基于闭环辨识的鲁棒内模PID优化整定及应用
|
摘要
闭环条件下的系统辨识以及基于模型的先进控制技术,一直都是过程控制领域研究的重要内容,它对指导工业生产、完善教学实践具有十分重要的理论意义和应用价值。本文围绕闭环辨识和鲁棒内模PID优化整定展开研究,将粒子群优化算法、线性矩阵不等式和OPC技术等引入到复杂工业过程控制系统的设计和优化上,依据这些理论开发了面向工业过程应用的控制系统设计和优化工具软件Loop-Doctor(注册号:2007SRBJ3237),并将其成功应用于工业实践。本论文的主要研究成果包括以下几个方面:
1、提出将粒子群优化算法和闭环辨识结合起来辨识过程模型参数,并根据内模控制原理,进行内模PID控制器的设计和优化。
2、将利用小增益定理分析的鲁棒稳定性问题转化为线性矩阵不等式的求解,并提出基于极小极大原理和基于线性矩阵不等式两种鲁棒PID控制器设计方法,通过仿真实例证明了这两种方法的有效性。
3、提出将OPC客户端程序作为数据采集系统,介绍了OPC技术的相关知识,并在Visual Basic环境下开发OPC数据采集应用程序功能模块,成功实现与集散控制系统的数据访问。
4、以Visual C#.net为开发平台、以研究的理论结果为基础,开发出面向实际工业应用的控制系统设计和优化工具软件Loop-Doctor(注册号:2007SRBJ3237),并将其成功应用于中石化塔河分公司柴油加氢装置和中石化北京化工研究院蒸汽裂解装置的优化控制项目,改善控制系统性能显著,使装置运行平稳,提高了产品质量和经济效益。
The closed-loop identification and the advanced process control technology based on the model are important for the research of process control. It is of great significance for theory and application to guide the industrial production and improve teaching practice. Focusing on the closed-loop identification and robust IMC-PID optimal tuning, the PSO algorithm, LMI method and OPC technology are introduced into the design and optimization of complicated industrial control system. According to all of the methods, we developed a tool—Loop-Doctor(registered number: 2007SRBJ3237) which can be used for designing and optimizing the control system in industry applications. The software had been applied to industrial practice. In the thesis, the main research contribution is described as follows: (1) A method about combining the PSO algorithm with closed-loop identification to identify the process model parameters is proposed. According to IMC-PID principle, the PID controllers can be designed and optimized. (2) The robust stability problem analysed by the small gain theorem and soluted by LMI method. Then, two methods was proposed that design robust PID controller based on the principle of Min-Max and LMI. Some examples proved the effectiveness of the two methods. (3) The data collection system was researched following OPC data access and the related knowledge about OPC technology was introduced. Then, the OPC client as data collection application modules was developed in the Visual Basic development environment and successfully applied in the Distributed Control System data access.(4) A design and optimization software—Loop-Doctor was develped in the development platform of Visual C #.net based on the methods. It has been successfully applied to steam catalyst cracking unit in the Beijing academe of Chemical Technology and diesel hydrogenation pilot plant in SINOPEC. The application of the software improved the control system performance significantly and enhanced the product quality and economic benefits.
1、提出将粒子群优化算法和闭环辨识结合起来辨识过程模型参数,并根据内模控制原理,进行内模PID控制器的设计和优化。
2、将利用小增益定理分析的鲁棒稳定性问题转化为线性矩阵不等式的求解,并提出基于极小极大原理和基于线性矩阵不等式两种鲁棒PID控制器设计方法,通过仿真实例证明了这两种方法的有效性。
3、提出将OPC客户端程序作为数据采集系统,介绍了OPC技术的相关知识,并在Visual Basic环境下开发OPC数据采集应用程序功能模块,成功实现与集散控制系统的数据访问。
4、以Visual C#.net为开发平台、以研究的理论结果为基础,开发出面向实际工业应用的控制系统设计和优化工具软件Loop-Doctor(注册号:2007SRBJ3237),并将其成功应用于中石化塔河分公司柴油加氢装置和中石化北京化工研究院蒸汽裂解装置的优化控制项目,改善控制系统性能显著,使装置运行平稳,提高了产品质量和经济效益。
The closed-loop identification and the advanced process control technology based on the model are important for the research of process control. It is of great significance for theory and application to guide the industrial production and improve teaching practice. Focusing on the closed-loop identification and robust IMC-PID optimal tuning, the PSO algorithm, LMI method and OPC technology are introduced into the design and optimization of complicated industrial control system. According to all of the methods, we developed a tool—Loop-Doctor(registered number: 2007SRBJ3237) which can be used for designing and optimizing the control system in industry applications. The software had been applied to industrial practice. In the thesis, the main research contribution is described as follows: (1) A method about combining the PSO algorithm with closed-loop identification to identify the process model parameters is proposed. According to IMC-PID principle, the PID controllers can be designed and optimized. (2) The robust stability problem analysed by the small gain theorem and soluted by LMI method. Then, two methods was proposed that design robust PID controller based on the principle of Min-Max and LMI. Some examples proved the effectiveness of the two methods. (3) The data collection system was researched following OPC data access and the related knowledge about OPC technology was introduced. Then, the OPC client as data collection application modules was developed in the Visual Basic development environment and successfully applied in the Distributed Control System data access.(4) A design and optimization software—Loop-Doctor was develped in the development platform of Visual C #.net based on the methods. It has been successfully applied to steam catalyst cracking unit in the Beijing academe of Chemical Technology and diesel hydrogenation pilot plant in SINOPEC. The application of the software improved the control system performance significantly and enhanced the product quality and economic benefits.
