WO2013091313A1

WO2013091313A1 - Online automatic control guide method

Info

Publication number: WO2013091313A1
Application number: PCT/CN2012/072548
Authority: WO
Inventors: 崔栋刚; 徐光华
Original assignee: 西安交通大学
Priority date: 2011-12-21
Filing date: 2012-03-19
Publication date: 2013-06-27
Also published as: CN102540888B; CN102540888A

Abstract

An online automatic control guide method. In an automatic mode, a control system modifies a control quantity u(k) according to an online guide control quantity u _G (k), and the control system outputs the deviation Δu _GA (k) between the online guide control quantity u _G (k) and an automatic output control quantity u _A (k) and the increment Δu _A (k) of the automatic output control quantity u _A (k); and in a serial mode, the control system modifies a given quantity r(k) according to an online guide given quantity r _G (k), and the control system outputs the deviation Δr _GC (k) between the online guide given quantity r _G (k) and a serial remote given quantity r _C (k) and the increment Δr _C (k) of the serial remote given quantity r _C (k). The method is applied in the field of automatic control and can modify the control output quantity and loop given quantity in different modes and realize online operation guide or preferential human interference at any time and avoid auto-manual switch operations required when modifying the control quantity in an automatic mode and avoid switch operations required when modifying the given quantity under serial control.

Description

An online guide automatic control method

TECHNICAL FIELD The present invention relates to the field of automatic control technologies, and in particular, to an online guidance automatic control method. Background technique

The general control device or control loop includes manual, automatic and cascade mode, manual mode refers to manual adjustment of control output; automatic mode refers to adjustment of control output according to predetermined control law (algorithm) results; cascade mode refers to the control loop The given amount is the output from the remote or superior control loop.

When the control mode is automatic mode, the manual control cannot output the control output. If you need to modify the control output, you need to switch to the manual mode first, modify the control output, and then switch back to the automatic mode. Since manual automatic bumpless switching is generally considered in the controller design, when the manual mode is switched to the automatic mode again, the initial value of the control output is the artificially given control output.

When the controller works in the non-cascading mode, the loop can be modified manually in the automatic state. When the control mode is the cascade mode, the given amount of the control loop comes from the output of the remote or superior control loop, which cannot be modified manually. The loop is given a certain amount. Modifying the control loop can be completed by modifying the output of the upper control loop. This requires switching the upper control loop to the manual mode, modifying the output of the superior control loop, and switching back to the automatic mode after completion. Summary of the invention

In order to overcome the shortcomings of the prior art described above, an object of the present invention is to provide an online guidance automatic control method for ensuring safe operation of an operator during training or machine learning; avoiding automatic hand adjustment due to modification of control amount in the automatic mode Switching operation; avoiding the need to switch the upper loop due to the modification of the given amount during cascade control. In order to achieve the above object, the present invention adopts the following technical solutions:

An online guidance automatic control method, implemented based on a controller, including an automatic mode or a cascade mode,

In the automatic mode, the control system modifies the control amount _u ) according to the online guidance control amount, the deviation of the control system output online guidance control quantity ^Οτ) and the automatic output control quantity ^() («, and the increase of the automatic output control quantity) Quantity Δ^(Α);

In cascade mode, the control system modifies the given amount according to the online guidance, the control system outputs the online guidance given quantitative r _e ) and the cascade remote given amount (A) deviation eight («, and the cascade remote given amount 4 The increment of (A) is Δ^(Α).

