Method and apparatus for providing multivariable nonlinear control

• US 5,704,011 A
• Filed: 11/01/1994
• Issued: 12/30/1997
• Est. Priority Date: 11/01/1994
• Status: Expired due to Term

• Current Assignee: Schneider Electric Systems USA, Inc. (Schneider Electric SE)
• Original Assignee: The Foxboro Company (Schneider Electric SE)
• Inventors: Hansen, Peter D., Badavas, Paul C.
• Primary Examiner(s): Davis, George B.
• Application Number:
  US08/333,095
• Time in Patent Office: 1,155 Days
• Field of Search: 395/22, 395/11, 395/20, 395/23, 395/903, 395/906, 364/148, 364/164
• US Class Current: 706/25
• CPC Class Codes: G05B 13/026 using a predictor
• CPC Class Codes: G05B 13/027 using neural networks only

Abstract

A method and apparatus for training and optimizing a neural network for use in controlling multivariable nonlinear processes. The neural network can be used as a controller generating manipulated variables for directly controlling the process or as part of a controller structure generating predicted process outputs. The neural network is trained and optimized off-line with historical values of the process inputs, outputs, and their rates of change. The determination of the manipulated variables or the predicted process outputs are based on an optimum prediction time which represents the effective response time of the process output to the setpoint such that the greatest change to the process output occurs as a result of a small change made to its paired manipulated variable.

Claims

1. A system for providing an apparatus for use in controlling a process at a desired setpoint level, the process having process inputs and outputs, said system comprising:

(a) a data base of training patterns representing historical values of the process inputs and process outputs;

(b) a set of future time steps defining a future time horizon;

(c) a prediction model constructed with the training patterns contained in said data base, for predicting the process outputs over said future time horizon;

(d) a sensitivity processor utilizing said prediction model for determining the effect in the process outputs as a result of changes made to the historical values of the process inputs, said sensitivity processor producing predicted process outputs;

(e) a first processing element for computing a prediction time where a greatest value in the predicted process outputs occurs, the prediction time being an optimum prediction time;

(f) a second processing element for computing the predicted process output as advanced by the optimum prediction time;

(g) said apparatus comprising;

(i) an input means for receiving input variables for operating said apparatus, the input variables comprising the historical values of the process inputs and outputs from said data base, optimum prediction times, and the predicted process outputs as advanced by the optimum prediction times;

(ii) an output means for generating output variables for use in controlling the process in a preferred manner; and

(iii) a processing means for mapping said input means to said output means, said processing means comprising a function for performing said mapping, said function determining an optimum prediction time, and a predicted process output for performing said mapping, the optimum prediction time representing an effective response time of the process to a change in a desired setpoint level and the predicted process output representing a process output as advanced by the optimum prediction time;

(h) a training system for training said apparatus in accordance with a training algorithm; and

(i) a third processing element for configuring said apparatus to receive all of said input variables and for operating said training system to train said apparatus with all of said input variables thereby producing output variables for use in controlling the process.

2. A system as in claim 1 wherein said output variables comprise the predicted process outputs used in determining the manipulated variables which will affect the process in a preferred manner.

3. A system as in claim 2 wherein said output variables further comprise the optimum prediction time.

4. A system as in claim 1 wherein said output variables comprise the manipulated variables for use in controlling the process, the manipulated variables representing a change in the process needed to produce the process output as advanced by the optimum prediction time.

5. A system as in claim 4 wherein said output variables further comprise the optimum prediction times.

6. A system as in claim 1 wherein said optimum prediction time comprises a plurality of optimum prediction times for each time step of the process, wherein said manipulated variable comprises a plurality of manipulated variables for each time step of the process, wherein said predicted process output comprises a plurality of predicted process outputs for each time step of the process, and wherein said setpoint comprises a plurality of setpoints for each time step of the process.

7. A system as in claim 1 wherein said apparatus is a neural network comprising an input layer, an output layer, and at least one hidden layer, and wherein said input means comprises said input layer, said output means comprises said output layer, and said processing means comprising said hidden layer and said output layer.

