CN100541376C - Leading-hysteresis the input filter arrangement that is used for the electro-pneumatic control loop - Google Patents
Leading-hysteresis the input filter arrangement that is used for the electro-pneumatic control loop Download PDFInfo
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- CN100541376C CN100541376C CNB200580025123XA CN200580025123A CN100541376C CN 100541376 C CN100541376 C CN 100541376C CN B200580025123X A CNB200580025123X A CN B200580025123XA CN 200580025123 A CN200580025123 A CN 200580025123A CN 100541376 C CN100541376 C CN 100541376C
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Abstract
Control loop (40) such as electro-pneumatic control loop or other logical processes, has the leading-hysteresis input filter (20) that is connected to its input end, benchmark control signal (10) such as 4～20 milliamperes of set point signal that generate by process controller or user interface or control signal, be applied to the input end that is operated in the leading-hysteresis input filter (20) under the described reference signal (can be fixed point or other control signals), so that being provided, filtering output (50) (being also referred to as travel set point signal) give the totalizer (30) relevant with electro-pneumatic control loop (40), totalizer (30) compares valve travel and travel set point signal (50) with the generated error signal, and this error signal is provided to amplifier or the gain unit (90) (being called forward path gain unit) that applies gain K.The output of forward path gain unit 90 offers another totalizer (94), and totalizer (94) adds that in the output of forward path gain unit (90) (in this case for deducting) is by the velocity feedback gain of gain unit (95) generation and the minor loop feedback gain that is generated by gain unit (105).
Description
Quoting of related application
With regard to disclosed used common theme, this paper enjoys in the U.S. Provisional Application No.60/620 that submitted on October 20th, 2004, and 537 and the U.S. Provisional Application No.60/652 that submits on February 14th, 2005,546 applying date rights and interests.
Technical field
This paper is usually directed to be used in the servo controller field in the logical process or in the control loop, and more specifically, relates to enhancing electro-pneumatic control loop or other logical processes to improve the performance of operation valve and pneumatic actuator annex.
Background technology
Electro-pneumatic control systems is applied to the process control equipment such as valve actuator and piston actuator more and more, so that better or more preferably control the fluid in the processing factory.Some this electro-pneumatic control systems comprises the one or more annexes that are used for operation valve and piston actuator, for example, and volume booster (volume booster) and rapid escape valve (QEV).Volume booster is typically connected to the pneumatic actuator of valve, improves the speed that air supplies to pneumatic actuator, or improves the speed that air discharges from pneumatic actuator.The air movement of this acceleration has increased the impact velocity of actuator, thereby improved actuator valve plug is opened or closed the speed that the position of making a noise is impacted towards its dozen, thereby makes valve can more quickly respond to process variation.Be similar to volume booster, QEV increased actuator with valve towards beating the speed that the position of making a noise is impacted that opens or closes.
Current, volume booster is used in combination with pneumatic actuator in such a way, that is, make actuator response change and carry out moving very slowly in very little fixed point or control signal.Particularly, some volume booster is designed to have built-in dead band, becomes activation so that prevent volume booster in response to the control signal that slightly changes.Though some volume booster has little dead band at range of signal more by a narrow margin, these volume booster still change and move very lentamente in response to small size signal, only but become in response to input signal more significantly and fast moving.
Description of drawings
Fig. 1 is the block diagram that has increased the electro-pneumatic control systems of leading-hysteresis input filter;
Fig. 2 is by the exemplary screen displays that user interface routine generated such as the electro-pneumatic control systems that schematically shows among Fig. 1, it illustrates the travel set point of drawing with respect to the time, with leading when being connected-during the hysteresis input filter with respect to the time draw in advance-the hysteresis input filter responds;
Fig. 3 is by the exemplary screen displays that user interface routine generated such as the electro-pneumatic control systems that schematically shows among Fig. 1, it illustrates the travel set point of drawing with respect to the time, with-leading-hysteresis input filter response of during hysteresis input filter with respect to time drawing leading when not being connected;
Fig. 4 is the exemplary screen displays of menu, and this menu makes the user can be that leading-hysteresis input filter of control loop selects driving source, but and can be in data input domain time spent input value therein;
Fig. 5 is the process flow diagram that illustrates performed operation and shown information, and wherein shown information is the result of the various inputs in the user interface of electro-pneumatic control systems;
Fig. 6 is the process flow diagram of state that illustrates the various input controls of the user interface of selecting in response to concrete filter type; With
Fig. 7 is the exemplary screen displays of menu, and this menu can be selected the user in various instrument control setting, comprises selecting to be provided with " remote tuning ".
Embodiment
Usually, in advance-the hysteresis input filter is placed in before the positioner feedback loop that combines one or more valve annexes such as volume booster or QEV, in order to overcome when receive that described annex is stood when changing control or set point signal by a narrow margin slowly dynamically.In addition, user interface makes operator or other control personnel can check and change in advance-operating characteristic of hysteresis input filter, thereby provides any response characteristic in several desirable response characteristics to control loop.Leading-lag ratios of-hysteresis input filter leading by controlling, the displacement of may command such as valve rod or the procedure parameter the stroke, but these controlled variable of fine tuning specifically.
