CN101162396A - Temperature control method and temperature control system - Google Patents
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Abstract
Description
Translated fromChinese技术领域technical field
本发明涉及一种温度控制方法及其系统，特别涉及一种处理滞后较大且非线性变化的温度控制方法及其系统。The invention relates to a temperature control method and a system thereof, in particular to a temperature control method and a system thereof which deal with large lag and nonlinear changes.
背景技术Background technique
在工业生产过程及其它场合，温度控制系统是最重要的控制系统之一。但在包括温度、压力、流量、物位在内的主要工业控制参数中，温度是最难控制的参数，其原因主要是该类温度控制系统的大滞后性。In industrial production process and other occasions, temperature control system is one of the most important control systems. However, among the main industrial control parameters including temperature, pressure, flow, and material level, temperature is the most difficult parameter to control, mainly due to the large hysteresis of this type of temperature control system.
目前反应釜是化工生产的主要操作单元，反应釜是用来进行化学反应的容器，样子各式各样，用来适合各种不同的反应条件。工业生产中，原料进行化学反应时需要的环境温度各式各样，并且伴随着吸热、放热等过程，所以反应釜的温度自动控制是众所周知的难题。大多反应釜采用电加热、蒸汽加热、水加热及导热油加热等传热介质加热。At present, the reaction kettle is the main operation unit of chemical production. The reaction kettle is a container for chemical reaction, which has various shapes and is suitable for various reaction conditions. In industrial production, the ambient temperature required for the chemical reaction of raw materials is various, and it is accompanied by processes such as endothermic and exothermic processes, so the automatic temperature control of the reactor is a well-known problem. Most reactors are heated by heat transfer media such as electric heating, steam heating, water heating and heat transfer oil heating.
大多数反应釜温度回路往往控制不佳或是处于手动控制状态。其中温度对象的动态特性具有时变、非线性、时滞等特点，常规控制方法难以获得良好的控制效果，目前绝大多数均采用人工调节温控剂流量来控制反应温度。Most reactor temperature loops tend to be poorly controlled or manually controlled. Among them, the dynamic characteristics of the temperature object have the characteristics of time-varying, nonlinear, and time-delay. Conventional control methods are difficult to obtain good control effects. At present, most of them use manual adjustment of the temperature control agent flow rate to control the reaction temperature.
在目前的工业使用过程中很多还是采用PID(比例、积分、微分)方案来进行控制。比例是最基本的控制手段，积分用来消除调节误差，微分用来改善系统的响应。In the current industrial use process, many still use PID (proportional, integral, differential) schemes for control. Proportional is the most basic control method, integral is used to eliminate adjustment error, and differential is used to improve the response of the system.
国家知识产权局申请号为200510038038.9的专利公开了一种反应釜温度的控制方法，该方法利用循环热水来对广泛应用于化工、制药等行业中的反应釜进行温度控制。其主要步骤是：往反应釜的夹套内通入热水来对反应釜进行加热，并且热水的流量在每小时100吨以上，夹套进水口与出水口的温差不超过5℃。The patent application No. 200510038038.9 of the State Intellectual Property Office discloses a method for controlling the temperature of a reactor, which uses circulating hot water to control the temperature of reactors widely used in chemical, pharmaceutical and other industries. The main steps are: heating the reactor by feeding hot water into the jacket of the reactor, and the flow rate of the hot water is more than 100 tons per hour, and the temperature difference between the inlet and outlet of the jacket does not exceed 5°C.
国家知识产权局申请号为96233713.7的专利公开了一种自动温控高压反应釜，属于对自动温控高压反应釜结构的进一步改进。特征是釜体内表面和测温管、冷却管的外表面以及釜体内的磁力搅拌子外表面均有聚四氟乙烯外衬，进(出)料管采用硬质玻璃进(出)料管，在冷却水与调节阀之间是由温度控制仪继电器控制的电磁阀，温度控制仪的温度传感器置于反应釜的测温管或油浴中。以上提到的两种对反应釜温度的控制方法，均对现有反应釜的结构以及外围设备进行了改进，推广使用有一定的局限性。The patent application number of the State Intellectual Property Office is 96233713.7, which discloses an automatic temperature-controlled high-pressure reactor, which belongs to a further improvement on the structure of the automatic temperature-controlled high-pressure reactor. The feature is that the inner surface of the kettle, the outer surface of the temperature measuring tube, the outer surface of the cooling pipe, and the outer surface of the magnetic stirrer in the kettle are all lined with polytetrafluoroethylene, and the inlet (outlet) material tube is made of hard glass. Between the cooling water and the regulating valve is a solenoid valve controlled by the temperature controller relay, and the temperature sensor of the temperature controller is placed in the temperature measuring tube or oil bath of the reactor. The above-mentioned two methods for controlling the temperature of the reactor all improve the structure and peripheral equipment of the existing reactor, and their popularization and use have certain limitations.