引文
[1]GARCIA C E,MORARI M.Internal model control-1:a unifying review and some new results[J].Industrial Engineering Chemistry Process Design and Develpment,1982,21(2):308-323
[2]GARCIA C E,MORARI M.Internal model control-2:design procedure for multivariable systems[J].Industrial Engineering Chemistry Process Design and Develpment,1985,24(3):472-484
[3]ZAFIRIOU E,MORARI M.Internal model control:robust digital controller synthesis for multivariable open-loop stable or unstable processes[J].Int J Control,1991,54(3):665-704
[4]MORARI M,ZAF1RIOUS E.Robust Process Control[M].New Jeresy:Prentice-Hall,1989
[5]席裕庚.预测控制[M].北京:国防工业出版社,1993
[6]陈悦,安燮南,高东杰.内模统一预测控制的进一步分析[J].自动化学报,1999,25(4):441-448
[7]慈宇红,李英辉,杨华.预测函数控制的内模控制理论[J].自动化技术与应用,2005,24(6):1-3
[8]舒迪前.预测控制算法的内模结构及其统一格式[J].控制与决策,1994,9(1):29-36
[9]ECONOMOU C G.Internal model control-5:extension to nonlinear systems[J].Industrial Engineering Chemistry Process Design and Development,1986,25(3):403-411
[10]CALVET J,ARKUN Y.Feodforward and feedback linearization of nonlinear systems and its implementation using internal model control(IMC)[J].Industrial Engineering Chemistry Research,1988,27(10):1822-1831
[11]HENSON M A,SEBORG D E.An internal model control strategy for nonlinear systems[J].America Institute of Chemical Engineering Journal,1991,37(7):1065-1081
[12]HU Q,SAHA P,RANGAIAH G P.Adaptive internal model control of nonlinear processes[J].Chemical Engineering Science,1999,54(9):1205-1220.
[13]ROUX G,DAHHOU B.Multivariable nonlinear internal model control applied to a bioreactor[C]//Proc of the 14~(th)IFAC World Congress.Beijing:Elsevier Science Press,1999,vol E:195-200
[14]XIE W F,RAD A B.Fuzzy adaptive interna model control[J].IEEE Trans on Industrial Electronics,2000,47(1):193-202
[15]ZHOU K,REN Z.A new controller architecture for high performance robust and fault-tolerant control[J].IEEE Trans on Automatic Control,2001,46(10):1613-1619
[16]TAYEBI A,ZAREMBA M B.Internal model-based robust iterative learning control for uncertain LTI systems[C]//Proc of IEEE Conf on Decision and Control.Sydney:IEEE Press,2000,4:3439-3444
[17]陈娟,陈岳峰,潘立登,曹柳林.多变量时滞系统的解耦模糊内模控制[J].电机与控制学报,2006,10(2):203-207
[18]文新宇,张井岗,赵志诚.模糊神经网络内模控制[J].中南工业大学学报,2003,34(2):225-229
[19]Rivera D E,Morari M,Skogested S.Internal Model Control.4.PID Controller Design.Ind Eng Chem Process Des Dev,1986,25(1):252-265
[20]游浩.内模控制和IMC-PID控制及其应用[D].北京:北京化工大学,2000
[21]潘立登,潘仰东.系统辩识与建模[M].北京:化学工业出版社,2004
[22]张颖.闭环系统辨识的偏差最小二乘法[J].自动化学报,1997,23(3):308-313
[23]Van den Hof P M J,Schrama R J P.An indirect method for tranfer function estimation from closed-loop data[J].Automatica,1993,29(6):1523-1527
[24]Hansen F R,Franklin G E On a fractional representation approach to closed-loop experiment design[A].Proc American Control Conf[C],IEEE Publish Society,Atlanta,GA,USA,1988:1319-1320
[25]Lee B K.Closed-loop system identification using the dual Youla control parametrization [J].Int J Control,1995,62(5):1175-1195
