An anti-disturbance control method, device and equipment for cement rotary kiln

Abstract

The present application relates to an anti-disturbance control method, device and equipment for cement rotary kiln. The method includes: determining a first closed-loop transfer function between coal feeding amount and rotary kiln temperature, and determining a second closed-loop transfer function between external disturbance and rotary kiln temperature; establishing a predictive controller based on the first closed-loop transfer function, and obtaining a mathematical model of the input-output relationship of the predictive controller according to a preset transfer function inertia lag model; introducing an estimator between the predictive controller and the preset controlled object to obtain a dual predictive controller; introducing an anti-disturbance device between the dual predictive controller and the controlled object to obtain a final system control model; and regulating the working state of the cement rotary kiln based on the final system control model. The use of this method can reduce the impact of external interference on the time-delay system.

Description

Technical Field

[0001] The present application relates to the technical field of automated process control, and in particular to an anti-disturbance control method, device and equipment for a cement rotary kiln. Background Art

[0002] In the industrial production process, the traditional PID control effect is not good for the controlled objects with time-delay process. Due to the existence of the lag process, the traditional controller will overshoot or even oscillate during the control process.

[0003] Therefore, people have proposed different control methods for the lag process, among which Smith predictive compensation control theory has pioneered the iterative method of dealing with the time-delay process, that is, a mathematical model is established for the controlled object with time delay, and then when designing the controller, the time delay in the controlled object is compensated, and then the time delay is partially offset by adding different links in the controller. This method has a very significant control effect on the system with accurate model establishment, but it is not effective for the system with inaccurate mathematical model.

[0004] On this basis, people have also proposed a predictive PID control method theory, combining the traditional PID control method with an estimated compensator. This can not only ensure that the controller has the fast responsiveness of a PID controller, but also effectively handle time-delay systems. Therefore, this control method can be effectively applied to actual production processes. However, for processes with large lags, its response speed is slow, and when the system receives external disturbances, it will produce a large overshoot.

[0005] At present, there is no effective solution in the existing technology for the problem that time-delay systems used in scenarios such as petroleum, chemical industry, cement, and pharmaceuticals are seriously affected by external interference. Summary of the invention

[0006] Based on this, it is necessary to provide an anti-disturbance control method, device and equipment for a cement rotary kiln in response to the above technical problems.

[0007] In a first aspect, the present application provides an anti-disturbance control method for a cement rotary kiln. The method comprises:

[0008] Determine a first closed-loop transfer function between the coal feeding amount and the rotary kiln temperature, and determine a second closed-loop transfer function between the external disturbance and the rotary kiln temperature;

[0009] Based on the first closed-loop transfer function, a predictive controller is established, and according to a preset transfer function inertia lag model, a mathematical model of the input-output relationship of the predictive controller is obtained;

[0010] A predictor is introduced between the predictive controller and the preset controlled object to obtain a dual predictive controller;

[0011] An anti-interference device is introduced between the dual predictive controller and the controlled object to obtain the final system control model;

[0012] The working state of the cement rotary kiln is regulated based on the final system control model.

[0013] In one embodiment, establishing a first closed-loop transfer function includes:

[0014] Obtaining a preset initial first closed-loop transfer function and a rotary kiln temperature model of a cement rotary kiln, substituting the rotary kiln temperature model into the initial first closed-loop transfer function to obtain a first closed-loop transfer function;

[0015] The second closed-loop transfer function is established, including:

[0016] A preset initial second closed-loop transfer function is obtained, and the rotary kiln temperature model is substituted into the initial second closed-loop transfer function to obtain a second closed-loop transfer function.

[0017] In one embodiment, a transfer function inertia hysteresis model of rotary kiln temperature is established, including:

[0018] Obtain the preset controlled system gain, preset inertia time constant and lag time;

[0019] The ratio between the gain of the controlled system and the inertia time constant is calculated, and the ratio result is combined with the lag time to obtain the transfer function inertia lag model.

