CN109856958B - Control method for preventing integral saturation - Google Patents
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- CN109856958B CN109856958B CN201711240784.5A CN201711240784A CN109856958B CN 109856958 B CN109856958 B CN 109856958B CN 201711240784 A CN201711240784 A CN 201711240784A CN 109856958 B CN109856958 B CN 109856958B
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Abstract
The invention relates to a control method for preventing integral saturation, which detects the instruction value of an actuating mechanism and judges that: when the instruction value of the execution mechanism reaches a high limit value, the PID regulator tracks the high limit value, and after the first set time, the PID regulator is switched to the original regulation mode; when the instruction value of the execution mechanism reaches the low limit value, the PID regulator tracks the low limit value, and after the second set time, the PID regulator is switched to the original regulation mode. The method has simple logic and obvious effect, can effectively avoid the phenomenon of failure of the controllers, solves the problem of integral saturation, ensures the adjustment quality of each controller, improves the stability and the economy of the whole system, and indirectly prolongs the service life of the unit.
Description
Technical Field
The invention belongs to the technical field of automatic control of thermal power plants, and particularly relates to a control method for preventing integral saturation.
Background
At present, the national power industry develops more and more quickly, the automation level is higher and more, DCS control is generally applied to each thermal power plant, and the quality of PID controllers in each DCS is directly influenced on the stability and the economical efficiency of unit operation, even the service life of the unit. However, the PID controller in the current partial DCS has the defect of integral saturation.
Fig. 1 shows a classical control block diagram of a control system of a thermal power plant, and the regulation principle is as follows: and carrying out closed-loop control on the actual value and the set value of the regulated quantity through a PID regulator after the actual value is different from the set value of the regulated quantity, and transmitting the obtained output quantity to an execution mechanism M/A so as to realize the regulation of the controlled object.
When the actuator reaches the limit position and the regulated quantity deviation still exists, the operation result obtained by the PID controller continues to increase or decrease due to integral saturation, but the actuator does not have corresponding action, and the integral saturation is called.
After the integral saturation phenomenon occurs, the biggest harm is that the execution mechanism can not be adjusted according to the change of the adjusted quantity in a short time, namely, the instruction of the execution mechanism can not be changed, which is equivalent to the failure of the controller, the adjustment quality of an automatic control loop is influenced slightly, and the equipment safety is influenced seriously. Therefore, preventing integral saturation is a necessary guarantee for the normal operation of the thermal power plant unit.
Disclosure of Invention
The invention aims to provide a control method for preventing integral saturation, which is used for solving the problem that the integral saturation phenomenon of a PID (proportion integration differentiation) controller of a thermal power plant unit causes influence on equipment safety.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the invention provides a control method for preventing integral saturation, which comprises the following method schemes:
the first method scheme comprises the following steps:
detecting and judging the instruction value of the execution mechanism:
when the instruction value of the execution mechanism reaches a high limit value, the PID regulator tracks the high limit value, and after the first set time, the PID regulator is switched to the original regulation mode;
when the instruction value of the execution mechanism reaches the low limit value, the PID regulator tracks the low limit value, and after the second set time, the PID regulator is switched to the original regulation mode.
And secondly, on the basis of the first method, after the first set time, the PID regulator is switched to the original regulation mode and continues for a third set time, whether the instruction value of the execution mechanism is below the high limit value or not is detected and judged, and if not, the PID regulator tracks the high limit value and continues for the first set time until the instruction value of the execution mechanism is reduced to be below the high limit value.
And a third method scheme is that on the basis of the first method scheme, after the second set time, the PID regulator is switched to the original regulation mode and continues for a fourth set time, whether the instruction value of the execution mechanism is above the lower limit value or not is detected and judged, and if not, the PID regulator tracks the lower limit value and continues for the second set time until the instruction value of the execution mechanism rises above the lower limit value.
In a fourth method, based on the first method, the first set time is 2 seconds.
In method option five, on the basis of method option one, the second set time is 2 seconds.
In a sixth method, based on the second method, the third set time is 15 seconds.
A seventh method, based on the third method, wherein the fourth setting time is 15 seconds.
The invention has the beneficial effects that:
the control method for preventing integral saturation of the invention adds an override control logic on the basis of the original PID closed-loop control, namely: when the executing mechanism reaches the high limit value or the low limit value, the override logic is triggered to enable the PID regulator to track the instruction value of the executing mechanism, after a certain time, the PID regulator is switched to the original regulating mode, after a certain time, whether the instruction value of the executing mechanism is recovered between the high limit value and the low limit value or not is judged, and if the instruction value is not recovered, the process is continuously repeated. The control method is simple in logic, can effectively avoid the phenomenon of integral saturation, and is remarkable in effect and high in practicability. Moreover, the override logic only works when integral saturation is possible, and the PID regulator can be normally regulated. Overall, the method of the invention can effectively avoid the phenomenon of failure of the controllers, ensure the adjusting quality of each controller and each adjuster, further improve the stability and the economy of the whole system, and indirectly prolong the service life of the unit.