现有技术存在的缺陷：The defective that existing technology exists:
1、对于多数控制系统，PID方案是一种较好的通用型方案，但是对于某些控制系统，尤其是较大滞后的温度系统而言，这种滞后性质常引起被控对象产生超调或振荡，造成系统不容易达到稳定过程，因此仅靠微分作用改善系统相应的效果是不够的。对于化合反应，温度对象特性随化学反应过程的进行而变化，仅仅用PID控制方案是不能实现的。1. For most control systems, the PID scheme is a better general-purpose scheme, but for some control systems, especially the temperature system with a large lag, this hysteresis often causes the controlled object to produce overshoot or Oscillation makes it difficult for the system to reach a stable process, so it is not enough to improve the corresponding effect of the system only by differential action. For the compound reaction, the temperature object characteristics change with the progress of the chemical reaction process, which cannot be realized only with the PID control scheme.
2、PID控制只能选取温度或者压力的某一个控制点Setpoint作为控制回路的输入信号，因此在控制非线性、时变的复杂过程时，PID控制会导致被控制的阀门的频繁动作。对于用来维持一个稳定的PID控制的阀门而言，它将被要求在每隔几秒钟就进行一次重置reset。这样会减少设备的使用寿命，增加设备的维护保养投资。2. PID control can only select a certain control point Setpoint of temperature or pressure as the input signal of the control loop. Therefore, when controlling a nonlinear and time-varying complex process, PID control will cause frequent actions of the controlled valve. For a valve to maintain a stable PID control, it will be required to reset every few seconds. This will reduce the service life of the equipment and increase the maintenance investment of the equipment.
3、PID控制需要整定比较困难和费时的参数，整定的结果直接影响调节的效果，如果参数整定出现问题就会出现静态偏差加大或者动态特性不稳定等情况，影响整个系统的稳定运行。3. PID control needs to set difficult and time-consuming parameters. The result of the setting directly affects the adjustment effect. If there is a problem with the parameter setting, the static deviation will increase or the dynamic characteristics will be unstable, which will affect the stable operation of the entire system.
发明内容Contents of the invention
本发明要解决的技术问题是提供一种温度控制方法，该系统可以对温度是非线性的、滞后的反应釜进行精确控制，为此，本发明还要提供一种可以对温度是非线性的、滞后的反应釜进行精确控制的系统。The technical problem to be solved by the present invention is to provide a temperature control method. The system can accurately control the temperature of a non-linear and hysteresis reactor. A system for precise control of the reactor.
为解决上述技术问题，本发明所采用技术方案的基本构思是：提供一种将手动控制经验和PID控制方案相结合起来的温度控制方法和系统，实现对非线性、较大滞后温度系统的控制，有简单、调试方便，控制效果好的特点。In order to solve the above-mentioned technical problems, the basic idea of the technical solution adopted by the present invention is to provide a temperature control method and system that combines manual control experience and PID control scheme to realize the control of nonlinear and relatively large hysteresis temperature system , has the characteristics of simplicity, convenient debugging and good control effect.
本发明公开的温度控制方法，用于对反应釜的温度进行控制，包括以下步骤：The temperature control method disclosed by the invention is used to control the temperature of the reactor, comprising the following steps:
本发明的温度控制方法，用于对反应釜的温度进行控制，其特征在于，包括以下步骤：The temperature control method of the present invention is used to control the temperature of the reactor, and is characterized in that it comprises the following steps:
1)根据多次试验获得的满足控制要求的阀门开度时间走势经验值，在控制器上通过对段数据的设置来进行阀门开度以及时间的预置；1) According to the empirical value of the valve opening time trend that meets the control requirements obtained through multiple tests, the valve opening and time are preset on the controller by setting the segment data;
2)控制器按照步骤1)的设置输出控制信号，驱动外部驱动装置控制阀门的开度，实现对传热介质流量的控制。2) The controller outputs a control signal according to the settings in step 1), drives an external drive device to control the opening of the valve, and realizes the control of the flow rate of the heat transfer medium.
