A multivariable system control method and device, electronic equipment and storage medium

Abstract

The application discloses a kind of multivariable system control method, device, electronic equipment and storage medium.The multivariable system control method is applied to the multivariable system based on active disturbance rejection controller, and the multivariable system includes multiple control loops;The control method comprises: selecting one of multiple control loops as a preset control loop, and determining the control quantity and controlled quantity of the preset control loop;According to the control quantity and controlled quantity of each preset control loop, the mathematical model of the multivariable system is established;According to the mathematical model, the mathematical expression form of the compensation link to the control quantity is determined;According to the mathematical expression form of the compensation link, the coupling quantity between the remaining control loop and the preset control loop and the control equation of the active disturbance rejection controller are determined to decouple control to the multivariable system.The technical scheme of the embodiment of the application can improve the tracking and anti-interference performance of the active disturbance rejection controller, enhance the decoupling effect between each control loop in the multivariable system, and improve the control effect.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of automatic control, and in particular to a multivariable system control method and device, an electronic device, and a storage medium. BACKGROUND

[0002] Multivariable systems exist widely in various industrial process systems, such as binary distillation column processes in chemical processes, boiler and steam turbine load coordination systems, etc. The coupling between variables makes system control difficult and control precision low.

[0003] According to the processing mode of the coupling between variables, multivariable system control methods mainly include three types of decentralized control, centralized control, and decoupling control, but these three types of multivariable system control methods all have some problems and are difficult to be widely applied in industrial systems. In view of the above situation, the existing technology mainly uses an active disturbance rejection controller (ADRC) to control a multivariable system. The active disturbance rejection controller can regard the coupling between loops of a multivariable system as an external disturbance, estimate and compensate it as part of the total disturbance in real time, has a certain decoupling capability, and has a simple structure and is easy to implement in industry. However, the active disturbance rejection controller has limited ability to process the coupling between loops, and for industrial systems with strong coupling, the active disturbance rejection controller is affected by the coupling between loops, and the control effect is still insufficient. SUMMARY

[0004] The present application provides a multivariable system control method and device, an electronic device, and a storage medium, to improve the tracking and disturbance rejection performance of an active disturbance rejection controller for industrial multivariable systems with strong coupling between loops, and to enhance the decoupling effect of the active disturbance rejection controller.

[0005] According to an aspect of the present application, a multivariable system control method is provided, which is applied to a multivariable system based on an active disturbance rejection controller, and the multivariable system includes a plurality of control loops.

[0006] The multivariable system control method includes:

[0007] one of the plurality of control loops is selected as a preset control loop in sequence, and a control variable and a controlled variable of the preset control loop are determined;

[0008] According to the control variable and the controlled variable of each preset control loop, a mathematical model of a multivariable system is established;

[0009] According to the mathematical model, a mathematical expression form of a compensation link for the control variable is determined;

[0010] Based on the mathematical expression of the compensation loop, the coupling amount between the remaining control loops and the preset control loop, as well as the control equation of the active disturbance rejection controller, are determined to decouple the multivariable system.

[0011] Optionally, establishing a mathematical model of the multivariable system based on the control quantity and the controlled quantity of each of the preset control loops includes:

[0012] A mathematical model in the form of a generalized transfer function matrix is ​​established for the multivariable system; wherein the mathematical model is expressed as:

[0013]

[0014] Where Y = [Y1, Y2, ..., Y n ] T Let U = [U1, U2, ..., U2] represent the controlled variable matrix of a multivariable system. n ] T G represents the control matrix of a multivariable system. ij The control quantity U represents the multivariable system. j The controlled variable Y in a multivariable system i The transfer function, G ij Constructing the transfer function matrix, 1 <i≦n,1<j≦n。

[0015] Optionally, determining the mathematical expression of the compensation link for the control quantity based on the mathematical model includes:

[0016] Based on the transfer function matrix of the multivariable system, determine the mathematical expression of the compensation element of the control quantity.

[0017] Optionally, the preset control loop includes multiple controlled objects;

[0018] The transfer function is

[0019]

[0020] Among them, K ij τ represents the high-frequency gain of the controlled object. ij p represents the delay time of the controlled object. ijk and q ijl Let represent the k-th zero-point information and the l-th pole information of the controlled object, respectively, and s be the Laplace operator.

[0021] Optionally, determining the coupling amount between the remaining control loops and the preset control loop, and the control equation of the active disturbance rejection controller, based on the mathematical expression of the compensation link, to perform decoupling control of the multivariable system, includes:

[0022] designing an extended state observer of the active disturbance rejection controller according to the mathematical expression form of the compensation link, and determining a control equation of the extended state observer;

[0023] designing a state feedback control law according to the extended state observer, and determining a control equation of the state feedback control law.

