CN109814636A - The advanced control method of crosslinked cable production temperature based on predictive PI algorithm - Google Patents
The advanced control method of crosslinked cable production temperature based on predictive PI algorithm Download PDFInfo
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Abstract
The advanced control method for the crosslinked cable production temperature based on predictive PI algorithm that the present invention provides a kind of, produces the mathematical model and parameter that temperature system characteristic determines controlled device according to crosslinked cable first；Then the temperature controller of the controlled device is designed using PPI controller algorithm；Finally using the parameter of temperature controller described in Simulated Anneal Algorithm Optimize.By the control effect of predictive PI algorithm of the present invention compared with currently used pid algorithm carries out emulation, the problem that slow, output that the simulation experiment result shows that the invention can avoid Traditional control pid algorithm adjustment speeds has concussion, fluctuation big, eliminate the concussion of crosslinked cable production temperature control system, reduce overshoot, accelerate adjustment speed, so that system rejection to disturbance ability is strong, way of realization is simple, and control effect is good.
Description
Technical field
The advanced control method for the crosslinked cable production temperature based on predictive PI algorithm that the present invention relates to a kind of, belongs to industry
Control technology field.
Background technique
Wire and cable manufacturing industry is each with each row in social development as one of the important industry in economic construction of China
Industry is closely related.Crosslinked polyethylene (XLPE) cable is widely used in electric power because it is with good electrical property and hot property
The each voltage class of system, its dielectric strength is higher, and dielectric loss coefficient is small, the performances such as antiacid alkali, salt spray resistance, anticorrosion
Good, cable core can work at relatively high temperatures, while small in size, convenient for installation and maintenance.Therefore, in the development process of power industry
In, the demand of crosslinked cable will be substantially improved.Meanwhile the quality requirement of cable is also being continuously improved.
In crosslinked cable production process, since crosslinking agent (DCP) thermotonus is very active in crosslinking material, it is totally different from
Other raw material, insulating materials especially therein is even more temperature controlled emphasis in crosslinked cable production, so temperature controls
It is very crucial.If the temperature of setting is excessively high, it will lead to crosslinking material and be crosslinked in advance, cable core is unsmooth when outlet and heat occurs
Pimple phenomenon causes economic loss and failure of driving.If the temperature being arranged is too low, and it is negative to will cause extruder electric current after plastic squeeze
Lotus is too big, is easily damaged equipment, and cable core is unsmooth when outlet and hot pimple phenomenon occurs, equally causes economic loss and opens
Vehicle failure.So temperature controls very crucial and a big difficulty.
Traditional temperature control be using PID controller, because the advantage of PID control be its principle it is simple, it is easy to use,
Adaptable, strong robustness, it is lower to the variation range requirement of running environment and controlled device, it is highly suitable for environment evil
Bad industrial site makes it occupy leading position in all types of industries domain of control temperature always.But in the control of PID
Under, system output is shaken, and overshoot is larger, and the time needed for reaching stable state is long, and control effect is unsatisfactory.Temperature is to life
The cable quality of production has strong influence, so further improving to its control algolithm, is very important, and has biggish
Economic value.
Summary of the invention
The technical problem to be solved by the present invention is how to eliminate the concussion of crosslinked cable production temperature control system, reduce
Overshoot accelerates adjustment speed.
In order to solve the above-mentioned technical problem, the technical solution of the present invention is to provide a kind of, and the crosslinking based on predictive PI algorithm is electric
The advanced control method of cable production temperature, which comprises the steps of:
Step 1: the mathematical model and parameter that temperature system characteristic determines controlled device are produced according to crosslinked cable；
Step 2: the temperature controller of the controlled device is designed using PPI controller algorithm；
Step 3: using the parameter of temperature controller in Simulated Anneal Algorithm Optimize step 2.
Preferably, in the step 2, the defeated entry/exit of the temperature controller of the controlled device of PPI controller algorithm design
Relationship are as follows:
Wherein, λ is an adjustable parameter, directly controls the speed of closed-loop system response；K is gain, TiThe time of integration is normal
Number, L are delay time, and e (t) is the deviation of input and output, and u (t) is output, and u (t-L) is the output at t-L moment.