另外，为了提高控制系统的控制精度，在上述步骤2)之后，还可以包括：In addition, in order to improve the control accuracy of the control system, after the above step 2), it may also include:
PID回路控制：其测量值为反应釜内实时测量温度，设定值为期望温度值，PID回路控制通过实测值与设定值之间的偏差对原有预置输出进行修正，修正结果作为控制器的最终输出，驱动外部驱动装置控制对阀门开度的调节。PID loop control: the measured value is the real-time measured temperature in the reactor, and the set value is the expected temperature value. The PID loop control corrects the original preset output through the deviation between the actual measured value and the set value, and the correction result is used as the control The final output of the device drives the external drive device to control the adjustment of the valve opening.
其中，通过段数据的设置进行阀门开度以及时间的预置进一步包括以下步骤：Among them, the preset of valve opening and time through the setting of segment data further includes the following steps:
a1：依据反应釜的温度要求，经多次试验得到满足温度要求的阀门开度时间走势，确定段的数目；a1: According to the temperature requirements of the reactor, the valve opening time trend that meets the temperature requirements is obtained through multiple tests, and the number of segments is determined;
a2：利用阀门开度时间走势分别设置所有段的起点数值、终点数值以及该段的持续时间，上一段的终点即为下一段的起点。a2: Use the time trend of valve opening to set the starting value, ending value and the duration of each segment respectively. The end point of the previous segment is the starting point of the next segment.
此外，在步骤(1)中，当段起点和终点的阀门开度量相同时，该段为斜率为零的直线段；In addition, in step (1), when the valve openings at the start point and the end point of the segment are the same, the segment is a straight line segment with a slope of zero;
在步骤(2)中控制器在段的起点时间到达时，驱动外部驱动装置控制阀门开度至对应的开度量，并保持该开度量直至该段终点时间到达。In step (2), when the start time of the segment arrives, the controller drives the external drive device to control the opening of the valve to a corresponding opening amount, and maintains the opening amount until the end time of the segment arrives.
在步骤(1)中，当段数据的起点和终点的阀门开度量不同时，该段为具有一定斜率的直线段；In step (1), when the valve openings of the starting point and the end point of the segment data are different, the segment is a straight line segment with a certain slope;
在步骤(2)中控制器在该段的起点时间到达时，控制外部驱动装置使得阀门渐进式地开度，直至在本段终点时间到达时开度到预先设定的终点开度量。In step (2), when the start time of the section arrives, the controller controls the external drive device to make the valve gradually open until the end time of the section reaches the preset end opening amount.
本发明的温度控制系统，包括反应釜、温度传感器、变送器、控制器、外部驱动装置和温控剂管道等装置，其特征在于，所述的控制器还包括：The temperature control system of the present invention includes devices such as a reactor, a temperature sensor, a transmitter, a controller, an external drive device, and a temperature control agent pipeline, and is characterized in that the controller further includes:
输出预置单元：用于通过段的设置来进行阀门开度及时间的预置：设置段上起点和终点所在的阀门开度量和持续时间，上一段的终点为下一段的起点；Output preset unit: It is used to preset the valve opening and time through the setting of the segment: set the valve opening amount and duration of the starting point and end point of the segment, and the end point of the previous segment is the starting point of the next segment;
调节控制单元：将输出预置单元数值转化为可以驱动外部装置的信号，驱动外部驱动装置来调节阀门按照预置数值输出。Adjustment control unit: convert the value of the output preset unit into a signal that can drive the external device, and drive the external drive device to adjust the output of the valve according to the preset value.
其中，所述控制器还包括：Wherein, the controller also includes:
PID回路单元：用于对外部控制对象反应釜温度进行PID控制，在输出预置单元基础上实现对反应釜的微调；PID loop unit: used to perform PID control on the temperature of the external control object reactor, and realize fine-tuning of the reactor on the basis of the output preset unit;
另外，所述外部驱动装置为电动执行机构或调节阀。In addition, the external driving device is an electric actuator or a regulating valve.
