化工多采样率数字控制技术研究进展
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摘要
由于多采样率数字控制技术具有提高控制效果、适应多种复杂实际情况等诸多优势,近年来受到了化工领域的广泛关注。简要回顾了多采样率数字控制技术的发展历程,并分类介绍了多采样率数字控制技术的理论研究和工程应用现状;详细讨论了目前研究中存在的数据缺失、延时等热点问题,并对其当前主要研究方法进行了深入讨论;最后对多采样率数字控制技术的发展前景和未来研究方向进行了总体展望。
Multi rate digital control technique has received special attention in chemical industry recently because of its good performance and strong adaptability.This paper briefly surveys the evolution history of multi rate digital control technique,and introduces the present theoretical and application research on multi rate control system.Furthermore,the existing difficulties in the research,such as data-losing and time-delay,are discussed,and corresponding approaches taken are also analyzed.Finally,the research trend of the technique is presented,with an emphasis on potential applications.
Multi rate digital control technique has received special attention in chemical industry recently because of its good performance and strong adaptability.This paper briefly surveys the evolution history of multi rate digital control technique,and introduces the present theoretical and application research on multi rate control system.Furthermore,the existing difficulties in the research,such as data-losing and time-delay,are discussed,and corresponding approaches taken are also analyzed.Finally,the research trend of the technique is presented,with an emphasis on potential applications.
引文
[1]周立芳,钱积新,董浩.多变量多率预测控制系统的研究[D].杭州:浙江大学,1999.
[2]Kranc G M.Input-output analysis of multirate feedback systems[J].IRE Trans.Automatic Control,1957,3(1):21-28.
[3]Araki M,Yamamoto K.Multivariable multirate sampled-data systems:State-space description,transfer characteristics and nyquist criterion[J].IEEE Trans.Automatic Control,1986,31(1):145-154.
[4]Khargonekar P,Poolla K,Tannenbaum A.Robust control of linear time-invariant plants using periodic compensation[J].IEEE Trans.Automatic Control,1985,30(11):1088-1096.
[5]Meyer D G.A parameterization of stabilizing controllers for multirate Sample-data systems[J].IEEE Trans.Automatic Control,1990,35:233-236.
[6]Chen T W.Optimal Sampled-data System[M].London:Springer,1995.
[7]Kreissemeier G.On sampling without loss of observability/controllability[J].IEEE Trans.Automatic Control,1999,44(5):1021-1025.
[8]Rossiter J A,Sheng J,Chen T W.Interpretations of and options in dual-rate predictive control[J].Journal of Process Control,2005,15(2):135-148.
[9]Lu W P,Fisher D G.Output estimation with multi-rate sampling[J].International Journal of Control,1988(48):149-160.
[10]Guilandoust M T,Morris A J,Tham M T.An adaptive estimation algorithm for inferential control[J].Industrial Engineering Chemistry:Process Design and Development,1988,27:1658-1664.
[11]Gudi R D,Shah S L,Gray M R.Multirate state and parameter estimation in an antibiotic fermentation with delayed measurements[J].Biotechnology and Bioengineering,1994,44:1271-1278.
[12]Isaksson A J.Identification of ARX-models subject to missing data[J].IEEE Trans.Automatic Control,1993,38(5):813-819.
[13]Li D,Shah S L,Chen T W.Analysis of dual-rate inferential control systems[J].Automatica,2002,38(6):1053-1059.
[14]Ding F,Chen T W.Modeling and identification for multirate systems[J].Acta Automatica Sinica,2005,31(1):105-122.
[15]Ding F,Chen T W.Least squares based self-tuning control of dual-rate systems[J].International Journal of Adaptive Control and Signal Processing,2004,18(8):697-714.
[16]Ding F,Chen T W.A gradient based adaptive control algorithm for dual-rate systems[J].Asian Journal of Control,2006,8(4):314-323.
[17]Ding F,Chen T W.Adaptive digital control of Hammerstein nonlinear systems with limited output sampling[J].SIAM Journal on Control and Optimization,2007,45(6):2257-2276.
[18]Chammas A B,Leondes C T.On the design of linear time invariant systems by periodic output feedback(PartⅠ):Discrete-time pole assignment[J].Int.J.Control,1978,27:885-894.
[19]Kabamba P T.Control of linear systems using generalized sampled data hold function[J].IEEE Trans.Automatic Control,1987,32:772-783.
[20]Hagiwara T,Araki M.Design of stable state feedback controller based on multirate sampling of the plant output[J].IEEE Trans.Automatic Control,1988,33:812-819.
[21]Rahmani H A,Franklin G F.A new optimal multirate control of linear periodic and time-varying systems[J].IEEE Trans.Automatic Control,1990,35:406-415.
