控制阀粘滞特性建模、检测与补偿方法研究
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摘要
气动控制阀具有结构简单、稳定可靠、安全防爆等特点,在流程工业过程中有着非常广泛的应用。气动控制阀主要应用于环境复杂的工业现场,与工艺介质直接接触,导致阀杆与密封装置之间的静摩擦现象十分普遍。由静摩擦现象引起的控制阀粘滞特性容易导致控制回路振荡,降低了控制系统性能。因此,近年来控制阀粘滞特性的研究受到国内外学者越来越多的关注。在阅读现有相关文献和前人研究工作的基础上,本文从理论和实际应用的角度,对控制阀粘滞特性进行了较为深入的研究。论文的主要研究内容有以下三部分:
1、分析了控制阀粘滞特性现象以及产生的原因,从机理模型和数据驱动模型两方面综述了粘滞特性的建模方法,然后提出一种改进的控制阀粘滞特性建模方法。基于开发的控制阀粘滞特性建模仿真平台,对提出的改进模型进行仿真研究,验证了改进方法的有效性。另一方面利用描述函数法,分析了S、J双参数控制阀粘滞特性模型对控制系统稳定性的影响。
2、在控制阀粘滞特性检测方法上,提出了基于时间序列和基于频域分析的两种数据驱动检测方法。基于开发的控制阀粘滞特性闭环回路仿真平台,将提出的两种检测方法进行仿真研究,并将结果与前人的研究结果进行比较,验证了本文提出的两种方法的有效性。
3、分析了S、J双参数控制阀粘滞特性模型对控制系统稳定性的影响。并在控制阀粘滞特性补偿方法上,提出了改进的PI控制和PI-模糊控制两种方法。最后,通过仿真实例验证了本文提出的两种方法的有效性。
Pneumatic control valves are the most commonly used actuators in process industry for their high performance. Friction appears frequently in the packing boxes around the valve stem because control valves are in direct contact with process fluids when used in process industry field. Stiction or high static friction always causes oscillations in control loops which limits the control loop performance. With the increasing demand of the quality, the safety and the pursuit of economic profits, the processes are more complex that the performance can't be improved if ignoring stiction in control valves. So, stiction is being increasingly concerned by domestic and foreign researchers in recent years. Based on former researches and related references, the thesis focuses on stiction research from theoretical and practical aspect. The main contents contain the following parts:
1、The phenomena of stiction is described and the causes of stiction are also analyzed. Stiction models based on physical principles and data-driven ones are listed and analyzed. Then an improved data-driven stiction model is proposed. And a simulation platform, which is developed to analyze stiction, is introduced to demonstrate the improved stiction model's usefulness. Furthermore, describing function analysis is used to analyze S and J parameters stiction model to gain insights into the conditions under which oscillations might arise.
2、Two non-invasive methods of stiction detection are proposed, dealing with data from control loops. One of them is based on time series while the other on spectrum analysis. The effectiveness of the two proposed methods is demonstrated on our simulation platform by simulating and industrial data.
3、Based on approaches for stiction compensation available, two improved PI control methods are developed to eliminate oscillations in control loops caused by valve stiction. One of them combines Proportional control with Proportional-Integralcontrol, while the other combines Proportional-Integral control with Fuzzy control. And the effectiveness of the improved PI control methods is demonstrated by simulating.
