一类基于Expert-PID的智能阀门定位器控制方法
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摘要
针对控制阀由于摩擦力和不平衡力等引起的阀门粘滞和死区等非线性特性,首先根据气动执行机构的机理以及工业现场采集的流量控制阀输入输出数据建立了一个描述阀门动态的模型。然后,根据输出流量的误差和误差变化趋势设计了基于专家规则库的Expert-PID定位器控制方法,同时对控制阀存在的粘滞和死区特性分别采用了Smith预估和改进Konkcer信号进行补偿。最后通过仿真对所提方法进行验证,结果表明该控制策略能有效地提高控制阀的调节速度和精度。
In view of stiction and deadband nonlinear characteristics caused by friction and unbalanced force,we develop a novel Smith predictor based expert-PID control algorithm for the intelligent valve positioner in this paper.At first,depending on the mechanism of pneumatic actuators as well as input and output data from the industrial flow control valve,we set up a dynamic model of the valve.Next,based on the output flow error and error change trend,we design expert rules of the library expert-PID controller,meanwhile Smith forecast and modified Konkcer signal are adopted to compensate the stiction and deadband features in valve respectively.Finally,we illustrate the effciency of the method through the simulation,and the results show that the controller can effectively improve the regulating speed and precision of the control valve.
In view of stiction and deadband nonlinear characteristics caused by friction and unbalanced force,we develop a novel Smith predictor based expert-PID control algorithm for the intelligent valve positioner in this paper.At first,depending on the mechanism of pneumatic actuators as well as input and output data from the industrial flow control valve,we set up a dynamic model of the valve.Next,based on the output flow error and error change trend,we design expert rules of the library expert-PID controller,meanwhile Smith forecast and modified Konkcer signal are adopted to compensate the stiction and deadband features in valve respectively.Finally,we illustrate the effciency of the method through the simulation,and the results show that the controller can effectively improve the regulating speed and precision of the control valve.
引文
[1]时光.智能电-气阀门定位器智能控制策略研究[D].重庆:重庆大学,2011.Shi G.Research on Intelligent Control Tactic in Smart Electro-Pneumatic Valve Positioner[D].Chongqing:Chongqing University,2011.
[2]栾翔鹤,李颀.基于智能阀门定位器控制策略的研究与开发[J].智能控制技术,2009,31(5):32-33.Luan X H,Li Q.The Research and Development of Control Methods Based on Intelligent Valve Positioner[J].Intelligent Control Techniques,2009,31(5):32-33.
[3]Nice C,J.Satheesh K.Model based Compensator for Control Valve[C].Innovations in Information,Embedded and Communication Systems,Coimbatore:IEEE,2015:1-5.
[4]Arkan K,Francis J.Doyle III.Friction Compensation for a Process Control Valve[J].Control Engineering Practice,2000,8(7):799-812.
[5]Haslinda Z,Yudi S.A Hybrid Formulation and Design of Model Predictive Control for Systems Under Actuator Saturation and Backlash[J].Journal of Process Control,2006,16(7):693-709.
[6]T.Nguyen,J.Leavitt,et al.Accurate Sliding-Mode Control of Pneumatic System Using Low-Cost Solenoid Valves[J].Mechatronics,2007,12(2):216-219.
[7]Jain,M.,Choudhury,M.,&Shah,S.L.(2006).Quantification of Valve Stiction[C].Proceedings of ADCHEM,Gramado,Brazil,2006:2-6.
[8]宋运忠,刘向龙.基于数据驱动的控制阀粘滞特性量化研究[J].控制工程,2016,23(8):1254-1258.Song Y Z,Liu X L.Quantification Research on Stiction of Control Valve Based on Data Driven[J].Control Engineering of China,2016,23(8):1254-1258.
[9]Choudhury M,Thornhill N F,Shah S L.Modelling Valve Stiction[J].Control Engineering Practice,2005,13(5):641-658.
[10]卢绍文.基于规则的阀门非线性特性离散时间仿真模型[J].系统仿真技术,2013,9(12):299-305.Lu S W.A Rule-based Discrete Time Simulation Model of the Valve Nonlinearity[J].System Simulation Technology,2013,9(12):299-305.
