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2016 自动化学报 无线网络环境下工业过程运行反馈控制方法
2016 自动化学报 无线网络环境下工业过程运行反馈控制方法
8
2016 年 8 月 ACTA AUTOMATICA SINICA August, 2016
无线网络环境下工业过程运行反馈控制方法
范家璐 1 姜 艺1 柴天佑 1
摘 要 针对一类工业过程运行控制中采用无线网络传输运行指标反馈值时存在的噪声和丢包问题, 建立了输入为过程控制
的输入输出、输出为运行指标的随机过程模型; 提出了由不同采样速率的过程控制与过程控制设定值反馈控制组成的运行反
馈控制方法; 采用 Lyapunov 函数和不同采样频率的提升技术设计了过程 PI 控制器参数和过程控制设定值反馈控制器参数,
保证了双闭环控制系统的随机稳定性; 同时实现了运行指标实际值与目标值稳态误差的均值为零; 通过浮选过程运行反馈控
制仿真实验验证了本文所提方法的有效性.
关键词 运行指标, 无线网络, 噪声, 丢包, 浮选过程
引用格式 范家璐, 姜艺, 柴天佑. 无线网络环境下工业过程运行反馈控制方法. 自动化学报, 2016, 42(8): 1166−1174
DOI 10.16383/j.aas.2016.c150771
Abstract This paper studies operational control design for a class of industrial processes in which the operational index
is transmitted back via wireless networks, whose noise and packet dropout may negatively affect the operational control
performance. Firstly, a stochastic process model of operational index is established with the input and output of process
control as its input and the operational index as its output. Secondly, a dual-layer model combining process control and
set-point feedback control is presented with different sampling rates. Thirdly, a Lyapunov function and a lifting method
between multirate systems are adopted to design a process PI controller and a set-point feedback controller to guarantee
the stochastic stability of the dual closed-loop control system and that the mean value of steady-state error between the
realistic and target operational index is zero. Finally, a simulation experiment on the operational feedback control in an
industrial flotation process is conducted to demonstrate the effectiveness of the proposed method.
Key words Operational index, wireless networks, noise, packet dropout, flotation processes
Citation Fan Jia-Lu, Jiang Yi, Chai Tian-You. Operational feedback control of industrial processes in a wireless network
environment. Acta Automatica Sinica, 2016, 42(8): 1166−1174
图2 无线网络环境下工业过程运行指标闭环反馈控制策略
Fig. 2 The feedback control strategy of industrial process operational index under wireless network environment
8期 范家璐等: 无线网络环境下工业过程运行反馈控制方法 1169
χT (T )P̄ χ(T )} = AT T T
o G2 P̄4 − δ̄Co Y + δ̄CoT G1 P̄4 − δ̄AT
o G2 Y Do +
Φ3 = (δ̄ − 1)AT T
o G2 Y + (1 − δ̄)Ao P̄3 Π22 = BoT P̄1 Bo + P̄2T Bo − δ̄DoT Y T GT
2 Bo +
Φ4 = Φ T
2 δ̄DoT P̄3T Bo + BoT G2 P̄4 + P̄4 − δ̄DoT Y T +
Φ7 = Φ T
3
求解式 (24), 可得 P̄4 和 Y , 从而设定值反馈
控 制 器 (16) 的 参 数 F =© P̄4−1 Yª , P̄ 和 F , 使 不
Φ8 = Φ T
6 等式 E{∆V̄ (T )} < −γE V̄ (T ) 成立, 故不等式
Φ9 = (1 − δ̄)Y T P̄4−1 Y − (1 − δ̄)G1 Y + (22) 成立, 系统 (17) 满足在均方意义下随机稳定
性.
