CN214954571U - Unknown disturbance compensation PID control device of deaerator water level - Google Patents
Unknown disturbance compensation PID control device of deaerator water level Download PDFInfo
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- CN214954571U CN214954571U CN202121400103.9U CN202121400103U CN214954571U CN 214954571 U CN214954571 U CN 214954571U CN 202121400103 U CN202121400103 U CN 202121400103U CN 214954571 U CN214954571 U CN 214954571U
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Abstract
The utility model discloses an unknown disturbance compensation PID controlling means of oxygen-eliminating device water level, including PID controller unit, its characterized in that: the output end of the PID controller unit and the output end of the linear quadratic disturbance compensation controller unit are simultaneously connected to a second adder unit; the output end of the second adder unit is respectively connected to the DA converter unit and the generalized extended state observer unit; the output end of the generalized extended state observer unit is connected to the linear quadratic disturbance compensation controller unit; the liquid level sensing unit arranged on the deaerator is respectively connected to the second AD converter unit and the first adder unit; the first adder unit is connected to the PID controller unit through the first AD converter unit; the output end of the second adder unit is connected to the DA converter unit. The utility model provides the ability of restraining of oxygen-eliminating device water level system to unknown disturbance is promoted.
Description
Technical Field
The utility model belongs to thermal technology's automatic control field has related to an unknown disturbance compensation PID controlling means suitable for non-minimum phase characteristic oxygen-eliminating device water level system, in particular to realization and application of a generalized expansion state observer-PID disturbance suppression method based on linear quadratic form theory.
Background
The deaerator water level system is influenced by more unknown disturbances due to the fact that the deaerator water level system is connected with a plurality of drain pipelines, the heat and mass transfer process is complex, the feed water flow change range is large, and the deaerator water level deviates from a set value and fluctuates frequently. In addition, in the conventional control means, the control performance of a static feedforward-PID feedback control strategy commonly used by a deaerator water level system is limited, the deaerator water level has a typical non-minimum phase characteristic, the PID controller has a poor control effect, and the influence of unknown disturbance on the deaerator water level cannot be quickly eliminated.
The generalized extended state observer treats various disturbances such as unknown disturbance and internal disturbance of a deaerator water level system as lumped disturbance, the lumped disturbance is observed and compensated in a mode of expanding the state of the system, but the design of a disturbance compensation control law of the generalized extended state observer relates to a state feedback control theory and cannot be directly combined with PID (proportion integration differentiation), a linear quadratic theory can design the control law according to a discrete disturbance signal and a disturbance model of the discrete disturbance signal, the generalized extended state observer can be used for expanding the state observer, the state observer can be combined with the PID, the inhibition capacity of the deaerator water level system on the unknown disturbance is improved, and the control performance of the deaerator water level system is greatly improved.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that will solve is: the deaerator water level system with the non-minimum phase characteristic is subjected to more unknown disturbance and poor in system control performance, and the control performance of the deaerator water level system needs to be further improved.
In order to solve the technical problem, the technical scheme of the utility model is that:
an unknown disturbance compensation PID control device of deaerator water level comprises a PID controller unit 1, wherein the output end of the PID controller unit 1 and the output end of a linear quadratic disturbance compensation controller unit 3 are simultaneously connected to a second adder unit 12;
the output end of the second adder unit 12 is respectively connected to the DA converter unit 6 and the generalized extended state observer unit 2;
the output end of the generalized extended state observer unit 2 is connected to a linear quadratic disturbance compensation controller unit 3;
the liquid level sensing unit 7 arranged on the deaerator is respectively connected to the second AD converter unit 5 and the first adder unit 11;
the first adder unit 11 is connected to the PID controller unit 1 through the first AD converter unit 4;
the output of the second adder unit 12 is connected to the DA converter unit 6.
Further, the DA converter 6 is connected with a frequency converter 8 of the condensate pump, outputs a frequency converter control instruction to the condensate pump 9, and controls the rotating speed of the condensate pump to adjust the water level 10 of the deaerator.
