重慶大學(xué)過程控制processcontrol中文翻譯

重慶大學(xué)過程控制processcontrol中文翻譯第1頁/共89頁2PracticalIssuesofProcessControlOutline:DigitalControl數(shù)字控制Progressin在……有進展

ProcessControlSamplingthemeasurement測量采樣DigitalPIDcalculationandexecutionperformance數(shù)字PID計算和執(zhí)行的性能MakePIDwork（inpractice在實踐中）Selectproperfieldinstrumentation選擇適當量程的儀表Validate驗證andcorrect調(diào)整measurements測量值Use&tunevariousindustrialPIDalgorithms使用&調(diào)整各種工業(yè)PID算法Improveperformanceof“simple”PID提高簡單PID的性能第2頁/共89頁3PracticalIssuesofProcessControlDigitalControl:ProgressinProcessControl

The（steamengine蒸汽機）worksallthetimecontrolthe（boilerpressure鍋爐壓力）thespeedofthedevice設(shè)備的速度Peopleexperienced人們靠經(jīng)驗控制Explosions易爆炸

unstablebehavior不穩(wěn)定Controlengineering控制工程wasborn第3頁/共89頁4PracticalIssuesofProcessControlDigitalControl:ProgressinProcessControl控制領(lǐng)域的進步

Manual手工的Mechanical機械的devicesPneumatic氣動的devicesElectronic電子的devicesDigitalcalculation數(shù)字計算Digitalcalc.&communication通信第4頁/共89頁5PracticalIssuesofProcessControlDigitalControl:ProgressinProcessControl

ManualMechanicaldevicesPneumaticdevicesElectronicdevicesDigitalcalculationDigitalcalc.&communication第5頁/共89頁6PracticalIssuesofProcessControlDigitalControl:ProgressinProcessControl

ManualMechanicaldevicesPneumaticdevicesElectronicdevicesDigitalcalculationDigitalcalc.&communication第6頁/共89頁7PracticalIssuesofProcessControlDigitalControl:ProgressinProcessControl

ManualMechanicaldevicesPneumaticdevicesElectronicdevicesDigitalcalculationDigitalcalc.&communicationP(t)第7頁/共89頁8Pneumatic

PracticalIssuesofProcessControlDigitalControl:ProgressinProcessControl

ManualMechanicaldevicesPneumaticdevicesElectronicdevicesDigitalcalculationDigitalcalc.&communication第8頁/共89頁9ElectronicSimplifiedDiagramofTaylortranscopeelectroniccontrollerPracticalIssuesofProcessControlDigitalControl:ProgressinProcessControl

ManualMechanicaldevicesPneumaticdevicesElectronicdevicesDigitalcalculationDigitalcalc.&communication第9頁/共89頁10PracticalIssuesofProcessControlDigitalControl:ProgressinProcessControl

ManualMechanicaldevicesPneumaticdevicesElectronicdevicesDigitalcalculationDigitalcalc.&communicationElectronicDevice電子設(shè)備第10頁/共89頁11PracticalIssuesofProcessControlDigitalControl:ProgressinProcessControl

ManualMechanicaldevicesPneumaticdevicesElectronicdevicesDigitalcalculationDigitalcalc.&communicationDigitalCalculationforElectronicDevice電子設(shè)備的數(shù)字計算第11頁/共89頁12PracticalIssuesofProcessControlDigitalControl:ProgressinProcessControl

ManualMechanicaldevicesPneumaticdevicesElectronicdevicesDigitalcalculationDigitalcalc.&communicationDigitalCalculationandCommunicationtransmissionbylocalnetwork通過本地網(wǎng)絡(luò)傳遞sensorandvalvehavemicroprocessor微處理器第12頁/共89頁13PracticalIssuesofProcessControlDigitalControl:ProgressinProcessControl

Distributedcomputingnetwork分布式計算網(wǎng)絡(luò)第13頁/共89頁14PracticalIssuesofProcessControlDigitalControl:ProgressinProcessControl

Distributedcomputingnetwork第14頁/共89頁15PracticalIssuesofProcessControlDigitalControl:ProgressinProcessControl

Aroughindicationoftheprogressin大致方面的進步在processcontrol第15頁/共89頁16PracticalIssuesofProcessControlDigitalControl:ProgressinProcessControl