[0020] In one embodiment, a predictive controller is established based on the first closed-loop transfer function, and a mathematical model of the input-output relationship of the predictive controller is obtained according to a preset transfer function inertia lag model, including:

[0021] determining a predictive controller based on the first closed-loop transfer function;

[0022] The preset controller input-output relationship is obtained, and the predictive controller, the transfer function inertia lag model and the controller input-output relationship are combined to obtain a mathematical model of the input-output relationship.

[0023] In one embodiment, an estimator is introduced between the predictive controller and the preset controlled object to obtain a dual predictive controller, including:

[0024] Establishing a predictor, wherein the predictor includes a preset integral time constant and a preset lag time constant;

[0025] A dual predictive controller is obtained based on the predictive controller and the estimator.

[0026] In one embodiment, an anti-interference device is introduced between the dual predictive controller and the controlled object, including:

[0027] An anti-interference device is introduced between the dual prediction controller and the controlled object, wherein the expression result of the anti-interference device includes the external disturbance interference obtained by calculation and the input result of the cement rotary kiln.

[0028] In one embodiment, an anti-interference device is introduced between the dual predictive controller and the controlled object to obtain a final system control model, including:

[0029] Based on the dual predictive controller and the anti-disturbance device, a dual predictive anti-disturbance controller is obtained;

[0030] Based on the dual predictive anti-disturbance controller, the predictive controller and the anti-disturbance device, the final system control model is obtained.

[0031] In the second aspect, the present application also provides an anti-disturbance control device for a cement rotary kiln. The device comprises:

[0032] An acquisition module, used to determine a first closed-loop transfer function between the coal feeding amount and the rotary kiln temperature, and to determine a second closed-loop transfer function between the external disturbance and the rotary kiln temperature;

[0033] A calculation module, used to establish a predictive controller based on the first closed-loop transfer function, and obtain a mathematical model of the input-output relationship of the predictive controller according to a preset transfer function inertia lag model;

[0034] A generation module is used to introduce an estimator between the prediction controller and a preset controlled object to obtain a dual prediction controller; an anti-interference device is introduced between the dual prediction controller and the controlled object to obtain a final system control model, wherein the working state of the cement rotary kiln is regulated based on the final system control model.

[0035] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0036] Determine a first closed-loop transfer function between the coal feeding amount and the rotary kiln temperature, and determine a second closed-loop transfer function between the external disturbance and the rotary kiln temperature;

[0037] Based on the first closed-loop transfer function, a predictive controller is established, and according to a preset transfer function inertia lag model, a mathematical model of the input-output relationship of the predictive controller is obtained;

[0038] A predictor is introduced between the predictive controller and the preset controlled object to obtain a dual predictive controller;

[0039] An anti-interference device is introduced between the dual predictive controller and the controlled object to obtain the final system control model;

[0040] The working state of the cement rotary kiln is regulated based on the final system control model.

[0041] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0042] Determine a first closed-loop transfer function between the coal feeding amount and the rotary kiln temperature, and determine a second closed-loop transfer function between the external disturbance and the rotary kiln temperature;

[0043] Based on the first closed-loop transfer function, a predictive controller is established, and according to a preset transfer function inertia lag model, a mathematical model of the input-output relationship of the predictive controller is obtained;

[0044] A predictor is introduced between the predictive controller and the preset controlled object to obtain a dual predictive controller;

[0045] An anti-interference device is introduced between the dual predictive controller and the controlled object to obtain the final system control model;

[0046] The working state of the cement rotary kiln is regulated based on the final system control model.

[0047] The above-mentioned anti-disturbance control method, device and equipment for cement rotary kiln first determine the first closed-loop transfer function between the coal feeding amount and the rotary kiln temperature, and determine the second closed-loop transfer function between the external disturbance and the rotary kiln temperature; based on the first closed-loop transfer function, establish a predictive controller, and according to the preset transfer function inertia model, obtain the mathematical model of the input-output relationship of the predictive controller, introduce an estimator between the predictive controller and the preset controlled object to obtain a dual predictive controller, introduce an anti-disturbance device between the dual predictive controller and the controlled object to obtain the final system control model, and finally give the final system control model to regulate the working state of the cement rotary kiln. Through this application, the predictor and the anti-disturbance device are introduced, the response speed of the system can be improved through the predictor, and the anti-disturbance device can compensate for the external disturbance and offset most of the external disturbance, thereby greatly reducing the impact of the external disturbance. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A schematic flow chart of an anti-disturbance control method for a cement rotary kiln in one embodiment;

