CN106224947A - The event-driven control system of Circulating Fluidized Bed Temperature based on feedback of status - Google Patents

Abstract

The invention relates to an event-driven control system for bed temperature of a circulating fluidized bed boiler based on state feedback. The event-driven control system includes: a circulating fluidized bed boiler, data acquisition and memory, and a controller; the circulating fluidized bed boiler includes sensors and actuators; the data acquisition and memory are used to collect and store and circulate fluidized Bed boiler bed temperature control-related data; the controller is connected to the data acquisition and memory, and receives the data and transmits the collected data from the memory; according to the received data, the controller generates a primary air volume command, And transmit the primary air volume command to the actuator in the circulating fluidized bed boiler to achieve the accuracy and stability of the primary air volume control. The invention can effectively adjust the bed temperature of the circulating fluidized bed boiler, and through reasonable parameter adjustment, reduces the data communication volume among sensors, controllers and actuators, and reduces network information congestion.

Description

Event-driven control system for bed temperature of circulating fluidized bed boiler based on state feedback

technical field

The invention belongs to the field of process control of thermal power generating sets, in particular to an event-driven control system for bed temperature of a circulating fluidized bed boiler based on state feedback.

Background technique

Circulating fluidized bed boilers have many technical advantages such as wide fuel adaptability, strong low-load stable combustion capability, desulfurization in the furnace, and high combustion efficiency. They have been widely used in my country's thermal power industry. As a unique process parameter of circulating fluidized bed boilers, bed temperature has a direct impact on boiler safety and stable operation, and is also a key factor determining boiler denitrification (NO _x ) and desulfurization (SO ₂ ) effects. If the bed temperature is too low, the combustion efficiency of the boiler will decrease, the combustion will be unstable, and even the fire will be extinguished; if the bed temperature is too high, the desulfurization effect of the boiler will deteriorate, the NO _x emission will increase, and it will easily cause coking of the furnace bed material. Therefore, it is very important to control the bed temperature within a suitable range.

At present, the main means of controlling the bed temperature of circulating fluidized bed boilers are coal feed rate and primary air volume, and related researches are mainly carried out on the regulation of coal feed rate and primary air volume. Especially in the prior art, the problem of primary air volume control cannot be solved, and various disturbance factors easily cause frequent actions of primary air volume control, which cannot meet the high-quality requirements of circulating fluidized bed boilers for bed temperature control.

At present, the control of circulating fluidized bed units is time-driven, and the data communication between sensors, controllers and actuators is frequently carried out at a fixed frequency, so as to achieve better control effects. However, in this way, there is a large amount of information exchange in the communication network, which will inevitably cause network information congestion, control information time lag and even packet loss. The change of the control action caused by the frequent operation of the controller will cause the frequent action of the actuator, which will cause the wear and life of the equipment to decrease. The above-mentioned problems are key problems that urgently need to be solved in the control of circulating fluidized bed boilers but have not yet been solved.

Event-driven control is a control method that decides whether to implement control according to conditions (whether an event occurs or not). It can effectively solve the problems of high computational load, large amount of data transmission, and frequent actions of actuators during time-driven control. However, at present, event-driven control is mostly in the stage of theoretical research, and there are no mature engineering application examples. The main factors are its complicated design process and adverse effects on the performance of the original control system.

In view of the high quality requirements of CFB boiler bed temperature control and the frequent actions of primary air volume control caused by various disturbance factors, it is necessary to apply the event-driven control idea to develop a CFB boiler bed temperature event based on state feedback. drive control system.

Contents of the invention

The invention discloses an event-driven control system for bed temperature of a circulating fluidized bed boiler based on state feedback. The invention can effectively adjust the bed temperature of the circulating fluidized bed boiler, and through reasonable parameter adjustment, the data communication volume between the sensor, the controller and the actuator can be reduced, and the network information congestion, control information time lag and loss can be reduced. The package prevents the wear and tear caused by the frequent action of the actuator and prolongs the service life of the equipment.

