CN115007303A - Predictive control method and storage medium for pre-grinding system of roller press - Google Patents
Predictive control method and storage medium for pre-grinding system of roller press Download PDFInfo
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- CN115007303A CN115007303A CN202210705415.3A CN202210705415A CN115007303A CN 115007303 A CN115007303 A CN 115007303A CN 202210705415 A CN202210705415 A CN 202210705415A CN 115007303 A CN115007303 A CN 115007303A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C25/00—Control arrangements specially adapted for crushing or disintegrating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C23/00—Auxiliary methods or auxiliary devices or accessories specially adapted for crushing or disintegrating not provided for in preceding groups or not specially adapted to apparatus covered by a single preceding group
- B02C23/18—Adding fluid, other than for crushing or disintegrating by fluid energy
- B02C23/20—Adding fluid, other than for crushing or disintegrating by fluid energy after crushing or disintegrating
- B02C23/22—Adding fluid, other than for crushing or disintegrating by fluid energy after crushing or disintegrating with recirculation of material to crushing or disintegrating zone
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to a predictive control method and a storage medium of a pre-grinding system of a roller press, which comprises the steps of eliminating high-frequency noise of current of the roller press through sliding average; step testing of the electric inclined insertion plate is carried out, so that the effective adjusting range of the inclined insertion plate adjustment and the response of the current of the roller press caused by the inclined insertion plate adjustment are inspected; based on the test result, modeling a control system of the roller press within the effective adjusting range of the inclined insertion plate; performing control deviation accumulation on the opening of the inclined inserting plate of the roller press by using a model predictive control algorithm; in order to prevent the damage of frequent actions to the electric actuator, a dead zone for adjusting the inclined insertion plate is preset, and when the accumulated value of the control deviation is greater than the preset dead zone value, the control deviation value is applied to an electric actuator of the inclined insertion plate. The invention can guarantee the work of the pre-grinding system of the roller press and simultaneously consider the purpose of fine powder sorting. Meanwhile, the purposes of automatic operation, improvement of control precision, production improvement, consumption reduction and reduction of labor intensity of operators can be achieved.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a predictive control method and a storage medium for a pre-grinding system of a roller press.
Background
The roller press pre-grinding system is the most commonly used process configuration in the current grinding system, and has the advantages of high yield, low power consumption, excellent quality, convenient operation and the like. As the most important host equipment in the pre-grinding system of the roller press, the high-efficiency work of the roller press can directly influence the capacity and the power consumption of the pre-grinding system. The adjustment of the work of the roller press is completed by adjusting the opening of the symmetrical electric oblique inserting plates arranged above the roller press. The adjustment of the opening of the inclined insertion plate can control the feeding amount of a roller press system, so that the adjustment of acting of the roller press is realized. The conventional control method is that an operator manually adjusts the opening degree of the feeding inclined inserting plate based on the current of the roller press in the DCS system to realize the adjustment of the feeding amount of the roller press.
The stable high efficiency of the roll squeezer work is the key place of the grinding system for increasing production and reducing consumption, and the central control operator controls the amount of the materials entering the roll squeezer by adjusting the opening size of the symmetrical electric oblique inserting plate arranged above the roll squeezer, so as to realize the adjustment of the roll squeezer work, and the specific analysis is as follows:
| serial number | Investigating the content | State A | B state | C state |
| 1 | Current of roller press | Is larger | Is smaller | Is moderate |
| 2 | Work of roller press | Is higher than | Is lower than | Is moderate |
| 3 | System feed volume | Much more | Is less | Is moderate |
| 4 | Cake size | Is larger | Is smaller | Is moderate |
| 5 | Difficulty of scattering material cake | Is higher than | Is lower than | Is lower than |
| 6 | Difficulty in sorting fine powder | Is higher than | Is lower than | Is lower than |
| 7 | Sorted fine powder | Is less | Is less | Much more |
| 8 | Energy consumption of roller press | Is higher than | Is lower than | Is moderate |
| 9 | Overall energy efficiency | Is lower than | Is lower than | Is higher than |
When the system is in state a: the current of the roller press is large, the work is high, the feeding amount is large, the processed material cake is large, although sufficient materials are provided for a sorting link, the large material cake is not easy to break up after entering the V sorting process through the circulating elevator, and the fine powder is not easy to sort to the next process;
when the system is in the B state: the current of the roller press is small, the work is low, the feeding amount is small, the processed material cake is small, although the material cake is easy to break up after entering the V separation through the circulating elevator, and the fine powder is easy to be separated to the next working procedure, the amount of the fine powder which can be separated is small due to the small material cake;
when the system is in the C state: the roller press has moderate current, moderate work, moderate feeding amount and moderate material cake after treatment, the material cake enters V separation through a circulating elevator, the scattering difficulty is moderate, the fine powder separation difficulty is moderate, and more fine powder can be separated.
