模糊自适应内模控制在DCS中的应用
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摘要
本文以实验室中引进的浙江中控公司生产的AE2000实验装置中的电加热锅炉夹套为研究对象,夹套温度控制具有典型的滞后性、非线性、易受扰动等特点。常规PID控制难以达到理想的控制效果,利用内模PID和模糊控制原理设计出模糊自适应内模控制方案对其进行控制。建立了被控对象的数学模型、滤波器时间常数整定模糊规则,通过模糊规则在线调整滤波器时间常数,改善闭环控制系统的性能。
在Matlab仿真软件中建立常规PID控制和模糊自适应内模控制的仿真模型,不断调整对控制性能有影响的相关参数,在模型匹配与失配两种情况下将常规PID控制效果模糊自适应内模控制效果进行比较。
在浙江中控公司研发的JX-300XP DCS平台上进行二次开发,完成系统I/O组态、自定义控制方案组态、流程图绘制、报表组态等,采用SCX语言进行模糊自适应内模控制算法的编程设计,进行相关的控制实验并调试。在实际运行中与常规PID控制结果相比较。
实验结果表明,无论在Matlab仿真环境中还是在DCS实际应用中,模糊自适应内模控制系统的响应迅速、超调基本为零、调节时间短、稳定精度高、抗干扰能力及鲁棒性强。由此可以看出模糊自适应内模控制系统的动态响应品质、稳态特性及抗干扰性和鲁棒性等几个重要参数和常规PID控制相比都有更好的控制效果。
In this paper, we make the interlayer of the boiler in AE2000 process control device produced by Zhejiang SUPCON Electronic Technology Co. as object. The interlayer temperature control has characteristics of lag, nonlinear, vulnerable to disturbance and so on. Considering that the PID control is not effective to the temperature control, a fuzzy adaptive internal model control method based on internal model control and fuzzy control is designed. We establish the mathematical model of the object and fuzzy adjusting rules of the filter’s time. The filter’s time is adjusted online through the fuzzy rules to improve the performance of control system.
We create PID control and fuzzy adaptive internal model control simulation models in Matlab, and continuously adjust the control parameters that affect control performance, and compare the effect when the model is matching and mismatching.
We make the JX-300XP DCS produced by Zhejiang SUPON Electronic Technology Co. as platform for secondary development, complete the system I/O configuration, the definition of control scheme configuration, the report configuration, and draw the flowchart, etc.,We design the program of the fuzzy adaptive internal model control method using SCX language, experiment and debug in DCS. Compare results with PID control in actual operation.
The results show that the fuzzy adaptive internal model control performs faster response, zero overshoot, shorter adjustment time, higher steady accuracy, better resistance and robustness both in the Matlab simulation environment and in the practical application of DCS. It is better than PID control on the aspects of dynamic response, stability, resisting jam and robustness.
在Matlab仿真软件中建立常规PID控制和模糊自适应内模控制的仿真模型,不断调整对控制性能有影响的相关参数,在模型匹配与失配两种情况下将常规PID控制效果模糊自适应内模控制效果进行比较。
在浙江中控公司研发的JX-300XP DCS平台上进行二次开发,完成系统I/O组态、自定义控制方案组态、流程图绘制、报表组态等,采用SCX语言进行模糊自适应内模控制算法的编程设计,进行相关的控制实验并调试。在实际运行中与常规PID控制结果相比较。
实验结果表明,无论在Matlab仿真环境中还是在DCS实际应用中,模糊自适应内模控制系统的响应迅速、超调基本为零、调节时间短、稳定精度高、抗干扰能力及鲁棒性强。由此可以看出模糊自适应内模控制系统的动态响应品质、稳态特性及抗干扰性和鲁棒性等几个重要参数和常规PID控制相比都有更好的控制效果。
In this paper, we make the interlayer of the boiler in AE2000 process control device produced by Zhejiang SUPCON Electronic Technology Co. as object. The interlayer temperature control has characteristics of lag, nonlinear, vulnerable to disturbance and so on. Considering that the PID control is not effective to the temperature control, a fuzzy adaptive internal model control method based on internal model control and fuzzy control is designed. We establish the mathematical model of the object and fuzzy adjusting rules of the filter’s time. The filter’s time is adjusted online through the fuzzy rules to improve the performance of control system.
We create PID control and fuzzy adaptive internal model control simulation models in Matlab, and continuously adjust the control parameters that affect control performance, and compare the effect when the model is matching and mismatching.