The present invention is achieved through the following technical solutions:

An event-driven control system for the bed temperature of a circulating fluidized bed boiler based on state feedback. The event-driven control system is used to control the bed temperature within an appropriate range. The event-driven control system includes: a circulating fluidized bed boiler, data acquisition with a memory and a controller; the circulating fluidized bed boiler includes sensors and actuators;

The data collection and memory are used to collect and store data related to bed temperature control of circulating fluidized bed boilers;

The controller is connected to the data acquisition and memory, and receives the data and transmits the collected data from the memory; according to the received data, the controller generates a primary air volume command, and transmits the primary air volume command to the circulating flow The actuator in the bed boiler is used to realize the accuracy and stability of the primary air volume control and avoid the transitional fluctuation of the boiler bed temperature caused by the frequent adjustment of the primary air volume.

Wherein, the sensor is specifically a temperature sensor, which is used to measure and obtain the measured value y(t) of the bed temperature of the circulating fluidized bed boiler.

The actuator is a conventional fan actuator, which is composed of an actuator and an adjustment mechanism, capable of receiving the primary air volume command u(t), and changing the speed of the primary fan according to the primary air volume command u(t) to adjust the primary air volume.

Further, the controller includes an event monitoring module, an event control module and an event control signal optimization maintenance module;

The event monitoring module is used to determine whether an event occurs according to the measured value y(t) of the circulating fluidized bed boiler bed temperature, and generates an object state observation vector Z(t _k ) at the current moment; the event control module is used to generate a The basic control command u(t _k ) of the air volume; the event control signal optimization and maintenance module is used to limit, speed limit and maintain the basic control command u(t _k ) of the primary air volume, and generate stable and continuous The primary air volume instruction u(t); wherein, the object state observation vector Z(t _k ) includes the observed value of the bed temperature of the circulating fluidized bed boiler and the observed value of the change rate of the bed temperature of the circulating fluidized bed boiler.

Further, the data collected and stored by the data collection and memory related to the bed temperature control of the circulating fluidized bed boiler include: the primary air volume command u(t) generated by the event control signal optimization and maintenance module, the circulating fluidization The measured value y(t) of the bed temperature of the circulating fluidized bed boiler measured by the bed boiler sensor, the set value r ₀ (t) of the bed temperature, and the object state observation vector Z(t _k ) at the current moment output by the event monitoring module .

Further, the data acquisition and storage device transmits the primary air volume instruction u(t), the measured value y(t) of the circulating fluidized bed boiler bed temperature, and the object state observation vector Z(t _k-1 ) at the last moment to the Described event monitoring module, as the input of event monitoring module;

The event monitoring module generates and outputs the object state observation vector Z(t _k ) at the current moment; the object state observation vector Z(t _k ) at the current moment and the bed temperature setting value r ₀ (t ) is the input of the event control module;

The event control module generates the basic control instruction u( _{t k} ) of the primary air volume, which is the input of the event control signal optimization and maintenance module, and the event control signal optimization and maintenance module generates and outputs the primary air volume instruction u (t).

Further, the event monitoring module is used to determine whether an event occurs, and generate an object state observation vector Z(t _k ) at the current moment, specifically:

(1) The bed temperature controlled characteristics of circulating fluidized bed boiler are described by n-order state observation equation:

$\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; Z</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; A</span>}\mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; B</span>}\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span><span\; class="notranslate">\; ,</span>$

Among them, t is the time variable, Z(t) is the object state observation vector, is the derivative of the object state observation vector, u(t) is the primary air volume command, y(t) is the measured value of the circulating fluidized bed boiler bed temperature, is the observed value of the circulating fluidized bed boiler bed temperature,

Among them, n≥1 is the order of the state observation equation. The larger n is, the better the observation accuracy of the state observation equation is but the higher the complexity is. b<0 is the input gain, which means that the primary air volume change is opposite to the bed temperature change direction, L= [l ₁ l ₂ l ₃ … l _n+1 ] ^T is the observer gain, l ₁ ,l ₂ ,...,l _n+1 are the characteristic polynomial coefficients of the observation error matrix A-LC, satisfying λ(s )=s ⁿ⁺¹ +l ₁ s ⁿ +...+l _n s+l _n+1 ＝(s+ω ₀ ) ⁿ⁺¹ ,

In the formula, s is the symbol of the Laplacian operator, no need to assign a value, ω ₀ >0, its value varies with different random groups, and the observer gain L can be adjusted accordingly by changing the value of ω ₀ ;

(2) Set the following three event definition rules:

Rule1: If min(Z(t)-Z(t _k-1 ))≥Δor tt _k-1 ≥t _max , Then flag＝1, Else flag＝0;

Rule2: If||Z(t)-Z(t _k-1 )||≥Δor tt _k-1 ≥t _max , Then flag＝1, Else flag＝0;