The existing control method mainly depends on manual adjustment of an operator in a central control DCS system, the mode needs the operator to closely pay attention to the change trend of the current of the roller press, and meanwhile, the effective adjustment range of the electric oblique inserting plate is considered, so that the adjustment is timely and effective while the effective range is not exceeded.
However, as the current signal in the DCS has large high-frequency noise, an operator is difficult to master the current variation trend of the roller press in time; meanwhile, the inclined insertion plate is driven by an electric actuator, the electric actuator has an inherent dead zone, and an operator cannot ensure that the inclined insertion plate can act on field equipment during each operation. Therefore, the problems of control lag, low precision, large system fluctuation, low system yield, high power consumption per unit production and the like are easily caused by manual operation.
Disclosure of Invention
The predictive control method of the pre-grinding system of the roller press can solve the technical problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
a predictive control method of a roller press pre-grinding system comprises the following steps: the method is characterized in that an advanced process control server is utilized to realize the reading and writing of technological process parameters of a roller press pre-grinding system in a Distributed Control System (DCS) in an OPC communication mode, and then the method is executed according to the following steps:
firstly, eliminating high-frequency noise of the current of the roller press through sliding average;
furthermore, the effective adjusting range of the inclined insertion plate adjustment and the response of the current of the roller press caused by the inclined insertion plate adjustment are inspected through a step test of the electric inclined insertion plate;
then, based on the test result, modeling a control system of the roller press within the effective adjusting range of the inclined insertion plate;
finally, performing control deviation accumulation on the opening of the inclined inserting plate of the roller press by using a model predictive control algorithm; in order to prevent the damage of frequent actions to the electric actuator, a dead zone for adjusting the inclined insertion plate is preset, and when the accumulated value of the control deviation is greater than the preset dead zone value, the control deviation value is applied to an electric actuator of the inclined insertion plate.
Further, the method specifically comprises the following steps,
s1, obtaining the current of the roller press and the opening of the electric inclined insertion plate from a Distributed Control System (DCS);
s2, obtaining the average current of the roller press through the sliding average; obtaining the effective adjusting range of the inclined inserting plate through the adjusting test of the electric inclined inserting plate;
s3, fine adjustment is carried out on the electric oblique inserting plate within the adjusting range of the electric oblique inserting plate, and the size of the dead zone of the electric oblique inserting plate actuator is determined;
s4, step testing is carried out on the electric oblique inserting plate within the adjusting range of the electric oblique inserting plate, and pure lag time of the average current change of the roller press caused by the adjustment of the electric oblique inserting plate and duration time of the inertia process are determined;
s5, determining the prediction time domain length of the prediction control system according to the pure lag time and the duration time of the inertial process, and determining the control time domain length of the prediction control system according to the response speed of the system;
s6, establishing and solving an optimization objective function in the prediction time domain length and the control time domain length to obtain the control deviation of the opening of the optimized electric inclined insertion plate in the control time domain length;
s7, accumulating the control deviation of the opening of the electric inclined inserting plate;
s8, judging whether the control deviation accumulated amount of the opening of the electric oblique inserting plate exceeds the dead zone of an actuator, if so, executing S9, and if not, returning to S6;
s9, firstly, calculating the sum of the current opening degree of the electric oblique inserting plate and the control deviation accumulated amount of the electric oblique inserting plate, executing S10, then setting the control deviation accumulated amount of the electric oblique inserting plate to be zero, and continuously returning to S6 to calculate the control deviation;
s10, judging whether the sum of the current opening degree of the electric oblique inserting plate and the control deviation accumulated amount exceeds the effective adjusting range;
s11, if the sum is less than the lower limit of the effective adjusting range, taking the lower limit as control output; if the sum is greater than the upper limit of the effective regulating range, taking the upper limit as control output; and if the sum is between the upper limit and the lower limit, the sum is used as a control output.