1、分析了控制阀粘滞特性现象以及产生的原因,从机理模型和数据驱动模型两方面综述了粘滞特性的建模方法,然后提出一种改进的控制阀粘滞特性建模方法。基于开发的控制阀粘滞特性建模仿真平台,对提出的改进模型进行仿真研究,验证了改进方法的有效性。另一方面利用描述函数法,分析了S、J双参数控制阀粘滞特性模型对控制系统稳定性的影响。
2、在控制阀粘滞特性检测方法上,提出了基于时间序列和基于频域分析的两种数据驱动检测方法。基于开发的控制阀粘滞特性闭环回路仿真平台,将提出的两种检测方法进行仿真研究,并将结果与前人的研究结果进行比较,验证了本文提出的两种方法的有效性。
3、分析了S、J双参数控制阀粘滞特性模型对控制系统稳定性的影响。并在控制阀粘滞特性补偿方法上,提出了改进的PI控制和PI-模糊控制两种方法。最后,通过仿真实例验证了本文提出的两种方法的有效性。
Pneumatic control valves are the most commonly used actuators in process industry for their high performance. Friction appears frequently in the packing boxes around the valve stem because control valves are in direct contact with process fluids when used in process industry field. Stiction or high static friction always causes oscillations in control loops which limits the control loop performance. With the increasing demand of the quality, the safety and the pursuit of economic profits, the processes are more complex that the performance can't be improved if ignoring stiction in control valves. So, stiction is being increasingly concerned by domestic and foreign researchers in recent years. Based on former researches and related references, the thesis focuses on stiction research from theoretical and practical aspect. The main contents contain the following parts:
1、The phenomena of stiction is described and the causes of stiction are also analyzed. Stiction models based on physical principles and data-driven ones are listed and analyzed. Then an improved data-driven stiction model is proposed. And a simulation platform, which is developed to analyze stiction, is introduced to demonstrate the improved stiction model's usefulness. Furthermore, describing function analysis is used to analyze S and J parameters stiction model to gain insights into the conditions under which oscillations might arise.
2、Two non-invasive methods of stiction detection are proposed, dealing with data from control loops. One of them is based on time series while the other on spectrum analysis. The effectiveness of the two proposed methods is demonstrated on our simulation platform by simulating and industrial data.
3、Based on approaches for stiction compensation available, two improved PI control methods are developed to eliminate oscillations in control loops caused by valve stiction. One of them combines Proportional control with Proportional-Integralcontrol, while the other combines Proportional-Integral control with Fuzzy control. And the effectiveness of the improved PI control methods is demonstrated by simulating.
引文
[1]Choudhury,M.A.A.S.,S.L.Shah,N.F.Thornhill,Diagnosis of Process Nonlinearities and Valve Stiction Data Driven Approaches:Springer.2007.
[2]Shoukat Choudhury,M.A.A.,N.F.Thornhill,S.L.Shah,Modelling valve stiction.Control Engineering Practice,2005.13(5):641-658.
[3]Harris,T.J.,Assessment of control loop performance.Canadian Journal of Chemical Engineering,1989.67(5):856-861.
[4]Qin,S.J.,Control performance monitoring-a review and assessment.Computers & Chemical Engineering,1998.23:173-186.
[5]Jelali,M.,An overview of control performance assessment technology and industrial applications.Control Engineering Practice,2006.14(5):441-466.
[6]Ordys,A.W.,D.Uduehi,M.A.Johnson,Process Control Performance Assessment:From Theory to Implementation.2007,Springer-Verlag:London.
[7]Yang,M.,X.Jin.Controller performance assessment and monitoring-Theory and its application,in.2002.Shanghai,China:Institute of Electrical and Electronics Engineers Inc.
[8]王建强,集散控制系统评估方法的探讨.华东电力,2000.28(10):32-34.
[9]喻娅娅,在线的控制系统性能评价与监测方法的研究.仪器仪表用户,2004.11(3):5-7.
[10]崔吉叶,模型预测控制系统性能评价方法的研究,2007,中国石油大学硕士学位论文.
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[13]Taha,O.,G.A.Dumont,M.S.Davies.Detection and diagnosis of oscillations in control loops,in Decision and Control,1996.,Proceedings of the 35th IEEE.
[14]Miao,T.,D.E.Seborg.Automatic detection of excessively oscillatory feedback control loops,in Control Applications,1999.Proceedings of the 1999 IEEE International Conference on.
[15]Ordys,A.W.,D.Uduehi,M.A.Johnson,Process Control Performance Assessment:From Theory to Implementation:Springer-Verlag New York,LLC.2007.
[16]Thornhill,N.F.,A.Horch,Advances and new directions in plant-wide disturbance detection and diagnosis.Control Engineering Practice,2007.15(10):1196-1206.
