CN1258869A - 在多变量预测控制器中加入独立前馈控制的方法 - Google Patents
在多变量预测控制器中加入独立前馈控制的方法 Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
Abstract
过程控制系统包含反馈控制器并具有至少一个操纵变量及一个控制变量。包含了前馈环路,该系统遭受干扰。将独立前馈控制加入到反馈控制器中包括下述步骤。为各cv定义一个前馈控制漏斗及一个反馈控制漏斗,分别规定要在其中消除干扰的时间TFF和要在其中控制变量达到稳定状态值的时间TFB。选择前馈控制漏斗与反馈控制漏斗中的较短者。如果TFF小于TFB,便补偿反馈控制速度使得反馈控制器速度不增加。如果TFF大于或等于TFB,则不进行补偿,借此为前馈控制解与反馈控制解有效地提供独立调谐参数。计算cv的新值并用新计算的cv控制过程。
Description
本发明涉及控制系统,更具体地涉及在多变量预测控制器中加入独立前馈控制的方法。
在包含前馈控制的当前控制系统中,处理前馈控制的传统方法为包含两个控制器,一个反馈(FB)控制器及一个前馈(FF)控制器,各控制器具有其本身的调谐参数组。在当前可获得的一些系统中,利用单一的反馈控制器,而将反馈环路的误差与前馈环路的干扰误差相组合。通过输出移动来消除反馈误差及前馈干扰效应的FB控制器生成单一的校正解。单一反馈控制器具有单一的调谐参数组,从而限制了消除干扰效应的速度。如果提高控制器的速度来提高消除干扰的速度,便可降低反馈控制器的稳定度边限。可将前馈控制速度推进得比反馈控制器速度快,因为前馈控制器为开环控制,即只要前馈模型是稳定的,前馈操作便是内在稳定的,然而如果将控制速度推进得太多,反馈控制便能成为不稳定的。如果将前馈控制指定为进行得更快,便不存在进入不稳定状况的可能性。如果用户将反馈控制器调谐成运行得更快,必须小心保证反馈控制器不会进入不稳定状况。因此希望反馈与前馈控制器具有独立的调谐参数。在单一控制器中利用两种控制算法来执行反馈与前馈控制的多变量预测控制器消耗太多的CPU时间。从而,希望提供一种多变量预测控制器,使得反馈控制器将前馈动作与反馈动作组合并具有分开的独立调谐,一组调谐参数用于反馈控制而一组调谐参数用于前馈控制。
因此本发明提供了在多变量预测控制器的反馈控制器中加入独立的前馈控制的方法。
因此,本发明提供了在多变量预测控制器中加入独立前馈控制的方法。过程控制系统包括一个反馈控制器,并且还包括至少一个操纵变量(mv)和至少一个控制变量(cv)。过程控制系统还包括一个前馈环路,过程控制系统是遭到干扰的。本发明的方法在反馈控制器中加入独立前馈控制并包括为各控制变量定义前馈控制漏斗及为各cv定义反馈控制漏斗的步骤。前馈控制漏斗规定要在其中消除干扰的第一时间TFF及在其中控制变量响应输入变化达到稳定状态值的第二时间TFB。为各cv选择前馈控制漏斗与反馈控制漏斗中的较短者。如果第一时间TFF小于第二时间TFB,便补偿反馈控制速度使得反馈控制器速度不增加。如果TFF大于或等于TFB,便不进行补偿,借此为前馈控制解与反馈控制解有效地提供独立的调谐参数。按照反馈控制器的控制过程计算控制变量的新值,该过程是按照新计算出的解而被控制的。
从而,本发明的一个目的为提供在控制器中加入前馈控制的方法。
本发明的另一目的为提供在控制器中加入独立前馈控制的方法。
本发明的又另一目的为提供在多变量预测控制器中加入独立前馈控制的方法。
结合以下描述及附图,本发明的这些与其它目的将更为清楚,附图中相同的字符表示相同的部分,并且这些图构成本申请的一部分。
图1示出可在其中采用本发明的过程控制系统的功能框图;
图2示出过程变量对设定点的变化的响应曲线;
图3包括图3A与3B,分别示出一个示例性反馈控制漏斗及一个示例性前馈控制漏斗;以及
图4示出本发明的较佳实施例的功能框图。
在描述本发明的方法之前,理解采用本发明的系统环境是有帮助的。