Fig. 1 illustrates control loop 40, and for example electro-pneumatic control loop or other logical processes, this control loop 40 have the leading-hysteresis input filter 20 that is connected to its input end.Particularly, the benchmark control signal, for example by set point signal or the control signal of process controller or 4～20 milliamperes (mA) that user interface generated, be applied in the input end that is operated in the leading-hysteresis input filter 20 under the described reference signal (can be fixed point or other control signals), thereby will be provided to the totalizer 30 that is associated with electro-pneumatic control loop 40 through the output 50 (being also referred to as travel set point signal) of filtering.As shown in fig. 1, totalizer 30 compares valve travel and travel set point signal 50 with the generated error signal, and this error signal is provided to amplifier or the gain unit 90 (being called forward path gain unit) that applies gain K.The output of forward path gain unit 90 is provided to another totalizer 94, totalizer 94 adds that in the output of forward path gain unit 90 (in this case, for deducting) is by the velocity feedback gain of gain unit 95 generations and minor loop (minor loop) feedback gain that is generated by gain unit 105.The output 110 of totalizer 94 offers electric current pressure (I/P) transducer 80, I/P transducer 80 generate and provide pneumatic or pressure signal to pneumatic relay 85.As shown in fig. 1, the measured value 100 of relay position is provided to gain unit 105, is used to generate the minor loop feedback gain.
The pneumatic output of substitute 85 is provided to volume booster or QEV 65.This pneumatic singal is used to control the valve actuator of the actuator 55 related with valve 60.As shown in fig. 1, measured valve plug valve travel, or the position of the valve rod related with valve plug are provided to totalizer 30, so that compare with travel set point signal, and are provided to velocity feedback gain unit 95 with the formation speed feedback gain.Use at least one sensor (not shown) to detect the measured valve plug valve travel or the position of valve rod.
Usually, the transport function and the operation of leading-hysteresis input filter 20 can be disposed by user interface 107.Particularly, each parameter of-hysteresis input filter 20 leading by adjusting, the technician can long-range adjustment travel set point signal 50, driving pneumatic actuator 55 and operation valve 60, or drives other equipment by 40 controls of electro-pneumatic control loop.User interface 107 can from away from or the position that is close to control loop 40 electro-pneumatic control loop 40 is carried out remote monitoring, controls or communicates with.
In operating process, leading-hysteresis input filter 20 usually will any step in the reference signal 10 that is received changes begins to locate to provide amplitude greatly but the duration spike of lacking, and this makes valve 60 move with less step.In addition, in filter response, provide quick attenuation rate (being equivalent to little retardation time) to alleviate overtravel than large stepped.
Though dcs (DCS) is upgraded with 1 hertz of (Hz) magnitude or slower frequency usually, but steady arm (being in the control loop 40) can be with 100Hz or frequency renewal faster.Consequently, by leading-response time that hysteresis input filter 20 is provided of connecting with described steady arm, can be in the magnitude of 100 microseconds (ms), it is more faster than the response time that the control of DCS dynamically can provide alone.
In addition, leading-hysteresis input filter 20 can provide and prevent to overdrive the valve plug of valve 60 in the valve seat or the intrinsic protection in the up stroke retainer.Particularly, owing to can in wave filter 20, implement algorithm or control routine or with algorithm or control routine a part as wave filter 20, with the response valve of contiguous valve seat or travel stop of pruning, thus can prevent leading-hysteresis input filter 20 with the valve plug bullet of valve 60 from valve seat or up stroke retainer.
Further, as understanding according to Fig. 2 and Fig. 3, can use user interface 107 easily to adjust the operating characteristic of leading-hysteresis input filters 20, but this user interface 107 can be stored in the computing machine and with mode of operation and is connected to control loop 40 and one or more display screen.Usually need control algolithm complicated and highly customization with the control procedure loop because many uses have the process of the big actuator of complicated accessory structure, therefore, the operator is difficult to the modification process controller by increasing dynamically usually in control routine.As an alternative, the operator more is willing to be intended to influence on the valve rank or change dynamically usually.In advance-and hysteresis input filter 20 can be made amendment dynamically with the change process in valve rank or loop rank, and this provides this kind control for the operator.
As shown in fig. 1, leading-hysteresis input filter 20 preferred combination user interfaces 107 realize that user interface 107 for example has the computer program of user-friendly real-time graph.But one or more equipment or assembly in one or more routines of communicating by letter with user interface 107 with mode of operation and one or more processor, leading-hysteresis input filter 20 and the control loop 40 can be used for realizing function disclosed herein and feature.
Preferably, but and not necessarily, described GUI can use patterned structure and the outward appearance of knowing based on form, wherein, the a plurality of graphical views that interlink or the page comprise one or more drop-down menus, the user is surveyed in the mode of wanting look at these pages, thereby check and/or retrieve the information of particular type.The feature of user interface 107 described herein and/or performance can be by GUI the one or more corresponding page, view or show and represent, visit and call etc.In addition, the various demonstrations that constitute described GUI can interlink according to logical course, so that the user browses described demonstration rapidly and intuitively, with the information of retrieval particular type or the particular characteristic of visit and/or invoke user interface 107 and leading-hysteresis input filter 20.
The example of this GUI represents in demonstration 120 as shown in Figure 2 usually.As shown in Figure 2, show that 120 graphically show wave filter output or travel set point signal 50 and adopt position feedback such as the data of being gathered from actuator feedback signal 70 or relay position feedback signal 100.Feedback signal 70,100 changes in response to the variation of its relevant procedure parameter proportionally, described in this case procedure parameter is the position of actuator 55 or substitute 85, therefore, the variation in the feedback signal 70,100 that graphically illustrates provides the accurate indication of the actual change of stem position.This real-time graph allows operation valve 60 is carried out remote tuning and quantifiable result is provided.In addition, owing to carry out remote tuning, avoided single operation valve is carried out the physical maintenance visit, thereby significantly reduced maintenance cost by 107 pairs of operation valve loops of user interface.
Have one or more terminals, be used for the pulpit at calling party interface 107, can be arranged to be close to geographically and treat controlled valve or place, loop.Replacedly, also can use satellite communication, telephone line, coaxial cable, Ethernet, fiber optic cables connection, LAN (Local Area Network), internet or other long haul communication technology, with provide geographically away from the position on to the remote access of user interface 107.The center control device can be set, in this facility, have one or more terminals to be used to visit and have the leading-valve of hysteresis input filter 70 or user interface 107 that the loop is associated, and described valve or loop are arranged in a plurality of places away from described center control device.As inciting somebody to action more detailed description hereinafter, the line that user interface 107 provides makes operator or technician can predict or check filter response when having selected specific the setting for various user's adjustable parameters of leading-hysteresis input filter 20.