Preferably, in the step 3, using the integral of absolute value of error Robust IAE of system robustness as system evaluation
Index, mathematic(al) representation are as follows:
Wherein, r (t) is the input of system, ynIt (t) is the output of system under nominal state, ym(t) being under model mismatch is
The output of system, t1For step interference time, in t1Moment is added the step that amplitude is system input value 20% and interferes；A is adjustable
Whole coefficient.
Preferably, when system itself interference is less than normal, increase a；When system itself interference is bigger than normal, reduce a.
Due to the adoption of the above technical solution, compared with prior art, the present invention having the following advantages that and actively imitating
Fruit:
Present invention determine that plant model be first-order plus time delay model after, using predictive PI algorithm have both PI control and
The functional advantage of model prediction devises crosslinked cable production system temperature controller.Then in adjusting predictive PI controller ginseng
It when number λ, is continuously adjusted not according to experience and obtains a suitable λ value, but used a kind of based on simulated annealing
Predictive PI controller parameter lambda setting method, be more quickly obtained more preferably λ value.The present invention is rapidly achieved system surely
Definite value, and fast response time, output is finally reached a stationary value without concussion, system output, thus guarantee that system temperature is stablized,
The quality of the cable of production, practical value with higher can be improved.
Detailed description of the invention
Fig. 1 is the stream for the advanced control method that the crosslinked cable provided in this embodiment based on predictive PI algorithm produces temperature
Cheng Tu；
Fig. 2 is temperature control system temperature gliding curve schematic diagram；
Fig. 3 is predictive PI system block diagram；
Fig. 4 is unit feedback system block diagram；
Fig. 5 is predictive PI algorithm and pid algorithm step response curve figure；
Fig. 6 is predictive PI algorithm and pid algorithm disturbance response curve graph.
Specific embodiment
Present invention will be further explained below with reference to specific examples.
Fig. 1 is the stream for the advanced control method that the crosslinked cable provided in this embodiment based on predictive PI algorithm produces temperature
Cheng Tu, it is described based on predictive PI algorithm crosslinked cable production temperature advanced control method the following steps are included:
1, the mathematical model and parameter that temperature system characteristic determines controlled device are produced according to crosslinked cable:
Since crosslinked cable production process each heating period is using Electric heating, crosslinked cable temperature is controlled
System, pure lag system can be added with reasonable time constant, and electric heating is determined electrically heated with step response approximation come approximate
Continuous model.Therefore the mathematical model for the controlled device established are as follows:
Wherein, K is proportionality coefficient, and T is inertia time constant, and τ is pure delay time constant.
Least-square fitting approach after obtaining controll plant step response, is used by experiment using response-curve method
Fit three parameters K, T, τ of controlled system model.As shown in Fig. 2, wherein B is that tangent line and t at curve greatest gradient are sat
Parameter intersection point, A are the intersection point of tangent line and step response amplitude, and C is projection of the A point in t reference axis, and Δ Y is step response amplitude,
The transmission function of temperature control system is obtained by calculation are as follows:
2, its temperature controller is designed using advanced predictive PI algorithm:
As shown in figure 3, predictive PI controller is made of independent two parts, the respectively control section PI and predictive estimation portion
Point, the defeated entry/exit relationship of predictive PI controller are as follows:
Formula (3) right side of the equal sign preceding paragraph is PI controller, and consequent is predictive controller, wherein λ is an adjustable parameter, directly
Connect the speed of control closed-loop system response；K is gain, TiIntegration time constant, L are delay time, and e (t) is input and output
Deviation, u (t) be output, u (t-L) be the t-L moment output.