[22]Voulgaris P G,Bamieh B.Optimal H∞and H2 control of hybrid multirate systems[J].Syst.Contr.Lett.,1993,20:249-261.
[23]Voulgaris P G,Dahleh M A,Valavani L S.H∞and H2 optimal controllers for periodic and multi-rate systems[J].Automatica,1994,30:251-263.
[24]Qiu L,Chen T W.H∞design of general multirate sampled-data control system[J].Automatica,1994,30:1139-1152.
[25]唐磊,肖建.多采样率数字控制系统的极点配置[J].电机与控制学报,2001,5(2):88-92.
[26]Park I O.Multi-rate generalized predictive control for multi-variable systems[J].ImechE.,1993,207:253-260.
[27]Scattolini R,Schiavoni N A.multirate model based predictive controller[J].IEEE Trans.Automatic Control,1995,40(6):1093-1097.
[28]Ling K V,Lim K W.A state-space GPC with extensions to multirate control[J].Automatica,1996,32:1067–1071.
[29]张继承,石红瑞.多速率采样系统的辨识与预测控制[D].上海:东华大学,2006.
[30]彭安民,冯军.非单率系统及其广义预测控制研究[D].无锡:江南大学,2006.
[31]Fadalim S,et al.Robust fault detection for a class of multirate linear systems[C].American Automatic Control Council.Proc.of the American Control Conference.Piscataway:Institute of Electrical and Electronics Engineers Inc.,2000:1210-1214.
[32]Wang L P,Chessari C,Karpiel E.Inferential control of product quality attributes-application to food cooking extrusion process[J].Journal of Process Control,2001,11:621-636.
[33]Carini P,Micheli P,Scattolini R.Multirate self tuning predictive control with application to a binary distillation column[J].International Journal of System Science,1990,21:5l-64.
[34]Li D,Shah S L,Chen T W,et al.Application of dual-rate modeling to CCR octane quality inferential control[J].IEEE Transactions on Control Systems Technology,2003,11(1):43-51.
[35]Raghavan1 H,Tangirala A K,Gopaluni R B,et al.Identification of chemical processes with irregular output sampling[J].Control Engineering Practice,2006,14:467–480.
[36]Dokucu M T,Park M J,Doyle F J.Multi-rate model predictive control of particle size distribution in a semibatch emulsion copolymerization reactor[J].Journal of Control,2008,18(1):105-120.
[37]Embirucu M,Fontes C.Multirate multivariable generalized predictive control and its application to a slurry reactor for ethylene polymerization[J].Chemical Engineering Science,2006,61:5754-5767.
[38]Toner O J,et al.Multirate LQG controller applied to self-location and path-tracking in mobile robots[C].IEEE International Conference on Intelligent Robots and Systems.PiscatawayI:nstitute of Electrical and Electronics Engineers Inc.,2001:625-630.
[39]Yu D W,Yu D L.Multi-rate model predictive control of a chemical reactor based on three neural models[J].Biochemical Engineering Journal,2007,37:86-97.
[40]丁锋,陈通文,萧德云.非均匀周期采样多率系统的一种辨识方法[J].电子学报,2004,32(9):1414-1420.
[41]Lu N Y,Yang Y,Gao F R,et al.Multirate dynamic inferential modeling for multivariable process[J].Chemical Engineering Science,2004,59:855-864.
[42]Ding F,Liu Peter X,Shi Yang.Convergence analysis of estimation algorithms for dual-rate stochastic systems[J].Applied Mathematics and Computation,2006,176(1):245-261.
[43]Ding F,Chen T W.Parameter estimation for dual-rate systems with finite measurement data[J].Dynamics of Continuous,Discrete and Impulsive Systems,Series B:Applications&Algorithms,2004,11(1):101-121.
[44]丁锋,陈通文,萧德云.一般双率系统状态空间模型及其辨识[J].自动化学报,2004,30(5):652-663.
[45]丁锋,谢新民.系统参数和状态联合估计[J].控制与决策,1994,9(3):223-225.
[46]Ding F,Chen T W.Hierarchical identification of lifted stated-space models for general dual-rate systems[J].IEEE Trans.On Circuits and Systems,2005,52(6):1179-1188.
[47]Ding F,Chen T W.Hierarchical gradient-based identification of multivariable discrete-time systems[J].Automatica,2005,41(2):315-325.
[48]Ding F,Chen T W.Parameter estimation of dual-rate stochastic systems by using an output error method[J].IEEE Transactions on Automatic Control,2005,50(9):1436-1441.
[49]Ding F,Chen T W.Combined parameter and output estimation of dual-rate systems using an auxiliary model[J].Automatica,2004(40):1739-1748.
