CN1179839A - 采用范围控制的多变量预测控制器中的变量最佳定标的方法 - Google Patents
采用范围控制的多变量预测控制器中的变量最佳定标的方法 Download PDFInfo
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Abstract
一包含至少一被操作变量和至少一受控变量的过程控制系统,提供用于过程的增强控制的方法。获取被操作变量和受控变量的预定约束以及被操作变量的当前值。计算被操作变量和过程变量的一组定标因子。及以这组定标因子来对控制器(10)进行初始化,这组定标因子确定被操作变量和过程变量对过程的相对重要性。计算用于未来预定数量点的受控变量的新值,使这些受控变量的值处于预定范围之内由此得到最终控制器的最佳坚固性。被操作变量也被计算使在预定的约束之内,而使受控制变量在可加控制时落入一预定的范围。从多个解答中选择一最大增强的解。然后调整被操作变量促使过程控制系统将受控变量的值驱至所计算得的值。
Description
本发明是关于控制系统,较具体说是关于确定采用范围控制的增强(robust)多变量预测控制器(RMPC)的受控和被操作变量的加权值的方法。
当前的系统中,控制器(RMPC)没有关于受控变量和被操作变量的重要性的观念,从而要求操作人员(或工程师)“告之”控制器哪一个是最重要的变量,哪个是其次重要的变量,或这些变量是否是等同重要。用户输入变量的重要性(或加权值)作为一增强多变量预测控制器的初始化过程的部分。受控变量(cV)或被操作变量(mV)的重要性是数种因子的函数,其中包括用于cV和mV的单位。现在工程师们计算出用于cV和mV的单位并将一重要性附加至cV和mV的高低权值。
假定例如有三个受控变量cV1、cV2、和cV3的例子,其中cV1为温度,cV2为压力,和cV3为过程的集聚变量,当然各自具有不同的工程单位。在此例中一个受控变量对控制器而言可比另一受控变量更重要。如果压力为很小的工程单位(PSI),这些单位可以具有达25000PSI的范围,每一单位的压力变化可能不如1°温度变化那样对过程重要。但是如果压力为大气压,那么压力中一大气压的变化将比1°温度变化要重要得多。
本发明中将提供脱机的RMPC的最佳解答,它确定相对意义上的cV和mV对过程的重要性。这样,操作人员就不必牵涉到作出这种决定。用户仍然能超越或微调此解答输出(亦即可加大或减少各个别变量的加权值),但本发明给用户提供用于初始该控制器的最佳开始点。
从而以对过程的变量附加以加权值,降低对系统的影响而能得到更增强的控制器。
为此本发明提供一种确定采用范围控制的增强的多变量预测控制器的受控和被操作变量的加权值的方法。本发明提供的控制器控制过程的每一受控变量使在相应的预定范围之内,一过程控制系统包含至少一被操作变量和至少一受控变量。提供过程的增强控制的方法,包括对被操作变量和过程变量计算一组定标因子的步骤。该控制器以该组定标因子被初始化,这些定标因子确定被操作变量和过程变量对该过程的相对重要性。对增强控制进行初始化以具有被操作变量和受控变量的预定约束。而后得到被操作变量和受控变量的当前值。计算对将来预定数量的点的受控变量的新值,以使得受控变量的值在预定范围之内由此来获得最终控制器的最佳坚固性。被操作变量也被计算使在预定的约束之内,而当可控制时受控变量落入预定范围内;否则即保持受控变量约束扰乱为最小。从多个解答中选择一最大增强的解答。然后将被操作变量调整到使得过程控制系统将受控变量的值驱至计算得的值。
因此本发明的目的就是提供确定采用范围控制的增强多变量预测控制器的受控的和被操作的变量的加权值的方法。
结合下面的说明和附图将会对本发明这一和其他目的有更清楚的理解,附图构成本发明的一部分,其中同样的符号指明同样的部分。所列附图为:
图1为可采用本发明的过程控制系统的功能方框图;和
图2为确定所得到的对角矩阵的最小条件数的流程图。
在本发明的采用范围控制的增强多变量预测控制器(RMPC)中,以脱机方式产生最佳解答,相对地确定各受控变量(cV)和各被操作变量(mV)对过程的重要性。参照美国专利5,351,184可详细了解采用范围控制的RMPC,该专利被指定给本申请的同一受让人并在此被引用作为对本发明理解的进一步需要。
