一种用于蒸氨生产的智能控制系统
|
摘要
蒸氨生产主要是将来自鼓风冷凝岗位的剩余氨水在蒸氨塔内进行蒸馏处理，使剩余氨水中的挥发氨蒸出后送回到煤气中以增加煤气含氨量进而提高硫酸氨的产量，并将蒸氨废水送至生化污水处理工序进行处理。因此，蒸氨工序生产不正常，不仅硫氨工序的产品有可能不合格，而且会直接导致生化工序的不正常，致使焦化厂总排超标。而保持整个氨塔生产稳定的指标就是塔顶的温度，为了保持生产稳定，一般塔顶温度应控制在103～105℃。但由于氨塔温度控制属于典型的大时滞系统，对这种系统的自动控制一直是焦化生产控制中的一个难题。
本文根据武钢焦化厂蒸氨系统的改造情况，采用西门子公司的S7-300系列PLC设计开发了蒸氨控制系统，将整个系统的温度、流量、液位、压力等18个工艺参数纳入监控，并根据工艺要求对其中的9个工艺参数进行闭环控制。
针对蒸氨系统中中间槽液位和氨塔进料量相互影响的特点，在总结生产职工操作经验的基础上，设计了蒸氨系统专家协调控制方案。
本文在对PID控制进行深入分析后，结合工程实际，针对大滞后、时变系统的特点将模糊控制与PID控制结合起来设计了一种PID参数模糊自整定的控制算法，并将之应用于蒸氨塔塔顶的温度控制中去。
PID参数模糊自整定系统主要由参数可调整PID控制器和模糊控制器两部分组成。它是在常规PID控制器的基础上，以误差e和误差变化率c作为输入，采用模糊推理方法对PID参数K_p、K_i、K_d进行在线自整定，以满足不同e和c对控制器参数要求，而使被控对象具有良好的动、静态性能。
对本文所设计的PID参数模糊自整定控制器进行了仿真实验，并将专家协调控制方案和PID参数模糊自整定控制器结合起来，在EFPT过程实验装置上完成了锅炉温度控制实验，以模拟蒸氨塔顶的温度控制过程，仿真和实验结果表明了本文所述方法的有效性。
Ammonia distilling is to distill the residual ammonia from the blast section in an ammonia still, which evaporate the wolatile ammonia into the saturator to increase the production of vitiol ammonia and send waste water to biochemistry section to decontaminate. Therefore, if it is abnormal in ammonia distilling section, the production of vitiol ammonia will be unqualified and the biochemistry section will be abnormal too.which will leads the transnormal of sewage let. And the key to keep the distilling stable is the tempratue at top of the tilling tower, the temperature must be controlled between 103℃ and 105℃ in order to keep the distilling stable. But distilling tower temperature control is a typic big time-lag system, and the control of it is always a difficult problem in coak producing industry.
This paper desighs an ammonia distilling control system with S7-300 PLC of SIEMENS Corporation based on the rebuilding condition of the ammonial distilling system of Wugang Jiaohua Corporation, which monitors eighteen technics parameters including temperatures pressures liquid levers and fluxs and controls nine parameters of them.
According to the characteristic that the liquid surface of the trough and the ammonia water folw-in ammout affect each other, after summarizing the experience of the operating wokers, a intelligent expert control algorithm is propsed.
Taking the engineering facts into account, according to the characteristic of big timelag system, this paper conbiles PID control and fuzzy control and designs a kind of fuzzy sef-tunning PID control algorithm, and then applys it in the control of temperature at top of distilling tower.
The fuzzy self-tunning PID control system consists of two parts which are parameter adjustable PID system and fuzzy control system. Its inputs are error e and error change ec and adust its PED parameters kp , kt, kd online with fuzzy induce method based on the normal PID
controller. It can fulfill the command of different e and ec for PID parameters, which gives the controlled object a better static and dynamic performance.
A simmulating experiment is made with the fuzzy self-tunning PID controller designed in this paper in MATLAB, the intelligent expert control algorithm and the fuzzy sef-tunning PID control algorithm are combined in the paper to make a experiment to sumulate the real ammonia distilling process with the EFPT pocess apparatus, the result shows the validity of the approch proposed in this paper.
