Method and device for tuning and control
First Claim
1. A method for tuning a controller controlling a property of an industrial process having varying material flow rate, the method comprising:
- injecting excitation signals added to an output signal of the controller,receiving measurements of said property in response to said excitation signals,choosing a process model structure which is time continuous and comprises at least one parameter with unknown value, the parameter being independent of varying material flow rate,estimating a value of said at least one parameter, based on said measurements of said property and an output signal from the controller,calculating a model that describes dynamics from controller output to controller input based on the estimated value of said parameter, and on a basis thereof performing model based tuning of the controller,reducing a parameter update size, when an unrestricted update reaches outside an area of defined allowed parameter ranges, but making a parameter update in a same direction in a parameter space, andapplying a same reduction factor to both regressors and prediction error, to be used in both parameter update and update of matrix holding information necessary in recursive estimation,thereby keeping parameter estimates within allowed ranges.
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Abstract
A method and a device for tuning and control of industrial processes having varying material flow rate. An adder is configured to add excitation signals to the controller output signal. A measurement system is configured to measure a property in response to the excitation signals. A model based tuning unit is adapted to estimate the value of at least one parameter with unknown value of a process model structure describing the effect of varying material flow rate, based on the measurements of the property and the output signal from the controller, and to calculate a model that describes the dynamics from controller output to controller input based on the estimated value of the parameter, and to perform model based tuning of the controller based on the model that describes the dynamics from controller output to controller input.
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Citations
18 Claims
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1. A method for tuning a controller controlling a property of an industrial process having varying material flow rate, the method comprising:
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injecting excitation signals added to an output signal of the controller, receiving measurements of said property in response to said excitation signals, choosing a process model structure which is time continuous and comprises at least one parameter with unknown value, the parameter being independent of varying material flow rate, estimating a value of said at least one parameter, based on said measurements of said property and an output signal from the controller, calculating a model that describes dynamics from controller output to controller input based on the estimated value of said parameter, and on a basis thereof performing model based tuning of the controller, reducing a parameter update size, when an unrestricted update reaches outside an area of defined allowed parameter ranges, but making a parameter update in a same direction in a parameter space, and applying a same reduction factor to both regressors and prediction error, to be used in both parameter update and update of matrix holding information necessary in recursive estimation, thereby keeping parameter estimates within allowed ranges. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A device for tuning a controller controlling a property of an industrial process having varying material flow rate, the device comprising:
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an adder for adding excitation signals to a controller output signal, a measurement system for measuring said property in response to said excitation signals, and a model based tuning unit adapted to estimate a value of at least one parameter with unknown value of a time continuous process model structure describing an effect of varying material flow rate, based on said measurements of said property and the controller output signal, the parameter being independent of the varying material flow rate, and to calculate a model that describes dynamics from controller output to controller input based on the estimated value of said parameter, to reduce a parameter update size, when an unrestricted update reaches outside an area of defined allowed parameter ranges, but making a parameter update in the same direction in a parameter space, to apply a same reduction factor to both regressors and prediction error, to be used in both parameter update and update of matrix holding information necessary in recursive estimation, thereby keeping parameter estimates within allowed ranges, and to perform model based tuning of the controller based on said model that describes the dynamics from controller output to controller input.
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18. A non-transitory computer readable medium storing computer readable program code for causing a computer to perform the steps of:
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injecting excitation signals added to an output signal of a controller, receiving measurements of said property in response to said excitation signals, choosing a process model structure comprising at least one parameter with unknown value, this model structure describing an effect of varying material flow rate, estimating a value of said at least one parameter, based on said measurements of said property and an output signal from the controller, calculating a model that describes dynamics from controller output to controller input based on the estimated value of said parameter, and on a basis thereof performing model based tuning of the controller, reducing a parameter update size, when an unrestricted update reaches outside an area of defined allowed parameter ranges, but making a parameter update in the same direction in a parameter space, and applying a same reduction factor to both regressors and prediction error, to be used in both parameter update and update of matrix holding information necessary in recursive estimation, thereby keeping parameter estimates within allowed ranges.
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Specification