Override control method, device, equipment and medium
阅读说明：本技术 一种超驰控制方法、装置、设备及介质 (Override control method, device, equipment and medium ) 是由 张春山 张瀚鑫 赵立军 李攀 祁志荣 于 2019-10-25 设计创作，主要内容包括：本申请公开了一种超驰控制方法、装置、设备及介质,包括：将正常PID调节器的第一控制信号以及超驰PID调节器的第二控制信号输入选择器；通过选择器确定出目标控制信号；利用目标控制信号控制调节阀；利用目标控制信号以及非目标控制信号对应的PID调节器的偏差引起的比例作用的输出信号确定非目标控制信号对应的PID调节器的跟踪值；将跟踪值以及目标控制信号对应的PID调节器当前时刻的输出信号输入所述选择器,并跳转至通过选择器确定目标控制信号的步骤。这样,能够提高PID调节器的响应速度,在偏差反向时,保障控制系统生产的调节器在正常PID调节器和超驰PID调节器之间及时切换,从而提升了系统生产的安全性。(The application discloses an override control method, device, equipment and medium, comprising: inputting a first control signal of a normal PID regulator and a second control signal of an override PID regulator into a selector; determining a target control signal through a selector; controlling the regulating valve by using the target control signal; determining a tracking value of a PID regulator corresponding to a non-target control signal by utilizing an output signal of proportional action caused by deviation of the PID regulators corresponding to the target control signal and the non-target control signal; and inputting the tracking value and the output signal of the PID regulator corresponding to the target control signal at the current moment into the selector, and jumping to the step of determining the target control signal through the selector. Therefore, the response speed of the PID regulator can be improved, and when the deviation is reversed, the regulator produced by the control system can be timely switched between the normal PID regulator and the override PID regulator, so that the safety of system production is improved.)
1. An override control method, comprising:
step S11: inputting a first control signal output by the normal PID regulator and a second control signal output by the override PID regulator into a selector;
step S12: determining, by the selector, that one of the first control signal and the second control signal is a target control signal;
step S13: controlling a regulating valve of a system by using the target control signal;
step S14: determining a tracking value of a PID regulator corresponding to the non-target control signal by utilizing an output signal of proportional action caused by deviation of the target control signal and the PID regulator corresponding to the non-target control signal at the current moment;
step S15: if the target control signal is the first control signal, determining the tracking value as the second control signal of a new round, and determining the output signal of the normal PID controller at the current time as the first control signal of the new round, then inputting the second control signal of the new round and the first control signal of the new round into the selector, and going to step S12;
step S16: if the target control signal is the second control signal, determining the tracking value as the first control signal of a new round, determining the output signal of the override PID controller at the current time as the second control signal of the new round, inputting the second control signal of the new round and the first control signal of the new round into the selector, and going to step S12.
2. The override method of claim 1, wherein the determining, by the selector, that one of the first control signal and the second control signal is a target control signal comprises:
and determining a selection mode of the selector, and determining one of the first control signal and the second control signal as a target control signal through the selector according to the selection mode.
3. The override control method according to claim 1, wherein the determining the tracking value of the PID controller corresponding to the non-target control signal using an output signal of a proportional action caused by a deviation between the target control signal and a PID controller corresponding to the non-target control signal at the current time comprises:
determining the tracking value of the PID regulator corresponding to the non-target control signal as
TRKVAL＝SEL_OUT+(PIDPV-PIDSP)/(PIDPVU-PIDPVL)*(1/(PIDKP/100)*100)*PIDACT；
Wherein TRKVAL is a tracking value of a PID regulator corresponding to the non-target control signal, SEL _ OUT is the target control signal output by the selector,
(PIDPV-PIDSP)/(pidvu-PIDPVL) ((1/(PIDKP/100) × PIDACT) is an output signal of a proportional action caused by a deviation of a current time of the PID regulator corresponding to the non-target control signal, PIDPV is a process value of the PID regulator corresponding to the non-target control signal, PIDSP is a given value of the PID regulator corresponding to the non-target control signal, pidvu is an upper limit of the process value of the PID regulator corresponding to the non-target control signal, PIDPV is a lower limit of the process value of the PID regulator corresponding to the non-target control signal, PIDKP is a proportional parameter value of the PID regulator corresponding to the non-target control signal, and pidct is an action mode of the PID regulator corresponding to the non-target control signal.
4. The override control method according to any one of claims 1 to 3, further comprising:
and correcting the tracking value of the PID regulator corresponding to the non-target control signal by using the correction value.