Further, the step S4 of subdividing is as follows:
establishing an optimization objective function at the moment t according to a deviation range between a feedback value and a set value of the average current of the roller press in a prediction time domain and a variation range of the opening of the electric inclined insertion plate in a control time domain;
specifically, the established objective function is:
wherein: y is a predicted value of the average current of the roller press, w is a set value of the average current of the roller press, delta u is an adjustment variable quantity of the opening of the electric inclined insertion plate, lambda is a weight factor of the adjustment quantity of the opening of the electric inclined insertion plate, and j is a control step number of the control loop;
obtaining the change quantity of the opening degree of the electric oblique inserting plate which is optimized in the control time domain at the time t as delta u according to the established optimization objective function t ,Δu t+1 ,…,Δu t+M 。
Further, in step S7, the cumulative amount of the opening of the electric ramp board is:
further, the data read from the distributed control system DCS includes: the rotational speed and frequency of the equipment; the opening degree of the valve; current and vibration of the host; the temperature of the clinker; total feed to the system.
Further, step S5 specifically includes steps from the minimum pure delay step number d to the maximum prediction time domain N of each loop, and according to the expected response speed of the control loop, determining the control time domain as: from 0 to the maximum control time domain M.
Further, the opening of the electric swash plate calculated in step S9 is as follows: u. of t ＝u t-1 +∑Δu t 。
In yet another aspect, the present invention also discloses a computer readable storage medium storing a computer program, which when executed by a processor causes the processor to perform the steps of the method as described above.
According to the technical scheme, the predictive control method of the pre-grinding system of the roller press, disclosed by the invention, applies an advanced process control and expert control algorithm to the control of the roller press:
firstly, eliminating high-frequency noise of the current of the roller press through sliding average; furthermore, the effective adjusting range of the inclined insertion plate adjustment and the response of the current of the roller press caused by the inclined insertion plate adjustment are inspected through a step test of the electric inclined insertion plate; then, based on the test result, modeling a control system of the roller press within the effective adjusting range of the inclined insertion plate; finally, performing control deviation accumulation on the opening of the inclined inserting plate of the roller press by using a model predictive control algorithm; in order to prevent the damage of frequent actions to the electric actuator, a dead zone for adjusting the inclined insertion plate is preset, and when the accumulated value of the control deviation is greater than the preset dead zone value, the control deviation value is applied to the electric actuator of the inclined insertion plate.
The invention can achieve the following steps: the aim of fine powder separation is considered while the work of the pre-grinding system of the roller press is ensured. Meanwhile, the purposes of automatic operation, improvement of control precision, production improvement, consumption reduction and reduction of labor intensity of operators can be achieved.
The invention has the following advantages:
stability: the adjustment of the processing capacity of the roller press is changed from low frequency to high frequency in a small range by using an advanced process control system, so that key process parameters are stabilized, and the stability of system operation and product quality is improved;
the yield is improved: the material cake produced by the roller press is moderate, the material cake scattering difficulty is low, the fine powder sorting difficulty is low, and the system yield is improved;
and (3) loss reduction: the increase of the system yield enables the power consumption of unit products to be reduced, and the purposes of saving power and reducing CO2 emission are achieved;
manpower is saved: the input of the control system can improve the consistency of production control and reduce the working strength of operators, so that the operators are liberated from repetitive production operation, one operator can carry out production control on a plurality of sets of grinding systems, and the labor cost of enterprises is saved.
Drawings
FIG. 1 is a diagram of the pre-grinding system of the roller press of the present invention;
FIG. 2 is a schematic diagram of the control method of the present invention;
FIG. 3 is a graph of the current of a roller press without the application of the present method;
FIG. 4 is a graph of the current of a roller press using the present method.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
As shown in fig. 1, the predictive control method of the pre-grinding system of the roller press according to the embodiment includes:
specifically, the process flow of the roller press pre-grinding system is shown in the above figure, in which: 1 is a batching belt; 2 is a weighing bin; 3 is a manual bar valve; 4 is a pneumatic valve; 5, a roller press; 6 is a material cake hoister; 7 is a V-shaped powder concentrator; 8 is a powder concentrator; 9 is a cyclone cylinder; 10 is a flap valve; 11 is a circulating fan; 12 is a wind-discharging dust collector; 13 is a wind discharging and dust collecting fan; 14 is an iron remover.
