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EP3403148A1 - Procédé de commande, système de commande et installation - Google Patents

Procédé de commande, système de commande et installation

Info

Publication number
EP3403148A1
EP3403148A1 EP17715643.7A EP17715643A EP3403148A1 EP 3403148 A1 EP3403148 A1 EP 3403148A1 EP 17715643 A EP17715643 A EP 17715643A EP 3403148 A1 EP3403148 A1 EP 3403148A1
Authority
EP
European Patent Office
Prior art keywords
control
quality criterion
riti
seti
plant
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP17715643.7A
Other languages
German (de)
English (en)
Inventor
Steffen Lamparter
Dragan Obradovic
Justinian Rosca
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Siemens Corp
Original Assignee
Siemens AG
Siemens Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG, Siemens Corp filed Critical Siemens AG
Publication of EP3403148A1 publication Critical patent/EP3403148A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/047—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators the criterion being a time optimal performance criterion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric

Definitions

  • the invention relates to a method for control, a control system and a system.
  • a further object of the invention is to provide an improved control system and an improved system with which the method according to the invention can be carried out.
  • the inventive method for controlling uses a STEU ⁇ ervorschrift.
  • the course of the control is at least partially observed and, depending on this course, at least one quality criterion characterizing the quality of the control method is determined, ie determined.
  • an adaptation of the tax law is carried out in the inventive method.
  • the course of the control is detected by detecting the profile in discrete and, in particular, successive time intervals or continuously. Under the phrase "based on the waveform of the control" is preferably "at least from the control at run time and / or from the controller to the previous, in particular successive points in time or time periods from ⁇ pending" understood.
  • Suitably method automated ⁇ Siert to the invention is, for example computer-implemented and / or software-based, run.
  • the quality criterion (s) are evaluated at runtime and, depending on the quality criterion (s), in particular if at least one quality criterion changes by a threshold value and / or with a threshold rate, the tax code is changed. Consequently, it is not mandatory, Bedin ⁇ conditions or environmental changes, which can lead to a change in the quality criteria previously explicitly set.
  • the inventive method thus allows a gegenü ⁇ over the prior art particularly flexible and robust control.
  • the quality criteria are not fixed in advance fixed, but are either determined at run time of the controller itself or flexibly adjusted over the life of the device used for carrying out the method according to the invention.
  • the tax law is executed with a control unit.
  • the control unit is an integrated (ger .: "EMBED Dedicated control units are provided regularly via a memory element which is expediently used in the method according to the invention for storing at least part of the course of the control.
  • the course of the control is monitored with an adaptation unit and the determination of the quality criterion as well as the adaptation of the control specification are carried out by means of the adaptation unit.
  • the tax law is executed with a control unit, which, although signal-connected with this, is functionally separated from the adaptation unit.
  • Insbesonde ⁇ re controller and adaptation unit can each be ⁇ least a dedicated processor or with each horrin- least a dedicated processor core to be formed. In this way, on the one hand control and observation of the control and the determination of the quality criterion can be carried out completely parallel to each other. It is advantageously ensured in this way that the operation of the adaptation unit does not disturb the operation of the control unit due to an otherwise shared use of resources.
  • control is expediently formed with a control, in particular with a PID control.
  • PID controllers can be obtained by means of the method according to the invention a dynamic control with egg ⁇ ner high stability.
  • quantity to be controlled or regulated in particular a control variable, or with a measure for a deviation, for example an overshoot, during a setting phase or a measure of an oscillation (in particular amplitude and / or frequency). be formed during a setting phase of the controlled or regulated variable size.
  • a semantic model is used for the at least one quality criterion and / or the adaptation.
  • the semantic model an ontology and / or ⁇ least a representation library.
  • Semantic Mo ⁇ delle provide in known manner the possibility to combine knowledge of a plurality of different areas in a consistent manner with each other, which is obtained during a simulation or about knowledge, from a BOM or from a working plan of a means of controlling product to be manufactured or from a maintenance report of the plant.
  • the course of the control in the time domain is detected.
  • the at least one criterion preferably the at least one criterion rinsekrite- determined in the time domain and / or there is the ANPAS ⁇ solution of the control rule in the time domain.
