复杂工业过程非串级双速率组合分散运行优化控制

赵建国; 杨春雨

doi:10.16383/j.aas.c210897

复杂工业过程非串级双速率组合分散运行优化控制

doi: 10.16383/j.aas.c210897

赵建国^{1, 2,},
杨春雨^{1, 2,}

1.
中国矿业大学信息与控制工程学院徐州 221116
2.
中国矿业大学地下空间智能控制教育部工程研究中心徐州 221116

基金项目: 国家自然科学基金(62273350, 62073327), 东北大学流程工业综合自动化国家重点实验室开放课题(2019-KF-23-04) 资助

详细信息

作者简介:
赵建国：中国矿业大学信息与控制工程学院博士研究生. 2020 年获得中国矿业大学信息与控制工程学院硕士学位. 主要研究方向为多时间尺度系统, 强化学习最优控制. E-mail: jianguozhao@cumt.edu.cn

杨春雨：中国矿业大学信息与控制工程学院教授. 2009 年获得东北大学信息科学与工程学院博士学位. 主要研究方向为多时间尺度系统的智能控制与优化. 本文通信作者. E-mail: chunyuyang@cumt.edu.cn

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出版历程
- 收稿日期: 2021-09-17
- 录用日期: 2022-08-07
- 网络出版日期: 2022-09-13
- 刊出日期: 2023-01-07

Non-cascade Dual-rate Composite Decentralized Operational Optimal Control for Complex Industrial Processes

ZHAO Jian-Guo^{1, 2
,},
YANG Chun-Yu^{1, 2
,}

1.
School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116
2.
Engineering Research Center of Intelligent Control for Underground Space, Ministry of Education, China University of Mining and Technology, Xuzhou 221116

Funds: Supported by National Natural Science Foundation of China (62273350, 62073327) and Open Project Foundation of State Key Laboratory of Synthetical Automation for Process Industries of Northeastern University (2019-KF-23-04)

More Information

Author Bio:
ZHAO Jian-Guo　Ph.D. candidate at the School of Information and Control Engineering, China University of Mining and Technology. He received his master degree from China University of Mining and Technology in 2020. His research interest covers multi-time scale systems and reinforcement learning based optimal control

YANG Chun-Yu　Professor at the School of Information and Control Engineering, China University of Mining and Technology. He received his Ph.D. degree from Northeastern University in 2009. His research interest covers intelligent control and optimization of multi-time scale systems. Corresponding author of this paper

摘要

摘要: 复杂工业过程具有模型维数高、多时间尺度耦合、动态不确定性等特点, 其运行优化控制(Operational optimal control, OOC)一直是控制领域的研究难点与热点. 本文聚焦一类由多个快变且互联的设备单元与慢变且模型未知的运行过程串联组成的工业过程, 提出一种数据和模型混合驱动的非串级双速率组合分散运行优化控制方法. 该方法通过奇异摄动理论, 将非串级双速率运行优化问题描述为异步采样的慢子系统最优设定值跟踪和快子系统最优调节控制. 利用工业运行数据, 采用不依赖系统动态的Q-学习算法设计慢子系统最优跟踪策略, 克服运行过程模型难以建立的情形; 针对快子系统, 设计基于模型的分散次优控制策略, 并给出收敛因子的下界, 解决设备层互联项对系统稳定性的影响. 通过浮选过程仿真实验验证了所提控制方法的有效性.
- 复杂工业过程 /
- 运行优化控制 /
- 奇异摄动理论 /
- Q-学习 /
- 双速率
Abstract: Due to the features of high model dimensionality, multiple time scales, and dynamic uncertainty, operational optimal control (OOC) for complex industrial processes has always been a difficult and hot topic in the control community. This paper proposes a data-based and model-based non-cascade dual-rate composite decentralized OOC scheme for a class of industrial processes, which consist of multiple fast-changing and interconnected unite devices and a slow-changing operational process with unknown dynamics. Based on singular perturbation theory, the non-cascade dual-rate OOC problem is formulated as two asynchronous sampling optimal problems related to set-point tracking of the slow subsystem and regulator of the fast subsystem. The Q-learning algorithm which is independent of the model knowledge of the operational process is adopted to design optimal tracking policy for the slow subsystem by using industrial data. For the fast subsystem, we present a model-based decentralized suboptimal control policy and provide a lower bound on the convergence factor, so that the impact of interconnected items on system stability is offset. Simulation experiments on a flotation process illustrate the effectiveness of the proposed method.
- Complex industrial processes /
- operational optimal control (OOC) /
- singular perturbation theory /
- Q-learning /
- dual-rate

HTML全文

图 1 工业过程串级运行优化控制结构

Fig. 1 The cascade structure of operational optimal control in industrial process

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图 2 工业过程非串级运行优化控制结构

Fig. 2 The non-cascade structure of operational optimal control in industrial process

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图 3 多设备单元互联的工业过程

Fig. 3 Industrial process with multiple and interconnected unit devices

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图 4 单浮选槽示意图

Fig. 4 Configuration of single flotation cell

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图 5 内核矩阵${\tilde H}$的收敛性

Fig. 5 Convergence of ${\tilde H}$ to its ideal value ${H}$

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图 6 控制增益${\tilde K_s}$的收敛性

Fig. 6 Convergence of ${\tilde K_s}$ to its ideal value ${ K_s}$

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图 7 精矿品位跟踪曲线

Fig. 7 The tracking performance of the concentrate grade to its set-point

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图 8 尾矿品位跟踪曲线

Fig. 8 The tracking performance of the tail grade to its set-point

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图 9 浮选过程矿物品位跟踪误差曲线

Fig. 9 Evolution of the ore grade tracking error

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图 10 扰动曲线

Fig. 10 Evolution of the disturbance

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图 11 扰动下精矿品位跟踪曲线

Fig. 11 The tracking performance of the concentrate grade to its set-point under disturbance

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图 12 扰动下尾矿品位跟踪曲线

Fig. 12 The tracking performance of the tail grade to its set-point under disturbance

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图 13 基于文献[5]的精矿品位跟踪曲线

Fig. 13 The tracking performance of the concentrate grade to its set-point using the method in references [5]

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图 14 基于文献[5]的尾矿品位跟踪曲线

Fig. 14 The tracking performance of the tail grade to its set-point using the method in references [5]

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表 1 对比仿真评价指标

Table 1 Performance index of comparison simulation

IAE MSE

本文$ r_1 $ 0.0734 0.0383
本文$ r_2 $ 0.0624 0.0353
文献 [18]$ r_1 $ 19.3290 0.6218
文献 [18]$ r_2 $ 15.7166 0.5607

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