广义预测控制在热工过程中的应用
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摘要
目前的广义预测控制算法，一般其预测输出的预测模型都是建立在数学模型基础上的，都没有考虑到建模误差的影响。然而，在控制实践中，由于对象的时变、非线性和环境等不确定因素的影响，模型参数很难精确得到。虽然一般的广义预测控制算法对建模误差有一定的抑制作用，但目前的算法对建模误差的抑制能力是有限的。本文在广义预测控制原理及单变量广义预测与动态矩阵混合控制算法的基础上，提出了多变量广义预测与动态矩阵混合控制算法。该算法中以误差预测补充基于模型的预测，是一种综合预测。文中对锅炉主汽温和单元机组协调控制系统分别进行了仿真。仿真结果表明，该算法具有较好的控制品质，增强了系统的稳定性和鲁棒性。
Current Generalized Predictive Control algorithm, commonly whose predictive model of predictive output is based on the mathematical mode, rarely considers of the influence of modeling error. But in control practice, exact model parameters are difficultly received because of the influence of uncertain factors, such as time-variety, nonlinearity and environment. Though common GPC algorithm has some restraining influence on model mismatch, the restraining ability is limited. The algorithm presented in the paper is on the basis of generalized predictive control theory, singlevariable GPC and DMC mixed control algorithm. In this paper a multivariable GPC and DMC mixed control algorithm is proposed, in which model prediction is complemented by error prediction, being a sort of general prediction. In this paper boiler main steam temperature and the coordinated control system of generating units are partly simulated. The results of simulation indicate that the algorithm proposed in this paper have good control performance, promoting the system stability and robustness.
Current Generalized Predictive Control algorithm, commonly whose predictive model of predictive output is based on the mathematical mode, rarely considers of the influence of modeling error. But in control practice, exact model parameters are difficultly received because of the influence of uncertain factors, such as time-variety, nonlinearity and environment. Though common GPC algorithm has some restraining influence on model mismatch, the restraining ability is limited. The algorithm presented in the paper is on the basis of generalized predictive control theory, singlevariable GPC and DMC mixed control algorithm. In this paper a multivariable GPC and DMC mixed control algorithm is proposed, in which model prediction is complemented by error prediction, being a sort of general prediction. In this paper boiler main steam temperature and the coordinated control system of generating units are partly simulated. The results of simulation indicate that the algorithm proposed in this paper have good control performance, promoting the system stability and robustness.
引文
[1] 许超,陈治纲,邵惠鹤,预测控制技术及应用发展综述,化工自动化及仪表,2002,29(3):1-10
[2] D.W. CLARKE, C. MOHTADI, P.S.TUFFS, Generalized Predictive Control, Part 1:The Basic Algorithmic
Part2: Extentions and Interpretations.Automatica, 1987, 23(1): 137-160
[3] 袁著祉,崔保民,新型随机广义预测自校正控制器,自动化学报1992,18(3):282-289
[4] 金元郁,预测控制算法研究,博士学位论文, 东北工学院,1990
[5] 袁著祉,递推广义预测自校正控制器,自动化学报,1989,15(4)：348-351
[6] 王伟,广义预测自适应控制的直接算法及全局收敛性分析,自动化学报,1995,21(1)：57-62
[7] Wang Wei, A Direct Adaptive Generalized Predictive Control Algorithm with Guaranteed Stability, Int.J.of Adaptive Control & Signal Processing, 1994, 8(3): 211-227
[8] 舒迪前,石中锁,隐式自适应广义预测控制器及其全局收敛性,自动化学报,1995,21(5)：545-554
[9] 胡耀华,贾欣乐,广义预测控制的直接算法,控制与决策,2000, 15(2)
[10] 胡耀华,贾欣乐,广义预测控制综述,信息与控制,2000, 29(3)
[11] 史红梅,冯丽辉,钟伟红,彭云峰,基于模型的预测控制算法研究,昆明理工大学学报,2002,27(6)
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[13] A Yesildirek, F L Lewis, Feedback linearization using neural networks, Automatics, 1995, 31(11): 1659-1664
[14] S N Singh, M Steinberg, R D DiGirolamo, Nonlinear predictive control of feedback linearizable systems and flight control systems design. J of Guidance, Control and Dynamics, 1995, 18(5):1023-1028