[0024] Optionally, the control equation of the extended state observer is

[0025]

[0026] wherein u fj represents a control quantity formed after the compensation link, b ij and β i,1 , β i,2 , …, β i,m+1 represent extended state observer adjustment parameters, z i,1 , z i,2 , …, z i,m+1 represent estimated values of the preset control loop system state by the extended state observer; y i represents the controlled quantity of the preset control loop.

[0027] The control equation of the state feedback control law is

[0028]

[0029] wherein u i is the control quantity of the preset control loop, u j represents the control quantity of the jth control loop, r i (j) is the jth derivative of the set value r i , k i,1 , k i,2 , …, k i,m are state feedback control law adjustment parameters of the preset control loop, b ii represents the extended state observer adjustment parameters of the preset control loop.

[0030] Optionally, the determination of the coupling quantity between the remaining control loops and the preset control loop and the control equation of the active disturbance rejection controller according to the mathematical expression form of the compensation link for decoupling control of the multivariable system further comprises:

[0031] based on the parameter bandwidth method, parameter tuning is performed on the extended state observer adjustment parameters and the state feedback control law adjustment parameters.

[0032] According to another aspect of the present application, there is provided a multivariable system control device, comprising:

[0033] a variable determining module configured to select one of the plurality of control loops as a preset control loop and determine a control variable and a controlled variable of the preset control loop;

[0034] a model establishing module configured to establish a mathematical model of the multivariable system according to the control variable and the controlled variable of each preset control loop;

[0035] a compensation determining module configured to determine a mathematical expression form of a compensation link of the control variable according to the mathematical model;

[0036] a control adjusting module configured to determine a coupling variable between the remaining control loops and the preset control loop and a control equation of the active disturbance rejection controller according to the mathematical expression form of the compensation link, so as to perform decoupling control on the multivariable system.

[0037] According to another aspect of the present application, there is also provided an electronic device, comprising:

[0038] one or more processors;

[0039] a storage device configured to store one or more programs,

[0040] when the one or more programs are executed by the one or more processors, the one or more processors implement the multivariable system control method according to the first aspect.

[0041] According to another aspect of the present application, there is also provided a storage medium containing computer executable instructions for executing the multivariable system control method according to the first aspect when executed by a computer processor.

[0042] The multivariable system control method provided by the embodiments of the present application selects one of the plurality of control loops as a preset control loop in sequence and determines a control variable and a controlled variable of the preset control loop. A mathematical model of the multivariable system is established according to the control variable and the controlled variable of each preset control loop, and a mathematical expression form of a compensation link of the control variable of the preset control loop is determined according to the established mathematical model. A coupling variable between the control loops is determined according to the mathematical expression form of the compensation link, and a control equation of the active disturbance rejection controller is determined by taking the coupling variable into account, so as to perform decoupling between the control loops of the multivariable system and realize single variable control. The control method of the embodiments of the present application can improve the tracking and anti-disturbance performance of the active disturbance rejection controller. For the multivariable system with strong coupling between the control loops, the decoupling effect can be enhanced, which provides good support for further promoting the field application of the active disturbance rejection controller in industrial multivariable systems.

[0043] It is to be understood that the details set forth herein do not limit the scope of the embodiments of the application to the specific embodiments described. The foregoing detailed description has been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the application to the precise form disclosed. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort based on these drawings.

[0045] Figure 1 is a flow diagram of a multivariable system control method according to an embodiment of the present application;

[0046] Figure 2 is a flow diagram of another multivariable system control method according to an embodiment of the present application;

[0047] Figure 3 is a flow diagram of another multivariable system control method according to an embodiment of the present application;

[0048] Figure 4 is a flow diagram of another multivariable system control method according to an embodiment of the present application;

[0049] Figure 5 is a flow diagram of another multivariable system control method according to an embodiment of the present application;

[0050] Figure 6 is a structural diagram of a 2x2 multivariable system active disturbance rejection controller according to an embodiment of the present application;

[0051] Figure 7 is a closed-loop output response curve of control loop 1 in a 2x2 multivariable system according to an embodiment of the present application;

[0052] Figure 8 is a closed-loop output response curve of control loop 2 in a 2x2 multivariable system according to an embodiment of the present application;

[0053] Figure 9 is a closed-loop output response curve of control loop 1 in another 2x2 multivariable system according to an embodiment of the present application;

[0054] Figure 10 is a closed-loop output response curve of control loop 2 in another 2x2 multivariable system according to an embodiment of the present application;

[0055] Figure 11 is a structural schematic diagram of a multivariable system control device according to an embodiment of the present application;

[0056] Figure 12 is a structural schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0057] In order to make the personnel in the technical field better understand the present application scheme, the technical scheme in the embodiment of the present application will be described clearly and completely in the following with reference to the drawings in the embodiment of the present application. Obviously, the described embodiment is only a part of the embodiment of the present application, not all. Based on the embodiment in the present application, all other embodiments obtained by the person skilled in the art without creative labor should belong to the scope of protection of the present application.

