过程控制设备数据接口开发及控制算法研究
摘要
工业生产过程中普遍存在一类具有多变量、非线性特性的复杂控制对象，对其寻求合适的控制策略和高效的实现方法是工控领域的热门课题之一。将工控组态王软件和控制系统仿真软件MATLAB相结合，可以满足复杂控制策略应用于现场生产设备时强大的运算需求。
本文针对过程控制实验设备的数据接口和滑模变结构控制算法进行了研究，具体内容和成果如下：
(1)研究了组态王和MATLAB动态实时数据交换技术(DDE)，混合编程开发了过程控制设备的组态王和MATLAB之间的数据通信接口软件；
(2)在PCT-Ⅲ过程控制装置上设计了双容液位控制实验，开发了相应的组态王工程应用控制软件；
(3)在分析了多变量非线性系统理论——滑模变结构控制理论基础上，针对双容液位控制系统的特点提出了其滑模变结构控制器设计的一般方法；
(4)针对两输入两输出的非线性双容液位控制系统，以上、下水箱的液位为控制对象，按照机理法建立了控制系统的数学模型和状态方程；
(5)引入带有积分形式的向量对控制系统进行解耦，使系统转化为两个单输入的非线性系统，设计了系统的滑模变结构控制器；
(6)改进了常规指数趋近律，进行了改进指数趋近律滑动模态存在性和可达性证明。仿真结果表明该方法加快了系统响应速度，很好地消弱了系统抖振；
(7)以MATLAB工具编写控制算法程序，通过接口软件对液位控制系统进行在线实时测试，实验结果表明：
①自主开发的PCT-Ⅲ型过程控制实验设备数据通信接口程序具有良好的动态实时数据交换性能，能够满足该设备的高级控制算法研究的需求。
②应用滑模变结构控制理论研制的双容液位过程控制实验系统运行稳定并取得了优良的控制品质，在过程控制行业和跟踪控制问题研究领域具有应用价值。
In the process of the industry production, a kind of complex controlling object with the characteristic of multi-variable and nonlinear can be found commonly. The seeking of the appropriate controlling strategies and the realization method of high effect can be seen as a hotspot in the field of industrial controlling. The great requirements of mathematical calculation from such kind of complex controlling strategies which are applied in locale producing device can be fulfilled by combining Kingview configuration software with MATLAB.
Based on the study about the data interface of process controlling experimental device and sliding-mode variable structure controlling arithmetic, some desiderated problems are studied and discussed in this paper. The main conclusion and achievement are as follows:
(1) The DDE techniques between KingView and MATLAB are studied. A kind of data communicating interface software about process controlling device between KingView and MATLAB is developed by hybrid programming.
(2) Double-holding liquid level container control experiments on PCT-III process controlling device are designed, and the corresponding KingView project applied controlling softwares are developed.
(3) Based on the analysis of the sliding mode variable structure controlling theory—a kind of multi-variable nonlinear system theory, a common way to design sliding mode controller is proposed in view of the characteristic of double-holding liquid level container control system.
(4) In view of double-holding liquid level container control system which is a double I/O nonlinear controlling system and the liquid level of upper and lower water tank is acted as controlled object, the mathematic model and state equation about control system is founded by mechanism method.
(5) The control system is decoupled by introducing a vector with integral formand. And divided the system into two single-input nonlinear system. And then sliding-mode variable structure control equipment of the system is designed.
(6) The conventional exponent approaching law has been improved, and the proof which is about the existence and accessibility of the inproved exponent approaching law of the sliding mode has been given.And the method can accelerate the system response speed and reduce system-chattering is indicated by the result of instance simulation.
(7) The control algorithm programming was designed by MATLAB, and the real time online test of the liquid level control system can be implemented by the interface soft. And the result of the test indicated that:
(1) The PCT-III data communicating interface programme of process controlling experimental device which is a innovation has good DDE communication performance, and the requirement of the research on the senior controlling algorithm of the device can be fulfilled by the programme.
(2) The experiment system of double-holding liquid level container progress control which uses sliding mode variable structure controlling theory has a stable operation and has obtained the fine control quality. So it is are sure that the system will bring practical value into the research domain of process control and the track controlling problem.
