Control method and system of large-time-delay process system and electronic equipment

Abstract

The invention relates to a control method and system of a large-time-delay process system and electronic equipment. The method comprises the following steps: acquiring a current set value and a current output value of a controlled object; calculating the output deviation of the controlled object according to the current set value and the current output value to obtain an output deviation value; according to the output deviation value, a control output value of the controller at the next moment is obtained through calculation by using a preset algorithm; and regulating and controlling the controller according to the control output value at the next moment. A current set value and a current output value of a controlled object are obtained, an output deviation value of the controlled object is obtained through calculation, then a control output value of a controller at the next moment is obtained through calculation by utilizing a preset algorithm according to the output deviation value, and finally the controller is regulated and controlled according to the control output value at the next moment. The tracking and anti-interference capability of a large-time-lag process system can be obviously improved, and the method can be widely applied to control systems such as an overheating steam temperature system, a reheating steam temperature system and a main steam pressure system of a coal-fired unit.

Description

Technical Field

[0001] This invention relates to the field of control technology, and in particular to a control method, system, and electronic device for a large time-delay process system. Background Technology

[0002] Many industrial processes involve systems with large time delays, such as superheated steam temperature systems, reheat steam temperature systems, and main steam pressure systems in coal-fired power plants. A "large time delay" refers to a significant delay required for the system to begin responding after a control action is applied. This characteristic is primarily caused by factors such as transmission delays, material or energy accumulation time, and the detection cycle of analytical instruments. The existence of large time delays poses a serious challenge to traditional control theory and is a classic and intractable problem in the field of industrial automation.

[0003] Traditional control strategies, especially the widely used PID controller, perform poorly with systems exhibiting large time delays. To address the shortcomings of PID controllers, researchers proposed the Smith predictor. It introduces a predictor model in parallel with the controlled process, internally calculating a "virtual output" of the system if no time delay were present. The controller adjusts based on this "virtual output," rather than the actual measured delayed output, thus theoretically completely compensating for the negative impact of time delays. However, the performance of the Smith predictor is highly dependent on the accuracy of the model. If the actual time delay or gain of the process does not match the model, the control performance will drop sharply, exhibiting poor robustness. Summary of the Invention

[0004] This invention provides a control method, system, and electronic device for a large time-delay process system, in order to overcome at least one of the above-mentioned technical problems existing in the prior art.

[0005] To achieve the above objectives, the embodiments of the present invention adopt the following technical solutions: In a first aspect, the present invention provides a control method for a system with a large time delay, comprising: Obtain the current setpoint and current output value of the controlled object; Calculate the output deviation of the controlled object based on the current set value and the current output value to obtain the output deviation value; Based on the output deviation value, the control output value of the controller at the next moment is calculated using a preset algorithm; The controller is adjusted according to the control output value at the next moment.

[0006] In one possible implementation of the first aspect, the step of calculating the control output value of the controller at the next moment using a preset algorithm based on the output deviation value includes: Based on the output deviation value, the initial value of the controller output at the next moment is calculated using an integral algorithm; The initial value of the control output at the next moment is optimized using a differential algorithm to obtain the control output value at the next moment.

[0007] In one possible implementation of the first aspect, the step of calculating the initial value of the controller output at the next moment using an integral algorithm based on the output deviation value includes: The initial value of the controller output at the next moment is calculated using the following integral algorithm: ; in, This represents the output deviation value. Indicates magnification factor. Represents the first time constant. Represents the natural constant. This represents a differential operator.

[0008] In one possible implementation of the first aspect, optimizing the initial value of the control output at the next time step using a differential algorithm to obtain the control output value at the next time step includes: The initial control values ​​for the next time step are calculated using the following differential algorithm: ; in, This represents the second time constant.

[0009] In one possible implementation of the first aspect, regulating the controller according to the control output value at the next moment includes: Obtain the current control output value of the controller; The controller is adjusted based on the difference between the control output value at the next moment and the current control output value.

[0010] Compared with the prior art, the present invention has at least the following beneficial effects: The control method for large time-delay process systems provided by this invention obtains the current setpoint and current output value of the controlled object, calculates the output deviation value of the controlled object, then calculates the control output value of the controller at the next moment based on the output deviation value using a preset algorithm, and finally adjusts the controller based on the control output value at the next moment. This method can significantly improve the tracking and anti-interference capabilities of large time-delay process systems and can be widely used in control systems such as superheated steam temperature systems, reheat steam temperature systems, and main steam pressure systems in coal-fired power units.