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[19] Kevin L Bueacher ,Christopher C Baum, A two-timescale approach to nonlinear model predictive control, In Proc ACC, Seatle, Washington, 1995:2250-2256
[20] Seung C Shim,Zeungnarm Bien, Predictive control using a novel type neural network-based model, IFAC 14th Triennial World Congress, Beijing. 1999:361-366
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[22] 王寅,荣冈,王树青,基于T-S模糊模型的非线性预测控制策略,2002, 19(4):599-603
[23] 沈国珍,基于简化模糊模型的广义预测控制器,机电工程,2002,19(4)：40-45
[24] 席裕庚,王凡,非线性系统预测控制的多模型方法,自动化学报,1996,22(4):456-460
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[26] San, C. G.. Multivariable generalized predictive control. LAG Internal Report , May Ensieg , Grenoble, France,1986
[27] Dion, J.M. , Dugard, L. , Franco, A. , Nhuyen, M.T. and Rey, D.. MIMO adaptive constrained predictive control case study: an environmental test chamber. Automatica, 1991,27(4): 611-626
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[29] Kouvaritakis, B. and Rossiter, J.A.. Multivariable stable generalized predictive control. IEE Proc.-D, 1993,140(5): 364-372
[30] Kinnaert, M.. Adaptive generalized predictive controller for MIMO systems. Int. J. Control, 1989, 50(1): 161-172
[31] Shan, S.L., Mohtadi, C. and Clarke, D. W.. Multivariable adaptive control without prior knowledge of the delay matrix. Syst.Control Lett., 1987, 9(2):295-360
[32] Wang, W.. A direct adaptive generalized predictive control algorithm for MIMO systems. Int. J. Control, 1994, 60(6): 1371-1381
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[34] Kouvaritakis, B., Rossiter,J.A. and Chang, A.O.T.. Gain/phase decomposition and generalized predictive control of scalar systems. IEE Proc.-D, 1993, 139(1):97-105
[35] Kouvaritakis, B. and Rossiter, J.A.. Multivariable Nyquist self-tuning: a general approach. IEE Proc.-D, 1989,136(5):189-202
[36] Chai, T., Mao, K. and Qin, X.. Decoupling design of multivariable generalized predictive control. IEE Proc. Control Theory Application, 1994, 141(3):197-201
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[40] Hwang Changsun, Kim Donggwan. A design of robust two-degree-freedom boiler-turbine control system using H-infinity optimization method [A]. SICE[C]. Sapporo: 1995. 336-340.
[41] Zhao Haipeng, Li Wei. Robust control design for simulation control of throttle pressure and megawatt output in a power plant unit [A]. Pro. of the 1999 IEEE Conference on Control Application[C]. USA: 1999.285-288
[42]曾得良,基于速率优化的智能协调控制系统的研究和应用[D],保定:华北电力大学.1999
[43] Lu S, Hogg B W. Predictive coordinated control for power-plant steam pressure and power output [J]. Control Engineering Practice, 1997, 5(1):79-84
[44] 张化光,吕剑虹,陈来九,模糊广义预测控制及应用[J],自动化学报,1993,19(1):9-17
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[47] 王伟,广义预测控制理论及其应用,北京:科学出版社,1998
[48] 李利平,单元机组协调控制系统分析与仿真, 硕士学位论文,华北电力大学,2000
[49] 王伟,杨建军,广义预测控制:理论、算法与应用,控制理论与应用,1997,14(6):777-786
[50] 王东风,多变量系统的广义预测控制解耦设计,电机与控制学报,2000, 4(4):243-246
[51] 贾青,多变量分散型预测控制应用研究,化工自动化及仪表,2000,27(6):1-4
[52] 萧志云,凌呼君,大型单元机组实现协调预测控制的研究,基础自动化,2001,8(4):58-61
[53] 李嗣福,陈忠保,刘勇,赵守忠,一种多变量系统分散优化DMC算法,控制理论与应用,2000,17(1):102-106
[54] 曾得良,刘吉臻,单元机组智能协调控制系统的发展和应用,电力情报, 1998, NO.3: 6-10
[55] 王东风,韩璞,曾得良,单元机组协调控制系统发展和现状,中国电力,2002, 35(11):69-73
[56] 王力,单元机组协调控制系统策略探讨,湖北电力,1997,21(4)
[57] 凌呼君,赵济民,大型单元机组多变量解耦协调控制系统的设计,清华大学学报(自然科学版),2000,40(S2):163-167
[58] 席裕庚，季红彬,多变量系统预测控制的解耦设计,中国自动化学会第二届过程控制科学报告会议论文集,上海:华东化工学院出版社.1989:124-131
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[60] 李国勇,谢克明,一种多变量广义预测自校正解耦控制算法,中国控制会议论文集,P677-682. 1995.10.15-20. 安徽黄山.