[0058] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0059] As described in the background, the existing multivariable system control methods mainly include three types of decentralized control, centralized control and decoupling control. Among them, the decentralized control method treats the coupling between each channel of the multivariable system as a disturbance, that is, the multivariable system is decomposed into multiple independent single-variable systems. The commonly used decentralized control method in engineering is the decentralized PID (Proportional-Integral-Derivative) control method. But the decentralized control method is at the expense of certain system output performance, in exchange for the simplification of control structure and parameter setting, and is only suitable for weakly coupled multivariable systems.

[0060] The centralized control method optimizes and controls the multivariable system as a whole, including multivariable internal model control, multivariable predictive control, multivariable robust control, etc. But the centralized control method usually depends on advanced control algorithms, with the characteristics of high algorithm complexity and large amount of calculation, which is difficult to implement and widely applied in industrial systems.

[0061] The decoupling control method is to decouple a multivariable system into relatively independent systems which are diagonal dominant or dominant diagonal, and to design a corresponding single variable controller based on the decoupled generalized object to obtain satisfactory closed-loop control performance. However, in the application of the decoupling control method in industrial processes, it is difficult to accurately model the design of the decoupler, thus limiting the application of the decoupling control method in engineering.

[0062] In view of the above problems, the prior art mainly uses a disturbance rejection controller to realize the control of a multivariable system. The disturbance rejection controller has a certain decoupling ability and is easy to implement in industrial production, but has limited decoupling ability between loops. For a multivariable system with strong coupling between loops, the control effect of the disturbance rejection controller still needs to be improved.

[0063] Based on the above technical problems, the embodiment of the present application proposes the following technical solutions:

[0064] The embodiment of the present application provides a multivariable system control method. Figure 1 The flowchart of the multivariable system control method provided by the embodiment of the present application can be applied to the case of controlling a multivariable system based on a disturbance rejection controller. The method can be executed by software and / or hardware, wherein the multivariable system includes a plurality of control loops. The multivariable system control method specifically includes the following steps:

[0065] S110, selecting one of the plurality of control loops as a preset control loop in turn, and determining the control quantity and the controlled quantity of the preset control loop.

[0066] Specifically, the multivariable system in the industrial process is a control system including a plurality of input quantities and a plurality of output quantities corresponding to the input quantities. Exemplarily, taking a 2x2 multivariable system as an example, the multivariable system includes 2 input quantities and 2 output quantities. For a multivariable system, each input quantity and the corresponding output quantity constitute a control loop, and therefore there are a plurality of control loops in the multivariable system. The multivariable system control method provided by the embodiment calculates each of the plurality of control loops in turn to realize decoupling between the control loops. Therefore, one of the plurality of control loops is selected as a preset control loop in turn, the control quantity and the controlled quantity of the preset control loop are determined, and the selected preset control loop is calculated. The control quantity of the preset control loop is the input quantity, and the controlled quantity is the output quantity.

[0067] S120, establishing a mathematical model of the multivariable system according to the control quantity and the controlled quantity of each preset control loop.

[0068] Specifically, after determining the control variable and the controlled variable of each preset control loop in the multivariable system, a mathematical model of the multivariable system can be established according to the control variable and the controlled variable of the preset control loop. Exemplarily, the established mathematical model of the multivariable system can be a relatively independent system model in which the multivariable system is decoupled into a diagonal dominant or a dominant diagonal.

[0069] In S130, a mathematical expression form of the compensation link for the control variable is determined according to the mathematical model.

[0070] Specifically, by setting the compensation link in the active disturbance rejection controller, when the control variable of the preset control loop changes, the corresponding controlled variable changes, and at the same time, a new control variable after compensation of the control variable is obtained, so that the changed controlled variable and the compensated control variable can be calculated subsequently, and the accuracy of subsequent calculation is improved. According to the mathematical model of the multivariable system established by each preset control loop, the mathematical calculation expression of the compensation link for the control variable of the corresponding preset control loop can be determined.

[0071] In S140, the coupling amount between the remaining control loops and the preset control loop and the control equation of the active disturbance rejection controller are determined according to the mathematical expression form of the compensation link, so as to decouple the control of the multivariable system.