[0049] Figure 2 A flowchart of the implementation steps of the anti-disturbance control method in a preferred embodiment;

[0050] Figure 3 is a structural block diagram of an anti-disturbance control device in an embodiment;

[0051] Figure 4 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0053] In one embodiment, Figure 1 As shown, an anti-disturbance control method for a cement rotary kiln is provided, comprising the following steps:

[0054] Step S110, determining a first closed-loop transfer function between the coal feeding amount and the temperature of the rotary kiln, and determining a second closed-loop transfer function between the external disturbance and the temperature of the rotary kiln.

[0055] Specifically, the first closed-loop transfer function characterizes the input-output relationship between the coal feeding amount and the rotary kiln temperature. The second closed-loop transfer function characterizes the input-output relationship between the external disturbance and the rotary kiln temperature. In some preferred embodiments, the method for determining the first closed-loop transfer function is as follows: first, a transfer relationship between the controller and the controlled process is established according to the closed-loop system, and then the mathematical expression of the rotary kiln system is substituted into the controlled process to obtain the above-mentioned first closed-loop transfer function. Furthermore, the external disturbance is taken as the system input to establish the transfer function relationship between the controller and the controlled process, and the mathematical relationship expression of the rotary kiln system is substituted into the transfer function of the controlled process to obtain the second closed-loop transfer function. In summary, the above-mentioned first closed-loop transfer function and the second closed-loop transfer function are both constructed based on the mathematical model of the actual rotary kiln system.

[0056] Step S120, based on the first closed-loop transfer function, a predictive controller is established, and according to a preset transfer function inertia lag model, a mathematical model of the input-output relationship of the predictive controller is obtained.

[0057] Specifically, a predictive controller is established based on the first closed-loop transfer function. The predictive controller is established based on the control model commonly used in the rotary kiln temperature control scenario and combined with the first closed-loop transfer function. The predictive controller characterizes the relationship between the traditional controller and the predictive controller. The traditional controller controls the response speed of the system, while the predictor compensates for the lag link. The predictive controller is then combined with the transfer function inertia lag model to determine the mathematical model of the input-output relationship of the predictive controller. Since cement has a lag process during the decomposition process, when the transfer function of the rotary kiln temperature is established, the transfer function is a first-order inertia plus lag model. In summary, based on the combination of the transfer function inertia lag model and the predictive controller, the mathematical model of the input-output relationship of the predictive controller is obtained.

[0058] Step S130, introducing an estimator between the predictive controller and the preset controlled object to obtain a dual predictive controller.

[0059] Specifically, since the above-mentioned predictive controller only predicts the output of the lag, which is equivalent to offsetting the lag process, but does not improve the response speed of the system, an estimator is introduced between the predictive controller and the controlled object in the present application. The predictor is used to further predict the output of the system, so that based on the predictor and the predictive controller, the above-mentioned dual predictive controller can be obtained. The dual predictive controller can greatly improve the response speed on the basis of compensating for the lag link.

[0060] Step S140, introducing an anti-interference device between the dual predictive controller and the controlled object to obtain a final system control model.

[0061] Specifically, the above-mentioned anti-interference device can be used to offset most of the external disturbances and interferences. The anti-interference device is introduced between the dual predictive controller and the controlled object, so as to obtain the final system control model.

[0062] Step S150, regulating the working state of the cement rotary kiln based on the final system control model.

[0063] Specifically, after obtaining the final system control model, the working state of the cement rotary kiln is regulated based on the final system control model, that is, the obtained coal feeding amount and the collected temperature inside the rotary kiln are input into the system. The temperature change curve of the output rotary kiln can be obtained through the final system control model proposed in this application. Since too high or too low temperature will seriously affect the decomposition rate, the working state of the cement rotary kiln can be better regulated according to the temperature change curve.

