A method and device for constructing an engineering model of a closed-loop control system

Abstract

This invention discloses a method and apparatus for constructing an engineering model of a closed-loop control system. The method involves obtaining the process given amplitude of the closed-loop control system and its process output parameters, including a steady-state value, a first peak value, a first peak time, and a second peak time. A first difference between the second peak time and the first peak time is calculated. Based on this first difference, a time constant for the engineering model of the closed-loop control system is set. Based on the steady-state value and the process given amplitude, the gain of the engineering model is set. Based on the first peak value and the process given amplitude, the identification coefficients of the engineering model are set. The engineering model is then determined based on the time constant, gain, and identification coefficients. Compared with existing technologies, this invention enables rapid construction of an engineering model of a closed-loop control system based on relevant process given parameters.

Description

Technical Field

[0001] This invention relates to the technical field of industrial process control, and in particular to a method and apparatus for constructing an engineering model of a closed-loop control system. Background Technology

[0002] In industrial process control practice, engineering researchers have developed an engineering fastest controller that significantly improves feedback control performance. The engineering fastest controller category includes: engineering fastest proportional-integral (PI) controllers, accelerated engineering fastest PI controllers, and engineering fastest look-observers. Among these, the engineering fastest PI controller is suitable for cascade application with the engineering fastest look-observer, and in high-order processes, the improvement in performance relative to proportional-integral-derivative (PI) control is sufficient. The accelerated engineering fastest PI controller is suitable for standalone application, and the improvement in performance relative to PI control is sufficient.

[0003] Currently, the engineering speed controller technology has been widely promoted in the fields of peak shaving and frequency regulation of thermal power units. In practice, it has been found that in first-order, second-order, third-order, and fourth-order processes, the process overshoot is large when using the accelerated engineering speed proportional-integral controller for control. This is an inherent characteristic of the accelerated engineering speed proportional-integral controller.

[0004] Since models can provide a mathematical description of system response, determining the engineering model of the closed-loop control system related to the fastest proportional-integral controller in accelerated engineering, from the perspective of engineering analysis, for quantitative analysis and evaluation of the overshoot, has important practical significance and is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a method and apparatus for constructing an engineering model of a closed-loop control system, which can realize the rapid construction of an engineering model of a closed-loop control system based on relevant parameters given in the process.

[0006] To address the aforementioned technical problems, this invention provides a method for constructing an engineering model of a closed-loop control system, comprising:

[0007] The process given amplitude of the closed-loop control system is obtained, and the process output parameters of the closed-loop control system are obtained, wherein the process output parameters include steady-state value, first peak value, first peak time and second peak time;

[0008] Calculate the first difference between the second peak time and the first peak time; based on the first difference, set the time constant of the engineering model of the closed-loop control system; based on the steady-state value and the given amplitude of the process, set the gain of the engineering model; and based on the first peak time and the given amplitude of the process, set the identification coefficient of the engineering model.

[0009] The engineering model is determined based on the time constant, the gain, and the identification coefficient.

[0010] In one possible implementation, based on the first difference, the time constant of the engineering model of the closed-loop control system is set, specifically including:

[0011] The first difference is input into a preset time constant calculation formula to obtain the time constant of the engineering model of the closed-loop control system; wherein, the time constant calculation formula is as follows:

[0012]

[0013] In the formula, T EM T is the time constant of the engineering model, in seconds. D The first difference is expressed in seconds (s).

[0014] In one possible implementation, the gain of the engineering model is set based on the steady-state value and the given amplitude of the process, specifically including:

[0015] The steady-state value and the given amplitude of the process are input into a preset gain calculation formula to obtain the gain of the engineering model of the closed-loop control system; wherein, the gain calculation formula is as follows:

[0016]

[0017] In the formula, K EM V represents the gain of the engineering model, in dimensionless form. S V represents the steady-state value, in dimensionless units. PG The amplitude is given for the process, in dimensionless units.

[0018] In one possible implementation, based on the first peak value and the given amplitude of the process, the identification coefficients of the engineering model are set, specifically including:

[0019] The first peak value and the given amplitude of the process are input into a preset identification coefficient calculation formula to obtain the identification coefficients of the engineering model of the closed-loop control system; wherein, the identification coefficient calculation formula is as follows:

[0020]

[0021] In the formula, K IC V is the identification coefficient, in dimensionless units; V1 is the first peak value, in dimensionless units; V PG The amplitude is given for the process, in dimensionless units.

[0022] In one possible implementation, before determining the engineering model based on the time constant, the gain, and the identification coefficients, the method further includes:

[0023] Obtain the second-order model of the closed-loop control system, wherein the second-order model is as follows:

[0024]

[0025] In the formula, f EM (s) is the first transfer function of the second-order model, k EM The first gain of the second-order model, in dimensionless units; t EM K represents the first time constant of the second-order model, in seconds; IC The first identification coefficient is dimensionless.

[0026] In one possible implementation, determining the engineering model based on the time constant, the gain, and the identification coefficients specifically includes:

[0027] The second-order model of the closed-loop control system is obtained, the first time constant is updated based on the time constant, the first gain is updated based on the gain, and the first identification coefficient is updated based on the identification coefficient to obtain the engineering model.

[0028] In one possible implementation, the engineering model is as follows:

[0029]

[0030] In the formula, f EM V is the transfer function of the engineering model. S V represents the steady-state value, in dimensionless units. PG The process is given an amplitude, in dimensionless units; T D V1 is the first difference, in seconds; V2 is the first peak value, in dimensionless units.

[0031] The present invention also provides an engineering model construction device for a closed-loop control system, comprising: a system process parameter acquisition module, a model parameter calculation module, and an engineering model determination module;

[0032] The system process parameter acquisition module is used to acquire the process given amplitude of the closed-loop control system and the process output parameters of the closed-loop control system, wherein the process output parameters include steady-state value, first peak value, first peak time and second peak time.

[0033] The model parameter calculation module is used to calculate the first difference between the second peak time and the first peak time, set the time constant of the engineering model of the closed-loop control system based on the first difference, set the gain of the engineering model based on the steady-state value and the process given amplitude, and set the identification coefficient of the engineering model based on the first peak time and the process given amplitude.

[0034] The engineering model determination module is used to determine the engineering model based on the time constant, the gain, and the identification coefficient.

[0035] In one possible implementation, the model parameter calculation module is used to set the time constant of the engineering model of the closed-loop control system based on the first difference, specifically including:

[0036] The first difference is input into a preset time constant calculation formula to obtain the time constant of the engineering model of the closed-loop control system; wherein, the time constant calculation formula is as follows:

[0037]

[0038] In the formula, T EM T is the time constant of the engineering model, in seconds. D The first difference is expressed in seconds (s).

[0039] In one possible implementation, the model parameter calculation module is used to set the gain of the engineering model based on the steady-state value and the given amplitude of the process, specifically including:

[0040] The steady-state value and the given amplitude of the process are input into a preset gain calculation formula to obtain the gain of the engineering model of the closed-loop control system; wherein, the gain calculation formula is as follows:

[0041]

[0042] In the formula, K EM V represents the gain of the engineering model, in dimensionless form. S V represents the steady-state value, in dimensionless units. PG The amplitude is given for the process, in dimensionless units.

[0043] In one possible implementation, the model parameter calculation module is used to set the identification coefficients of the engineering model based on the first peak value and the given amplitude of the process, specifically including:

[0044] The first peak value and the given amplitude of the process are input into a preset identification coefficient calculation formula to obtain the identification coefficients of the engineering model of the closed-loop control system; wherein, the identification coefficient calculation formula is as follows:

[0045]

[0046] In the formula, K IC V is the identification coefficient, in dimensionless units; V1 is the first peak value, in dimensionless units; V PG The amplitude is given for the process, in dimensionless units.

[0047] In one possible implementation, the engineering model determination module, before determining the engineering model based on the time constant, the gain, and the identification coefficients, further includes:

[0048] Obtain the second-order model of the closed-loop control system, wherein the second-order model is as follows:

[0049]

[0050] In the formula, f EM (s) is the first transfer function of the second-order model, k EM The first gain of the second-order model, in dimensionless units; t EM K represents the first time constant of the second-order model, in seconds; IC The first identification coefficient is dimensionless.

[0051] In one possible implementation, the engineering model determination module is used to determine the engineering model based on the time constant, the gain, and the identification coefficients, specifically including:

[0052] The second-order model of the closed-loop control system is obtained, the first time constant is updated based on the time constant, the first gain is updated based on the gain, and the first identification coefficient is updated based on the identification coefficient to obtain the engineering model.

[0053] In one possible implementation, the engineering model is as follows:

[0054]

[0055] In the formula, f EM V is the transfer function of the engineering model. SV represents the steady-state value, in dimensionless units. PG The process is given an amplitude, in dimensionless units; T D V1 is the first difference, in seconds; V2 is the first peak value, in dimensionless units.

[0056] The present invention also provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the engineering model construction method of the closed-loop control system as described in any of the preceding claims.

[0057] The present invention also provides a computer-readable storage medium comprising a stored computer program, wherein, when the computer program is executed, it controls the device on which the computer-readable storage medium is located to perform an engineering model construction method for a closed-loop control system as described in any of the preceding claims.

[0058] The present invention provides a method and apparatus for constructing an engineering model of a closed-loop control system, which has the following advantages compared with the prior art:

[0059] By acquiring the process given amplitude of the closed-loop control system, the process output parameters of the closed-loop control system are obtained, wherein the process output parameters include a steady-state value, a first peak value, a first peak time, and a second peak time. A first difference between the second peak time and the first peak time is calculated. Based on the first difference, the time constant of the engineering model of the closed-loop control system is set. Based on the steady-state value and the process given amplitude, the gain of the engineering model is set. Based on the first peak value and the process given amplitude, the identification coefficient of the engineering model is set. Based on the time constant, the gain, and the identification coefficient, the engineering model is determined. Compared with the prior art, the technical solution of the present invention, by acquiring the process given amplitude and process output parameters of the actual system, can more accurately determine the time constant, gain, and identification coefficient of the engineering model, avoiding subjective estimation and errors in traditional trial-and-error methods. It can better reflect the dynamic characteristics of the actual system, improve the stability and performance of the constructed engineering model of the closed-loop control system, realize the rapid construction of the engineering model of the closed-loop control system, and facilitate subsequent quantitative analysis and evaluation of the overshoot magnitude. Attached Figure Description

[0060] Figure 1 This is a flowchart illustrating an embodiment of an engineering model construction method for a closed-loop control system provided by the present invention.

[0061] Figure 2 This is a schematic diagram of an embodiment of an engineering model building device for a closed-loop control system provided by the present invention;

[0062] Figure 3 This is a schematic diagram of the structure of the fastest control system according to an embodiment of the present invention;

[0063] Figure 4 This is a schematic diagram of the simulation results of the engineering output obtained when the input process is given as a unit step, according to an embodiment of the present invention.

[0064] Figure 5 This is a schematic diagram of the simulation results output by the engineering model of one embodiment of the present invention. Detailed Implementation

[0065] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0066] Example 1, see Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of an engineering model construction method for a closed-loop control system provided by the present invention, as shown below. Figure 1 As shown, the method includes steps 101-103, as detailed below:

[0067] Step 101: Obtain the process given amplitude of the closed-loop control system, and obtain the process output parameters of the closed-loop control system, wherein the process output parameters include steady-state value, first peak value, first peak time and second peak time.

[0068] In one embodiment, the closed-loop control system is configured as a speed control system constructed from an accelerated engineering speed proportional-integral controller (AEFPI).

[0069] In one embodiment, the fastest control system is a boiler drum water level control system for thermal power units, and the acquired process input is the process input of the boiler drum water level control system for thermal power units.