[26]Linard N,Anderson B D O,De Bruyne E Identification of a nonlinear plant under nonlinear feedback using left coprime fractional based representations[J].Automatica,1999,35(4):655-667
[27]SCHRAMA R J P.An open loop solution to the appromate closed-loop identification[A].Proc.9~(th)IFAC/IPORS Symposium Identification and System Parameter Estimation[C],IEEE Publish Society,Budapest,Magyarorszag,1991:1602-1607
[28]Van den Holf P M J,Schrama R J P.Identification of normalized coprime plant factors from closed-loop experimental data[J].European I Control,1995,1(3):62-74
[29]Zhang Ying,Wen Changyun,Yeng Soh.Indirect closed-loop identification by optimal instrumental variable method[J].Automatic,1997,33(12):2269-2271
[30]Schoukens J,Pintelon R,Vandersteen G.Frequency-domain system identification using non-parametric noise models estimated from a small number of data sets[J].Automatica,1997,33(8):1409-1523
[31]Laudau I D.Unbiased recursive identification using model reference adaptive techniques [J].IEEE Trans.Automatic Control,1976,21(4):194-202
[32]Tugnait J.Identification of non-minimum phase linear stochastic system[J].Automatica,1986,22(4):457-464
[33]Tugnait J.Stochastic system identification with input-output measurements using polyspectrum[J].IEEE Trans Automatic Control,1995,40(4):670-683
[34]莫建林,王伟,许晓鸣,张卫东.系统辨识中的闭环问题[J].控制理论与应用,2002,19(1):9-15
[35]张烈平,吴名欢,周德俭.基于COM的OPC技术及其应用程序的开发[J].桂林工学院学报,2004,Vol.24(3):256-259
[36]郑立译.OPC应用程序入门[M].北京:日本OPC协会供稿,2002
[37]薄迎春,王树斌,魏玉平.基于OPC技术的先进控制软件的集成[J].工业控制计算机,2005,Vol.18(2):43-44
[38]胡红武.基于OPC的控制系统性能评价、整定与远程监控[D].沈阳:沈阳工业大学,2006
[39]Eberhart R C,Kennedy J.A new optimizer using particle swarm theory[A].Proceeding of the Sixth International Symposium on Micro Machine and Human Science,Nagoya,Japan,1995:39-43
[40]Kennedy J,Eberhart R C,Shi Y.Swarm intelligence[M].San Francisco:Morgan Kaufmann Publishers,2001
[41]范娜,云庆夏.粒子群优化算法及其应用[J].信息技术,2006,1:53-56
[42]高东杰,谭杰,林红权.应用先进控制技术[M].北京:国防工业出版社,2003
[43]王琦,徐式蕴,赵睿涛等.MATLAB基础与应用实例集粹[M].北京:人民邮电出版社,2007
[44]李泽涛.采用Matlablmi工具进行控制系统鲁棒性分析[J].机械与电子,2000,6:39-42
[45]Ahmoud C,Pascal G.H ∞ design with pole placement constrains:an LMI approach[J].IEEE Transctions On Automatic Control,1996,41(3):358-367.
[46]Xie L,Fu M,Souza C E.H ∞ control and quadratic stabilization of systems with parameter uncertainty via output feedback[J].IEEE Transactions on Automatic Control,1992,37(8):1253-1256
[47]李会军,陈明军.基于LMI的H∞鲁棒PID控制器设计[J].控制工程,2007,14(3):294-296
[48]王琦,徐式蕴,赵睿涛等.MATLAB基础与应用实例集粹[M].北京:人民邮电出版社,2007
[49]詹根基.OPC技术在列车上水控制系统中的应用研究[D].江西:华东交通大学,2006
[50]李泽涛.采用Matlablmi工具进行控制系统鲁棒性分析[J].机械与电子,2000,6:39-42
[51]SHI Yu-hui,KROHLING R K.Co-evolutionary Particle Swarm Optimization[C]//Proc of the 2002 Congress on Evolutionary Computation.2002:1682-1689
[52]Ahmoud C,Pascal G.H oo design with pole placement constrains:an LMI approach[J].IEEE Transctions On Automatic Control,1996,41(3):358-367.
