大时滞过程控制方法及应用

论述了时滞系统的各种控制方法的原理和优缺点,从最早的Smith预估控制到新近发展的各种智能控制技术以及它们的融合,指出时滞系统的控制仍然是控制领域中的研究热点,特别是基于无参数模型的时滞过程控制的研究更是方兴未艾。可以认为,智能控制技术和传统的滞后控制方法的结合对时滞过程的控制是有效的,可望在工业实践中得到应用。     

变时滞系统的辨识自适应控制算法的改进与仿真研究

城市供水出水浊度过程控制是大时滞难控对象,Smith预估控制方法的研究有效地改善了时滞带来的控制困难的问题,但是当系统模型不精确时,很难获得好的控制品质。采用时滞辨识自适应方法,有好的控制效果,但当被控系统的时滞参数是时变时,在一定范围内可能存在的时滞辨识的效果不理想,所以提出采用变搜寻区域的辨识方法,可以实时地搜索出真实过程的时滞。该算法用于变时滞的系统,具有良好的控制品质和较强的自适应能力。     

Analytical design of enhanced PID filter controller for integrating and first order unstable processes with time delay

An analytical design for a proportional-integral derivative (PID) controller cascaded with a first order lead/lag filter is proposed for integrating and first order unstable processes with time delay. The design algorithm is based on the internal model control (IMC) criterion, which has a single tuning parameter to adjust the performance and robustness of the controller. A setpoint filter is used to diminish the overshoot in the servo response. In the simulation study, the controllers were tuned to have the same degree of robustness by measuring the maximum sensitivity, Ms, in order to obtain a reasonable comparison. Furthermore, the robustness of the controller was investigated by inserting a perturbation uncertainty in all parameters simultaneously to obtain the worst case model mismatch, and the proposed method showed more robustness against process parameter uncertainty than the other methods. For the selection of the closed-loop time constant, λ, a guideline is also provided over a broad range of time-delay/time-constant ratios. The simulation results obtained for the suggested method were compared with those obtained for other recently published design methods to illustrate the superiority of the proposed method.     

改进Smith预估控制器的解析设计

针对化工过程常见的积分和不稳定时滞对象,基于改进的史密斯预测控制提出了两自由度控制方案。首先根据鲁棒控制理论H2最优性能指标设计设定值跟踪控制器,然后在分析稳定性和抗扰性的基础上设计了扰动抑制控制器,设定值跟踪控制器和扰动抑制控制器可通过性能参数独立调节和优化。同时针对存在的乘性不确定性过程分析了系统的鲁棒稳定性。最后通过仿真实例验证了该控制方案的有效性。     

Liquid load point determination in a reactive distillation packing by X‐ray tomography

In this paper, we report on the use of X‐ray tomography to determine the liquid load point in 0.1 m diameter modular catalytic distillation packings Katapak‐SP11 and Katapak‐SP12. The liquid load point corresponds to the overall packed bed liquid load above which there is an increment in the liquid flowing outside the catalytic baskets and the catalytic baskets themselves are saturated with liquid. From tomographic images, we show that several factors affect the wetting and filling of catalytic baskets. The complex hybrid structure of catalytic packings influences the liquid distribution inside the elements. The liquid preferentially fills the external catalytic baskets because they receive the liquid not only from the packing element situated above but also from the wall wipers. Moreover, liquid hold‐up inside a catalytic basket section depends significantly on the vertical position in the packing element and on the position of the packing in the column packed bed. The counter–current gas flow speeds up the process of liquid filling of the baskets, also for low liquid loads. The non‐uniform distribution of liquid in catalytic basket which is observed experimentally makes the identification of a unique liquid load point not straightforward.     

Temperature Inferential Control of Heat‐Integrated Distillation Column Based on Variable Sensitive Stage Temperature Set‐point

Heat‐integrated distillation is an improved distillation technique with remarkable energy‐saving potential. A control scheme with a variable sensitive stage temperature set‐point is proposed to solve the control problem of a heat‐integrated distillation column (HIDiC). An online estimator is designed to support the variation of the set‐point. The locations of the stage temperature measurements are carefully selected based on a combination strategy with three steps. First, the sensitive stages are selected. Then, the following stages are determined by a PCA‐based method. Finally, a maximum differentiation method provides the remaining measurement selections. According to the profile parameters estimated by the proposed estimator, the set‐point of the sensitive stage temperature is adjusted adaptively to reduce the influence of the disturbances. Two commonly‐used PID controllers, the sensitive temperature control and the temperature differential control, are developed as the comparative study. The simulation results show that the proposed control scheme has a distinct advantage in restraining different disturbances.     