[0070] In one embodiment, the fastest control system includes a process setpoint, a subtractor, an accelerated engineering fastest proportional-integral controller, a process, and a process output.

[0071] Specifically, the process input terminal is connected to the minuend terminal of the subtractor, the output terminal of the subtractor is connected to the input terminal of the accelerated engineering maximum speed proportional-integral controller, the output terminal of the accelerated engineering maximum speed proportional-integral controller is connected to the input terminal of the process, and the output terminal of the process is connected to both the subtraction terminal of the subtractor and the process output terminal, as follows. Figure 3 As shown, Figure 3 This is a schematic diagram of the fastest control system.

[0072] Specifically, for the aforementioned accelerated engineering maximum speed proportional-integral controller AEFPI:

[0073] f AEFPI (s)=K AEFPI [1+f AEFI (s)];

[0074]

[0075]

[0076] T AEFI =T AEFTF ;

[0077] In the formula, f AEFPI (s) is the transfer function of AEFPI, K AEFPI Cascade proportional control gain, f AEFI (s) is the transfer function of the fastest integrator for accelerated engineering, f AEFTF (s) is the transfer function of the fastest tracking filter for accelerated engineering; T AEFI T is the time constant of AEFI, in seconds. AEFTF is the time constant of AEFTF, in seconds.

[0078] Specifically, for process P:

[0079]

[0080] In the formula, f P (s) is the transfer function of the process P.

[0081] When the open-loop system phase of process P is -135°, the open-loop system gain is equal to 0.5. Searching for the optimal parameters of the AEFPI, the AEFPI parameters are obtained as follows: T AEFI =141s, K AEFPI =3.528.

[0082] In one embodiment, the process setpoint amplitude of the closed-loop control system is obtained from the process setpoint.

[0083] In one embodiment, the process output parameters of the closed-loop control system are obtained from the process output terminal.

[0084] In one embodiment, the process setpoint amplitude of the closed-loop control system typically refers to the desired output signal or control objective. In industrial process control systems, it is desirable for the system output to reach a certain desired value or curve; this desired value or curve is the process setpoint. The process setpoint can be a fixed value or a curve that varies over time, depending on the specific control objective.

[0085] In one embodiment, the steady-state value refers to the value of the system output when it reaches a stable state. In a control system, when both the system input and output have reached a stable state and there are no further significant changes, the system output is called the steady-state value.

[0086] Preferably, the steady-state value is represented by the symbol V. S It indicates that the unit is dimensionless.

[0087] In one embodiment, the first peak value refers to the first peak point in the system response process, also known as overshoot. It represents the magnitude by which the system output exceeds the process setpoint or steady-state value for the first time during the response process.

[0088] Preferably, the first peak value is represented by the symbol V1, and the unit is dimensionless.

[0089] In one embodiment, the first peak time refers to the time when the first peak occurs during the system response process. It represents the time elapsed from the start of the process to the occurrence of the first peak.

[0090] Preferably, the first peak time is represented by the symbol T1, and the unit is seconds (s).

[0091] In one embodiment, a second peak value is also obtained, which refers to the second peak point in the system response process, also known as the second peak value of the oscillation process. It represents the second maximum amplitude of the system output during the oscillation process.

[0092] Preferably, the second peak value is represented by the symbol V2, and the unit is dimensionless.

[0093] In one embodiment, the second peak time refers to the time when the second peak occurs during the system response process. It represents the time elapsed from the start of the process to the occurrence of the second peak.

[0094] Preferably, the second peak time is denoted by the symbol T2, and the unit is seconds (s).

[0095] Step 102: Calculate the first difference between the second peak time and the first peak time. Based on the first difference, set the time constant of the engineering model of the closed-loop control system. Based on the steady-state value and the given process amplitude, set the gain of the engineering model. Based on the first peak time and the given process amplitude, set the identification coefficient of the engineering model.