参看图1,其中表示可采用本发明的一过程控制系统的功能框图。控制器10具有多个输出,作为输入变量u耦合到过程20。此过程20可包含例如多个能被控制的如阀门、加热器……的部件。过程20的过程变量y包含温度、压力、浓度……等左右产品质量的因素。输入变量u(即被操作变量mV)被定义为 而输出变量y(过程变量pn或受控变量cV),被定义为
这样,在此例中,过程20为具有三个被操作变量和三个受控变量的动态过程P(s)。
此过程20通过G被定义,其中G(初始模式矩阵)为:
这样,如果cV1为压力,cV2为温度和cV3为浓度,运行上述的示例,则
(压力)cV1=g11·mV1+g12·mV2+g13·mV3
(温度)cV2=g21·mV1+g22·mV2+g23·mV3
(浓度)cV3=g31·mV1+g32·mV2+g33·mV3
如可以看到的,压力受三个相关的mV(mV1、mV2、mV3)的影响,……。
g11、g12、g13……的值将作为对受控变量所选择的工程单位(或更简单地为单位)的函数而变化。
如果cV2以英寸作线性量度时,而且如果例如目标G21、g22、和g23分别为10、12、24,则
cV2(英寸)=10·mV1+12·mV2+24·mV3
从而对每一单位(即一英寸)mV1变化,cV2改变10英寸,每英寸的mV2变化使cV2改变12英寸,和每一英寸的mV3变化使cV2改变24英寸。如果单位是英尺而不是英寸,则g21、g22和g23分别被改变到0.8,1.0和2.0。但是,cV2的意义增加,因为cV2每单位变化对应于不是cV2中的英寸变化的影响。因而在整个控制过程中,与在cV2以英寸表示时相比较,不希望具有从设定点偏离一个单位的CV2。
由于控制器对单位不敏感,控制器就将力图首先校正较大地偏离其希望位置的cV。这样,例如,如果cVx和cVy分别由其各自所希望位置偏离2和1,控制器首先就因cVx具有较高的数量而力图将其移动到它所希望的位置,控制器不了解单位,但是cVx中的2单位的偏离可能具有小于cVy中的1单位偏离的意义(例如,如果cVx为mm而cVy为英尺,cVx离开2mm而cVy离开1英尺。在这种情况下cVy应当是重要的参数)。因而cVy上必须存在一较高的cV权值。同样也必须确定用于mV的单位选择。本发明确定包含cV和mV单元的定标因子。
现在来说明按照本发明的方法的确定“定标因子”的方法。定义一对角矩阵以使:
(行定标) (列定标)
DR确定各cV的重要性,而DC确定各mV的重要性。则(利用本技术领域熟知人员所公知的矩阵代数运算): (被定标的)
接着,寻找前定标因子(行定标因子)和后定标因子(列定标因子)以使得最后得到的矩阵[G(S)被定标矩阵]的条件数为最小。此最小化条件数总是给予最佳的重要性选择(即最佳定标或最佳加权)。
最佳定标因子DR和DC按照图2的流程图被确定。为找到最小条件数,执行一迭代过程。
存放每一次迭代的DR和DC值。
计算Cond(G)(块110),其中
G=(DR)r·G·(DC)r
针对前一迭代的G的条件数G检查G的条件数G(块115),如果它小于一预定数,此过程存在。如果相差值大于该预定数ε(容许水平),过程在块101重复,并将刚完成的迭代的条件数加以存放(块120)。应注意,第一次通过该循环,对块115的答案总是NO。一典型的情况中迭代数约为10。
在第r次迭代,当过程存在时,
DR=DR(1)·DR(2)……DR(r)
DC=DC(1)·DC(2)……DC(r)
和
G(S)=DR·G·DC
然后将以上脱机得到的解答应用到控制器,特别应用到预定实施例的RMPC控制器。将定标的模式数据装载进RMPC控制器(即G(S))。G(S)基本上是一具有不同的cV单位和mV单位的新的增益矩阵。还装载上面确定的前和后定标因之,生成如图1中所示的控制器10的结构。
虽然上面的说明是关于RMPC的,但本领域的熟练人员将会理解此最佳定标技术可应用于任何过程控制器。
尽管已表明被认为是本发明的最佳实施例的内容,但很显见可在其中作出许多的变化和修改而不离开本发明的基本精神和范畴。因此将以所附权利要求来概括所有处于本发明的实际范围之内的变化和修正。
Claims (4)
1.在一过程控制系统中,一种提供一过程的增强控制的方法,该过程控制系统中具有提供增强的控制给一过程的控制器,此过程还具有至少一被操作变量和至少一过程变量,该方法包括步聚:
a)对被操作变量和过程变量计算一组定标因子;
b)以该组定标因子对控制器进行初始化,这组定标因子确定被操作变量和过程变量对过程的相对重要性;
