基于PROFINET多变量系统智能控制应用研究
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摘要
现代企业的工业过程控制中,经常碰到大滞后、非线性、多变量耦合的复杂控制对象。传统的控制方法很难满足控制的要求,而智能控制为解决这类复杂系统的控制提供了新的途径。同时,信息技术的发展,信息交换的领域已经覆盖了工厂、企业乃至世界各地的市场,急需建立以工业控制网络技术为基础的企业信息化系统。智能控制的发展和广泛应用,现代企业网络信息化的需求,使工业以太网下实现智能控制算法成为自动化领域的新的研究热点。
本文以大滞后、双变量耦合的立式加热炉为控制对象,研究了被控对象的特点,建立了数学模型。根据立式加热炉的特点,研究了基于遗传算法的自适应模糊控制算法,设计了相应的控制规则。通过仿真研究,分析了模糊控制器各参数的变化对系统控制的影响,获得了以遗传算法优化的一组较好参数,为实际的物理实验奠定基础。如何将基于遗传算法的自适应模糊控制算法在PROFEINET网络和SIEMENS S7下实现是个技术难题。本文利用了SCL高级编程语言,研究了高级算法的实现,编写模糊化、模糊计算、解模糊和遗传优化的程序,为了减小算法对CPU的要求,Mamdani推理的模糊控制规则矩阵的部分在MATLAB下进行。最后用LAD语言调用模糊控制程序并结合西门子PROFINET工业控制网络环境的信号采集和数据传输,最终实现工业以太网下的智能控制。
在实际的物理实验中,将本文提出的控制算法与传统的PID控制算法进行了比较,结果表明该控制算法的有效性和实用性。
In the industrial process contro of a modern enterprise, we often encountered large time delay, nonlinear, coupled multi-variable control of complex objects. It is very difficult to meet the control requirements with traditional control methods. The intelligent control provides a new way to address such complex systems. At the same time, the development of information technology, exchange of information covering areas of factories, enterprises and markets around the world, the urgent need to establish an industrial control network technology-based enterprise information system. Intelligent Control of development and wide application of modern business needs of network information to enable industrial Ethernet intelligent control algorithm to achieve automation of the field to become the new hot spot of research.
In this paper, the control object is the vertical furnace, we analysis PROFEINET network in intelligent control algorithm is simple in nature and based on the comparison of the proportion of fuzzy control parameters and control the decision-making to control the impact of the results, as well as the genetic algorithm to optimize parameters of fuzzy control to carry out the technical analysis of the genetic algorithm to optimize the design of two-input dual-output structure of adaptive fuzzy controller. SIEMENS STEP-7 under the SCL high-level programming language than the common language of the low control was easy to implement complex control algorithms, so vague language of SCL, fuzzy computing, and genetic optimization fuzzy solution process, in order to reduce the algorithm CPU requirements for, Mamdani inference of fuzzy control rules of matrix under MATLAB. Finally, the language calls LAD combined with fuzzy control procedures Siemens PROFINET network environment industrial controls signal acquisition and data transmission, and ultimately under the Industrial Ethernet Intelligent Control.
The experimental show that the industrial control network of intelligent control compare to the results of the classical PID control, the control result has been greatly improved.
本文以大滞后、双变量耦合的立式加热炉为控制对象,研究了被控对象的特点,建立了数学模型。根据立式加热炉的特点,研究了基于遗传算法的自适应模糊控制算法,设计了相应的控制规则。通过仿真研究,分析了模糊控制器各参数的变化对系统控制的影响,获得了以遗传算法优化的一组较好参数,为实际的物理实验奠定基础。如何将基于遗传算法的自适应模糊控制算法在PROFEINET网络和SIEMENS S7下实现是个技术难题。本文利用了SCL高级编程语言,研究了高级算法的实现,编写模糊化、模糊计算、解模糊和遗传优化的程序,为了减小算法对CPU的要求,Mamdani推理的模糊控制规则矩阵的部分在MATLAB下进行。最后用LAD语言调用模糊控制程序并结合西门子PROFINET工业控制网络环境的信号采集和数据传输,最终实现工业以太网下的智能控制。
在实际的物理实验中,将本文提出的控制算法与传统的PID控制算法进行了比较,结果表明该控制算法的有效性和实用性。
In the industrial process contro of a modern enterprise, we often encountered large time delay, nonlinear, coupled multi-variable control of complex objects. It is very difficult to meet the control requirements with traditional control methods. The intelligent control provides a new way to address such complex systems. At the same time, the development of information technology, exchange of information covering areas of factories, enterprises and markets around the world, the urgent need to establish an industrial control network technology-based enterprise information system. Intelligent Control of development and wide application of modern business needs of network information to enable industrial Ethernet intelligent control algorithm to achieve automation of the field to become the new hot spot of research.