ManualMechanicaldevicesPneumaticdevicesElectronicdevicesDigitalcalculationDigitalcalc.&communicationApplicablefor適用于digitalsampling采樣andcalculation計算Transmissioncanbeelectronicordigital.傳輸可以電子的或數(shù)字的

Measurementisperiodicallysampledforcalcution測量是定期的采樣和計算第16頁/共89頁17PracticalIssuesofProcessControlDigitalControl:SamplingTimes采樣時間Thecontrolloop控制回路sampletimehowoftencontrollersamplestheprocessvariable(PV)采樣頻率compute&transmit傳輸anewcontrolleroutput(p)signalThep-PVrate,atwhichp-PVdataaresampledandrecordedduringabumptest顛簸試驗第17頁/共89頁18PracticalIssuesofProcessControlDigitalControl:SamplingTimesSamplingtooslow:negativeimpactonperformance負面響應(yīng)Aliasing欠采樣:Samplingmuchslowerthanthemeasurementchangescausessignificantlossofinformation.采樣比測量慢得多會造成重大損失的信息Samplingslow第18頁/共89頁19PracticalIssuesofProcessControlDigitalControl:SamplingTimesSamplingtooslow:negativeimpactonperformanceAliasing:Samplingmuchslowerthanthemeasurementchangescausessignificantlossofinformation

Zero-orderhold零階保持器第19頁/共89頁20PracticalIssuesofProcessControlDigitalControl:SamplingTimesSamplingtooslow:negativeimpactonperformanceIntroducing介紹dead-time

Td=T/2第20頁/共89頁21PracticalIssuesofProcessControlDigitalControl:SamplingTimesSamplingtoofast（notnecessarily不一定）providebetterperformance性能,spendmorethannecessaryonhigh-end高端instrumentation儀表spendmorecomputingresources計算資源第21頁/共89頁22PracticalIssuesofProcessControlDigitalControl:SamplingTimes“Fastandslow”Beingdefinedbytheprocesstimeconstant定義過程時間常數(shù),

Howtochoosesamplingtime,

tBestPractice1:Sampletimeshouldbe10timesperprocesstimeconstantorfaster采樣時間應(yīng)是每個過程時間常數(shù)的10倍或更快,i.e.,t≤0.1

Thisruleappliesfor應(yīng)用于

bothcontrolloopsampletimeandbumptestdatacollection顛簸試驗數(shù)據(jù)采集arethesame第22頁/共89頁23PracticalIssuesofProcessControlDigitalControl:SamplingTimes“Fastandslow”Beingdefinedbytheprocessdeadtimeconstant,Td

Howtochoosesamplingtime,

tBestPractice2:Sampletimeshouldbe0.8timesperdeadtimeconstantorfaster,i.e.,t≤0.8Td

Thisruleappliesfor

bothcontrolloopsampletimeandbumptestdatacollectionarethesame第23頁/共89頁24PracticalIssuesofProcessControlDigitalControl:ThedigitalP-I-DControllersSuppose

sampledata,PV1,PV2,……,PVi,

controlleroutputp(i),p(i)isthedeviation偏差variable第24頁/共89頁25PracticalIssuesofProcessControlDigitalControl:ThedigitalP-I-DControllersThepositionformofthedigitalPID數(shù)字PID位置表Thecontinuousposition連續(xù)位置PIDThediscrete(digital)position離散位置PID第25頁/共89頁26PracticalIssuesofProcessControlDigitalControl:ThedigitalP-I-DControllersThevelocityformof速度形式的thedigitalPIDCalculate計算thesignalchangeattheithexecution在第i個執(zhí)行Calculatethenthecontrolsignalattheith

execution計算第i個執(zhí)行的控制信號，第26頁/共89頁27PracticalIssuesofProcessControlDigitalControl:ThedigitalPIDPerformanceWhatistheeffectofdigitalPIDcontroller數(shù)字PID控制器的影響是什么HowaboutthedigitalPIDcontrollerSPContinuousSettingsKc=30,I=11min,D=0.8min第27頁/共89頁28PracticalIssuesofProcessControlDigitalControl:ThedigitalPIDPerformance效果Comparisonbetweencontinuousanddiscrete

PID

ContinuousPID

K=0.039%A%Open=10.5

Td=5.5Kc=30,I=11min,D=0.8minIAE=12.2Discrete(Digital)PID

K=0.039%A%Open=10.5

Td=5.5+T/2=5.5+5/2=7.5Kc=30,I=11min,D=0.8minIAE=20.0383第28頁/共89頁29PracticalIssuesofProcessControlDigitalControl:ThedigitalPIDPerformanceComparisonbetweencontinuousanddiscrete