Though when signal or data are transmitted by the combination of a kind of communication technology or the various communication technologys, when especially growing Distance Transmission, there is inherent delay, if maybe can calculate or determine but the degree that postpones is known, then can adopt user interface 107 to adjust this delay in some way.For example, user interface 107 can to user or operator provide in advance-user's adjustable parameter of hysteresis input filter 20 specifically adjusts the execution option of setting, user or operator have used the response performance of the prediction of user interface 107 that described user's adjustable parameter is drawn in advance, and this will be discussed in greater detail hereinafter.If being provided with, new adjustment will be applied to valve or loop at a distance the selected time user or operator, then user interface 107 can count described delay in the calculating of sequential, thereby actual signal is sent to the leading-hysteresis input filter 20 in particular valve or loop.For example,, user or operator carry out if wanting new adjustment is arranged in 10 seconds, and known or calculate 0.5 second delay, then in 9.5 seconds, actual signal is sent in advance-hysteresis input filter 20.This supposition user or operator receive in real time and show to relate to has increased the leading-working control valve of hysteresis input filter 20 or output of the wave filter in loop and travel feedback data.
If be used to control the CALCULATION OF PARAMETERS machine software program that is associated with operation valve, for example the Fei Sheer from Emerson process management company controls the obtainable AMS of branch
Software program, then user interface 107 can be set to that showing in real time controls oneself has adopted the leading-operation valve of hysteresis input filter 20 or output of the wave filter of other equipment and travel feedback data.Can also show other data, for example, the reference signal of described equipment.For example, shown in figure among Fig. 2 130, user interface 107 can be drawn real-time travel set point (" Tv1 Set Pt ") and travel feedback data (" Tv1 ") on GUI, they show with number percent (%) with respect to the time, thereby make the operator can easily check the response that operation valve changes reference signal.
The improved control of using leading-hysteresis input filter 20 by a narrow margin and realizing, can compare by the line 135 shown in the figure 140 that will show among the line 130 shown in the graphical demonstration 120 and Fig. 3 shown in Fig. 2 and realize, wherein, that line 130 reflection is connected with is leading-travel set point 50 of being gathered during hysteresis input filter 20 and the real time data of travel feedback 70, line 135 is reflected in closes after the time mark 0:02:12 or disconnects and connect the leading-data of being gathered during hysteresis input filter 20, wherein, the time that shows on the transverse axis of this line with hour, branch and second are unit.At this, what can find out is, if leading-hysteresis input filter 20 not, then since the simple step of travel set point (benchmark) signal change that the response that causes valve 60 worsens and be slow.Real-time graph shown in Fig. 2 and Fig. 3, if given sensitivity and the complicacy relevant with the valve actuation attitude, even then by a narrow margin down, also be particularly conducive to tuning leading-hysteresis input filter 20.
Once more referring to Fig. 2, for easy operating, with in advance-tuning coefficient that hysteresis input filter 20 is relevant, can use filter response line 150 and be presented in the demonstration 120 of user interface routine.In addition, be relevant to the tuning coefficient (and transport function) of leading-hysteresis input filter 20, can use the figured one or more virtual interface controls 200 that in Fig. 2, are shown as slide block 210,220 and 230 to change.Control operation person or technician for example can use the computer entry device (not shown) to control slide block 210,220 and 230, thereby change the transport function of leading-hysteresis input filter 20 or dynamically, wherein said computer entry device can be: trace ball, keyboard, touch screen monitor, voice activation device or handwriting pad.Certainly, these listed computer entry devices only are used for example, also can use other input equipments to control slide block 210,220 and 230.And alternately, virtual interface controller 200 can graphically present by for example index dial (not shown) or other figures.In addition, as shown in Figure 2, left zone 205,207 and 209 in slide block 210,220 and 230, can will show with digital form by slide block 210,220 and 230 selected filter coefficients or ratio, show the button 214 and 216 shown in 120 the appointed area 212 and be presented at, can be used for using Set For Current or reset the Set For Current of leading-hysteresis input filter 20.
Retardation time, filter coefficient 205 effective value comprised the value in 0.00 (it causes described filter by-pass) and 0.10-10.00 scope second.Preferably, filter coefficient 205 scope was presented at logarithmic scale and showed on 120 the line 130 retardation time, and wherein most of retardation time, filter coefficient was selected in 0.10-2.00 scope second.
At leading time and the ratio of retardation time and the effective value of the ratio of leading time on closing direction 209 and retardation time opened on the direction 207, in the scope of 0.0-2.0, it shows with linear graduation in demonstration 120.
As shown in Figure 2, slide block 210 is adjusted the retardation time of having determined the filter response attenuation rate.Retardation time is long more, and it is just slow more that then leading-hysteresis input filter 20 returns its output to reference signal 10.The slide block 220 of Fig. 2 is adjusted at leading time of opening on the direction and the ratio of retardation time.The slide block 230 of Fig. 2 is adjusted at leading time on the closing direction and the ratio of retardation time.This ratio is determined the initial response of leading-hysteresis input filter 20.As implied above, leading-hysteresis input filter 20 is set to provide at travel set point 50 places amplitude big but spike that the duration is short usually, and it allows valve 60 to move with less step.Attenuation rate (being equivalent to little retardation time) has also alleviated the overtravel than large stepped fast, this be because, valve 60 tends to revolution, thus make filter response before valve 60 is near fixed point with regard to complete attenuation.
