CN105807632B - A kind of furnace temp controller design method based on improvement dahlin algorithm - Google Patents
A kind of furnace temp controller design method based on improvement dahlin algorithm Download PDFInfo
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- CN105807632B CN105807632B CN201610296918.4A CN201610296918A CN105807632B CN 105807632 B CN105807632 B CN 105807632B CN 201610296918 A CN201610296918 A CN 201610296918A CN 105807632 B CN105807632 B CN 105807632B
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- heating furnace
- dahlin
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Abstract
The invention discloses a kind of based on the furnace temp controller design method for improving dahlin algorithm, for the nonlinear characteristic of heating furnace, this method is according to setting target temperature and the difference of initial temperature temperature difference hop value size, different desired temperature saltus step sections is set, the different designs for it is expected closed loop transfer function, progress temperature controller is set in each section.The present invention considers the problem of regulating time existing for traditional dahlin algorithm temperature controller is longer, steady-state error elimination is slower when carrying out furnace temp controller design, dahlin algorithm with integration control is combined and specially treated has been carried out to control output limitation, and then eliminate steady-state error, shorten regulating time, it can more quickly and accurately realize the control to furnace temp.
Description
Technical field
The present invention relates to automatic control technology fields, are related to a kind of based on the furnace temp controller for improving dahlin algorithm
Design method.
Background technology
In industry is manufactured in Metallurgy Industry, chemical industry, agricultural, light industry etc., heating furnace is that one kind is used widely
One of important production equipment, important role is play in industrial processes.It is quick, accurate that furnace temp is carried out
Control, be not only related to the quality problems of product, production efficiency can also be improved.Therefore, invention one kind can be to heating furnace
Temperature carries out controller design method that is quick, accurately controlling and has important practical significance and wide application prospect.
At present, classical PID controller due to its have many advantages, such as calculation amount it is small, design it is simple, in Furnace Temperature Control System
In still in occupation of critical role, but this method is there are overshoot, Control platform is not high, control output voltage has larger fluctuation
Defect.With continuous improvement of the industry to the gentle required precision of the Automated water of control, existing PID temperature adjuster cannot expire
The needs of some modern industrial productions for needing high-quality control requirement enough.For with containing compared with strong nonlinearity characteristic and big inertia
The reheat furnace system of time lag feature, invent it is a kind of simple, be reliable, easy to realize, the better temperature controller of control performance
Increasingly become field of industrial automatic control urgent problem to be solved.Along with the continuous development of intelligent control technology, Duo Zhongzhi
Energy algorithm is introduced in furnace temp control, and current main furnace temperature intelligent control method has：Fuzzy control, neural network
Control, PREDICTIVE CONTROL, self adaptive control etc..In above several control algolithms, fuzzy control method is due to independent of accurate
Mathematical model and be concerned, but its control performance is dependent on fuzzy rule, and summarize and make reliable fuzzy rule
It is not one easily to solve the problems, such as；Other several methods in addition to fuzzy control all rely on accurate mathematical model, and build
Accurate mathematical model is found for having compared with strong nonlinearity characteristic and being very for the reheat furnace system easily influenced by environmental change
Difficult.In recent years, dahlin algorithm is also gradually interested to researchers, it is to be proposed by IBM Corporation of the U.S. in nineteen sixty-eight
A kind of control algolithm for being directed to the control object containing purely retarded in industrial processes.Due to algorithm design method letter
Single, researcher begins attempt to apply it in practice.Application No. is " CN disclosed in 24 days for September in 2014:
201410303621:A kind of " the dahlin algorithm experiment porch " of A " is devised in simulink emulation platforms and is calculated based on great Lin
The second order band control system with time delay of method.Since it has only built simulation system in simulink, reconciliation cannot be reacted
The problem of certainly encountering in practical applications.Application No. is " CN disclosed in 3 days June in 2015:201310625793:A's " is " a kind of
Temperature control system based on dahlin algorithm " devises temperature control system based on dahlin algorithm, which only will be traditional big
Woods algorithm is applied in the design of controller, and deficiency present in control is not furtherd investigate.Therefore, it need further
Exploratory development goes out simple, reliable, accurately and rapidly great Lin temperature controllers design method.
Invention content
The technical problems to be solved by the invention are, in view of the shortcomings of the prior art, providing a kind of furnace temp controller
Design method.