[17]Horch,A.,Benchmarking control loops with oscillation and stiction.In A.Ordys,D.Uduehi,& M.A.Johnson(Eds.),Process control performance assessment.London,UK:Springer,2006:227-257.
[18]Choudhury,M.A.A.S.,S.L.Shah,N.F.Thornhill,D.S.Shook,Automatic detection and quantification of stiction in control valves.Control Engineering Practice,2006.14(12):1395-1412.
[19]王树青,工业过程控制工程.北京:化学工业出版社.2002.
[20]Hagglund,T.,A friction compensator for pneumatic control valves.Journal of Process Control,2002.12(8):897-904.
[21]刘巨良,过程控制仪表.北京:化学工业出版社.1998.
[22]何衍庆,邱宣振,杨杰,王为国,控制阀工程设计与应用.北京:化学工业出版社.2005.
[23]Bartys,M.,et al.,Introduction to the DAMADICS actuator FDI benchmark study.Control Engineering Practice,2006.14(6):577-596.
[24]Calado,J.M.F.,J.M.G.Sa da Costa,M.Bartys,J.Korbicz,FDI approach to the DAMADICS benchmark problem based on qualitative reasoning coupled with fuzzy neural networks.Control Engineering Practice,2006.14(6):685-698.
[25]Dustegor,D.,et al.,Structural analysis of fault isolability in the DAMADICS benchmark.Control Engineering Practice,2006.14(6):597-608.
[26]Koscielny,J.M.,M.Bartys,P.Rzepiejewski,J.Sa da Costa,Actuator fault distinguishability study for the DAMADICS benchmark problem.Control Engineering Practice,2006.14(6):645-652.
[27]Previdi,F.,T.Parisini,Model-free actuator fault detection using a spectral estimation approach:the case of the DAMADICS benchmark problem.Control Engineering Practice,2006.14(6):635-644.
[28]Srinivasan,R.,R.Rengaswamy,Approaches for efficient stiction compensation in process control valves.Computers & Chemical Engineering,2007.32(1-2):218-229.
[29]Kano,M.,H.Maruta,K.H.,S.K.,Practical model and detection algorithm for valve stiction.IN IFAC Symposium on Dynamics and Control of Process Systems,Cambridge,MA,July 5-7,2004.
[30]Srinivasan,R.,R.Rengaswamy,U.Nallasivam,V.Rajavelu.Issues in modeling stiction in process control valves,in American Control Conference,2008.
[31]何熊熊,邹涛,杨悦,李信,气动控制阀静摩擦的Kano模型与检测方法的进一步研究.纪工学报,2008.59(7):1691-1697.
[32]A.Stenman,F.G.K.F.,A segmentation-based method for detection of stiction in control valves.International Journal of Adaptive Control and Signal Processing,2003.17(7-9):625-634.
[33]Chen,S.L.,K.K.Tan,S.Huang,Two-Layer Binary Tree Data-Driven Model for Valve Stiction.Ind.Eng.Chem.Res.,2008.47(8):2842-2848.
[34]He,Q.P.,J.Wang,M.Pottmann,S.J.Qin,A Curve Fitting Method for Detecting Valve Stiction in Oscillating Control Loops.Ind.Eng.Chem.Res.,2007.46(13):4549-4560.
[35]Garcia,C.,Comparison of friction models applied to a control valve.Control Engineering Practice,2008.16(10):1231-1243.
[36]Srinivasan,R.,R.Rengaswamy.Techniques for stiction diagnosis and compensation in process control loops, in American Control Conference, 2006.
[37] Horch, A., A simple method for detection of stiction in control valves. Control Engineering Practice, 1999.7(10): 1221-1231.
[38] Singhal, A., T.I. Salsbury, A simple method for detecting valve stiction in oscillating control loops. Journal of Process Control, 2005. 15(4): 371-382.
[39] Srinivasan, R., R. Rengaswamy, S. Narasimhan, R. Miller, Control Loop Performance Assessment. 2. Hammerstein Model Approach for Stiction Diagnosis. Ind Eng. Chem. Res., 2005. 44(17): 6719-6728.