参见图1,其中示出了可采用本发明的过程控制系统的功能框图。控制器10具有作为输入变量μ耦合在过程20上的多个输出。过程20可包含诸如阀门、加热器等可控制的多个元件。过程20的过程变量y中包含控制产品质量的温度、压力、电平、流量等。输入变量(或操纵变量)u定义为: or
而输出变量(或控制变量)cv则定义为:
从而,过程20为具有m个操纵变量及n个控制变量的动态过程P(s)。控制变量(cv)包含n1个稳定cv、n2个约束cv及n3个优化cv。通常,
n≥m≥n1
在本发明中,控制规范r(在以前的系统中称作设定点)定义如下:
对于稳定cvi,下界等于上界,ri=
ri。对于约束cvj,上界大于下界,
rj≥
rj,或者只存在一个下界或者只存在一个上界。最后,对于优化cv,根本不存在界限。
将控制器10的范围控制函数按照: 被公式化以处理上面指出的三种情况。
假定:
MV≤X≤
MV及
PV≤y≤
PV;其中,W为用户加权矩阵。
A为将输出的过程动态特性关联到输入上的动态模式矩阵(aij系数);y(最佳响应轨线)为范围变量(设定点的扩展);而x(控制解)则为取决于应用的操纵变量Δu(即,Δu=U当前-U上一个)。
PV和
PV(过程变量)为希望具有该过程操作的范围,而
MV和
MV则为希望具有该过程操作的范围物理极限。
通过参考转让给本申请的同一受让人的名为“利用范围控制的多变量预测控制方法”的1994年9月27日授权的美国专利号5,351,184可以得到多变量预测控制器(MPC)的更详细的描述,将其引用在此作为参考。
下面描述本发明。在本发明的较佳实施例中,将前馈控制包含在利用反馈控制器的过程控制系统中。不希望使用上述美国专利号5,351,184中全面描述的控制器10的两个(2)范围控制程序(这里也称作范围控制算法(RCA),因为将会加倍CPU的时间。本发明的较佳实施例利用相同的RCA并使用同一单个控制器10,但达到具有两个不同的独立控制器的效果。
参见图2,其中示出了过程变量PV(也称作控制变量cv)对设定点SP的变化的响应曲线。将漏斗定义为具有点
PV1、
PV2、…作为漏斗的上界(FUNNEL-HI)及具有点
PV 1、
PV 2、
PV 3…作为漏斗的下界(FUNNEL-LO),使得过程变量在时间T1上达到要求值(稳定状态值)。漏斗为响应曲线定义了界限。图2的曲线示出范围δ,由于本发明的较佳实施例的多变量预测控制器采用上述专利中更全面地描述的范围控制;然而,熟悉本技术的人员将会理解,范围控制不是本发明所必要的。
在实现本发明中,定义了两个(2)漏斗,一个反馈控制漏斗及一个前馈控制漏斗。通过定义这两个漏斗,用户便能规定希望在其中排除干扰效应的时间,并且用户还能规定希望在其中令cv响应设定点变化到达其工作(稳定状态)值的一不同时间。
漏斗的定义如图3中所示,该图包括图3A与3B。图3A示出示例性反馈(FB)控制漏斗,其中cv在系统开环响应时间的0.8(即80%)的时间上达到其工作值。从而定义了cv性能比为:本例中的0.8值是用户规定的。用户还规定了定义前馈(FF)对反馈(FB)性能之比的前馈控制漏斗。在图3B的示例中,规定了0.5的FF/FB性能比意味着在40%的开环响应时间内排除前馈干扰,即对于上面给出的其中选择了图3A的0.8的cv性能比的示例。
控制器10已输入了包含要消除干扰效应的时间TFF及到达过程变量的工作值的时间TFB的漏斗特征,较短的时间定义“较短的漏斗”。本发明的较佳实施例的控制器10采用两个漏斗中的较短者。从而将满足排除干扰效应的用户请求。(本例中FF控制漏斗为较短漏斗)。然而,当今的控制器将不满足用户对满足用于设定点跟踪的cv响应时间的请求。
为了满足两种时间请求,即具有独立调谐的参数,将过程控制系统修改成图4中所示,即本发明的较佳实施例。将控制器10的RCA算法修改成采用对各cv的两个漏斗中的较短者。从而选择了较快的控制器速度。再者,将系统修改成包含具有滤波器Fi的对角线滤波器30,其中i=cv数。这些对于每一cv一个的滤波器补偿了反馈控制器10速度,似乎不存在通过范围控制算法的加速一样。滤波器具有形式: 其中,对于FF对FB之比<1及Ts=抽样时间。对于FF对FB之比≥1