In addition, filter response graph 150 (Fig. 2) provides a kind of like this ability for operator or technician, that is, when having selected concrete the setting, can predict or check filter response for different user's adjustable parameters (for example ratio in retardation time and retardation time and leading time).The filter response graph 150 of Fig. 2 illustrate with the parameter change application in advance-change leading-hysteresis input filter 20 responses of being predicted for unit step before the hysteresis input filter 20, thereby make operator or technician can to control system dynamically carry out actual adjustment before check the graph-based of the filter response of prediction.Like this, have virtual leading-lag ratios that the operator can control, to generate the response with the prediction of Be Controlled or tuning procedure parameter, the response of described prediction is displayed in the demonstration that is relevant to user interface 107.Similar filter response graph 155 has shown the response when leading-hysteresis input filter 20 cuts out or disconnect connection among Fig. 3.
In addition, the operator can use user interface among Fig. 2 to show that the selector button in the zone 228 is provided with the leading-hysteresis input filter 20 that will be closed or disconnect connection in 120, only to adjust the hysteresis and the lead-lag ratio of hysteresis composition, adjustment or selective filter response in the described response, perhaps enable asymmetrical lead-lag ratio, promptly, coefficient retardation time that has non-zero, and be different from leading time on closing direction and the ratio of retardation time at the coefficient of the ratio of opening leading time on the direction and retardation time.When retardation time coefficient be zero and also have a non-zero but identical leading time and retardation time during the coefficient of ratio leading-to lag behind dynamically is symmetrical.
But by being shown in data storage that collect and that dope in the line 130,150 in the buffer or readable memory that are connected to computing machine with mode of operation, can line 130,150 be suspended, refund and reset for handled easily person or technician, perhaps be used for following quality control, high-level efficiency and the purpose of optimizing, teaching purpose, observe purpose or other purposes of system.
Can use such as the above-mentioned listed computer entry device that is fit to and control control gear, to be controlled at stand-by period section or the delay between response of describing in the filter response graph 150 that dopes and the setting of truly the using, thereby realize that described control gear for example is shown in button 310,315,320 and the slide block 330 of demonstration 120 tops graphically to illustrate of user interface 107 for dynamic actual adjustment of control system.If the operator determines, to come the specific adjusted that tuning coefficient is carried out or the predicated response of a series of adjustment be not desired result by controlling one or more virtual interface controls 200, then the operator can control represented buttons 310,315,320 or slide block 330, to increase described stand-by period section, and readjust described tuning coefficient, up in filter response graph 150, demonstrating desired result, thereby prevented that unwanted results from appearing in the actual true control system.
Technician or operator can select to show other represented buttons 335,340,345,350,355 and 360 on 120, carry out other operations, for example print.
User interface allows to realize being used for by outside (for example passing through DCS) or " inside " excitation of tuning valve 60, described " inside " be meant by such as
The computer software programs that are configured to digital step order is sent to steady arm.When using external drive, the user controls 4～20 milliamperes of input signals, and valve correspondingly responds.In addition, lead-lag input filter 20 can directly realize in the equipment such as valve positioner, perhaps realizes in the dcs that is connected to such as the equipment of controller.Usually, lead-lag input filter 20 can be embodied as digital control program or the routine that is stored in the computer-readable memory and is carried out by processor, but also can be embodied as analog filter.
Can be for user interface 107 provide option screen, it allows the user easily to select external drive or internal motivation.When selecting external drive, the operator has changed at least one tuning coefficient relevant with the lead-lag input filter for the adjustment of adjustable interface controls, thereby causes the modification to the benchmark control signal.When selecting internal motivation, adjustable interface controls is forbidden at least in part, thereby makes the interface control of forbidding no longer change the tuning coefficient relevant with the lead-lag input filter.As an alternative, the tuning coefficient of lead-lag input filter is modified in response to controller, and described controller comprises and is suitable for causing for the benchmark control signal and is scheduled to the programming revised.
For example, as shown in Figure 4, provide a kind of menu, the user can therefrom select " external drive " or can be understood that is " ValveLink encourages (square wave) " of internal motivation.Select internal stimulus option to make the user numerical value can be input to data input domain " nominal fixed point (%) ", " step length (%) " and " step retention time (second) ".When selecting " external drive ", then these data input domains are disabled.When selecting internal stimulus option, described program can be configured to insert initial default value automatically in the data input domain, and is for example, as follows:
The data input domain
Default value
Nominal fixed point 50%
Step length 15%
8 seconds step retention times
Fig. 5 has been graphic representation through carrying out and be presented at the process flow diagram of the result on the user interface, and described result depends on selection external drive or internal motivation.Preferably, before the running of initialization operation valve, show alert message or other warnings, to remind the user, under the situation of selecting external drive, valve will be followed the tracks of fixed point, and under the situation of selecting internal motivation, internal motivation will cause valve to move.If the selection internal motivation, then preferably, before initialization step sequence, fixed-point value is raised to the nominal fixed-point value of being imported obliquely with the speed of per second 10%.
The process flow diagram of the state of the different input controls of user interface during response particular filter type selection that Fig. 6 has been graphic representation.For example, when selecting asymmetric lead-lag input filter type, user interface is configured to enable the user interface controls to controlling retardation time.User interface also is configured to enable user interface controls that the lead-lag ratio of opening and the lead-lag ratio of closing are controlled.On the contrary, if select symmetry or simple lead-lag input filter, then in the data input domain of user interface, provide initial value from database to the lead-lag ratio of opening, user interface is configured to enable user interface controls that retardation time and the lead-lag ratio opened are controlled, but the user interface controls that forbidding is provided with the lead-lag ratio of closing.