[0072] Specifically, since the control loops in the multivariable system have a coupling effect, when the control variable of one preset control loop in the multivariable system changes, the controlled variable of the preset control loop and the controlled variables of the remaining control loops will be affected. The coupling amount between the remaining control loops and the preset control loop is determined, and according to the determined mathematical expression form of the compensation link, the coupling effect of the coupling amount between the control loops is considered, the active disturbance rejection controller is designed, and the control equation of the active disturbance rejection controller is determined, so that the multiple control loops of the multivariable system can be decoupled, and single variable control can be realized. The active disturbance rejection controller mainly includes a tracking differentiator, an extended state observer (ESO) and a nonlinear state error feedback control law (NSFCL). The control method provided in this embodiment can improve the tracking and disturbance rejection performance of the active disturbance rejection controller, and provide good support for further promoting the field application of the active disturbance rejection controller in industrial multivariable systems.

[0073] The multivariable system control method provided by the embodiment comprises the following steps.

[0074] Optionally, Figure 2 is a flowchart of another multivariable system control method provided by the embodiment of the application. Based on the above embodiment, as shown in Figure 2 , the multivariable system control method comprises the following steps.

[0075] S210, one of the plurality of control loops is selected as a preset control loop, and the control quantity and the controlled quantity of the preset control loop are determined.

[0076] S220, a mathematical model in the form of a generalized transfer function matrix is established for the multivariable system; wherein the mathematical model is expressed as:

[0077]

[0078] wherein Y=[Y1,Y2,…,Y n ] T represents the controlled quantity matrix of the multivariable system, U=[U1,U2,…,U n ] T represents the control quantity matrix of the multivariable system, G ij represents the transfer function of the control quantity U j of the multivariable system to the controlled quantity Y i of the multivariable system, G ij constitutes a transfer function matrix, 1<i≦n, 1<j≦n.

[0079] Specifically, a mathematical model in the form of a diagonal dominant generalized transfer function matrix is established for the multivariable system, wherein, is the transfer function matrix of the control quantity to the controlled quantity of the multivariable system, and each transfer function G ij in the matrix can be determined by modeling calculation.

[0080] S230. Based on the mathematical model, determine the mathematical expression of the compensation link for the control quantity.

[0081] S240. Based on the mathematical expression of the compensation loop, determine the coupling amount between the remaining control loops and the preset control loops, as well as the control equation of the active disturbance rejection controller, in order to decouple the multivariable system.

[0082] Optionally, Figure 3 This is a flowchart illustrating another multivariable system control method provided by an embodiment of the present invention. Based on the above embodiments, as follows... Figure 3 As shown, the control method for this multivariable system includes:

[0083] S310. Select one of the multiple control loops as the preset control loop in sequence, and determine the control quantity and the controlled quantity of the preset control loop.

[0084] S320. Establish a mathematical model in the form of a generalized transfer function matrix for a multivariable system.

[0085] S330. Based on the transfer function matrix of the multivariable system, determine the mathematical expression of the compensation link of the control quantity.

[0086] Specifically, the transfer function matrix includes transfer functions representing the influence of the control quantity on the controlled quantity between each control loop. For example, each preset control loop includes multiple controlled objects, the same number as the number of control loops.

[0087] Transfer function G ij The transfer functions in a multivariable system can be generalized using formula (1), which can be expressed as follows:

[0088]

[0089] Among them, K ij τ represents the high-frequency gain of the controlled object. ij τ ij p represents the delay time of the controlled object. ijk and q ijl Let represent the k-th zero-point information and the l-th pole information of the controlled object, respectively, and s be the Laplace operator.

[0090] The transfer function G of the controlled object ij (s) represents the influence of the control quantity of the j-th control loop on the controlled quantity of the i-th control loop. Based on the transfer function matrix determined in the above embodiments, a compensation element in the active disturbance rejection controller can be designed, and the generalized mathematical expression of the compensation element for each control quantity can be determined. For example, the generalized mathematical expression of the compensation element can be represented by formula (2), which can be expressed as:

[0091]

[0092] wherein τ ij represents a delay time of the controlled object, and m represents an order of the active disturbance rejection controller.

[0093] S340, determine the coupling amount between the remaining control loops and the preset control loop and the control equation of the active disturbance rejection controller according to the mathematical expression form of the compensation link, so as to perform decoupling control on the multivariable system.

[0094] Optionally, Figure 4 is a flowchart of another multivariable system control method provided by an embodiment of the present application. Based on the above embodiments, as shown in the figure, Figure 4 the multivariable system control method comprises:

[0095] S410, sequentially select one of the plurality of control loops as a preset control loop, and determine the control amount and the controlled amount of the preset control loop.

[0096] S420, establish a mathematical model of the multivariable system according to the control amount and the controlled amount of each preset control loop.

[0097] S430, determine the mathematical expression form of the compensation link for the control amount according to the mathematical model.

[0098] S440, design an extended state observer of the active disturbance rejection controller according to the mathematical expression form of the compensation link, and determine the control equation of the extended state observer.