In order to solve the above technical problems, the technical solution adopted in the present invention is：A kind of adding based on improvement dahlin algorithm
Hot stove temperature controller design method, includes the following steps：
1) one order inertia is established to heating furnace and adds purely retarded model, the one order inertia adds the transmission function of purely retarded model
ForS is the variable symbol in frequency domain, and K is the proportionality coefficient of heating furnace, and θ is heating furnace pure delay time, τ
For heating furnace inertia time constant, the transform of G (s) is：T is the heating furnace sampling period,
2) purely retarded model G (s) is added to determine that heating furnace it is expected that closed loop transfer function, W's (s) is pure stagnant by above-mentioned one order inertia
Time afterwards it is then determined the inertia time constant of W (s), divides Temperature jump value in different sections, sets for each section
Different expectation inertia time constant τh, according to the expectation inertia time constant τ in each sectionhThe expectation closed loop for obtaining each section passes
Delivery function W (s), expression formula are：Its Z domains expression formula is：The Temperature jump value
For set temperature and the difference of heating furnace initial temperature；
3) by above step 1), 2) the heating furnace transmission function G (z) that obtains and it is expected that closed loop transfer function, W (z) is added
The great Lin digitial controller D (z) of hot stove：
Wherein,B=e-T/τ,
4) solve the problems, such as it is above-mentioned 3) in the ringings of great Lin digitial controllers, steady-state error eliminate too slow and great Lin numbers
The problem of word controller regulating time is longer.
In step 1), K, θ, the acquisition methods of τ are：One step voltage of given system, measures furnace temp and is rising
Open loop characteristic curve in the process, according to system open loop characteristic curve, is calculated K, θ, τ.
In step 4), the method for eliminating the ringing of great Lin digitial controllers is：
1) pole of great Lin digitial controller D (z) is obtained, if the pole r of D (z)jFor rj=αj+iβj, αjIt is pole rj's
Real part, βjIt is pole rjImaginary part, j=1,2 ... N+1, then the factorization form of the denominator of D (z) be expressed as：(1-r1z-1)
(1-r2z-1)(1-r3z-1)…(1-rN+1z-1)；
2) by the factorization form of above-mentioned D (z) denominator, the pole for causing ringing is eliminated, equipped with m ring pole
Point, works as k=1, during 2 ... m, rkTo cause the pole of ring, then the z=1 in corresponding factor is enabled, expression formula is：0≤m≤N+1；
3) by above-mentioned steps 2) the multinomial factor expansion of the obtained amendment denominator of D (z)：
(1-r1)(1-r2)…(1-rm)(1-rm+1z-1)(1-rm+2z-1)…(1-rN+1z-1)
=(1-r1)(1-r2)…(1-rm)[1-a1z-1-a2z-2-…-aN+1-mz-(N+1-m)]
Wherein, alAnd blValue be calculated by the non-ring pole of D (z), l=1,2 ..., N+1-m；
4) the great Lin digitial controller D'(z after weakening) expression formula is：
5) byControlled quentity controlled variable U (Z) is obtained, the inverse transformation through Z obtains u (t), then eliminates the dahlin control after ring
The expression formula of device is：
E (t) is the departure of set temperature and heating furnace actual temperature, and the transform of e (t) is E (Z).
In step 4), solve the problems, such as that steady-state error eliminates too slow method and is：When dahlin control device enters stable state
Integration control is introduced, quickly eliminates steady-state error using integration control, obtaining improved dahlin control device expression formula is：
uI(t)=uI(t-1)+KIe(t)
Wherein, controlled quentity controlled variables of the u (t-i) for the t-i moment, uI(t) it is integration control amount, KIFor integral coefficient.
In step 4), solve the problems, such as that the longer method of great Lin digitial controller regulating times is：It is designed in dahlin control device
When for controlled quentity controlled variable, internal amplitude limit is set in itself, the size for constantly adjusting the amplitude carries out testing experiment, when dahlin control device pair
When the control of all temperature in the range of controlling all reaches full accuracy, determine that amplitude at this time as internal amplitude limit value, into
The controlled quentity controlled variable obtained after internal amplitude limit is stored during the update of row storage controlled quentity controlled variable, and when carrying out new controlled quentity controlled variable and calculating all
Substitution calculating is carried out using the controlled quentity controlled variable as past value；When dahlin control device sends out control signal to executing agency, by execution
The amplitude limit requirement of mechanism carries out amplitude limit to controlled quentity controlled variable.