  • the inventive method for controlling a manufacturing plant is performed.
  • control procedure is suitably carried out by means of a control unit, is subjected min ⁇ least herange- a state of the control unit for the quality criterion and / or as an input quantity for the control rule.
  • the method according to the invention is preferably carried out for the control ⁇ tion of a system, wherein at least one state of the system for the quality criterion and / or used as an input to the tax rule.
  • a context model of the control method which includes a semantic model, in particular having at least one ontology and / or at least one representation library.
  • the at least one quality criterion is formed on the basis of the context model of the control method.
  • the control method can be based on the
  • the inventive method is preferably carried out for Steue ⁇ tion of a plant, wherein a context model to the ⁇ position is used, which comprises a semantic model, in ⁇ sbesondere comprising at least an ontology and / or ⁇ least a representation of library.
  • specifications for output variables of the controller and / or specifications of the input variables of the controller can also be used according to the invention, for example sensor readings and / or specifications of rules which influence control signals and / or sensor signals and / or Specifications of state transitions, which in particular specify which states and conditions in the form of measured values entail which state transitions.
  • these specifications are derived from a model for the control method, in particular a semantic model of the control method, which preferably has one or more a plurality of ontologies and / or one or more representation ⁇ onsbibken comprises.
  • the control system according to the invention has at least one control unit, designed for control by means of a control prediction , and at least one adaptation unit.
  • the min ⁇ least an adaptation unit is arranged to observe the course of the control, at least partially, and to determine a quality of the control method of characterizing quality criterion.
  • the adaptation unit is designed to adapt the tax rule depending on the quality criterion.
  • he ⁇ inventive control system is designed to carry out the inventive method as described above.
  • control unit is an integrated (English: "EmbeddecT) Steuerein ⁇ unit.
  • integrated control units regularly have a memory element which can conveniently save the course of the control, so that this stored history of the adaptation unit can be easily made available by means of signal connection or signal ⁇ transmission.
  • control unit and adaptation unit are each formed with at least one own processor or each with at least one own processor core.
  • adaptation unit does not block any resources intended for control.
  • observation of control and the determination of the quality criterion and the adaptation of STEU ervorschrift ⁇ all times are possible at run time and are not interrupted as in the case of utilization of the computing capacity of the control unit. It is expedient in the control system according to the invention
  • Control a scheme, in particular a PID control.
  • the control unit of the control system according to the invention comprises a PID controller.
  • the inventive system is in particular a manufacturing plant ⁇ .
  • the system according to the invention has a control system as described above.
  • zei ⁇ gene a structure of a control system according to the invention with a control unit and a monitoring and adjusting unit for executing a fiction, modern ⁇ method for controlling schematically gem in a schematic diagram, a signal flow of the observation and adaptation ⁇ unit.
  • Fig. 1 schematically in a schematic diagram, a part of the signal flow of the control unit acc.
  • Fig. 1 shows schematically in a signal flow diagram, a context model of the control unit acc. Fig. 1 and 3 of the control system according to the invention.
  • Fig. 1 schematically in a section of a schematic diagram and
  • FIG. 5 shows a context model of a method according to the invention for controlling by means of the control system according to the invention.
  • Fig. 1 and Fig. 4 schematically in a section of a schematic diagram.
  • COS is an embedded, that is, integrated control system comprises COS and as shown in FIG. 1, a control unit COU in the form of a decorated to Steue ⁇ tion microprocessor.
  • the STEU ⁇ ersystem COS comprises a monitoring and adjusting unit OAU, whose function is described in more detail below.
  • the Monitoring and adjustment unit OAU is realized with a ent ⁇ speaking, furnished ie programmed microprocessor.
  • the control unit COU and the observation and adaptation unit OAU can each be realized as one or more cores of a single processor in further, not specifically illustrated exemplary embodiments.
  • control unit COU is a control algorithm, ie a tax law implemented, by means of which the control ⁇ unit COU forms a software-based PID controller.
  • the control unit COU will be described below.
  • the observation and adaptation unit OAU is designed to observe and adapt the control method executed by the control unit COU.
  • the observation and ANPAS ⁇ sungsech OAU is closer detail in Fig. 2:
  • the observation and adaptation unit OAU receives via an input interface a time-synchronous data flow SYR from the current tax law of the control method of the control unit COU.