与现有技术相比，本发明的有益效果是：Compared with prior art, the beneficial effect of the present invention is:
实现简单、调试方便、控制效果好，提高了控制系统的稳定性和重复性，对使用者的技术要求较低，易于推广使用。例如目前工业现场应用中仍有大量的落后设备的使用，短时期内全部实现设备的更新换代不符合实际情况，仍然需要一段时间的过渡，但是目前温度控制方法大多采用人工调节，测量点少，先进控制算法无法使用。但是简单的人工调节已不能满足工业生产需要，因此有大量的针对现有落后设别的改造项目，应用本发明可以将人工控制经验和PID控制算法相结合，实现调试简单，操作方便。The utility model has the advantages of simple implementation, convenient debugging and good control effect, improves the stability and repeatability of the control system, has low technical requirements for users, and is easy to popularize and use. For example, there are still a large number of outdated equipment used in industrial field applications at present. It is not in line with the actual situation to realize the replacement of all equipment in a short period of time, and it still needs a period of transition. However, most of the current temperature control methods use manual adjustment, and there are few measurement points. Advanced control algorithms cannot be used. However, simple manual adjustment can no longer meet the needs of industrial production. Therefore, there are a large number of renovation projects for existing backward equipment. The application of the present invention can combine manual control experience and PID control algorithm to realize simple debugging and convenient operation.
附图说明Description of drawings
图1为本发明的温度控制方法流程图；Fig. 1 is the flow chart of temperature control method of the present invention;
图2为本发明的温度控制方法实例流程图；Fig. 2 is the flow chart of temperature control method example of the present invention;
图3为调节外部驱动装置输出阀门开度走势曲线图；Figure 3 is a graph showing the trend of adjusting the opening of the output valve of the external drive device;
图4为本发明的温控系统结构图；Fig. 4 is a structural diagram of the temperature control system of the present invention;
图5为本发明的控制器实施例结构图。Fig. 5 is a structural diagram of a controller embodiment of the present invention.
具体实施方式Detailed ways
以下结合附图，具体说明本发明。The present invention will be described in detail below in conjunction with the accompanying drawings.
本发明的核心是通过输出预置单元和PID单元将段的预置和PID控制方案结合起来，实现对反应釜温度的控制，具有实现简单、调试方便、控制效果好的特点，提高了控制系统的稳定性和重复性。The core of the present invention is to combine the segment preset and the PID control scheme through the output preset unit and the PID unit to realize the control of the reactor temperature, which has the characteristics of simple implementation, convenient debugging and good control effect, and improves the control system. stability and repeatability.
图1为本发明方法的流程图。该种温度控制方法，是用于对反应釜的温度进行控制，它包括以下步骤：Fig. 1 is the flowchart of the method of the present invention. This temperature control method is used to control the temperature of the reactor, and it includes the following steps:
S110：根据多次试验获得的经验值，控制器通过段的设置来进行阀门开度及时间的预置：设置段上起点和终点所在的阀门开度量和时间点，上一段的终点为下一段的起点。S110: According to the experience value obtained from multiple tests, the controller presets the valve opening and time through the setting of the segment: set the valve opening and time point where the start point and end point of the segment are located, and the end point of the previous segment is the next segment starting point.
S120：控制器按照步骤S110的设置输出控制信号，驱动外部驱动装置控制阀门的开度，实现对传热介质流量的控制。S120: The controller outputs a control signal according to the setting in step S110, drives an external drive device to control the opening of the valve, and realizes the control of the flow rate of the heat transfer medium.
本发明根据多次试验获得的经验值进行段数据的预置，即阀门开度以及时间的预置。通过控制阀门的开度来实现对传热介质流量的控制，进而将温度控制在预先要求的温差范围内。The present invention presets segment data, that is, valve opening and time, according to empirical values obtained through multiple tests. Control the flow of the heat transfer medium by controlling the opening of the valve, and then control the temperature within the pre-required temperature range.
以下着重介绍本发明。请参阅图2，其为本发明温度控制的一个实施流程图。The following emphatically introduces the present invention. Please refer to FIG. 2 , which is an implementation flowchart of the temperature control of the present invention.