In the automatic mode, the priority of the online guidance control quantity is higher than the automatic output control quantity. In order to realize that the control system modifies the control quantity _U 1⁄2 according to the online guidance control quantity, the control system outputs the online guidance control quantity and the automatic output control quantity ^ ( The deviation of A) ( ), and the increment of the automatic output control amount Δ^( ), proceed as follows:

Step 1: The control system captures the online control action in real time, and if the control quantity online guides the action, the control system saves the online instruction control amount ^);

Step 2: Before the control quantity _u ) is updated, the control system calculates the deviation of the online guidance control quantity ^oc) and the upper period online guidance control quantity. If the deviation exceeds the preset threshold, it is 0.5-10 of the control quantity range. %, then the control system sets the control quantity online guidance status bit to 1;

Step 3: When the control quantity ^) is updated, the control system determines the state of the control quantity online guidance status bit. If the control quantity online guidance status bit is 1, the control system sets the control quantity to the online guidance control quantity (W, and reset control) The quantity online instruction status bit is 0; otherwise, the control system sets the control quantity to the automatic output control quantity. Step 4: The control system calculates the deviation between the online guidance control quantity and the automatic output control quantity △ = u _G (k) - u _A {k);

Step 5: The control system calculates the increment of the automatic output control amount Δ^Α) = u _A (k) - u _A (k - D ; Step 6: Control system set = _U (A), ^( 1) = ί/ (Α).

In the cascade mode, the online guidance given priority is higher than the cascade remote given amount (A), in order to realize the control system to modify the given amount according to the online guidance given amount _ff 0c), the control system outputs the online guidance given quantitatively The deviation of the cascade remote control ^ (A) ( ) and the increment of the cascade remote quantitative ^ Oc) Δι^ ), proceed as follows: Step 1: The control system captures the quantitative online guidance action in real time, if When a quantitative online instruction action occurs, the control system saves the online guidance given

Step 2: Before the quantitative update, the control system calculates the deviation of the online guidance given amount ( ) and the online guidance of the upper cycle to the quantitative ^Oc -l). If the deviation exceeds the preset threshold, S _R is the given quantitative range. 0.5 to 20%, a given amount, the control system set status bit-line guide _Λ is 1;

Step 3: When updating the given quantity, the control system judges the status of the given quantity online guidance status bit ^, if the given quantity online guidance status bit is 1, the control system sets the quantitative r1⁄2) to the online guidance given quantity r _ff 0f), And reset the given amount of online guidance status bit to 0; otherwise the control system sets the amount to the cascade remote given

, the control system feeds the given amount W to the cascade loop, and updates the cascade loop adjustment reference value;

Step 4: The control system calculates the deviation of the online guidance given quantitative and cascade remote given

Ar _GC (k) = r _G (k) - r _c (k);

Step 5: The control system calculates the increment of the cascade-level remote given Δ (Α) = r _c {k) - r _c {k - \); Step 6: Control system set - 1) = e), r _c (k - l) = r(k) In the cascade mode, the online guidance is given. If the cascade loop is given the output from the superior with the online guidance function controller, the online guidance for the given amount can be controlled online by the superior with the online guidance function controller. Guided implementation; If the cascade loop given quantity is from the output of other algorithms of the superior level, the upper level algorithm control output is required to have an incremental calculation feature, that is, the output result of this period is the accumulated value of the period reference value and the increment value of the current period.

The automatic control method of the invention can complete the modification of the control output quantity and the loop given quantity in different modes, realize the online operation instruction or the manual priority intervention at any time, and avoid the automatic hand switching operation required by modifying the control quantity in the automatic mode; avoiding the string The level of control required to modify the given amount of switching operations.

DRAWINGS

Figure 1 is a schematic view of the operation panel of the present invention.

Figure 2 is a flow chart of the control quantity online guidance judgment and processing.

Figure 3 is a flow chart of the online guidance algorithm for control volume in automatic control mode.

Figure 4 is a flow chart of the quantitative guidance and processing of the quantitative guidance.

Figure 5 is a flow chart of a given quantitative online guidance algorithm in cascade mode. Detailed ways

The invention will now be described in greater detail with reference to the drawings and specific embodiments.

Referring to FIG. 1 , it is a schematic diagram of an operation panel of an online guidance control method. The operation panel includes: 1) operation panel title bar; 2—process value display area; 3—process set value display input area, the front display gives a quantitative current value, and the subsequent edit box modifies the given value; 4 an output control quantity display Input area, the front display shows the current value of the control quantity, and the edit box in the back edits the control quantity; 5—Online guidance allows switching buttons and indications; 6—Automatic mode switch button and indication; 7—Manual mode switch button and indication; 8—Set value Increase or decrease button; 9 one output control amount increases, fast increase, fast decrease, decrease button; 10—process given value column The graph shows, 11 process value histogram display and 12-output control amount histogram display.

