CN107490961A - A kind of controller for being used to control the double circle structure of unstable plus time delay processes - Google Patents
A kind of controller for being used to control the double circle structure of unstable plus time delay processes Download PDFInfo
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Abstract
The invention provides a kind of controller for being used to control the double circle structure of unstable plus time delay processes, double circle structure is formed by major and minor two kinds of controllers；Submaster controller is PD control device, positioned at inner loop feedback loop, for unstable plus time delay processes of calming, eliminates its unstable limit；Master controller is combined integral controller, positioned at outer shroud forward loop, for eliminating the influence of input nonlinearities and control system is reached defined dynamic performance index.Controller provided by the invention overcomes the deficiencies in the prior art, and the double-closed-loop control structure formed using combined integral controller and PD control device, this controller architecture is simple, and adjustable parameter is few, and parameter is easy to adjust, directly perceived；Under nominal model, system output stabilization and non-overshoot, it can effectively suppress the influence of interference；In model mismatch, still with good control performance and robust stability.
Description
Technical field
The present invention relates to a kind of controller for being used to control the double circle structure of unstable plus time delay processes, belong to and automatically control
Systems technology field.
Background technology
In process control, there is a kind of open-loop unstable process, this class process does not have poised state, such as continuously stirs
Mix reactor.Meanwhile there is hysteresis in the measurement of process variable and control loop, therefore when controlling this kind of unstable
Larger difficulty be present in stagnant object.In recent years, it is whole for unstable plant PID control to propose a variety of parameters by some scholars
Determine algorithm, achieve certain control effect.But these PID setting algorithms refer to both for one or several control performances
Mark and design, it is difficult to meet robustness and interference free performance of control system etc. simultaneously, therefore have some limitations.
In order to improve the overall performance of time-dependent system, make up the deficiency of PID control system, occur in succession it is several more
Complicated advanced control algorithm.Two parameter compensator algorithm has inside and outside two kinds of controllers：Internal controller is mainly used
In stablizing the unstable limit of open loop object；Peripheral control unit then designs according to set point tracking performance index.However, this
Kind of control algolithm is confined to the control of single order unstable plus time delay processes, be not suitable for High order Plant and lag time and it is unstable when
Between constant percentage be more than 1 object, and interference free performance is poor.On the basis of two parameter compensator algorithm, there is scholar again
Propose Three Degree Of Freedom control algolithm for single order and high-order unstable plus time delay processes, the algorithm to lag time and it is unstable when
Between constant percentage less than 2 object it is effective, its interference free performance improves a lot than two parameter compensator algorithm.But this
The parameter of kind control algolithm is more, and is designed without intuitively physical significance, parameter according to internal model principle, and method is complex.
In addition, the performance of control system is very sensitive to model mismatch, robust stability is also poor.
Later, scholar is based on internal model principle again, proposition is a kind of to track what is separately considered with antijamming capability by set point
Unstable time lag object controller design method.The parameter designing of the controller is simple, and parameter has clear and definite physical significance, and
Adjust conveniently, control system has good set point tracing property, anti-interference and gratifying robust stability.But
Following defect be present in this method：The structure of controller is complex, is unfavorable for the implementation of Practical Project, and the design of controller
The theory of complicated movement is wanted, further increases the difficulty of practical application.
Therefore, for unstable plus time delay processes, how to design a kind of simple in construction, parameter regulation conveniently and control effect is good
Good control algolithm, it is the problem that those skilled in the art are directed to solving.
The content of the invention
The technical problem to be solved in the present invention is to be directed to unstable plus time delay processes, how to design a kind of simple in construction, parameter
Control algolithm easy to adjust and good control effect, it is the problem that those skilled in the art are directed to solving.
In order to solve the above-mentioned technical problem, the technical scheme is that providing a kind of for controlling unstable plus time delay processes
Double circle structure controller, it is characterised in that：Double circle structure is formed by major and minor two kinds of controllers；Submaster controller is PD
Controller, positioned at inner loop feedback loop, for unstable plus time delay processes of calming, eliminate its unstable limit；Master controller is group
Integral controller is closed, positioned at outer shroud forward loop, for eliminating the influence of input nonlinearities and control system is reached defined dynamic
State performance indications.
Preferably, first, the unstable plus time delay processes of open loop are calmed using the PD control device of inner ring, becomes closed loop
Systems stabilisation；Then, the PD control device of unstable plus time delay processes and inner ring is collectively regarded as a generalized object, it designed outer
The combined integral controller of ring, makes control system reach defined dynamic performance index.