Further, the linear quadratic disturbance compensation controller unit 3 comprises a disturbance gain unit 3.1 (b)d) Said perturbation gain unit 3.1 (b)d) Input gain cell 3.2 (B)u) The output end of the state gain unit 3.4(A) is connected to a third adder unit 3.6;
the output of the third adder unit 3.6 passes through a first backward shift unit 3.5 (z)-1) Is connected to a disturbance compensation unit 3.3 (L)d) State gain unit 3.4 (a);
disturbance compensation unit 3.3 (L)d) The output is connected to an input gain unit 3.2 (B)u)。
Further, the generalized extended state observer unit 2 comprises an extended input gain unit 2.1
The expansion input gain cell 2.1
Is connected to the output of the second adder unit 12;
the expansion input gain cell 2.1
Extended state gain cell 2.2
The output ends of the disturbance observation units 2.5(L) are connected to the fifth adder unit 2.7;
the expansion input gain cell 2.1
Is connected to the second backward shift unit 2.3 (z)-1)；
Second backward shift element 2.3 (z)-1) Respectively connected to the expansion-state gain cells 2.2
Extended output gain cell 2.4
Observation disturbance gain unit 2.8
Extended output gain cell 2.4
The output of the second AD converter unit 5 is connected to the fourth adder unit 2.6;
the output of the fourth adder unit 2.6 is connected to the disturbance observation unit 2.5 (L).
The values of all the units in the generalized extended state observer unit 2 are determined according to the dynamic characteristics of the deaerator water level system.
The utility model discloses the beneficial effect who reaches: the comprehensive disturbance of the deaerator water level system containing unknown disturbance is observed by adopting the generalized extended state observer unit, the unknown disturbance is compensated by adopting the output of the linear quadratic disturbance compensation controller unit, the inhibition capacity of the deaerator water level system on the unknown disturbance is greatly improved, the generalized extended state observer can be combined with a PID (proportion integration differentiation) controller, the safe operation of the deaerator water level system under the deep peak regulation environment is guaranteed, and the technical support can be provided for the disturbance inhibition of other closed-loop control loops.
Drawings
FIG. 1 is a schematic diagram of an unknown disturbance compensation PID control device suitable for a deaerator water level with non-minimum phase characteristics.
FIG. 2 is a schematic diagram of a static feedforward-feedback PID control device for the water level of the on-site deaerator in the present example;
FIG. 3 is a diagram showing the comparison of the instruction simulation of the deaerator frequency converter of the unknown disturbance compensation PID control device and the static feedforward-feedback control device in this example;
FIG. 4 is a comparison graph of the deaerator water level simulation for the unknown disturbance compensation PID control device and the static feedforward-feedback control device in this example;
FIG. 5 is a disturbance estimation diagram of the generalized extended state observer unit in the unknown disturbance compensation PID control of the present example.
Detailed Description
The technical solution of the present invention will be described in detail below according to specific embodiments. An unknown disturbance compensation PID control device suitable for the water level of a deaerator with non-minimum phase characteristics is established by a mathematical model of a deaerator water level control system of a certain 300MW power plant.
Fig. 1 is the utility model provides an unknown disturbance compensation PID controlling means schematic diagram suitable for non-minimum phase characteristic oxygen-eliminating device water level, in the figure, PID controller unit 1, generalized expansion state observer unit 2, linear quadratic form disturbance compensation controller unit 3, first AD converter unit 4, second AD converter unit 5, DA converter unit 6, liquid level sensing transducer unit 7, condensate pump converter 8, condensate pump 9, oxygen-eliminating device 10, first adder unit 11, second adder unit 12, expansion input gain unit 2.1
Extended state gain cell 2.2
Second backward shift element 2.3 (z)-1) Extended output gain cell 2.4
Disturbance observation unit 2.5(L), fourth adder unit 2.6, fifth adder unit 2.7, observation disturbance gain unit 2.8
Disturbance gain cell 3.1 (b)d) Input gain cell 3.2 (B)u) Disturbance compensation unit 3.3 (L)d)、State gain element 3.4(a), first backward shift element 3.5 (z)-1) A third adder unit 3.6.
The generalized extended state observer unit 2 and the linear quadratic disturbance compensation controller unit 3 can combine the units by using an integrated circuit according to the relationship described below, that is, a control circuit is formed, no additional software programming is needed, and the gain size needs to be selected when hardware is formed.
