Fourth International Conference on Genetic Algorithms,LosAlts,CA:Morgan Kaufmann Publisher,1991:450～457
[42]Michalewicz Z,ed.A Modified Genetic Algorithm for Optimal Control problems.Computers and Mathematical Applications,1992,23(12)83～94
[43]Van B P.Genetic Algorithm for Optimal Logical Database Design. Intern-ational Software Technology,1994,36(2):725～732
[44]Forrest S.Genetic Algorithm Principles of Natural Selection AppliCation to Computation.Science,Aug,1993,26(1):872～878
[45]王小平,曹立明.遗传算法—理论、应用与软件实现.西安:西安交通大学出版社,2002
[46]王正志,薄涛.进化计算[M].国防科技大学出版社,2000
[47]方崇智,萧德云.过程辨识[M].北京:清华大学出版社,1988.
[48]于春海,黄玉清,杨胜波.遗传算法在参数辨识中的应用进展,四川大学学报(自然科学版),2004.10
[49]付婧娇.遗传算法的研究及其在系统辨识中的应用[硕士学位论文].华北电力大学控制理论与控制专业,2005.6
[50]雷英杰.MATLAB遗传算法工具箱及应用.西安:西安电子科技大学出版社[M],2005
[51]张雷.遗传算法在控制系统闭环辨识中的应用研究[硕士学位论文]华北电力大学控制理论与控制专业,2007.6
[52]李嗣福.计算机控制基础[M].合肥:中国科技大学出版社
[53]吴旭光.系统建模和参数估计—理论与算法.北京:机械工业出版社,2002.7.94～111
[54]高志,余啸海.Matlab小波分析工具箱原理与应用.北京:国防工业出版社.2004
[55]高斌.大容量火电机组非线性度研究.华北电力大学硕士论文2004
[56] Gopinath,B.On the Identification of Linear Time-invariant Systems from In put-Output Data.Bell System Techn.J.,1969,48:1101～1113
[57]Budin,M.A.Minimal Realization of Discrete Linear Systems from Input-Output Observation.IEEE Trans.1971,AC-16:395～401
[58]Budin,M.A.A New Apporach to System Identification.IEEE Trans.SMc,1972,2:396～402
[59]Passeri,D.p.,Herget,C.J.Parameter Identification of a Class of Multivariable InputSystems.IEEE Trans.1974,AC-19:546～549
[60]Gupta,R.D.Faiman,F.W.Paranmeter Estimation for Multivariable Systems.IEEE Trans.1974,AC-19:546～549
[61]Guidorzi,R.Canonical Structure in the Identification of Multivariable Systems,Automatica,1975,11:381～398
[62]Van Overschee P.De Moor B.,Subspace algorithms for the stochastic identification problem,Automatica,Vol.29,No.3,1993,pp.649～660
[63]Van Overschee P.De Moor B.,N4SID:Subspace algorithms for the identification of combined deterministic-stochastic systems.Automatica,1994,30(1):75～93
[64]Mesarovic M.D.The Control of Multivariable Systems .New York,Wiley,1960
[65]刘晨晖.多变量解耦控制理论.北京:水利电力出版社,1985.13～27
[66]Clark,D.w.Generalised-least-squares Estimation of Parameters of a Dynamic Model.IFAC Symposium-Identification in Automac Control System,3,17,Prague,1967
[67]Hsia,T.C.A Discrete Method for Parameter Identification in Linear Systems with Transport Lags IEEE Transactions on Aerospace and Electronic Systems,Vol.AES-5:236～239,Mar.1969
[68]Akaike,H.A New Look at the Statistical Model Identification.IEEE Trans.On Automical Control,1986,AC～19 On System Science,Hawaii,1972
[69]邓自立,郭一新.动态系统分析及其应用.沈阳:辽宁科学技术出版社,1985
[70]吴旭光.系统建模和参数估计—理论与算法.机械工业出版社,2002
[71]李言俊,张科.系统辨识理论及应用.国防工业出版社,2003
[72]Unbehauen,H.gohring B.Tests for Determing Model Order in Parameter Estimation.Automatica,1974,10;233～244