[0011] Secondly, the present invention provides a control system for a large time-delay process system, comprising: The acquisition module is used to acquire the current setpoint and current output value of the controlled object; The deviation calculation module is used to calculate the output deviation of the controlled object based on the current set value and the current output value, and obtain the output deviation value; The output quantization module is used to calculate the control output value of the controller at the next moment based on the output deviation value using a preset algorithm. The control module is used to adjust the controller according to the control output value at the next moment.

[0012] In one possible implementation of the second aspect, the output quantization module includes: An integral module is used to calculate the initial value of the controller output at the next moment based on the output deviation value using an integral algorithm. The differential module is used to optimize the initial value of the control output at the next moment using a differential algorithm to obtain the control output value at the next moment.

[0013] In one possible implementation of the second aspect, the integration module is used to calculate the initial value of the controller output at the next moment based on the output deviation value using the following integration algorithm: ; in, This represents the output deviation value. Indicates magnification factor. Represents the first time constant. Represents the natural constant. This represents a differential operator.

[0014] In one possible implementation of the second aspect, the differential module is used to optimize the initial value of the control output at the next time step using the following differential algorithm to obtain the control output value at the next time step: ; in, This represents the second time constant.

[0015] Thirdly, the present invention provides an electronic device, comprising: a memory and one or more processors; the memory being coupled to the processors; wherein the memory stores computer program code, the computer program code including computer instructions, which, when executed by the processor, cause the electronic device to perform a control method for a large time-delay process system as described in any implementation of the first aspect.

[0016] Fourthly, the present invention provides a storage medium having a computer-executable program stored thereon, the computer-executable program being used to cause a computer to execute a control method for a large time-delay process system as described in any implementation of the first aspect.

[0017] Understandably, the beneficial effects of the system of the second aspect, the electronic device of the third aspect, and the storage medium of the fourth aspect provided above can be referred to in light of the beneficial effects of the first aspect and any of its possible design embodiments, which will not be repeated here. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention; Figure 2 A flowchart illustrating a control method for a large time-delay process system provided in an embodiment of the present invention; Figure 3 The above diagram shows the comparative experimental results of the simulation control process in an embodiment of the present invention. Figure 4 This is a comparative experimental result of tracking performance and anti-interference performance in an embodiment of the present invention; Figure 5 This is a structural block diagram of a control system for a large time-delay process system provided in an embodiment of the present invention. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be described below with reference to the accompanying drawings. In the description of the present invention, unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can represent A or B. The "or" in the present invention is merely a description of the relationship between the related objects, indicating that three relationships can exist. For example, A or B can represent: A alone, A and B simultaneously, and B alone. A and B can be singular or plural. Furthermore, in the description of the present invention, unless otherwise stated, "multiple" refers to two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items.

[0021] Furthermore, to facilitate a clear description of the technical solutions of the embodiments of the present invention, the terms "first" and "second" are used in the embodiments of the present invention to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0022] In this embodiment of the invention, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" or "for example" in this embodiment of the invention should not be construed as superior or more advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner for ease of understanding.

[0023] Many industrial processes involve systems with large time delays, such as superheated steam temperature systems, reheat steam temperature systems, and main steam pressure systems in coal-fired power plants. A "large time delay" refers to a significant delay required for the system to begin responding after a control action is applied. This characteristic is primarily caused by factors such as transmission delays, material or energy accumulation time, and the detection cycle of analytical instruments. The existence of large time delays poses a serious challenge to traditional control theory and is a classic and intractable problem in the field of industrial automation.

[0024] Traditional control strategies, especially the widely used PID controller, perform poorly with systems exhibiting large time delays. To address the shortcomings of PID controllers, researchers proposed the Smith predictor. It introduces a predictor model in parallel with the controlled process, internally calculating a "virtual output" of the system if no time delay were present. The controller adjusts based on this "virtual output," rather than the actual measured delayed output, thus theoretically completely compensating for the negative impact of time delays. However, the performance of the Smith predictor is highly dependent on the accuracy of the model. If the actual time delay or gain of the process does not match the model, the control performance will drop sharply, exhibiting poor robustness.

[0025] In view of this, on the one hand, embodiments of the present invention provide a control method for a large time-delay process system, including obtaining the current setpoint and current output value of the controlled object; calculating the output deviation of the controlled object based on the current setpoint and the current output value to obtain an output deviation value; calculating the control output value of the controller at the next moment based on the output deviation value using a preset algorithm; and adjusting the controller based on the control output value at the next moment.