(1 − δ̄)P̄6 − (1 − δ̄)Y T GT
1 随机线性系统的均方稳定即全局稳定, 故向量
χ(T ) = [η T (T ), y ∗T (T ), rf (T − 1)]T 中的每个状态
利用 Schur 补定理, 可将式 (23) 转化为 均收敛于平衡点. 由式 (16) 得 limT →∞ E {∆y ∗ (T)}
−1
= limT →∞ E {F ef (T )} = 0, 而 kF k2 6= 0, 故
−[δ̄(1+θ)] P̄4 Y Co Y Do 0 0
∗ Π11 Π12 Π13 0 limT →∞ E {ef (T )} = limT →∞ E {r∗ − rf (T )} = 0,
∗ ∗ Π22 Π23 0 <0 即
∗ ∗ ∗ Π33 YT
∗ ∗ ∗ ∗ −(1−δ̄)−1 P̄4
lim E {rf (T )} = lim E {rf (T )} = r∗ (25)
T →∞ T →∞
P̄1 G2 P̄4 P̄3
又有
∗ P̄4 P̄4 GT1 > 0 (24)
∗ ∗ P̄6
lim E {rf (T )} = δ̄(1 + ρ) lim E {r(T )} +
T →∞ T →∞
Π11 = AT
o P̄1 Ao − δ̄CoT Y T GT
2 Ao + δ̄CoT P̄3T Ao − lim E {rf (T )} = lim E {r(T )} (26)
T →∞ T →∞
δ̄AT T T
o G2 Y Co − δ̄(1 + θ)Co G1 Y Co + δ̄Ao P̄3 Co −
即实现了 limT →∞ E {r(T ) − r∗ } = 0.
δ̄(1 + θ)CoT Y T GT
1 Co + δ̄(1 + θ)CoT P̄6 Co −
3 仿真实验与性能分析
(1 − γ)P̄1
3.1 浮选过程模型简介
Π12 = AT T T T T T
o P̄1 Bo − δ̄Co Y G2 Bo + δ̄Co P̄3 Bo +
以浮选工业过程为对象, 进行本文提出的无线
AT T T T T
o G2 P̄4 − δ̄Co Y + δ̄Co G1 P̄4 − δ̄Ao G2 Y Do − 网络环境下工业过程运行指标反馈控制方法的仿真
δ̄(1 + θ)CoT G1 Y Do + δ̄AT
o P̄3 Do −
实验, 对于单个槽体, 浮选过程的数学模型为[20−22]
µ ¶
δ̄(1 + θ)CoT Y T GT T
1 Do + δ̄(1 + θ)Co P̄6 Do − dMpi i qT
= − kp + Mpi +
(1 − γ)G2 P̄4 dt (1 − εg )Ahp
采样点 1 2 3 4 5 6 7 8 9 10 11 12 13
δ(k) /a 0 0 1 0 0 0 1 1 1 1 1 0 1
δ(k) /b 0 1 1 1 1 1 1 1 1 0 1 0 1
δ(k) /c 0 1 1 0 1 0 0 1 0 0 0 1 0
ρ(k) /a – 0.1256 0.0803 0.1931 0.1227 0.0814 – 0.0060 – 0.1542 0.0659 – 0.0539 – 0.1440 0.0267 0.1292 0.0696
ρ(k) /b – 0.0197 – 0.0351 0.1606 – 0.1978 – 0.0810 – 0.1803 0.0773 0.0600 0.1932 0.0211 – 0.0400 – 0.1205 – 0.0273
ρ(k) /c – 0.1224 0.1619 0.0277 0.0527 – 0.1062 0.0195 0.1726 – 0.0659 0.0622 – 0.0432 0.0509 0.0796 0.0214
8期 范家璐等: 无线网络环境下工业过程运行反馈控制方法 1173
图4 运行指标实际值与目标值曲线
Fig. 4 The actual operational index and target operational index
图5 过程控制设定值与输出曲线
Fig. 5 The process control setpoint and output
图6 过程控制输入 u 的曲线
Fig. 6 The process control input u
4 结论 References
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Process Industries, Northeastern University. She received
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动化学报, 2015, 41(10): 1754−1761) was a visiting scholar with the Pennsylvania State Univer-
10 Chai T Y, Zhao L, Qiu J B, Liu F Z, Fan J L. Integrated sity during 2009 ∼ 2010. Her research interest covers net-
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network and nonlinear model predictive control for mul- 程运行控制, 网络控制.
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E-mail: JY369356904@163.com
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柴天佑 中国工程院院士, 东北大学教
survey. IEEE Transactions on Industrial Informatics, 2014, 授, IEEE Fellow, IFAC Fellow. 1985 年
10(4): 2233−2243 获得东北大学博士学位. 主要研究方向
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(CHAI Tian-You Academician of
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(CCC). Beijing, China: IEEE, 2010. 4837−4840 low. He received his Ph. D. degree from Northeastern Uni-
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trix Inequalities in System and Control Theory. USA: Soci- trol, intelligent decoupling control, and integrated automa-
ety for Industrial and Applied Mathematics, 1994. tion theory, method and technology of industrial process.)