重大自动化过程控制processcontrol中文翻译第一章

1 Process ControlProcess Control Systems Systems 过程控制系统 College of Automation, Chongqing University 过程控制自动化 重庆大学 2 Outline of the Introduction What Is Process Control? Definition A few examples and forms一些例子和形式 What Does It Do? Differences from automatic control theory自动控制理论的差异 What to be controlled? How Does It Do?如何实现 Formulating the problem制定问题 Control Equipment and Process Equipment控制设备和工艺设备 Modeling the process of the Problem建模过程的问题 3 Introduction to Process Control Operators View of Process Control操作员的观点的过程 控制 A Day in a Life of a Plant Operator 4 What Is Process Control? Definition The technology of controlling a series of events to transform a material into a desired end product is called process control.控制技术的一系列事件把资料达到所希望的 最终产品,被称为过程控制 Short examples: Making of fire for cooking rice (primitive and modern)The fly-ball governor for steam engine control (1774)短的例子:让火煮米饭(原始的和现代)州长的 fly-ball蒸汽发动机控制(1774) Tendency of industrial process control being computerized, being automatized , and being instrumented with smart sensors and MEMS 工业过程控制的趋势 在计算机化, 在潜意识中自动使用, 被装备智能传感器和微机电系统(MEMS) 5 What Is Process Control? A Few Examples 1.Flow Control in Oil refinery Plant: Do we run around the plant to adjust the valves when required?流量控制,是炼油厂植物: 我们到处跑植物调节阀门在需要的时候吗? 6 What Is Process Control? Manual手册Automated pH control A Few Examples 2. pH Control 7 What Is Process Control? A Few Examples: 3. Room temperature control 8 What Is Process Control? A Few Example 4. Watt Centralfugal Speed Governor 瓦特Centralfugal调速器 9 What Is Process Control? A Few Examples 5. Level Control液位控制 10 What Is Process Control? A Few Examples 6. Cross Direction ProceControl十字方向过程控制 Several hundred sensors and actuators, Millisecond operation, Controlling paper thickness to within microns!几百传感器和执行器, 微操作,控制纸张厚度和在微米! 11 What Is Process Control? A Few Examples 7. Discrete Manufacturing Processes 离散型制造过程 12 What Is Process Control? A Few Examples 8. Typical continuous processes典型的连续过程 13 What Is Process Control? A Few Examples 9. Typical non-continuous processes 14 What Is Process Control? A Few Examples 10. A Semi-Continuous Process半连续过程 How large should the tank volume be?油 箱体积是多大呢？ 15 What Is Process Control? Sample-Plant: Mill Wide Process Control轧机广泛的过程控制 16 What Is Process Control? Sample Software: Honeywell Intellimap样品软件:霍尼韦尔Intellimap 17 What Is Process Control? Summary of the Examples- Forms总结的例子-形式 Discrete Manufacturing, Motion, and Packaging离散型制造、运动、和包装 Robotic Assembly Line in Automotive Production机械的汽车生产流水线 Metal Stamping for the discrete pieces of product 五金冲压为离散件产品 Continuous Production of Fuels, Chemicals连续生产的燃料、化学品 Room Temperature Control室温控制 Nucleus Chemical Reactor核化学反应器 Batch Production of intermediate/end products批量生产中间/终端产品 Adhesives and glues Food, Beverages, and Medicine 18 What Is Process Control? Tedency: Being Compueterized, Automatized, and Instrumented by smart sensors and MEMS计算机化，自动化，和动态化由智能传感器和微机电系统 Sensors, local indicators, and valves in the process传 感器、当地的指标,和阀门 在这个过程中 Valve opening determined by the signal from computer Displays of variables, calculations, commands to valves and historical data are in the centralized control center.显示变量的 影响,计算,命令对阀门和历史数据是在中央控制中心 19 What Does It Do? Differences from Automatic Control Theory自动控制理论的差异 Using Control Theory as a Tool Solving the Real-World Problems for Maintaining controlled variables at the desired values 保持控制变量在期望值 Manufacturing products with consistent quality when raw material properties change?生产质量稳定的产品，原料性质改变时？ Responding dangerous situations with given time 危险的情况下和给定的时间响应 Being Specialized by transducer作为专业的传感器 Smart sensors MEMS 微机电系统 20 What Does It Do? What To Be Controlled? Typical Controlled Variables Temperature, Pressure, Flow, Level, Concentration浓度 Physical property物理性质 Beyond the Typical Position, Velocity, and Acceleration in Motion位置、速度和加速度运动 21 How Does It Do? Formulating the Problem Statement制订问题的声明 Problem Statement: Heating up the temperature in a room is a process: having the specific, desired outcome to reach,为了达到具体的，理想的结果 maintaining a defined temperature (setpoint), keeping temperature constant over time. 一直保持温度恒定 22 How Does It Do? Formulating the Problem Terminology in the process制定问 题术语过程中 The temperature is the Controlled Variable (CV) The heater state is called the Manipulated Variable加热状态被称为操纵变 量 Factors causing CV to deviate from their set points is called the Disturbance or “Load Variables造成控制变量偏离设定值被称为“负载“变量 或干扰 23 How Does It Do? Formulating the Problem Controlling the temperature The Temperature Cycles Periodically温度 周期定期 24 How Does It Do? Control (verb) Control (verb) Feedback Control (noun) Feedback Control (noun) to maintain desired conditions in a physical system by adjusting the selected varialbles in the system 保持理想条件在一个物理系统通过调节系统中变量 makes use of an output of a system to influnce an input to the same system利用输出系统影响一个输 入在相同的系统中 Input = Cause Output = Effect 25 How Does It Do? 26 How Does It Do? Two Classes of Process Control两级过程控制 Regulatory control- disturbance change 常规控制 The transient behavior when a disturbance enters A control system should be able to return each controlled variable back to its setpoint.