Compared with prior art, the advantageous effect of present invention is that：Controller can be according at the beginning of set temperature and system
The size of beginning temperature-difference value chooses the expectation inertia time constant to match with system automatically, and then obtains it is expected to close accordingly
Ring transmission function, solve by built linear model and non-linear heating furnace mismatch and caused by control effect it is poor, even
The problem of being out of control；To dahlin control device carried out eliminate ring processing, reduce control voltage fluctuation, on this basis into
Gone eliminate steady-state error improvement, improve control accuracy；The amplitude limit of system actuator (pressure regulator) is carried out ingenious
Processing, ensure control output do not transfinite in the case of shorten the system adjustment time.The present invention is based on improve dahlin algorithm
Temperature controller design method, regulating time is short, and control accuracy is high, reduces the loss of executing agency, has higher reality
With value and preferable application prospect, this method also has reference function to other automatic temperature-adjusting control systems.
Description of the drawings
Fig. 1 is heating furnace structure figure.
Specific embodiment
For controlled device heating furnace structure of the present invention as shown in Figure 1,1 port meets AC220V, 2 ports meet controlled quentity controlled variable u, and 3
It is pressure regulator (model LSA-2P16YB), 4 be heating furnace resistance wire, and 5 be heating furnace body (long 8cm, width 3cm, high 2cm), 6
It is Pt100 temperature transmitters, 7 ports are furnace temp output terminals.Furnace temp monitoring system work of the present invention
It is as process：Collected temperature signal (0-200 DEG C) is converted into corresponding current signal (4-20mA) by Pt100, is made
Analog input for S7-300PLC；Control signal is calculated by internal control algolithm according to temperature signal in S7-300PLC
U is sent to pressure regulator, and then control heating furnace resistance wire by analog output port.Between S7-300PLC and host computer PC
Data exchange is carried out using ethernet communication mode, the parameters of control system can be configured in monitor supervision platform,
The temperature and control output voltage curve of heating furnace can also be monitored in real time.
In order to which technological means, creation characteristic, workflow, application method, reached purpose and effect for making the present invention are easy to
Understand and understand, with reference to specific example, the present invention is further explained.
1. pair Furnace modeling
The one order inertia of the heating furnace adds the model transfer function of purely retarded to be(initialization system is using week
Phase is 2s, in manual setting 4V voltages, measures open loop characteristic curve of the furnace temp in uphill process, is opened according to system
Ring property curve, is calculated：Proportional coefficient K=10, system pure delay time θ=26s, inertia time constant τ=800), G
(s) transform is：(T is system communication cycle 2s,)。
2. the one order inertia based on heating furnace adds purely retarded model G (s) designs it is expected closed loop transfer function, W (s)
First, purely retarded model G (s) is added to can determine that single loop heating furnace it is expected closed loop transfer function, by above-mentioned one order inertia
The pure delay time (equal with the pure stagnant time θ of G (s), i.e. 26s) of W (s).Secondly, it by a large amount of actual tests, will set
Target temperature is divided into 5 sections (i.e. i=1,2 ..., 5) with initial temperature temperature difference hop value, each section is set different
It is expected inertia time constant, as shown in table 1.Then, it can obtain according to the different expectation inertia time constants that each section is set
Each corresponding expectation closed loop transfer function, in section(τ i are selected it is expected inertia time constant according to table 1
Select), Z domains expression formula is：
1 temperature difference saltus step section of table sets table with expected time constant
3. letter G (z) is passed based on heating furnace and it is expected that closed loop passes letter W (z) and designs modified dahlin algorithm controller
The heating furnace obtained by above step 1,2 passes letter G (z) and it is expected that closed loop passes letter W (z) and can obtain traditional dahlin algorithm
Digitial controller is：
For existing for the controller with the presence of ringing, because stable state being brought to miss when model and object actual characteristic deviation
Difference, the problem of regulating time is long, following processing method is taken respectively：
1) ringing of dahlin control device is eliminated
Method for vibration is explained for it is expected timeconstantτ=200：
First, the pole of controller D (z) is sought, required result is as follows：
1
-0.67447
-0.60292-0.30532*i
-0.60292+0.30532*i
-0.40228+0.54827*i
-0.40228-0.54827*i
-0.11179+0.67852*i
-0.11179-0.67852*i
0.21221+0.66718*i
0.21221-0.66718*i
0.50851+0.51083*i
0.50851-0.51083*i
0.72852-0.22201*i
0.72852+0.22201*i
Pole is expressed as rj=αj+iβj, j=1 ... 14 (sequence from top to bottom).