Further, as implied above, can provide that the lead-lag input filter is dynamic resets automatically to wave filter 20, with prevent wave filter 20 on part or under by mistake activated.Particularly, lead-lag input filter 20 can have undesirable ability in some cases, and the valve plug bullet of valve 60 disseated or bullet from travel stop.This is a problem of difficulty especially because steady arm has built-in stroke usually by part, when fixed point near 0% or 100% the time, described stroke makes I/P transducer 80 saturated fully by part.For Fei Sheer (Fisher) DVC6000 Digital Valve Controller, set up stroke by part by using 0.5～99.5% default value, the relevant issues of lead-lag input filter have been avoided in the high or low scope of valve, using, this means, if reference signal or fixed point are lower than 0.5% or be higher than 99.5%, then with the servo controller bypass, and I/P transducer 80 is saturated or be discharged in the atmosphere with full supply, and this depends on required state of saturation.Consequently, in normal chokes operating periods, lead-lag input filter 20 should not start by part.
The computer program code that the pseudo-computer programming code that provides has below been demonstrated exemplary realizes that it can be used for guaranteeing preventing that with lead-lag input filter 20 controllers relevant or that carry out lead-lag input filter 20 startup from ending.In this case, if the output of wave filter 20 exceeds near the predetermined limits of cutoff, for example 0.5% or 99.5%, can certainly use other values, then lead-lag input filter 20 dynamically is reset by bypass and its.
∥------------------------------
∥Begin?lead-lag?filter
∥------------------------------
∥---Prefilter?stage---
If((r＞＝filter_limit_high)‖(r＜＝filter_limit_low)‖(lag_time＝＝0.0))
{
x＝r；∥bypass?filter?when?in?or?near?cutoffs
}
else ∥---Filter?stage---
{
x＝a*(r_old-x_old)+x_old+b*(r-r_old)；
∥check?filter?output?to?make?sure?we?do?not?bump?into?cutoffs
If(x＞＝filter_limit_high)
x＝filter_limit_high；
else?if(x＜＝filter_limit_low)
x＝filter_limit_low；
}
∥---Postfilter?stage---
x_old＝x；∥update?old?values
r_old＝r；
∥------------------------------
∥End?lead-lag?filter
∥------------------------------
In one embodiment, lead-lag input filter 20 can be realized by four executing states or stage, comprises the pre-filtering stage, filtering stage, back filtering stage and starting condition stage.Whether in the pre-filtering stage, wave filter 20 checks determining whether reference signal 10 is higher than preset upper limit, whether is lower than predetermined lower limit, or wave filter 20 Close All.When reference signal 10 is higher than the predetermined upper limit or is lower than predetermined lower bound when disconnecting (perhaps wave filter 20 cuts out fully or) by user interface, 20 bypasses of lead-lag input filter are to the processing of reference signal, and replace the input end 30 that reference signal 10 directly is provided to servo loop.As implied above, preferably, preset upper limit and lower limit are provided so that the output of lead-lag input filter 20 will can not start to be ended, or in actuator rigid braking takes place.
Below pseudo-computer programming code a kind of mode of having demonstrated, wherein, the upper and lower bound that the controller relevant with lead-lag input filter 20 can be programmed to wave filter is set to desired threshold level:
Filter_limit_high＝min((ivp_cutoff_high-high_cutoff_deadband)，
(100％-high_cutoff_deadband))
Filter_limit_low＝max((ivp_cutoff_low-low_cutoff_deadband)，
(0％+low_cutoff_deadband))
These limits can be calculated in firmware, and can whenever input characteristics, low stroke by or the high-stroke cutoff calculate when changing.In addition, owing to end the downstream that Processing Algorithm is in the feature device, therefore, these limits make that by inverse characteristic (with x, the counter-rotating of the data vector of y) limit after the characterization is lower than cutoff threshold.
At filtering stage, leading-hysteresis input filter 20 work are the discrete time filter of standard.Usually, in advance-hysteresis input filter 20 can be represented as has two coefficients " a " and " b ".Coefficient " a " is the coefficient about the hysteresis composition, and coefficient " b " is the coefficient about the ratio of leading time and retardation time, but its formulate is τ
Lead/ τ
LagFor prevent lead-lag input filter 20 activate by or rigid stroke braking takes place, preferably, the output of wave filter 20 be reset in the pre-filtering stage employed identical on value and time value.In filtering stage or state, wave filter 20 is applied to reference signal in any mode known or expectation with filter coefficient (ratio), thereby creates filtered input signal for servo loop.
In the filtering stage of back, based on from user interface or from the new input of servo loop, be used for the value that wave filter calculates before upgrading.At last, in the starting condition stage, the starting condition of leading-hysteresis input filter 20 is set to existing input reference, and the described starting condition stage occurs in for example when device start.Certainly, for non-linear in pneumatic provides counter-rotating dynamically, can at operation valve 60 open direction and closing direction is adjusted filter coefficient independently.
In a preferred embodiment, the result of leading-hysteresis input filter 20, that is, and the influence of leading-hysteresis input filter 20 on fixed point or valve input signal, given by following formula:
(τ
1s+1)/(τ
2s+1)
By adjusting τ
1And τ
2Value, can change described ratio, thereby realize certain combination of pure hysteresis, pure leading or lead and lag.When being applied to operation valve, ratio and leading-hysteresis input filter are relevant with the amount of the overtravel that provides as a result for these.Like this, under the scene of different valve performances, the operator can use user interface 107 to adjust described ratio to realize desired change.For example, produce pure hysteresis if expect leading-hysteresis input filter 20, then with τ
1S is set to zero and produces a result: 1/ (τ
2S+1).In control loop, when in advance-when hysteresis input filter 20 produced pure hysteresiss, error prone was in zero.Consequently, have the position of the control valve rod of leading-hysteresis input filter 20, or other controlled process variablees, will be to travel set point 50 creeps.