5. The override control method according to claim 4, wherein the correcting the tracking value of the PID regulator corresponding to the non-target control signal with the correction value includes:
determining a corrected tracking value of a regulator corresponding to a non-target control signal by using a correction value, the target control signal and an output signal of a proportional action caused by the deviation of the PID regulator corresponding to the non-target control signal at the current moment; wherein the modified tracking value is
TRKVAL ═ SEL _ OUT + [ (PIDPV-pidp)/(pidvu-PIDPVL) × (1/(PIDKP/100) × 100+ e) ] × PIDACT, and e is the correction value, SEL _ OUT is the target control signal output by the selector,
[ (PIDPV-PIDSP)/(pidvu-PIDPV) (1/(PIDKP/100) × 100+ e) ], PIDACT is an output signal of a proportional action caused by a deviation of a current time of the PID regulator corresponding to the non-target control signal including the correction value, PIDPV is a process value of the PID regulator corresponding to the non-target control signal, PIDSP is a given value of the PID regulator corresponding to the non-target control signal, pidvu is an upper limit of the process value of the PID regulator corresponding to the non-target control signal, PIDPV is a lower limit of the process value of the PID regulator corresponding to the non-target control signal, piddp is a proportional parameter value of the PID regulator corresponding to the non-target control signal, and PIDACT is an action mode of the PID regulator corresponding to the non-target control signal.
6. The override control method according to claim 4, wherein before the correcting the tracking value of the PID regulator corresponding to the non-target control signal by using the correction value, the method further comprises:
and determining the correction value to be a value between 0.1 and 1 according to the control precision requirement.
7. An override device, comprising:
the control signal input module 11 is used for inputting a first control signal output by the normal PID regulator and a second control signal output by the override PID regulator into the selector;
a control signal selection module 12, configured to determine, by the selector, that one of the first control signal and the second control signal is a target control signal;
a control signal control module 13 for controlling a regulating valve of the system by using the target control signal;
a tracking value determining module 14, configured to determine a tracking value of the PID controller corresponding to the non-target control signal by using an output signal of a proportional action caused by a deviation between the target control signal and the PID controller corresponding to the non-target control signal at the current time;
a new round control signal determining module 15, configured to determine the tracking value as the second control signal of a new round if the target control signal is the first control signal, determine an output signal of the normal PID controller at the current time as a first control signal of a new round, input the second control signal of the new round and the first control signal of the new round into the selector, and jump to module 12;
a new round control signal determining module 16, configured to determine the tracking value as the first control signal of a new round if the target control signal is the second control signal, determine the output signal of the override PID controller at the current time as the second control signal of the new round, input the second control signal of the new round and the first control signal of the new round into the selector, and jump to the module 12.
8. The override device according to claim 7, further comprising:
and the tracking value correction module is used for correcting the tracking value of the PID regulator corresponding to the non-target control signal by using the correction value.
9. An override device comprising a processor and a memory; wherein the content of the first and second substances,
the memory is used for storing a computer program;
the processor for executing the computer program to implement the override control method of any one of claims 1 to 6.
10. A computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the override control method of any one of claims 1 to 6.
Technical Field
The present disclosure relates to the field of override control technologies, and in particular, to an override control method, apparatus, device, and medium.
Background
The override control technique is widely used because it can convert the automatic control system to a preset safe state when the production condition of the system is abnormal, thereby avoiding the loss caused by production failure.
At present, the problem that the system state switching is not timely enough exists in the application of the override control technology.
Disclosure of Invention
In view of this, an object of the present application is to provide an override control method, apparatus, device and medium, which can improve the response speed of a PID controller, and ensure that a controller produced by a control system is switched between a normal PID controller and an override PID controller in time, thereby improving the safety of system production. The specific scheme is as follows:
in a first aspect, the present application discloses an override control method comprising:
step S11: inputting a first control signal output by the normal PID regulator and a second control signal output by the override PID regulator into a selector;
step S12: determining, by the selector, that one of the first control signal and the second control signal is a target control signal;
step S13: controlling a regulating valve of a system by using the target control signal;
step S14: determining a tracking value of a PID regulator corresponding to the non-target control signal by utilizing an output signal of proportional action caused by deviation of the target control signal and the PID regulator corresponding to the non-target control signal at the current moment;
step S15: if the target control signal is the first control signal, determining the tracking value as the second control signal of a new round, and determining the output signal of the normal PID controller at the current time as the first control signal of the new round, then inputting the second control signal of the new round and the first control signal of the new round into the selector, and going to step S12;
step S16: if the target control signal is the second control signal, determining the tracking value as the first control signal of a new round, determining the output signal of the override PID controller at the current time as the second control signal of the new round, inputting the second control signal of the new round and the first control signal of the new round into the selector, and going to step S12.