8. A method for training an apparatus for controlling a process, the process having process inputs, process outputs comprising at least one controlled variable, and wherein the process is responsive to a manipulated variable used for changing the process as a function of the controlled variable, the method comprising the steps of:

a) generating a model of the process to calculate predicted process outputs over a future time horizon, wherein the model is constructed using historical process data;

b) applying the model to compute a change in the predicted process outputs that occurs as a result of a change made to the historical process data;

c) determining a prediction time where an optimum change in the predicted process outputs occurs, the prediction time;

being an optimum prediction time;

d) computing a predicted process output advanced by the optimum prediction time; and

e) training the apparatus with the predicted process output as advanced by the optimum prediction time and the historical process data to generate a corresponding variable for use in controlling the process.

9. The method of claim 8 wherein the step of generating a model further comprises the step of generating an autoregressive moving average model of the process from sampling values of the process inputs, the process outputs, and the process output over a future time horizon, said autoregressive moving average model producing predicted process outputs over the future time horizon.

10. The method of claim 8 wherein the step of determining the optimum prediction time comprises the step of determining the greatest rate of change in the process outputs as a result of changes made to the historical process data, the greatest rate of change representing the optimum change.

11. The method of claim 8 wherein the step of determining the optimum prediction time further comprises the step of determining the greatest change in the process outputs as a result of changes made to the historical process data, the greatest change representing the optimum change.

12. The method of claim 8 wherein the model constructed in the step of generating a model is a neural network.

13. The method as in claim 8 wherein the step of generating a model constructed using historical process data uses concurrent inputs for each time step of the process for the manipulated variables and the process outputs.

14. A method as in claim 13 wherein the step of generating a model constructed using historical process data further uses concurrent inputs for each time step of the process for the derivatives, with respect to time, of the process outputs.

15. A method as in claim 13 wherein the step of generating a model constructed using historical process data further uses concurrent inputs for each time step of the process for measured load variables representing measured load disturbances.

16. A method as in claim 13 wherein the step of generating a model constructed using the historical process data further uses concurrent inputs for each time step of the process for derivatives, with respect to time, of the measured load variables.

17. A method as in claim 8 wherein the process outputs are controlled variables representative of a measured process output.

18. A method as in claim 8 wherein the process outputs are inferential variables representative of an approximate indication of the measured process output.

19. A method as in claim 8 wherein the corresponding variable is the manipulated variable used for changing the process as a function of the measured process output.

20. A method as in claim 19 wherein said apparatus further generates said optimum prediction time.

21. A method as in claim 8 wherein the corresponding variable is the predicted process output as advanced by the optimum prediction time for use in determining a value of the manipulated variable which will affect the process in a preferred manner.

22. A method as in claim 21 wherein said apparatus further generates said optimum prediction time.

23. A method as in claim 8 wherein said apparatus is selected from a nonlinear function generator, a neural network, fuzzy logic processor, look-up table, or inferential logic machine.

24. A method for generating a nonlinear function generator for controlling a process having process inputs, process outputs comprising at least one controlled variable, and wherein the process is responsive to at least one manipulated variable for changing the process as a function of the controlled variable, the method comprising the steps of:

a) collecting a plurality of historical values of manipulated variables and historical values of the process outputs generated from operations of the process and collected over a time span;

b) pairing the manipulated variables with the process outputs based on the historical values in accord with an optimization criteria;

c) retrieving training data generated from operations of the process and collected over the time span;

d) calculating a plurality of future time steps representing a future time horizon;

e) collecting a set of controlled variables as advanced by the future time horizon;

f) generating a prediction model using training input data, the paired manipulated variables and the process outputs based on the historical values, the plurality of future time steps, and the controlled variables as advanced by the future time horizon to compute predicted controlled variables as advanced by the future time horizon;

g) applying the prediction model to determine changes in the predicted controlled variables that occur as a result of changes made to the historical values of the manipulated variables, said application producing change variables;

h) selecting from the change variables, a subset representing the greatest changes in value;

i) storing the future time steps of the change variables in the subset produced in said selection step, the future time steps denoted as the selection times;

j) determining a greatest change from the range of changes defined by the subset of change variables produced from said selection step;

k) extrapolating the future times at which the greatest change occurs, the future times being the optimum prediction times;

l) computing predicted controlled variables as advanced by the optimum prediction times; and

m) training the nonlinear function generator with the predicted controlled variables as advanced by the optimum prediction times and the historical process data to compute corresponding variables for use in controlling the process.