[0096] In one embodiment, the second peak time is used as the minuend and the first peak time is used as the subtrahend, and the two values ​​are input into the first difference calculation formula to obtain the first difference between the second peak time and the first peak time.

[0097] Specifically, the formula for calculating the difference is as follows:

[0098] T D =T2-T1;

[0099] In the formula, T D T1 is the first peak time, T2 is the second peak time, and T1 is the first peak time.

[0100] In one embodiment, based on the first difference, the time constant of the engineering model of the closed-loop control system is set. Specifically, the first difference is input into a preset time constant calculation formula to obtain the time constant of the engineering model of the closed-loop control system.

[0101] In one embodiment, the formula for calculating the time constant is as follows:

[0102]

[0103] In the formula, T EM T is the time constant of the engineering model, in seconds. D The first difference is expressed in seconds (s).

[0104] In one embodiment, the gain of the engineering model is set based on the steady-state value and the given process amplitude. Specifically, the steady-state value and the given process amplitude are input into a preset gain calculation formula to obtain the gain of the engineering model of the closed-loop control system.

[0105] In one embodiment, the gain calculation formula is as follows:

[0106]

[0107] In the formula, K EM V represents the gain of the engineering model, in dimensionless form. S V represents the steady-state value, in dimensionless units. PG The amplitude is given for the process, in dimensionless units.

[0108] In one embodiment, the identification coefficients of the engineering model are set based on the first peak value and the given amplitude of the process. Specifically, the first peak value and the given amplitude of the process are input into a preset identification coefficient calculation formula to obtain the identification coefficients of the engineering model of the closed-loop control system.

[0109] In one embodiment, the formula for calculating the identification coefficient is as follows:

[0110]

[0111] In the formula, K IC V is the identification coefficient, in dimensionless units; V1 is the first peak value, in dimensionless units; V PG The amplitude is given for the process, in dimensionless units.

[0112] Step 103: Determine the engineering model based on the time constant, the gain, and the identification coefficient.

[0113] In one embodiment, before determining the engineering model based on the time constant, the gain, and the identification coefficient, a second-order model of the closed-loop control system is also obtained.

[0114] Specifically, by Figure 3 As shown, since the fastest control system is a second-order system, the second-order model of the closed-loop control system is obtained.

[0115] In one embodiment, the second-order model is as follows:

[0116]

[0117] In the formula, f EM (s) is the first transfer function of the second-order model, k EM The first gain of the second-order model, in dimensionless units; t EM K represents the first time constant of the second-order model, in seconds; IC The first identification coefficient is dimensionless.

[0118] In one embodiment, when determining the engineering model based on the time constant, the gain, and the identification coefficients, the second-order model of the closed-loop control system is obtained, the first time constant is updated based on the time constant, the first gain is updated based on the gain, and the first identification coefficients are updated based on the identification coefficients. The updated second-order model is then used as the engineering model.

[0119] In one embodiment, the engineering model is as follows: the coefficients are updated on the first identification coefficients to obtain the engineering model.

[0120] Specifically, since the second-order model contains parameters such as the first gain, the first time constant, and the first identification coefficient, in this embodiment, the time constant, the gain, and the identification coefficient obtained in step 102 are directly used to replace the first gain, the first time constant, and the first identification coefficient in the second-order model to generate the engineering model.

[0121]

[0122] In the formula, f EM V is the transfer function of the engineering model. S V represents the steady-state value, in dimensionless units. PG The process is given an amplitude, in dimensionless units; T D V1 is the first difference, in seconds; V2 is the first peak value, in dimensionless units.

[0123] The engineering model construction method of a closed-loop control system provided in this embodiment will be described in detail below:

[0124] Before constructing the engineering model, the simulation results of the engineering output are obtained by inputting a unit step jump into the closed-loop control system, such as... Figure 4 As shown, Figure 4 A schematic diagram of the simulation results of the engineering output when the input process is given a unit step.

