虚拟未建模动态补偿驱动的双率自适应控制

工业换热过程是蒸汽与循环水在换热器中进行热交换,使供水温度达到工艺规定的目标范围内的复杂工业过程.由于存在蒸汽压力、回水流量波动以及换热器内管壁结垢的扰动,导致被控对象模型参数发生未知随机的大范围变化,使控制器积分作用失效,造成内环蒸汽流量和外环供水温度波动,相互影响,甚至谐振.针对上述问题,利用工业换热过程运行在工作点附近的特点,用确定性低阶线性模型和虚拟未建模动态来描述被控过程.将自适应信号法与双率控制技术相结合,提出了以蒸汽流量为内环输出、以供水温度为外环输出的双率自适应控制器,并给出了该控制器的稳定性和收敛性分析.本文将工业换热过程机理模型作为被控对象,进行了半实物仿真.结果表明,对于工业换热过程,在模型参数大范围变化时,本文提出的控制方法可以将供水温度控制在工艺要求的目标范围内.     

Fuzzy predictive control based multiple models strategy for a tubular heat exchanger system

This work deals with the problem of controlling the outlet temperature of a tubular heat exchanger system by means of flow pressure. The usual industrial case is to try to control the outlet temperature by either the temperature or the flow of the fluid, which flows through the shell tube. But, in some situations, this is not possible, due to the fact that the whole of system coefficients variation cannot quite be covered by control action. In this case, the system behavior must precisely be modeled and appropriate control action needs to be obtained based on novel techniques. A new multiple models control strategy using the well-known linear generalized predictive control (LGPC) scheme has been proposed, in this paper. The main idea of the proposed control strategy is to represent the operating environments of the system, which have a wide range of variation with respect to time by multiple explicit linear models. In this strategy, the best model of the system is accurately identified, at each instant of time, by an intelligent decision mechanism (IDM), which is organized based on both new recursive weight generator and fuzzy adaptive Kalman filter approaches. After that, the adaptive algorithm is implemented on the chosen model. Finally, for having a good tracking performance, the generalized predictive control is instantly updated and its control action is also applied to the system. For demonstrating the effectiveness of the proposed approach, simulations are all done and the results are also compared with those obtained using a nonlinear GPC (NLGPC) approach that is realized based on the Wiener model of the system. The results can verify the validity of the proposed control scheme.     

Boundary control of a parallel-flow heat exchanger by input–output linearization

A design of the control of the internal fluid temperature at the outlet of a parallel-flow heat exchanger by manipulating the inlet external fluid temperature is proposed. The dynamic model of the heat exchanger is given by two partial differential equations that are used without spatial discretization to design the control law. Based on nonlinear control, a state-feedback law that ensures a desired performance of a measured output defined as the spatial weighted average temperature of the internal fluid is derived. Then, in order to control the outlet internal fluid temperature, a control strategy is proposed where an external controller is introduced to provide the set point of the considered measured output by taking as input the error between the outlet internal fluid temperature and its desired set point. As the designed control law is a state feedback of distributed nature, for practical application, a Kalman filter is used to reconstruct the entire state of the system from the measurements of the outlet fluids temperatures. The closed-loop system is shown to be exponentially stable. The validity of the proposed control design is examined in simulation by considering the tracking and perturbation rejection problems.     

Temperature control in catalytic cracking reactors via a robust PID controller

The stabilization of fluid catalytic cracking reactors is tackled in this paper. A robust PID control law is developed in order to control the outlet reactor temperature. The suggested control is based on a reduced order model of the reactor given by a system of ordinary differential equations. The controller is synthesized using an input/output linearizing control law coupled to a proportional-derivative reduced order observer to infer on-line the unknown heat of reaction. The proposed control algorithm leads to a classical PID structure. New tuning rules are given, based on the system structure, estimations and closed-loop time constants. This control strategy turns out to be robust against model uncertainties, noisy temperature measurements and set point changes. The performance of the reaction temperature in a tubular riser reactor is numerically compared when the proposed control scheme and standard PID controllers are applied.     