Optionally, the determining, by the selector, that one of the first control signal and the second control signal is a target control signal includes:
and determining a selection mode of the selector, and determining one of the first control signal and the second control signal as a target control signal through the selector according to the selection mode.
Optionally, the determining the tracking value of the PID controller corresponding to the non-target control signal by using the output signal of the proportional action caused by the deviation between the target control signal and the PID controller corresponding to the non-target control signal at the current time includes:
determining a tracking value of a PID regulator corresponding to the non-target control signal as TRKVAL (SEL _ OUT + (PIDPV-PIDSP)/(PIDPVU-PIDPVL) (1/(PIDKP/100) × PIDACT;
wherein TRKVAL is a tracking value of a PID regulator corresponding to the non-target control signal, SEL _ OUT is the target control signal output by the selector,
(PIDPV-PIDSP)/(pidvu-PIDPVL) ((1/(PIDKP/100) × PIDACT) is an output signal of a proportional action caused by a deviation of a current time of the PID regulator corresponding to the non-target control signal, PIDPV is a process value of the PID regulator corresponding to the non-target control signal, PIDSP is a given value of the PID regulator corresponding to the non-target control signal, pidvu is an upper limit of the process value of the PID regulator corresponding to the non-target control signal, PIDPV is a lower limit of the process value of the PID regulator corresponding to the non-target control signal, PIDKP is a proportional parameter value of the PID regulator corresponding to the non-target control signal, and pidct is an action mode of the PID regulator corresponding to the non-target control signal.
Optionally, the method further includes:
and correcting the tracking value of the PID regulator corresponding to the non-target control signal by using the correction value.
Optionally, the correcting the tracking value of the PID controller corresponding to the non-target control signal by using the correction value includes:
determining a corrected tracking value of a regulator corresponding to a non-target control signal by using a correction value, the target control signal and an output signal of a proportional action caused by the deviation of the PID regulator corresponding to the non-target control signal at the current moment; wherein the modified tracking value is
TRKVAL＝SEL_OUT+[(PIDPV-PIDSP)/(PIDPVU-PIDPVL)*(1/(PIDKP/100)*100+
[(PIDPV-PIDSP)/(PIDPVU-PIDPVL)*(1/(PIDKP/100)*100+
Optionally, before the step of correcting the tracking value of the PID controller corresponding to the non-target control signal by using the correction value, the method further includes:
and determining the correction value to be a value between 0.1 and 1 according to the control precision requirement.
In a second aspect, the present application discloses an override device comprising:
the control signal input module 11 is used for inputting a first control signal output by the normal PID regulator and a second control signal output by the override PID regulator into the selector;
a control signal selection module 12, configured to determine, by the selector, that one of the first control signal and the second control signal is a target control signal;
a control signal control module 13 for controlling a regulating valve of the system by using the target control signal;
a tracking value determining module 14, configured to determine a tracking value of the PID controller corresponding to the non-target control signal by using an output signal of a proportional action caused by a deviation between the target control signal and the PID controller corresponding to the non-target control signal at the current time;
a new round control signal determining module 15, configured to determine the tracking value as the second control signal of a new round if the target control signal is the first control signal, determine an output signal of the normal PID controller at the current time as a first control signal of a new round, input the second control signal of the new round and the first control signal of the new round into the selector, and jump to module 12;
a new round control signal determining module 16, configured to determine the tracking value as the first control signal of a new round if the target control signal is the second control signal, determine the output signal of the override PID controller at the current time as the second control signal of the new round, input the second control signal of the new round and the first control signal of the new round into the selector, and jump to the module 12.
Optionally, the method further includes:
and the tracking value correction module is used for correcting the tracking value of the PID regulator corresponding to the non-target control signal by using the correction value.
In a third aspect, the present application discloses an override device comprising a processor and a memory; wherein the content of the first and second substances,
the memory is used for storing a computer program;
the processor is configured to execute the computer program to implement the override control method.
In a fourth aspect, the present application discloses a computer readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the aforementioned override control method.