[53]Xie L,Fu M,Souza C E.H ∞ control and quadratic stabilization of systems with parameter uncertainty via output feedback[J].IEEE Transactions on Automatic Control,1992,37(8):1253-1256
[54]程丽华.石油炼制工艺学[M].北京:中国石化出版社,2005
[2]GARCIA C E,MORARI M.Internal model control-2:design procedure for multivariable systems[J].Industrial Engineering Chemistry Process Design and Develpment,1985,24(3):472-484
[3]ZAFIRIOU E,MORARI M.Internal model control:robust digital controller synthesis for multivariable open-loop stable or unstable processes[J].Int J Control,1991,54(3):665-704
[4]MORARI M,ZAF1RIOUS E.Robust Process Control[M].New Jeresy:Prentice-Hall,1989
[5]席裕庚.预测控制[M].北京:国防工业出版社,1993
[6]陈悦,安燮南,高东杰.内模统一预测控制的进一步分析[J].自动化学报,1999,25(4):441-448
[7]慈宇红,李英辉,杨华.预测函数控制的内模控制理论[J].自动化技术与应用,2005,24(6):1-3
[8]舒迪前.预测控制算法的内模结构及其统一格式[J].控制与决策,1994,9(1):29-36
[9]ECONOMOU C G.Internal model control-5:extension to nonlinear systems[J].Industrial Engineering Chemistry Process Design and Development,1986,25(3):403-411
[10]CALVET J,ARKUN Y.Feodforward and feedback linearization of nonlinear systems and its implementation using internal model control(IMC)[J].Industrial Engineering Chemistry Research,1988,27(10):1822-1831
[11]HENSON M A,SEBORG D E.An internal model control strategy for nonlinear systems[J].America Institute of Chemical Engineering Journal,1991,37(7):1065-1081
[12]HU Q,SAHA P,RANGAIAH G P.Adaptive internal model control of nonlinear processes[J].Chemical Engineering Science,1999,54(9):1205-1220.
[13]ROUX G,DAHHOU B.Multivariable nonlinear internal model control applied to a bioreactor[C]//Proc of the 14~(th)IFAC World Congress.Beijing:Elsevier Science Press,1999,vol E:195-200
[14]XIE W F,RAD A B.Fuzzy adaptive interna model control[J].IEEE Trans on Industrial Electronics,2000,47(1):193-202
[15]ZHOU K,REN Z.A new controller architecture for high performance robust and fault-tolerant control[J].IEEE Trans on Automatic Control,2001,46(10):1613-1619
[16]TAYEBI A,ZAREMBA M B.Internal model-based robust iterative learning control for uncertain LTI systems[C]//Proc of IEEE Conf on Decision and Control.Sydney:IEEE Press,2000,4:3439-3444
[17]陈娟,陈岳峰,潘立登,曹柳林.多变量时滞系统的解耦模糊内模控制[J].电机与控制学报,2006,10(2):203-207
[18]文新宇,张井岗,赵志诚.模糊神经网络内模控制[J].中南工业大学学报,2003,34(2):225-229
[19]Rivera D E,Morari M,Skogested S.Internal Model Control.4.PID Controller Design.Ind Eng Chem Process Des Dev,1986,25(1):252-265
[20]游浩.内模控制和IMC-PID控制及其应用[D].北京:北京化工大学,2000
[21]潘立登,潘仰东.系统辩识与建模[M].北京:化学工业出版社,2004
[22]张颖.闭环系统辨识的偏差最小二乘法[J].自动化学报,1997,23(3):308-313
[23]Van den Hof P M J,Schrama R J P.An indirect method for tranfer function estimation from closed-loop data[J].Automatica,1993,29(6):1523-1527
[24]Hansen F R,Franklin G E On a fractional representation approach to closed-loop experiment design[A].Proc American Control Conf[C],IEEE Publish Society,Atlanta,GA,USA,1988:1319-1320
[25]Lee B K.Closed-loop system identification using the dual Youla control parametrization [J].Int J Control,1995,62(5):1175-1195