We make the JX-300XP DCS produced by Zhejiang SUPON Electronic Technology Co. as platform for secondary development, complete the system I/O configuration, the definition of control scheme configuration, the report configuration, and draw the flowchart, etc.,We design the program of the fuzzy adaptive internal model control method using SCX language, experiment and debug in DCS. Compare results with PID control in actual operation.
The results show that the fuzzy adaptive internal model control performs faster response, zero overshoot, shorter adjustment time, higher steady accuracy, better resistance and robustness both in the Matlab simulation environment and in the practical application of DCS. It is better than PID control on the aspects of dynamic response, stability, resisting jam and robustness.
引文
1韩光信,施云贵,胡忆沩.先进PID在锅炉汽包水位控制中的应用研究.微计算机信息, 2006, 26(12-1): 72-74
2张峻颖,杨马英,谢启.含有纯滞后系统的控制方法研究.控制工程, 2002, 9(6): 91-93
3陈卫红,刘先广,张伟勇.史密斯预估PID控制在I/A’S集散控制系统上的应用.计算机工程与设计, 2002, 23(9): 63-65
4王树青.先进控制技术及应用.北京:化学工业出版社, 2001: 11
5王立行.石油化工过程先进控制技术的现状与发展趋势.炼油设计, 2000, 30(2): 6-11
6蒋慰孙,蒋敏伟.过程控制21世纪展望.世界仪表与自动化, 1999, 3(4): 10-14
7 C.E. Garcia, M. Morari. Internal Model Control: A Unifying Review and Some New Results. Industrial & Engineering Chemistry, Process Design and Developent, 1982, 21(2): 308-232
8彭利标,赵辉.基于内模控制原理整定PID参数.天津理工大学学报, 2009, 25(5): 83-84
9秦绪平,谭国俊.模糊控制理论的发展应用与展望.控制工程, 2005, 12(S1): 137-139
10曲丽萍.集散控制系统及其应用实例.北京:化学工业出版社, 2007: 2
11 JX-300XP系统使用手册.浙江中控技术有限公司, 2005
12常慧玲.集散控制系统应用.北京:化学工业出版社, 2009: 12
13马良玉,阎秦,王兵树.过热汽温内模自适应控制方案设计与仿真.微计算机信息, 2007, 23(4-1): 32-33
14 R. Rouhani, R.K. Mehra. Model Algorithmic Control (MAC): Basic Theoretical Properties. Automatica, 1982, 18: 401-414
15 C.R. Cutler, L.B. Ramaker. Dynamic Matrix Control-a Computer Control Algorithm. Proceedings, JACC, San Franciso, 1980: WP5-B
16赵曜.内模控制发展综述.信息与控制, 2000, 29(6): 526-531
17潘立登.过程控制技术原理与应用.北京:中国电力出版社, 2007: 131
18张泾周,杨伟静,张安祥等.模糊自适应PID控制的研究及应用仿真.计算机仿真, 2009, 26(9): 132
19徐志成.一种新型鲁棒PID控制器参数整定方法.电力自动化设备, 2006, 26(7): 22-24
20 J.G. Ziegler, N.B. Nichols. Optimum Settings for Automatic Controller. IEEE Trans on ASME. New York, IEEE Press, 1942: 433-444
21 G.D. Cohen, G.A. Coon. Theoretical Consideration of Retarded Controller. IEEE Trans on ASME, New York, IEEE Press, 1953: 827-834
22 D.E. Rivera, M. Morari, S. Skogestad. Internal Model Control : 4 PID Controller Design. Ind. Eng .Chem. Process Des. Dev., 1986, 25(1): 265
23王蕾蕾,王孟效. Fuzzy IMC-PID控制器的设计与仿真研究.计算机工程应用, 2008, 44(32): 220-222
24高东杰,谭杰,林红权.应用先进控制技术.北京:国防工业出版社, 2003: 130
25韩耀鹏.模糊控制在蒸汽温度控制中的仿真研究. [辽宁工程技术大学硕士论文]. 2004: 2-3
26黄军辉,傅沈文.模糊控制理论的发展及应用.中国科技信息, 2006, (12): 303-306
27章卫国,杨向忠.模糊控制理论与应用.西安:西北工业大学出版社, 2001: 51