[50]丁锋,杨慧中,纪志成.时变系统辨识方法及其收敛定理[J].江南大学学报:自然科学版,2006,5(1):115-126.
[51]Ding F,Chen T W.Identification of dual-rate systems based on finite impulse response models[J].International Journal of Adaptive Control and Signal Processing,2004,18(7):589-598.
[52]李卫,孙增圻.包含延时的采样系统的最优控制[J].控制理论与应用,1987,4(2):10-18.
[53]蔡国平,黄金枝.控制存在延时的建筑结构地震作用下的最优控制方法[J].应用力学学报,2001,18(4):42-49.
[54]葛泉波,郭亚梅,汤天浩,等.基于时延数据融合的港口船舶监控策略研究[J].中国航海,2007,71(2):1-5.
[2]Kranc G M.Input-output analysis of multirate feedback systems[J].IRE Trans.Automatic Control,1957,3(1):21-28.
[3]Araki M,Yamamoto K.Multivariable multirate sampled-data systems:State-space description,transfer characteristics and nyquist criterion[J].IEEE Trans.Automatic Control,1986,31(1):145-154.
[4]Khargonekar P,Poolla K,Tannenbaum A.Robust control of linear time-invariant plants using periodic compensation[J].IEEE Trans.Automatic Control,1985,30(11):1088-1096.
[5]Meyer D G.A parameterization of stabilizing controllers for multirate Sample-data systems[J].IEEE Trans.Automatic Control,1990,35:233-236.
[6]Chen T W.Optimal Sampled-data System[M].London:Springer,1995.
[7]Kreissemeier G.On sampling without loss of observability/controllability[J].IEEE Trans.Automatic Control,1999,44(5):1021-1025.
[8]Rossiter J A,Sheng J,Chen T W.Interpretations of and options in dual-rate predictive control[J].Journal of Process Control,2005,15(2):135-148.
[9]Lu W P,Fisher D G.Output estimation with multi-rate sampling[J].International Journal of Control,1988(48):149-160.
[10]Guilandoust M T,Morris A J,Tham M T.An adaptive estimation algorithm for inferential control[J].Industrial Engineering Chemistry:Process Design and Development,1988,27:1658-1664.
[11]Gudi R D,Shah S L,Gray M R.Multirate state and parameter estimation in an antibiotic fermentation with delayed measurements[J].Biotechnology and Bioengineering,1994,44:1271-1278.
[12]Isaksson A J.Identification of ARX-models subject to missing data[J].IEEE Trans.Automatic Control,1993,38(5):813-819.
[13]Li D,Shah S L,Chen T W.Analysis of dual-rate inferential control systems[J].Automatica,2002,38(6):1053-1059.
[14]Ding F,Chen T W.Modeling and identification for multirate systems[J].Acta Automatica Sinica,2005,31(1):105-122.
[15]Ding F,Chen T W.Least squares based self-tuning control of dual-rate systems[J].International Journal of Adaptive Control and Signal Processing,2004,18(8):697-714.
[16]Ding F,Chen T W.A gradient based adaptive control algorithm for dual-rate systems[J].Asian Journal of Control,2006,8(4):314-323.
[17]Ding F,Chen T W.Adaptive digital control of Hammerstein nonlinear systems with limited output sampling[J].SIAM Journal on Control and Optimization,2007,45(6):2257-2276.
[18]Chammas A B,Leondes C T.On the design of linear time invariant systems by periodic output feedback(PartⅠ):Discrete-time pole assignment[J].Int.J.Control,1978,27:885-894.
[19]Kabamba P T.Control of linear systems using generalized sampled data hold function[J].IEEE Trans.Automatic Control,1987,32:772-783.
[20]Hagiwara T,Araki M.Design of stable state feedback controller based on multirate sampling of the plant output[J].IEEE Trans.Automatic Control,1988,33:812-819.
[21]Rahmani H A,Franklin G F.A new optimal multirate control of linear periodic and time-varying systems[J].IEEE Trans.Automatic Control,1990,35:406-415.
[22]Voulgaris P G,Bamieh B.Optimal H∞and H2 control of hybrid multirate systems[J].Syst.Contr.Lett.,1993,20:249-261.
[23]Voulgaris P G,Dahleh M A,Valavani L S.H∞and H2 optimal controllers for periodic and multi-rate systems[J].Automatica,1994,30:251-263.
[24]Qiu L,Chen T W.H∞design of general multirate sampled-data control system[J].Automatica,1994,30:1139-1152.
[25]唐磊,肖建.多采样率数字控制系统的极点配置[J].电机与控制学报,2001,5(2):88-92.
[26]Park I O.Multi-rate generalized predictive control for multi-variable systems[J].ImechE.,1993,207:253-260.