Feedforward—feedback control of distributed parameter systems†

Regulatory control of distributed systems subjected to load disturbances is considered by using feedforward and state measure control configurations. Dynamic compensation of the feedforward signal is accomplished with a lead-lag function, the time constants of which are determined by means of a numerical search technique. Compensation of the state measure signal is provided by the distributed nature of the process itself. Exit temperature regulation of a tubular heat exchanger acted upon by velocity and inlet temperature disturbances is considered as an application for feedforward control. Considerably better performance is obtained with the addition of dynamic compensation to the feedforward signal. State measure control is applied to the exchanger for a feed temperature upset and the effects of sensor location on outlet performance are investigated. An optimal sensor location is determined which minimizes the integral-square error at the outlet.     

Model based control of compact heat exchangers independent of the heat transfer behavior

Compact heat exchangers have a wide range of applications where standard control strategies typically rely on the knowledge of the heat transfer model and thus on the overall heat transfer coefficient. In particular for compact plate heat exchangers, the overall heat transfer coefficient strongly varies with the manufacturer's plate design and has to be identified by means of extensive measurements. This paper presents an alternative approach for the control of compact heat exchangers which can be implemented without the knowledge of the heat transfer behavior and is robust against changes in the coolant supply system. For this, a model based control strategy is presented which relies on the total thermal energy stored in the fluids of the heat exchanger as control variable instead of the outlet temperature. Furthermore, two methods are developed in order to estimate the total thermal energy, one based on a Kalman Filter and the other one on quasi-static considerations. Finally, the proposed control and estimation strategies are validated by means of simulation and measurement results on an industrial plate heat exchanger.     

Boundary geometric control of a counter-current heat exchanger

The present article deals with the boundary geometric control of a counter-current heat exchanger whose control is designed considering a model based on two partial derivative equations describing the variations of internal and external temperatures. The objective consists in controlling the internal fluid temperature, at the heat exchanger outlet, by manipulating the jacket temperature at its inlet boundary in spite of the variation of the temperature of the internal fluid at the heat exchanger inlet. The control law is designed considering the partial differential equation describing the temperature of the internal fluid, and the manipulated control is the boundary condition for the partial differential equation describing the temperature of the jacket fluid. The performances of the controller have been evaluated by simulation and the results show that it provides good regulation and tracking performances. The robustness of the controller has also been studied when velocities of both internal and external fluid, and physical properties of the heat exchanger are subjected to sudden fluctuations. For noisy measurements and for practical implementation, the moving average filtering and Kalman estimation approaches that provide the required state temperatures to be used in the controller are discussed. The control by manipulating the jacket flow rate has also been considered to compare the respective benefits of both strategies.     

改进Smith控制与RBF单神经元PID的换热器控制系统

为了高效控制工质出口温度,维持换热器稳定运行,针对Smith预估控制算法及径向基函数(RBF)神经网络辨识单神经元比例-积分-微分(PID)控制算法特点,提出了Smith控制算法和RBF神经网络辨识单神经元PID相结合的控制策略,对Smith控制算法在结构上进行了改进,以提高RBF神经网络辨识单神经元PID控制的抗干扰能力,减少Smith控制算法对模型的依赖程度.仿真分析表明:应用于换热器工质出口温度控制系统,改进算法控制性能显著优于其它控制方法,抗干扰能力得到了大幅提高.     

Bounded positive control for double-pipe heat exchangers

In this work, an outlet temperature control scheme for double-pipe heat exchangers is proposed. Compared to previously proposed approaches, the algorithm developed here takes into account and actually exploits the analytical and stability properties inherent to the open-loop dynamics. As a result, outlet temperature regulation is achieved through a simple controller which does not need to feed back the whole state vector and does not depend on the exact value of the process parameters. Moreover, the proposed approach guarantees positivity and boundedness of the input flow rate without entailing a complex control algorithm. The analytical developments are corroborated through simulation and experimental results.     

Feedback linearization control for a distributed solar collector field

This article describes the application of a feedback linearization technique for control of a distributed solar collector field using the energy from solar radiation to heat a fluid. The control target is to track an outlet temperature reference by manipulating the fluid flow rate through the solar field, while attenuating the effect of disturbances (mainly radiation and inlet temperature). The proposed control scheme is very easy to implement, as it uses a numerical approximation of the transport delay and a modification of the classical control scheme to improve startup in such a way that results compared with other control structures under similar conditions are improved while preserving short commissioning times. Experiments in the real plant are also described, demonstrating how operation can be started up efficiently.     