The utility model discloses an unknown disturbance compensation PID controlling means of oxygen-eliminating device water level includes following unit:
the device comprises a PID controller unit 1, wherein the output end of the PID controller unit 1 and the output end of a linear quadratic disturbance compensation controller unit 3 are simultaneously connected to a second adder unit 12;
the output end of the second adder unit 12 is respectively connected to the DA converter unit 6 and the generalized extended state observer unit 2;
the output end of the generalized extended state observer unit 2 is connected to a linear quadratic disturbance compensation controller unit 3;
the liquid level sensing unit 7 arranged on the deaerator is respectively connected to the second AD converter unit 5 and the first adder unit 11;
the first adder unit 11 is connected to the PID controller unit 1 through the first AD converter unit 4;
the output of the second adder unit 12 is connected to the DA converter unit 6.
Further, the DA converter 6 is connected with a frequency converter 8 of the condensate pump, outputs a frequency converter control instruction to the condensate pump 9, and controls the rotating speed of the condensate pump to adjust the water level 10 of the deaerator.
Further, the linear quadratic disturbance compensation controller unit 3 comprises a disturbance gain unit 3.1 (b)d) Said perturbation gain unit 3.1 (b)d) Input gain cell 3.2 (B)u) The output end of the state gain unit 3.4(A) is connected to a third adder unit 3.6;
the output of the third adder unit 3.6 passes through a first backward shift unit 3.5 (z)-1) Is connected to a disturbance compensation unit 3.3 (L)d) State gain unit 3.4 (a);
disturbance compensation unit 3.3 (L)d) The output is connected to an input gain unit 3.2 (B)u)。
The perturbation gain unit 3.1 (b)d) Input gain cell 3.2 (B)u) And the value of the state gain unit 3.4(A) is determined according to the dynamic characteristic of the deaerator water level system. If the discrete state space of the system disturbs the matrix bdUnknown, it can be set as an integration chain circuit. Furthermore, the gain (-L) of the disturbance compensation unit 3.3d) And solving according to a linear quadratic theoretical formula.
Further, the generalized extended state observer unit 2 comprises an extended input gain unit 2.1
The expansion input gain cell 2.1
Is connected to the output of the second adder unit 12;
the expansion input gain cell 2.1
Extended state gain cell 2.2
The output ends of the disturbance observation units 2.5(L) are connected to the fifth adder unit 2.7;
the expansion input gain cell 2.1
Is connected to the second backward shift unit 2.3 (z)-1)；
Second backward shift element 2.3 (z)-1) Respectively connected to the expansion-state gain cells 2.2
Extended output gain cell 2.4
Observation disturbance gain unit 2.8
Extended output gain cell 2.4
The output of the second AD converter unit 5 is connected to the fourth adder unit 2.6;
the output of the fourth adder unit 2.6 is connected to the disturbance observation unit 2.5 (L).
The expansion input gain cell 2.1
Extended state gain cell 2.2
Extended output gain cell 2.4
Disturbance observation unit 2.5(L) and observation disturbance gain unit 2.8
The value of (a) is determined according to the dynamic characteristic of the deaerator water level system.
TABLE 1 deaerator Water level control System dynamic characteristic parameters
The utility model discloses an unknown disturbance compensation PID controlling means theory of operation is:
at the moment k, the liquid level sensor unit 7 measures the water level height of the deaerator, and the measurement signal is converted into a digital signal through the second AD converter unit 5 to obtain an output signal y (k) of the deaerator system; output signal y (k) of deaerator system and input control signal u of deaerator systemD(k) An input port of the generalized extended state observer unit is connected, and a system lumped disturbance estimation signal is obtained through calculation after the signal is input
System lumped disturbance estimation signal
An input port of a linear quadratic disturbance compensation controller unit is connected, and a disturbance compensation signal u is obtained through calculation after the signal is inputgeso(k) (ii) a The set value signal r (k) and the deaerator water level signal measured by the liquid level sensor unit 7 enter the first adder unit 11 for subtraction to obtain a set value deviation signal, and the set value deviation signal is converted into a digital signal through the first AD converter unit 4; then the signal is sent to an input port of a PID controller unit 1, and a PID control signal u is obtained through calculation of the PID controllerpid(k) (ii) a PID control signal upid(k) And a disturbance compensation signal ugeso(k) The signals are added in a second adder unit 12 to obtain a deaerator system input control signal uD(k) (ii) a Input control signal u of deaerator systemD(k) The water is sent into a frequency converter 8 of the condensate pump through a DA converter unit 6, and the rotating speed signal of the frequency converter is changed; the rotating speed signal adjusts the flow of the condensate entering the deaerator by adjusting the rotating speed of the condensate pump 9, so that the water level of the deaerator 10 is controlled to track the set value signal r (k), and then the deaerator enters the next (k +1) moment.