步骤S11：控制器根据段的预置进行阀门开度和持续时间的预置；Step S11: the controller presets the valve opening and duration according to the segment preset;
如果有长期积累的经验值，则直接可以利用经验值进行段的预置。如果是刚开始使用的反应釜，则可以预先经过若干次人工试验来获得经验值来进行段的设置。If there are long-term accumulated experience values, you can directly use the experience values to preset segments. If it is a reactor that has just been used, it can be set through several manual experiments to obtain experience values in advance.
如图3所示，其为阀门开度的走势曲线示例。段的数目是依据反应釜的温度要求，经多次试验得到满足温度要求的阀门开度时间走势来确定的。利用阀门开度时间走势分别设置所有段的起点数值、终点数值以及该段的持续时间，上一段的终点即为下一段的起点。其中段可以是斜率为0(如图3中的段5)或者斜率不为0(如图3中的段2)的直线段。段的设置通过设定点以及持续时间来体现，两点确定一个段，前一段的终点同时作为下一段的起点。如图中的点SP02和点SP03确定段2，点SP02是段1的终点，同时是段2的起点。若两设定点数值相同，则该段是长度为设置持续时间、斜率为0的直线段，如两设定点数值不同，则该段是长度为设置持续时间、有斜率的直线段。按照时间的递增，按设定折线段依次输出。As shown in Figure 3, it is an example of the trend curve of the valve opening. The number of sections is determined according to the temperature requirements of the reactor, and the valve opening time trend that meets the temperature requirements is obtained through multiple tests. Use the time trend of the valve opening to set the starting value, ending value and duration of each segment respectively. The end point of the previous segment is the starting point of the next segment. The segment may be a straight line segment with a slope of 0 (eg, segment 5 in FIG. 3 ) or a slope other than 0 (eg, segment 2 in FIG. 3 ). The setting of the segment is reflected by setting the point and duration. Two points determine a segment, and the end point of the previous segment is also the starting point of the next segment. Point SP02 and point SP03 in the figure determine segment 2, and point SP02 is the end point of segment 1 and the starting point of segment 2 at the same time. If the values of the two setpoints are the same, the segment is a straight line segment with a length of the set duration and a slope of 0. If the values of the two set points are different, the segment is a straight line segment with a length of the set duration and a slope. According to the increment of time, output sequentially according to the set polyline segments.
所述斜率称之为阀门渐进幅度。当然，阀门渐进幅度也不仅限于是均匀地控制阀门，也可以不是斜率，即阀门的开度不是均匀的，曲线型地控制阀门的开度。The slope is called the valve progression. Of course, the gradual range of the valve is not limited to uniform control of the valve, and it may not be a slope, that is, the opening of the valve is not uniform, and the opening of the valve is controlled in a curved manner.
步骤S12：控制器在实际工作中，根据预先设置的段来控制外部驱动装置。Step S12: In actual work, the controller controls the external drive device according to the preset segment.
控制器在段的起点时间到达时，驱动外部驱动装置控制阀门开度至对应的开度量。When the start time of the segment arrives, the controller drives the external drive device to control the opening of the valve to the corresponding opening amount.
若段的起点和终点的阀门开度量相同时，该段为斜率为零的直线段，控制器通过控制驱动装置保持原有的阀门开度量直至本段的终点；If the valve openings at the beginning and end of the section are the same, the section is a straight line with a slope of zero, and the controller maintains the original valve opening until the end of the section by controlling the driving device;
若段的数据的起点和终点的阀门开度量不同时，该段为具有一定斜率的直线段；控制器在该段的起点时间到达时，发出控制命令通过外部驱动装置控制阀门渐进式地开度，直至在本段终点时间到达时开度到预先设定的终点开度量。If the valve openings at the beginning and end of the segment data are different, the segment is a straight line segment with a certain slope; when the start time of the segment arrives, the controller issues a control command to control the valve opening gradually through an external drive device , until the opening reaches the preset end opening when the end time of this section is reached.
按照时间递增顺序，控制器连续输出驱动外部驱动装置控制阀门的输出，实现对传热介质流量的控制，进而使反应釜温度满足控制要求。According to the time-increasing sequence, the controller continuously outputs to drive the output of the external drive device to control the valve, so as to realize the control of the flow rate of the heat transfer medium, and then make the temperature of the reactor meet the control requirements.
控制器根据步骤S11所设置的段数据输出控制信号，驱动外部驱动装置来调节阀门。The controller outputs a control signal according to the segment data set in step S11, and drives an external driving device to adjust the valve.