[40] Shoukat Choudhury, M.A.A., M. Jain, S.L. Shah, Stiction - definition, modelling, detection and quantification. Journal of Process Control, 2008. 18(3-4): 232-243.
[41] Gerry, J., M. Ruel, How to measure and combat valve stiction online. Houston,USA:ISA, 2001.
[42] Yamashita, Y., An automatic method for detection of valve stiction in process control loops. Control Engineering Practice, 2006. 14(5): 503-510.
[43] Scali, C., C. Ghelardoni, An improved qualitative shape analysis technique for automatic detection of valve stiction in flow control loops. Control Engineering Practice, 2008. 16(12): 1501-1508.
[44] Horch, A., Method and a system for evaluation of static friction. 2004: United States.
[45] Jelali, M., Estimation of valve stiction in control loops using separable least-squares and global search algorithms. Journal of Process Control, 2008. 18(7-8): 632-642.
[46] Lee, K.H., Z. Ren, B. Huang, Novel Closed-loop Stiction Detection and Quantification Method via System Identification. International Symposium on Advanced Control of Industial Processes(ADCONIP), 2008: 283-288.
[47] Srinivasan, R., R. Rengaswamy, Stiction Compensation in Process Control Loops: A Framework for Integrating Stiction Measure and Compensation. Ind. Eng.Chem.Res.,2005.44(24):9164-9174.
[48]Zhao,S.,et al.,Intelligent compensation of friction,ripple,and hysteresis via a regulated chatter.ISA Transactions,2006.45(3):419-433.
[49]Kayihan,A.,F.J.Doyle,Friction compensation for a process control valve.Control Engineering Practice,2000.8(7):799-812.
[50]Suraneni,S.,I.N.Kar,O.V.Ramana Murthy,R.K.P.Bhatt,Adaptive stick-slip friction and backlash compensation using dynamic fuzzy logic system.Applied Soft Computing,2005.6(1):26-37.
[51]Lin,J.,C.H.Chen,Positioning and tracking of a linear motion stage with friction compensation by fuzzy logic approach.ISA Transactions,2007.46(3):327-342.
[52]SIotine,J.E.,W.Li著,陈代展译.应用非线性控制.北京:机械工业出版社.2006.
[53]楼顺天,于卫,基于MATLAB的系统分析与设计-控制系统.西安:西安电子科技大学出版社.2000.
[54]董振海,精通MATLAB 7编程与数据库应用.北京:电子工业出版社2007.
[55]Townsend,W.,J.Salisbury.The effect of coulomb friction and stiction on force control,in.1987.
[56]Shoukat Choudhury,M.A.A.,S.L.Shah,N.F.Thornhill,Diagnosis of poor control-loop performance using higher-order statistics.Automatica,2004.40(10):1719-1728.
[57]Yang,S.,M.Tomizuka,Adaptive Pulse Width Control for Precise Positioning Under the Influence of Stiction and Coulomb Friction.Journal of Dynamic Systems,Measurement,and Control,1988.110(3):221-227.
[58]Hamiti,K.,A.Voda-Besancon,H.Roux-Buisson,Position control of a pneumatic actuator under the influence of stiction.Control Engineering Practice,1996.4(8):1079-1088.
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[2]Shoukat Choudhury,M.A.A.,N.F.Thornhill,S.L.Shah,Modelling valve stiction.Control Engineering Practice,2005.13(5):641-658.
[3]Harris,T.J.,Assessment of control loop performance.Canadian Journal of Chemical Engineering,1989.67(5):856-861.
[4]Qin,S.J.,Control performance monitoring-a review and assessment.Computers & Chemical Engineering,1998.23:173-186.
[5]Jelali,M.,An overview of control performance assessment technology and industrial applications.Control Engineering Practice,2006.14(5):441-466.
[6]Ordys,A.W.,D.Uduehi,M.A.Johnson,Process Control Performance Assessment:From Theory to Implementation.2007,Springer-Verlag:London.
[7]Yang,M.,X.Jin.Controller performance assessment and monitoring-Theory and its application,in.2002.Shanghai,China:Institute of Electrical and Electronics Engineers Inc.