25. A method as in claim 24 wherein the corresponding variables are the predicted process outputs as advanced by the optimum prediction times used in determining values of the manipulated variables which will affect the process.

27. A method as in claim 24 wherein the corresponding variables are manipulated variables used for controlling the process.

28. A method as in claim 27 wherein said nonlinear function generator generates said optimum prediction times.

29. A method as in claim 24 wherein the process outputs are controlled variables representative of a measured process output.

30. A method as in claim 24 wherein the process outputs are inferential variables representative of approximate indications of the controlled variables.

31. The method of claim 24 wherein the step of retrieving training data further comprises the step of collecting the derivatives, with respect to time, of the historical values of the process outputs for use in generating the prediction model.

32. The method of claim 24 wherein the step of retrieving training data further comprises the step of collecting a plurality of historical values of measured load variables generated from operations of the process over the time span, the historical values of measured load variables representing measured load disturbances, and wherein the step of generating a prediction model uses the additional inputs of the historical values of the measured load variables.

33. The method of claim 32 wherein the step of collecting a plurality of historical values further comprises the step of collecting the derivatives, with respect to time, of the historical values of the measured load variables for use in generating the prediction model and wherein the step of generating a prediction model uses the additional inputs of the derivatives of the historical values of the measured load variables.

34. The method of claim 24 wherein the step of applying the prediction model further comprises the steps of:

a) utilizing the prediction model to generate a first set of predicted controlled variables as advanced over the future projection horizon;

b) applying the prediction model with changes made to the historical values of the manipulated variables thereby generating a second set of predicted controlled variables as advanced over the future prediction horizon; and

c) taking the difference between the first set of predicted controlled variables and the second set of predicted controlled variables thereby producing change variables representing the difference.

35. A method as in claim 24 wherein the step of applying the prediction model further comprises the step of:

a) utilizing the prediction model to generate a first set of predicted controlled variables as advanced over the future projection horizon;

b) applying the prediction model with changes made to the historical values of the manipulated variables thereby generating a second set of predicted controlled variables as advanced over the future prediction horizon;

c) taking the difference between the first set of predicted controlled variables and the second set of predicted controlled variables thereby producing difference variables; and

d) computing the rate of change from the difference variables, wherein said computation consists of computing the difference between two difference variables having consecutive future time steps, the resulting rates of change being the change variables.

36. The method of claim 24 wherein the step of applying the prediction model further comprises the steps of:

a) selecting one historical value of the manipulated variables, herein denoted as the selected manipulated variable;

b) altering the selected manipulated variable by a small quantity;

c) collecting a set of historical values of the manipulated variables which does not contain the selected manipulated variable;

d) applying the prediction model with the selected manipulated variable, the set of historical values of the manipulated variables, the historical values of the process outputs, and the training input data, wherein said application produces predicted controlled variables as advanced over the future projection horizon;

e) selecting from the predicted controlled variables, the paired predicted controlled variable that correspond to the selected manipulated variable;

f) storing the paired predicted controlled variables;

g) repeating steps a) through f) for another historical value of the manipulated variable; and

h) outputting the stored predicted controlled variables, the stored predicted controlled variables being the changed predicted controlled variables.

37. A method as in claim 24 wherein said nonlinear function generator is selected from neural network, fuzzy logic processor, look-up table, or inferential logic machine.

26. A method as in claim 39 wherein said nonlinear function generator generates said optimum prediction times.