使用黄金分割法的管道压力系统自适应控制（英文）
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摘要
压力是工业过程控制常用参数,为了探索黄金分割自适应控制在工业过程控制中的应用技术,本文将其应用于水流管道的压力控制.利用控制实验平台,搭建了以变频调速驱动水泵的压力控制实验系统.阐述了特征建模与黄金分割自适应控制对该系统的适用性和稳定性,并通过分析确定了特征模型类型和控制算法.考虑到时延的影响,采用数字外推预测算法对管道压力误差进行处理.对控制方案进行了仿真分析,完成了与黄金分割自适应控制相关的管道压力控制实验.实验结果表明,黄金分割自适应控制能够实现管道压力的高精度控制,现场调试简单,该控制方案的优越性得到了验证.
In order to explore the application technology of the golden section adaptive control in industrial process control, this paper applies it to the pressure control of water flow pipeline, since the pressure is a common parameter of industrial process control. Using a control experiment platform, a pressure control experiment system of water pump driven by variable frequency speed regulation is built. The adaptability and stability of characteristic modelling and golden section adaptive control are illustrated for this system, and the characteristic model type and control algorithm are determined through analysis. Considering the influence of time delay, a digital extrapolation prediction algorithm is adopted to deal with the pipeline pressure error. The control scheme is simulated and analyzed, and the pipeline pressure control experiments relating to the golden section adaptive control are completed. The experimental results show that the golden section adaptive control can achieve high-precision control of pipeline pressure, and the on-site debugging is simple. The advantages of the proposed control scheme have been verified.
In order to explore the application technology of the golden section adaptive control in industrial process control, this paper applies it to the pressure control of water flow pipeline, since the pressure is a common parameter of industrial process control. Using a control experiment platform, a pressure control experiment system of water pump driven by variable frequency speed regulation is built. The adaptability and stability of characteristic modelling and golden section adaptive control are illustrated for this system, and the characteristic model type and control algorithm are determined through analysis. Considering the influence of time delay, a digital extrapolation prediction algorithm is adopted to deal with the pipeline pressure error. The control scheme is simulated and analyzed, and the pipeline pressure control experiments relating to the golden section adaptive control are completed. The experimental results show that the golden section adaptive control can achieve high-precision control of pipeline pressure, and the on-site debugging is simple. The advantages of the proposed control scheme have been verified.
引文
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[11] HUANG H, ZHANG Z. Characteristic model-based H2/H∞robust adaptive control during the reentry of hypersonic cruise vehicles. SCIENCE CHINA Information Sciences, 2015, 58(1):1–21.
[12] JIANG T, WU H. A framework for stability analysis of high-order non-linear systems based on the CMAC method. SCIENCE CHINA Information Sciences, 2016, 59(11):112201, doi:10.1007/s11432-016-5568-y.
[13] SUN D. Stability analysis of golden-section adaptive control systems based on the characteristic model. SCIENCE CHINA Information Sciences, 2017, 60(9):092205, doi:10.1007/s11432-016-9005-2.
[14] QIU Z. Adaptive nonlinear vibration control of a cartesian flexible ma-nipulator driven by a ball screw mechanism. Mechanical Systems&Signal Processing, 2012, 30(7):248–266.
[15] GAO S, DONG H, NING B. Characteristic model-based allcoefficient adaptive control for automatic train control systems. SCIENCE CHINA Information Sciences, 2014, 57(9):1–12.
[16] WU Y, WANG Z, LI Y, et al. Characteristic modeling and control of ser-vo systems with backlash and friction. Mathematical Problems in Engineering, 2014, 2014(3):1–21.
[17] WANG Yong, DOU Xiaohua, FANG Hao, et al. Nonlinear goldensection adaptive speed control of permanent magnet synchronous motor. Electric Machines and Control, 2017, 21(10):23–29.(王永,窦晓华,方浩,等.永磁同步电机非线性黄金分割自适应控制.电机与控制学报, 2017, 21(10):23–29.)
[18] WANG X, ZHU J, YANG J, et al. Coordination control strategy based on characteristic model for 3-bearing swivel duct nozzles. SCIENCE CHINA Information Sciences, 2014, 57(12):2347–2356.
[19] DI L, LIN Z. Control of a flexible rotor active magnetic bearing test rig:a characteristic model based all-coefficient adaptive control approach. Control Theory and Technology, 2014, 12(1):1–12.
[20] SHI Jingzhuo, YOU Dongmei. Golden section adaptive speed control of ultrasonic motors. Transactions of China Electrotechnical Society.2013, 28(6):59–65.(史敬灼,尤冬梅.超声波电机黄金分割自适应转速控制.电工技术学报, 2013, 28(6):59–65.)