28 A.A. Khan, N. Rapal. Fuzzy-P ID Controller: Design, Tuning and Comparison with Conventional PID controller. Proc of the 2006 IEEE International Conference on Engineering of Intelligent System. China: IEEE Computer Press, 2006: 1-6
29金以慧.过程控制.北京:化学工业出版社,1993
30肖术骏,陶睿,王秀等. IMC-PID在水厂出水浊度控制中的仿真研究.自动化与仪表,2009, (1): 36-39
31王庆东,冯增健,孙优贤.锅炉热工过程先进控制策略研究综述.电力系统及自动化学报, 2004,16(5): 75-80
32单中强.先进PID参数整定法在苯乙烯控制中的实验研究.数字和石油化工, 2009: 61-63
33 A. Sanchez-Lopez, G. Arroyo-Figueroa, A. Villavicencio-Ramirez. Advanced Control Algorithms for Steam Temperature Regulation of Thermal Power Plants. Electrical Power & Energy Systems, 2004, 26: 779-785
34 M.X. Zhang, D.P. Atherton. Automatic Tuning of Optimum PID Controllers. IEEE Prco Control Theory Application. London, IEEE Press, 1993: 216-224
35曹顺安,苏尧. IMC-PID鲁棒自适应控制仿真研究及其在电站锅炉水质调节中的应用.工业仪表与自动化装置, 2008, (4): 29
36 Xinping Zheng, Quanshan Li. The Application of Model PID or IMC-PID Advanced Process Control to Refinery and Petrochemical Plants. Proceedings of the 26th Chinese control conference, Zhangjiajie, China, 2007: 699-703
37杨大勇,李鸣.内模控制在电加热锅炉温度控制中的应用.微计算机信息, 2008, 24(4-1):42-43
38 M. Shamsuzzoha, Lee Moonyong. IMC-PID Controller Design for Improved Disturbance Rejection of Time-delayed Process. Industrial and Engineering Chemistry Reseach, 2007, 46(7): 2077-2091
39潘笑,张俊.内模控制在温度控制系统中的实现.仪表技术与传感器, 2008, (7): 27-29
40 Q. Hu, P. Saha, G.P. Rangaiah. Experimental Evaluation of an Augmented IMC for Nonlinear Systems. Control Engineering Practice, 2000, 8: 1167-1176
41刘洋,王钦若.基于内模控制的PID参数整定及仿真.广东工业大学学报, 2008, 25(1): 66-68
42诸静.模糊控制理论与系统原理.北京:机械工业出版社, 2005
43曹伟.模糊控制理论的发展及应用.高校理科学刊, 2007, (3): 43-45
44 Ping Fu, Hui Wang. Research on Fuzzy Control Algorithm for Bed Temperature Control of Circulating Fluidized bed boiler. Machine Learning and Cybernetics. IEEE. 2005 (2): 825- 828
45王巍巍,张志华,武延坤.模糊PID控制器在电锅炉温度控制系统中应用.仪器仪表用户, 2009, 16(4): 67-68
46 I. Rojas, H. Pomares, J. Gonzalez, L.J. Herrera, A. Guillen, F. Rojas, O. Valenzuela.Adaptive fuzzy controller: Application to the Control of the Temperature of a Dynamic Room in real time. Fuzzy Sets and Systems. 2006, 157: 2241-2258
47 I. Kaya. IMC Based Automatic Tuning Method for PID Controllers in a Smith Predictor Configuration. Computers & Chemical Engineering, 2004, (28): 281-290
48李大字,孙志成.模糊内模控制在电阻加热炉系统中的仿真研究.石油化工自动化, 2008, (3): 38-41
49 EH. Mamdani. Application of Fuzzy Algorithms for Control of Simple Dynamic Plant. Proc. Inst. Electr. Eng, 1974, 121: 1585-1588
50 Kai Shen, Jidong Lu, Zhenghua Li, Gang Liu. An Adaptive Fuzzy Approach for the Incineration Temperature Control Process. Science & Direct. 2005, 84: 1144-1150
51叶文通,陈国定.基于模糊推理的模型参考自适应内模控制的研究.微计算机信息, 2009, 25(5-1): 56-57
52 T. Liu, Y.Z. Cai, D.Y. Gu. New Modified Smith Predictor Scheme for Integrating and Unstable Processes with Time Delay. IEE Proc Control Theory Application, 2005, 152 (2): 238-24
53刘金锟.先进PID控制机器Matlab仿真.北京:电子工业出版社, 2003
54 S.E. Mansour, G.C. Kember. Online Optimization of Fuzzy-PID Control of a Thermal Process. ISA Transactions, 2005, 44 (4): 305-314
55冯立川,戴凌汉. Smith-Fuzzy串级控制在换热器出口温度控制中的应用.石油化工自动化, 2007, (6): 40-42
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61 Shiuh-jer Huang, Yi-Ho LD. Metal Chamber Temperature Control by Using Fuzzy PID Gain Auto-tunning Strategy. WSEAS Transaaction on Systems and Control, 2009, 4(1): 1-10
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64 W. Tan. Tuning of a Modified Smith Predictor for Processes with Time Delay. Control Theory & Application, 2003, 20(2): 97-301
65陈亮,宣密莉,高达宇等. AdvanTrol软件在130t/h循环流化床锅炉控制中的应用.自动化仪表, 2008, 29(10): 22-24
66冯立川,戴凌汉.基于Smith预估补偿的自适应模糊PID控制在换热器出口温度控制中的应用.化工之友, 2006, (11): 60-61
2张峻颖,杨马英,谢启.含有纯滞后系统的控制方法研究.控制工程, 2002, 9(6): 91-93
3陈卫红,刘先广,张伟勇.史密斯预估PID控制在I/A’S集散控制系统上的应用.计算机工程与设计, 2002, 23(9): 63-65
4王树青.先进控制技术及应用.北京:化学工业出版社, 2001: 11
5王立行.石油化工过程先进控制技术的现状与发展趋势.炼油设计, 2000, 30(2): 6-11
6蒋慰孙,蒋敏伟.过程控制21世纪展望.世界仪表与自动化, 1999, 3(4): 10-14
7 C.E. Garcia, M. Morari. Internal Model Control: A Unifying Review and Some New Results. Industrial & Engineering Chemistry, Process Design and Developent, 1982, 21(2): 308-232
8彭利标,赵辉.基于内模控制原理整定PID参数.天津理工大学学报, 2009, 25(5): 83-84
9秦绪平,谭国俊.模糊控制理论的发展应用与展望.控制工程, 2005, 12(S1): 137-139
10曲丽萍.集散控制系统及其应用实例.北京:化学工业出版社, 2007: 2
11 JX-300XP系统使用手册.浙江中控技术有限公司, 2005
12常慧玲.集散控制系统应用.北京:化学工业出版社, 2009: 12
13马良玉,阎秦,王兵树.过热汽温内模自适应控制方案设计与仿真.微计算机信息, 2007, 23(4-1): 32-33
14 R. Rouhani, R.K. Mehra. Model Algorithmic Control (MAC): Basic Theoretical Properties. Automatica, 1982, 18: 401-414
15 C.R. Cutler, L.B. Ramaker. Dynamic Matrix Control-a Computer Control Algorithm. Proceedings, JACC, San Franciso, 1980: WP5-B
16赵曜.内模控制发展综述.信息与控制, 2000, 29(6): 526-531
17潘立登.过程控制技术原理与应用.北京:中国电力出版社, 2007: 131
18张泾周,杨伟静,张安祥等.模糊自适应PID控制的研究及应用仿真.计算机仿真, 2009, 26(9): 132
19徐志成.一种新型鲁棒PID控制器参数整定方法.电力自动化设备, 2006, 26(7): 22-24
20 J.G. Ziegler, N.B. Nichols. Optimum Settings for Automatic Controller. IEEE Trans on ASME. New York, IEEE Press, 1942: 433-444
21 G.D. Cohen, G.A. Coon. Theoretical Consideration of Retarded Controller. IEEE Trans on ASME, New York, IEEE Press, 1953: 827-834
22 D.E. Rivera, M. Morari, S. Skogestad. Internal Model Control : 4 PID Controller Design. Ind. Eng .Chem. Process Des. Dev., 1986, 25(1): 265
23王蕾蕾,王孟效. Fuzzy IMC-PID控制器的设计与仿真研究.计算机工程应用, 2008, 44(32): 220-222
24高东杰,谭杰,林红权.应用先进控制技术.北京:国防工业出版社, 2003: 130
25韩耀鹏.模糊控制在蒸汽温度控制中的仿真研究. [辽宁工程技术大学硕士论文]. 2004: 2-3
26黄军辉,傅沈文.模糊控制理论的发展及应用.中国科技信息, 2006, (12): 303-306
27章卫国,杨向忠.模糊控制理论与应用.西安:西北工业大学出版社, 2001: 51
28 A.A. Khan, N. Rapal. Fuzzy-P ID Controller: Design, Tuning and Comparison with Conventional PID controller. Proc of the 2006 IEEE International Conference on Engineering of Intelligent System. China: IEEE Computer Press, 2006: 1-6