Referring to FIG. 2, in order to realize the online guidance and processing flowchart of the control amount, in order to realize the online guidance of the control amount in the automatic mode, the control system needs to determine whether there is an online guidance control amount, and update the online guidance control amount. Firstly, it is judged whether there is an online instruction control amount modification, corresponding to the input modification action in the 4-output control quantity input area in Fig. 1, if there is a modification, then (A) = _υ∞Λ; if there is no online guidance control quantity modification, then control The system judges whether there is an increase or decrease of the online guidance control amount, corresponding to the increase of the output control amount, the rapid increase, the rapid decrease, and the decrease of the button action in Fig. 1. If there is a modification, the shell 1" order (« = (1 - 1) + Whether there is a judgment and corresponding processing of the online guidance of the control quantity in this scanning cycle.

Referring to FIG. 3, it is a flow chart of the online guidance algorithm for the control quantity in the automatic control mode. In the processing stage of the control system, according to whether there is an online guidance update (Α), according to the control algorithm update ( ), the control system first determines the online guidance of the cycle. The deviation between the control quantity and the upper period online guidance control quantity - 1), if the deviation exceeds the preset threshold, the control system sets the control quantity online guidance status bit GS, and the threshold value is selected according to actual needs, if the online guidance control quantity changes The control system cancels the online guidance function; then, the control system determines the control quantity online guidance status bit. If the control quantity online guidance status bit is 1, the control system sets the control quantity to the online guidance control quantity (A), and The reset control quantity online guidance status bit is 0; otherwise, the control system sets the control quantity W to automatically output the control quantity. Finally, the control system calculates the deviation between the online guidance control quantity and the automatic output control quantity Au _GA (k) = u _G (k) - u _A (k), calculate the increment of the automatic output control amount Δ (Α) = u _A (k) - u _A (k - l) ^ Collocation - 1) = u(k), u _A (k - l ) = u(k) After completion, proceed to the follow-up procedure.

Referring to FIG. 4, in order to give a quantitative online guidance judgment and processing flow chart, in order to realize a given amount of online guidance in the cascade mode, the control system needs to determine whether there is an online guidance given amount, and update the online guidance control amount. First, determine whether there is online guidance for quantitative modification, corresponding to Figure 3 The input modification action in the input field of a given value, if there is a modification, then (A) = 2_; If there is no online guidance for quantitative modification, then the control system determines whether there is an online guidance for quantitative increase or decrease, corresponding to Figure 8 - The set value increase/decrease button action, if there is a modification, let 4(A) = r _G (k - 1) + Ar _G (k), whether there is a certain amount of online guidance judgment and processing in this scan cycle.

Referring to FIG. 5, it is a flow chart of a given amount of online guidance algorithm in the cascade mode, and according to whether there is an online guidance update in the control system processing stage, according to the control algorithm update, the first control system determines that the periodic online guidance gives a quantitative r _e ( A) and the upper cycle online guidance gives the deviation ^ τ - 1) deviation, if the deviation exceeds the preset threshold, the control system sets the quantitative online guidance status bit ^; is 1; the threshold is selected according to actual needs, if online If the guidance quantitative change is small, the control system cancels the online guidance function; then, the control system determines the given quantitative online guidance status bit. If the given quantitative online guidance status bit is 1, the control system sets the quantitative amount to the online guidance given amount ( A), and reset the given amount of online guidance status bit ^ is 0; otherwise the control system sets the quantitative r1⁄2) to the cascade remote given amount (A), r (W feedback to the cascade loop, update the cascade loop adjustment reference value; Finally, the control system calculates the deviation Δ ) = r _G (k) - r _c (k) of the online guidance given quantitative and cascade remote given, and calculates the incremental AR of the cascade remote given amount. _c (W = r _c (k) - r _c (k - 1), concatenating r _c (A - 1) = r(k), r _c (k - 1) = r(k). program.