If it is pure leading to wish that leading-hysteresis input filter 20 produces, then with τ
2S is set to zero and produces a result: (τ
1S+1)/1.In control loop, like this will be by before occurring in error its correction being provided the control of expectation.When drawing, the operator of user interface 107 will see the positive phase relevant with controlled member.
As long as lead-lag ratio is greater than 1.0, then initial advanced acknowledge will be dominant.If lead-lag ratio is 2.0, then there is 2.0 initial advanced acknowledge; Consequently, before error is propagated by control circuit, just substantially reduced any correction of the position of control valve rod or valve shaft, and position or other controlled process variablees that will control valve rod are subsequently gradually shifted to travel set point 50.If lead-lag ratio is less than 1.0, then correction or lag will be dominant.
By identification by the performance change in possible leading-the different valve performance scenes that lag ratios caused of difference, the operator can be easily and expertly accurately tuning process parameter and correction error, and optimal control valve performance easily.
Should be realized that, benefit from the use of leading-hysteresis input filter 20, can advantageously provide other parts.For example, can provide feed-forward component, it is suitable for the data in response to the acceleration of speed that comprises reference signal 10, reference signal 10 and reference signal 10.
The preferably demonstration 120 at calling party interface 107 by one or more menu screens, described menu screen for example are that title is the drop-down menu screen of " device is installed ", as shown in Figure 7.Described menu screen preferably provides enough indications, thereby notifies user's operation valve loop can be by remote tuning.For example, the menu option among Fig. 5 reads as " remote tuning ".When selecting, the user can select " strengthening stabilize/optimized lead-hysteresis input filter ".
In advance-hysteresis input filter 20 can be realized by any amount of dissimilar servo loop.Like this, though leading-hysteresis input filter 20 is illustrated as in Fig. 1 in the electro-pneumatic control systems that is used to a type, this electro-pneumatic control systems comprises the high-gain closed loop servo controller of the position that is used to be provided with operation valve upper boom or axle, but, described leading-the hysteresis input filter also can be used in other the control system or control loop.For example, in combining the Another Application of ball valve, the leading-hysteresis input filter relevant with certain fixed point is effectively, and wherein the axial torsional vibration between actuator and the plug has caused the dead band in current control.Can overcome axial torsional vibration by temporarily actuator being overdrived and allowing ball to shift to desired position.Because this is a kind of open loop technique, its response is unsatisfactory, but obtainable response significantly is better than not having the situation of leading-hysteresis input filter.
Further, exist various available technology to improve performance, it realizes quickly servomechanism being driven into fixed point than only compensating by the closed loop, and it is dynamic not change the closed loop.For feedback controller be increased on the fixed point leading-the hysteresis input filter is exactly a kind of such technology, and other technologies are included as controller and increase fixed point velocity feed forward element.Described leading-the hysteresis input filter also can be used for these situations.
For feedback controller increases the technology of leading-hysteresis input filter, be particularly useful for using the application of the annex that is used to increase the actuator impact velocity, described annex such as volume booster and QEV.For compensate when low amplitude changes slowly dynamically, can use leading-hysteresis input filter temporarily fixed point to be overdrived a bit of time, even thereby the time than low amplitude, for example under the situation of the sort of amplitude when traditional volume booster device can not effectively be activated that causes by low dead band, also connect volume booster.
Though lead-lag input filter 20 can be realized according to desired mode, comprise with software, hardware or firmware mode and realizing, but when realizing with software mode, in the software routines of this discussion can be stored in any computer-readable memory such as disk, CD or other storage mediums, or be stored among the RAM or ROM of computing machine or processor, described processor for example can be the multi-usage CPU of special IC (ASIC), standard or other hardwired device etc.Similarly, software can be distributed to user or Process Control System by any known or desired transmission method, for example, by computer readable diskette or other portable computer stores mechanisms, or by the communication port such as telephone line, internet (it is considered with the mode that this software is provided by portable storage media is identical or interchangeable).
Though described some embodiment at this, disclosed claim of the present invention is not limited to these specific embodiments.
Claims (44)
1, a kind of method that the procedure parameter of control loop is controlled of being used for comprises:
Provide the benchmark control signal at input end to control loop;
Be provided at this benchmark control signal and be exaggerated the leading-hysteresis input filter of communicating by letter with this benchmark control signal before;
But provide with mode of operation with should leading-hysteresis input filter user interface in communication, described user interface helps the leading-lag ratios that is produced by this leading-hysteresis input filter is carried out remote control; With
Operate this user interface so that remote control is somebody's turn to do leading-lag ratios of leading-hysteresis input filter, treat controlled procedure parameter thereby change.
2, the method for claim 1, the step of wherein said this user interface of operation comprises: by at least one the virtual interface control that provides in the demonstration relevant with this user interface is controlled, adjust with should be leading-at least one tuning coefficient that the hysteresis input filter is relevant.
3, method as claimed in claim 2 also shows and the described data for the treatment of that controlled procedure parameter is relevant.
4, method as claimed in claim 3, wherein said data presentation is in the demonstration relevant with this user interface.
5, the method for claim 1, also control virtual leading-lag ratios to be producing the described predicated response for the treatment of controlled procedure parameter, and in the demonstration relevant with this user interface this predicated response of demonstration.
6, the method for claim 1, wherein said benchmark control signal are 4～20 milliamperes of control signals.
7, a kind of system that is used for the procedure parameter of tuning control loop comprises:
In advance-and the hysteresis input filter, it is communicated by letter with the input end to this control loop;
Controller, it will be applied to the input end of this leading-hysteresis input filter without the benchmark control signal of amplifying;
But with mode of operation and this leading-hysteresis input filter user interface in communication, described user interface comprises at least one adjustable interface controls, wherein to the adjustment of each interface control in described at least one adjustable interface controls, change with should be in advance-at least one tuning coefficient that the hysteresis input filter is relevant.