步骤S13：利用PID控制方案进行微调控制。Step S13: Perform fine-tuning control using the PID control scheme.
控制器通过回路PID控制输出驱动外部驱动装置对阀门进行微调。The controller drives the external driving device through the loop PID control output to fine-tune the valve.
其中，设定PID单元时，根据反应釜温度情况设定比例值P。另外还可以设定积分值I、微分值D的大小，当然如果不需要积分微分作用，积分值I、微分值D可以不用设置。根据控制对象特性设置比例值P的数值，实际操作中可以根据温度控制曲线(即设定值和测量值之间的偏差)来设置比例值的大小。Among them, when setting the PID unit, the proportional value P is set according to the temperature of the reactor. In addition, the size of the integral value I and the differential value D can also be set. Of course, if the integral and differential functions are not required, the integral value I and the differential value D can not be set. Set the value of the proportional value P according to the characteristics of the controlled object. In actual operation, the proportional value can be set according to the temperature control curve (that is, the deviation between the set value and the measured value).
PID比例控制规律的输出P与输入偏差e(实际上是指它们的变化量)之间的关系为：The relationship between the output P of the PID proportional control law and the input deviation e (actually refers to their variation) is:
P＝Kp·eP=Kp·e
可调整参数是比例放大系数Kp或比例度δ，对于单元组合仪表来说，它们的关系为：The adjustable parameter is the proportional amplification factor Kp or the proportional degree δ. For the unit combination instrument, their relationship is:
δ＝1/Kp·100％δ=1/Kp·100%
PID比例控制的特点是：输出与偏差成比例，即控制阀门位置与偏差之间具有一一对应关系。当负荷变化时，PID比例控制克服干扰能力强、控制及时、过渡时间短。在常用控制规律中，比例作用是最基本的控制规律，不加比例作用的控制规律是很少采用的。The characteristic of PID proportional control is: the output is proportional to the deviation, that is, there is a one-to-one correspondence between the control valve position and the deviation. When the load changes, PID proportional control has strong ability to overcome disturbance, timely control and short transition time. Among the commonly used control laws, proportional action is the most basic control law, and control laws without proportional action are rarely used.
PID比例积分控制规律的输出p与输人偏差e的关系为：The relationship between the output p of the PID proportional integral control law and the input deviation e is:
PID比例积分控制的可调整参数是比例放大系数Kp(或比例度δ)和积分时间TI。The adjustable parameters of PID proportional integral control are proportional amplification coefficient Kp (or proportional degree δ) and integral time TI .
PID比例积分控制的持点是：由于在比例作用的基础上加上积分作用，而积分作用的输出是与偏差的积分成比例、只要偏差存在、控制器的输出就会不断变化，直至消除偏差为止。所以采用PID比例积分控制，在过渡过程结束时是无余差的、这是它的显著优点。The holding point of PID proportional integral control is: since the integral action is added on the basis of the proportional action, and the output of the integral action is proportional to the integral of the deviation, as long as the deviation exists, the output of the controller will continue to change until the deviation is eliminated until. Therefore, the use of PID proportional integral control has no residual error at the end of the transition process, which is its significant advantage.
但是，加上积分作用，会使稳定性降低，虽然在加积分作用的同时，可以通过加大比例度，使稳定性基本保持不变，但超调量和振荡周期都相应增大，过渡过程的时间也加长。However, the addition of the integral action will reduce the stability. Although the stability can be kept basically unchanged by increasing the proportion while adding the integral action, the overshoot and oscillation period will increase accordingly, and the transition process The time is also lengthened.
PID比例积分微分控制规律的输出p与输入偏差e之间具有下列关系：There is the following relationship between the output p of the PID proportional integral differential control law and the input deviation e:
PID比例积分微分控制的可调整参数有三个，即比例放大系数Kp(比例度δ)、积分时间TI和微分时间TD。There are three adjustable parameters of PID proportional-integral-derivative control, namely proportional amplification factor Kp (proportional degree δ), integral time TI and differential time TD .