[0064] Through step S110 to step S150, the present application introduces an estimator and an anti-interference device on the basis of the dual predictive controller, thereby effectively reducing the overshoot of the system when disturbed and improving the speed of the system during disturbance recovery.

[0065] In some embodiments, establishing a first closed-loop transfer function includes:

[0066] Obtaining a preset initial first closed-loop transfer function and a rotary kiln temperature model of a cement rotary kiln, substituting the rotary kiln temperature model into the initial first closed-loop transfer function to obtain a first closed-loop transfer function;

[0067] The second closed-loop transfer function is established, including:

[0068] A preset initial second closed-loop transfer function is obtained, and the rotary kiln temperature model is substituted into the initial second closed-loop transfer function to obtain a second closed-loop transfer function.

[0069] Specifically, a preset initial first closed-loop transfer function is obtained, and the rotary kiln temperature model G of the above-mentioned cement rotary kiln is p (s) is the process model of the cement rotary kiln in actual operation, which is a first-order lag process model. Substituting the rotary kiln temperature model into the above-mentioned initial first closed-loop transfer function, the above-mentioned first closed-loop transfer function can be obtained. The expression of the first closed-loop transfer function is as follows:

[0070]

[0071] Among them, the controller G c (s) is the core controller in the existing rotary kiln temperature control scenario. This application is to control the controller G c (s) is improved to obtain a control model with higher anti-interference effect. p (s) is the rotary kiln temperature model of the above-mentioned cement rotary kiln, and the first closed-loop transfer function reflects the input-output relationship between the coal feeding amount r and the rotary kiln temperature y.

[0072] Similarly, the second closed-loop transfer function reflects the input-output relationship between the external disturbance d and the rotary kiln temperature y. The preset initial second closed-loop transfer function is obtained, and the above rotary kiln temperature model is substituted into the initial second closed-loop transfer function to obtain the second closed-loop transfer function. The expression of the second closed-loop transfer function is as follows:

[0073]

[0074] In some embodiments, a transfer function inertia lag model of rotary kiln temperature is established, comprising:

[0075] Obtain the preset controlled system gain, preset inertia time constant and lag time;

[0076] The ratio between the gain of the controlled system and the inertia time constant is calculated, and the ratio result is combined with the lag time to obtain the transfer function inertia lag model.

[0077] Specifically, since there is a hysteresis process in the decomposition process of cement, this embodiment needs to establish a transfer function of the rotary kiln temperature, which is a first-order inertia plus hysteresis model, that is, the expression of the transfer function inertia hysteresis model reflecting the rotary kiln temperature and the cement decomposition process is:

[0078]

[0079] Among them, K is the gain of the controlled system, T is the inertia time constant, s is the Laplace operator, The first-order inertia lag model of the transfer function can more accurately reflect the relationship between the rotary kiln temperature and the cement decomposition process.

[0080] In some embodiments, a predictive controller is established based on the first closed-loop transfer function, and a mathematical model of the input-output relationship of the predictive controller is obtained according to a preset transfer function inertia lag model, including:

[0081] determining a predictive controller based on the first closed-loop transfer function;

[0082] The preset controller input-output relationship is obtained, and the predictive controller, the transfer function inertia lag model and the controller input-output relationship are combined to obtain a mathematical model of the input-output relationship.

[0083] Specifically, it is assumed that the closed-loop transfer function of the desired system for the first-order inertia plus hysteresis model is consistent with the temperature model of the rotary kiln, then:

[0084]

[0085] in, is an adjustable parameter. Combined with step 1.1, the equation can be established. As above, T is the inertia time constant, s is the Laplace operator, is the lag time.

[0086] Then, the above prediction controller is further designed to obtain the above prediction controller G c (s), based on the first closed-loop transfer function above, the expression of the predictive controller can be determined, and the expression of the predictive controller is:

[0087]

[0088] The predictive controller is obtained by transforming the first closed-loop transfer function above, that is, G c(s) is placed on the left side of the equation, so that G can be calculated based on the formula on the right side of the equation. c (s) design.