At time k, the system lumped disturbance estimation signal
Disturbance gain unit 3.1 (b) into the linear quadratic disturbance compensation controller unitd) Which is compared with the system state estimation value
And input gain unit 3.2 (B)u) Product of (d), system state estimate
And disturbance compensation unit 3.3 (-L)d) Product of (d), system state estimate
Enters the third adder unit 3.6 together with the product of the state gain unit 3.4(a) to obtain the estimated value of the system state at the time k +1
It enters a first backward shift unit 3.5 (z)-1) System state estimation value at replacing k time
While generating a disturbance compensation signal ugeso(k) Enters the second adder 12 and then proceeds to the next instant.
According to the dynamic characteristic of the water level of the deaerator, the gain of the expansion disturbance observation unit L is designed by adopting a bandwidth method, and in the embodiment, the dynamic characteristic of the water level system of the deaerator is considered to obtain tsGet the system controller bandwidth ω 50 secondsc＝10/ts0.2. The observer bandwidth ω is then determined0In general, ω0The value is the system controller bandwidth omegac3-10 times of the total weight of the powder. In this example ω0＝5ω c1. The gain of the extended disturbance observation unit L is obtained according to the bandwidth method, namely L is 331]。
At time k, the deaerator system output signal y (k) and the system expansion state estimation signal
And a gain unit 2.4 for expanding output
Product of (2)
The difference signal obtained by subtracting the signal in the fourth adder unit 2.6 enters a disturbance observation unit 2.5(L), and then enters a fifth adder unit 2.7; deaerator system input control signaluD(k) And a spread input gain cell 2.1
The product of (a) enters a fifth adder unit 2.7; system expansion state estimation
And expanded state gain element 2.2
The product of (a) enters a fifth adder unit 2.7; the above signals entering the fifth adder unit 2.7 are added to obtain the estimated signal of the system expansion state at the time k +1
Then the system expansion state estimation signal at the k +1 moment
Through a second backward shift unit 2.3 (z)-1) System expansion state estimation signal for replacing time k
System expansion state estimation signal at time k
And observation disturbance gain unit 2.8
Multiplying to obtain a system lumped disturbance estimation signal
And fed into the linear quadratic disturbance compensation controller unit 2. And then proceeds to the next moment.
FIG. 2 is a schematic diagram of the control logic of the static feedforward-feedback PID control system for the water level of the on-site deaerator in the present example; wherein, figure 2 is the utility model discloses the static feedforward-feedback PID control system of scene oxygen-eliminating device water level among the exampleA control logic diagram, comprising: a PID deviation dead zone function H (x) for setting a control dead zone, in this example, 5 mm; discrete transfer function G corresponding to input quantity frequency converter instruction of deaerator water level control system1(z) discrete transfer function G corresponding to disturbance input feedwater flow2(z) expressing the dynamic characteristics of the deaerator water level system, the values of which are shown in table 2; a static feedforward proportion function F (x) in a feedwater flow static feedforward controller; a deaerator water level set value r; and the water level output value y of the deaerator.