Consider the unity negative feedback system of Fig. 4: GcIt (s) is controller transfer function, GpIt (s) is that controlled device passes to be controlled
Delivery function, its closed loop transfer function, of degeneration factor:
Obtain controller transfer function are as follows:
Because of the mathematical model of controlled device are as follows:
Assuming that desired closed loop transfer function, are as follows:
Wherein, λ directly controls the speed of closed-loop system response.As λ=1, the time constant one of open loop and closed-loop system
It causes；As λ > 1, open cycle system is responded faster；As λ < 1, closed-loop system response is fast.Wushu (7) is substituted into formula (5) and can must be controlled
The transmission function of device are as follows:
And then it obtains:
To obtain Gc1(s) and Gc2(s) it is respectively as follows:
The load transfer function coefficient of crosslinked cable production temperature control system is substituted into, its predictive PI controller each section is obtained
Are as follows:
3, using the parameter lambda of Simulated Anneal Algorithm Optimize predictive PI controller:
Certainty energy index, the robust performance index of consideration system, using the integral of absolute value of error of robustness
(Robust IAE) is used as system evaluation index.Its mathematical expression is as follows:
Wherein, r (t) is the input of system, ynIt (t) is the output of system under nominal state, ym(t) being under model mismatch is
The output of system, t1For step interference time, in t1Moment is added the step that amplitude is system input value 20% and interferes；A is adjustable
Whole coefficient.
It is obtained by experiment, when a is set as 2, system can be made to obtain the premise of preferable Control platform under nominal state
Under, while guaranteeing that the Control platform in model mismatch 20% does not occur big deviation.Because controlled device is single order purely retarded
Object, then Robust IAE can regard the function of independent variable λ as.
Use the key parameter of Simulated Anneal Algorithm Optimize λ are as follows:
(1) state generation rule
Because λ is a real number greater than 0, solution space is all positive real numbers.In view of empty to get solution as far as possible
Each interior value, new exploration point should be spaced smaller with existing solution.Therefore use following generation rule:
In formula, λkFor new exploration point, random is random number.
(2) initial solution
When in view of λ=1, the closed loop response speed of system is consistent with open-loop response speed, and optimal solution is often not far from 1,
Initial solution is set as 1 herein.
(3) Cooling -schedule
Simulated annealing Cooling -schedule includes: initial temperature, temperature damping, Markov chain length, termination rules
Deng.
1) initial temperature.The quality of the higher last solution of initial temperature is higher, however excessively high initial temperature will lead to it is longer
The calculating time.Experiment shows to can be obtained the higher solution of quality when initial temperature setting is 2000.
2) temperature damping.Using the geometry temperature decline coefficient of Ke Shi, formula are as follows:
Tn+1=α Tn (14)
Wherein α is temperature damping's factor, takes 0.9, TnFor the temperature at n moment, Tn+1For the temperature at n+1 moment, n is positive whole
Number.
3) markov chain length.300 are set by markov chain length.
4) termination rules.Using temperature is terminated as stop criterion, i.e., when temperature, which reaches, terminates temperature, algorithm is terminated.It will
Terminate temperature and is set as 0.0001.
According to above-mentioned parameter, simulated annealing solution is carried out, λ=0.612 is obtained.
4, predictive PI algorithm and pid algorithm control effect emulation is carried out to compare:
Control algolithm is designed for controlled target temperature, traditional PID controller is designed first, is joined using Z-N method
Number adjusting, then designs predictive PI controller, takes λ=0.612 according to simulated annealing method.The step response curve of system
As shown in Figure 5, it can be seen that the PID controller system response time adjusted by Z-N method is slower, and regulating time is long, and deposits
It is vibrating；Predictive PI controller system response time is fast, and regulating time is short, and there is no oscillations.To analyze the anti-of each controller
Jamming performance is added the step that amplitude is 1 at the t=1500 moment and interferes, and system response curve is as shown in Figure 6, it can be seen that
Under interference, the PID control system of Z-N method adjusting will appear oscillation under interference, and need the long period that can just return to stable state, in advance
Surveying PI promptly can return to steady-state value to dead-beat.
In conclusion can be seen that PPI controller algorithm is used in crosslinked cable production temperature control and works as by simulation result
In, compared with traditional pid control algorithm, have output without concussion, the advantages of regulating time is fast, strong antijamming capability.