本文根据武钢焦化厂蒸氨系统的改造情况，采用西门子公司的S7-300系列PLC设计开发了蒸氨控制系统，将整个系统的温度、流量、液位、压力等18个工艺参数纳入监控，并根据工艺要求对其中的9个工艺参数进行闭环控制。
针对蒸氨系统中中间槽液位和氨塔进料量相互影响的特点，在总结生产职工操作经验的基础上，设计了蒸氨系统专家协调控制方案。
本文在对PID控制进行深入分析后，结合工程实际，针对大滞后、时变系统的特点将模糊控制与PID控制结合起来设计了一种PID参数模糊自整定的控制算法，并将之应用于蒸氨塔塔顶的温度控制中去。
PID参数模糊自整定系统主要由参数可调整PID控制器和模糊控制器两部分组成。它是在常规PID控制器的基础上，以误差e和误差变化率c作为输入，采用模糊推理方法对PID参数K_p、K_i、K_d进行在线自整定，以满足不同e和c对控制器参数要求，而使被控对象具有良好的动、静态性能。
对本文所设计的PID参数模糊自整定控制器进行了仿真实验，并将专家协调控制方案和PID参数模糊自整定控制器结合起来，在EFPT过程实验装置上完成了锅炉温度控制实验，以模拟蒸氨塔顶的温度控制过程，仿真和实验结果表明了本文所述方法的有效性。
Ammonia distilling is to distill the residual ammonia from the blast section in an ammonia still, which evaporate the wolatile ammonia into the saturator to increase the production of vitiol ammonia and send waste water to biochemistry section to decontaminate. Therefore, if it is abnormal in ammonia distilling section, the production of vitiol ammonia will be unqualified and the biochemistry section will be abnormal too.which will leads the transnormal of sewage let. And the key to keep the distilling stable is the tempratue at top of the tilling tower, the temperature must be controlled between 103℃ and 105℃ in order to keep the distilling stable. But distilling tower temperature control is a typic big time-lag system, and the control of it is always a difficult problem in coak producing industry.
This paper desighs an ammonia distilling control system with S7-300 PLC of SIEMENS Corporation based on the rebuilding condition of the ammonial distilling system of Wugang Jiaohua Corporation, which monitors eighteen technics parameters including temperatures pressures liquid levers and fluxs and controls nine parameters of them.
According to the characteristic that the liquid surface of the trough and the ammonia water folw-in ammout affect each other, after summarizing the experience of the operating wokers, a intelligent expert control algorithm is propsed.
Taking the engineering facts into account, according to the characteristic of big timelag system, this paper conbiles PID control and fuzzy control and designs a kind of fuzzy sef-tunning PID control algorithm, and then applys it in the control of temperature at top of distilling tower.
The fuzzy self-tunning PID control system consists of two parts which are parameter adjustable PID system and fuzzy control system. Its inputs are error e and error change ec and adust its PED parameters kp , kt, kd online with fuzzy induce method based on the normal PID
controller. It can fulfill the command of different e and ec for PID parameters, which gives the controlled object a better static and dynamic performance.
A simmulating experiment is made with the fuzzy self-tunning PID controller designed in this paper in MATLAB, the intelligent expert control algorithm and the fuzzy sef-tunning PID control algorithm are combined in the paper to make a experiment to sumulate the real ammonia distilling process with the EFPT pocess apparatus, the result shows the validity of the approch proposed in this paper.
