无线网络环境下工业过程运行反馈控制方法

范家璐; 姜艺; 柴天佑

doi:10.16383/j.aas.2016.c150771

无线网络环境下工业过程运行反馈控制方法

doi: 10.16383/j.aas.2016.c150771

东北大学流程工业综合自动化国家重点实验室沈阳 110819

基金项目:

国家高技术研究发展计划（863计划） 2015AA043802

国家自然科学基金 61304028, 61333012, 61533015

详细信息

作者简介:
姜艺东北大学流程工业综合自动化国家重点实验室控制理论与控制工程专业硕士研究生. 2014 年获得东北大学自动化学士学位. 主要研究方向为工业过程运行控制, 网络控制. E-mail: JY369356904@163.com

柴天佑中国工程院院士, 东北大学教授, IEEE Fellow, IFAC Fellow. 1985 年获得东北大学博士学位. 主要研究方向为自适应控制, 智能解耦控制, 流程工业综台自动化理论、方法与技术. E-mail: tychai@mail.neu.edu.cn

通讯作者:
范家璐东北大学流程工业综合自动化国家重点实验室副教授. 2011 年获浙江大学控制科学与工程系博士学位(与美国宾夕法尼亚州立大学联合培养). 主要研究方向为工业过程运行控制, 工业无线传感器网络与移动社会网络. E-mail: fanjialu@gmail.com

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出版历程
- 收稿日期: 2015-11-17
- 录用日期: 2016-02-26
- 刊出日期: 2016-08-01

Operational Feedback Control of Industrial Processes in a Wireless Network Environment

State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819

Funds:

National High Technology Research and Develop-ment Program of China (863 Program) 2015AA043802

Na-tional Natural Science Foundations of China 61304028, 61333012, 61533015

More Information

Author Bio:
JIANG Yi Master student at the State Key Laboratory of Synthetical Automation for Process Industries, Northeastern Univer- sity. He received his bachelor degree in automation from Northeastern University in 2014. His research interest cov- ers industrial process operational control and networked control

CHAI Tian-You Academician of Chinese Academy of Engineering, pro- fessor at Northeastern University, IEEE Fellow, IFAC Fel- low. He received his Ph. D. degree from Northeastern Uni- versity in 1985. His research interest covers adaptive con- trol, intelligent decoupling control, and integrated automa- tion theory, method and technology of industrial process

Corresponding author: FAN Jia-Lu Associate professor at the State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University. She received her Ph. D. degree from Zhejiang University in 2011. She was a visiting scholar with the Pennsylvania State Univer- sity during 2009?2010. Her research interest covers net- worked operational control, industrial wireless sensor net- works, and mobile social networks

摘要

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.
- 运行指标 /
- 无线网络 /
- 噪声 /
- 丢包 /
- 浮选过程
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.
- Operational index /
- wireless networks /
- noise /
- packet dropout /
- flotation processes

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图 1 无线网络环境下工业过程运行反馈控制结构

Fig. 1 The structure of industrial process operational feedback control under wireless network environment

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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

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图 3 过程PI控制器

Fig. 3 Process PI controller

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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

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图 5 过程控制设定值与输出曲线

Fig. 5 The process control setpoint and output

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图 6 过程控制输入 $u$ 的曲线

Fig. 6 The process control input $u$

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表 1 浮选过程符号表

Table 1 Flotation process symbol table

符号	物理含义	符号	物理含义
M_p	泥浆质量	h_p	液位高度
M_e	泡沫质量	q_a	泥浆流量
L_cg	精矿品位	r^*	运行指标目标值
L_tg	尾矿品位	r(T)	运行指标实际值

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表 2 丢包与噪声序列表

Table 2 Packetdrop and noise table

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

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