In this paper, the control object is the vertical furnace, we analysis PROFEINET network in intelligent control algorithm is simple in nature and based on the comparison of the proportion of fuzzy control parameters and control the decision-making to control the impact of the results, as well as the genetic algorithm to optimize parameters of fuzzy control to carry out the technical analysis of the genetic algorithm to optimize the design of two-input dual-output structure of adaptive fuzzy controller. SIEMENS STEP-7 under the SCL high-level programming language than the common language of the low control was easy to implement complex control algorithms, so vague language of SCL, fuzzy computing, and genetic optimization fuzzy solution process, in order to reduce the algorithm CPU requirements for, Mamdani inference of fuzzy control rules of matrix under MATLAB. Finally, the language calls LAD combined with fuzzy control procedures Siemens PROFINET network environment industrial controls signal acquisition and data transmission, and ultimately under the Industrial Ethernet Intelligent Control.
The experimental show that the industrial control network of intelligent control compare to the results of the classical PID control, the control result has been greatly improved.
引文
[1]陈一雷,王俊杰.工业以太网的研究和发展[J].低压电器2005.5
[2]王荣莉,雷斌.工业以太网技术的现状和发展[J].自动化博览2004.4
[3]陈世福,陈兆乾.人工智能与知识工程[M].南京:南京大学出版社,1997
[4]Jonas Berge,Ethernet in Process Control,Intech,Jun,2001
[5]陈海东.PROFInet面向自动化未来的以太网现场总线解决方案[J].现代制造2004.12
[6]Tony Kinsella,Richard,Ethernet in Industrial Automation-Today and Tomorrow,Intech,Mar,2001
[7]张浩,谭克勤,朱守云.现场总线与工业以太网应用技术手册.上海科学技术出版社.2002
[8]PROFINET技术与应用(中文版) 电子书PI组织2005
[9]Sam Lazaro,A Steffenhangan,W.Hybrid fuzzy controller for industrial power plants.Computer sin Engineering ASME Database Symposium.1995:1033 - 1038
[10]淮卫兴,陈来九.多变量自适应模糊控制器的设计方法[J].控制与决策.1996,115:551-560
[11]魏启渊,王建农.模糊控制技术在电热采暖锅炉上的应用[J].内蒙古电力技术.1996.3:41-44
[12]焦李成.神经网络系统理论[M].西安:西安电子科技大学出版社,1992
[13]Austin.Field bus Foundation Releases High Speed Ethernet(HSE) final Specifications,Control Engineering,March 2000
[14]陆爱林,冯东芹,荣冈,金建祥.工业以太网的发展趋势[J],自动化仪表,2004,25(2):1-4.
[15]黎善斌,王智,张卫东,孙优贤.网络控制系统的研究现状与展望[J]信息与控制,2003(6):240-244.
[16]柴天佑.多变量自适应解耦控制及应用[M].北京:科学出版社,2001
[17]张杰.微型电加热锅炉多变量智能控制器设计[J].哈尔滨工程大学2000.10
[18]冯冬芹,金建祥,褚健.工业以太网关键技术初探[J].信息与控制,2003,32(3):219-224
[19]李木全.模糊控制在钢均热炉燃烧控制中的应用[J].冶金自动化,1997.3:46-48
[20]刘增良.模糊技术与应用选编(3)[M].北京:北京航空航天大学出版社,1998.12
[21]Shiuh-Jer Huang,Chen-Chuan Wang.Gain-scheduling fuzzy temperature controller for one-way input system[C].Transactions of the Institute of Measurement and Control,2008,451-469
[22]Chia-Feng Juang.A symbiotic genetic algorithm with local-and-global mapping search forreinforcement fuzzy control[J].Journal of Intelligent & Fuzzy Systems,2008,103-114
[23]胡炜,沈理.遗传算法优化模糊控制器[J].计算机科学.1997,24(6)74-81
[24]李华,马虬.一种改进遗传算法在模糊控制器优化中的应用.控制工程,2008,15
[25]王剑,肖龙.基于遗传模糊控制的多机器人避碰规划[J].自动化技术与应用,2009,(01)
[26]Hongxing Li.Adaptive Control Based on Genetic Algorithm and Fuzzy Tuning for Unknown Systems with Time-Delay[C].Chongqing,China Proceedings of the 7~(th)World Congress on Intelligent Control and Automation,2008.
[27]李红星,闰红书.基于遗传算法的自调整模糊控制器[J].大连轻工业学院学报.2001,3
[28]M.Stella,P.K.Dash,P.K.Rout Function based hybrid-fuzzy genetic controller for VSI based STATCOM[J].International Journal of Knowledge-based and Intelligent Engineering Systems 11,2007,139-156
[29]西门子(中国)有限公司.PROFINET IO通讯PROFINET IO Communication 2008
[30]西门子(中国)有限公司.S7-SCL使用手册2006
[31]西门子(中国)有限公司.SIMATIC基于PC的自动化系统WinAC.自动化与仪器仪表.2003.1
[32]邓士普,王树青.基于网络控制系统研究综述[J].化工自动化及仪表,2003(6):1-5
[33]西门子(中国)有限公司.SIMATIC S7-400 Power PLC 2005
[34]Hermann Kopetz.Real Time System Design Principle for Distributed Embedded Application[M].Kluwer Academic Publishers,1997
[35]Brooks P.Ethernet/IP industrial protocol[A].2001 8th IEEE International Conferernceon on Emerging Technonogies and Factory Automation[C].2001,vol.2:505-514.