PID

Conclusion:Thingsdon’tgetbetterbyslowingtheloop!!!事情并沒有得到更好效果在采樣頻率的回路中Whydoweconvertthereal-worldcontroltodigital???第29頁/共89頁30PracticalIssuesofProcessControlDigitalControl:ThedigitalPIDPerformanceImprove改善thediscrete(digital)PIDTd=t/2

recallthatsamplingintroducesadeadtime回憶，采樣

引入了一個延遲時間

Semi-Digital半數(shù)字化PID說明：obtain獲得，empirical經(jīng)驗的，recalculate重新計算，implementandfinetuneasneeded 根據(jù)需要實現(xiàn)和微調(diào)第30頁/共89頁31PracticalIssuesofProcessControlDigitalControl:Improvethediscrete(digital)PIDTd=t/2recallthatsamplingintroduces引入adeadtimeBestPractice3:Sampletimeshouldfollowthebelowduetodeadtime采樣時間應(yīng)遵循以下，由于延遲時間

t≤0.05(+Td).

Italsoappliesfor

bothcontrolloopsampletimeandbumptestdatacollectionarethesame第31頁/共89頁32PracticalIssuesofProcessControlDigitalControl:Improvethediscrete(digital)PIDTd=t/2

recallthatsamplingintroducesadeadtimeBestPractice4:Typicalsampleperiodforchemicalprocess化工工藝controlis0.25-0.50second.

Muchfasterispossible,ifneeded.第32頁/共89頁33PracticalIssuesofProcessControlDigitalControl:WhyDigitalControl?Calculationsanddisplay：計算和顯示第33頁/共89頁34PracticalIssuesofProcessControlDigitalControl:WhyDigitalControlConquering獲取thecomplex復(fù)雜的controllerOnewaytoImproveperformance增強效果

（Beingachievedwith實現(xiàn)）algorithms算法thatoptimize優(yōu)化thepathto路徑thesetpoint,everycontrollerexecution執(zhí)行力!第34頁/共89頁35PracticalIssuesofProcessControlDigitalControl:WhyDigitalControlOptimizingtheprocess優(yōu)化過程第35頁/共89頁36PracticalIssuesofProcessControlDigitalControl:WhyDigitalControlMonitoring

theprocess監(jiān)控過程Usingadigitalhistoryofmeasurements測量歷史for

Recallatanytimefortroubleshooting故障檢修Calculationofprocess計算過程

performanceindicators性能指標,heattransfercoefficients傳熱系數(shù),reactoryields反應(yīng)堆收益率energy/kgofproduct產(chǎn)品能量/每公斤,……Graphicaldisplays圖形顯示withdataincontextofprocessschematic原理圖第36頁/共89頁37PracticalIssuesofProcessControlMakingPIDWorkinPractice-Issues實踐問題Selectproperfieldinstrumentation正確量程儀表Validateandcorrectmeasurements(noisereducing)驗證和調(diào)整測量值(噪音減少）Use&tunevariousindustrialPIDalgorithms使用&調(diào)整各種工業(yè)PID算法Improveperformance性能of“simple”PID第37頁/共89頁38PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesFourAspects方面

ofthepracticalissuesEnhancethesimplePIDforshortcoming缺點

Accountfor說明……的原因第38頁/共89頁39PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesThefeedbackloop:IssuesConsidered反饋回路的問題第39頁/共89頁40PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesThefeedbackloop:Wire-in&Wire-outPerspective進線盒出現(xiàn)透視圖第40頁/共89頁41PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesSelectionofpropersensor(transducer傳感器)Sensorrange

1.ThevaluesoverwhichthesensorcanrecordthePVs該傳感器可以記錄的PV值2.Weneedto“cover”expected預(yù)期的

range,3.thesensoraccuracy精度

decreasesastherangeincreasesTherangeforcommonPVsinprocesscontrol過程控制常見的pv范圍(a)Temperature:oC,thenormaloperating工作

range(b)Flow:L/s,from0.0tothemaximumexpectedflow(c)Pressure:PSI,thenormaloperatingrange(d)Level:0-100%(notmeters,don’thavetomemorizetheheightofeveryvessel)第41頁/共89頁42PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesSelectionofpropersensor(transducer)Adistillingtower一個蒸餾塔 第42頁/共89頁43PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesReductionofnoisePIDFilter：過濾器第43頁/共89頁44PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesReductionof降低noise我們認為噪聲是不可重復(fù)的測量成分原因：電氣干擾,不完美的混合,動蕩Isseldomas很少作為clear-cut明確Asshownhere如上所示第44頁/共89頁45PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesReductionofnoiseTypicalValueinChemicalProcessescontrollable可控制的ourplantsarerelativelyslow