29金以慧.过程控制.北京:化学工业出版社,1993
30肖术骏,陶睿,王秀等. IMC-PID在水厂出水浊度控制中的仿真研究.自动化与仪表,2009, (1): 36-39
31王庆东,冯增健,孙优贤.锅炉热工过程先进控制策略研究综述.电力系统及自动化学报, 2004,16(5): 75-80
32单中强.先进PID参数整定法在苯乙烯控制中的实验研究.数字和石油化工, 2009: 61-63
33 A. Sanchez-Lopez, G. Arroyo-Figueroa, A. Villavicencio-Ramirez. Advanced Control Algorithms for Steam Temperature Regulation of Thermal Power Plants. Electrical Power & Energy Systems, 2004, 26: 779-785
34 M.X. Zhang, D.P. Atherton. Automatic Tuning of Optimum PID Controllers. IEEE Prco Control Theory Application. London, IEEE Press, 1993: 216-224
35曹顺安,苏尧. IMC-PID鲁棒自适应控制仿真研究及其在电站锅炉水质调节中的应用.工业仪表与自动化装置, 2008, (4): 29
36 Xinping Zheng, Quanshan Li. The Application of Model PID or IMC-PID Advanced Process Control to Refinery and Petrochemical Plants. Proceedings of the 26th Chinese control conference, Zhangjiajie, China, 2007: 699-703
37杨大勇,李鸣.内模控制在电加热锅炉温度控制中的应用.微计算机信息, 2008, 24(4-1):42-43
38 M. Shamsuzzoha, Lee Moonyong. IMC-PID Controller Design for Improved Disturbance Rejection of Time-delayed Process. Industrial and Engineering Chemistry Reseach, 2007, 46(7): 2077-2091
39潘笑,张俊.内模控制在温度控制系统中的实现.仪表技术与传感器, 2008, (7): 27-29
40 Q. Hu, P. Saha, G.P. Rangaiah. Experimental Evaluation of an Augmented IMC for Nonlinear Systems. Control Engineering Practice, 2000, 8: 1167-1176
41刘洋,王钦若.基于内模控制的PID参数整定及仿真.广东工业大学学报, 2008, 25(1): 66-68
42诸静.模糊控制理论与系统原理.北京:机械工业出版社, 2005
43曹伟.模糊控制理论的发展及应用.高校理科学刊, 2007, (3): 43-45
44 Ping Fu, Hui Wang. Research on Fuzzy Control Algorithm for Bed Temperature Control of Circulating Fluidized bed boiler. Machine Learning and Cybernetics. IEEE. 2005 (2): 825- 828
45王巍巍,张志华,武延坤.模糊PID控制器在电锅炉温度控制系统中应用.仪器仪表用户, 2009, 16(4): 67-68
46 I. Rojas, H. Pomares, J. Gonzalez, L.J. Herrera, A. Guillen, F. Rojas, O. Valenzuela.Adaptive fuzzy controller: Application to the Control of the Temperature of a Dynamic Room in real time. Fuzzy Sets and Systems. 2006, 157: 2241-2258
47 I. Kaya. IMC Based Automatic Tuning Method for PID Controllers in a Smith Predictor Configuration. Computers & Chemical Engineering, 2004, (28): 281-290
48李大字,孙志成.模糊内模控制在电阻加热炉系统中的仿真研究.石油化工自动化, 2008, (3): 38-41
49 EH. Mamdani. Application of Fuzzy Algorithms for Control of Simple Dynamic Plant. Proc. Inst. Electr. Eng, 1974, 121: 1585-1588
50 Kai Shen, Jidong Lu, Zhenghua Li, Gang Liu. An Adaptive Fuzzy Approach for the Incineration Temperature Control Process. Science & Direct. 2005, 84: 1144-1150
51叶文通,陈国定.基于模糊推理的模型参考自适应内模控制的研究.微计算机信息, 2009, 25(5-1): 56-57
52 T. Liu, Y.Z. Cai, D.Y. Gu. New Modified Smith Predictor Scheme for Integrating and Unstable Processes with Time Delay. IEE Proc Control Theory Application, 2005, 152 (2): 238-24
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