Rule3: If max(Z(t)-Z(t _k-1 ))≥Δor tt _k-1 ≥t _max , Then flag＝1, Else flag＝0;

Among them, Δ is the event-driven error threshold, which is set manually; t _max is the maximum time interval between adjacent events, which is also set manually, and Δ and t _max are the key adjustable parameters of event-driven control; Z(t _k-1 ) is the object state observation vector when the k-1th event occurs; when the event monitoring module runs for the first time, k=1, and assign Z(t _k-1 )=Z(t ₀ )=0; flag is the event flag;

(3) During specific application, one of the three event definition rules in step (2) is selected; if the condition in the selected event definition rule is satisfied, then flag=1, otherwise flag=0;

(4) Determine the object state observation vector Z(t _k ) at the current moment according to the value of the event flag bit, if flag=0, then select the state observation vector Z(t _k-1 ) when k-1 events occur as The current output of the event monitoring module (i.e. keep the output when the last event occurred); if flag=1, then the state observation vector Z (t) obtained at the moment of current time t is used as the current output, specifically as follows;

$\mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\left\{\begin{array}{cc}\mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; f</span>}\mathrm{<span\; class="notranslate">\; l</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; g</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}\\ \mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; f</span>}\mathrm{<span\; class="notranslate">\; l</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; g</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}\end{array}\right.<span\; class="notranslate">\; .</span>$

Further, the basic control instruction u(t _k ) of the primary air volume output by the controller consists of two parts: the linear combination Γ(r ₀ ( _t ), z ₁ (t _k ),z ₂ (t _k ),…,z _n (t _k )) and the disturbance compensation of the n+1th dimension z _n+1 (t _k );

The basic control instruction u(t _k ) of the primary air volume is specifically expressed as:

$\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; \&Gamma;</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; r</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ,</span><span\; class="notranslate">\; ...</span><span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; b</span>}}$

Among them, Z(t _k ) is the n+1-dimensional state observation vector; Z(t _k )=[z ₁ (t _k ),z ₂ (t _k ),...,z _n+1 (t _k )] ^T , z _n+1 (t _k ) is the n+1th element of Z(t _k );

$\mathrm{<span\; class="notranslate">\; \&Gamma;</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; r</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ,</span><span\; class="notranslate">\; ...</span><span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; r</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; (</span>{\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; r</span>}}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span><span\; class="notranslate">\; ...</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; r</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}^{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span>$

In the formula, r ₀ (t) is the set value of the bed temperature, and the selection of the controller gain K=[k ₁ k ₂ ... k _n ] should satisfy: s ⁿ +k _n s ^n-1 +...+k ₂ s+ k ₁ =(s+ω _c ) ⁿ , where ω _c is the bandwidth of the controller, which is a positive number, and its value is manually set according to the system characteristics, and s is the symbol of the Laplacian operator.

Further, the event control signal optimization maintenance module performs limit and speed limit processing on the primary air volume basic control command u(t _k ), and generates a stable and continuous primary air volume command u(t), specifically:

(1) Perform limit processing on the primary air volume basic control command u(t _k ):

$\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\left\{\begin{array}{cc}\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; max</span>}}\\ {\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; x</span>}}& \mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ></span>{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; max</span>}}\end{array}\right.<span\; class="notranslate">\; ,</span>$

Among them, u _max is the upper limit of the allowable primary air volume basic control command u(t _k );

(2) Perform speed limit processing on the primary air volume basic control command u(t _k ):

$\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\left\{\begin{array}{cc}\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span>& <span\; class="notranslate">\; |</span>\frac{\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}{{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; x</span>}}\\ <span\; class="notranslate">\; \&PlusMinus;</span>{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>& <span\; class="notranslate">\; |</span>\frac{\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}{{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; ></span>{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; x</span>}}\end{array}\right.$

Among them, v _max is the maximum value of the change rate of the basic control command u(t _k ) of the primary air volume allowed; the selection of the sign depends on whether the primary air volume is increasing or decreasing. When the primary air volume increases, select Positive sign, when the primary air volume decreases, select the negative sign.

Further, the event control signal optimization and holding module selects a zero-order holder, a first-order holder or a second-order holder; the control signal optimization holder keeps the primary air volume basic control instruction u(t _k ) and transfers it to The continuous quantity u(t) is sent to the circulating fluidized bed boiler equipped with sensors and actuators.