[0099] Specifically, the control equation of the extended state observer can be determined according to the generalized mathematical expression form of the compensation link. Exemplarily, the control equation of the extended state observer is

[0100]

[0101] wherein u fj represents the control amount formed after the compensation link, b ij and β i,1 , β i,2 , …, β i,m+1 represent the adjustment parameters of the extended state observer, z i,1 , z i,2 , …, z i,m+1 represent the estimated values of the preset control loop system state by the extended state observer; y i represents the controlled amount of the preset control loop; represents the first derivative of z i,1 .

[0102] In the control equation of the extended state observer, represents the coupling quantity of the coupling effect of the control quantity of the jth control loop on the controlled quantity of the ith control loop. When designing the state feedback control law in the active disturbance rejection controller, the coupling effect between the control loops is taken into consideration, the control loops are decoupled by adjusting the state feedback control law adjustment parameters and the extended state observer adjustment parameters, so that the tracking and disturbance rejection performance of the active disturbance rejection controller can be improved.

[0103] S450, according to the extended state observer, a state feedback control law is designed, and a control equation of the state feedback control law is determined.

[0104] Specifically, according to the determined control equation of the extended state observer, the state feedback control law is designed, and a control equation of the state feedback control law is determined. Exemplarily, the control equation of the state feedback control law is

[0105]

[0106] wherein, u i represents the control quantity of the preset control loop, u j represents the control quantity of the jth control loop, r i (j) represents the jth derivative of the set value r i , k i,1 , k i,2 , …, k i,m represents the state feedback control law adjustment parameter of the preset control loop, b ii represents the extended state observer adjustment parameter of the preset control loop.

[0107] In the determined control equation of the state feedback control law, represents the coupling quantity of the coupling effect of the control quantity of the jth control loop on the controlled quantity of the ith control loop. When designing the state feedback control law in the active disturbance rejection controller, the coupling effect between the control loops is taken into consideration, the control loops are decoupled by adjusting the state feedback control law adjustment parameters and the extended state observer adjustment parameters, so that the tracking and disturbance rejection performance of the active disturbance rejection controller can be improved.

[0108] Optionally, Figure 5 is a flowchart of another multivariable system control method provided by the embodiment of the application. Based on the above-mentioned embodiments, as shown in Figure 5 , the multivariable system control method comprises:

[0109] S510, one of the plurality of control loops is selected as a preset control loop in sequence, and the control quantity and the controlled quantity of the preset control loop are determined.

[0110] S520, a mathematical model of the multivariable system is established according to the control quantity and the controlled quantity of each preset control loop.

[0111] S530, a mathematical expression form of a compensation link of the control quantity is determined according to the mathematical model.

[0112] S540, an extended state observer of the active disturbance rejection controller is designed according to the mathematical expression form of the compensation link, and a control equation of the extended state observer is determined.

[0113] S550, a state feedback control law is designed according to the extended state observer, and a control equation of the state feedback control law is determined.

[0114] S560, parameter tuning is performed on the extended state observer adjustment parameter and the state feedback control law adjustment parameter based on the parameter bandwidth method.

[0115] Specifically, after the control equation of the extended state observer and the control equation of the state feedback control law are determined, the parameter bandwidth method is used to tune the extended state observer adjustment parameter and the state feedback control law adjustment parameter of the active disturbance rejection controller of the corresponding order, so as to determine the extended state observer adjustment parameter and the state feedback control law adjustment parameter that meet the optimal requirements, and make the control effect on the multivariable system meet the expected requirements.

[0116] Exemplarily, the generalized tuning expression for tuning the parameters can be represented by formula (3), which can be represented as

[0117]

[0118] wherein b ij , k ij , and β ij are adjustable parameters of the active disturbance rejection controller, q ijk represents pole information of the controlled object without compensation, ω ci represents a bandwidth of the active disturbance rejection controller, and ω oi represents a bandwidth of the extended state observer.

[0119] By introducing the two parameters of the bandwidth of the active disturbance rejection controller and the bandwidth of the extended state observer, the parameter tuning process can be simplified, and the parameter calculation amount can be reduced. It should be noted that the expression of the bandwidth of the active disturbance rejection controller and the expression of the bandwidth of the extended state observer are determined according to operation experience data, and the parameter values that can achieve the optimal decoupling control effect in the control of each multivariable system can not be obtained. The parameters can be further adjusted on the basis of the calculated parameter values of the bandwidth of the active disturbance rejection controller and the bandwidth of the extended state observer, so as to improve the accuracy of the tuned parameters.