[0089] Obtain the preset controller input-output relationship, based on the existing predictive controller G c The input-output relationship of (s) is as follows:

[0090]

[0091] Among them, u(s) is the system input signal and e(s) is the error signal.

[0092] In summary, the above predictive controller, the transfer function inertia model and the above controller input-output relationship are combined to obtain the mathematical model of the input-output relationship of the improved predictive controller in this application. The mathematical model of the input-output relationship is as follows:

[0093]

[0094] Among them, K is the system gain. According to the mathematical model of the input-output relationship of the above predictive controller, the first part on the right side of the equation is in the form of a PI controller. The function of the PI controller is mainly to make the response quickly reach the vicinity of the set value through error accumulation, while the second part on the right side of the equation is in the form of a theoretical predictor in control theory, which can be used to compensate for the impact of lag.

[0095] In some embodiments, an estimator is introduced between the predictive controller and the preset controlled object to obtain a dual predictive controller, including:

[0096] Establishing a predictor, wherein the predictor includes a preset integral time constant and a preset lag time constant;

[0097] A dual predictive controller is obtained based on the predictive controller and the estimator.

[0098] In this embodiment, the predictive controller is further designed, and an estimator is introduced on the basis of the predictive controller to obtain a dual predictive controller. First, the predictor is established, and the expression of the predictor is as follows:

[0099]

[0100] Among them, T0 is the integral time constant, which is related to the inertia link T in the rotary kiln object, and D0 is the lag time constant, which is related to the lag time τ. The introduction of the above T0 and D0 can effectively adjust the response speed of the system.

[0101] Furthermore, based on the above predictor and the mathematical model of the input-output relationship of the predictive controller, the input-output relationship of the dual predictive controller can be obtained. The input-output expression of the dual predictive controller is as follows:

[0102]

[0103] At this time, the dual predictive controller can handle the system lag by predicting the PI link, and the newly added estimator link can improve the system response speed by adjusting the values ​​of two parameters.

[0104] In summary, after adding the dual prediction controller, the closed-loop transfer function of the coal feeding amount r and the rotary kiln temperature y is:

[0105]

[0106] in, is an adjustable parameter, s is the Laplace operator, and D is the lag time constant. It can be adjusted by relevant technical personnel according to actual needs.

[0107] In some of the embodiments, an anti-interference device is introduced between the dual predictive controller and the controlled object, including:

[0108] An anti-interference device is introduced between the dual prediction controller and the controlled object, wherein the expression result of the anti-interference device includes the external disturbance interference obtained by calculation and the input result of the cement rotary kiln.

[0109] Specifically, in this embodiment, an anti-interference device is introduced between the dual predictive controller and the controlled object, and the anti-interference device can offset a part of the external disturbance. The expression of the anti-interference device is as follows:

[0110]

[0111] Among them, d(s) is the external disturbance, d'(s) is the external disturbance after compensation by the anti-interference device, u(s) is the input signal of the rotary kiln system, k / Ts+1 is the inertia model of the controlled object, y(s) is the output signal of the rotary kiln, and the second item on the right side of the equation is the input signal of the above-mentioned cement rotary kiln, which can be obtained in actual applications based on the collected working parameters of the cement rotary kiln, or in the early stage of actual work based on the simulation results of the cement rotary kiln. The actual disturbance after compensation is obtained by subtracting the input signal from the disturbance signal, which is much smaller than the initial actual disturbance.

[0112] Through the anti-interference device introduced in this embodiment, the anti-interference effect can be adjusted by modifying the value of the parameter in d'(s), thereby reducing the impact of external interference on the system.

[0113] In some of the embodiments, an anti-interference device is introduced between the dual predictive controller and the controlled object to obtain a final system control model, including:

[0114] Based on the dual predictive controller and the anti-disturbance device, a dual predictive anti-disturbance controller is obtained;

[0115] Based on the dual predictive anti-disturbance controller, the predictive controller and the anti-disturbance device, the final system control model is obtained.