The above, only presently preferred embodiments of the present invention, not to the present invention in any form with substantial limitation,
It should be pointed out that under the premise of not departing from the method for the present invention, can also be made for those skilled in the art
Several 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, are equivalent embodiment of the invention；Meanwhile all substantial technologicals pair according to the present invention
The variation, modification and evolution of any equivalent variations made by above-described embodiment, still fall within the range of technical solution of the present invention
It is interior.
Claims (4)
1. a kind of advanced control method of the crosslinked cable production temperature based on predictive PI algorithm, it is characterised in that: including as follows
Step:
Step 1: the mathematical model and parameter that temperature system characteristic determines controlled device are produced according to crosslinked cable；
Step 2: the temperature controller of the controlled device is designed using PPI controller algorithm；
Step 3: using the parameter of temperature controller in Simulated Anneal Algorithm Optimize step 2.
2. a kind of advanced control method of crosslinked cable production temperature based on predictive PI algorithm as described in claim 1,
It is characterized in that: in the step 2, the defeated entry/exit relationship of the temperature controller of the controlled device of PPI controller algorithm design are as follows:
Wherein, λ is an adjustable parameter, directly controls the speed of closed-loop system response；K is gain, TiIntegration time constant, L are
Delay time, e (t) are the deviation of input and output, and u (t) is output, and u (t-L) is the output at t-L moment.
3. a kind of advanced control method of crosslinked cable production temperature based on predictive PI algorithm as described in claim 1,
It is characterized in that: in the step 3, using the integral of absolute value of error Robust IAE of system robustness as system evaluation index,
Its mathematic(al) representation are as follows:
Wherein, r (t) is the input of system, ynIt (t) is the output of system under nominal state, ymIt (t) is system under model mismatch
Output, t1For step interference time, in t1Moment is added the step that amplitude is system input value 20% and interferes；A is adjustable
Coefficient.
4. a kind of advanced control method of crosslinked cable production temperature based on predictive PI algorithm as claimed in claim 3,
It is characterized in that: when system itself interference is less than normal, increasing a；When system itself interference is bigger than normal, reduce a.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112882513A (en) * | 2021-01-15 | 2021-06-01 | 青岛科技大学 | Precise temperature control device and method suitable for ibuprofen Friedel-crafts reaction |
| CN116627028A (en) * | 2023-07-21 | 2023-08-22 | 阳谷新太平洋电缆有限公司 | Control method for crosslinked cable production line |
| CN117631530A (en) * | 2024-01-24 | 2024-03-01 | 汉河(阳谷)电缆有限公司 | Cross-linked cable production temperature control method |
| CN118068890A (en) * | 2024-04-18 | 2024-05-24 | 深圳市曼恩斯特科技股份有限公司 | Temperature control method, device, equipment and medium for oven |
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2019
- 2019-01-16 CN CN201910038954.4A patent/CN109814636A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112882513A (en) * | 2021-01-15 | 2021-06-01 | 青岛科技大学 | Precise temperature control device and method suitable for ibuprofen Friedel-crafts reaction |
| CN112882513B (en) * | 2021-01-15 | 2022-01-28 | 青岛科技大学 | Precise temperature control device and method suitable for ibuprofen Friedel-crafts reaction |
| CN116627028A (en) * | 2023-07-21 | 2023-08-22 | 阳谷新太平洋电缆有限公司 | Control method for crosslinked cable production line |
| CN116627028B (en) * | 2023-07-21 | 2023-09-29 | 阳谷新太平洋电缆有限公司 | Control method for crosslinked cable production line |
| CN117631530A (en) * | 2024-01-24 | 2024-03-01 | 汉河(阳谷)电缆有限公司 | Cross-linked cable production temperature control method |
| CN117631530B (en) * | 2024-01-24 | 2024-04-02 | 汉河(阳谷)电缆有限公司 | Cross-linked cable production temperature control method |
| CN118068890A (en) * | 2024-04-18 | 2024-05-24 | 深圳市曼恩斯特科技股份有限公司 | Temperature control method, device, equipment and medium for oven |
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