Beneficial effects of the present invention:

(1) Add beneficial technical effects on bed temperature control.

The primary air volume is an important means for bed temperature control of circulating fluidized bed boilers; due to the complex characteristics of circulating fluidized bed boilers, various disturbance factors are likely to cause frequent actions of primary air volume control, which cannot meet the high requirements of circulating fluidized bed boilers for bed temperature control. Quality requirements. The event-driven control system provided by the present invention can improve the accuracy and stability of the primary air volume control through the effective setting of the event judgment rules, and avoid the transitional fluctuation of the boiler bed temperature caused by the frequent adjustment of the primary air volume;

(2) The event monitoring module judges whether the "event" occurs according to the measured data of the circulating fluidized bed boiler bed temperature and the event definition rules, and generates the object state observation vector (including the observed value of the bed temperature, the observed value of the rate of change of the bed temperature, etc. ); if the "event" occurs, update the output to the controller, otherwise, keep the last event time value, greatly reducing the calculation load, reducing the amount of network information, avoiding excessive wear of the actuator, and reducing energy consumption;

(3) At the same time, the present invention expands the observer in the event monitoring module to realize the observation of comprehensive disturbances, including the unmodeled dynamics of the object, internal and external disturbances of the system, etc., and can perform disturbance compensation during the calculation of the controller. Improve the anti-interference ability of the actual operation of the control system.

Aiming at the state feedback event-driven control method, the invention provides clear tuning rules for the observer gain L and the controller gain K in the event monitoring module; at the same time, the control signal is optimized, which plays a good role in protecting the system.

Description of drawings

Fig. 1 is the schematic diagram of the event-driven control system of the circulating fluidized bed boiler bed temperature based on the state feedback proposed by the present invention;

Fig. 2 is a control effect diagram of the event-driven control system proposed by the present invention;

FIG. 3 shows the occurrence of events in the event-driven control system proposed by the present invention.

detailed description

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

On the contrary, the invention covers any alternatives, modifications, equivalent methods and schemes within the spirit and scope of the invention as defined by the claims. Further, in order to make the public have a better understanding of the present invention, some specific details are described in detail in the detailed description of the present invention below. The present invention can be fully understood by those skilled in the art without the description of these detailed parts.

Example 1

Assuming that the bed temperature of a circulating fluidized bed boiler is affected by the primary air volume, the mathematical model is:

$\mathrm{<span\; class="notranslate">\; G</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; =</span>\frac{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 8.5985</span>}}{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 120.3560</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 95</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; )</span>}$

In the formula, s is the symbol of the Laplace operator, G(s) is the mathematical model of the transfer function of the bed temperature affected by the primary air volume, y(s) is the complex of the measured value y(t) of the bed temperature of the circulating fluidized bed boiler In frequency domain form, u(s) is the complex frequency domain form of circulating fluidized bed boiler primary air volume u(t).

Expressed in the time domain form:

$\stackrel{<span\; class="notranslate">\; \&CenterDot;\&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ,</span>\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; u</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; w</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; b</span>}\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span>$

In the formula, t is the time variable, u(t) and y(t) are the input and output of the circulating fluidized bed boiler respectively, u(t) is the primary air volume instruction, and y(t) is the bed temperature of the circulating fluidized bed boiler Measured value, b is the input gain, f is the synthesis of internal and external disturbances of the system, w(t) is the uncertainty factor, disturbance or modeling error. The controller design method for this object is as follows:

Step (1): Design of the event monitoring module: Fig. 1 is an event-driven control system for the bed temperature of a circulating fluidized bed boiler based on state feedback. The solid line in Fig. 1 represents continuous signal transmission, and the dotted line represents event-driven signal transmission; among them, The event monitoring module design of the system is as follows:

Let x ₁ (t) represent the bed temperature measurement value y(t), x ₁ (t)=y(t); x ₂ (t) represent the derivative of the bed temperature measurement value, Adding state x ₃ (t)=f represents the synthesis of internal and external disturbances of the system, so that Then the above-mentioned controlled object can be written in the following state equation form:

$\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; A</span>}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; B</span>}\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; D.</span>}\mathrm{<span\; class="notranslate">\; g</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span>$

y(t)=Cx(t)

Among them, x(t)=[x ₁ (t)x ₂ (t)x ₃ (t)], u(t) is the primary air volume command, y(t) is the measured value of the circulating fluidized bed boiler bed temperature;

in,

Among them, b<0 is the input gain, which means that the change of the primary air volume is opposite to the change of the bed temperature, A is the state matrix, B is the input matrix, C is the output matrix, and D is the disturbance state matrix.