Preferably, the transmission function of the PD control device in the inner loop feedback loop is：G1(s)=Kc(1+TdS), Kc、TdFor
Setting parameter；Unstable plus time delay processes and PD control device are considered as a generalized object Gp(s) outer shroud forward loop, is designed it
Combined integral controller；Assuming that the closed loop transfer function, of desired whole system is：
τ1、τ2For setting parameter, L is the time lag of unstable plus time delay processes, then according to the anti-combined integral controller that pushes away of closed loop transfer function,
Transmission function is：
Controller provided by the invention overcomes the deficiencies in the prior art, using combined integral controller and PD control device structure
Into double-closed-loop control structure, this controller architecture is simple, and adjustable parameter is few, and parameter is easy to adjust, directly perceived；Nominal
Under model, system output stabilization and non-overshoot, it can effectively suppress the influence of interference；In model mismatch, still have good
Control performance and robust stability.
Brief description of the drawings
Fig. 1 is combined integral control system architecture figure；
Fig. 2 is the combined integral control system architecture figure of unstable plant；
Fig. 3 is under nominal model, and single order time-dependent system has output schematic diagram during interference；
When Fig. 4 is model mismatch, the output schematic diagram of single order time-dependent system；
Fig. 5 is under nominal model, and the unstable delay system of second order duopole has output schematic diagram during interference；
When Fig. 6 is model mismatch, the output schematic diagram of the unstable delay system of second order duopole.
Embodiment
With reference to specific embodiment, the present invention is expanded on further.
The invention provides a kind of controller for being used to control the double circle structure of unstable plus time delay processes, only by major and minor
Two kinds of controllers form double circle structure；Submaster controller is PD control device, unstable stagnant for calming positioned at inner loop feedback loop
Object afterwards, eliminate its unstable limit；Master controller is combined integral controller, defeated for eliminating positioned at outer shroud forward loop
Enter the influence of interference and control system is reached defined dynamic performance index.This controller is described in detail below.
1st, combined integral system and its advanced control algorithm are introduced first
Although combined integral system has been widely present in such as steel, petrochemical industry, cereal processing, tobacco leaf production, beaten
Among a series of industrial process such as leaf redrying, mineral processing, but so far, on periodicals and magazines at home and abroad, do not have also
It was found that relevant combined integral systematic research document, famous process control great master both domestic and external did not study the class object yet,
Many engineering staffs are common first-order plus time delay link this kind of process simplification.5 kinds of typical combination integrations pair are listed below
The transmission function of elephant：
The transmission function of this class object is combined by two or more integration Object with Time Delay, and has link (1-e-τs), therefore referred to as combined integral system, it is represented by following form：Wherein, Gi(s) it is one
Stable Polynomials not comprising integral element；The systems stabilisation being included in combined integral system；kiFor object
Gain, τ1i、τ2iFor time delay constant, meet equation：τ2i=τ2(i-1)+τ1(i-1)；1 ＜ i ＜ n, n is positive integer.
They are substantially a kind of open loop stabilization objects, and can be by approximate near by its with single order Pade by time lag item
It is seemingly single order object.From transmission function, the class object had both had the limit of non-left plane, had the zero of non-left plane again
Point；From specificity analysis, this class object both has integral characteristic, has non-minimum phase characteristic again.In process industry,
Form of the transmission function of the double-frequency quenching machine tool process of steel heat treatment industry with (1-a), Tobacco Strips Drying in tobacco business
The transmission function of moisture content of outlet process with (1-b) form, the transmission function of revolving drier outlet material humidity object with
Form, the transmission function of cigar mill's expanded cut tobacco moisture content of outlet process of (1-c) can be reduced to (1-d) form, beating and double roasting
The transmission function of industry resurgence process moisture content of outlet has the form of (1-e).
For combined integral system, even under the situation of model-free mismatch, the control effect of PID controller is also very
It is undesirable, it is difficult to obtain balance between response speed and robust stability.Meanwhile develop with the high speed of industry, to production
Quality, energy resource consumption and the environmental protection requirement more and more higher of product are traditional to the required precision of process control also more and more higher
Control of the control algolithm to combined integral object is more and more inadaptable, and there is an urgent need to a kind of new control theory, method and theory
To instruct the design of combined integral control system, adjust and operate.Therefore, it is very to design a kind of System design based on model algorithm
It is necessary.