[0120] The following embodiments take a 2x2 medium-speed coal mill multivariable system as an example to provide an implementable implementation. Figure 6 is a structural diagram of a 2x2 multivariable system self-disturbance controller provided by an embodiment of the present application, Figure 7 is a closed-loop output response curve of control loop 1 in a 2x2 multivariable system provided by an embodiment of the present application, Figure 8 is a closed-loop output response curve of control loop 2 in a 2x2 multivariable system provided by an embodiment of the present application, Figure 9 is a closed-loop output response curve of control loop 1 in a 2x2 multivariable system provided by another embodiment of the present application, Figure 10 is a closed-loop output response curve of control loop 2 in a 2x2 multivariable system provided by another embodiment of the present application. Based on the above embodiments, refer to Figure 6 , r1 and r2 respectively represent the set values of control loop 1 and control loop 2; u1 and u2 respectively represent the control quantities, i.e. input quantities, of control loop 1 and control loop 2; y1 and y2 respectively represent the controlled quantities, i.e. output quantities, of control loop 1 and control loop 2; G 11 (s), G 21 (s), G 12 (s) and G 22 (s) respectively represent the transfer functions of each controlled object, for example, G 21 (s) specifically represents the transfer function of the control quantity of control loop 1 to the controlled quantity of control loop 2; G cp11 (s), G cp21 (s), G cp12 (s) and G cp22 (s) respectively represent each compensation link, for example, G cp21 (s) specifically represents the compensation link of the control quantity of control loop 1 to the controlled quantity of control loop 2; u f1 and u f2 respectively represent the compensated control quantities in control loop 1 and control loop 2; ESO1 and ESO2 respectively represent the extended state observers of control loop 1 and control loop 2; SFCL1 and SFCL2 respectively represent the state feedback control laws of control loop 1 and control loop 2; b 11 , b 21 , b 12 and b 22 respectively represent the adjustment parameters of the self-disturbance controller.

[0121] In combination with Figures 6 to 10 , the multivariable system control method comprises:

[0122] S1, a mathematical model of the medium-speed coal mill multivariable system is established as:

[0123]

[0124] Wherein, Y1 and Y2 represent the controlled variables of the multivariable system, U1 and U2 represent the control variables of the multivariable system, and s represents the Laplace operator.

[0125] S2, using a first-order compensation active disturbance rejection controller, the mathematical expression of each compensation link is determined as follows:

[0126]

[0127]

[0128]

[0129]

[0130] S3, according to each compensation link, the control equation of the extended state observer of the active disturbance rejection controller of each control loop is determined as follows:

[0131]

[0132] S4, according to the control equation of the extended state observer, the control equation of the state feedback control law of each control loop is determined as follows:

[0133]

[0134] S5, based on the parameter bandwidth method, the parameters of the active disturbance rejection controller are set as follows:

[0135] Control loop 1: b 11 = 0.05, ω c1 = 0.05, ω o1 = 10ω c1 , b 12 = 0.04;

[0136] Control loop 2: b 22 = -1 / 60, ω c2 = 1 / 60, ω o2 = 10ω c2 , b 21 = 0.0125;

[0137] According to the above decoupling control method, the control effect of the multivariable system based on the active disturbance rejection controller will be described below.

[0138] Referring to Figures 6 to 8 When the set value r1 of the control loop 1 has a step change, and the set value r2 of the control loop 2 remains unchanged, Figure 7 is the closed-loop output response curve of the control loop 1 when different control methods are used, Figure 8The diagram shows the closed-loop output response curves of control loop 2 when different control methods are used. Dashed lines 01 and 02 represent the output response curves for setpoints r1 and r2, respectively; solid lines 03 and 04 represent the output response curves of the controlled variable in control loop 1 and control loop 2 of the decoupled compensation active disturbance rejection controller provided in this embodiment, respectively; dotted lines 05 and 06 represent the output response curves of the controlled variable in control loop 1 and control loop 2 of the distributed compensation active disturbance rejection controller, respectively; and dashed lines 07 and 08 represent the output response curves of the controlled variable in control loop 1 and control loop 2 of the distributed PID control method, respectively.

[0139] Depend on Figure 7 It can be seen that when the setpoint r1 of control loop 1 undergoes a step change from 0 to 1, for the controlled variable of control loop 1, i.e., the output y1, the solid line 03 and the dashed line 01 representing the setpoint r1 are most closely aligned, while the dotted line 05 representing the distributed compensation active disturbance rejection controller and the dashed line 07 representing the distributed PID control method both exhibit significant fluctuations. Figure 8 It can be seen that when the setpoint r1 of control loop 1 undergoes a step change from 0 to 1, there is a small fluctuation between the solid line 04 and the dashed line 02 of the setpoint r2 for the controlled variable of control loop 2, i.e., output y2, while there is a large fluctuation between the dotted line 06 representing the distributed compensation active disturbance rejection controller and the dashed line 08 representing the distributed PID control method.