8, system as claimed in claim 7, wherein said user interface further comprises a demonstration, this demonstration is used to monitor the procedure parameter that is subjected to the change influence of described at least one tuning coefficient.
9, system as claimed in claim 8, wherein said control loop comprises the feedback signal that at least one changes with the variation of described procedure parameter.
10, system as claimed in claim 8, wherein said user interface comprise that another shows, the change of described at least one feedback signal graphically be presented at this another show.
11, system as claimed in claim 7, wherein said user interface further comprises a demonstration, this demonstration is used for monitoring described procedure parameter in response to the predicated response to the adjustment of described at least one each interface control of adjustable interface controls.
12, system as claimed in claim 11, wherein said user interface has at least one control gear, and this control gear is used for controlling described procedure parameter to the predicated response of the adjustment of described at least one each interface control of adjustable interface controls and will be applied to this leading-hysteresis input filter to the adjustment of each interface control in described at least one adjustable interface controls with the period of delay between the real response that influences described procedure parameter.
13, system as claimed in claim 7, wherein said UI Preferences is on the position away from this lead-lag input filter.
14, system as claimed in claim 7 wherein should be placed in before the positioner feedback loop by leading-hysteresis input filter.
15, a kind of system that is used for the response of tuning operation valve comprises:
Control loop, but it comprises valve control, current-pressure converter, operation valve and the valve actuator of communicating by letter with the valve plug of this operation valve with mode of operation;
In advance-and the hysteresis input filter, it is communicated by letter with the input end to this control loop; With
Process controller, it will offer the input end of this leading-hysteresis input filter without the benchmark control signal of amplifying.
16, system as claimed in claim 15, but further comprise with mode of operation and this leading-hysteresis input filter user interface in communication, described user interface comprises at least one adjustable interface controls, wherein to the adjustment of each interface control in described at least one adjustable interface controls, change with should be in advance-at least one tuning coefficient that the hysteresis input filter is relevant.
17, system as claimed in claim 16, wherein said user interface are positioned on the position away from this leading-hysteresis input filter.
18, system as claimed in claim 16, wherein said user interface is communicated by letter by at least a and this leading-hysteresis input filter in telephone line, satellite transmits, concentric cable, Ethernet, fiber optic cables and the internet.
19, system as claimed in claim 16, wherein said user interface further comprises a demonstration, the valve plug position that this demonstration is used for monitoring this operation valve is in response to the predicated response to the adjustment of described at least one each interface control of adjustable interface controls.
20, system as claimed in claim 19, wherein said user interface has at least one control gear, and the valve plug position that this control gear is used for controlling this operation valve is to the predicated response of the adjustment of described at least one each interface control of adjustable interface controls and will be applied to this leading-hysteresis input filter to the adjustment of each interface control in described at least one adjustable interface controls with the period of delay between the real response of the valve plug position that influences this operation valve.
21, system as claimed in claim 15, wherein said leading-the hysteresis input filter communicates by letter with a controller, described controller comprises a program, this program is suitable at this valve plug during near the valve seat of this operation valve and/or travel stop, but make that this leading-hysteresis input filter limits this operation valve be connected to the moving of valve rod of this valve plug with mode of operation.
22, system as claimed in claim 15 further comprises positioner feedback loop, wherein should be placed in before this positioner feedback loop by leading-hysteresis input filter.
23, a kind of system that is used in the valve plug position of the tuning operation valve of operation valve servo control loop comprises:
The operation valve servo control loop comprises:
Input end,
The first adder of communicating by letter with this input end,
The amplifier of communicating by letter with this first adder,
The second adder of communicating by letter with this amplifier,
With this amplifier control of communication valve execution level, this operation valve execution level comprises current-pressure converter and the pneumatic relay of communicating by letter with this current-pressure converter at least, this operation valve execution level further comprise the rapid escape valve of communicating by letter with this current-pressure converter and/or volume booster with pneumatic mode and
Actuator, but its communicate by letter with this operation valve execution level and be connected to this operation valve with mode of operation,
This operation valve, but it has the valve rod that is connected to valve plug with mode of operation;
In advance-and the hysteresis input filter, it is connected to the input end of this process control loop; With
The benchmark control signal, it is applied to the input end of this leading-hysteresis input filter,
Should revise this benchmark control signal selectively so that the filtering output of this leading-hysteresis input filter to be provided by leading-hysteresis input filter.
24, system as claimed in claim 23, wherein said leading-the filtering output of hysteresis input filter offers described first adder, described first adder will corresponding to the value of described stem position with corresponding to described leading-value of the filtering output of hysteresis input filter compares, and produces the error signal that offers described amplifier.
25, system as claimed in claim 24, wherein said operation valve servo control loop further comprises first gain unit and second gain unit, and wherein said amplifier applies and gains to described second adder, the velocity feedback gain that described second adder will be generated by described first gain unit and compare by described second gain unit minor loop feedback gain that generates and the gain that described amplifier applies, and described second adder will be provided to described current-pressure converter corresponding to the value by the comparison of described second adder execution.
26, system as claimed in claim 25, wherein said current-pressure converter provides pneumatic singal to described pneumatic relay.
27, system as claimed in claim 26, wherein said pneumatic relay provides pneumatic and exports to volume booster and/or rapid escape valve, and offers described actuator.
28, system as claimed in claim 23, wherein the signal corresponding to described stem position is delivered to described first adder.
29, system as claimed in claim 23, but further comprise with mode of operation and described leading-hysteresis input filter user interface in communication, described user interface comprises at least one adjustable interface controls, wherein to the adjustment of each interface control in described at least one adjustable interface controls, change with should be in advance-at least one tuning coefficient that the hysteresis input filter is relevant.
30, system as claimed in claim 29, wherein said user interface be positioned at away from described leading-position of hysteresis input filter on.