If the cascade loop gives a certain amount of output from the superior with the online guidance function controller, the online guidance for the given amount can be realized online through the output control amount of the upper-level guidance function controller; if the cascade loop is given The output of other algorithms of the upper level requires that the upper-level algorithm control output has an incremental calculation feature, that is, the output result of this cycle is the accumulated value of the cycle reference value and the increment value of the current cycle.

Example

An online guidance automatic control method is applied to automatic control of material volume in a cement grinding cylinder. Cement mill The stability of the material volume in the cylinder directly affects the stability of cement quality and production. At the same time, the amount of material in the cement cylinder is one of the important factors affecting cement production. The amount of material in the cement grinding cylinder is mainly controlled by adjusting the amount of feed into the mill. It is greatly affected by factors such as material, grinding body and ventilation. The entire control object has large inertia, large time lag and time-varying characteristics, and runs. The parameter constraint value varies with factors such as cement type and material, so the existing automatic control method is difficult to meet the requirements of continuous stable automatic operation control. At present, the automatic control and manual control are relatively independent in the design of the control system. Since the automatic control system cannot meet the requirements of the controller with large inertia, large time lag and time-varying characteristics, it is basically discarded. The controller structure is instructed to compensate for the automatic control of continuous operation when there is a large change in production conditions.

The controller operation panel design is shown in Figure 1. 1 The operation panel title bar displays the cement grinding material quantity control loop; 2—the process value display area shows the cement grinding material quantity measurement value 0~100%; 3—the process set value shows the input area, the front display shows the cement mill The stock quantity is given to the current value of 0~100%. The edit box at the back can be used to modify the set value of the cement grinding stock. 4 The output control quantity shows the input area. The front shows the current value of the feed belt scale flow control command. -200t/h, the rear edit box can be used to modify the flow control output of the feed belt scale; 5—Online guide allows the switch button to be used to switch the online guide to allow or prohibit. When the indicator is on, the display is currently in the online guide allowable state; 6— Automatic mode switching button, press to switch to automatic mode, the indicator is currently in the automatic state when the indicator is on; 7—manual mode switching button, press to switch to manual mode, the indicator quantity is displayed in the manual state; 8—set value Increase or decrease button, increase button to increase the storage amount given value 1% every time, decrease button to decrease the material level set value 1% every time; 9 one output control amount Large button, each time the belt scale flow control command is pressed, the lt/h is increased. The quick increase button is increased by 5t/h every time the belt scale flow control command is pressed. The quick decrease button is reduced by 5t every time the belt scale flow control command is pressed. /h, decrease the button every time the belt scale flow control command is pressed to reduce lt / h; 10 - the process given value histogram corresponds to 0 ~ 100%, 11 a process value histogram corresponds to 0 ~ 100% and 12 - lose The control amount histogram corresponds to 0-200t/h.

The cement grinding stock quantity controller works in the automatic mode, and the cement grinding stock quantity control loop control quantity is calculated by the cement grinding material quantity incremental PID controller. When the online guidance mode allows, the operator can provide online guidance on the amount of control of the stock control loop at any time according to the operating conditions. The on-line guidance feed belt output command has a higher priority than the feed belt output command from the PID algorithm output.

Referring to FIG. 2, the controller first determines whether there is an online guidance control amount modification. If there is a modification, the cycle guides the feeding belt output command to modify the input amount; if the online guidance feeding belt output command is not modified, then the control is performed. The system determines whether there is an online guidance feeding belt output command increase or decrease, such as increase, rapid increase, rapid decrease, decrease, etc. If there is any modification, the cycle guides the feed belt output command to the upper cycle online. Guide the feed belt output command and the accumulation of the increment or decrement of this cycle.