[0140] See Figure 6 , Figure 9 and Figure 10 When the setpoint r1 of control loop 1 remains unchanged, and the setpoint r2 of control loop 2 undergoes a step change, Figure 9 The closed-loop output response curves of control loop 1 are shown when different control methods are used. Figure 10 The diagram shows the closed-loop output response curves of control loop 2 when different control methods are used. Dashed lines 09 and 010 represent the output response curves for setpoints r1 and r2, respectively; solid lines 011 and 012 represent the output response curves of the controlled variable in control loop 1 and control loop 2 of the decoupled compensation active disturbance rejection controller provided in this embodiment, respectively; dotted lines 013 and 014 represent the output response curves of the controlled variable in control loop 1 and control loop 2 of the distributed compensation active disturbance rejection controller, respectively; and dashed lines 015 and 016 represent the output response curves of the controlled variable in control loop 1 and control loop 2 of the distributed PID control method, respectively.

[0141] Depend on Figure 9It can be seen that when the set value r1 of the control loop 1 remains unchanged and the set value r2 of the control loop 2 occurs a step change from 0 to 1, for the controlled variable of the control loop 1, that is, the output y1, the fluctuation between the solid line 011 and the dotted line 09 of the set value r1 is minimum, and the dot line 013 representing the decentralized compensation active disturbance rejection controller and the dot-dashed line 015 representing the decentralized PID control method both have greater fluctuations. Figure 10 It can be seen that when the set value r1 of the control loop 1 remains unchanged and the set value r2 of the control loop 2 occurs a step change from 0 to 1, for the controlled variable of the control loop 2, that is, the output y2, the solid line 012 is most consistent with the dotted line 010 of the set value r2, and the dot line 014 representing the decentralized compensation active disturbance rejection controller and the dot-dashed line 016 representing the decentralized PID control method both have certain fluctuations.

[0142] Therefore, the control effect of the decoupling compensation active disturbance rejection controller provided in the embodiment on the multivariable system is optimal, the controlled variable of the control loop with a changed set value can quickly reach the set value with very small fluctuations, the controlled variable of the control loop with an unchanged set value is little affected, a better decoupling control effect is achieved, the tracking and anti-disturbance performance of the active disturbance rejection controller is improved, and single-variable control in the multivariable system is realized.

[0143] The embodiment of the present application also provides a multivariable system control device. Figure 11 is a structural schematic diagram of a multivariable system control device provided by the embodiment of the present application. As shown in the figure, Figure 11 the multivariable system control device comprises:

[0144] a variable determination module 100, configured to select one of a plurality of control loops as a preset control loop and determine a control variable and a controlled variable of the preset control loop;

[0145] a model establishment module 200, configured to establish a mathematical model of the multivariable system according to the control variable and the controlled variable of each preset control loop;

[0146] a compensation determination module 300, configured to determine a mathematical expression form of a compensation link of the control variable according to the mathematical model;

[0147] a control adjustment module 400, configured to determine a coupling variable between the remaining control loops and the preset control loop and a control equation of the active disturbance rejection controller according to the mathematical expression form of the compensation link, so as to perform decoupling control on the multivariable system.

[0148] The multivariable system control device provided by the embodiment of the present application can perform the multivariable system control method provided by any embodiment of the present application, has the function modules and beneficial effects corresponding to the execution method.

[0149] Embodiments of the present application also provide an electronic device. Figure 12 A block diagram of an electronic device is provided for embodiments of the present application. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the applications described and / or claimed in this document.

[0150] As shown in Figure 12 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., connected to the at least one processor 11 in communication, where the memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer programs stored in the read-only memory (ROM) 12 or loaded into the random access memory (RAM) 13 from the storage unit 18. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0151] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunications networks.

[0152] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the multivariable system control method.

[0153] In some embodiments, the multivariable system control method can be implemented as a computer program tangibly embodied in a computer readable storage medium, e.g., storage unit 18. In some embodiments, parts or all of the computer program can be loaded and / or installed onto electronic device 10 via, e.g., ROM 12 and / or communication unit 19. When the computer program is loaded onto RAM 13 and executed by processor 11, one or more steps of the multivariable system control method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the multivariable system control method by any other suitable means, e.g., with the aid of firmware.

[0154] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0155] In the context of the present application, a computer readable storage medium can be any tangible medium that can contain, or store computer programs for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium can be a machine readable signal medium. More specific examples of the machine readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0156] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube), LCD (liquid crystal display), or OLED (organic light-emitting diode display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0157] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), blockchain network, and the Internet.

[0158] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0159] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be executed in parallel, executed in sequence, or executed in different orders, as long as the desired results of the present disclosure are achieved, and the present disclosure is not limited herein.

[0160] The above detailed description does not limit the scope of the application. Various modifications, combinations, sub-combinations and alternatives can be made to the detailed description. Any modification, equivalent replacement and improvement etc. made within the spirit and principle of the application shall be included in the scope of the application.