我們的工廠相對較慢 第45頁/共89頁46PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesReductionofnoiseanalogfilter

模擬濾波器 aroundandaround

繞著 第46頁/共89頁47PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesReductionofnoiseConcludeaboutthefavorablefilterdynamics總結(jié)有利于增強濾波強度第47頁/共89頁48PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesReductionofnoiseamplituderatio幅值比howwouldtheperfectfilterbehave

完美的過濾器將如何表現(xiàn) phaseangle相位角第48頁/共89頁49PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesReductionofnoisewehaveonly

aroughestimateofthisboundaryanyway

我們只有的粗略估計這個邊界第49頁/共89頁50PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesReductionofnoise第50頁/共89頁51PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesReductionofnoiseanti-aliasing反鋸齒fewtenthsofasecond

零點幾秒的時間 第51頁/共89頁52PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesReductionofnoiseBestPractice5:(a)Reducethederivativetime微分時間(oftento0.0)(b)Setfiltertimeconstantsmallw.r.t.feedbackdynamicsf2<0.05(+)(c)Setfiltertimeconstantlargew.r.tdisturbancefrequency擾動頻率,f2<5/n,butdonotviolatebabove.不違背bToreducetheeffectsofnoiseonfeedback,wehave第52頁/共89頁53PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesDetermine確定thePIDparametersforcommercialsystemsRecallthatthePIDcontrollersindifferentformVelocity速率第53頁/共89頁54PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesThefeedbackcontrolofP,IandDelementsCheckyour(vendor’s供應(yīng)商的)PIDerror（notation符號

）Convention約定第54頁/共89頁55PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesThefeedbackcontrolofP,IandDelementsformulatedwith制定engineeringunits工程單位第55頁/共89頁56PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesThefeedbackcontrolofP,IandDelements第56頁/共89頁57PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesThefeedbackcontrolofP,IandDelementsResettime復(fù)位時間第57頁/共89頁58PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesThefeedbackcontrolofP,IandDelementsWithresetwindupWithoutresetwindupresetwindup重置飽和第58頁/共89頁59PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesThefeedbackcontrolofP,IandDelementsAnti-Reset-Windup抗復(fù)位飽和:CombinationofJacketing套RuleandVelocity速率FormJacketingruleforanti-reset-windup反復(fù)位飽的護套規(guī)則第59頁/共89頁60PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesThefeedbackcontrolofP,IandDelementsDerivativeFilter微分濾波Ifwefilterthemeasurement,we“slow”allcontrollermodes.Anoptionexiststo存在filteronlythederivativemode.Implement實現(xiàn)thederivativeelement微分環(huán)節(jié)asintheleft=0.1,givingafilterof10%ofthederivativetime給一個0.1倍微分時間的濾波器Usually=0.05-0.2(seelecture_05-I)第60頁/共89頁61PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesImprovePIDperformance:thecontrolleroutputBumplesstransfer無干擾切換whenthecontrollerisswitchedfrommanual人工的(off)toautomatic(on),thefinalelement(valve)shouldstartfromitsinitialvalue初始值Howtoreachthebumplesstransfereffect效果setthecontrolleroutputtothedefault缺省的actuator(valve)valuesetthecontrolleroutputtothecurrentoutputvalue第61頁/共89頁62PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesThecontroller’soutputissetto

thecurrentvalve

第62頁/共89頁63PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesThecontroller’soutputissettocurrentvalue

Example:selectthecontrollerinitialvalue初始值foradistillingtower蒸餾塔showninthenextslide幻燈片第63頁/共89頁64PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesThecontroller’soutputissettocurrentvalue

Failure故障第64頁/共89頁65PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesThecontroller’soutputissettocurrentvalue