Synthesis of Zonal Controls for a Problem of Heating with Delay Under Nonseparated Boundary Conditions

The problem of synthesis of feedback control for objects with distributed parameters using continuous monitoring of the phase state of an object at its definite points is considered and illustrated by the example of control of the process of heating a tubular heat exchanger in its steam jacket. To solve the problem, it is proposed to use first-order numerical methods. Formulas for components of the gradient of an objective functional in the space of the parameters being optimized are derived. The results of the made numerical experiments are presented.     

汽水板式换热过程区间串级智能控制方法

汽水板式换热过程是以蒸汽阀门开度为输入,以蒸汽流量为内环输出,以供水温度为外环输出的强非线性串级工业过程,受到室外温度和厂区热用户放水的随机干扰,导致供水温度和蒸汽流量大范围波动.本文针对处于干扰环境下的具有不确定性和强非线性串级工业过程,将前馈补偿、串级PI控制和规则推理区间补偿控制相结合,提出了由外环供水温度前馈PI控制、内环蒸汽流量PI控制的串级控制与规则推理的内外环设定值区间补偿控制组成的区间串级智能控制方法,并成功应用于某选矿厂的汽水板式换热过程,工业应用结果表明所提出的方法在室外温度和热用户放水的随机干扰下,可以将供水温度和蒸汽流量同时控制在工艺要求的范围内.     

On the practice of artificial intelligence based predictive control scheme: a case study

This paper describes a novel artificial intelligence based predictive control scheme for the purpose of dealing with so many complicated systems. In the control scheme proposed here, the system has to be first represented through a multi-Takagi-Sugeno-Kang (TSK) fuzzy-based model approach to make an appropriate prediction of the system behavior. Subsequently, a multi-generalized predictive control (GPC) scheme, which is organized based on a number of GPC schemes, is realized in line with the investigated model outcomes, at chosen operating points of the system. In case of the proposed control strategy realization, the investigated multi-GPC scheme is instantly updated to handle the system by activating the best control scheme through a new GPC identifier, while the system output is suddenly varied with respect to time. To present the applicability of the proposed control scheme, an industrial tubular heat exchanger system and also a drum-type boiler-turbine system have been chosen to drive through the proposed strategy. In such a case, the simulations are carried out and the corresponding results are compared with those obtained using traditional GPC scheme in addition to nonlinear GPC (NLGPC) scheme, as benchmark approaches, where the acquired results of the proposed control scheme are desirably verified.     

Adaptive UKF-based model predictive control of a Fresnel collector field

One of the ways to improve the efficiency of solar energy plants is by using advanced control and optimization algorithms. In particular, model predictive control strategies have been applied successfully in their control.The control objective of this kind of plant is to regulate the solar field outlet temperature around a desired set-point. Due to the highly nonlinear dynamics of these plants, a simple linear controller with fixed parameters is not able to cope with the changing dynamics and the multiple disturbance sources affecting the field.In this paper, an adaptative model predictive control strategy is designed for a Fresnel collector field belonging to the solar cooling plant installed at the Escuela Superior de Ingenieros in Sevilla. The controller changes the linear model used to predict the future evolution of the system with respect to the operating point.Since only the inlet and outlet temperatures of the heat transfer fluid are measurable, the intermediate temperatures have to be estimated. An unscented Kalman filter is used as a state estimator. It estimates metal-fluid temperature profiles and effective solar radiation.Simulation results are provided comparing the proposed strategy with a PID + feedforward series controller showing better performance. The controller is also compared to a gain scheduling generalized predictive controller (GS-GPC) which has previously been tested at the actual plant with a very good performance. The proposed strategy outperforms these two strategies.Furthermore, two real tests are presented. These tests show that the proposed controller achieves adequate set-point tracking in spite of strong disturbances.     

新型污垢热阻在线监测仪的研制

为了实现对循环水结垢情况的监测,介绍了一种用于监测换热器的新型污垢热阻在线监测仪的设计方案.该监测仪采用高集成度微控制器和设计优良的电路,实现了对多路测量信号的采集处理以及污垢热阻的计算.同时,还可通过控制信号的输出实现对监测换热器系统中水流量及蒸汽温度的改进型数字PID控制.测试表明,该监测仪性能优良,并且对循环水结垢的在线监测起到了很好的效果.     