引文
1．张凤芝．任长明等．大滞后系统控制技术研究．微电子学与计算机．2000年第6期
2．金以慧等．过程控制．北京：清华大学出版社．2001
3．邵惠鹤．高级过程控制．上海交通科技大学出版社．1990
4．田小果．模糊控制在加热炉上的应用自动化与仪器仪表．2000年第5期45-48
5．林小峰，廖志伟．模糊推理在电阻炉温度控制中的应用．电子技术应用．1999年第3期23-25
6．李士勇．模糊控制．神经控制和智能控制论．哈尔滨工业出版社．1996
7. L A Zadeh. Fuzzy sets in information and control. 1965 8:338-353
8. E H Mamdani. Application of fuzzy algorithms for control of simple dynamic plant. Proc. IEEE, 1974 121:1585-1588
9. Palm R. Sliding mode fuzzy control [A]. IEEE Int. Conf. Fuzzy Systems [C]. SanDiego, USA, 1992, 519-526
10. Wang LX. Modeling and control of hierarchical system switch fuzzy system [J]. Automatica, 1997 33(6): 1041-1053
11. KimJin Hwan. Fuzzy model based predict control [A]. IEEE Int. Conf. Fuzzy Systems[C]. Anchorage, USA, 1998 405-409
12．范晓英，陆培新，陈文楷．一个新型的模糊控制器．控制理论与应用．1995 12(5)：597-601
13．寥俊，林建业．基于神经网络的自适应模糊控制器．信息与控制．1995 24(5)：312-315
14．诸静等著．模糊控制原理与应用．北京：机械工业出版社．1995
15．李宁，张乃尧．采用不同模糊推理方法时典型模糊控制器的结构分析．[J]．模糊系统与数学．1998 12(3)：85-92
16．林小峰．隶属函数对模糊控制性能的作用与影响．电机与控制学报．Vol．2 No．4 Dec．1998
17．何平，SE绪鸿．模糊控制器的设计及应用．科学出版社．1997．1
18. Tang K L. Comparing fuzzy logic with classical controller design[J]. IEEE Trans Systems Man Cybernet. 1987 17(6): 1085-1087
19. Leung T P, et al. An optimization design method of fuzzy logic controller. Control Theory and Applications. 1995 12 (4): 491-49
20. H Ying. General analytical structure of typical fuzzy, controllers and their limiting structure theorems. Automatica. 1993 29(4): 1139-1143
21. H Ying, Guang Rong Chen. Analytical theory of fuzzy control with application. Information Sciences. 2000 123(3-4): 161-162
22. Siler W, Ying H. Fuzzy control theory:the linear case [J]. Fuzzy Sets and Systems. 1989 33: 275-290
23. JJ Buckley, H Ying. Fuzzy controller theory: Limit theorems for linear fuzzy control rules.
Automatica. 1989 25:469-472
24．刘向杰，柴天佑，张焕水．三维模糊控制器的结构研究．自动化学报．1998 24(2)：230-235
25. Ching Chang Wong et al. Studies on the output of fuzzy controller with multiple inputs. Fuzzy Sets and Systems. 1995 71:113-129
26．刘向杰，周孝信，柴天佑．模糊控制研究的现状与新发展．信息与控制．1999 28(4)：283-292
27．窦振中．模糊逻辑控制中隶属函数的确定原则和方法．95’中国智能自动化学术会议论文集 1995：341-345
28．石飞，郑芳经．模糊控制隶属函数的优化算法及其应用．上海大学学报．1999 Vol．5，No．2 Apr．
29. Lee J. On method for improving performance of PI type fuzzy logic controllers[J]. IEEE Trans Fuzzy Systems, 1993 1(4): 298-300
30．邢桂华．论域自调整模糊控制器的设计．南京师大学报．Vol．23，No．3 2000
31. C L Chen, F C Kuo. Design and analysis of a fuzzy controller. Int J Systems Sciences. 1995 26(5): 1223-1248
32. W J M Kickert, E H Mamdani. Analysis of a fuzzy logic controller. Fuzzy Sets and Systems. 1978 1:29-44
33. Masaharu Mizumoto. Fuzzy control various fuzzy reasoning methods. Information Sciences. 1988 45:129-151
34. A EI Hajjaji, A Rachid. Analytic formulation of linguistic rules for fuzzy controller. Fuzzy Sets and Systems. 1995 73,29-225
35. Faouzi Bouslama, Akira Ichikawa. Fuzzy control rules and their natural control rules. Fuzzy Sets and Systems. 1992 48:65-86
36．田盛丰等编著．人工智能原理与应用．北京理工大学出版社．1993．8
37．易继锴，侯媛彬．智能控制技术．北京工业大学出版社．1999．1
38．孙增圻．智能控制理论与技术．北京：清华大学出版社．1997：27-41
39．石纯一，黄昌宁，王家钦．人工智能原理．清华大学出版社．1993．10
40．阳春华，沈德耀．集气管压力的智能控制设计与实现．小型微型计算机系统．Vol．20 No．7 July 1999
41．梁坚，劳丽，杨永臻．一种新型的在线实时自整定PID控制器．自动化与仪器仪表．1996年第3期．(总第65期)
42．戴丽萍．模糊自整定参数PID的设计与仿真．武汉化工学院学报．2002．6：63～63
43．张会敏，何永义．Fuzzy-PID算法在炉温控制中的应用．控制系统．2002．1
44．王鸣．基于模糊控制理论的一种PID参数自整定控制器的设计与仿真．自动化与仪器仪表．2000．1：14～17
45．刘骏跃．PID参数的模糊整定器研究．自动化与仪器仪表．2001．5：20～22
46. G R Chen. Conventional and fuzzy PID controllers: An overview. Int J Intelligent Control and Systems. 1996 1(2): 235-246
47. D Misir, H A Malki, G R Chen. Design and analysis of fuzzy proportional-integral-derivative controller. Fuzzy Sets and Systems. 1996 79(3): 297-314