[0116] Specifically, an anti-interference device is first introduced between the dual predictive controller and the controlled object, and a dual predictive anti-interference controller is obtained based on the dual predictive controller and the anti-interference device, wherein the mathematical model of the input-output relationship of the dual predictive anti-interference controller is as follows:

[0117]

[0118] Among them, e(s) is the system error signal, which is also the input signal of the controller, and D0s is the Laplace operator corresponding to the compensator lag time. At this time, the system can not only compensate for the impact of lag, but also improve the response speed of the system, and can effectively reduce external interference when receiving external disturbances.

[0119] Furthermore, according to the dual predictive anti-disturbance controller, the predictive controller and the anti-disturbance device, the final system control model can be obtained. The expression of the above final system control model is as follows:

[0120]

[0121] Where Ds is the Laplace operator corresponding to the system delay time.

[0122] This embodiment also provides a preferred embodiment of an anti-disturbance control method for a cement rotary kiln. Figure 2 The figure is a flow chart of the implementation steps of the anti-disturbance control method in a preferred embodiment.

[0123] Step S210, establishing the relationship between the coal feeding amount and the rotary kiln temperature.

[0124] Step S220, determining the relationship between the rotary kiln temperature and the cement decomposition rate.

[0125] Step S230, then design the predictive controller, and introduce the estimator and anti-interference device based on the predictive controller.

[0126] Step S240, obtaining a dual-prediction anti-disturbance controller, and determining the decomposition rate of cement based on the dual-prediction anti-winding controller.

[0127] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0128] Based on the same inventive concept, the embodiment of the present application also provides an anti-disturbance control device for implementing the anti-disturbance control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more anti-disturbance control device embodiments provided below can refer to the limitations of the anti-disturbance control method above, and will not be repeated here.

[0129] In one embodiment, Figure 3 As shown, an anti-disturbance control device is provided, including: an acquisition module 31, a calculation module 32 and a generation module 33, wherein:

[0130] An acquisition module 31 is used to determine a first closed-loop transfer function between the coal feeding amount and the rotary kiln temperature, and to determine a second closed-loop transfer function between the external disturbance and the rotary kiln temperature;

[0131] A calculation module 32, used to establish a predictive controller based on the first closed-loop transfer function, and obtain a mathematical model of the input-output relationship of the predictive controller according to a preset transfer function inertia lag model;

[0132] The generation module 33 is used to introduce an estimator between the prediction controller and the preset controlled object to obtain a dual prediction controller; an anti-interference device is introduced between the dual prediction controller and the controlled object to obtain a final system control model, wherein the working state of the cement rotary kiln is regulated based on the final system control model.

[0133] Specifically, the acquisition module 31 determines the first closed-loop transfer function between the coal feed amount and the rotary kiln temperature, and determines the second closed-loop transfer function between the external disturbance and the rotary kiln temperature; the calculation module 32 establishes a predictive controller based on the first closed-loop transfer function, and obtains a mathematical model of the input-output relationship of the predictive controller according to the inertia lag model of the predictive transfer function; the generation module 33 introduces an estimator between the predictive controller and the preset controlled object to obtain a dual predictive controller, and introduces an anti-interference device between the dual predictive controller and the controlled object to obtain a final system control model, wherein the working state of the cement rotary kiln is regulated based on the final system control model.

[0134] Each module in the above-mentioned anti-disturbance control device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0135] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store anti-disturbance control related data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, an anti-disturbance control method is implemented.

[0136] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0137] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0138] Determine a first closed-loop transfer function between the coal feeding amount and the rotary kiln temperature, and determine a second closed-loop transfer function between the external disturbance and the rotary kiln temperature;

[0139] Based on the first closed-loop transfer function, a predictive controller is established, and according to a preset transfer function inertia lag model, a mathematical model of the input-output relationship of the predictive controller is obtained;

[0140] A predictor is introduced between the predictive controller and the preset controlled object to obtain a dual predictive controller;

[0141] An anti-interference device is introduced between the dual predictive controller and the controlled object to obtain the final system control model;

[0142] The working state of the cement rotary kiln is regulated based on the final system control model.