Claims

1. A multivariable system control method, characterized by, The application is applied to a medium-speed coal mill multivariable system based on a disturbance-rejection controller, and the multivariable system comprises a plurality of control loops; The multivariable system control method comprises: one of the plurality of control loops is selected as a preset control loop in sequence, and a control variable and a controlled variable of the preset control loop are determined; a mathematical model of the multivariable system is established according to the control variable and the controlled variable of each preset control loop; a mathematical expression form of a compensation link for the control variable is determined according to the mathematical model; a coupling variable between the remaining control loops and the preset control loop and a control equation of the disturbance-rejection controller are determined according to the mathematical expression form of the compensation link, so as to perform decoupling control on the multivariable system, comprising: an extended state observer of the disturbance-rejection controller is designed according to the mathematical expression form of the compensation link, and a control equation of the extended state observer is determined; a state feedback control law is designed according to the extended state observer, and a control equation of the state feedback control law is determined; the control equation of the extended state observer is wherein represents a control quantity formed after a compensation link, and , , represents an expansion state observer adjustment parameter, , , represents an estimated value of a preset control loop system state by an expansion state observer; represents the controlled quantity of the preset control loop; the control equation of the state feedback control law is wherein denotes a control quantity of the preset control loop, denotes a control quantity of the jth control loop, denotes a set value derivative of order j, , , denotes a state feedback control law tuning parameter of the preset control loop, denotes an extended state observer tuning parameter of the preset control loop.

2. The multivariable system control method of claim 1, wherein the mathematical model of the multivariable system is established according to the control variable and the controlled variable of each preset control loop, comprising: a generalized transfer function matrix form of the mathematical model of the multivariable system is established; wherein the mathematical model is expressed as: wherein represents a controlled variable matrix of a multivariable system, represents a control variable matrix of a multivariable system, represents the control variable of a multivariable system the transfer function of the controlled variable of a multivariable system constitutes a transfer function matrix, 1 < i ≤ n, 1 < j ≤ n.​ 3. The multivariable system control method of claim 2, wherein, the mathematical expression form of the compensation link for the control variable is determined according to the transfer function matrix of the multivariable system. the preset control loop comprises a plurality of controlled objects; 4. The multivariable system control method of claim 3, wherein, the transfer function is the coupling variable between the remaining control loops and the preset control loop and the control equation of the disturbance-rejection controller are determined according to the mathematical expression form of the compensation link, so as to perform decoupling control on the multivariable system, further comprising: wherein, represents a high frequency gain of the controlled object, represents a delay time of the controlled object, and respectively represent kth zero point information and lth pole point information of the controlled object, and s is a Laplace operator.

5. The multivariable system control method of claim 1, wherein the adjustment parameters of the extended state observer and the adjustment parameters of the state feedback control law are parameter tuned based on a parameter bandwidth method. The application is applied to a medium-speed coal mill multivariable system based on a disturbance-rejection controller, and the multivariable system comprises a plurality of control loops; the multivariable system control device comprises:

6. A multivariable system control apparatus characterized by comprising: a variable determination module configured to select one of the plurality of control loops as a preset control loop, and determine a control variable and a controlled variable of the preset control loop; a model establishment module configured to establish a mathematical model of the multivariable system according to the control variable and the controlled variable of each preset control loop; a compensation determination module configured to determine a mathematical expression form of a compensation link for the control variable according to the mathematical model; a control adjustment module configured to determine a coupling variable between the remaining control loops and the preset control loop and a control equation of the disturbance-rejection controller according to the mathematical expression form of the compensation link, so as to perform decoupling control on the multivariable system, comprising: an extended state observer of the disturbance-rejection controller is designed according to the mathematical expression form of the compensation link, and a control equation of the extended state observer is determined; a state feedback control law is designed according to the extended state observer, and a control equation of the state feedback control law is determined; According to the extended state observer, a state feedback control law is designed, and a control equation of the state feedback control law is determined; The control equation of the extended state observer is wherein represents a control quantity formed after a compensation link, and , , represents an expansion state observer adjustment parameter, , , represents an estimated value of a preset control loop system state by an expansion state observer; represents the controlled quantity of the preset control loop; The control equation of the state feedback control law is wherein denotes a control quantity of the preset control loop, denotes a control quantity of the jth control loop, denotes a set value derivative of order j, , , denotes a state feedback control law tuning parameter of the preset control loop, denotes an extended state observer tuning parameter of the preset control loop.

7. An electronic device, comprising: The electronic device includes: One or more processors; A storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the multivariable system control method of any one of claims 1-5.

8. A storage medium containing computer-executable instructions for performing the multivariable system control method of any one of claims 1-5 when executed by a computer processor.

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