c)初始化该增强的控制以具有被操作变量和受控变量的预定的约束;
d)获取被操作变量和过程变量的当前值,所述过程变量对应于该过程的测量参数;
e)计算用于将来预定数量点的过程变量的新值使过程变量具有预定范围内的值,以便得到最终控制器的最佳坚固性,被操作变量处于预定的约束之内,而过程变量则在可控制时落入一预定的范围内;否则将过程变量约束扰乱保持为最小;
f)从多个解答中选择一最大增强的解答;和
g)按照最大增强的解答,控制该过程。
2.按照权利要求1的方法,其中计算一组定标因子的步骤包含步骤:
a)定义包含行定标矩阵、控制器的增益矩阵、和列定标矩阵的对角矩阵;
b)从行定标矩阵中确定一前定标因子;
c)从列定标矩阵中确定一后定标因子;
d)由前定标因子和后定标因子中确定条件数;
e)确定条件数是否低于预定的容许水平;
f)如果条件数大于预定的容许水平,重复步骤(b)至步骤(e),否则继续;
g)由从各迭代计算得的前定标因子和后定标因子计算该组定标因子以加入该控制器。
3.按照权利要求2的方法,其中控制步骤包括步骤;
a)将权利要求1的步骤(f)的最大增强的解答的被操作变量输出给该过程;和
b)按照被操作变量的调整过程,使过程控制系统将过程变量的值驱至权利要求1步骤(f)的计算得的值,由此提供过程的控制。
4.按照权利要求3的方法,其中选择步骤包括步骤:a)确定一组对应于最小控制器尺寸的受控变量。
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US08/415,882 US5574638A (en) | 1995-04-03 | 1995-04-03 | Method of optimal scaling of variables in a multivariable predictive controller utilizing range control |
US08/415,882 | 1995-04-03 |
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1995
- 1995-04-03 US US08/415,882 patent/US5574638A/en not_active Expired - Lifetime
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1996
- 1996-04-01 DE DE69608887T patent/DE69608887T2/de not_active Expired - Lifetime
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- 1996-04-01 WO PCT/US1996/004486 patent/WO1996031811A1/en active IP Right Grant
- 1996-04-01 EP EP96912526A patent/EP0819271B1/en not_active Expired - Lifetime
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CN1514318B (zh) * | 2002-09-11 | 2010-04-28 | 费舍-柔斯芒特系统股份有限公司 | 过程控制系统中的集成模型预测控制与优化 |
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JPH11509344A (ja) | 1999-08-17 |
DE69608887T2 (de) | 2001-01-18 |
JP3910212B2 (ja) | 2007-04-25 |
EP0819271B1 (en) | 2000-06-14 |
US5574638A (en) | 1996-11-12 |
WO1996031811A1 (en) | 1996-10-10 |
DE69608887D1 (de) | 2000-07-20 |
EP0819271A1 (en) | 1998-01-21 |
CN1138191C (zh) | 2004-02-11 |
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