[0125] From the simulation results of the aforementioned engineering output, the steady-state value V of the process output is obtained. S =1.0; the first peak value of the process output is V1 = 1.570, the first peak value time is T1 = 127s, the second peak value of the process output is V2 = 1.152, the second peak value time is T2 = 428s, the process overshoot is 57.0%, the settling time is 622s, and the process oscillation decay rate is 73.3%. The settling time refers to the time when the process enters a deviation of less than 5%.

[0126] Based on the above-obtained steady-state output value, first peak value, first peak value time, second peak value, and second peak value time, the time constant, the gain, and the identification coefficient are calculated respectively to obtain V. PG =1, V S =1, V1=1.570, T1=127s, T2=428s, T D =T2-T1=301s, T EM =T D / (2π)=47.91s, K EM =V S / V PG =1,K IC =2(V1 / VPG -1)0.36=1.634.

[0127] Based on the above parameters, the engineering model of the closed-loop control system is obtained as follows:

[0128]

[0129] The process is given as a unit step input to the engineering model, and the simulation results output by the engineering model are obtained. Figure 5 As shown, Figure 5 A schematic diagram of the simulation results output for the engineering model.

[0130] Depend on Figure 5 As shown, the first peak value of the engineering model output is 1.512, the first peak value time is 151s, the second peak value of the process output is 1.137, the second peak value time is 457s, the process overshoot is 51.2%, the settling time is 674s, and the process oscillation decay rate is 73.2%.

[0131] Based on the above, this embodiment provides an engineering model construction method for a closed-loop control system. The output characteristics of the obtained engineering model are close to the process output characteristics of the closed-loop control system, which meets the needs of engineering analysis.

[0132] Example 2, see Figure 2 , Figure 2 This is a schematic diagram of an embodiment of an engineering model building device for a closed-loop control system provided by the present invention, as shown below. Figure 2 As shown, the device includes a system process parameter acquisition module 201, a model parameter calculation module 202, and an engineering model determination module 203, as detailed below:

[0133] The system process parameter acquisition module 201 is used to acquire the process given amplitude of the closed-loop control system and the process output parameters of the closed-loop control system, wherein the process output parameters include steady-state value, first peak value, first peak time and second peak time.

[0134] The model parameter calculation module 202 is used to calculate the first difference between the second peak time and the first peak time, set the time constant of the engineering model of the closed-loop control system based on the first difference, set the gain of the engineering model based on the steady-state value and the process given amplitude, and set the identification coefficient of the engineering model based on the first peak time and the process given amplitude.

[0135] The engineering model determination module 203 is used to determine the engineering model based on the time constant, the gain, and the identification coefficient.

[0136] In one embodiment, the model parameter calculation module 202 is used to set the time constant of the engineering model of the closed-loop control system based on the first difference, specifically including: inputting the first difference into a preset time constant calculation formula to obtain the time constant of the engineering model of the closed-loop control system; wherein, the time constant calculation formula is as follows:

[0137]

[0138] In the formula, T EM T is the time constant of the engineering model, in seconds. D The first difference is expressed in seconds (s).

[0139] In one embodiment, the model parameter calculation module 202 is used to set the gain of the engineering model based on the steady-state value and the given process amplitude, specifically including: inputting the steady-state value and the given process amplitude into a preset gain calculation formula to obtain the gain of the engineering model of the closed-loop control system; wherein, the gain calculation formula is as follows:

[0140]

[0141] In the formula, K EM V represents the gain of the engineering model, in dimensionless form. S V represents the steady-state value, in dimensionless units. PG The amplitude is given for the process, in dimensionless units.

[0142] In one embodiment, the model parameter calculation module 202 is used to set the identification coefficients of the engineering model based on the first peak value and the given process amplitude. Specifically, this includes: inputting the first peak value and the given process amplitude into a preset identification coefficient calculation formula to obtain the identification coefficients of the engineering model of the closed-loop control system; wherein, the identification coefficient calculation formula is as follows:

[0143]

[0144] In the formula, K IC V is the identification coefficient, in dimensionless units; V1 is the first peak value, in dimensionless units; V PG The amplitude is given for the process, in dimensionless units.