Based on the above state equation, the event monitoring module can be designed as follows:

$\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; Z</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; A</span>}\mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; B</span>}\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span>$

$\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; C</span>}\mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span>$

Among them, Z(t) is the object state observation vector, is the derivative of the object state observation vector, u(t) is the primary air volume command, y(t) is the measured value of the circulating fluidized bed boiler bed temperature, is the observed value of the bed temperature of the circulating fluidized bed boiler; L=[l ₁ l ₂ l ₃ ... l _n+1 ] ^T is the gain of the observer, l ₁ ,l ₂ ,...,l _n+1 are the observation errors The characteristic polynomial coefficients of the matrix A-LC satisfy λ(s)=s ⁿ⁺¹ +l ₁ s ⁿ +…+l _n s+l _n+1 ＝(s+ω ₀ ) ⁿ⁺¹ , ω ₀ > 0, its value varies with different random groups, and the observer gain L can be adjusted accordingly by changing the value of ω ₀ .

Select event-driven rule Rule 2:

Rule2: If||Z(t)-Z(t _k-1 )||≥Δor tt _k-1 ≥t _max , Then flag＝1, Else flag＝0

Set flag as the event occurrence flag, satisfy the Rule 2 condition, flag=1, otherwise flag=0.

$\mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\left\{\begin{array}{cc}\mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; f</span>}\mathrm{<span\; class="notranslate">\; l</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; g</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}\\ \mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>& \mathrm{<span\; class="notranslate">\; f</span>}\mathrm{<span\; class="notranslate">\; l</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; g</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}\end{array}\right.$

Observer gain L=[l ₁ l ₂ l ₃ ] ^T , where l ₁ , l ₂ , l ₃ are the characteristic polynomials of the observation error matrix A-LC λ(s)=s ³ +l ₁ s ² +l ₂ s+l ₃ =coefficient of (s+ω ₀ ) ³ . In this embodiment, b=-21, ω ₀ =4.7, Δ=0.01, t _max =200s.

Step (2): Design of the event control module: the control quantity u(t _k ) is composed of the linear combination of the first two dimensions in Z(t _k ) and the disturbance estimation of the state z ₃ (t _k ), namely

in,

The controller gains k ₁ and k ₂ are selected such that s ² +k ₂ s+k ₁ =(s+ω _c ) ² , where ω _c is the bandwidth of the controller, and in this example ω _c =0.09.

Step (3): Design of event control signal optimization hold module:

① Limit the primary air volume u(t _k ), set u _max as the upper limit of the allowable primary air volume basic control command u(t _k ),

u _max =110 in this example.

②Limit the rate of change of the primary air volume u(t _k ). Set v _max as the maximum allowable change rate of the primary air volume basic control command u(t _k ),

In this example v _max =100.

③The retainer adopts zero-order retainer.

Fig. 2 reflects the control effect of the event-driven control system proposed by the present invention, and compared with the continuous time control, it can be seen that the performance of the event-driven control proposed by the present invention is equivalent to that of the continuous time control.

FIG. 3 reflects the change of the flag amount when an event occurs in the event-driven control proposed by the present invention. The flag is 1 when an event occurs, and is 0 otherwise. The simulation is 2000s, with 0.1s as the sampling period, the number of times of continuous time control is 20000 times, and the number of times of event-driven control proposed by the present invention is 1968 times; it can be seen that the use of the event-driven control system of the present invention can greatly reduce the calculation load and reduce the network load. The amount of information avoids excessive wear of the actuator and reduces energy consumption.

Claims (8)

1. An event-driven control system for circulating fluidized bed boiler bed temperature based on state feedback, the event-driven control system for controlling the bed temperature to a suitable range, the event-driven control system comprising: the circulating fluidized bed boiler, the data acquisition and storage device and the controller; the circulating fluidized bed boiler comprises a sensor and an actuator;

the data acquisition and storage device is used for acquiring and storing data related to bed temperature control of the circulating fluidized bed boiler;

the controller is connected with the data acquisition and storage device and receives the data acquired by the data acquisition and storage device; and according to the received data, the controller generates a primary air quantity instruction and transmits the primary air quantity instruction to an actuator in the circulating fluidized bed boiler so as to realize the accuracy and the stability of primary air quantity control and avoid the transient fluctuation of the bed temperature of the boiler caused by frequent adjustment of the primary air quantity.