当一个扰动暂态行为进入一个控制系统应 该能够恢复各被控变量应该能够恢复回它的设定 Servoing control- setpoint change伺服控制 The setpoint signal is changed The manipulated variable is adjusted appropriately to achieve the new operating conditions. 被控变量能达到 新的平衡 27 How Does It Do? Controlling the Temperature From Feeback Control Standpoint 28 How Does it Do? Stability Control Evaluation稳定,控制评价 Delays in the system and feedback loop,延迟系统和反馈回路 causing the correction signal to be in-phase causing the error signal change out-of-phase two signals become additive causing instability 修正信号,使同步 造成误差信号改变异相 两个信号成为添加剂-引起系统不稳定 Avoiding instability tuning of the system and damping, at the expense of reduction in the response time of the system.调节系统、阻尼、牺牲系统的响应时间 29 How Does it Do? Regulation Control Evaluation The deviation from the set point从设置点的偏差, it should be as tight as possible它应该尽可能的接近 it is expressed as a percentage of the set point它是以百分比表示的设置点. A small error is always present it is usually amplified to drive the actuator它通常是放大用以驱动执行器 the smaller the error, the higher the gain instability越小的误差,更高的增益不稳定. An example, the set point may be 120 oC, the regulation may be 120 2.5 oC, allowing temperature to vary from 117.5 to 122.5 oC 30 How Does it Do? Transient Response Control Evaluation瞬态响应 Reaction time to a sudden change, e.g.,一个突然的改变的反应时间 a sudden increase in material demand,物质需求的突然增加 causing a change in measured variable or in setpoint.造成测量变量或设定值的变化 The reaction can be specified as a dampened response or a limited degree of overshoot of the measured variable 反应可以被指定为阻尼响应或有限度的 测量变量, Returning the measured variable to the setpoint in a specified time 返 回变量设定值在一个指定的时间 31 How Does It Do? Control Evaluation控制效果评价 Being used to satisfied the three basic needs:用来满足三个基本的需要 Reduce the influence of external disturbances Promote the stability of the process Enhance the performance of the process 32 How Does It Do? Controlling the Temperature From Equipment Standpoint: Four Basic Elements in a Control System四个基本要素的 控制系统 33 How Does It Do? Controlling the Temperature Control Equipment 34 How Does It Do? Controlling the Temperature Process Equipment 35 How Does It Do? Control Equipment Example 1 need to regulate the flow 需要调节流量 robustly shut off if needed 需要稳定的开关 36 How Does It Do? Control Equipment Example 2 low flow resistance when open 开路时电阻低流量 infrequently used but need reliability不经常使用但需要牢固 37 How Does It Do? Control Equipment- Example 3 need good rangeability, 需要良好的可调范围 flow resistance okay,流阻 好 robust shutoff needed 鲁棒关闭需要 38 How Does It Do? Control Equipment Example 4 low flow resistance低 流阻 good control abilities 39 Example 5 not a control valve, vents if pressure is too high 不能控制阀口，如果压力过高 How Does It Do? Examples of Control Equipment 40 How Does It Do? Control Equipment Process Equipment Your Examples? Depending on the application areas根据应用领域 Being characterized with the special knowledge作为具有的特别的知识 Example 6 prevent backflow防止回 流 41 How Does It Do? Theoretical Modeling理论模型 Physical/chemical laws (fundamental, global) Material/energy balances Heat, mass, and momentum transfer Thermodynamics, chemical kinetics Physical property relationships 物理/化学法(基本,全球) 物质/能量守恒 热量、质量、动量传递 热力学、化学动力学 物理性质的关系 42 How Does It Do? Theoretical Modeling Conservation Law 守恒律 Conservation of Component i rate of massrate of massrate of mass (2-6) accumulationinout rate of component irate of component i accumulationin rate of component irate of component i (2-7) outproduced 43 Introduction to Process Control Theoretical Modeling The first law of thermodynamics热力学第一定律 int (2-9) totKEPE UUUU rateof energyrateof energy inrateof energy out accumulationby convectionby convection net rateof heat additionnet rateof work to the system fromperformed on the sys the surroundings tem(2-8) by the surroundings 44 Introduction to Process Control介绍过程控制 Aspects of Theoretical Modelling方面的理论模型 Model complexity assumptions模型复杂性的假设 Computationally expensive (not real-time)计算量大的 Expensive/time-consuming for extrapolation and scale-up昂贵/费时的推断规模 No experimental data is required for modeling (data required for validation and fitting)没有实验数据建模所需 (所需的资料验证和配件) 45 Introduction to Process Control Empirical Modeling (Black Box) Large number of unknown parameters Being obtained quickly (e.g., linear regression) Model structure is subjective Dangerous to extrapolate 实证建模（黑盒） 大量的未知参数 迅速获得（例如，线性回归） 模型的结构是主观的 危险推断 46 Introduction to Process Control Semi-Empirical Modelling Compromising of first two approaches Model structure may be simpler Typically 2 to 10 physical parameters estimated (e.g., nonlinear regression) Good versatility, allowing extrapolation Running online in real-time 半实证模型 牺牲前两种方法 模型的结