Referring to FIG. 3, before the online instruction of the feeding belt output command is updated online, the controller calculates the deviation of the online guiding feeding belt output command and the upper cycle online guiding feeding belt output command in this cycle, if the deviation exceeds the preset Threshold, take lt / h, then the controller sets the amount of control online status status is 1;

During the online instruction of the feed belt output command update in this cycle, the controller determines the status of the control quantity online guidance status bit. If the control quantity online guidance status bit is 1, the controller sets the feeding belt output command for this cycle online guidance. Material belt output command, and reset control amount online guidance status bit is 0; otherwise, the controller sets the feeding belt output command to the PID algorithm output feeding belt output command;

Finally, the controller calculates the deviation of the online instruction feeding belt output command and the automatic output feeding belt output command; calculates the increment of the automatic output feeding belt output command; and sets the cycle feeding belt output command to be the periodic feeding Belt output command, this week's PID calculation output value is the feeding belt output finger Order.

The cement grinding stock quantity controller works in the cascade mode, and the cement grinding stock quantity control loop gives a certain amount of output from the upper PID module. When the online guidance mode allows, the operator can provide online guidance on the quantity control loop control according to the operating conditions at any time. The online guidance control algorithm gives a quantitative modification control loop according to the online guidance, and gives online guidance to the quantitative and string. The deviation of the level remote quantity and the increment of the series remote quantity are returned to the upper PID module to correct the PID reference value of the next period.

Referring to FIG. 4, first, the controller determines whether there is an online guidance stock quantity given quantitative modification action, and if there is a modification, the online guidance quantity of the current period is given as a modified input quantity; if there is no online guidance given quantitative modification, Then, the controller determines whether there is an online guidance for the amount of increase or decrease of the stock quantity, and if there is a modification, the online guidance quantity of the current period is given as the accumulation of the online quantity and the increase and decrease of the current period. .

Referring to FIG. 5, before the quantity update of the stock quantity is given, the controller calculates the deviation of the online quantity of the stock quantity and the amount of the online quantity of the upper period of the last period, if the deviation exceeds a preset threshold, 1%, the controller's material level is given to the quantitative online guidance status bit is 1;

When the stock quantity is updated quantitatively, the controller determines the status of the given quantity online guidance status bit. If the given quantity online guidance status bit is 1, the controller stores the quantity given as the online guidance storage amount given amount, and The reset stock quantity given quantitative online guidance status bit is 0; otherwise, the controller stores the stock quantity to the quantitative quantity of the upper-level PID output, and the controller feeds the stock quantity quantitatively to the upper-level PID loop, and updates the superior level. The PID loop controls the reference value of the incremental calculation;

The control system calculates the deviation of the online guidance stock quantity given amount and the superior PID output quantity; the controller calculates the increment of the upper level PID output given amount; and sets the periodic stock quantity to the quantitative online guide value as the current period storage quantity Given the amount, the upper-level PID output is set to the given amount of the periodic stock. The automatic control method of the invention can complete the modification of the control output quantity and the loop given quantity in different modes, realizes the online operation instruction or the manual priority intervention, and avoids the automatic hand switching operation required to modify the control quantity in the automatic mode; avoiding the cascading level The switching operation required to modify the given amount during control.

After the cement grinding stock quantity online guidance control system is running, it can run in the automatic and cascade mode for a long time. Even in the case of a relatively large cement production situation, only the operator needs to perform online guidance adjustment, which reduces the operation and labor intensity of the operator. In addition, through manual guidance, the dynamic response speed of the automatic control system is improved, the stability of the system is enhanced, the efficiency of cement production is improved, and the advantages of manual operation experience and the continuous real-time advantage of computer control are fully utilized.

Claims

Claim

1. An online guidance automatic control method, implemented based on a controller, including an automatic mode or a cascade mode, wherein:

In the automatic mode, the control system modifies the control amount _U (A) according to the online guidance control amount ^ ), the control system outputs the online guidance control amount ^ ) and the automatic output control amount ^ ( ) deviation eight ( ), and the automatic output control amount The increment Δ^(Α).