[0143] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0144] Determine a first closed-loop transfer function between the coal feeding amount and the rotary kiln temperature, and determine a second closed-loop transfer function between the external disturbance and the rotary kiln temperature;

[0145] Based on the first closed-loop transfer function, a predictive controller is established, and according to a preset transfer function inertia lag model, a mathematical model of the input-output relationship of the predictive controller is obtained;

[0146] A predictor is introduced between the predictive controller and the preset controlled object to obtain a dual predictive controller;

[0147] An anti-interference device is introduced between the dual predictive controller and the controlled object to obtain the final system control model;

[0148] The working state of the cement rotary kiln is regulated based on the final system control model.

[0149] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0150] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0151] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0152] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. An anti-disturbance control method for a cement rotary kiln, characterized in that: The method comprises: Determining a first closed-loop transfer function between a coal feed rate and a rotary kiln temperature, and determining a second closed-loop transfer function between an external disturbance and the rotary kiln temperature; Based on the first closed-loop transfer function, a predictive controller is established, and according to a preset transfer function inertia lag model, a mathematical model of the input-output relationship of the predictive controller is obtained; Introducing an estimator between the predictive controller and a preset controlled object to obtain a dual predictive controller; An anti-interference device is introduced between the dual prediction controller and the controlled object, and a dual prediction anti-interference controller is obtained based on the dual prediction anti-interference device; a final system control model is obtained based on the dual prediction anti-interference controller, the prediction controller and the anti-interference device, wherein the expression result of the anti-interference device includes the external disturbance interference obtained by calculation and the input result of the cement rotary kiln; The working state of the cement rotary kiln is regulated based on the final system control model.

2. The method according to claim 1, characterized in that Establishing the first closed-loop transfer function comprises: Obtaining a preset initial first closed-loop transfer function and a rotary kiln temperature model of the cement rotary kiln, substituting the rotary kiln temperature model into the initial first closed-loop transfer function to obtain the first closed-loop transfer function; Establishing the second closed-loop transfer function comprises: A preset initial second closed-loop transfer function is obtained, and the rotary kiln temperature model is substituted into the initial second closed-loop transfer function to obtain the second closed-loop transfer function.

3. The method according to claim 1, characterized in that Establishing the transfer function inertia hysteresis model of the rotary kiln temperature includes: Obtain the preset controlled system gain, preset inertia time constant and lag time; The ratio between the controlled system gain and the inertia time constant is calculated, and the ratio result is combined with the lag time to obtain the transfer function inertia lag model.

4. The method according to claim 1, characterized in that: The method of establishing a predictive controller based on the first closed-loop transfer function and obtaining a mathematical model of the input-output relationship of the predictive controller according to a preset transfer function inertia lag model includes: determining the predictive controller based on the first closed-loop transfer function; A preset controller input-output relationship is obtained, and the predictive controller, the transfer function inertia lag model and the controller input-output relationship are combined to obtain a mathematical model of the input-output relationship.

5. The method according to claim 1, characterized in that The estimator is introduced between the predictive controller and the preset controlled object to obtain a dual predictive controller, including: Establishing the predictor, wherein the predictor includes a preset integral time constant and a preset lag time constant; The dual predictive controller is obtained based on the predictive controller and the estimator.

6. An anti-disturbance control device for a cement rotary kiln, characterized in that: The device comprises: An acquisition module, used to determine a first closed-loop transfer function between a coal feeding amount and a rotary kiln temperature, and to determine a second closed-loop transfer function between an external disturbance and the rotary kiln temperature; A calculation module, used to establish a predictive controller based on the first closed-loop transfer function, and obtain a mathematical model of the input-output relationship of the predictive controller according to a preset transfer function inertia lag model; A generation module is used to introduce an estimator between the prediction controller and a preset controlled object to obtain a dual prediction controller; introduce an anti-interference device between the dual prediction controller and the controlled object, and obtain a dual prediction anti-interference controller based on the dual prediction controller and the anti-interference device; obtain a final system control model based on the dual prediction anti-interference controller, the prediction controller and the anti-interference device, wherein the expression result of the anti-interference device includes the calculated external disturbance interference and the input result of the cement rotary kiln; and regulate the working state of the cement rotary kiln based on the final system control model.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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