第65頁/共89頁66PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesThecontroller’soutputissettocurrentvalue

flexiblediaphragm柔性膜片第66頁/共89頁67PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesAcasestudy:theanalysisforsampletimeThree-tankconcentration濃度PI-controlSPsolvent溶劑pure純的第67頁/共89頁68PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesAcasestudy:theanalysisforsampletime第68頁/共89頁69PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesAcasestudy:theanalysisforsampletimeSolution:(1)TheprocessisapproximatedbyaFOPTmodelwhereKp=2.0processgain(howfar),

=20timeconstant(howfast),

td=9.8deadtime(howmuchdelay),第69頁/共89頁70PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesAcasestudy:theanalysisforsampletimeSolution:(2)choosePIcontrollerforthisFOPTprocessTimedomainform時域形式第70頁/共89頁71PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesAcasestudy:theanalysisforsampletimeSolution:(3)determinetheKcand

Ibydirectsynthesis直接融合第71頁/共89頁72PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesAcasestudy案例研究:theanalysisforsampletimeSolution:(4)samplingthedata（withthebest和……一樣好）

practice1Otherchoiceforsamplingtimepractice2,oryourcreativeideas你的創(chuàng)意PIDdesigningisanartmorethanscience第72頁/共89頁73PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesAcasestudy:theanalysisforsampletimeSolution:(5)Initialize初始化theparametersofthesystem(5a)normalize標準化thesystemparametersBestPractice6:Theparameterscanbenormalizedbyyourchoice規(guī)范化的參數(shù)可以由你自己決定第73頁/共89頁74PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesAcasestudy:theanalysisforsampletimeSolution:(5)Initializetheparametersofthesystem(5b)initializethe（systemvariable環(huán)境變量）BestPractice7:Arbitrarily任意的initializethefollowsat50%controlleroutput:p(controlledvariableCO)

processvariable:PV(controlledvariableCV)

setpoint:SPdisturbanceD第74頁/共89頁75PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesAcasestudy:theanalysisforsampletimeSolution:(5)Initializetheparametersofthesystem(5c)thesystemparametersareinitializedasin該系統(tǒng)的參數(shù)進行了初始化controlleroutput:pprocessvariable:PV=2.2ppmwithrangeof[2.0,2.4]setpoint:SP=2.2ppmwithrangeof[2.0,2.4]disturbanceD=2.0L/minwithoccasional偶然的spikesupto峰值達到5.0第75頁/共89頁76PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesAcasestudy:theanalysisforsampletimeSolution:(6)bumptest顛簸試驗fortheprocess,thatis,usingtheFOPDTmodetoapproximatetheOriginal最初的three-orderprocesswithdeadtime第76頁/共89頁77PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesAcasestudy:theanalysisforsampletimeSolution:(6)bumptestfortheprocessBumptheprocesswithstepfunction階躍函數(shù)

P(s)=A/sBestPractice8

thesizeofstepfunction,A,usuallytakethevalueovertheinterval區(qū)間of[0.4,1.2]whilethePVisnormalized標準化to[0,1]

第77頁/共89頁78PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesAcasestudy:theanalysisforsampletimeSolution:(6a)bumptestfortheprocess-stepfunctionsizeThesizeof大小stepfunctionA=1.2第78頁/共89頁79PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesAcasestudy:theanalysisforsampletimeSolution:(6a)bumptestfortheprocess:stepfunctionsizeThesizeofstepisaround大約50%ofthepA=0.52第79頁/共89頁80PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesAcasestudy:theanalysisforsampletimeSolution:(6b)Impactof影響LoopSampleTimewithPIcontrollerPIcontrollerwithfastsampletime

hasmodestimpactonperformance性能第80頁/共89頁81PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesAcasestudy:theanalysisforsampletimeSolution:(6b)ImpactofLoopSampleTimewithPIcontrollerPIcontrollerwithslowsampletime

degradestheperformance第81頁/共89頁82PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesAcasestudy:theanalysisforsampletimeSolution:(6c)ImpactofDataCollectionSampleTimeDatacollection數(shù)據(jù)采集withfastsampletimeprovides“fasterisbetter”performance第82頁/共89頁83PracticalIssuesofProcessControlMakingPIDWorkinPractice-IssuesAcasestudy:theanalysisforsampletimeSolution:(6c)ImpactofDataCollectionSampleTimeDatacollectionwith“bestpractice1”rulegivesacceptable

performance第83頁/共89頁84PracticalIssuesofProcessControlMakingPIDWorkin