As can be seen, the override control method provided by the present application includes step S11: inputting a first control signal output by the normal PID regulator and a second control signal output by the override PID regulator into a selector; step S12: determining, by the selector, that one of the first control signal and the second control signal is a target control signal; step S13: controlling a regulating valve of a system by using the target control signal; step S14: determining a tracking value of a PID regulator corresponding to the non-target control signal by utilizing an output signal of proportional action caused by deviation of the target control signal and the PID regulator corresponding to the non-target control signal at the current moment; step S15: if the target control signal is the first control signal, determining the tracking value as the second control signal of a new round, and determining the output signal of the normal PID controller at the current time as the first control signal of the new round, then inputting the second control signal of the new round and the first control signal of the new round into the selector, and going to step S12; step S16: if the target control signal is the second control signal, determining the tracking value as the first control signal of a new round, determining the output signal of the override PID controller at the current time as the second control signal of the new round, inputting the second control signal of the new round and the first control signal of the new round into the selector, and going to step S12. Therefore, the tracking value of the PID regulator corresponding to the non-target control signal is determined by utilizing the output signal of the proportional action caused by the deviation of the target control signal and the PID regulator corresponding to the non-target control signal at the current moment, and then the target control signal of a new round is determined by utilizing the tracking value and the output signal of the PID regulator corresponding to the target control signal at the current moment, so that the response speed of the PID regulator can be improved, and when the deviation is reversed, the regulator produced by the control system can be ensured to be switched between the normal PID regulator and the override PID regulator in time, thereby improving the safety of system production.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of an override control method disclosed herein;
FIG. 2 is a schematic view of an override system of the present disclosure;
FIG. 3 is a flow chart of a particular override control method disclosed herein;
FIG. 4 is a schematic view of an exemplary override system disclosed herein;
FIG. 5 is a schematic view of an exemplary override system disclosed herein;
FIG. 6 is a logic diagram of a particular override control system disclosed herein;
FIG. 7 is a schematic view of an override device according to the present disclosure;
fig. 8 is a block diagram of an override device disclosed in the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, an embodiment of the present application discloses an override control method, including:
step S11: the selector is fed with a first control signal output by the normal PID (i.e. contribution, Integral, Differential, proportional, Integral, derivative) regulator and a second control signal output by the override PID regulator.
Step S12: and determining one of the first control signal and the second control signal as a target control signal through the selector.
In a specific implementation manner, in this embodiment, a selection manner of the selector may be determined first, for example, it is determined that the selection manner is high selection or low selection, and according to the selection manner, one of the first control signal and the second control signal is determined to be a target control signal through the selector.
Step S13: and controlling a regulating valve of the system by using the target control signal.
That is, the target control signal determined by the selector is output to the regulating valve of the control system to control the production of the system, at this time, the regulator corresponding to the target control signal is in the automatic control mode, and the regulator corresponding to the non-target control signal is in the tracking mode.
Step S14: and determining the tracking value of the PID regulator corresponding to the non-target control signal by utilizing the output signal of the proportional action caused by the deviation of the target control signal and the PID regulator corresponding to the non-target control signal at the current moment.
In a specific embodiment, the determined tracking value of the PID regulator corresponding to the non-target control signal is
TRKVAL＝SEL_OUT+(PIDPV-PIDSP)/(PIDPVU-PIDPVL)*(1/(PIDKP/100)*100)*PIDACT；
Wherein TRKVAL is a tracking value of a PID regulator corresponding to the non-target control signal, SEL _ OUT is the target control signal output by the selector,
(PIDPV-PIDSP)/(pidvu-PIDPVL) ((1/(PIDKP/100) × PIDACT) is an output signal of a proportional action caused by a deviation of a current time of the PID regulator corresponding to the non-target control signal, and the PIDPV is a process value of the PID regulator corresponding to the non-target control signal, the PIDSP is a given value of the PID regulator corresponding to the non-target control signal, the pidvu is a process value upper limit of the PID regulator corresponding to the non-target control signal, the PIDPV is a process value lower limit of the PID regulator corresponding to the non-target control signal, the PIDKP is a proportional parameter value of the PID regulator corresponding to the non-target control signal, and the PIDACT is an action mode of the PID regulator corresponding to the non-target control signal.
Step S15: if the target control signal is the first control signal, determining the tracking value as the second control signal of a new round, and determining the output signal of the normal PID controller at the current time as the first control signal of the new round, and then inputting the second control signal of the new round and the first control signal of the new round into the selector, and going to step S12.
Step S16: if the target control signal is the second control signal, determining the tracking value as the first control signal of a new round, determining the output signal of the override PID controller at the current time as the second control signal of the new round, inputting the second control signal of the new round and the first control signal of the new round into the selector, and going to step S12.