Drawings
FIG. 1 is a classical control block diagram of a thermal power plant control system;
fig. 2 is a control block diagram of the present invention for preventing integral saturation.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.
As shown in fig. 1, which is a classical control block diagram of a thermal power plant control system, the PID adjustment method is: the difference between the set value and the actual value is closed-loop controlled by PID regulator, and the output of PID is transmitted to the executing mechanism M/A to realize the regulation of the controlled object.
The control method is realized by adding auxiliary override logic on the basis of the figure 1 and configuring the auxiliary override logic in each power plant DCS. According to the auxiliary override logic, an override signal of the auxiliary override logic only acts when an execution mechanism instruction reaches a high limit value or a low limit value, normal adjustment of a thermal power plant controller is not influenced under other working conditions, and abnormal action of the execution mechanism is avoided.
The control method specifically comprises the following steps: detecting and judging the instruction value of the execution mechanism:
when the instruction value of the execution mechanism reaches the high limit value, the PID regulator tracks the high limit value, 2s later, the PID regulator is switched to the original normal regulation mode (namely the classical closed-loop regulation mode of the PID shown in figure 1), 15s later, if the instruction value of the execution mechanism is still at the high limit value, the PID regulator is controlled to continue to track the high limit value of the execution mechanism, and the process is circulated until the instruction value of the execution mechanism is reduced to be lower than the high limit value.
When the instruction value of the execution mechanism reaches the low limit value, the PID regulator tracks the low limit value, 2s later, the PID regulator is switched to the original normal regulation mode (namely the classical closed-loop regulation mode of the PID shown in figure 1), 15s later, if the instruction value of the execution mechanism is still at the low limit value, the PID regulator is controlled to continue to track the low limit value of the execution mechanism, and the process is circulated until the instruction value of the execution mechanism rises to be higher than the low limit value.
Overall, the control method is simple in logic and obvious in effect, and solves the problem that the PID controller loses flexibility when the integral in the DCS system is saturated.
In order to realize the method, a control block diagram shown in FIG. 2 is designed. On the basis of the original PID closed-loop control, the override logic control is added. The principle is as follows:
when detecting that the instruction value of the execution mechanism reaches the high limit value or the low limit value, the S end of the RS trigger is 1, the output of the RS trigger is 1, the override signal is 1, and the override logic is triggered to control and adjust according to the method to prevent the integral saturation phenomenon.
After the override signal is 1 and lasts for 2s, the high level of the trigger pulse is effective, the output of the R end of the RS trigger is 1, the RS trigger is set, the output is 0, the override signal is 0, and the PID adopts the original regulation mode.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (5)
1. A control method for preventing integral saturation, comprising the steps of:
detecting and judging the instruction value of the execution mechanism:
when the instruction value of the execution mechanism reaches a high limit value, the PID regulator tracks the high limit value, and after the first set time, the PID regulator is switched to the original regulation mode;
when the instruction value of the execution mechanism reaches the low limit value, the PID regulator tracks the low limit value, and after the second set time, the PID regulator is switched to the original regulation mode;
after the first set time, the PID regulator is switched to the original regulation mode and continues for a third set time, whether the instruction value of the execution mechanism is below the high limit value or not is detected and judged, if not, the PID regulator tracks the high limit value and continues for the first set time until the instruction value of the execution mechanism is reduced to be below the high limit value;
and after the second set time, the PID regulator is switched to the original regulation mode and continues for a fourth set time, whether the instruction value of the execution mechanism is above the lower limit value or not is detected and judged, if not, the PID regulator tracks the lower limit value and continues for the second set time until the instruction value of the execution mechanism rises above the lower limit value.
2. The control method for preventing integral saturation according to claim 1, wherein the first set time is 2 seconds.
3. The control method for preventing integral saturation according to claim 1, wherein the second set time is 2 seconds.
4. The control method for preventing integral saturation according to claim 1, wherein the third set time is 15 seconds.
5. The control method for preventing integral saturation according to claim 1, wherein the fourth setting time is 15 seconds.
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| CN110703590B (en) * | 2019-10-25 | 2022-06-17 | 杭州和利时自动化有限公司 | Override control method, device, equipment and medium |
| CN113110026A (en) * | 2021-04-09 | 2021-07-13 | 西安热工研究院有限公司 | Anti-integral saturation control method for cascade control system |
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Inventor after: Yuan Shitong Inventor after: Bi Yanzhou Inventor after: Yang Yafei Inventor after: Wei Qinghai Inventor after: Zhang Donghai Inventor after: Li Qiuying Inventor before: Bi Yanzhou Inventor before: Yang Yafei Inventor before: Wei Qinghai Inventor before: Zhang Donghai Inventor before: Yuan Shitong Inventor before: Li Qiuying |
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