[61] 熊淑燕，李国勇，一种改进的隐式广义预测自校正控制算法，太原工业大学学报，Vol.23,No.2,1992
[62] Elvira Marie Bergheim. Adaptive model predictive control of chemical processes.2000.Norges teknisk-naturvitenskapelige universitet
[63] Stoyan Kanev, M.Sc. Controller Reconfiguration for Non-linear Systems. 1999. Department of Engineering control systems, technical university of Sofia, Bulgaria.
[64] O.Bego, N.peric, I.Petrovic, decoupling multivariable GPC with reference observation. IEEE. 10th Mediterranean Electro technical Conference, M EleCon.2000, Vol. II: 819-822
[65] 阚永海，多变量广义预测控制及其在电加热炉中的应用，硕士学位论文，北京科技大学，1994
[66] 杜晓宁，预测控制新型优化策略的研究及分析，博士学位论文，上海交通大学，2001，7
[67] 钟璇，广义预测控制理论及其应用研究，浙江大学博士学位论文，1999
[68] 金和平，多变量预测控制及其在水电生产过程中的应用研究，华中理工大学博士学位论文，1993，9
[69] 李遵基主编，热工自动控制系统，北京：中国电力出版社，1997
[2] D.W. CLARKE, C. MOHTADI, P.S.TUFFS, Generalized Predictive Control, Part 1:The Basic Algorithmic
Part2: Extentions and Interpretations.Automatica, 1987, 23(1): 137-160
[3] 袁著祉,崔保民,新型随机广义预测自校正控制器,自动化学报1992,18(3):282-289
[4] 金元郁,预测控制算法研究,博士学位论文, 东北工学院,1990
[5] 袁著祉,递推广义预测自校正控制器,自动化学报,1989,15(4)：348-351
[6] 王伟,广义预测自适应控制的直接算法及全局收敛性分析,自动化学报,1995,21(1)：57-62
[7] Wang Wei, A Direct Adaptive Generalized Predictive Control Algorithm with Guaranteed Stability, Int.J.of Adaptive Control & Signal Processing, 1994, 8(3): 211-227
[8] 舒迪前,石中锁,隐式自适应广义预测控制器及其全局收敛性,自动化学报,1995,21(5)：545-554
[9] 胡耀华,贾欣乐,广义预测控制的直接算法,控制与决策,2000, 15(2)
[10] 胡耀华,贾欣乐,广义预测控制综述,信息与控制,2000, 29(3)
[11] 史红梅,冯丽辉,钟伟红,彭云峰,基于模型的预测控制算法研究,昆明理工大学学报,2002,27(6)
[12] 周建锁,刘志远,裴涧,非线性模型预测控制的进展,中国控制与决策学术年会论文集,2000:112-117
[13] A Yesildirek, F L Lewis, Feedback linearization using neural networks, Automatics, 1995, 31(11): 1659-1664
[14] S N Singh, M Steinberg, R D DiGirolamo, Nonlinear predictive control of feedback linearizable systems and flight control systems design. J of Guidance, Control and Dynamics, 1995, 18(5):1023-1028
[15] Won-Kee Son, h-Kyu Kwon, Control of nonlinear systems via feedback linearization and constrained model predictive control, In 1999 14th Triennial World Congress, Beijing, 1999:103-108
[16] 周超俊,蒋尉孙,藤井省三,非线性系统的多模态ARMAX模型及其参数辨识,控制理论与应用,1995,12(1)：40-45
[17] Zhu Xue feng, Dale E Seborg, Nonlinear predictive control based on Hammerstein models, Control Theory and Applications, 1994, 11(5): 564-575
[18] H Genceli, M Nikolsou, Design of robust constrained model-predictive controllers with Volterra series, AICHE J , 1995, 41(9):2098-2107
[19] Kevin L Bueacher ,Christopher C Baum, A two-timescale approach to nonlinear model predictive control, In Proc ACC, Seatle, Washington, 1995:2250-2256