[0026] The control method for a large time-delay process system provided in this invention obtains the current setpoint and current output value of the controlled object, calculates the output deviation value of the controlled object, then calculates the control output value of the controller at the next moment based on the output deviation value using a preset algorithm, and finally adjusts the controller based on the control output value at the next moment. This method can significantly improve the tracking and anti-interference capabilities of the large time-delay process system and can be widely used in control systems such as superheated steam temperature system, reheat steam temperature system, and main steam pressure system of coal-fired power units.

[0027] In some embodiments, the control method for a large time-delay process system provided by the present invention can be executed by any electronic device 20 with data processing capabilities, such as a general-purpose computer, personal computer, laptop computer, switch, or tablet computer, etc. The specific implementation of the electronic device 20 is not limited here.

[0028] Figure 1 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention is shown. The electronic device 20 includes a processor 210, a memory 220, and a communication interface 230.

[0029] Processor 210 may include one or more processing cores. Processor 210 connects to various parts within electronic device 20 using various interfaces and lines, and performs various functions and processes data of electronic device 20 by running or executing instructions, programs, code sets, or instruction sets stored in memory 220, and by calling data stored in memory 220. Optionally, processor 210 may be implemented using at least one of the following hardware forms: Central Processing Unit (CPU), Graphics Processing Unit (GPU), Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA).

[0030] The memory 220 may include random access memory (RAI) or read-only memory (ROI). Optionally, the memory 220 may include non-transitory computer-readable storage ledger. The memory 220 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 220 may include a stored program area. The stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as data processing functions, data storage functions, and display push functions), and instructions for implementing the various method embodiments described above.

[0031] The communication interface 230 is used to communicate with other devices, equipment, or communication networks, such as data storage devices, image processing devices, or Ethernet, wireless access networks (RAN), wireless local area networks (WLAN), etc.

[0032] In terms of physical implementation, the aforementioned devices (such as processor 210, memory 220, and communication interface 230) can each be devices within the same device (such as a laptop computer). Alternatively, at least two of these devices can be located within the same device, i.e., as different devices within a single device, similar to the deployment of devices or components in a distributed system.

[0033] It is understood that the structure illustrated in this embodiment does not constitute a specific limitation on the electronic device 20. In other embodiments of the present invention, the electronic device 20 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0034] The following description, in conjunction with the accompanying drawings, illustrates a control method for a large time-delay process system provided by an embodiment of the present invention.

[0035] like Figure 2 As shown, embodiments of the present invention provide a control method for a system with a large time delay, which may include, but is not limited to: Step S1: Obtain the current setpoint and current output value of the controlled object.

[0036] In specific implementation, the controlled object in the embodiments of the present invention may be, but is not limited to, objects such as steam temperature, pressure or flow rate in the superheated steam temperature system of a coal-fired unit that can be regulated by a controller.

[0037] In this embodiment of the invention, the current setpoint of the controlled object can be directly acquired from the large time-delay process system. The current output value of the controlled object can be obtained, but is not limited to, through conventional detection devices such as temperature sensors, pressure sensors, and flow meters. The appropriate detection device is selected based on the specific controlled object, and the specific signal of the detection device is selected according to actual needs, without limitation here.

[0038] Step S2: Calculate the output deviation of the controlled object based on the current set value and the current output value to obtain the output deviation value.

[0039] In specific implementation, the current set value of the controlled object in this embodiment of the invention is The current output value is The output deviation value is calculated using the following formula: .

[0040] Step S3: Based on the output deviation value, calculate the control output value of the controller at the next moment using a preset algorithm.

[0041] In one feasible implementation, the step of calculating the next control output value of the controller based on the output deviation value using a preset algorithm in this embodiment of the invention may include, but is not limited to: Based on the output deviation value, the initial value of the controller output at the next moment is calculated using an integral algorithm; The initial value of the control output at the next moment is optimized using a differential algorithm to obtain the control output value at the next moment.

[0042] Specifically, embodiments of the present invention may, but are not limited to, calculate the initial value of the controller output at the next moment using the following integral algorithm: ; in, This represents the output deviation value. Indicates magnification factor. Represents the first time constant. Represents the natural constant. This represents a differential operator.

[0043] Embodiments of the present invention may, but are not limited to, use the following differential algorithm to calculate the initial control value for the next time step: ; in, This represents the second time constant.