An intelligent multiple models based predictive control scheme with its application to industrial tubular heat exchanger system

The purpose of this paper is to deal with a novel intelligent predictive control scheme using the multiple models strategy with its application to an industrial tubular heat exchanger system. The main idea of the strategy proposed here is to represent the operating environments of the system, which have a wide range of variation in the span of time by several local explicit linear models. In line with this strategy, the well-known linear generalized predictive control (LGPC) schemes are initially designed corresponding to each one of the linear models of the system. After that, the best model of the system and the LGPC control action are precisely identified, at each instant of time, by an intelligent decision maker scheme (IDMS), which is playing the so important role in realizing the finalized control action for the system. In such a case, as soon as each model could be identified as the best model, the adaptive algorithm is implemented on the both chosen model and the corresponding predictive control schemes. In conclusion, for having a good tracking performance, the predictive control action is instantly updated and is also applied to the system, at each instant of time. In order to demonstrate the effectiveness of the proposed approach, simulations are carried out and the results are compared with those obtained using a nonlinear GPC (NLGPC) scheme as a benchmark approach realized based on the Wiener model of the system. In agreement with these results, the validity of the proposed control scheme can tangibly be verified.     

换热器热焓控制系统的研究与实现

若换热器出口物料是汽、液混合相,则温度与热焓之间没有单值关系,应采用热焓控制.根据蒸汽加热器的热量衡算式,分析确定蒸汽加热器出口物料的热焓控制方案,讨论基于GE 90-30 PLC的热焓控制系统的硬件配置、主要组态策略,上位机组态软件选用美国GE Fanuc自动化公司的自动化监控软件CIMPLICITY HMI实现热焓调节器组件的组态设计.系统实用表明,该控制方案可保证能量平衡的精确控制,避免能量损耗,实现换热器整体操作的最优化,提高企业经济效益.     

炉管注汽量突增对焦化加热炉的影响及对策

延迟焦化加热炉是延迟焦化装置安全、长周期运行的关键设备。某炼厂焦化炉注蒸汽控制系统不能正常运行,注汽量突增造成炉管出口温度大的反向响应。当在PID自动控制或手动操作处理不及时、不适当时,将产生大的超温,加速炉管结焦．影响焦化炉安全平稳运行。本文分析了原因,提出了根据蒸汽注入量、进料量和进料压力对蒸汽量突增进行工况检测的方法。在此基础上,实现了对注汽量突增的专家规则控制。现场运行结果表明,避免了炉出口温度的大幅超温,达到甚至超过了熟练操作工操作的水平。     

Topology optimization for fluid–thermal interaction problems under constant input power

This paper deals with density-based topology optimization considering fluid and thermal interactions, in which the Navier–Stokes and heat transport equations are coupled. We particularly focus on designing heat exchangers. In the engineering context, heat exchangers are designed while considering a certain amount of input power. Therefore it is important to maximize the performance of a heat exchanger under a constant input power. In this paper we propose a way to control the input power by introducing an extra integral equation. To be more precise, in the fluid analysis, the inlet pressure is determined by solving the extra integral equation together with the Navier–Stokes equation. By doing this we can keep the inlet power constant even when the flow channels are changed in the optimization process. Consequently, the system of equations of the fluid field takes an integrodifferential form. On the other hand, in the heat transport analysis, a single governing equation is defined for simultaneously modeling both the solid and fluid parts. The design variable is a fluid fraction whose distribution represents the topology of the solid and fluid domains. When designing heat exchangers, two different heat conditions are considered in the formulation of the optimization problems, namely temperature-dependent and temperature-independent heat sources. Through the numerical examples for designing flow channels in a heat exchanger, it is shown that distinct topologies can be obtained according to the input power and the heat source conditions.     

CAE在强化传热节能减排中的应用

为解决管壳式换热器传热效率低下的问题,以最典型的列管式换热器为研究对象,建立换热管内置转子组合式强化传热装置的三维模型,模拟换热管内流场、温度场、压力场以及换热过程,得到管内流体的流动规律和传热性能的计算结果. 模拟计算结果显示,内置转子组合式强化传热装置的换热管内尤其是近壁区域有较强的湍流度;转子与管壁之间缝隙内的流体有明显的螺旋环绕流动,可显著提高传热系数,并具有自清洁作用. 研究表明,利用CAE手段解决热交换过程的瓶颈问题,可大幅度提高能源利用效率,为实现节能减排的战略目标作出贡献.