The process flow is as follows:
the raw material of the pre-grinding system of the roller press is conveyed to a material cake lifter of the roller press by a batching belt, then the raw material is sent into V-shaped powder separation (V separation) for dispersion and classification, fine powder enters the powder separation machine along with airflow for secondary classification, wherein, coarse material returns to a weighing bin for secondary extrusion, fine material is further separated by a powder separator, fine powder is brought into a cyclone cylinder for collection along with wind, and coarse powder also returns to the weighing bin of the roller press for re-extrusion. The fine powder collected by the cyclone cylinder is sent to the subsequent process through a chute, and the fine powder is a finished product of the pre-grinding system of the roller press. The air for the whole pre-grinding system of the roller press is induced by a circulating fan, most of the dust-containing air after being collected by a cyclone cylinder passes through the circulating fan, the dust-containing air returns to V to be selected for internal circulation, a small part of the dust-containing air is introduced into an air discharge dust collector and a fan for treatment, the collected dust is ground in a mill, and the waste gas is discharged to the atmosphere.
Firstly, the advanced process control server realizes the reading and writing of technological process parameters in the DCS through an OPC communication mode. Data read from the DCS system includes: the rotational speed and frequency of the equipment; the opening degree of the valve; current and vibration of the host; the temperature of the clinker; total feed to the system, etc.
S1, obtaining the current of the roller press and the opening of the electric inclined insertion plate from a Distributed Control System (DCS);
in practical application, the current of the roller press is detected by a current transformer and an ammeter which are arranged on a medium-voltage cabinet for feeding the roller press, and is transmitted to a DCS (distributed control system) in an analog quantity mode; the opening degree of the electric oblique inserting plate is the opening degree of an electric actuator of the electric oblique inserting plate, and the numerical value enters the DCS in the form of analog quantity.
S2, obtaining the average current of the roller press through the sliding average; obtaining the effective adjusting range of the inclined inserting plate through the adjusting test of the electric inclined inserting plate;
specifically, the roll squeezer current has large high-frequency noise due to the grindability and granularity fluctuation of the raw material, so the roll squeezer current needs to be subjected to sliding average; because the adjusting range of the electric oblique inserting plate has an effective area, the influence of the adjustment of the electric oblique inserting plate on the average current of the roller press is in a linear relation in the effective area, and after the effective area is exceeded, the influence of the adjustment of the electric oblique inserting plate on the average current of the roller press is small, so that the effective adjusting range is determined to be between a and b to ensure the control effectiveness.
S3, fine adjustment is carried out on the electric oblique inserting plate within the adjusting range of the electric oblique inserting plate, and the size of the dead zone of the electric oblique inserting plate actuator is determined;
in particular, there is an inherent dead band of the electric actuator in order to prevent damage to the electric actuator from frequent actions. Firstly, the size of the dead zone c of the electric actuator is determined through a fine adjustment test, and the change of the opening degree of the electric actuator can be caused only if the variation of the control output is larger than c.
S4, performing step test on the electric oblique inserting plate within the adjusting range of the electric oblique inserting plate, and determining pure lag time and inertia process duration of the average current change of the roller press caused by the adjustment of the electric oblique inserting plate;
specifically, the response curve of the average current of the roller press is observed through the opening degree of the electric inclined inserting plate, so that the pure lag time and the inertia process duration of the change of the average current of the roller press caused by the change of the opening degree of the electric inclined inserting plate are determined.
S5, determining the prediction time domain length of the prediction control system according to the pure lag time and the duration time of the inertial process, and determining the control time domain length of the prediction control system according to the response speed of the system;
specifically, in this embodiment, from the minimum pure delay step number d to the maximum prediction time domain N of each loop, and according to the expected response speed of the control loop, the control time domain is determined as follows: from 0 to the maximum control time domain M.
S6, establishing and solving an optimization objective function in the prediction time domain length and the control time domain length to obtain the control deviation of the opening of the optimized electric inclined insertion plate in the control time domain length;
the subdivision step of step S4 is as follows:
establishing an optimization objective function at the moment t according to the deviation range between the feedback value of the average current of the roller press in the prediction time domain and the set value and the variable range of the opening of the electric inclined inserting plate in the control time domain;
specifically, the established objective function is:
wherein: y is the predicted value of the average current of the roller press, w is the set value of the average current of the roller press, delta u is the adjustment variable quantity of the opening of the electric inclined inserting plate, lambda is the weight factor of the adjustment quantity of the opening of the electric inclined inserting plate, and j is the control step number of the control loop.