[20] Seung C Shim,Zeungnarm Bien, Predictive control using a novel type neural network-based model, IFAC 14th Triennial World Congress, Beijing. 1999:361-366
[21] Anders E Nordsj O. Cramer-Rao bounds for a class of systems described by Wiener and Hammerstein models, Int. J. Control, 1997, 68(5):1067-1083
[22] 王寅,荣冈,王树青,基于T-S模糊模型的非线性预测控制策略,2002, 19(4):599-603
[23] 沈国珍,基于简化模糊模型的广义预测控制器,机电工程,2002,19(4)：40-45
[24] 席裕庚,王凡,非线性系统预测控制的多模型方法,自动化学报,1996,22(4):456-460
[25] Hogg, G.W. and EI, R.N.N.. Multivariable generalized predictive control of a boiler system. IEEE Trans. Energy Conversion.1991, 6(2): 282-287
[26] San, C. G.. Multivariable generalized predictive control. LAG Internal Report , May Ensieg , Grenoble, France,1986
[27] Dion, J.M. , Dugard, L. , Franco, A. , Nhuyen, M.T. and Rey, D.. MIMO adaptive constrained predictive control case study: an environmental test chamber. Automatica, 1991,27(4): 611-626
[28] Chang, A.O. T.. Multivariable generalized predictive control. First Year Report, Department of Engineering Science, Oxford University.1990
[29] Kouvaritakis, B. and Rossiter, J.A.. Multivariable stable generalized predictive control. IEE Proc.-D, 1993,140(5): 364-372
[30] Kinnaert, M.. Adaptive generalized predictive controller for MIMO systems. Int. J. Control, 1989, 50(1): 161-172
[31] Shan, S.L., Mohtadi, C. and Clarke, D. W.. Multivariable adaptive control without prior knowledge of the delay matrix. Syst.Control Lett., 1987, 9(2):295-360
[32] Wang, W.. A direct adaptive generalized predictive control algorithm for MIMO systems. Int. J. Control, 1994, 60(6): 1371-1381
[33]Kouvaritakis,B.,Rossiter,J.A.andChang,A.O.T..Singular-value-decomposition approach to multivariable generalized predictive control. IEE Proc.-D, 1993, 140(3): 145-154
[34] Kouvaritakis, B., Rossiter,J.A. and Chang, A.O.T.. Gain/phase decomposition and generalized predictive control of scalar systems. IEE Proc.-D, 1993, 139(1):97-105
[35] Kouvaritakis, B. and Rossiter, J.A.. Multivariable Nyquist self-tuning: a general approach. IEE Proc.-D, 1989,136(5):189-202
[36] Chai, T., Mao, K. and Qin, X.. Decoupling design of multivariable generalized predictive control. IEE Proc. Control Theory Application, 1994, 141(3):197-201
[37] 曾得良,刘吉臻,单元机组智能协调控制系统的发展和应用,电力情报,1998. No.3: 6-10
[38] 沈炯,火电单元机组协调控制系统的自整定[D],南京:东南大学,1993
[39] Bolis V, Maffezzoni C, Ferrarini L. Synthesis of boiler-turbine control system by single loop auto-tuning [J]. Control Engineering Practice, 1995,3(6) : 761-771
[40] Hwang Changsun, Kim Donggwan. A design of robust two-degree-freedom boiler-turbine control system using H-infinity optimization method [A]. SICE[C]. Sapporo: 1995. 336-340.
