2008 International Conference on Intelligent Computation Technology and Automation

Design of Main Steam Temperature Cascade Control System Based on Fuzzy Self-tuning PID Controller
ZENG Jing, XIE Youcheng, CHEN Lei College of Energy and Power Engineering, Changsha University of Science and Technology, Changsha, 410076, China E-mail:jingzengxiao@163.com Abstract
To obtain perfect performances of the main steam temperature control system, a new scheme is proposed. The scheme substitutes fuzzy self-tuning PID controller for the main regulator of cascade control system. The controller is composed of fuzzy controller and PID controller. According to the error and error rate of the control system and fuzzy control rules, the fuzzy controller can online adjust the three parameters of the PID controller, then alter the output of the fuzzy selftuning PID controller to maintain the main steam temperature. The results show that the proposed control scheme has smaller overshoot, shorter settling time, better capacity of anti-disturbance and stronger robustness than the conventional PID cascade control. steam temperature is characterized by long time-delay, large inertial and nonlinear time-variation. Therefore, all the above mentioned factors make it difficult for conventional PID cascade control scheme to obtain satisfactory control effects. Consequently, many scholars have proposed a lot of advanced control strategies concerning the control system of the main steam temperature of the thermal power plant [1-10]. