反应釜温度控制系统的研究
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摘要
随着科技和经济的发展,高分子聚合物在各个领域得到了十分广泛的应用,同时也对聚合物的产品质量和生产过程自动化提出了更高的要求。目前聚合物生产中的聚合反应主要是在间歇式反应釜中进行,约占总聚合装置的 90%。在生产中影响聚合反应的参数(如温度、压力、流量、速度等),最重要的是反应器的温度控制,其控制品质直接影响产品质量和产量。聚合反应过程既是化学反应过程,又是物理变化过程,聚合机理复杂。聚合反应过程具有非线性、时变、有噪声干扰、有纯滞后等特点,对这类工业过程建立精确的数学模型是非常困难的,所以经典 PID 控制理论难以在聚合反应釜温度控制上取得好的控制效果。
本文主要是研究反应釜温度控制系统。比较全面的分析了反应釜温度变化的特点以及控制难点,总结当前温度控制系统精度差的根本原因。在此基础上,提出了改进 Smith 预估算法--积分分离分段式抗饱和 PID 位置控制算法,降低了超调量,大幅减小了静态误差,较好的解决了反应釜温度控制的难题。
课题完成了控制系统的硬件电路、系统软件的设计与调试,进行了控制算法的编辑、整定和调试,并进行了实验室实际运行。经验证,本控制系统工作稳定,可靠性高,控制算法不需要被控对象的精确数学模型,适应性好,工程操作性高,鲁棒性强,具有非常好的控制效果。
With the development of science and technology and economics, the molecular polymer is of great use for every field. At the same time, high need for to fulfil higher production quality requirements and automatization of polymerization process. At present, the polymerization of polymer is largely by batch chemical reactor, account for 90%. Of all the parameters(such as temperature, pressure, flux, speed) of to have influence on the polymerization in production run, temperature is the most important parameter, deciding on the quality and output rate. The process of polymerization is both the chemiscal reaction process and the physical change process, the mechanism of polymerization is very complex. The process of polymerization have much to characteristics such as noninear, time-varying, noise and delay . And it is very difficult to establish the accurate mathematical model of the object. It is also very difficult to control the temperature of the industry process using the classical PID control theory.
This dissertation is devoted to controlling the temperature of reactors. The temperature variational characteristics and controlling difficulty of reactors have been analyzed comprehensively. Then we summarize why currently controller can not accurate control temperature. With the result that the improved Smith predictor algorithm-integral separated subsection antisaturation position-type PID algorithm are put forward in this paper, and this design reduces overshoot, greatly decreases static error and settles up the problem of reactors temperature control.
The design and debugging of the hardware circuit and the whole software, as well as the editing, the tuning and the debugging of the control algorithm are achieved. And the experiments is used to substantiate the efficiency of this control-system. The experiments show that the control system operates steadily and have high functional reliability, and that the algorithm not need the
accurate mathematical model of the object and have good flexibility, operational capability and high robustness. The control effect is favorable.
本文主要是研究反应釜温度控制系统。比较全面的分析了反应釜温度变化的特点以及控制难点,总结当前温度控制系统精度差的根本原因。在此基础上,提出了改进 Smith 预估算法--积分分离分段式抗饱和 PID 位置控制算法,降低了超调量,大幅减小了静态误差,较好的解决了反应釜温度控制的难题。
课题完成了控制系统的硬件电路、系统软件的设计与调试,进行了控制算法的编辑、整定和调试,并进行了实验室实际运行。经验证,本控制系统工作稳定,可靠性高,控制算法不需要被控对象的精确数学模型,适应性好,工程操作性高,鲁棒性强,具有非常好的控制效果。
With the development of science and technology and economics, the molecular polymer is of great use for every field. At the same time, high need for to fulfil higher production quality requirements and automatization of polymerization process. At present, the polymerization of polymer is largely by batch chemical reactor, account for 90%. Of all the parameters(such as temperature, pressure, flux, speed) of to have influence on the polymerization in production run, temperature is the most important parameter, deciding on the quality and output rate. The process of polymerization is both the chemiscal reaction process and the physical change process, the mechanism of polymerization is very complex. The process of polymerization have much to characteristics such as noninear, time-varying, noise and delay . And it is very difficult to establish the accurate mathematical model of the object. It is also very difficult to control the temperature of the industry process using the classical PID control theory.
This dissertation is devoted to controlling the temperature of reactors. The temperature variational characteristics and controlling difficulty of reactors have been analyzed comprehensively. Then we summarize why currently controller can not accurate control temperature. With the result that the improved Smith predictor algorithm-integral separated subsection antisaturation position-type PID algorithm are put forward in this paper, and this design reduces overshoot, greatly decreases static error and settles up the problem of reactors temperature control.
The design and debugging of the hardware circuit and the whole software, as well as the editing, the tuning and the debugging of the control algorithm are achieved. And the experiments is used to substantiate the efficiency of this control-system. The experiments show that the control system operates steadily and have high functional reliability, and that the algorithm not need the
accurate mathematical model of the object and have good flexibility, operational capability and high robustness. The control effect is favorable.
引文
1 Nela Angelova, Dacid Hunkeler. Rationalizing the Design of Polyeric Biomaterials. Tibtech,1999,10(17):409-410
2 G. Wegner. Functional Polymers. Acta Mater,2000,48:253-254
3 Gheorghe Nemtoi, Ana Onu, Nicolae Aelenei, Stela Dragan. Thermal Effects of Some Polymerization and Polycondensation Reactions. Polymeric Ammonium Quaternary Salts. European Polymer Journal,2000,36:2679-2680
4 E. Miklovicova, M. A. Latifi. PID Adaptive Control of Temperatures in Batch and Semi-batch Chemical Reactors. Chemical Engineering Science,1996,11(51): 3139-3141
5 C. C. Yu. Autotuning of PID Controllers. Journal of Process Control,2001,11:105-107
6 Flrence Xaumier. Expromental Application of Nonlinear Model Predictive Control Temperature Control of an Industrial Semi-batch Pilot-plant Reactor. Journal of Process Control,2002,12:687-693
7 Stanley. M. Shinners, Wiley. Advanced Modern Control System Theory and Design. Automatica,2001,37:317-318
8 Ibrahim Kaya. IMC Based Automatic Tuning Method for PID Controllers in a Smith Predictor Configuration. Computers and Chemical Engineering,2004,28:281-282
9 Qing-Guo Wang, Qiang Bi, Yong Zhang. Re-design of Smith Predictor Systems for Performance Enhancement. ISA Transactions,2000,39:79-80
10 Jae Hak Jung, Moonyong Lee, Jietae Lee, Chonghun Han. A Development if Experimental Education Program: Computer Control of Multi-stage Level Control System. Computer an Chemical Engineering,2000,24:1497-1502
11 George Hassapis, Antonios Moschopoulos Dimitrios, Theos, George Giapitzis. A Software Testbed for Configuring Distributed Computer Control Systems. Computer in Industry, 1996,31:15-15
12 R. M. Miller. Predictive PID. ISA Transactions,1999,38:11-23
13 K. K. Tan, T. H. Lee, X. Jiang. On-line Relay Identification Assessment and Tunning of PID Controller. Journal of Process Control,2001,11:483-496
14 T. P. Blanchett, G. C. Kember. PID Gain Scheduling Using Fuzzy Logic. ISA Transactions, 2000,39:317-325
15 Stuart Bennett. The Past if PID Controllers. Annual Reviews in Control,2001,25:43-53
16 Tae-Yong, Kuc, Woong Gie Han. An Adaptive PID Learning Control of Robot Manipulators. Automatica,2000,36:717-725
17 韩瑞珍.PID 控制器参数模糊自整定研究. [浙江工业大学硕士学位论文].2001:4-6
18 陶永华.新型 PID 控制及其应用.北京:机械工业出版社,1998:8-10
19 Suleyman Karacan. Application of a Non-linear Long Range Predictive Control to a Packed Distillation Column. Chemical Engineering and Processing,2003,42:943-946
20 Huailin Shu, Yougu Pi. PID Neural Networks for Time-dalay Systems. Computer and Chemical Engineering,2000,24:859-862
21 M. Santos, A. L. Dexter. Control of a Cryogenic Process Using a Fuzzy PID Scheduler. Control Engineering Practice,2002,10:1147-1152
22 Somanath Majhi, Derek. P. Atherton. Obtaining Controller Parameters for a New Smith Predictor Using Autotuning. Automatica,2000,36:1651-1658
23 席爱民.纯滞后过程的预估补偿控制.基础自动化,1997,5:42-45
24 薛丽,薛恩霖,常石.用单片机 89C51 实现的远程数据采集系统.鞍钢技术,2001,(4): 34-36
25 王延峰,牛新洁,崔光照.手持式称重仪表控制系统的研制.郑州轻工业学院学报(自然科学版),2001,16(3):42-44
26 王幸之等.单片机应用系统抗干扰技术.北京航空航天大学出版社,2000,2:1-2
27 郝子文.胶粘剂生产过程温度控制系统的研究. [中南林学院工学硕士论文]. 2001:18-18
28 刘国勇.微处理器监控器 MAX813L.国外电子元器件,1997,(6):22-23
29 王三胜,徐茵,顾彪.MAx813L 工作原理及其在 51 单片机系统中的应用.工业仪表与自动化装置,2001,(3):53-56
30 刘振栋.MAX813L 在微控系统中的应用.集成电路应用,1999,(4):4-6
31 郑建国.李从新.模数转换器的铂电阻非线性校正.计量技术,1997,(3):10-12
32 宋德武 . 高精度铂电阻测温转换电路的实践与分析 . 气象水文海洋仪器 , 1997,(1):5-10
33 赵建明 . 铁路散堆装货物密度计及其软件设计 . 河北建筑科技学院学报 , 1998,15(2):39-42
34 泰天中.ICL7109 在温度检测中的应用.电子与仪表技术.1994,(2):29-31
35 许丽川.过程控制调节规律的研究.[电子科技大学工学硕士论文].2000:7-50
36 黄晓琳,梁玉红.交流过零触发 PWM 调功器的算法设计.汽车技术,1998,(6):26-30
37 冼凯仪,李先祥.基于 PWM 控制的直流电机控制系统的设计.佛山科学技术学院学报(自然科学版),2000,18(3):16-19
38 刘国勇.低功耗模数转换器 MAx530 及其系用.国外电子元器件,1997,(8):31-34
39 王长龙,马爱文,王民全,陈鹏.一种可变基准电压源设计.仪器仪表学报, 2002, 23(3): 140-141
40 张吉玲,张晴.MAX038 及函数信号发生器.南昌大学学报(理科版),2002,24(4): 350-351
41 郑宏军.新型高性能的高频信号发生器.电视技术,2001,(5):90-92
42 金斗焕,王少军.采用 MAx038 制作的函数信号发生器.电子元器件应用,2001,3(1,2): 33-35
43 冬为明,邸丽敏.提高 LM339 过零比较器精度的一种电路.电测与仪表,1995,(6): 38-39
44 阎石.数字电子技术基础.北京:高等教育出版社,2003:317-318
45 施涛昌.固态继电器及其在开关电路中的应用.电气开关,1994,(3):11-13
46 赵双萍.基于 Smith 模糊电加热烤箱温度控制系统的开发.测控技术,2001,20(5): 44-46
47 苏辉.单片计算机与 8279 可编程键盘/显示器接口.仪表技术与传感器,1992,(1): 29-30
48 方大千.实用电源及其保护电路.北京:人民邮电出版社,2003:101-101
49 张鹏.自校正 PID 及其在加弹机温控器中的应用研究. [浙江大学工学硕士论文]. 2002:9-10
50 G. P. Liu, S. Daley. Optimal-tunning PID Control for Industrial Systems.Control Engineering Practice,2001,9:1185-119
51 梁新荣,吴智铭.电加热炉温度单片机控制系统的研制.电气传动,2000,(3):35-36
2 G. Wegner. Functional Polymers. Acta Mater,2000,48:253-254
3 Gheorghe Nemtoi, Ana Onu, Nicolae Aelenei, Stela Dragan. Thermal Effects of Some Polymerization and Polycondensation Reactions. Polymeric Ammonium Quaternary Salts. European Polymer Journal,2000,36:2679-2680
4 E. Miklovicova, M. A. Latifi. PID Adaptive Control of Temperatures in Batch and Semi-batch Chemical Reactors. Chemical Engineering Science,1996,11(51): 3139-3141
5 C. C. Yu. Autotuning of PID Controllers. Journal of Process Control,2001,11:105-107
6 Flrence Xaumier. Expromental Application of Nonlinear Model Predictive Control Temperature Control of an Industrial Semi-batch Pilot-plant Reactor. Journal of Process Control,2002,12:687-693
7 Stanley. M. Shinners, Wiley. Advanced Modern Control System Theory and Design. Automatica,2001,37:317-318
8 Ibrahim Kaya. IMC Based Automatic Tuning Method for PID Controllers in a Smith Predictor Configuration. Computers and Chemical Engineering,2004,28:281-282
9 Qing-Guo Wang, Qiang Bi, Yong Zhang. Re-design of Smith Predictor Systems for Performance Enhancement. ISA Transactions,2000,39:79-80