[27]Scattolini R,Schiavoni N A.multirate model based predictive controller[J].IEEE Trans.Automatic Control,1995,40(6):1093-1097.
[28]Ling K V,Lim K W.A state-space GPC with extensions to multirate control[J].Automatica,1996,32:1067–1071.
[29]张继承,石红瑞.多速率采样系统的辨识与预测控制[D].上海:东华大学,2006.
[30]彭安民,冯军.非单率系统及其广义预测控制研究[D].无锡:江南大学,2006.
[31]Fadalim S,et al.Robust fault detection for a class of multirate linear systems[C].American Automatic Control Council.Proc.of the American Control Conference.Piscataway:Institute of Electrical and Electronics Engineers Inc.,2000:1210-1214.
[32]Wang L P,Chessari C,Karpiel E.Inferential control of product quality attributes-application to food cooking extrusion process[J].Journal of Process Control,2001,11:621-636.
[33]Carini P,Micheli P,Scattolini R.Multirate self tuning predictive control with application to a binary distillation column[J].International Journal of System Science,1990,21:5l-64.
[34]Li D,Shah S L,Chen T W,et al.Application of dual-rate modeling to CCR octane quality inferential control[J].IEEE Transactions on Control Systems Technology,2003,11(1):43-51.
[35]Raghavan1 H,Tangirala A K,Gopaluni R B,et al.Identification of chemical processes with irregular output sampling[J].Control Engineering Practice,2006,14:467–480.
[36]Dokucu M T,Park M J,Doyle F J.Multi-rate model predictive control of particle size distribution in a semibatch emulsion copolymerization reactor[J].Journal of Control,2008,18(1):105-120.
[37]Embirucu M,Fontes C.Multirate multivariable generalized predictive control and its application to a slurry reactor for ethylene polymerization[J].Chemical Engineering Science,2006,61:5754-5767.
[38]Toner O J,et al.Multirate LQG controller applied to self-location and path-tracking in mobile robots[C].IEEE International Conference on Intelligent Robots and Systems.PiscatawayI:nstitute of Electrical and Electronics Engineers Inc.,2001:625-630.
[39]Yu D W,Yu D L.Multi-rate model predictive control of a chemical reactor based on three neural models[J].Biochemical Engineering Journal,2007,37:86-97.
[40]丁锋,陈通文,萧德云.非均匀周期采样多率系统的一种辨识方法[J].电子学报,2004,32(9):1414-1420.
[41]Lu N Y,Yang Y,Gao F R,et al.Multirate dynamic inferential modeling for multivariable process[J].Chemical Engineering Science,2004,59:855-864.
[42]Ding F,Liu Peter X,Shi Yang.Convergence analysis of estimation algorithms for dual-rate stochastic systems[J].Applied Mathematics and Computation,2006,176(1):245-261.
[43]Ding F,Chen T W.Parameter estimation for dual-rate systems with finite measurement data[J].Dynamics of Continuous,Discrete and Impulsive Systems,Series B:Applications&Algorithms,2004,11(1):101-121.
[44]丁锋,陈通文,萧德云.一般双率系统状态空间模型及其辨识[J].自动化学报,2004,30(5):652-663.
[45]丁锋,谢新民.系统参数和状态联合估计[J].控制与决策,1994,9(3):223-225.
[46]Ding F,Chen T W.Hierarchical identification of lifted stated-space models for general dual-rate systems[J].IEEE Trans.On Circuits and Systems,2005,52(6):1179-1188.
[47]Ding F,Chen T W.Hierarchical gradient-based identification of multivariable discrete-time systems[J].Automatica,2005,41(2):315-325.
[48]Ding F,Chen T W.Parameter estimation of dual-rate stochastic systems by using an output error method[J].IEEE Transactions on Automatic Control,2005,50(9):1436-1441.
[49]Ding F,Chen T W.Combined parameter and output estimation of dual-rate systems using an auxiliary model[J].Automatica,2004(40):1739-1748.
[50]丁锋,杨慧中,纪志成.时变系统辨识方法及其收敛定理[J].江南大学学报:自然科学版,2006,5(1):115-126.
[51]Ding F,Chen T W.Identification of dual-rate systems based on finite impulse response models[J].International Journal of Adaptive Control and Signal Processing,2004,18(7):589-598.
[52]李卫,孙增圻.包含延时的采样系统的最优控制[J].控制理论与应用,1987,4(2):10-18.
[53]蔡国平,黄金枝.控制存在延时的建筑结构地震作用下的最优控制方法[J].应用力学学报,2001,18(4):42-49.
[54]葛泉波,郭亚梅,汤天浩,等.基于时延数据融合的港口船舶监控策略研究[J].中国航海,2007,71(2):1-5.
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