It should be noted that, in practical applications, in order to ensure stable, fast and accurate operation of the control system, it is necessary to set the deviation range between the feedback value of the average current of the roller press and the set value in the prediction time domain as small as possible, and to control the variation range of the opening degree of the electric inclined insertion plate in the control time domain as small as possible.
And obtaining the opening variation of the electric oblique inserting plate optimized in the control time domain at the time t according to the established optimization objective function.
Specifically, the obtained opening variation of the electric oblique inserting plate optimized in the control time domain at the time t is delta u t ,Δu t+1 ,…,Δu t+M 。
S7, accumulating the control deviation of the opening of the electric inclined inserting plate;
specifically, the cumulative amount of the opening of the electric oblique inserting plate is as follows:
s8, judging whether the control deviation accumulated amount of the opening of the electric oblique inserting plate exceeds the dead zone of an actuator, if so, executing S9, and if not, returning to S6;
specifically, the cumulative amount of the opening of the electric oblique inserting plate is delta u t >c, executing S9, otherwise q is q +1, delta u t The accumulation is continued.
S9, firstly, calculating the sum of the current opening degree of the electric oblique inserting plate and the control deviation accumulated amount of the electric oblique inserting plate, executing S10, then setting the control deviation accumulated amount of the electric oblique inserting plate to be zero, and continuously returning to S6 to calculate the control deviation;
specifically, the calculated opening of the next step of the electric inclined insertion plate is as follows: u. of t ＝u t-1 +∑Δu t 。
S10, judging whether the sum of the current opening degree of the electric oblique inserting plate and the control deviation accumulated amount exceeds the effective adjusting range;
s11, if the sum is less than the lower limit of the effective adjusting range, taking the lower limit as control output; if the sum is greater than the upper limit of the effective regulating range, taking the upper limit as control output; and if the sum is between the upper limit and the lower limit, the sum is used as a control output.
Specifically, the method comprises the following steps: when u is t When a is less than or equal to a, u is t A; when u is t When b is greater than or equal to u t B; when a is<u t <When b is greater than u t ＝u t 。
The significance of the current loop design of the roller press is mainly to stabilize the roller press to do work, and avoid the phenomenon that material cakes are not easy to break up and electric energy is wasted due to excessive grinding, for example, as shown in a manual curve of fig. 3, the current of the roller press about 85A cannot bring more capacity rise, but the power consumption of the working procedure is increased, so that the current loop design is unnecessary. Similarly, a current of about 75A may result in insufficient roller press output and thus reduced productivity.
The curve shown in fig. 4 is a state of automatic control, the output of the roller press is always stabilized at about 80A set value, and the output can be adjusted to return to a normal level after large process fluctuation, so that good work of the roller press and easy scattering of cakes are both considered.
In summary, the embodiments of the present invention can achieve: the aim of fine powder separation is considered while the work of the pre-grinding system of the roller press is ensured. Meanwhile, the purposes of automatic operation, improvement of control precision, production improvement, consumption reduction and reduction of labor intensity of operators can be achieved.
In yet another aspect, the present invention also discloses a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of any of the methods described above.
In yet another aspect, the present invention also discloses a computer device comprising a memory and a processor, the memory storing a computer program, the computer program, when executed by the processor, causing the processor to perform the steps of any of the methods as described above.
In a further embodiment provided by the present application, there is also provided a computer program product comprising instructions which, when run on a computer, cause the computer to perform the steps of any of the methods of the above embodiments.
It is understood that the system provided by the embodiment of the present invention corresponds to the method provided by the embodiment of the present invention, and the explanation, the example and the beneficial effects of the related contents can refer to the corresponding parts in the method.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by a computer program, which may be stored in a non-volatile computer readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A predictive control method of a pre-grinding system of a roller press is based on the pre-grinding system of the roller press, and is characterized in that an advanced process control server is utilized to realize the reading and writing of technological process parameters of the pre-grinding system of the roller press in a distributed control system DCS in an OPC communication mode, and then the steps are executed as follows:
firstly, eliminating high-frequency noise of the current of the roller press through sliding average;
furthermore, the effective adjusting range of the inclined insertion plate adjustment and the response of the current of the roller press caused by the inclined insertion plate adjustment are inspected through a step test of the electric inclined insertion plate;
then, based on the test result, modeling a control system of the roller press within the effective adjusting range of the inclined insertion plate;
finally, performing control deviation accumulation on the opening of the inclined inserting plate of the roller press by using a model predictive control algorithm; in order to prevent the damage of frequent actions to the electric actuator, a dead zone for adjusting the inclined insertion plate is preset, and when the accumulated value of the control deviation is greater than the preset dead zone value, the control deviation value is applied to an electric actuator of the inclined insertion plate.