[41] Zhao Haipeng, Li Wei. Robust control design for simulation control of throttle pressure and megawatt output in a power plant unit [A]. Pro. of the 1999 IEEE Conference on Control Application[C]. USA: 1999.285-288
[42]曾得良,基于速率优化的智能协调控制系统的研究和应用[D],保定:华北电力大学.1999
[43] Lu S, Hogg B W. Predictive coordinated control for power-plant steam pressure and power output [J]. Control Engineering Practice, 1997, 5(1):79-84
[44] 张化光,吕剑虹,陈来九,模糊广义预测控制及应用[J],自动化学报,1993,19(1):9-17
[45] 舒迪前,预测控制系统及应用,北京:机械工业出版社,1996
[46] 席裕庚,预测控制,北京:国防工业出版社,1993
[47] 王伟,广义预测控制理论及其应用,北京:科学出版社,1998
[48] 李利平,单元机组协调控制系统分析与仿真, 硕士学位论文,华北电力大学,2000
[49] 王伟,杨建军,广义预测控制:理论、算法与应用,控制理论与应用,1997,14(6):777-786
[50] 王东风,多变量系统的广义预测控制解耦设计,电机与控制学报,2000, 4(4):243-246
[51] 贾青,多变量分散型预测控制应用研究,化工自动化及仪表,2000,27(6):1-4
[52] 萧志云,凌呼君,大型单元机组实现协调预测控制的研究,基础自动化,2001,8(4):58-61
[53] 李嗣福,陈忠保,刘勇,赵守忠,一种多变量系统分散优化DMC算法,控制理论与应用,2000,17(1):102-106
[54] 曾得良,刘吉臻,单元机组智能协调控制系统的发展和应用,电力情报, 1998, NO.3: 6-10
[55] 王东风,韩璞,曾得良,单元机组协调控制系统发展和现状,中国电力,2002, 35(11):69-73
[56] 王力,单元机组协调控制系统策略探讨,湖北电力,1997,21(4)
[57] 凌呼君,赵济民,大型单元机组多变量解耦协调控制系统的设计,清华大学学报(自然科学版),2000,40(S2):163-167
[58] 席裕庚，季红彬,多变量系统预测控制的解耦设计,中国自动化学会第二届过程控制科学报告会议论文集,上海:华东化工学院出版社.1989:124-131
[59] 李国勇,谢克明.GPC与DMC的混合控制算法,中国自动化学会学术会议论文集,1997.8.23-28.山西太原
[60] 李国勇,谢克明,一种多变量广义预测自校正解耦控制算法,中国控制会议论文集,P677-682. 1995.10.15-20. 安徽黄山.
[61] 熊淑燕，李国勇，一种改进的隐式广义预测自校正控制算法，太原工业大学学报，Vol.23,No.2,1992
[62] Elvira Marie Bergheim. Adaptive model predictive control of chemical processes.2000.Norges teknisk-naturvitenskapelige universitet
[63] Stoyan Kanev, M.Sc. Controller Reconfiguration for Non-linear Systems. 1999. Department of Engineering control systems, technical university of Sofia, Bulgaria.
[64] O.Bego, N.peric, I.Petrovic, decoupling multivariable GPC with reference observation. IEEE. 10th Mediterranean Electro technical Conference, M EleCon.2000, Vol. II: 819-822
[65] 阚永海，多变量广义预测控制及其在电加热炉中的应用，硕士学位论文，北京科技大学，1994
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