That is, the control signal input to the selector in the new round is the output signal of the PID regulator corresponding to the target control signal at the current moment and the tracking value of the PID regulator corresponding to the non-target control signal, and then the selector determines the target control signal in the new round and transmits the current target control signal to the regulating valve to control the system production. Wherein the content of the first and second substances,
the positive and negative values of the (PIDPV-PIDSP)/(PIDPVU-PIDPVL) ((PIDKP/100) × PIDACT depend on the direction of the deviation, so that when the deviation is reversed, the tracking value will be greater or less than the current output signal of the PID regulator in the automatic control mode at the current moment, and the regulator produced by the control system can be switched between the normal PID regulator and the override PID regulator in time through the selector. It should be noted that, because the system scanning time is very short, the current output signal of the PID controller in the automatic control mode at the current time is considered to be equal to the target control signal for calculating the tracking value, that is, the output signal of the PID controller in the automatic control mode at the current time when the tracking value is calculated, so that when the deviation is reversed, the tracking value TRKVAL is greater than or less than the selector output value SEL _ OUT, that is, greater than or less than the current output signal of the PID controller in the automatic control mode at the current time.
For example, referring to fig. 2, fig. 2 is a schematic view of an override system disclosed in an embodiment of the present application. In the system, a plurality of regulators share one regulating valve, output signals of the regulators are simultaneously sent to a selector, and under the condition of normal production, the selector selects a control signal output by the normal regulator and sends the control signal to the regulating valve, so that the automatic control of the production process is realized. At the moment, the override regulator is in an open circuit state and does not play a control role on the system. When the production is abnormal, the control signal output by the override regulator is selected by the selector and sent to the regulating valve, and the override regulator replaces the normal regulator to control the system. At the moment, the normal regulator is in an open-circuit state and does not control the system, and when the production condition of the process control system is recovered to be normal, the production is controlled by switching to the normal regulator through automatic switching of the selector. The selector is divided into two types, high selection and low selection; the mode of action of the regulator is divided into two types, positive and negative. And a plurality of regulators sharing one regulating valve, only one regulator is closed-loop at the same time, the other regulators are in open-loop states, and in order to ensure that the regulators are normally switched, integral saturation prevention treatment is required. Specifically, PID1 with process variable 1 input and PID2 with process variable 2 input are input, then PID1 output and PID2 output are input into automatic selector, which determines to input PID1 output or PID2 output into regulating valve, when the automatic selector selects the second path, i.e. selects PID2 output to regulate valve, PID1 is switched to tracking mode, and corresponding tracking value is transmitted to PID1, when the automatic selector selects the first path, i.e. selects PID1 output to regulate valve, PID2 is switched to tracking mode, and corresponding tracking value is transmitted to PID 2.
As can be seen, the override control method provided by the present application includes step S11: inputting a first control signal output by the normal PID regulator and a second control signal output by the override PID regulator into a selector; step S12: determining, by the selector, that one of the first control signal and the second control signal is a target control signal; step S13: controlling a regulating valve of a system by using the target control signal; step S14: determining a tracking value of a PID regulator corresponding to the non-target control signal by utilizing an output signal of proportional action caused by deviation of the target control signal and the PID regulator corresponding to the non-target control signal at the current moment; step S15: if the target control signal is the first control signal, determining the tracking value as the second control signal of a new round, and determining the output signal of the normal PID controller at the current time as the first control signal of the new round, then inputting the second control signal of the new round and the first control signal of the new round into the selector, and going to step S12; step S16: if the target control signal is the second control signal, determining the tracking value as the first control signal of a new round, determining the output signal of the override PID controller at the current time as the second control signal of the new round, inputting the second control signal of the new round and the first control signal of the new round into the selector, and going to step S12. Therefore, the tracking value of the PID regulator corresponding to the non-target control signal is determined by utilizing the output signal of the proportional action caused by the deviation of the target control signal and the PID regulator corresponding to the non-target control signal at the current moment, and then the target control signal of a new round is determined by utilizing the tracking value and the output signal of the PID regulator corresponding to the target control signal at the current moment, so that the response speed of the PID regulator can be improved, and when the deviation is reversed, the regulator produced by the control system can be ensured to be switched between the normal PID regulator and the override PID regulator in time, thereby improving the safety of system production.