[0044] In the specific implementation process, the natural constants in the embodiments of the present invention and differential operators Depending on the controlled object, the corresponding natural constant and differential operator are selected, and the amplification factor in this embodiment of the invention is... First time constant Second time constant The value can be obtained through simulation debugging, where The larger the value, the more likely it is to cause oscillations in systems with large time delays, and vice versa; The larger the value, the weaker the ability to eliminate errors, and vice versa; The larger the value, the faster the response speed, and vice versa.

[0045] Step S4: Adjust the controller according to the control output value at the next moment.

[0046] In one feasible implementation, the method of adjusting the controller according to the control output value at the next moment in this embodiment of the invention may include, but is not limited to: Obtain the current control output value of the controller; The controller is adjusted based on the difference between the control output value at the next moment and the current control output value.

[0047] Control Experiment 1: The control method for the large time-delay process system provided in the embodiments of the present invention is compared with PI control and active disturbance rejection control in a comparative experiment. The control method in the embodiments of the present invention... , and The values ​​are respectively , and The parameters for PI control are as follows: and The parameters for active disturbance rejection control are as follows: , and , to obtain Figure 3 The results are shown. During the simulation, the setpoint jumps from 0 to 1.5 at 50 seconds, and an input disturbance with an amplitude of 1 is added at 2500 seconds. The thin solid line, thick dashed line, thick dotted line, and thick solid line represent the setpoint, PI, active disturbance rejection control, and the control method for the large time-delay process system provided in this embodiment of the invention, respectively. As can be seen from the figure, the control method for the large time-delay process system provided in this embodiment of the invention has outstanding performance in setpoint tracking and anti-interference capability.

[0048] Comparative Experiment 2: Keeping the controller parameters unchanged, the amplification factor and time constant in this embodiment of the invention are randomly perturbed within ±10% of their original values, and this process is repeated. Figure 3The simulation results were run 200 times, and the tracking performance was calculated for each run. and anti-interference performance The calculation formula is as follows: ; ; Get as Figure 4 The results are shown.

[0049] and The smaller the value, the better the control performance, and vice versa. and A more concentrated distribution means a more robust controller and a stronger ability to cope with system uncertainties, and vice versa. Figure 4 It can be seen that the control method for the large time-delay process system provided in the embodiments of the present invention has the strongest robustness, the strongest ability to cope with the uncertainty of the system, and has great potential for practical application.

[0050] Based on the two sets of comparative experiments above, it can be seen that the control method for large time-delay process systems provided in this embodiment of the invention obtains the current setpoint and current output value of the controlled object, calculates the output deviation value of the controlled object, then calculates the control output value of the controller at the next moment based on the output deviation value using a preset algorithm, and finally regulates the controller based on the control output value at the next moment. This method can significantly improve the tracking and anti-interference capabilities of large time-delay process systems and can be widely used in control systems such as superheated steam temperature systems, reheat steam temperature systems, and main steam pressure systems of coal-fired power units.

[0051] Based on the control method for a large time-delay process system provided in the first aspect, embodiments of the present invention provide a control system for a large time-delay process system, such as... Figure 5 As shown, the control system includes: The acquisition module 110 is used to acquire the current setpoint and current output value of the controlled object; The deviation calculation module 120 is used to calculate the output deviation of the controlled object based on the current set value and the current output value, and obtain the output deviation value. The output quantization module 130 is used to calculate the control output value of the controller at the next moment based on the output deviation value using a preset algorithm. The control module 140 is used to adjust the controller according to the control output value at the next moment.

[0052] In one feasible implementation, the output quantization module in this embodiment of the invention includes: An integral module is used to calculate the initial value of the controller output at the next moment based on the output deviation value using an integral algorithm. The differential module is used to optimize the initial value of the control output at the next moment using a differential algorithm to obtain the control output value at the next moment.

[0053] In specific implementation, the integration module in this embodiment of the invention is used to calculate the initial value of the controller's control output at the next moment based on the output deviation value using the following integration algorithm: ; in, This represents the output deviation value. Indicates magnification factor. Represents the first time constant. Represents the natural constant. This represents a differential operator.

[0054] In specific implementation, the differential module in this embodiment of the invention is used to optimize the initial value of the control output at the next moment using the following differential algorithm to obtain the control output value at the next moment: ; in, This represents the second time constant.

[0055] Based on the control method for a large time-delay process system provided in the first aspect, this embodiment of the invention also provides a storage medium storing a computer-executable program. The computer-executable program is used to cause a computer to execute the control method for the large time-delay process system as described in any implementation of the first aspect. Explanations of the relevant content and descriptions of the beneficial effects of any of the computer-readable storage media provided above can be found in the corresponding embodiments described above, and will not be repeated here.