48．刘金琨．先进PID控制及其MATLAB仿真．电子工业出版社．2003．1
49. Murakami M M. Self-runing fuzzy controller. Fuzzy Sets and Systems. 1992:51.
50．陶永华，尹怡欣，葛芦生．新型的PID控制及其应用．机械工业出版社．1998．9
51．寥俊，林建业．基于神经网络的自适应模糊控制器．信息与控制．1995 24(5)：312-315
52. Application Program Interface User's Guide. MatLab(Version 5.3) Online Book. October 1998 Third printing
53．潘伟．MATLAB语言及其应用程序接口．微型电脑应用．2001年第17卷第1期 43-46
54．洪英．MATLAB中数据的输入输出．微机算计应用．Vol 21．No．2 Mar．2000
55．刘日升．MATLAB的动态数据交换及其应用研究．测控技术．Vol 20．No．6 Mar．2001：39-45
56．徐昕，李涛，伯晓晨．Matbab工具箱应用指南—控制工具篇．电子工业出版社．2000．5
57．张平等著．MATLAB基础与应用简明教程．北京航空航天大学出版社．2001．1
58．KingView使用手册．北京亚控自动化软件科技有限公司．1998
2．金以慧等．过程控制．北京：清华大学出版社．2001
3．邵惠鹤．高级过程控制．上海交通科技大学出版社．1990
4．田小果．模糊控制在加热炉上的应用自动化与仪器仪表．2000年第5期45-48
5．林小峰，廖志伟．模糊推理在电阻炉温度控制中的应用．电子技术应用．1999年第3期23-25
6．李士勇．模糊控制．神经控制和智能控制论．哈尔滨工业出版社．1996
7. L A Zadeh. Fuzzy sets in information and control. 1965 8:338-353
8. E H Mamdani. Application of fuzzy algorithms for control of simple dynamic plant. Proc. IEEE, 1974 121:1585-1588
9. Palm R. Sliding mode fuzzy control [A]. IEEE Int. Conf. Fuzzy Systems [C]. SanDiego, USA, 1992, 519-526
10. Wang LX. Modeling and control of hierarchical system switch fuzzy system [J]. Automatica, 1997 33(6): 1041-1053
11. KimJin Hwan. Fuzzy model based predict control [A]. IEEE Int. Conf. Fuzzy Systems[C]. Anchorage, USA, 1998 405-409
12．范晓英，陆培新，陈文楷．一个新型的模糊控制器．控制理论与应用．1995 12(5)：597-601
13．寥俊，林建业．基于神经网络的自适应模糊控制器．信息与控制．1995 24(5)：312-315
14．诸静等著．模糊控制原理与应用．北京：机械工业出版社．1995
15．李宁，张乃尧．采用不同模糊推理方法时典型模糊控制器的结构分析．[J]．模糊系统与数学．1998 12(3)：85-92
16．林小峰．隶属函数对模糊控制性能的作用与影响．电机与控制学报．Vol．2 No．4 Dec．1998
17．何平，SE绪鸿．模糊控制器的设计及应用．科学出版社．1997．1
18. Tang K L. Comparing fuzzy logic with classical controller design[J]. IEEE Trans Systems Man Cybernet. 1987 17(6): 1085-1087
19. Leung T P, et al. An optimization design method of fuzzy logic controller. Control Theory and Applications. 1995 12 (4): 491-49
20. H Ying. General analytical structure of typical fuzzy, controllers and their limiting structure theorems. Automatica. 1993 29(4): 1139-1143
21. H Ying, Guang Rong Chen. Analytical theory of fuzzy control with application. Information Sciences. 2000 123(3-4): 161-162