本文针对过程控制实验设备的数据接口和滑模变结构控制算法进行了研究，具体内容和成果如下：
(1)研究了组态王和MATLAB动态实时数据交换技术(DDE)，混合编程开发了过程控制设备的组态王和MATLAB之间的数据通信接口软件；
(2)在PCT-Ⅲ过程控制装置上设计了双容液位控制实验，开发了相应的组态王工程应用控制软件；
(3)在分析了多变量非线性系统理论——滑模变结构控制理论基础上，针对双容液位控制系统的特点提出了其滑模变结构控制器设计的一般方法；
(4)针对两输入两输出的非线性双容液位控制系统，以上、下水箱的液位为控制对象，按照机理法建立了控制系统的数学模型和状态方程；
(5)引入带有积分形式的向量对控制系统进行解耦，使系统转化为两个单输入的非线性系统，设计了系统的滑模变结构控制器；
(6)改进了常规指数趋近律，进行了改进指数趋近律滑动模态存在性和可达性证明。仿真结果表明该方法加快了系统响应速度，很好地消弱了系统抖振；
(7)以MATLAB工具编写控制算法程序，通过接口软件对液位控制系统进行在线实时测试，实验结果表明：
①自主开发的PCT-Ⅲ型过程控制实验设备数据通信接口程序具有良好的动态实时数据交换性能，能够满足该设备的高级控制算法研究的需求。
②应用滑模变结构控制理论研制的双容液位过程控制实验系统运行稳定并取得了优良的控制品质，在过程控制行业和跟踪控制问题研究领域具有应用价值。
In the process of the industry production, a kind of complex controlling object with the characteristic of multi-variable and nonlinear can be found commonly. The seeking of the appropriate controlling strategies and the realization method of high effect can be seen as a hotspot in the field of industrial controlling. The great requirements of mathematical calculation from such kind of complex controlling strategies which are applied in locale producing device can be fulfilled by combining Kingview configuration software with MATLAB.
Based on the study about the data interface of process controlling experimental device and sliding-mode variable structure controlling arithmetic, some desiderated problems are studied and discussed in this paper. The main conclusion and achievement are as follows:
(1) The DDE techniques between KingView and MATLAB are studied. A kind of data communicating interface software about process controlling device between KingView and MATLAB is developed by hybrid programming.
(2) Double-holding liquid level container control experiments on PCT-III process controlling device are designed, and the corresponding KingView project applied controlling softwares are developed.
(3) Based on the analysis of the sliding mode variable structure controlling theory—a kind of multi-variable nonlinear system theory, a common way to design sliding mode controller is proposed in view of the characteristic of double-holding liquid level container control system.
(4) In view of double-holding liquid level container control system which is a double I/O nonlinear controlling system and the liquid level of upper and lower water tank is acted as controlled object, the mathematic model and state equation about control system is founded by mechanism method.
(5) The control system is decoupled by introducing a vector with integral formand. And divided the system into two single-input nonlinear system. And then sliding-mode variable structure control equipment of the system is designed.
(6) The conventional exponent approaching law has been improved, and the proof which is about the existence and accessibility of the inproved exponent approaching law of the sliding mode has been given.And the method can accelerate the system response speed and reduce system-chattering is indicated by the result of instance simulation.
(7) The control algorithm programming was designed by MATLAB, and the real time online test of the liquid level control system can be implemented by the interface soft. And the result of the test indicated that:
(1) The PCT-III data communicating interface programme of process controlling experimental device which is a innovation has good DDE communication performance, and the requirement of the research on the senior controlling algorithm of the device can be fulfilled by the programme.