[26]Linard N,Anderson B D O,De Bruyne E Identification of a nonlinear plant under nonlinear feedback using left coprime fractional based representations[J].Automatica,1999,35(4):655-667
[27]SCHRAMA R J P.An open loop solution to the appromate closed-loop identification[A].Proc.9~(th)IFAC/IPORS Symposium Identification and System Parameter Estimation[C],IEEE Publish Society,Budapest,Magyarorszag,1991:1602-1607
[28]Van den Holf P M J,Schrama R J P.Identification of normalized coprime plant factors from closed-loop experimental data[J].European I Control,1995,1(3):62-74
[29]Zhang Ying,Wen Changyun,Yeng Soh.Indirect closed-loop identification by optimal instrumental variable method[J].Automatic,1997,33(12):2269-2271
[30]Schoukens J,Pintelon R,Vandersteen G.Frequency-domain system identification using non-parametric noise models estimated from a small number of data sets[J].Automatica,1997,33(8):1409-1523
[31]Laudau I D.Unbiased recursive identification using model reference adaptive techniques [J].IEEE Trans.Automatic Control,1976,21(4):194-202
[32]Tugnait J.Identification of non-minimum phase linear stochastic system[J].Automatica,1986,22(4):457-464
[33]Tugnait J.Stochastic system identification with input-output measurements using polyspectrum[J].IEEE Trans Automatic Control,1995,40(4):670-683
[34]莫建林,王伟,许晓鸣,张卫东.系统辨识中的闭环问题[J].控制理论与应用,2002,19(1):9-15
[35]张烈平,吴名欢,周德俭.基于COM的OPC技术及其应用程序的开发[J].桂林工学院学报,2004,Vol.24(3):256-259
[36]郑立译.OPC应用程序入门[M].北京:日本OPC协会供稿,2002
[37]薄迎春,王树斌,魏玉平.基于OPC技术的先进控制软件的集成[J].工业控制计算机,2005,Vol.18(2):43-44
[38]胡红武.基于OPC的控制系统性能评价、整定与远程监控[D].沈阳:沈阳工业大学,2006
[39]Eberhart R C,Kennedy J.A new optimizer using particle swarm theory[A].Proceeding of the Sixth International Symposium on Micro Machine and Human Science,Nagoya,Japan,1995:39-43
[40]Kennedy J,Eberhart R C,Shi Y.Swarm intelligence[M].San Francisco:Morgan Kaufmann Publishers,2001
[41]范娜,云庆夏.粒子群优化算法及其应用[J].信息技术,2006,1:53-56
[42]高东杰,谭杰,林红权.应用先进控制技术[M].北京:国防工业出版社,2003
[43]王琦,徐式蕴,赵睿涛等.MATLAB基础与应用实例集粹[M].北京:人民邮电出版社,2007
[44]李泽涛.采用Matlablmi工具进行控制系统鲁棒性分析[J].机械与电子,2000,6:39-42
[45]Ahmoud C,Pascal G.H ∞ design with pole placement constrains:an LMI approach[J].IEEE Transctions On Automatic Control,1996,41(3):358-367.
[46]Xie L,Fu M,Souza C E.H ∞ control and quadratic stabilization of systems with parameter uncertainty via output feedback[J].IEEE Transactions on Automatic Control,1992,37(8):1253-1256
[47]李会军,陈明军.基于LMI的H∞鲁棒PID控制器设计[J].控制工程,2007,14(3):294-296
[48]王琦,徐式蕴,赵睿涛等.MATLAB基础与应用实例集粹[M].北京:人民邮电出版社,2007
[49]詹根基.OPC技术在列车上水控制系统中的应用研究[D].江西:华东交通大学,2006
[50]李泽涛.采用Matlablmi工具进行控制系统鲁棒性分析[J].机械与电子,2000,6:39-42
[51]SHI Yu-hui,KROHLING R K.Co-evolutionary Particle Swarm Optimization[C]//Proc of the 2002 Congress on Evolutionary Computation.2002:1682-1689
[52]Ahmoud C,Pascal G.H oo design with pole placement constrains:an LMI approach[J].IEEE Transctions On Automatic Control,1996,41(3):358-367.
[53]Xie L,Fu M,Souza C E.H ∞ control and quadratic stabilization of systems with parameter uncertainty via output feedback[J].IEEE Transactions on Automatic Control,1992,37(8):1253-1256
[54]程丽华.石油炼制工艺学[M].北京:中国石化出版社,2005