Economic model predictive control of nonlinear time‐delay systems: Closed‐loop stability and delay compensation

Closed‐loop stability of nonlinear time‐delay systems under Lyapunov‐based economic model predictive control (LEMPC) is considered. LEMPC is initially formulated with an ordinary differential equation model and is designed on the basis of an explicit stabilizing control law. To address closed‐loop stability under LEMPC, first, we consider the stability properties of the sampled‐data system resulting from the nonlinear continuous‐time delay system with state and input delay under a sample‐and‐hold implementation of the explicit controller. The steady‐state of this sampled‐data closed‐loop system is shown to be practically stable. Second, conditions such that closed‐loop stability, in the sense of boundedness of the closed‐loop state, under LEMPC are derived. A chemical process example is used to demonstrate that indeed closed‐loop stability is maintained under LEMPC for sufficiently small time‐delays. To cope with performance degradation owing to the effect of input delay, a predictor feedback LEMPC methodology is also proposed. The predictor feedback LEMPC design employs a predictor to compute a prediction of the state after the input delay period and an LEMPC scheme that is formulated with a differential difference equation (DDE) model, which describes the time‐delay system, initialized with the predicted state. The predictor feedback LEMPC is also applied to the chemical process example and yields improved closed‐loop stability and economic performance properties. © 2015 American Institute of Chemical Engineers AIChE J, 61: 4152–4165, 2015     

Likelihood inference for discriminating between long‐memory and change‐point models

We develop a likelihood ratio (LR) test procedure for discriminating between a short‐memory time series with a change‐point (CP) and a long‐memory (LM) time series. Under the null hypothesis, the time series consists of two segments of short‐memory time series with different means and possibly different covariance functions. The location of the shift in the mean is unknown. Under the alternative, the time series has no shift in mean but rather is LM. The LR statistic is defined as the normalized log‐ratio of the Whittle likelihood between the CP model and the LM model, which is asymptotically normally distributed under the null. The LR test provides a parametric alternative to the CUSUM test proposed by Berkes et al. (2006) . Moreover, the LR test is more general than the CUSUM test in the sense that it is applicable to changes in other marginal or dependence features other than a change‐in‐mean. We show its good performance in simulations and apply it to two data examples.     

State‐Space Digital PI Controller Design for Linear Stochastic Multivariable Systems with Input Delay

In this paper, a centralized digital PI control scheme is proposed for linear stochastic multivariable systems with input delay. The discrete linear quadratic regulator (LQR) approach with pole placement is used to achieve satisfactory set‐point tracking with guaranteed closed‐loop stability. In addition, the innovation form of Kalman gain is employed for state estimation with no prior knowledge of noise properties. Compared with existing designs, the proposed scheme provides an optimal closed‐loop design via the digitally implementable PI controller for linear stochastic multivariable systems with input delay. Its effectiveness will be demonstrated by the simulation study on examples from both industrial process control and aircraft control.     

Radiotracer and particle tracking methods,modeling and scale‐up

Radiotracer techniques are widely used for troubleshooting and detection of pathological flows in industrial reactors. In recent decades, there has been a trend towards using radiotracer techniques for assessing flow field in industrial vessels, likening them to residence time distribution (RTD) measurements. On the other hand, radiation‐based particle tracking techniques such as Radioactive Particle Tracking (RPT) methods have become popular for laboratory investigations flow fields in multiphase reactors. Both the methods have been used to validate respective‐scale phenomenological and CFD models to some success, but in a rather independent and ad hoc fashion and not attempting to link the two techniques as flow interrogators in their respective domains. This communication tries to bridge these two techniques and proposes a way to link the two, and makes a case for using them as complementary techniques for measurements at the two scales, and for validating models at the two scales. © 2016 American Institute of Chemical Engineers AIChE J, 63: 314–326, 2017     

Wavelet change‐point estimation for long memory non‐parametric random design models

For a random design regression model with long memory design and long memory errors, we consider the problem of detecting a change point for sharp cusp or jump discontinuity in the regression function. Using the wavelet methods, we obtain estimators for the change point, the jump size and the regression function. The strong consistencies of these estimators are given in terms of convergence rates.     

改进的内模控制方法对一阶非自衡对象的控制研究

针对传统的内模控制方法在非自衡对象中应用的不足,提出一种改进的内模控制方法。该方法在传统的内模控制结构中添加了一个比例控制器和一个比例微分控制器,分别用于镇定不稳定对象和改善控制系统的抗干扰特性及鲁棒特性,并采用全极点近似法对被控对象的纯滞后项进行近似处理。改进的内模控制方法具有很好的目标跟踪特性和干扰抑制特性,各个控制器的设计简单,且整个控制系统只有一个调节参数。最后通过对一个一阶非自衡对象进行仿真,其结果说明了本文所提出的内模控制新方法的有效性。     

Integration of scheduling and control for batch processes using multi‐parametric model predictive control

Integration of scheduling and control results in Mixed Integer Nonlinear Programming (MINLP) which is computationally expensive. The online implementation of integrated scheduling and control requires repetitively solving the resulting MINLP at each time interval. (Zhuge and Ierapetritou, Ind Eng Chem Res. 2012;51:8550–8565) To address the online computation burden, we incorporare multi‐parametric Model Predictive Control (mp‐MPC) in the integration of scheduling and control. The proposed methodology involves the development of an integrated model using continuous‐time event‐point formulation for the scheduling level and the derived constraints from explicit MPC for the control level. Results of case studies of batch processes prove that the proposed approach guarantees efficient computation and thus facilitates the online implementation. © 2014 American Institute of Chemical Engineers AIChE J, 60: 3169–3183, 2014