Assuming that the transmission function of process object has formula (1-b) form, and the structure of desired closed loop transfer function,
Form is：
Wherein, τ10, τ20, λ is setting parameter.It is identical with the closed loop response time when λ=1, open-loop response time；As λ ＞ 1,
The open-loop response time is faster than the closed loop response time；As λ ＜ 1, the open-loop response time is slower than the closed loop response time.
The transmission function that controller can so be derived is：
Assuming that λ=1, τ10=τ1, τ20=τ2, k0=k, k0For the target gain parameter adjusted, then have：
Controller GcInput/output relation be：
The Section 1 of formula (5) is proportional, and it is to be based on controller that Section 2, which can be construed to controller in the output of t,
In time [t- (τ10+τ20), t- τ20] output prediction draw, therefore the control algolithm in the commercial Application of reality it is simple easily
OK.Combined integral Control system architecture is as shown in Figure 1.
If adding a Stepped Impedance Resonators on the controller, the presence of proportional is primarily due to, step response occurs initially
Step, then keep constant within a period of time, later become integrate in the presence of rose, finally in stable integral action
Steadily rise down.The controller had both had the characteristic of PI controllers, had the function of prediction again, therefore was named as pseudo- predictive PI control
Device processed, it is called combined integral controller.If τ20=0, the combined integral controller of obtained simplification is：
Combined integral controller proposes have good control to make to combined integral object for combined integral object
With.The controller is promoted, can be applied on non-combined Integrating, and effect is ideal, such as typical one
Rank adds dead-time process, second order lag process with dead time and some high order systems etc..
2nd, the combined integral control structure of unstable plant
The structure of the combined integral control system of unstable plant is as shown in Fig. 2 wherein：G1(s) returned positioned at inner loop feedback
Road, it is for systems stabilisation to be referred to as interior ring controller or submaster controller, its main purpose, ensures that system reaches certain robust
Stability；G2(s) it is located at outer shroud forward loop, referred to as outer ring controller or master controller, its purpose mainly reaches system
To defined dynamic performance index.Assuming that desired system closed loop transfer function, is G0(s), then：
By selecting appropriate G0(s) controller G is ensured2(s) to be stabilization and achievable.
Below for several typical unstable plus time delay processes design G1And G (s)2(s) structure and parameter.
(1) the unstable Delay Process of single order (FODUP) has following transmission function：
Wherein, K, L, T are the constants of transmission function.Interior ring controller G1(s) simple P, PI, PD or PID are typically used
Structure.Set regardless of parameter, P and PI controllers can only stablize L/T ＜ 1 object, and PD and PID controller can then control
L/T ＜ 2 object, its practicality are more extensive.Here G1(s) structure type of following PD control device is elected as：
G1(s)=Kc(1+Tds) (9)
Wherein, Kc、TdIt is setting parameter.The controller compared with P or PI controllers be used for calm unstable plant when have it is wider
General practicality.
Inner ring loop is considered as a generalized object Gp(s), then Gp(s) transmission function is：
Outer ring controller G2(s) according to Gp(s) this generalized object is designed.Assuming that desired whole system is closed
Ring transmission function is：
Wherein, τ1And τ2It is adjustable parameter.τ1Smaller, the response speed of closed loop procedure is faster, but the robustness of system becomes
Difference；Otherwise τ1Bigger, the response speed of closed loop procedure is slack-off, but the robust performance enhancing of system.And τ2It is another adjustable ginseng
Number, the purpose for introducing the parameter is compromise in order to be made between the fast-response energy of system and robust performance.In other words, τ1
It is a coarse adjustment parameter, and τ2It is it is determined that τ1On the basis of an accurate adjustment parameter introducing.The link is open loop stabilization, rank
Jump response non-overshoot, and only two adjustable parameter τ1And τ2。
Therefore, G2(s) transmission function can be expressed as：
Controller G2(s) input/output relation is：
The controller is typical combined integral controller.According to system to quick performance, steady-state behaviour and anti-interference
The needs of energy, the parameter of regulating system, to realize optimal control effect.
(2) the unstable delay system of second order duopole
Consider the following unstable delay system of second order duopole：
Wherein, K, L, T are the constants of transmission function.Interior ring controller G1(s) PD control device is still selected, i.e.,
G1(s)=Kc(1+Tds) (15)
Wherein, Kc、TdIt is setting parameter.Then generalized object Gp(s) transmission function is：
Assuming that the closed loop transfer function, of desired whole system is：
Wherein, τ1And τ2It is adjustable parameter.Then, G2(s) transmission function is represented by：
Controller G2(s) input/output relation is：
With (1), the controller is also typical combined integral controller.According to system to quick performance, steady-state behaviour and
The needs of interference free performance, the parameter of regulating system, to realize optimal control effect.