22. Siler W, Ying H. Fuzzy control theory:the linear case [J]. Fuzzy Sets and Systems. 1989 33: 275-290
23. JJ Buckley, H Ying. Fuzzy controller theory: Limit theorems for linear fuzzy control rules.
Automatica. 1989 25:469-472
24．刘向杰，柴天佑，张焕水．三维模糊控制器的结构研究．自动化学报．1998 24(2)：230-235
25. Ching Chang Wong et al. Studies on the output of fuzzy controller with multiple inputs. Fuzzy Sets and Systems. 1995 71:113-129
26．刘向杰，周孝信，柴天佑．模糊控制研究的现状与新发展．信息与控制．1999 28(4)：283-292
27．窦振中．模糊逻辑控制中隶属函数的确定原则和方法．95’中国智能自动化学术会议论文集 1995：341-345
28．石飞，郑芳经．模糊控制隶属函数的优化算法及其应用．上海大学学报．1999 Vol．5，No．2 Apr．
29. Lee J. On method for improving performance of PI type fuzzy logic controllers[J]. IEEE Trans Fuzzy Systems, 1993 1(4): 298-300
30．邢桂华．论域自调整模糊控制器的设计．南京师大学报．Vol．23，No．3 2000
31. C L Chen, F C Kuo. Design and analysis of a fuzzy controller. Int J Systems Sciences. 1995 26(5): 1223-1248
32. W J M Kickert, E H Mamdani. Analysis of a fuzzy logic controller. Fuzzy Sets and Systems. 1978 1:29-44
33. Masaharu Mizumoto. Fuzzy control various fuzzy reasoning methods. Information Sciences. 1988 45:129-151
34. A EI Hajjaji, A Rachid. Analytic formulation of linguistic rules for fuzzy controller. Fuzzy Sets and Systems. 1995 73,29-225
35. Faouzi Bouslama, Akira Ichikawa. Fuzzy control rules and their natural control rules. Fuzzy Sets and Systems. 1992 48:65-86
36．田盛丰等编著．人工智能原理与应用．北京理工大学出版社．1993．8
37．易继锴，侯媛彬．智能控制技术．北京工业大学出版社．1999．1
38．孙增圻．智能控制理论与技术．北京：清华大学出版社．1997：27-41
39．石纯一，黄昌宁，王家钦．人工智能原理．清华大学出版社．1993．10
40．阳春华，沈德耀．集气管压力的智能控制设计与实现．小型微型计算机系统．Vol．20 No．7 July 1999
41．梁坚，劳丽，杨永臻．一种新型的在线实时自整定PID控制器．自动化与仪器仪表．1996年第3期．(总第65期)
42．戴丽萍．模糊自整定参数PID的设计与仿真．武汉化工学院学报．2002．6：63～63
43．张会敏，何永义．Fuzzy-PID算法在炉温控制中的应用．控制系统．2002．1
44．王鸣．基于模糊控制理论的一种PID参数自整定控制器的设计与仿真．自动化与仪器仪表．2000．1：14～17
45．刘骏跃．PID参数的模糊整定器研究．自动化与仪器仪表．2001．5：20～22
46. G R Chen. Conventional and fuzzy PID controllers: An overview. Int J Intelligent Control and Systems. 1996 1(2): 235-246
47. D Misir, H A Malki, G R Chen. Design and analysis of fuzzy proportional-integral-derivative controller. Fuzzy Sets and Systems. 1996 79(3): 297-314
48．刘金琨．先进PID控制及其MATLAB仿真．电子工业出版社．2003．1
49. Murakami M M. Self-runing fuzzy controller. Fuzzy Sets and Systems. 1992:51.
50．陶永华，尹怡欣，葛芦生．新型的PID控制及其应用．机械工业出版社．1998．9
51．寥俊，林建业．基于神经网络的自适应模糊控制器．信息与控制．1995 24(5)：312-315
52. Application Program Interface User's Guide. MatLab(Version 5.3) Online Book. October 1998 Third printing
53．潘伟．MATLAB语言及其应用程序接口．微型电脑应用．2001年第17卷第1期 43-46
54．洪英．MATLAB中数据的输入输出．微机算计应用．Vol 21．No．2 Mar．2000
55．刘日升．MATLAB的动态数据交换及其应用研究．测控技术．Vol 20．No．6 Mar．2001：39-45
56．徐昕，李涛，伯晓晨．Matbab工具箱应用指南—控制工具篇．电子工业出版社．2000．5
57．张平等著．MATLAB基础与应用简明教程．北京航空航天大学出版社．2001．1
58．KingView使用手册．北京亚控自动化软件科技有限公司．1998