[11]Choudhury M,Jain M,Shah S L.Detection and Quantification of Valve Stiction[C].Proceedings of American Control Conference,USA,IEEE,2006:10.
[12]齐朝阳,郑恩让,侯再恩.迭代模型Smith预估控制:算法和稳定性[J].控制工程,2015,22(1):133-138.Qi Z Y,Zheng E R,Hou Z E.Iterative Model Smith Predictive Control:Algorithm and Stability[J].Control Engineering of China,2015,22(1):133-138.
[13]刘金琨.先进PID控制MATLAB仿真[M].北京:电子工业出版社,2011.Liu J K.Advanced PID Control and MATLAB simulation[M].Beijing:Publishing House of Electronics Industry,2011.
[14]朱亚平,夏春明,张亮,等.阀门粘滞在线检测及粘滞补偿的Knocker方法改进研究[J].液压与气动,2014(8):41-48.Zhu Y P,Xia C M,Zhang L,et al.Knocker-Compensation with Floating Parameters for Valve Stiction[J].Hydraulics&Pneumatics,2014(8):41-48.
[2]栾翔鹤,李颀.基于智能阀门定位器控制策略的研究与开发[J].智能控制技术,2009,31(5):32-33.Luan X H,Li Q.The Research and Development of Control Methods Based on Intelligent Valve Positioner[J].Intelligent Control Techniques,2009,31(5):32-33.
[3]Nice C,J.Satheesh K.Model based Compensator for Control Valve[C].Innovations in Information,Embedded and Communication Systems,Coimbatore:IEEE,2015:1-5.
[4]Arkan K,Francis J.Doyle III.Friction Compensation for a Process Control Valve[J].Control Engineering Practice,2000,8(7):799-812.
[5]Haslinda Z,Yudi S.A Hybrid Formulation and Design of Model Predictive Control for Systems Under Actuator Saturation and Backlash[J].Journal of Process Control,2006,16(7):693-709.
[6]T.Nguyen,J.Leavitt,et al.Accurate Sliding-Mode Control of Pneumatic System Using Low-Cost Solenoid Valves[J].Mechatronics,2007,12(2):216-219.
[7]Jain,M.,Choudhury,M.,&Shah,S.L.(2006).Quantification of Valve Stiction[C].Proceedings of ADCHEM,Gramado,Brazil,2006:2-6.
[8]宋运忠,刘向龙.基于数据驱动的控制阀粘滞特性量化研究[J].控制工程,2016,23(8):1254-1258.Song Y Z,Liu X L.Quantification Research on Stiction of Control Valve Based on Data Driven[J].Control Engineering of China,2016,23(8):1254-1258.
[9]Choudhury M,Thornhill N F,Shah S L.Modelling Valve Stiction[J].Control Engineering Practice,2005,13(5):641-658.
[10]卢绍文.基于规则的阀门非线性特性离散时间仿真模型[J].系统仿真技术,2013,9(12):299-305.Lu S W.A Rule-based Discrete Time Simulation Model of the Valve Nonlinearity[J].System Simulation Technology,2013,9(12):299-305.
[11]Choudhury M,Jain M,Shah S L.Detection and Quantification of Valve Stiction[C].Proceedings of American Control Conference,USA,IEEE,2006:10.
[12]齐朝阳,郑恩让,侯再恩.迭代模型Smith预估控制:算法和稳定性[J].控制工程,2015,22(1):133-138.Qi Z Y,Zheng E R,Hou Z E.Iterative Model Smith Predictive Control:Algorithm and Stability[J].Control Engineering of China,2015,22(1):133-138.
[13]刘金琨.先进PID控制MATLAB仿真[M].北京:电子工业出版社,2011.Liu J K.Advanced PID Control and MATLAB simulation[M].Beijing:Publishing House of Electronics Industry,2011.
[14]朱亚平,夏春明,张亮,等.阀门粘滞在线检测及粘滞补偿的Knocker方法改进研究[J].液压与气动,2014(8):41-48.Zhu Y P,Xia C M,Zhang L,et al.Knocker-Compensation with Floating Parameters for Valve Stiction[J].Hydraulics&Pneumatics,2014(8):41-48.