[0145] In one embodiment, the engineering model determination module 203, before determining the engineering model based on the time constant, the gain, and the identification coefficients, further includes: obtaining a second-order model of the closed-loop control system, wherein the second-order model is as follows:

[0146]

[0147] In the formula, f EM (s) is the first transfer function of the second-order model, k EM The first gain of the second-order model, in dimensionless units; t EM K represents the first time constant of the second-order model, in seconds; IC The first identification coefficient is dimensionless.

[0148] In one embodiment, the engineering model determination module 203 is used to determine the engineering model based on the time constant, the gain, and the identification coefficients, specifically including: obtaining the second-order model of the closed-loop control system, updating the first time constant based on the time constant, updating the first gain based on the gain, updating the first identification coefficients based on the identification coefficients, and obtaining the engineering model.

[0149] In one embodiment, the engineering model is as follows:

[0150]

[0151] In the formula, f EM V is the transfer function of the engineering model. S V represents the steady-state value, in dimensionless units. PG The process is given an amplitude, in dimensionless units; T D V1 is the first difference, in seconds; V2 is the first peak value, in dimensionless units.

[0152] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0153] It should be noted that the embodiments of the engineering model construction device for the closed-loop control system described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0154] Based on the above-described embodiments of the engineering model construction method for closed-loop control systems, another embodiment of the present invention provides an engineering model construction terminal device for closed-loop control systems. The engineering model construction terminal device for closed-loop control systems includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the engineering model construction method for closed-loop control systems according to any embodiment of the present invention.

[0155] For example, in this embodiment, the computer program can be divided into one or more modules, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the engineering model construction terminal device of the closed-loop control system.

[0156] The terminal device for building the engineering model of the closed-loop control system can be a computing device such as a desktop computer, laptop, handheld computer, or cloud server. The terminal device for building the engineering model of the closed-loop control system may include, but is not limited to, processors and memory.

[0157] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. This processor is the control center of the terminal device in the engineering model construction of the closed-loop control system, connecting various parts of the terminal device using various interfaces and lines.

[0158] The memory can be used to store the computer programs and / or modules. The processor, by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory, realizes various functions of the terminal device in the engineering model construction of the closed-loop control system. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function, etc.; the data storage area may store data created based on the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0159] Based on the above-described embodiments of the engineering model construction method for closed-loop control systems, another embodiment of the present invention provides a storage medium, the storage medium including a stored computer program, wherein, when the computer program is running, the device where the storage medium is located executes the engineering model construction method for closed-loop control systems according to any embodiment of the present invention.

[0160] In this embodiment, the storage medium is a computer-readable storage medium, and the computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0161] In summary, the present invention provides a method and apparatus for constructing an engineering model of a closed-loop control system. This method obtains the process output parameters of the closed-loop control system by acquiring the process given amplitude, where the process output parameters include a steady-state value, a first peak value, a first peak time, and a second peak time. The method calculates a first difference between the second peak time and the first peak time. Based on this first difference, it sets the time constant of the engineering model of the closed-loop control system. Based on the steady-state value and the process given amplitude, it sets the gain of the engineering model. Based on the first peak value and the process given amplitude, it sets the identification coefficients of the engineering model. Based on the time constant, gain, and identification coefficients, the engineering model is determined. Compared with existing technologies, the technical solution of the present invention can rapidly construct an engineering model of a closed-loop control system based on relevant process given parameters.