Referring to fig. 3, the present application discloses a specific override method, comprising:
step S21: inputting a first control signal output by the normal PID regulator and a second control signal output by the override PID regulator into a selector;
step S22: determining, by the selector, that one of the first control signal and the second control signal is a target control signal;
step S23: controlling a regulating valve of a system by using the target control signal;
step S24: determining a tracking value of a regulator corresponding to a non-target control signal by using a correction value, the target control signal and an output signal of a proportional action caused by the deviation of the PID regulator corresponding to the non-target control signal at the current moment; wherein the tracking value is
TRKVAL＝SEL_OUT+[(PIDPV-PIDSP)/(PIDPVU-PIDPVL)*(1/(PIDKP/100)*100+)]PIDACT, and,
[(PIDPV-PIDSP)/(PIDPVU-PIDPVL)*(1/(PIDKP/100)*100+)]PIDACT is the deviation of the PID regulator corresponding to the non-target control signal including the correction value at the current momentThe PIDPV is a process value of a PID regulator corresponding to the non-target control signal, the PIDSP is a given value of the PID regulator corresponding to the non-target control signal, the PIDPVU is a process value upper limit of the PID regulator corresponding to the non-target control signal, the PIDPVL is a process value lower limit of the PID regulator corresponding to the non-target control signal, the PIDKP is a proportional parameter value of the PID regulator corresponding to the non-target control signal, and the PIDACT is an action mode of the PID regulator corresponding to the non-target control signal.
It should be noted that when the measured values of the two control variables respectively corresponding to the normal PID controller and the override controller fluctuate around the given value, the deviation is frequently reversed, that is, the values of (PIDPV-PIDSP)/(pidvu-PIDPV) × (1/(PIDKP/100) × 100) are frequently reversed, and then the tracking value TRKVAL is greater than the selector output value SEL _ OUT and less than the selector output value SEL _ OUT, that is, the tracking value TRKVAL is greater than the current output signal of the PID controller corresponding to the target control signal and less than the current output signal of the PID controller corresponding to the target control signal, so that the selection result of the automatic selector is frequently switched, and after the correction value is increased, the switching is not performed within the range of the correction value, and the correction value can be given according to the required control accuracy in the chemical engineering process, usually between 0.1 and 1, thereby improving the stability of production.
Step S25: if the target control signal is the first control signal, determining the tracking value as the second control signal of a new round, and determining the output signal of the normal PID controller at the current time as the first control signal of the new round, then inputting the second control signal of the new round and the first control signal of the new round into the selector, and going to step S12;
step S26: if the target control signal is the second control signal, determining the tracking value as the first control signal of a new round, determining the output signal of the override PID controller at the current time as the second control signal of the new round, inputting the second control signal of the new round and the first control signal of the new round into the selector, and going to step S12.
For example, referring to fig. 4, fig. 4 is a schematic diagram of a specific override system disclosed in the embodiment of the present application. Take the example of the regulation of the ethylene product vaporizer outlet pressure in methanol to olefin (S-MTO) plants, propylene refrigeration units, propylene refrigerant tanks and 7 propylene user processes. The discharge gas of the four sections of the propylene compressor is condensed in a propylene refrigerant condenser, the condensed propylene flows into a propylene refrigerant collecting tank (D-6005), and then flows through an ethylene product superheater (E-6103) and an ethylene product gasifier (E-6102) in sequence. After cold energy is recovered by an ethylene product superheater and an ethylene product gasifier, the supercooled propylene refrigerant is divided into three streams, one stream is sent to users of the device at the 7 ℃ level, the other stream is sent to OCC device users, and the rest stream is sent to a four-section suction tank (D-6004) through liquid level control. In the process, the pressure PIC6008 of the ethylene in the boundary removal zone is controlled in an important way, the pressure is controlled to be 3.7MPa, the liquid level LIC6010 of the vaporizer is protected from being higher than 50%, and the outlet temperature TIC6014 of the superheater is protected from being higher than 10 ℃. When the production is normal, the regulating valve PV6008 is controlled by the superheater outlet
Referring to fig. 5, fig. 5 is a schematic diagram of a specific override system disclosed in the embodiment of the present application. The vaporizer liquid level regulator LIC6010 is used for reaction, and the set value is 50%; the superheater outlet temperature regulator TIC6014 is under positive action, and the set value is 10 ℃; the superheater outlet pressure regulator PIC6008 has a reaction effect, and the set value is 3.7 MPa; the output of the 3 regulators is automatically selected by a low selector PY6008 and then output to a regulating
The custom algorithm block programming is as follows:
the variable descriptions used by the custom algorithm block are shown in table 1.