[36]G.C.Walsh,O.Beldiman,L.Bushnell,Scheduling of Networked Control Systems,IEEE Control Systems Magazine[M].2002,pp.57-65.
[2]王荣莉,雷斌.工业以太网技术的现状和发展[J].自动化博览2004.4
[3]陈世福,陈兆乾.人工智能与知识工程[M].南京:南京大学出版社,1997
[4]Jonas Berge,Ethernet in Process Control,Intech,Jun,2001
[5]陈海东.PROFInet面向自动化未来的以太网现场总线解决方案[J].现代制造2004.12
[6]Tony Kinsella,Richard,Ethernet in Industrial Automation-Today and Tomorrow,Intech,Mar,2001
[7]张浩,谭克勤,朱守云.现场总线与工业以太网应用技术手册.上海科学技术出版社.2002
[8]PROFINET技术与应用(中文版) 电子书PI组织2005
[9]Sam Lazaro,A Steffenhangan,W.Hybrid fuzzy controller for industrial power plants.Computer sin Engineering ASME Database Symposium.1995:1033 - 1038
[10]淮卫兴,陈来九.多变量自适应模糊控制器的设计方法[J].控制与决策.1996,115:551-560
[11]魏启渊,王建农.模糊控制技术在电热采暖锅炉上的应用[J].内蒙古电力技术.1996.3:41-44
[12]焦李成.神经网络系统理论[M].西安:西安电子科技大学出版社,1992
[13]Austin.Field bus Foundation Releases High Speed Ethernet(HSE) final Specifications,Control Engineering,March 2000
[14]陆爱林,冯东芹,荣冈,金建祥.工业以太网的发展趋势[J],自动化仪表,2004,25(2):1-4.
[15]黎善斌,王智,张卫东,孙优贤.网络控制系统的研究现状与展望[J]信息与控制,2003(6):240-244.
[16]柴天佑.多变量自适应解耦控制及应用[M].北京:科学出版社,2001
[17]张杰.微型电加热锅炉多变量智能控制器设计[J].哈尔滨工程大学2000.10
[18]冯冬芹,金建祥,褚健.工业以太网关键技术初探[J].信息与控制,2003,32(3):219-224
[19]李木全.模糊控制在钢均热炉燃烧控制中的应用[J].冶金自动化,1997.3:46-48
[20]刘增良.模糊技术与应用选编(3)[M].北京:北京航空航天大学出版社,1998.12
[21]Shiuh-Jer Huang,Chen-Chuan Wang.Gain-scheduling fuzzy temperature controller for one-way input system[C].Transactions of the Institute of Measurement and Control,2008,451-469
[22]Chia-Feng Juang.A symbiotic genetic algorithm with local-and-global mapping search forreinforcement fuzzy control[J].Journal of Intelligent & Fuzzy Systems,2008,103-114
[23]胡炜,沈理.遗传算法优化模糊控制器[J].计算机科学.1997,24(6)74-81
[24]李华,马虬.一种改进遗传算法在模糊控制器优化中的应用.控制工程,2008,15
[25]王剑,肖龙.基于遗传模糊控制的多机器人避碰规划[J].自动化技术与应用,2009,(01)
[26]Hongxing Li.Adaptive Control Based on Genetic Algorithm and Fuzzy Tuning for Unknown Systems with Time-Delay[C].Chongqing,China Proceedings of the 7~(th)World Congress on Intelligent Control and Automation,2008.
[27]李红星,闰红书.基于遗传算法的自调整模糊控制器[J].大连轻工业学院学报.2001,3
[28]M.Stella,P.K.Dash,P.K.Rout Function based hybrid-fuzzy genetic controller for VSI based STATCOM[J].International Journal of Knowledge-based and Intelligent Engineering Systems 11,2007,139-156
[29]西门子(中国)有限公司.PROFINET IO通讯PROFINET IO Communication 2008
[30]西门子(中国)有限公司.S7-SCL使用手册2006
[31]西门子(中国)有限公司.SIMATIC基于PC的自动化系统WinAC.自动化与仪器仪表.2003.1
[32]邓士普,王树青.基于网络控制系统研究综述[J].化工自动化及仪表,2003(6):1-5
[33]西门子(中国)有限公司.SIMATIC S7-400 Power PLC 2005
[34]Hermann Kopetz.Real Time System Design Principle for Distributed Embedded Application[M].Kluwer Academic Publishers,1997
[35]Brooks P.Ethernet/IP industrial protocol[A].2001 8th IEEE International Conferernceon on Emerging Technonogies and Factory Automation[C].2001,vol.2:505-514.
[36]G.C.Walsh,O.Beldiman,L.Bushnell,Scheduling of Networked Control Systems,IEEE Control Systems Magazine[M].2002,pp.57-65.
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