  • This data flow SYR is formed with each ak ⁇ TULLE captured images PIIW of the control method.
  • the currently acquired images PIIW comprise the current input variables and outputs of the control unit COU and are kept available in their time sequence as a history of images BPIO, BPH in a main memory WOME of the observation and adaptation unit OAU. In this one Hi ⁇ storie of images BPIO, BPH attacks
  • the data stream evaluator DASE also contains evaluation data ESDB in the work memory WOME of the observation and adaptation unit OAU.
  • the adaptation of the control method of the control unit COU is carried out by the data stream evaluator DASE in such a way that the data stream evaluator DASE commits a desired target image POIB of the control method based on the quality criteria described in more detail below and subsequently transmits the target image PIOB to the control unit COU by means of a time-synchronous data flow SYR.
  • the control unit COU over ⁇ takes the target image PIOB as the current tax law. With ⁇ tels the adoption of the target image PIOB as the current tax ⁇ regulation, the control method is adjusted accordingly.
  • the control method of the control unit COU is a control method known per se in the form of a software-based PID control of a system as shown in FIG.
  • the plant is in the embodiment shown a Vietnamesesanalage (in another, not specifically shown, beauspie ⁇ len, the control method can be embodied as a control method for other systems or processes).
  • the Steuerver ⁇ drive satisfies the control model described below:
  • the control unit COU are according to their currently implemented control rule a time-dependent control signal u (t) from which actuators ACTU, the w ⁇ let in the embodiment shown, manufacturing equipment, and according to a time-dependent function F (t) to act. Acting the actuators according to the function u F (t)
  • the state x (t) does not depend solely on the function u F (t), but additional disturbing influences and stochastic influences NOI are to be taken into account, which uncontrollably influence the state x (t) of the production plant.
  • Sensors SENS detect the state x (t) of the system as measured values y (t).
  • the sensors are signal-connected to a state estimator x est (t) which, together with the control unit COU, is part of a control unit CONB.
  • a state estimator x est (t) an estimation function is implemented which estimates from the measured values y (t) a state of the system which itself is not directly accessible to a measurement. This state is transmitted to the control unit COU together with the measured values y (t) itself.
  • the control unit also holds it COU ⁇ system deviation are compared reference values y ref (t) for the measuring values y (t), wel ⁇ che with these reference values y ref (t) for determining a re.
  • control unit COU determines new control signals u (t) as a function of these measured values y (t) and the reference values y ref (t) and the states of the system estimated by the state estimator x est (t).
  • the state estimator x est (t) is part of the control method itself in the exemplary embodiment shown and is not part of the observation and adaptation unit OAU.
  • the above-explained control model thus describes the following variables:
  • control model describes the control unit COU and the input and output variables which are transmitted to or provided by the control unit COU, here in particular the measured values y (t) and the control signals u (t).
  • control model describes variables which describe the time ⁇ behavior of the system, here are not directly measurable states of the system.
  • Such quantities are, on the one hand, quality criteria (English: “Key performance indicators”, KPIs), which determine a desired quality of the tax rule. Furthermore, warning signals can be provided which occur during the run-time-synchronous evaluation of input and output variables and / or states of the system and suitably characterize deviations from desired states and / or injured quality criteria.
  • causal relationships of variables of the control model and such warning signals for example from a semantic model, can be used.
  • dependencies between different components of the control model can be used. Such dependencies are expediently derived from explicit knowledge of the production process carried out with the installation and / or explicit knowledge of the structure of the installation and / or a hierarchy of its components and / or a correlation analysis of various components of the control model.
  • control model and the context model (which may, for example, include the control model) can now be used to optimize and adapt the control process.
  • such a context model is a semantic ⁇ MOORISH model, especially in the manner of a
  • the context model can be easily analyzed and used to adapt and / or optimize the tax procedure.
  • the context model expediently includes as much knowledge about the control process as possible and represents this knowledge in a manner known per se by means of objects, relations and procedures.
  • the knowledge comes from the control process itself and also useful simulations the control method and / or a controlled means of Steuerverfah ⁇ Rens system and / or the specification of a controlled means of the control process plant gefer ⁇ saturated product and / or service protocols the system and / or specifications of environmental conditions and / or quality tests such as a finished product or the plant.