TABLE 1
Variable names
Data type
Description of variables
Input variable
PID1PV
REAL
PID1 process variable
PID1SP
REAL
PID1 setpoint
PID1OUT
REAL
PID1 output
PID1PVU
REAL
PID1 upper limit of range
PID1PVL
REAL
PID1 lower limit of measuring range
PID1ACtopT
BOOL
Mode of action 0-positive, 1-negative of PID1 regulator
PID1KP
REAL
PID1 proportional band
PID2PV
REAL
PID2 process variable
PID2SP
REAL
PID2 setpoint
PID2OUT
REAL
PID2 output
PID2PVU
REAL
PID2 upper limit of range
PID2PVL
REAL
PID2 lower limit of measuring range
PID2ACtopT
BOOL
Mode of action 0-positive, 1-negative of PID2 regulator
PID2KP
REAL
PID2 proportional band
PID3PV
REAL
PID3 process variable
PID3SP
REAL
PID3 setpoint
PID3OUT
REAL
PID3 output
PID3PVU
REAL
PID3 upper limit of range
PID3PVL
REAL
PID3 lower limit of measuring range
PID3ACtopT
BOOL
Mode of action 0-positive, 1-negative of PID3 regulator
PID3KP
REAL
PID3 proportional band
SEL_OUT
REAL
THRSEL-L/H function block output
SEL_AMOPT
BOOL
THRSEL-L/H function Block Manual/automatic mode
OV_SEL
BOOL
Override selection 0-low selection, 1-high selection
Output variable
OUT1
REAL
The calculated tracking value is provided to PID1
OUT2
REAL
The calculated tracking value is provided to PID2
OUT3
REAL
The calculated tracking value is provided to PID3
PID1TRKSW
BOOL
Control of tracking mode 0-No tracking, 1-tracking of PID1
PID2TRKSW
BOOL
Control of tracking mode 0-No tracking, 1-tracking of PID2
PID3TRKSW
BOOL
Control of tracking mode 0-No tracking, 1-tracking of PID3
Local variables
PID1ACT
SINT
Mode of action from PID1, 1 for positive action and-1 for negative action
PID2ACT
SINT
Mode of action from PID2, 1 for positive action and-1 for negative action
PID3ACT
SINT
Mode of action from PID3, 1 for positive action and-1 for negative action
MINOUT
REAL
Minimum of 3 regulator outputs
MAXOUT
REAL
Maximum of 3 regulator outputs
Referring to fig. 7, an embodiment of the present application discloses an override device, including:
the control signal input module 11 is used for inputting a first control signal output by the normal PID regulator and a second control signal output by the override PID regulator into the selector;
a control signal selection module 12, configured to determine, by the selector, that one of the first control signal and the second control signal is a target control signal;
a control signal control module 13 for controlling a regulating valve of the system by using the target control signal;
a tracking value determining module 14, configured to determine a tracking value of the PID controller corresponding to the non-target control signal by using an output signal of a proportional action caused by a deviation between the target control signal and the PID controller corresponding to the non-target control signal at the current time;
a new round control signal determining module 15, configured to determine the tracking value as the second control signal of a new round if the target control signal is the first control signal, determine an output signal of the normal PID controller at the current time as a first control signal of a new round, input the second control signal of the new round and the first control signal of the new round into the selector, and jump to module 12;
a new round control signal determining module 16, configured to determine the tracking value as the first control signal of a new round if the target control signal is the second control signal, determine the output signal of the override PID controller at the current time as the second control signal of the new round, input the second control signal of the new round and the first control signal of the new round into the selector, and jump to the module 12.
It can be seen that the override control device provided in the embodiment of the present application includes a control signal input module 11, configured to input a first control signal output by a normal PID regulator and a second control signal output by an override PID regulator into a selector; a control signal selection module 12, configured to determine, by the selector, that one of the first control signal and the second control signal is a target control signal; a control signal control module 13 for controlling a regulating valve of the system by using the target control signal; a tracking value determining module 14, configured to determine a tracking value of the PID controller corresponding to the non-target control signal by using an output signal of a proportional action caused by a deviation between the target control signal and the PID controller corresponding to the non-target control signal at the current time; a new round control signal determining module 15, configured to determine the tracking value as the second control signal of a new round if the target control signal is the first control signal, determine an output signal of the normal PID controller at the current time as a first control signal of a new round, input the second control signal of the new round and the first control signal of the new round into the selector, and jump to module 12; a new round control signal determining module 16, configured to determine the tracking value as the first control signal of a new round if the target control signal is the second control signal, determine the output signal of the override PID controller at the current time as the second control signal of the new round, input the second control signal of the new round and the first control signal of the new round into the selector, and jump to the module 12. Therefore, the tracking value of the PID regulator corresponding to the non-target control signal is determined by utilizing the output signal of the proportional action caused by the deviation of the target control signal and the PID regulator corresponding to the non-target control signal at the current moment, and then the target control signal of a new round is determined by utilizing the tracking value and the output signal of the PID regulator corresponding to the target control signal at the current moment, so that the response speed of the PID regulator can be improved, and when the deviation is reversed, the regulator produced by the control system can be ensured to be switched between the normal PID regulator and the override PID regulator in time, thereby improving the safety of system production.