Then, to the denominator of controller D (z) eliminate the amendment of the ring factor, even the z=1 in corresponding factor, knot
Fruit is：
Wherein, aiIt is calculated by the pole value of D (z).
For other expected time constants, method for vibration is same as above.
Can must further eliminate the digitial controller after ring is：
Then, byU (Z) is obtained, the inverse transformation through Z obtains u (t), then eliminating the controller after ring is：
2) there are problems that steady-state error for the adjusting of dahlin control device, treating method is：When dahlin control device designs,
Increase integration control item and the control item just intervenes (this experiment only when dynamic process terminates substantially, process enters stable state substantially
Device is when differing 0.7 DEG C with target temperature, substantially into stable state, so opening integration control when error is 0.7 DEG C
Beginning acts on), the characteristic of steady-state error can be eliminated using integral control action, furnace temp is made to reach setting value, then modified
Dahlin control device expression formula is：
uI(t)=uI(t-1)+KIe(t)
Wherein：KIFor integral coefficient, testing experiment is carried out in different temperature difference saltus step sections respectively, is obtained：Work as KI=
When 0.018, controller can fluctuate the smaller steady-state error for eliminating system in controlled quentity controlled variable u, so setting KI=
0.018。
3) in order to shorten controller regulating time, the treating method taken is：Execution machine is not considered in controller design
The amplitude limit (being more than or equal to 0v, less than or equal to 10v) of structure, but internal amplitude limit is set in itself (for filtering out wherein for controlled quentity controlled variable
Excessive controlled quentity controlled variable, amplitude are higher than executing agency's amplitude limit, after tested experiment selection 23v), store what is obtained after internal amplitude limit
Controlled quentity controlled variable, controlled quentity controlled variable afterwards all carry out substitution calculating when calculating with the controlled quentity controlled variable past value；In controller to executing agency
When (pressure regulator) sends out control signal amplitude limit is carried out by the requirement of executing agency.
Claims (4)
- It is 1. a kind of based on the furnace temp controller design method for improving dahlin algorithm, which is characterized in that include the following steps：1) one order inertia is established to heating furnace and adds purely retarded model, the one order inertia adds the transmission function of purely retarded model to beS is the variable symbol in frequency domain, and K is the proportionality coefficient of heating furnace, and θ is heating furnace pure delay time, and τ is Heating furnace inertia time constant, the transform of G (s) are：T is the heating furnace sampling period,2) by above-mentioned one order inertia add purely retarded model G (s) determine heating furnace it is expected closed loop transfer function, W (s) purely retarded when Between, it is then determined the inertia time constant of W (s), divides Temperature jump value in different sections, it is different for the setting of each section Expectation inertia time constant τh, according to the expectation inertia time constant τ in each sectionhThe expectation closed loop for obtaining each section transmits letter Number W (s), expression formula are：Its Z domains expression formula is：The Temperature jump value is The difference of set temperature and heating furnace initial temperature；3) by above step 1), 2) the heating furnace transmission function G (z) that obtains and it is expected that closed loop transfer function, W (z) obtains heating furnace Great Lin digitial controller D (z)：Wherein,B=e-T/τ,4) solve the problems, such as it is above-mentioned 3) in the ringings of great Lin digitial controllers, steady-state error eliminate too slow and great Lin number controls The problem of device regulating time processed is longer；Solve the problems, such as that the longer method of great Lin digitial controller regulating times is：Controlled quentity controlled variable sheet is directed to when dahlin control device designs The internal amplitude limit of body setting, the size for constantly adjusting the amplitude carries out testing experiment, when dahlin control device is to the institute in the range of controlling When the control for having temperature all reaches full accuracy, determine that amplitude at this time is internal amplitude limit value, carrying out storage controlled quentity controlled variable Store the controlled quentity controlled variable that is obtained after internal amplitude limit during update, and when carrying out new controlled quentity controlled variable and calculating all using the controlled quentity controlled variable as Past value carries out substitution calculating；When dahlin control device sends out control signal to executing agency, by the amplitude limit requirement of executing agency Amplitude limit is carried out to controlled quentity controlled variable.
