锅炉汽包给水系统前馈串级控制的研究

Research of Joint Torque Feed Forward Control for the Pneumatically Robotic Manipulator with Three-Degree-of-Freedom

首先对煤粉-树皮复合燃烧锅炉的汽包水位控制系统进行了研究。以往对水位控制系统的研究大多数建立在参数准确确定的数学模型基础上,水位对象参数的准确确定常用特性实验法,本文采用鲁棒控制思想,依据锅炉参数确定对象特性曲线、对象参数范围及控制方法。该锅炉属于中压中型锅炉,其汽包水位的"假水位"现象较为严重,故采用带前馈的串级水位控制系统来抑制假水位的影响。最后通过仿真分析验证了所设计的控制器对系统具有很强的鲁棒性。

The control system for water level of integrated combustion boiler combining a fluidized bed technology with a pulverized coal combustion was studied.The past mathematical model of water level was established with the determinating parameters and the determinated parameters were obtained by characteristic experiments.Contrasting,in this paper,the water level characteristic curve,the range of parameters and the control system were chosen based on the idea of robust control according to the parameters of the boiler.The object boiler is a middle size one,the false water level problem was serious,so feed forward and cascade water level control system is adopted to restrain the effect of false water level.The water level response to the various object parameters were simulated,results have testified that the controller has strong robust.