The control signal selection module 12 is specifically configured to determine a selection manner of the selector, and determine, by the selector according to the selection manner, that one of the first control signal and the second control signal is a target control signal.
The tracking value determining module 14 is specifically configured to determine the tracking value of the PID regulator corresponding to the non-target control signal by using an output signal of a proportional action caused by a deviation between the target control signal and the PID regulator corresponding to the non-target control signal at the current time, where the determined tracking value of the PID regulator corresponding to the non-target control signal is
TRKVAL＝SEL_OUT+(PIDPV-PIDSP)/(PIDPVU-PIDPVL)*(1/(PIDKP/100)*100)*PIDACT；
Wherein TRKVAL is a tracking value of a PID regulator corresponding to the non-target control signal, SEL _ OUT is the target control signal output by the selector,
(PIDPV-PIDSP)/(pidvu-PIDPVL) ((1/(PIDKP/100) × PIDACT) is an output signal of a proportional action caused by a deviation of a current time of the PID regulator corresponding to the non-target control signal, and the PIDPV is a process value of the PID regulator corresponding to the non-target control signal, the PIDSP is a given value of the PID regulator corresponding to the non-target control signal, the pidvu is a process value upper limit of the PID regulator corresponding to the non-target control signal, the PIDPV is a process value lower limit of the PID regulator corresponding to the non-target control signal, the PIDKP is a proportional parameter value of the PID regulator corresponding to the non-target control signal, and the PIDACT is an action mode of the PID regulator corresponding to the non-target control signal.
And the override control device also comprises a tracking value correction module which is used for correcting the tracking value of the PID regulator corresponding to the non-target control signal by using the correction value.
In a specific embodiment, the tracking value correction module is configured to determine a corrected tracking value of the regulator corresponding to the non-target control signal by using the correction value, the target control signal, and an output signal of a proportional action caused by a deviation of a PID regulator corresponding to the non-target control signal at the current time; wherein the modified tracking value is
TRKVAL＝SEL_OUT+[(PIDPV-PIDSP)/(PIDPVU-PIDPVL)*(1/(PIDKP/100)*100+
[(PIDPV-PIDSP)/(PIDPVU-PIDPVL)*(1/(PIDKP/100)*100+)]PIDACT is an output signal of a proportional action caused by a deviation of a current time of a PID regulator corresponding to the non-target control signal including the correction value, and PIDPV is a process value of the PID regulator corresponding to the non-target control signal, PIDSP is a given value of the PID regulator corresponding to the non-target control signal, pidvu is an upper process value limit of the PID regulator corresponding to the non-target control signal, PIDPV is a lower process value limit of the PID regulator corresponding to the non-target control signal, piddp is a proportional parameter value of the PID regulator corresponding to the non-target control signal, and PIDACT is an action mode of the PID regulator corresponding to the non-target control signal.
In addition, the tracking value correction module further comprises a correction value determination module, which is used for determining the correction value to be a value between 0.1 and 1 according to the control precision requirement.
Referring to fig. 8, an embodiment of the present application discloses an override device, which includes a processor 21 and a memory 22; wherein, the memory 22 is used for saving computer programs;
the processor 21 is configured to execute the computer program to implement the override control method disclosed in the foregoing embodiment.
For the specific process of the override control method, reference may be made to the corresponding contents disclosed in the foregoing embodiments, and details are not repeated here.
Further, an embodiment of the present application also discloses a computer readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the override control method disclosed in the foregoing embodiment.
For the specific process of the override control method, reference may be made to the corresponding contents disclosed in the foregoing embodiments, and details are not repeated here.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The override control method, the override control device, the override control equipment and the override control medium provided by the application are described in detail, specific examples are applied in the description to explain the principle and the implementation mode of the application, and the description of the embodiments is only used for helping to understand the method and the core idea of the application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
- 上一篇：一种医用注射器针头装配设备
- 下一篇：一种转阀驱动电机自抗扰控制器的控制方法