[0056] Those skilled in the art will understand that the program for implementing all or part of the steps of the above embodiments, which can be executed by a program instructing related hardware, can be stored in a computer-readable storage medium. The storage medium mentioned above can be a read-only memory, a random access memory, etc. The processing unit or processor mentioned above can be a central processing unit, a general-purpose processor, an application-specific integrated circuit (ASIC), a microprocessor (DSP), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof.

[0057] This invention also provides a computer program product containing instructions that, when executed on a computer, cause the computer to perform any of the methods described in the above embodiments. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this invention is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., SSD), etc.

[0058] It should be noted that the devices for storing computer instructions or computer programs provided in the embodiments of the present invention, such as, but not limited to, the aforementioned memory, computer-readable storage medium, and communication chip, are all non-transitory. Those skilled in the art should recognize that the functions described in the embodiments of the present invention in one or more of the above examples can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable storage medium or transmitted as one or more instructions or code on a computer-readable storage medium. Computer-readable storage media include computer storage media and communication media, wherein communication media include any medium that facilitates the transmission of computer programs from one place to another. Storage media can be any available medium accessible to general-purpose or special-purpose computers.

[0059] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A control method for a system with a large time delay, characterized in that, include: Obtain the current setpoint and current output value of the controlled object; Calculate the output deviation of the controlled object based on the current set value and the current output value to obtain the output deviation value; Based on the output deviation value, the control output value of the controller at the next moment is calculated using a preset algorithm; The controller is adjusted according to the control output value at the next moment.

2. The control method for a large time-delay process system according to claim 1, characterized in that, The step of calculating the control output value of the controller at the next moment using a preset algorithm based on the output deviation value includes: Based on the output deviation value, the initial value of the controller output at the next moment is calculated using an integral algorithm; The initial value of the control output at the next moment is optimized using a differential algorithm to obtain the control output value at the next moment.

3. The control method for a large time-delay process system according to claim 2, characterized in that, The step of calculating the initial value of the controller output at the next moment using an integral algorithm based on the output deviation value includes: The initial value of the controller output at the next moment is calculated using the following integral algorithm: ； in, This represents the output deviation value. Indicates magnification factor. Represents the first time constant. Represents the natural constant. This represents a differential operator.

4. The control method for a large time-delay process system according to claim 3, characterized in that, The step of optimizing the initial value of the control output at the next time step using a differential algorithm to obtain the control output value at the next time step includes: The initial value of the control output at the next time step is optimized using the following differential algorithm to obtain the control output value at the next time step: ； in, This represents the second time constant.

5. The control method for a large time-delay process system according to claim 1, characterized in that, The step of adjusting the controller according to the control output value at the next moment includes: Obtain the current control output value of the controller; The controller is adjusted based on the difference between the control output value at the next moment and the current control output value.

6. A control system for a large time-delay process system, characterized in that, include: The acquisition module is used to acquire the current setpoint and current output value of the controlled object; The deviation calculation module is used to calculate the output deviation of the controlled object based on the current set value and the current output value, and obtain the output deviation value; The output quantization module is used to calculate the control output value of the controller at the next moment based on the output deviation value using a preset algorithm. The control module is used to adjust the controller according to the control output value at the next moment.

7. The control system for a large time-delay process system according to claim 6, characterized in that, The output quantization module includes: An integral module is used to calculate the initial value of the controller output at the next moment based on the output deviation value using an integral algorithm. The differential module is used to optimize the initial value of the control output at the next moment using a differential algorithm to obtain the control output value at the next moment.

8. The control system for a large time-delay process system according to claim 7, characterized in that, The integration module is used to calculate the initial value of the controller output at the next moment based on the output deviation value using the following integration algorithm: ； in, This represents the output deviation value. Indicates magnification factor. Represents the first time constant. Represents the natural constant. This represents a differential operator.

9. The control system for a large time-delay process system according to claim 8, characterized in that, The differential module is used to optimize the initial value of the control output at the next time step using the following differential algorithm to obtain the control output value at the next time step: ； in, This represents the second time constant.

10. An electronic device, characterized in that, include: A memory, one or more processors; the memory is coupled to the processors; wherein the memory stores computer program code, the computer program code including computer instructions, which, when executed by the processor, cause the electronic device to perform the control method for a large time-delay process system as described in any one of claims 1 to 5.

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