- 2. furnace temp controller design method according to claim 1, which is characterized in that in step 1), K, θ, τ's Acquisition methods are：One step voltage of given system measures open loop characteristic curve of the furnace temp in uphill process, according to System open loop characteristic curve, is calculated K, θ, τ.
- 3. furnace temp controller design method according to claim 1, which is characterized in that in step 4), eliminate big The method of the ringing of woods digitial controller is：41) pole of great Lin digitial controller D (z) is obtained, if the pole r of D (z)jFor rj=αj+iβj, αjIt is pole rjReality Portion, βjIt is pole rjImaginary part, j=1,2 ... N+1, then the factorization form of the denominator of D (z) be expressed as：(1-r1z-1)(1- r2z-1)(1-r3z-1)…(1-rN+1z-1)；42) by the factorization form of above-mentioned D (z) denominator, the pole for causing ringing is eliminated, equipped with m ring pole, when When k=1,2 ... m, rkTo cause the pole of ring, then the z=1 in corresponding factor is enabled, expression formula is：(1-rkz-1)(1-rm+1z-1)…(1-rN+1z-1)=(1-r1)…(1-rm)(1-rm+1z-1)…(1-rN+1z-1)；0≤m≤N+1；43) by above-mentioned steps 42) the multinomial factor expansion of the obtained amendment denominator of D (z)：(1-r1)(1-r2)…(1-rm)(1-rm+1z-1)(1-rm+2z-1)…(1-rN+1z-1)=(1-r1)(1-r2)…(1-rm)[1-a1z-1-a2z-2-…-aN+1-mz-(N+1-m)]Wherein, alAnd blValue be calculated by the non-ring pole of D (z), l=1,2 ..., N+1-m；44) the great Lin digitial controller D'(z after weakening) expression formula is：45) byControlled quentity controlled variable U (Z) is obtained, the inverse transformation through Z obtains u (t), then eliminates the dahlin control device after ring Expression formula is：E (t) is the departure of set temperature and heating furnace actual temperature, and the transform of e (t) is E (Z).
- 4. according to claim 3 based on the furnace temp controller design method for improving dahlin algorithm, feature exists In in step 4), solving the problems, such as that steady-state error eliminates too slow method and is：Product is introduced when dahlin control device enters stable state Sub-control system quickly eliminates steady-state error using integration control, obtains improved dahlin control device expression formula and is：uI(t)=uI(t-1)+KIe(t)Wherein, controlled quentity controlled variables of the u (t-i) for the t-i moment, uI(t) it is integration control amount, KIFor integral coefficient.
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| CN106636606B (en) * | 2016-12-30 | 2018-10-12 | 北京和隆软件有限公司 | A kind of method for controlling furnace temperature of heating furnace based on simulation model |
| CN109116882B (en) * | 2017-06-23 | 2021-07-20 | 北京化工大学 | IMC-Dahlin temperature regulator and method for medical incubator |
| CN111174564A (en) * | 2018-11-09 | 2020-05-19 | 深圳龙澄高科技环保股份有限公司 | Intelligent control system for ultrahigh-calorific-value garbage drying process |
| CN109765950B (en) * | 2019-03-13 | 2021-03-02 | 东南大学成贤学院 | Control method for first-order pure time delay furnace temperature system |
| CN110109360B (en) * | 2019-05-22 | 2021-12-07 | 杭州电子科技大学 | Generalized tourmaline response control method for industrial process |
| CN110703827B (en) * | 2019-11-12 | 2021-11-12 | 深圳市英威腾电气股份有限公司 | Edge sealing adhesive temperature control system and temperature control method thereof |
| CN113325897A (en) * | 2021-06-10 | 2021-08-31 | 西北农林科技大学 | Automatic cooling control system and method for wine fermentation |
| CN114262767B (en) * | 2021-12-03 | 2023-05-16 | 本钢板材股份有限公司 | RH furnace oxygen lance control method based on large forest algorithm |
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