  • the context model illustrated in FIG. 4 comprises a semantic description CONS of the control method in the form of a control model and a semantic description SYSD of the control unit COU.
  • the semantic description CONS has a sub-class, which forms a continuous state Be ⁇ scription of the control method.
  • the relation "has sub-class" is always labeled in ⁇ distinguished in Fig. 4 with arrows HAS.
  • the control method dissected into the sub-classes with non-linear components of the control method and NONL with linear components LINE the control method.
  • Both the nonlinear components of the control method NONL and the linear components LINE of the control method influence a description of the control unit COU in the time domain TIDD (marked as "defined” by means of the arrows DEF in FIG in the time domain TIDD of the semantic description of the control unit COU SYSD from itself.
  • the description of the control unit COU in the time domain TIDD has a subclass an answer STERD on describing the Ant ⁇ word of the control unit COU to a control step of STEU ⁇ ervons.
  • the answer STERD in each case forms ei ⁇ NEN part (the relation "is part of" is marked with arrows PAO) of quality criteria, which as a
  • quality criteria form evaluation criteria for the quality of the operation of the control unit COU.
  • quality criteria can be used in further, not specifically illustrated exemplary embodiments: the variability of the control method, in particular one
  • a detailed analysis for example, failure analysis, or an analysis for a possible optimization of the control method, requires further information about Kausalbe ⁇ relationships of sizes of the control method and preferably also sizes the system. Such information about causal relationships are obtained in the illustrated embodiment from the semantic description CONS of the control method:
  • the control method comprises a control algorithm CONP which defines control functions CONF and control variables CONV (the relation "defined” is marked with arrows DEF.)
  • the control variables CONV are part of the control functions CONF (the relation "has subclass on "is marked with arrows HAS).
  • the control functions CONF comprise, on the one hand, sequences SEQ and estimation functions ESOB for estimating conditions of the system and feedback functions FEBA.
  • the control variables CONV include, for example, temporary or internal variables TEINT, for example a time dynamic of the Control device COU, in particular the value of an integrie ⁇ generating part of the PID controller, or the temporal dynamics of the system, which is approximately determined by an estimator or a sensor.
  • TEINT temporary or internal variables
  • control variables CONV include input INPU and output variables OUPU, approximately output for controlling the actuators ACTU or obtained from the sensors SENS.
  • the way in which the control functions CONF correlate different control variables CONV defines implicit relationships between the control variables CONV. Such relationships and dependencies become transparently visible in the context model and usable for observation and adaptation according to the invention.
  • control variables CONV form input variables (the relations "input quantity f" are marked with arrows INF) for quality criteria CONK, which are already explained with reference to FIG. 4 as the rise time RITI, the overshoot OSHSO and as a decay time SETI.
  • these specifications are obtained from a model for the control method, in particular a semantic model of the control process, comprising preferably one or more ontologies and / or one or more repre ⁇ onsBibliotheken.
  • the system of the invention is a Vietnamesesanalage explained here in exporting approximately ⁇ for example, and has a ⁇ OF INVENTION dung control system according as described above on.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Feedback Control In General (AREA)

Abstract

La présente invention concerne un procédé de commande qui utilise une prescription de commande. Selon ledit procédé, le déroulement de la commande est au moins partiellement observé et au moins un critère de qualité caractérisant la qualité du procédé de commande est déterminé ou transmis en fonction de ce déroulement. La prescription de commande est alors adaptée en fonction du critère de qualité.
EP17715643.7A 2016-03-24 2017-03-23 Procédé de commande, système de commande et installation Ceased EP3403148A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201662312538P 2016-03-24 2016-03-24
PCT/EP2017/056969 WO2017162815A1 (fr) 2016-03-24 2017-03-23 Procédé de commande, système de commande et installation

Publications (1)

Publication Number Publication Date
EP3403148A1 true EP3403148A1 (fr) 2018-11-21

Family

ID=58489294

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17715643.7A Ceased EP3403148A1 (fr) 2016-03-24 2017-03-23 Procédé de commande, système de commande et installation

Country Status (4)

Country Link
US (1) US11188037B2 (fr)
EP (1) EP3403148A1 (fr)
CN (1) CN108885438A (fr)
WO (1) WO2017162815A1 (fr)

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WO2017162815A1 (fr) 2017-09-28
US11188037B2 (en) 2021-11-30

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