[8]王建强,集散控制系统评估方法的探讨.华东电力,2000.28(10):32-34.
[9]喻娅娅,在线的控制系统性能评价与监测方法的研究.仪器仪表用户,2004.11(3):5-7.
[10]崔吉叶,模型预测控制系统性能评价方法的研究,2007,中国石油大学硕士学位论文.
[11]Hagglund,T.,A control-loop performance monitor.Control Engineering Practice,1995.3(11):1543-1551.
[12]Thornhill,N.F.,T.Hagglund,Detection and diagnosis of oscillation in control loops.Control Engineering Practice,1997.5(10):1343-1354.
[13]Taha,O.,G.A.Dumont,M.S.Davies.Detection and diagnosis of oscillations in control loops,in Decision and Control,1996.,Proceedings of the 35th IEEE.
[14]Miao,T.,D.E.Seborg.Automatic detection of excessively oscillatory feedback control loops,in Control Applications,1999.Proceedings of the 1999 IEEE International Conference on.
[15]Ordys,A.W.,D.Uduehi,M.A.Johnson,Process Control Performance Assessment:From Theory to Implementation:Springer-Verlag New York,LLC.2007.
[16]Thornhill,N.F.,A.Horch,Advances and new directions in plant-wide disturbance detection and diagnosis.Control Engineering Practice,2007.15(10):1196-1206.
[17]Horch,A.,Benchmarking control loops with oscillation and stiction.In A.Ordys,D.Uduehi,& M.A.Johnson(Eds.),Process control performance assessment.London,UK:Springer,2006:227-257.
[18]Choudhury,M.A.A.S.,S.L.Shah,N.F.Thornhill,D.S.Shook,Automatic detection and quantification of stiction in control valves.Control Engineering Practice,2006.14(12):1395-1412.
[19]王树青,工业过程控制工程.北京:化学工业出版社.2002.
[20]Hagglund,T.,A friction compensator for pneumatic control valves.Journal of Process Control,2002.12(8):897-904.
[21]刘巨良,过程控制仪表.北京:化学工业出版社.1998.
[22]何衍庆,邱宣振,杨杰,王为国,控制阀工程设计与应用.北京:化学工业出版社.2005.
[23]Bartys,M.,et al.,Introduction to the DAMADICS actuator FDI benchmark study.Control Engineering Practice,2006.14(6):577-596.
[24]Calado,J.M.F.,J.M.G.Sa da Costa,M.Bartys,J.Korbicz,FDI approach to the DAMADICS benchmark problem based on qualitative reasoning coupled with fuzzy neural networks.Control Engineering Practice,2006.14(6):685-698.
[25]Dustegor,D.,et al.,Structural analysis of fault isolability in the DAMADICS benchmark.Control Engineering Practice,2006.14(6):597-608.
[26]Koscielny,J.M.,M.Bartys,P.Rzepiejewski,J.Sa da Costa,Actuator fault distinguishability study for the DAMADICS benchmark problem.Control Engineering Practice,2006.14(6):645-652.
[27]Previdi,F.,T.Parisini,Model-free actuator fault detection using a spectral estimation approach:the case of the DAMADICS benchmark problem.Control Engineering Practice,2006.14(6):635-644.
[28]Srinivasan,R.,R.Rengaswamy,Approaches for efficient stiction compensation in process control valves.Computers & Chemical Engineering,2007.32(1-2):218-229.
[29]Kano,M.,H.Maruta,K.H.,S.K.,Practical model and detection algorithm for valve stiction.IN IFAC Symposium on Dynamics and Control of Process Systems,Cambridge,MA,July 5-7,2004.
[30]Srinivasan,R.,R.Rengaswamy,U.Nallasivam,V.Rajavelu.Issues in modeling stiction in process control valves,in American Control Conference,2008.
[31]何熊熊,邹涛,杨悦,李信,气动控制阀静摩擦的Kano模型与检测方法的进一步研究.纪工学报,2008.59(7):1691-1697.
[32]A.Stenman,F.G.K.F.,A segmentation-based method for detection of stiction in control valves.International Journal of Adaptive Control and Signal Processing,2003.17(7-9):625-634.