PID比例积分微分控制的特点是：微分作用使控制的输出与输入偏差的变化速度成比例，它对克服对象的滞后有显著的效果。在比例的基础上加上微分作用能提高稳定性，再加上积分作用可以消除余差。所以，适当调整δ、TI、TD三个参数、可以使控制系统获得较高的控制质量。The characteristic of PID proportional-integral-derivative control is that the differential action makes the output of the control proportional to the change speed of the input deviation, and it has a significant effect on overcoming the hysteresis of the object. Adding differential action on the basis of proportion can improve stability, and adding integral action can eliminate residual error. Therefore, proper adjustment of the three parameters δ, TI , TD can make the control system obtain higher control quality.
目前生产的模拟式控制器一般都同时具有比例、积分、微分三种作用。只要将其中的微分时间TD置于0，就成了比例积分控制器，如果同时将积分时间TI置于无穷大，便成了比例PID控制器。The analog controllers produced at present generally have three functions of proportional, integral and differential at the same time. As long as the differential time TD is set to 0, it becomes a proportional-integral controller, and if the integral time TI is set to infinity at the same time, it becomes a proportional PID controller.
在一个自动控制系统投运时，控制器的参数必须整定，才能获得满意的控制质量。同时，在生产进行的过程中，如果工艺操作条件改变，或负荷有很大变化，被控对象的特性就要改变，因此，控制器的参数必须重新整定。由此可见，整定控制器参数是经常要做的工作。PID控制方案中，比例值P、积分值I、微分值D的数值是由控制对象的特性决定的。一般的调节控制参数比例值P、积分值I、微分值D的方法有以下几种：When an automatic control system is put into operation, the parameters of the controller must be adjusted in order to obtain satisfactory control quality. At the same time, in the process of production, if the process operating conditions change or the load changes greatly, the characteristics of the controlled object will change, so the parameters of the controller must be re-adjusted. It can be seen that tuning the controller parameters is often a work to be done. In the PID control scheme, the values of proportional value P, integral value I and differential value D are determined by the characteristics of the controlled object. Generally, there are several ways to adjust the control parameter proportional value P, integral value I and differential value D as follows:
经验法：经验法是长期的生产实践中总结出来的一种整定方法。它是根据经验先将控制器参数放在一个数值上，直接在闭环的控制系统中，通过改变给定值施加干扰，在记录仪上观察过渡过程曲线，运用δ、TI、TD对过渡过程的影响为指导，按照规定顺序，对比例度δ、积分时间TI和微分时间TD逐个整定，直到获得满意的过渡过程为止。Empirical method: The empirical method is a setting method summed up in long-term production practice. It puts the controller parameters on a value based on experience, directly in the closed-loop control system, by changing the given value to exert interference, observe the transition process curve on the recorder, and use δ, TI , TD to adjust the transition process. Taking the influence of the process as a guide, according to the prescribed order, adjust the ratio δ, integral time TI and differential time TD one by one until a satisfactory transition process is obtained.
临界比例度法：这是目前使用较多的一种方法。它是大通过试验得到临界比例度δk和临界周期TK，然后根据经验总结出来的关系求出控制器各参数值。在闭环的控制系统中，将控制器变为纯比例作用，即将TI放到“∞”位置上，TD放在“0”位置上，在干扰作用下，从大到小地逐渐改变控制器的比例度，直至系统产生等幅振荡(即临界振荡)，这时的比例度叫临界比例度δk，周期为临界振荡周期Tk。记下δk和Tk，然后按经验公式计算出控制器的各参数整定数值。Critical proportionality method: This is a method that is currently used more. It is to obtain the critical proportionality δk and the critical period TK through experiments, and then calculate the parameter values of the controller according to the relationship summed up by experience. In the closed-loop control system, the controller is changed to pure proportional action, that is, put TI at the "∞" position, TD at the "0" position, and gradually change the control from large to small under the action of disturbance The proportionality of the device until the system produces equal-amplitude oscillations (that is, critical oscillations), the proportionality at this time is called the critical proportionality δk, and the period is the critical oscillation period Tk. Write down δk and Tk, and then calculate the setting value of each parameter of the controller according to the empirical formula.