[0162] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A method for constructing an engineering model of a closed-loop control system, characterized in that, include: The process given amplitude of the closed-loop control system is obtained, and the process output parameters of the closed-loop control system are obtained, wherein the process output parameters include steady-state value, first peak value, first peak time and second peak time; Calculate the first difference between the second peak time and the first peak time; based on the first difference, set the time constant of the engineering model of the closed-loop control system; based on the steady-state value and the given amplitude of the process, set the gain of the engineering model; and based on the first peak time and the given amplitude of the process, set the identification coefficient of the engineering model. The first difference is input into a preset time constant calculation formula to obtain the time constant of the engineering model of the closed-loop control system; wherein the time constant calculation formula is as follows: ； In the formula, The time constant of the engineering model is expressed in seconds. This is the first difference, expressed in seconds (s). The steady-state value and the given amplitude of the process are input into a preset gain calculation formula to obtain the gain of the engineering model of the closed-loop control system; wherein, the gain calculation formula is as follows: ； In the formula, The gain of the engineering model is given in dimensionless form. The steady-state value is given in dimensionless form. The process is given an amplitude, in dimensionless units; The first peak value and the given amplitude of the process are input into a preset identification coefficient calculation formula to obtain the identification coefficients of the engineering model of the closed-loop control system; wherein, the identification coefficient calculation formula is as follows: ； In the formula, The identification coefficient is a dimensionless coefficient. The first peak value is dimensionless. The process is given an amplitude, in dimensionless units; The engineering model is determined based on the time constant, the gain, and the identification coefficient.

2. The method for constructing an engineering model of a closed-loop control system as described in claim 1, characterized in that, Before determining the engineering model based on the time constant, the gain, and the identification coefficients, the process further includes: Obtain the second-order model of the closed-loop control system, wherein the second-order model is as follows: ； In the formula, (s) is the first transfer function of the second-order model. This is the first gain of the second-order model, in dimensionless units; is the first time constant of the second-order model, in seconds; The first identification coefficient is dimensionless.

3. The method for constructing an engineering model of a closed-loop control system as described in claim 2, characterized in that, The engineering model is determined based on the time constant, the gain, and the identification coefficients, specifically including: The second-order model of the closed-loop control system is obtained, the first time constant is updated based on the time constant, the first gain is updated based on the gain, and the first identification coefficient is updated based on the identification coefficient to obtain the engineering model.

4. The method for constructing an engineering model of a closed-loop control system as described in claim 1, characterized in that, The engineering model is shown below: ； In the formula, For the transfer function of the engineering model, The steady-state value is given in dimensionless form. The process is given an amplitude, in dimensionless units; This is the first difference, expressed in seconds (s). This represents the first peak value, in dimensionless units.

5. An engineering model construction device for a closed-loop control system, characterized in that, include: System process parameter acquisition module, model parameter calculation module, and engineering model determination module; The system process parameter acquisition module is used to acquire the process given amplitude of the closed-loop control system and the process output parameters of the closed-loop control system, wherein the process output parameters include steady-state value, first peak value, first peak time and second peak time. The model parameter calculation module is used to calculate the first difference between the second peak time and the first peak time, set the time constant of the engineering model of the closed-loop control system based on the first difference, set the gain of the engineering model based on the steady-state value and the process given amplitude, and set the identification coefficient of the engineering model based on the first peak time and the process given amplitude. The first difference is input into a preset time constant calculation formula to obtain the time constant of the engineering model of the closed-loop control system; wherein the time constant calculation formula is as follows: ； In the formula, The time constant of the engineering model is expressed in seconds. This is the first difference, expressed in seconds (s). The steady-state value and the given amplitude of the process are input into a preset gain calculation formula to obtain the gain of the engineering model of the closed-loop control system; wherein, the gain calculation formula is as follows: ； In the formula, The gain of the engineering model is given in dimensionless form. The steady-state value is given in dimensionless form. The process is given an amplitude, in dimensionless units; The first peak value and the given amplitude of the process are input into a preset identification coefficient calculation formula to obtain the identification coefficients of the engineering model of the closed-loop control system; wherein, the identification coefficient calculation formula is as follows: ； In the formula, The identification coefficient is a dimensionless coefficient. The first peak value is dimensionless. The process is given an amplitude, in dimensionless units; The engineering model determination module is used to determine the engineering model based on the time constant, the gain, and the identification coefficient.

6. A terminal device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the engineering model construction method of the closed-loop control system as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the engineering model construction method of the closed-loop control system as described in any one of claims 1 to 4.

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