10 Jae Hak Jung, Moonyong Lee, Jietae Lee, Chonghun Han. A Development if Experimental Education Program: Computer Control of Multi-stage Level Control System. Computer an Chemical Engineering,2000,24:1497-1502
11 George Hassapis, Antonios Moschopoulos Dimitrios, Theos, George Giapitzis. A Software Testbed for Configuring Distributed Computer Control Systems. Computer in Industry, 1996,31:15-15
12 R. M. Miller. Predictive PID. ISA Transactions,1999,38:11-23
13 K. K. Tan, T. H. Lee, X. Jiang. On-line Relay Identification Assessment and Tunning of PID Controller. Journal of Process Control,2001,11:483-496
14 T. P. Blanchett, G. C. Kember. PID Gain Scheduling Using Fuzzy Logic. ISA Transactions, 2000,39:317-325
15 Stuart Bennett. The Past if PID Controllers. Annual Reviews in Control,2001,25:43-53
16 Tae-Yong, Kuc, Woong Gie Han. An Adaptive PID Learning Control of Robot Manipulators. Automatica,2000,36:717-725
17 韩瑞珍.PID 控制器参数模糊自整定研究. [浙江工业大学硕士学位论文].2001:4-6
18 陶永华.新型 PID 控制及其应用.北京:机械工业出版社,1998:8-10
19 Suleyman Karacan. Application of a Non-linear Long Range Predictive Control to a Packed Distillation Column. Chemical Engineering and Processing,2003,42:943-946
20 Huailin Shu, Yougu Pi. PID Neural Networks for Time-dalay Systems. Computer and Chemical Engineering,2000,24:859-862
21 M. Santos, A. L. Dexter. Control of a Cryogenic Process Using a Fuzzy PID Scheduler. Control Engineering Practice,2002,10:1147-1152
22 Somanath Majhi, Derek. P. Atherton. Obtaining Controller Parameters for a New Smith Predictor Using Autotuning. Automatica,2000,36:1651-1658
23 席爱民.纯滞后过程的预估补偿控制.基础自动化,1997,5:42-45
24 薛丽,薛恩霖,常石.用单片机 89C51 实现的远程数据采集系统.鞍钢技术,2001,(4): 34-36
25 王延峰,牛新洁,崔光照.手持式称重仪表控制系统的研制.郑州轻工业学院学报(自然科学版),2001,16(3):42-44
26 王幸之等.单片机应用系统抗干扰技术.北京航空航天大学出版社,2000,2:1-2
27 郝子文.胶粘剂生产过程温度控制系统的研究. [中南林学院工学硕士论文]. 2001:18-18
28 刘国勇.微处理器监控器 MAX813L.国外电子元器件,1997,(6):22-23
29 王三胜,徐茵,顾彪.MAx813L 工作原理及其在 51 单片机系统中的应用.工业仪表与自动化装置,2001,(3):53-56
30 刘振栋.MAX813L 在微控系统中的应用.集成电路应用,1999,(4):4-6
31 郑建国.李从新.模数转换器的铂电阻非线性校正.计量技术,1997,(3):10-12
32 宋德武 . 高精度铂电阻测温转换电路的实践与分析 . 气象水文海洋仪器 , 1997,(1):5-10
33 赵建明 . 铁路散堆装货物密度计及其软件设计 . 河北建筑科技学院学报 , 1998,15(2):39-42
34 泰天中.ICL7109 在温度检测中的应用.电子与仪表技术.1994,(2):29-31
35 许丽川.过程控制调节规律的研究.[电子科技大学工学硕士论文].2000:7-50
36 黄晓琳,梁玉红.交流过零触发 PWM 调功器的算法设计.汽车技术,1998,(6):26-30
37 冼凯仪,李先祥.基于 PWM 控制的直流电机控制系统的设计.佛山科学技术学院学报(自然科学版),2000,18(3):16-19
38 刘国勇.低功耗模数转换器 MAx530 及其系用.国外电子元器件,1997,(8):31-34
39 王长龙,马爱文,王民全,陈鹏.一种可变基准电压源设计.仪器仪表学报, 2002, 23(3): 140-141
40 张吉玲,张晴.MAX038 及函数信号发生器.南昌大学学报(理科版),2002,24(4): 350-351
41 郑宏军.新型高性能的高频信号发生器.电视技术,2001,(5):90-92
42 金斗焕,王少军.采用 MAx038 制作的函数信号发生器.电子元器件应用,2001,3(1,2): 33-35
43 冬为明,邸丽敏.提高 LM339 过零比较器精度的一种电路.电测与仪表,1995,(6): 38-39
44 阎石.数字电子技术基础.北京:高等教育出版社,2003:317-318
45 施涛昌.固态继电器及其在开关电路中的应用.电气开关,1994,(3):11-13
46 赵双萍.基于 Smith 模糊电加热烤箱温度控制系统的开发.测控技术,2001,20(5): 44-46
47 苏辉.单片计算机与 8279 可编程键盘/显示器接口.仪表技术与传感器,1992,(1): 29-30
48 方大千.实用电源及其保护电路.北京:人民邮电出版社,2003:101-101
49 张鹏.自校正 PID 及其在加弹机温控器中的应用研究. [浙江大学工学硕士论文]. 2002:9-10
50 G. P. Liu, S. Daley. Optimal-tunning PID Control for Industrial Systems.Control Engineering Practice,2001,9:1185-119
51 梁新荣,吴智铭.电加热炉温度单片机控制系统的研制.电气传动,2000,(3):35-36