[21] LUT, SHI J, LIN Z. A New Technology for Parallel Solving MultidiMensional Problems—Splitting Extrapolation and Organizational Skills. Beijing:Science Press, 1998.
[2] SILVA G, DATTA A, BHATTACHARYYA S. New results on the synthesis of PID controllers. IEEE Transactions on Automatic Control,2002, 47(2):241–252.
[3] WU Hongxin. Research and prospect on the control theory and method in the engineering. Control Theory&Applications, 2014,31(12):1626–1631.(吴宏鑫.工程实际中的控制理论和方法的研究与展望.控制理论与应用, 2014, 31(12):1626–1631.)
[4] WANG W, ZHANG J, CHAI T. A survey of advanced PID parameter tuning methods. Acta Automatica Sinica, 2000, 26(3):347–355.
[5] WANG Jinhua, CHEN Jian. State space description of PID control system and its LQ controller. Control Theory&Applications, 2018,35(2):267–271.(王进华,陈剑. PID控制器的状态空间描述和二次型优化设计.控制理论与应用, 2018, 35(2):267–271.)
[6] WU H, HU J, XIE Y. Characteristic model-based all-coefficient adaptive control method and its applications. IEEE Transactions on Systems, Man, and Cybernetics, Part C:Applications and Reviews, 2007,37(2):213–221.
[7] XIE Yongchun, WU Hongxin. Robustness of the all-coefficient adaptive control method. Acta Automatica Sinica, 1997, 23(2):153–159.(解永春,吴宏鑫.全系数自适应控制方法的鲁棒性.自动化学报,1997, 23(2):153–159.)
[8] WU H, HU J, XIE Y. Characteristic Model Based Intelligent and Adaptive Control. Beijing:China Science and Technology Press,2009.
[9] MENG Bin, WU Hongxin. Convergence and stability of the goldensection control. Journal of Astronautics, 2009, 30(5):2128–2132.(孟斌,吴宏鑫.黄金分割控制的收敛性和稳定性研究.宇航学报,2009, 30(5):2128–2132.)
[10] HU Jun. Golden-section control of the second-order plant with unknown input delay. Journal of Astronautics, 2014, 40(3):1–7.(胡军.高超声速飞行器非线性自适应姿态控制.宇航学报, 2014,40(3):1–7.)
[11] HUANG H, ZHANG Z. Characteristic model-based H2/H∞robust adaptive control during the reentry of hypersonic cruise vehicles. SCIENCE CHINA Information Sciences, 2015, 58(1):1–21.
[12] JIANG T, WU H. A framework for stability analysis of high-order non-linear systems based on the CMAC method. SCIENCE CHINA Information Sciences, 2016, 59(11):112201, doi:10.1007/s11432-016-5568-y.
[13] SUN D. Stability analysis of golden-section adaptive control systems based on the characteristic model. SCIENCE CHINA Information Sciences, 2017, 60(9):092205, doi:10.1007/s11432-016-9005-2.
[14] QIU Z. Adaptive nonlinear vibration control of a cartesian flexible ma-nipulator driven by a ball screw mechanism. Mechanical Systems&Signal Processing, 2012, 30(7):248–266.
[15] GAO S, DONG H, NING B. Characteristic model-based allcoefficient adaptive control for automatic train control systems. SCIENCE CHINA Information Sciences, 2014, 57(9):1–12.
[16] WU Y, WANG Z, LI Y, et al. Characteristic modeling and control of ser-vo systems with backlash and friction. Mathematical Problems in Engineering, 2014, 2014(3):1–21.
[17] WANG Yong, DOU Xiaohua, FANG Hao, et al. Nonlinear goldensection adaptive speed control of permanent magnet synchronous motor. Electric Machines and Control, 2017, 21(10):23–29.(王永,窦晓华,方浩,等.永磁同步电机非线性黄金分割自适应控制.电机与控制学报, 2017, 21(10):23–29.)
[18] WANG X, ZHU J, YANG J, et al. Coordination control strategy based on characteristic model for 3-bearing swivel duct nozzles. SCIENCE CHINA Information Sciences, 2014, 57(12):2347–2356.
[19] DI L, LIN Z. Control of a flexible rotor active magnetic bearing test rig:a characteristic model based all-coefficient adaptive control approach. Control Theory and Technology, 2014, 12(1):1–12.
[20] SHI Jingzhuo, YOU Dongmei. Golden section adaptive speed control of ultrasonic motors. Transactions of China Electrotechnical Society.2013, 28(6):59–65.(史敬灼,尤冬梅.超声波电机黄金分割自适应转速控制.电工技术学报, 2013, 28(6):59–65.)
[21] LUT, SHI J, LIN Z. A New Technology for Parallel Solving MultidiMensional Problems—Splitting Extrapolation and Organizational Skills. Beijing:Science Press, 1998.