3rd, emulation proves
(3.1) the unstable large-lag object of single order is considered
Considered based on optimum phase angle nargin, the PD control device parameter of selection is
G1(s)=1.14 (0.62s+1)
Meanwhile consider the interference free performance and robust stability of system, choose the closed loop of desired whole system
Transmission function is：
Parameter i.e. corresponding to formula (11) is τ1=10, τ2=8.In t=0, setting value unit step, in 150s,
Introduce interference d (s)=- 0.5/s.Under nominal model, the output of system is as shown in Figure 3.In order to verify the robust stability of system
Performance, it is assumed that the time lag increase by 10% of system, the output of system is as shown in Figure 4.
(3.2) the unstable delay system of second order duopole is considered
Considered with (3.1) based on optimum phase angle nargin, the PD control device parameter of selection is：
G1(s)=4.3s+0.68
The interference free performance and robust stability of consideration system, choose the closed loop transfer function, of desired whole system
For：
Parameter i.e. corresponding to formula (11) is τ1=6, τ2=6.In t=0, setting value unit step, in 150s,
Introduce interference d (s)=- 0.5/s.Under nominal model, the output of system is as shown in Figure 5.In order to verify the robust stability of system
Performance, it is assumed that the time lag increase by 10% of system, the output of system is as shown in Figure 6.
Can be seen that the invention from Fig. 3, Fig. 4, Fig. 5, Fig. 6 simulation result has good control to time-dependent system
Effect, antijamming capability is stronger, and robust performance is good.Meanwhile it organically ties traditional PID structures with combined integral controller
Altogether, simple in construction, parameter tuning is convenient.Reality engineering project in, can come according to the actual requirements adjustment parameter with
Obtain optimal control effect.
It is described above, only presently preferred embodiments of the present invention, it is not any to the present invention in form and substantial limitation,
It should be pointed out that for those skilled in the art, on the premise of the inventive method is not departed from, can also make
Some improvement and supplement, these are improved and supplement also should be regarded as protection scope of the present invention.All those skilled in the art,
Without departing from the spirit and scope of the present invention, when made using disclosed above technology contents it is a little more
Dynamic, modification and the equivalent variations developed, it is the equivalent embodiment of the present invention；Meanwhile all substantial technologicals pair according to the present invention
The variation, modification and evolution for any equivalent variations that above-described embodiment is made, still fall within the scope of technical scheme
It is interior.
Claims (3)
- A kind of 1. controller for being used to control the double circle structure of unstable plus time delay processes, it is characterised in that：By major and minor two kinds controls Device processed forms double circle structure；Submaster controller is PD control device, positioned at inner loop feedback loop, for unstable hysteresis pair of calming As eliminating its unstable limit；Master controller is combined integral controller, dry for eliminating input positioned at outer shroud forward loop The influence disturbed and control system is set to reach defined dynamic performance index.
- 2. a kind of controller for being used to control the double circle structure of unstable plus time delay processes as claimed in claim 1, its feature It is：First, the unstable plus time delay processes of open loop are calmed using the PD control device of inner ring, becomes closed-loop stabilization system； Then, the PD control device of unstable plus time delay processes and inner ring is collectively regarded as a generalized object, designs it combination of outer shroud Integral controller, control system is set to reach defined dynamic performance index.
- 3. a kind of controller for being used to control the double circle structure of unstable plus time delay processes as claimed in claim 1 or 2, it is special Sign is：The transmission function of the PD control device in the inner loop feedback loop is：G1(s)=Kc(1+TdS), Kc、TdFor setting parameter； Unstable plus time delay processes and PD control device are considered as a generalized object Gp(s) combinatorial product of outer shroud forward loop, is designed it Sub-controller；Assuming that the closed loop transfer function, of desired whole system is：τ1、τ2For Setting parameter, L is the time lag of unstable plus time delay processes, then according to the anti-transmission letter for pushing away combined integral controller of closed loop transfer function, Number is：
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Cited By (2)
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| CN116281422A (en) * | 2023-05-18 | 2023-06-23 | 青岛宏大纺织机械有限责任公司 | Control method and system of tension controller of bobbin winder |
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