(2) The experiment system of double-holding liquid level container progress control which uses sliding mode variable structure controlling theory has a stable operation and has obtained the fine control quality. So it is are sure that the system will bring practical value into the research domain of process control and the track controlling problem.
引文
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[7] 黄布毅．非线性控制系统的思想与方法[J]．郑州轻工业学院学报，1994，9(4)：21-25
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[14] 石莹，洪悦，钱晓龙．MATLAB与组态软件的数据交换技术[J]．仪器仪表学报，2003，24(4)：337-340
[15] 苏晓生．掌握Matlab6.0及其工程应用[M]．科学出版社，2002．1
[16] 孙旭霞，李生民，张维娜．工业自动化通用组态软件——“组态王”的功能分析及应用[J]．仪器仪表用户，2001，8(4)：29-30
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[18] 王祝炯．滑模变结构控制系统设计方法研究[D]：[硕士学位论文]．浙江：浙江工业大学，2002
[19] 王丰尧．滑模变结构控制[M]．北京：机械工业出版社，1998．40-51
[20] 王海瑞，钟家玉．Activex技术在组态软件中的应用研究[J]．工业计量，2002(4)：22-24
[21] 王慧．计算机控制系统[M]．北京：化学工业出版社，2000，141-151
[22] 王贞艳，张井岗、陈志梅．神经网络滑模变结构控制研究综述[J]．信息与控制，2005，34(4)：451-456
[23] 王志新，谷云东．随机出、入水双容水箱液位控制实验及被控对象得数学模型[J]．化工自动化及仪表制，2006，33(2)：13-16
[24] 夏常地，李治．具有随机量测噪声的变结构控制[J]．控制与决策，1992，9(3)
[25] 徐江华，孙荣、邵惠鹤．基于组态王Excel和Matlab的PID自整定仿真软件[J]．计算机工程，2003，29(3)：27-29
[26] 姚琼荟，黄继起、吴汉松．变结构控制系统[M]．重庆：重庆大学出版社，1997．66-70
[27] 于足恩．DDE通讯在“组态王”中的应用[J]．哈尔滨商业大学学报(自然科学版)，2003，19(5)：578-583
[28] 余家祥，潘红华，王相生．基于回归神经网络的滑模跟踪器设计[J]．系统工程与电子技术，2003，25(1)：74-76
[29] 张秋余，杨智．DCS监控组态软件的开发[J]．计算机工程与应用，1997，33(11)：56-58
[30] 张玮．滑模变结构控制在一类复杂温度对象中的应用研究[D]：[硕士学位论文]．太原：太原理工大学，2003
[31] 张晓东，姚旺生．基于MATLAB和组态王6.0简易训练模拟器设计[J]．微计算机信息，2003，19(2)：21-22
[32] 张益波，张井岗，陈志梅．离散系统变结构控制研究综述[J]．信息与控制，2003，32(2)：136-141
[33] 张玉华．组态软件中控制算法的应用及研究[D]：[硕士学位论文]．南京：河海大学，2004
[34] 张志涌．精通MATLAB6.5[M]．北京：北京航空航天大学出版社，2003，576-577
[35] 庄开宇．变结构控制理论若干问题研究及其应用[D]：[博士学位论文]．浙江：浙江大学，2002
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[2] 陈谋，姜长生．基于神经网络的一类非线性系统自适应滑模控制[J]．应用科学学报，2004，22(1)：76-80．
[3] 冯纯伯，费树岷．非线性控制系统分析与设计[M]．北京：电子工业出版社，1998，4-10
[4] 高为炳．变结构控制的理论及设计方法[M]．北京：科学出版社，1998．30-48
[5] 高为炳．变结构控制系统的品质控制[A]．全国控制理论与应用年会[C]．西安，1988：156-159
[6] 胡锦晖，胡大斌．基于DDE技术的监控软件及其实现[J]．微计算机信息(测控自动化)，2004，20(11)：70-71
[7] 黄布毅．非线性控制系统的思想与方法[J]．郑州轻工业学院学报，1994，9(4)：21-25
[8] 金以慧．过程控制[M]．北京：清华大学出版社，1991，67-84
[9] 李爱国．变结构控制理论及其在二级倒立摆控制中的应用[D]：[硕士学位论文]．大连：大连海事大学，2004
[10] 刘金琨．滑模变结构控制MATLAB仿真[M]．清华大学出版社，2005．10
[11] 刘志俭．Matlab应用程序接口用户指南[M]．科学出版社，2000．8
[12] 马国华．监控组态软件及应用[M]．北京：清华大学出版社，2001：3-5
[13] 欧金成，欧世东，林德杰．组态软件的现状与发展[J]．自动化博览，2002(2)：42-45
[14] 石莹，洪悦，钱晓龙．MATLAB与组态软件的数据交换技术[J]．仪器仪表学报，2003，24(4)：337-340
[15] 苏晓生．掌握Matlab6.0及其工程应用[M]．科学出版社，2002．1
[16] 孙旭霞，李生民，张维娜．工业自动化通用组态软件——“组态王”的功能分析及应用[J]．仪器仪表用户，2001，8(4)：29-30
[17] 佟绍成，王涛．一类多变量非线性动态系统的模糊自适应控制[J]．控制与决策，1998，13(3)：228-232
[18] 王祝炯．滑模变结构控制系统设计方法研究[D]：[硕士学位论文]．浙江：浙江工业大学，2002
[19] 王丰尧．滑模变结构控制[M]．北京：机械工业出版社，1998．40-51
[20] 王海瑞，钟家玉．Activex技术在组态软件中的应用研究[J]．工业计量，2002(4)：22-24
[21] 王慧．计算机控制系统[M]．北京：化学工业出版社，2000，141-151
[22] 王贞艳，张井岗、陈志梅．神经网络滑模变结构控制研究综述[J]．信息与控制，2005，34(4)：451-456
[23] 王志新，谷云东．随机出、入水双容水箱液位控制实验及被控对象得数学模型[J]．化工自动化及仪表制，2006，33(2)：13-16
[24] 夏常地，李治．具有随机量测噪声的变结构控制[J]．控制与决策，1992，9(3)
[25] 徐江华，孙荣、邵惠鹤．基于组态王Excel和Matlab的PID自整定仿真软件[J]．计算机工程，2003，29(3)：27-29
[26] 姚琼荟，黄继起、吴汉松．变结构控制系统[M]．重庆：重庆大学出版社，1997．66-70
[27] 于足恩．DDE通讯在“组态王”中的应用[J]．哈尔滨商业大学学报(自然科学版)，2003，19(5)：578-583
[28] 余家祥，潘红华，王相生．基于回归神经网络的滑模跟踪器设计[J]．系统工程与电子技术，2003，25(1)：74-76
[29] 张秋余，杨智．DCS监控组态软件的开发[J]．计算机工程与应用，1997，33(11)：56-58
[30] 张玮．滑模变结构控制在一类复杂温度对象中的应用研究[D]：[硕士学位论文]．太原：太原理工大学，2003
[31] 张晓东，姚旺生．基于MATLAB和组态王6.0简易训练模拟器设计[J]．微计算机信息，2003，19(2)：21-22
[32] 张益波，张井岗，陈志梅．离散系统变结构控制研究综述[J]．信息与控制，2003，32(2)：136-141
[33] 张玉华．组态软件中控制算法的应用及研究[D]：[硕士学位论文]．南京：河海大学，2004
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