31, system as claimed in claim 29, wherein said user interface is communicated by letter by at least a and described leading-hysteresis input filter in telephone line, satellite transmits, concentric cable, Ethernet, fiber optic cables and the internet.
32, system as claimed in claim 29, wherein said user interface further comprises a demonstration, the valve plug position that this demonstration is used for monitoring this operation valve is in response to the predicated response to the adjustment of described at least one each interface control of adjustable interface controls.
33, system as claimed in claim 32, wherein said user interface has at least one control gear, and the valve plug position that this control gear is used for controlling this operation valve is to the predicated response of the adjustment of described at least one each interface control of adjustable interface controls and will be applied to this leading-hysteresis input filter to the adjustment of each interface control in described at least one adjustable interface controls with the period of delay between the real response of the valve plug position that influences this operation valve.
34, system as claimed in claim 23, wherein said leading-the hysteresis input filter communicates by letter with a controller, described controller comprises a program, this program is suitable for during near the valve seat of this operation valve and/or travel stop, making this leading-hysteresis input filter limit this valve rod and move at the valve plug relevant with this valve rod.
35, system as claimed in claim 23, wherein said leading-the hysteresis input filter not only communicated by letter with a controller but also with a user interface communication, described controller comprises a program, this program is suitable for causing is scheduled to revise to described benchmark control signal, but described user interface is communicated by letter with this leading-hysteresis input filter with mode of operation, described user interface comprises at least one adjustable interface controls, wherein to the adjustment of each interface control in described at least one adjustable interface controls, change with described in advance-at least one tuning coefficient that the hysteresis input filter is relevant, to revise described benchmark control signal.
36, system as claimed in claim 35, and wherein said user interface further has control gear, but described control gear is selected between described controller and described user interface with mode of operation, as cause described leading-the hysteresis input filter revises the excitation of described benchmark control signal.
37, a kind of being used for carried out optimum tuning method to the parameter adjustment of control loop, comprising:
Leading-hysteresis the input filter of communicating by letter with the input end of control loop is provided;
To offer the input end of this leading-hysteresis input filter without the benchmark control signal of amplifying;
But provide with mode of operation and this leading-hysteresis input filter user interface in communication and/or controller; With
Operate this user interface or controller, before the input end that this control signal is applied to this control loop, revise this benchmark control signal to indicate this leading-hysteresis input filter.
38, method as claimed in claim 37, but but and not only provided with mode of operation with should leading-hysteresis input filter user interface in communication but also provide with mode of operation with should leading-hysteresis input filter controller in communication, and from this user interface and this controller, select.
39, in a single day method as claimed in claim 38 is wherein selected described controller, just forbid this user interface at least in part.
40, a kind ofly be used to realize system that the procedure parameter of logical process is adjusted, comprise:
Logical process wherein has at least one adjustable parameter;
In advance-and the hysteresis input filter, it is communicated by letter with this logical process;
But with mode of operation and this leading-hysteresis input filter user interface in communication, this user interface and processor, display, input equipment is communicated by letter with the routine that is suitable for the graph-based of at least one adjustable control of demonstration in this demonstration, this routine is further adapted in response to the change that controlling of this input equipment is shown the graph-based of described at least one adjustable control, and this processor is suitable for indicating the output of controlling corresponding to this input equipment of this leading-hysteresis input filter to change, and output that wherein should leading-hysteresis input filter changes described at least one the adjustable procedure parameter that changes in this logical process.
41, method as claimed in claim 40, wherein said logical process comprises that at least one is used to detect the sensor of the characteristic of described at least one procedure parameter, and described routine is further adapted for the graph-based of the characteristic that detects that shows described procedure parameter and described at least one adjustable procedure parameter graph-based with regard to the effect of the change of the characteristic that detects.
42, method as claimed in claim 41, wherein said routine are further adapted for the output of controlling corresponding to this input equipment that postpones this leading-hysteresis input filter of indication and change.
43, method as claimed in claim 41, wherein said routine is further adapted in response to controlling this input equipment, before the output of controlling corresponding to this input equipment of this leading-hysteresis input filter of indication changes, show the just graph-based of the Expected Results of the change of the characteristic that detects of described at least one adjustable procedure parameter.
44, method as claimed in claim 40, wherein said logical process is a control loop, this control loop comprises the operation valve with valve plug, and the described adjustable procedure parameter position that is described valve plug.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US62053704P | 2004-10-20 | 2004-10-20 | |
| US60/620,537 | 2004-10-20 | ||
| US60/652,546 | 2005-02-14 |
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| Publication Number | Publication Date |
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| CN1989465A CN1989465A (en) | 2007-06-27 |
| CN100541376C true CN100541376C (en) | 2009-09-16 |
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| CNB200580025123XA Active CN100541376C (en) | 2004-10-20 | 2005-10-20 | Leading-hysteresis the input filter arrangement that is used for the electro-pneumatic control loop |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7349745B2 (en) * | 2004-10-20 | 2008-03-25 | Fisher Controls International Llc. | Lead-lag input filter arrangement with adjustable initial conditions for electro-pneumatic control loops |
| US9223300B2 (en) | 2012-05-17 | 2015-12-29 | Mitsubishi Electric Corporation | Servo-parameter adjusting apparatus |
| DE112015001348T5 (en) * | 2014-03-20 | 2017-01-19 | Fisher-Rosemount Systems, Inc. | Reduction of controller updates in one loop |
| JP2018120327A (en) * | 2017-01-24 | 2018-08-02 | オムロン株式会社 | Control apparatus, control program and control system |
| US10969797B2 (en) * | 2018-08-29 | 2021-04-06 | Illinois Tool Works, Inc. | Mass flow valve controller and control method with set point filter and linearization system based on valve model |
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