TABLE 2 discrete transfer function model of deaerator water level system
Based on this embodiment, to the static feedforward-feedback control device that the scene actually adopted with the utility model discloses an unknown disturbance compensation PID controlling means carries out the simulation experiment, and its result is as follows:
fig. 3 is the utility model discloses unknown disturbance compensation PID controlling means (abbreviated as GESO-PID disturbance compensation in the picture) and static feedforward-feedback controlling means's oxygen-eliminating device converter instruction simulation contrast map in the example, wherein static feedforward-feedback controlling means's input simulation data and on-the-spot actual data are very close, show that simulation system is comparatively accurate, show that the reliability of simulation experiment is higher. Fig. 4 is a comparison diagram of the deaerator water level simulation of the unknown disturbance compensation PID control device and the static feedforward-feedback control device in the example of the utility model. The simulation output of unknown disturbance compensation PID controlling means compares static feedforward-feedback controlling means's simulation output, and the setting value is pressed close to more, shows the utility model discloses unknown disturbance to the oxygen-eliminating device water level system that has non-minimum phase characteristic has better inhibition capacity, great promotion the control performance of system. Fig. 5 is the utility model discloses the disturbance estimation signal diagram of generalized expansion state observer unit among unknown disturbance compensation PID controlling means simulation experiment in the example, it is higher to see the observation precision of generalized expansion state observer unit, can be competent in oxygen-eliminating device water level system's unknown disturbance estimation task.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the invention, "plurality" means two or more unless explicitly specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "enter", "connect", and the like are to be construed broadly, e.g., as a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the principles and spirit of the present invention.
Claims (6)
1. The utility model provides an unknown disturbance compensation PID controlling means of oxygen-eliminating device water level, includes PID controller unit, its characterized in that: the output end of the PID controller unit and the output end of the linear quadratic disturbance compensation controller unit are simultaneously connected to a second adder unit;
the output end of the second adder unit is respectively connected to the DA converter unit and the generalized extended state observer unit;
the output end of the generalized extended state observer unit is connected to the linear quadratic disturbance compensation controller unit;
the liquid level sensing unit arranged on the deaerator is respectively connected to the second AD converter unit and the first adder unit;
the first adder unit is connected to the PID controller unit through the first AD converter unit;
the output end of the second adder unit is connected to the DA converter unit.
2. The unknown disturbance compensation PID control device of the deaerator water level of claim 1, characterized in that: the DA converter is connected with a frequency converter of the condensate pump, outputs a control instruction of the frequency converter to the condensate pump, and controls the rotating speed of the condensate pump to adjust the water level of the deaerator.
3. The unknown disturbance compensation PID control device of the deaerator water level of claim 1, characterized in that: the linear quadratic disturbance compensation controller unit comprises a disturbance gain unit, and the output ends of the disturbance gain unit, the input gain unit and the state gain unit are all connected to a third adder unit;
the output end of the third adder unit is connected to the disturbance compensation unit and the state gain unit through the first backward shifting unit;
the output end of the disturbance compensation unit is connected to the input gain unit.
4. The unknown disturbance compensation PID control device of the deaerator water level of claim 3, characterized in that: and the values of the disturbance gain unit, the input gain unit and the state gain unit are determined according to the dynamic characteristic of the deaerator water level system.
5. The unknown disturbance compensation PID control device of the deaerator water level of claim 1, characterized in that: the generalized extended state observer unit comprises an extended input gain unit, and the extended input gain unit is connected with the output end of the second adder unit;
the output ends of the expansion input gain unit, the expansion state gain unit and the disturbance observation unit are all connected to the fifth adder unit;
the output end of the expansion input gain unit is connected to the second backward shifting unit;
the second backward shifting unit is respectively connected to the expansion state gain unit, the expansion output gain unit and the observation disturbance gain unit;
the output end of the expansion output gain unit and the second AD converter unit are connected to the fourth adder unit;
the output end of the fourth adder unit is connected to the disturbance observation unit.
6. The unknown disturbance compensation PID control device of the deaerator water level of claim 5, characterized in that: and the values of the expansion input gain unit, the expansion state gain unit, the expansion output gain unit, the disturbance observation unit and the observation disturbance gain unit are determined according to the dynamic characteristics of the deaerator water level system.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116954060A (en) * | 2023-09-19 | 2023-10-27 | 中国空气动力研究与发展中心高速空气动力研究所 | Control method for resisting time-varying interference of wind tunnel flow field |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116954060A (en) * | 2023-09-19 | 2023-10-27 | 中国空气动力研究与发展中心高速空气动力研究所 | Control method for resisting time-varying interference of wind tunnel flow field |
| CN116954060B (en) * | 2023-09-19 | 2023-12-05 | 中国空气动力研究与发展中心高速空气动力研究所 | Control method for resisting time-varying interference of wind tunnel flow field |
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