2. The circulating fluidized bed boiler bed temperature event-driven control system based on state feedback of claim 1, wherein the controller comprises an event monitoring module, an event control module and an event control signal optimization maintenance module;

the event monitoring module is used for judging whether an event occurs according to a bed temperature measurement value y (t) of the circulating fluidized bed boiler and generating an object state observation vector Z (t) at the current moment_k) (ii) a The event control module is used for generating a basic control instruction u (t) of primary air volume_k) (ii) a The event control signal optimization and maintenance module is used for basic control instructions u (t) of the primary air volume_k) The clipping, speed limiting and holding processes are performed, and a stable and continuous primary air volume command u (t) is generated.

3. The system of claim 2, wherein the data collection and memory collected and stored data relating to circulating fluidized bed boiler bed temperature control comprises: the event control signal optimization and maintenance module generates a primary air volume instruction u (t), a circulating fluidized bed boiler bed temperature measured value y (t) measured by the circulating fluidized bed boiler sensor, and a bed temperature set value r₀(t) and the current-time object state observation vector Z (t) output by the event monitoring module_k)。

4. The system of claim 3, wherein the data collection and storage device is a data collection and storage device that is configured to store data relating to bed temperature of the circulating fluidized bed boilerA sub air volume instruction u (t), a bed temperature measurement value y (t) of the circulating fluidized bed boiler and a target state observation vector Z (t) at the previous moment_k-1) The event monitoring module is used for receiving the event information and transmitting the event information to the event monitoring module as input of the event monitoring module;

the event monitoring module generates and outputs an object state observation vector Z (t) at the current moment_k) (ii) a Object state observation vector Z (t) at current time_k) And a bed temperature set value r acquired by the data acquisition and storage device₀(t) is an input to the event control module;

the event control module generates a basic control instruction u (t) of primary air volume_k) Basic control command u (t) for primary air volume_k) And generating and outputting a primary air volume instruction u (t) for the input of the event control signal optimization and maintenance module.

5. The system of claim 4, wherein the event monitoring module determines whether an event has occurred and generates a subject state observation vector Z (t) at a current time_k) The method specifically comprises the following steps:

(1) the temperature controlled characteristic of the circulating fluidized bed boiler is described by an n-order state observation equation:

$\stackrel{\&CenterDot;}{Z}\left(t\right)=AZ\left(t\right)+Bu\left(t\right)+L\left(y\right(t)-\hat{y}(t\left)\right),$

wherein t is a time variable, Z (t) is an object state observation vector,a derivative of the observed vector of the target state, u (t) a primary air flow command, y (t) a circulating fluidized bed boiler bed temperature measurement,is an observed value of the bed temperature of the circulating fluidized bed boiler,

wherein n is more than or equal to 1, b is the order of the state observation equation<0 is the input gain, L ═ L₁l₂l₃… l_n+1]^TFor observer gain,/₁,l₂,...,l_n+1For observing characteristic multinomial coefficients of the error matrix A-LC, satisfying the condition that lambda(s) ═ sⁿ⁺¹+l₁sⁿ+…+l_ns+l_n+1＝(s+ω₀)ⁿ⁺¹Where s is the Laplace operator symbol, ω₀>0, by changing ω₀The value of (A) can make the observer gain L obtain corresponding adjustment;

(2) the following 3 event definition rules are set:

Rule1:If min(Z(t)-Z(t_k-1))≥Δort-t_k-1≥t_max,Then flag＝1,Else flag＝0；

Rule2:If||Z(t)-Z(t_k-1)||≥Δort-t_k-1≥t_max,Then flag＝1,Else flag＝0；

Rule3:If max(Z(t)-Z(t_k-1))≥Δort-t_k-1≥t_max,Then flag＝1,Else flag＝0；

wherein Δ is an event driven error threshold; t is t_maxMaximum time interval for adjacent events, Δ and t_maxIs a key tunable parameter for event-driven control; z (t)_k-1) The observation vector of the state of the object when the k-1 th event occurs; event monitoring moduleThe first run has k equal to 1 and is assigned Z (t)_k-1)＝Z(t₀) 0; flag is an event flag bit;

