氧化铝碳分过程多重时滞非线性分散鲁棒控制方法与应用研究
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摘要
在烧结法氧化铝生产过程中,连续碳酸化分解过程(简称碳分过程)是非常重要的承前启后的生产过程。它由上游脱硅工序的铝酸钠溶液和二氧化碳气体进行化合反应,生产出满足一定质量指标的氢氧化铝,并提供合格的母液。碳分过程由六个分解槽串联组成,是具有气、液、固三相参加的多相化学反应,涉及传质、传热和流体力学的复杂冶炼过程,具有多变量、非线性、强耦合、大惯性、大滞后的特点,且由上游工序提供的铝酸钠溶液浓度和二氧化碳气体浓度的变化具有不确定性,温度、反应釜的液位等对碳分存在扰动。论文在对碳分过程进行深入分析的基础上,建立了此过程多重关联时滞非线性状态空间模型及其T-S模糊模型,论证了碳分过程的T-S模糊模型与其多重关联时滞非线性模型的等价性。提出了基于T-S模糊模型多重关联时滞非线性大系统分散鲁棒H_∞状态反馈跟踪控制以及分散状态观测器设计方法,开发了氧化铝连续碳酸化分解过程基于T-S模糊模型的控制工程应用平台。论文的主要研究成果和创新性如下:
(1)建立了碳分过程的多重关联时滞非线性模型。在深入分析碳分过程运行机理及其生产工艺的基础上,研究了碳分过程的建模方法,构造了碳分过程的关联连续搅拌槽式反应器(InteractionContinuous Stirred-Tank Reactor,ICSTR)模型,基于物质平衡原理推导了碳分过程的动态微分方程,推导出碳分过程输入输出关系的多重关联时滞非线性状态空间方程,并通过数值仿真,证明了该模型的有效性。
(2)论证了碳分过程的T-S模糊模型与其多重关联时滞非线性模型的等价性。给出了氧化铝碳酸化分解系统T-S模糊模型,采用线性模型描述非线性系统在不同状态空间区域内局部线性的动态特性,通过非线性隶属度函数和线性模型混合描述整个系统的非线性动态特性。
(3)针对多重关联时滞非线性大系统,基于T-S模糊模型提出了对其进行稳定性分析的方法及稳定判据,给出了基于T-S模糊模型的多重关联时滞非线性大系统分散鲁棒H_∞状态反馈跟踪控制及分散状态观测器设计方法,结合碳分过程的模型进行了仿真,验证所提出方法的有效性。
(4)提出了多重关联时滞非线性大系统基于T-S模糊模型的分散输出反馈控制策略,理论分析并推导出了基于T-S模糊模型多重关联时滞非线性大系统分散输出反馈控制器的存在条件及设计方法。
(5)针对氧化铝连续碳酸化分解过程,设计了控制系统硬件结构,开发了碳分过程控制系统软件,形成了基于T-S模糊模型的控制软件平台;并在该平台上进行了仿真及运行结果分析,验证了所提出的基于T-S模糊模型的碳分过程多重关联时滞非线性分散鲁棒控制方法的有效性。
In the process of sintering alumina production,the alumina continuous carbonation decomposition process(ACCDP) is a critical procedure bridging the preceding and subsequent procedure.Combination reaction of the sodium aluminate solution produced by upstream desiliconization process and carbon dioxide gas is occurred,and aluminium hydroxide with certain quality index is produced,at the same time qualified mother solution is supplied in the ACCDP.ACCDP is composed of six series decomposition tanks,where complex multi-phase chemical reactions are involved.As a complicated metallurgy process, ACCDP has many characteristics such as multivariable,nonlinear, strong-coupling,large inertia,large delay,uncertainty from the concentration change of sodium aluminate solution and carbon dioxide gas,disturbance from temperature and level of reaction ax,etc,and many fields such as mass transfer,heat transfer and hydromechanics are related. In this dissertation,based on the analysis of ACCDP,nonlinear multi-delays state-space model of ACCDP is established,the equivalence between T-S fuzzy model of ACCDP and nonlinear multi-delays interconnected model is proved,the decentralized robust H_∞state feedback tracking controller and decentralize state observer are designed for T-S fuzzy nonlinear interconnected multi-delays large system,and based on T-S fuzzy mode,the application platform for ACCDP is developed.The major innovation research achievements include:
1.Multi-delays interconnected nonlinear model is established.Base on the analysis for operational mechanism and production process of ACCDP,the modeling methods of ACCDP are investigated.Interaction continuous stirred-tank reactor(ICSTR) model for ACCDP is constructed. On the base of dynamic differential equations derived by the material balance principle,multi-delay nonlinear interconnected state-space equation for ACCDP is established,and numerical example is given to illustrate the effectiveness of the proposed method.
2.The equivalence between T-S fuzzy model and its nonlinear multi-delays interconnected model for ACCDP is proved.First,T-S fuzzy model of ACCDP is established,and then the local linear dynamic characteristics of nonlinear system at different state-space regions are described by linear model.As a result,the nonlinear dynamic characteristics are described by nonlinear membership function and linear model.
3.For multi-delay interconnected nonlinear systems,based on T-S fuzzy model the stability analysis and stability criterion are proposed,the design approaches for decentralized robust H_∞state feedback tracking controller and decentralized state observer are investigated.The simulations with ACCDP model verify the effectiveness of proposed methods.
