Variable parameter adaptive control method based on improved Smith pre-estimate compensator
A technology of self-adaptive control and variable parameters, applied in the direction of self-adaptive control, general control system, control/regulation system, etc., can solve the problems of large delay, large inertia, divergence, etc.
Active Publication Date: 2015-09-23
北京宇衡金凯技术服务有限公司
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Problems solved by technology
However, because many industrial controlled objects have characteristics such as large delay, large inertia, and time-varying models, it is difficult to achieve a good control effect with a set of pre-set PID parameters, especially when the mathematical model of the controlled object When the change exceeds a certain range, the quality of system control will be significantly reduced, or even diverge
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[0115] Since the delay time of the main steam pressure control of circulating fluidized bed boilers in thermal power plants can reach 2 to 10 minutes, and the coal quality and calorific value are variable, the mathematical model of the controlled object is time-varying and the delay time is variable, which belongs to industrial production. A typical case where it is difficult to implement automatic control in the process. Therefore, taking the main steam pressure control of a circulating fluidized bed boiler in a thermal power plant as an example, the specific implementation process of the present invention in the field of industrial control will be described.
[0116] The specific implementation process is as follows:
[0117] 1. Collect the historical data Y of the actual value of the main steam pressure for a period of time before the current moment (assuming the current moment is k) N =[y(k-n-1), y(k-n),...,y(k-1)] and the historical data U of the output value (total coal...
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The invention discloses a variable parameter adaptive control method based on an improved Smith estimation compensator, comprising steps of utilizing a recursive least-squares method to perform online feedback correction on a mathematics model of a controlled object in a Smith estimator according to a practical value historic data of a controlled variable and output value historic data of a controller during a period prior to the current time k in the collected industrial process and estimating the change of the controlled variable at the current time k, determining the state of the system according to the change of the controlled variable at the current time k and a setting value and a practical value of the controlled variable at the current time k, correspondingly increasing and reducing control parameters and controller gains according to a preset variable parameter rule, adaptively regulating output of the controller in order to control the motion of an execution mechanism, wherein the state of the system means either the system tends to be stable or tends to be shaking and scattering, making an equation of k=k+1, repeating the above steps, forming a closed-loop circulation operation and maintaining the controlled variable in a relatively stable range.
Description
technical field [0001] The invention relates to the field of industrial control, in particular to a variable parameter adaptive control method based on an improved Smith predictive compensator. Background technique [0002] Large delay, large inertia, and time-varying models are common phenomena in the industrial production process. Due to the existence of this phenomenon, the adjustment effect is often not timely, and it takes a long time for the control effect to be reflected in the output of the system. This will inevitably cause the adjustment time to be too long or cause overshoot, resulting in system shock. However, in the process of industrial production, it is necessary to control the parameters such as the temperature, pressure, and flow rate of the working fluid in a relatively stable range for a long time, otherwise it will cause damage to the production equipment, and even threaten the safety of production and even the safety of employees. life safety. [0003]...
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IPC IPC(8): G05B13/04
Inventor 刘铮张坤丁满宋宪瑞
Owner 北京宇衡金凯技术服务有限公司