In cascade mode, the control system modifies the given amount r( ) according to the online guidance given (A), and the control system outputs the deviation of the online guidance given quantitative r _e ^:) and the cascade remote quantitative r A) _3⁄4 ( ), And the increment of the cascade remote given amount (A) Δι^(Α).

2. The control method according to claim 1, wherein: in the automatic mode, the online guidance control quantity priority is higher than the automatic output control quantity ^Οτ), in order to implement the control system to modify the control according to the online guidance control quantity The quantity _U (A), the deviation of the control system output online guidance control quantity ^Οτ) from the automatic output control quantity ^), and the increment of the automatic output control quantity Δ^(Α), proceed as follows:

Step 1: The control system captures the online control action in real time, and if the control quantity online guides the action, the control system saves the online guidance control amount;

Step 2: Before the control quantity ^) is updated, the control system calculates the deviation of the online guidance control quantity ^Οτ) and the upper period online guidance control quantity ^Oc-l), and if the deviation exceeds the preset ceramic value, the control quantity is 0.5-10% of the range, the control system sets the control amount online guidance status bit (1;

Step 3: When the control quantity is updated, the control system determines the control quantity online guidance status bit (3⁄4 state, if the control quantity online guidance status bit is 1, the control system sets the control quantity to the online index The control quantity (A), and the reset control quantity online guidance status bit is 0; otherwise, the control system sets the control quantity to the automatic output control quantity ^(W;

Step 4: The control system calculates the deviation between the online guidance control amount and the automatic output control amount.

Δ ( ) = u _G (k) - u _A {k);

Step 5: The control system calculates the increment of the automatic output control amount Δ^( ) = u _A (k) - u _A (k - 1); Step 6: Control system _{sets Uff} 0c - 1) = u(A), u (k - ί) = t .

3. The control method according to claim 1, wherein: in the cascade mode, the online guidance given quantity r _e ) has a higher priority than the cascade remote given quantity r A), in order to implement the control system according to the online Guide the quantitative r _ff (A) to modify the given amount r (A), the control system output online guidance to give a quantitative ^ ) and the cascade remote quantitative (A) deviation _3⁄4 ( ), and the cascade remote quantitative ( ) increase The quantity Δ^ ), proceed as follows:

Step 1: The control system captures the quantitative online instruction action in real time. If a given quantitative online guidance action occurs, the control system saves the online guidance given quantity (A);

Step 2: Before the update of the quantitative rOc), the control system calculates the deviation of the online guidance given in the cycle and the online guidance of the upper cycle. If the deviation exceeds the preset threshold, δ _κ is the given quantitative range. 0.5-20%, then the control system sets the quantitative online guidance status bit ^ to 1;

Step 3: When the given quantity r1⁄2) is updated, the control system judges the status of the given quantity online guidance status bit. If the given quantity online guidance status bit is 1, the control system sets the quantitative r1⁄2) as the online guidance given amount (W, and The reset given amount of online guidance status bit is 0; otherwise, the control system sets the quantitative amount to the cascade remote given amount ( ), the control system feeds the given amount to the upper loop, and updates the upper loop adjustment reference value;

Step 4: The control system calculates the deviation of the online guidance given quantitative and cascade remote given Ar _cc (k) = r _G {k) - r _c {k);

Step 5: The control system calculates the increment of the cascade-level remote quantitation Δ^Οτ) = r _c (A) - r _c (A - l) _; Step 6: Control system set - 1) = r(k), r _c (k - 1) = r(k).

4. The control method according to claim 1, wherein: the online guidance given is performed in the cascade mode, and if the cascade loop is given an output from the upper level having the online guidance function controller, for a given amount The online guidance can be realized through the on-line guidance of the control quantity output of the upper-level guidance function controller; if the cascade-level loop quantity is from the output of other upper-level algorithms, the upper-level algorithm control output is required to have an incremental calculation feature, that is, the output result of this cycle is The cumulative value of this week's baseline value and the incremental value of this cycle.