(3) selecting one of the 3 event definition rules in the step (2); if the condition in the selected event definition rule is satisfied, setting the flag to be 1, otherwise, setting the flag to be 0;

(4) determining the object state observation vector Z (t) of the current moment according to the value of the event flag bit_k) If flag is 0, the state observation vector Z (t) is selected when k-1 events occur_k-1) Is the current output of the event monitoring module; if flag is 1, taking a state observation vector z (t) obtained at the current time t as a current output, specifically as the following formula;

$Z\left(t_k\right)=\left\{\begin{array}{cc}Z\left(t\right)& flag=1\\ Z\left(t_{k-1}\right)& flag=0\end{array}\right..$

6. the system of claim 5, wherein the event control module outputs a basic control command u (t) of primary air volume_k) The device consists of two parts: z (t)_k) Linear combination of medium to front n-dimensional states (r)₀(t),z₁(t_k),z₂(t_k),…,z_n(t_k) Z) and the (n + 1) th dimension_n+1(t_k) Compensation of the disturbance;

basic control command u (t) of primary air volume_k) The concrete expression is as follows:

$u\left(t_k\right)=\frac{\mathrm{\&Gamma;}\left(r_0\right(t),z_1(t_k),z_2(t_k),...,z_n(t_k\left)\right)+z_{n+1}\left(t_k\right)}{b}$

wherein, Z (t)_k) Is an n +1 dimensional state observation vector; z (t)_k)＝[z₁(t_k),z₂(t_k),...,z_n+1(t_k)]^T，z_n+1(t_k) Is Z (t)_k) The (n + 1) th element of (a);

$\mathrm{\&Gamma;}\left(r_0\right(t),z_1(t_k),z_2(t_k),...,z_n(t_k\left)\right)=k_1\left(r_0\right(t)-z_1(t_k\left)\right)+k_2\left({\stackrel{\&CenterDot;}{r}}_0\right(t)-z_2(t_k\left)\right)+...+k_n\left(r_0^{(n-1)}\right(t)-z_n(t_k\left)\right)$

in the formula, r₀(t) is the bed temperature set value, and the controller gain K is [ K ]₁k₂… k_n]The selection of (a) should satisfy: sⁿ+k_ns^n-1+…+k₂s+k₁＝(s+ω_c)ⁿWherein ω is_cFor controller bandwidth, a positive number, s is the Laplace operator symbol.

7. The system of claim 5, wherein the event control signal optimization and maintenance module is configured to control the primary air volume basic control command u (t) according to the event-driven control system of the circulating fluidized bed boiler bed temperature based on the state feedback_k) Carrying out amplitude limiting and speed limiting treatment, and generating a stable and continuous primary air volume instruction u (t), specifically:

(1) for primary air volume basic control instruction u (t)_k) Carrying out amplitude limiting treatment:

$u\left(t\right)=\left\{\begin{array}{cc}u\left(t_k\right)& u\left(t_k\right)\&le;u_{\max }\\ u_{max}& u\left(t_k\right)>u_{\max }\end{array}\right.,$

wherein u is_maxBasic control command u (t) for allowable primary air volume_k) Upper limit of (d);

(2) for primary air volume basic control instruction u (t)_k) And (3) carrying out speed limiting treatment:

$u\left(t\right)=\left\{\begin{array}{cc}u\left(t_k\right)& \left|\frac{u\left(t_k\right)-u\left(t_{k-1}\right)}{t_k-t_{k-1}}\right|\&le;v_{\max }\\ \&PlusMinus;v_{\max }\left(t_k-t_{k-1}\right)+u\left(t_{k-1}\right)& \left|\frac{u\left(t_k\right)-u\left(t_{k-1}\right)}{t_k-t_{k-1}}\right|>v_{\max }\end{array}\right.$

wherein v is_maxBasic control command u (t) for allowable primary air volume_k) Maximum value of rate of change; the sign is selected according to the trend change of the primary air volume increasing or decreasing.

8. The system of claim 1, wherein the event control signal optimization maintenance module is selected from a zero-order maintenance device, a first-order maintenance device, or a second-order maintenance device; the system signal optimizing keeper basically controls a primary air volume command u (t)_k) Is maintained and transferred to a continuous quantity u (t) which is fed to a circulating fluidized bed boiler equipped with sensors and actuators.