[33]Chen,S.L.,K.K.Tan,S.Huang,Two-Layer Binary Tree Data-Driven Model for Valve Stiction.Ind.Eng.Chem.Res.,2008.47(8):2842-2848.
[34]He,Q.P.,J.Wang,M.Pottmann,S.J.Qin,A Curve Fitting Method for Detecting Valve Stiction in Oscillating Control Loops.Ind.Eng.Chem.Res.,2007.46(13):4549-4560.
[35]Garcia,C.,Comparison of friction models applied to a control valve.Control Engineering Practice,2008.16(10):1231-1243.
[36]Srinivasan,R.,R.Rengaswamy.Techniques for stiction diagnosis and compensation in process control loops, in American Control Conference, 2006.
[37] Horch, A., A simple method for detection of stiction in control valves. Control Engineering Practice, 1999.7(10): 1221-1231.
[38] Singhal, A., T.I. Salsbury, A simple method for detecting valve stiction in oscillating control loops. Journal of Process Control, 2005. 15(4): 371-382.
[39] Srinivasan, R., R. Rengaswamy, S. Narasimhan, R. Miller, Control Loop Performance Assessment. 2. Hammerstein Model Approach for Stiction Diagnosis. Ind Eng. Chem. Res., 2005. 44(17): 6719-6728.
[40] Shoukat Choudhury, M.A.A., M. Jain, S.L. Shah, Stiction - definition, modelling, detection and quantification. Journal of Process Control, 2008. 18(3-4): 232-243.
[41] Gerry, J., M. Ruel, How to measure and combat valve stiction online. Houston,USA:ISA, 2001.
[42] Yamashita, Y., An automatic method for detection of valve stiction in process control loops. Control Engineering Practice, 2006. 14(5): 503-510.
[43] Scali, C., C. Ghelardoni, An improved qualitative shape analysis technique for automatic detection of valve stiction in flow control loops. Control Engineering Practice, 2008. 16(12): 1501-1508.
[44] Horch, A., Method and a system for evaluation of static friction. 2004: United States.
[45] Jelali, M., Estimation of valve stiction in control loops using separable least-squares and global search algorithms. Journal of Process Control, 2008. 18(7-8): 632-642.
[46] Lee, K.H., Z. Ren, B. Huang, Novel Closed-loop Stiction Detection and Quantification Method via System Identification. International Symposium on Advanced Control of Industial Processes(ADCONIP), 2008: 283-288.
[47] Srinivasan, R., R. Rengaswamy, Stiction Compensation in Process Control Loops: A Framework for Integrating Stiction Measure and Compensation. Ind. Eng.Chem.Res.,2005.44(24):9164-9174.
[48]Zhao,S.,et al.,Intelligent compensation of friction,ripple,and hysteresis via a regulated chatter.ISA Transactions,2006.45(3):419-433.
[49]Kayihan,A.,F.J.Doyle,Friction compensation for a process control valve.Control Engineering Practice,2000.8(7):799-812.
[50]Suraneni,S.,I.N.Kar,O.V.Ramana Murthy,R.K.P.Bhatt,Adaptive stick-slip friction and backlash compensation using dynamic fuzzy logic system.Applied Soft Computing,2005.6(1):26-37.
[51]Lin,J.,C.H.Chen,Positioning and tracking of a linear motion stage with friction compensation by fuzzy logic approach.ISA Transactions,2007.46(3):327-342.
[52]SIotine,J.E.,W.Li著,陈代展译.应用非线性控制.北京:机械工业出版社.2006.
[53]楼顺天,于卫,基于MATLAB的系统分析与设计-控制系统.西安:西安电子科技大学出版社.2000.
[54]董振海,精通MATLAB 7编程与数据库应用.北京:电子工业出版社2007.
[55]Townsend,W.,J.Salisbury.The effect of coulomb friction and stiction on force control,in.1987.
[56]Shoukat Choudhury,M.A.A.,S.L.Shah,N.F.Thornhill,Diagnosis of poor control-loop performance using higher-order statistics.Automatica,2004.40(10):1719-1728.
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