4.For multi-delay interconnected nonlinear large-scale systems,a decentralized output feedback control strategy based on T-S fuzzy model is proposed.The existence conditions of a decentralized output feedback are deduced,and a decentralized output feedback stabilization controller is obtained by iterative linear matrix inequality approach.
5.For ACCDP,the control system hardware structure is designed,and control system software is developed.The control software platform is formed based on T-S fuzzy model,and simulations were done on the platform,the results verified that the decentralized robust control methods proposed in this dissertation for multi-delay interconnected nonlinear large-scale systems is effective,and can be used to ACCDP.
(1)建立了碳分过程的多重关联时滞非线性模型。在深入分析碳分过程运行机理及其生产工艺的基础上,研究了碳分过程的建模方法,构造了碳分过程的关联连续搅拌槽式反应器(InteractionContinuous Stirred-Tank Reactor,ICSTR)模型,基于物质平衡原理推导了碳分过程的动态微分方程,推导出碳分过程输入输出关系的多重关联时滞非线性状态空间方程,并通过数值仿真,证明了该模型的有效性。
(2)论证了碳分过程的T-S模糊模型与其多重关联时滞非线性模型的等价性。给出了氧化铝碳酸化分解系统T-S模糊模型,采用线性模型描述非线性系统在不同状态空间区域内局部线性的动态特性,通过非线性隶属度函数和线性模型混合描述整个系统的非线性动态特性。
(3)针对多重关联时滞非线性大系统,基于T-S模糊模型提出了对其进行稳定性分析的方法及稳定判据,给出了基于T-S模糊模型的多重关联时滞非线性大系统分散鲁棒H_∞状态反馈跟踪控制及分散状态观测器设计方法,结合碳分过程的模型进行了仿真,验证所提出方法的有效性。
(4)提出了多重关联时滞非线性大系统基于T-S模糊模型的分散输出反馈控制策略,理论分析并推导出了基于T-S模糊模型多重关联时滞非线性大系统分散输出反馈控制器的存在条件及设计方法。
(5)针对氧化铝连续碳酸化分解过程,设计了控制系统硬件结构,开发了碳分过程控制系统软件,形成了基于T-S模糊模型的控制软件平台;并在该平台上进行了仿真及运行结果分析,验证了所提出的基于T-S模糊模型的碳分过程多重关联时滞非线性分散鲁棒控制方法的有效性。
In the process of sintering alumina production,the alumina continuous carbonation decomposition process(ACCDP) is a critical procedure bridging the preceding and subsequent procedure.Combination reaction of the sodium aluminate solution produced by upstream desiliconization process and carbon dioxide gas is occurred,and aluminium hydroxide with certain quality index is produced,at the same time qualified mother solution is supplied in the ACCDP.ACCDP is composed of six series decomposition tanks,where complex multi-phase chemical reactions are involved.As a complicated metallurgy process, ACCDP has many characteristics such as multivariable,nonlinear, strong-coupling,large inertia,large delay,uncertainty from the concentration change of sodium aluminate solution and carbon dioxide gas,disturbance from temperature and level of reaction ax,etc,and many fields such as mass transfer,heat transfer and hydromechanics are related. In this dissertation,based on the analysis of ACCDP,nonlinear multi-delays state-space model of ACCDP is established,the equivalence between T-S fuzzy model of ACCDP and nonlinear multi-delays interconnected model is proved,the decentralized robust H_∞state feedback tracking controller and decentralize state observer are designed for T-S fuzzy nonlinear interconnected multi-delays large system,and based on T-S fuzzy mode,the application platform for ACCDP is developed.The major innovation research achievements include:
1.Multi-delays interconnected nonlinear model is established.Base on the analysis for operational mechanism and production process of ACCDP,the modeling methods of ACCDP are investigated.Interaction continuous stirred-tank reactor(ICSTR) model for ACCDP is constructed. On the base of dynamic differential equations derived by the material balance principle,multi-delay nonlinear interconnected state-space equation for ACCDP is established,and numerical example is given to illustrate the effectiveness of the proposed method.
2.The equivalence between T-S fuzzy model and its nonlinear multi-delays interconnected model for ACCDP is proved.First,T-S fuzzy model of ACCDP is established,and then the local linear dynamic characteristics of nonlinear system at different state-space regions are described by linear model.As a result,the nonlinear dynamic characteristics are described by nonlinear membership function and linear model.
3.For multi-delay interconnected nonlinear systems,based on T-S fuzzy model the stability analysis and stability criterion are proposed,the design approaches for decentralized robust H_∞state feedback tracking controller and decentralized state observer are investigated.The simulations with ACCDP model verify the effectiveness of proposed methods.
4.For multi-delay interconnected nonlinear large-scale systems,a decentralized output feedback control strategy based on T-S fuzzy model is proposed.The existence conditions of a decentralized output feedback are deduced,and a decentralized output feedback stabilization controller is obtained by iterative linear matrix inequality approach.
5.For ACCDP,the control system hardware structure is designed,and control system software is developed.The control software platform is formed based on T-S fuzzy model,and simulations were done on the platform,the results verified that the decentralized robust control methods proposed in this dissertation for multi-delay interconnected nonlinear large-scale systems is effective,and can be used to ACCDP.
引文
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