τi=0。将干扰耦合到FF模型50(以熟悉本技术的人员熟知的方式),将输出加在各cv的滤波器的输出上,并将和输入到控制器10上。包含了呈现过程上的干扰效应并从而呈现cv上的效应的FF过程50。借此将FF过程50的输出加在过程20的输出cv上,从而以熟悉本技术的人员所熟知的方式给出cv上的合成效应。这样便示出了包含在多变量预测控制器中加入独立前馈控制方法的过程控制系统。
虽然已示出了认为是本发明的较佳实施例,但表明可在其中作出许多改变与修正而不脱离本发明的主要精神与范围。因此,在所附的权利要求书中旨在覆盖落入本发明的真实范围的所有这些改变与修正。
Claims (4)
1、在过程控制系统中,该过程控制系统具有反馈控制器,并且还具有至少一个操纵变量(mv)及至少一个控制变量(cv),并且还包含前馈环路,该过程控制系统遭受干扰,在反馈控制器中加入独立前馈控制的方法包括下述步骤:
a)为各控制变量定义前馈控制漏斗并为各cv定义反馈控制漏斗,前馈控制漏斗规定要在其中消除干扰的第一时间TFF,以及在其中控制变量响应输入变化达到稳定状态值的第二时间TFB;
b)为各cv选择前馈控制漏斗与反馈控制漏斗中的较短者;
c)如果第一时间TFF小于第二时间TFB,
i)补偿反馈控制速度好象反馈控制器速度没有提高一样;否则如果第一时间TFF≥TFB,便继续到下一步骤,借此有效地提供独立调谐参数;
d)按照该控制器程序计算控制变量的新值以生成一个解;以及
e)按照该解控制该过程,该解还包含在规定时间内消除干扰。
2、按照权利要求1在过程控制系统中加入独立前馈控制的方法,其中该过程控制系统为多变量预测控制器。
3、按照权利要求2在过程控制系统中加入独立前馈控制的方法,其中该反馈控制器的控制器程序为范围控制程序。
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US08/490,183 US5561599A (en) | 1995-06-14 | 1995-06-14 | Method of incorporating independent feedforward control in a multivariable predictive controller |
US08/490,183 | 1995-06-14 | ||
US08/490183 | 1995-06-14 |
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EP (1) | EP0832449B1 (zh) |
JP (1) | JP3842291B2 (zh) |
KR (1) | KR100407203B1 (zh) |
CN (1) | CN1118730C (zh) |
DE (1) | DE69603859T2 (zh) |
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CN101339406B (zh) * | 2007-07-04 | 2011-05-11 | 中国科学院自动化研究所 | 一种自适应控制器及方法 |
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WO1997000467A1 (en) | 1997-01-03 |
CN1118730C (zh) | 2003-08-20 |
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JP3842291B2 (ja) | 2006-11-08 |
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EP0832449B1 (en) | 1999-08-18 |
EP0832449A1 (en) | 1998-04-01 |
RU2185649C2 (ru) | 2002-07-20 |
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