衰减曲线法：衰减曲线法是通过使系统产生衰减振荡来整定控制器的参数值的，在闭环控制系统中，先将控制器变为纯比例作用，并将比例度预置在较大的数值上。在达到稳定后，用改变给定值的办法加入阶跃干扰，观察被控变量记录曲线的衰减比，然后从大到小改变比例度，直至出现4：1衰减比为止，记下此时的比例度δs(叫4∶1衰减比例度)，从曲线上得到衰减周期Ts。然后求出控制器的参数整定值。Attenuation curve method: The attenuation curve method is to adjust the parameter value of the controller by causing the system to generate attenuation oscillation. In the closed-loop control system, the controller is first changed to pure proportional action, and the proportionality is preset at a larger value. superior. After reaching stability, add step disturbance by changing the given value, observe the attenuation ratio of the recorded curve of the controlled variable, and then change the ratio from large to small until the attenuation ratio of 4:1 appears, and record the attenuation ratio at this time Proportionality δs (called 4:1 attenuation proportionality), get the attenuation period Ts from the curve. Then calculate the parameter setting value of the controller.
本发明的方法通过采用对段的预置将人工控制经验与PID控制相结合起来实现对具有较大滞后及非线性变化的温度系统的控制，真正做到了对温度的精确控制。The method of the invention realizes the control of the temperature system with large hysteresis and non-linear change by using the preset of the segment and combining the manual control experience with the PID control, and truly achieves the precise control of the temperature.
本发明还公开了一种温度控制系统，如图4和图5所示，包括反应釜31、温度传感器32、变送器33、控制器34、调节阀35和温控剂管道36，其中，所述的控制器34还包括：The present invention also discloses a temperature control system, as shown in Figure 4 and Figure 5, including a
输出预置单元41：用于通过段的设置来进行阀门开度及时间的预置：设置段上起点和终点对应的阀门开度量和时间点，上一段的终点为下一段的起点；Output preset unit 41: used to preset the valve opening and time through the setting of the segment: set the valve opening amount and time point corresponding to the starting point and end point of the segment, and the end point of the previous segment is the starting point of the next segment;
调节控制单元42：发出指令通过外部驱动装置35来调节阀门：当段的起点和终点所在的阀门开度量不相同时，从起点开始渐进式将阀门开度到终点对应的阀门开度量。Adjustment control unit 42: issue an instruction to adjust the valve through the external drive device 35: when the valve openings at the beginning and end of the segment are different, gradually adjust the valve opening from the starting point to the valve opening corresponding to the end point.
PID单元43：通过PID控制输出对阀门开度进行微调；PID unit 43: fine-tuning the valve opening through PID control output;
若使用导热油对反应釜31进行加热，通过控制导热油的流量实现对反应釜31温度的控制。其中，反应釜31是用来进行化学反应的容器；温度传感器32用于测量反应釜31内化学原料的温度，温度传感器32可以是热电偶、热电阻及其它测温元件；控制器34用于控制调节阀35的开度；调节阀35可以是电动机驱动的阀门等类似装置，用于控制导热油管道36内导热油的流量。If the heat transfer oil is used to heat the
整个温度控制系统由具有输出预置单元41和PID单元43的控制器34控制，控制器34的输出控制调节阀35的开度及走势，从而控制导热油的流量，使反应釜31的温度满足实际需要。The entire temperature control system is controlled by a
系统投运时，首先控制器34上电，控制器34中的调节控制单元42根据输出预置单元41设置的数据对调节阀35开度进行控制，由于输出预置单元41的输出是根据段的预置来设定的，所以根据此数据的调节阀35的输出基本上已能够满足该温度系统的控制，反应釜31的温度基本上是满足控制要求的。温度传感器32将此时测量得到的反应釜31的温度通过变送器33传送到控制器34，控制器34中的微调单元43再利用PID控制方案在该控制效果基础上，根据实际温度情况再对调节阀35进行微调，使得温度控制更加精确。When the system is put into operation, at first the
本发明通过输出预置单元41和PID控制单元42将段的预置和PID控制方案结合起来实现对具有较大滞后及非线性变化的温度系统的控制，实现简单，操作方便，不需要复杂的控制算法也无须考虑滞后带来的控制难度，提高了控制精度，提高了控制稳定性和重复性。The present invention combines the segment preset and the PID control scheme through the output preset
以上公开的仅为本发明的几个具体实施例，但本发明并非局限于此，任何本领域的技术人员能思之的变化，都应落在本发明的保护范围内。The above disclosures are only a few specific embodiments of the present invention, but the present invention is not limited thereto, and any changes conceivable by those skilled in the art should fall within the protection scope of the present invention.
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