2. The predictive control method of the roller press pre-grinding system according to claim 1, characterized in that: the method specifically comprises the following steps of,
s1, obtaining the current of the roller press and the opening of the electric inclined insertion plate from a Distributed Control System (DCS);
s2, obtaining the average current of the roller press through the sliding average; obtaining the effective adjusting range of the inclined inserting plate through the adjusting test of the electric inclined inserting plate;
s3, fine adjustment is carried out on the electric oblique inserting plate within the adjusting range of the electric oblique inserting plate, and the size of the dead zone of the electric oblique inserting plate actuator is determined;
s4, performing step test on the electric oblique inserting plate within the adjusting range of the electric oblique inserting plate, and determining pure lag time and inertia process duration of the average current change of the roller press caused by the adjustment of the electric oblique inserting plate;
s5, determining the prediction time domain length of the prediction control system according to the pure lag time and the duration time of the inertial process, and determining the control time domain length of the prediction control system according to the response speed of the system;
s6, establishing and solving an optimization objective function in the prediction time domain length and the control time domain length to obtain the control deviation of the opening of the optimized electric inclined insertion plate in the control time domain length;
s7, accumulating the control deviation of the opening of the electric inclined inserting plate;
s8, judging whether the control deviation accumulated amount of the opening of the electric oblique inserting plate exceeds the dead zone of an actuator, if so, executing S9, and if not, returning to S6;
s9, firstly, calculating the sum of the current opening degree of the electric oblique inserting plate and the control deviation accumulated amount of the electric oblique inserting plate, executing S10, then setting the control deviation accumulated amount of the electric oblique inserting plate to be zero, and continuously returning to S6 to calculate the control deviation;
s10, judging whether the sum of the current opening degree of the electric oblique inserting plate and the control deviation accumulated amount exceeds the effective adjusting range;
s11, if the sum is less than the lower limit of the effective adjusting range, taking the lower limit as control output; if the sum is larger than the upper limit of the effective adjusting range, taking the upper limit as control output; and if the sum is between the upper limit and the lower limit, the sum is used as a control output.
3. The predictive control method of the roller press pre-grinding system according to claim 2, characterized in that: the step S4 is subdivided as follows:
establishing an optimization objective function at the moment t according to a deviation range between a feedback value and a set value of the average current of the roller press in a prediction time domain and a variation range of the opening of the electric inclined insertion plate in a control time domain;
specifically, the established objective function is:
wherein: y is a predicted value of the average current of the roller press, w is a set value of the average current of the roller press, delta u is an adjustment variable quantity of the opening of the electric inclined insertion plate, lambda is a weight factor of the adjustment quantity of the opening of the electric inclined insertion plate, and j is a control step number of the control loop;
obtaining the change quantity of the opening degree of the electric oblique inserting plate which is optimized in the control time domain at the time t as delta u according to the established optimization objective function t ,Δu t+1 ,…,Δu t+M 。
4. The predictive control method of the roller press pre-grinding system according to claim 3, characterized in that: the cumulative amount of the opening of the electric oblique inserting plate in the step S7 is as follows:
5. the predictive control method of the roller press pre-grinding system according to claim 1, characterized in that: the data read from the distributed control system DCS include: the rotation speed and frequency of the equipment; the opening degree of the valve; current and vibration of the host; the temperature of the clinker; total feed to the system.
6. The predictive control method of the roller press pre-grinding system according to claim 2, characterized in that: step S5 specifically includes steps from the minimum pure delay step d to the maximum prediction time domain N of each loop, and determining the control time domain as follows according to the expected response speed of the control loop: from 0 to the maximum control time domain M.
7. The predictive control method of the roller press pre-grinding system according to claim 3, characterized in that: the next step of the opening degree of the electric inclined insertion plate calculated in step S9 is: u. of t ＝u t-1 +∑Δu t 。
8. A computer-readable storage medium, storing a computer program which, when executed by a processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 7.
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| CN115007303B (en) | 2023-10-20 |
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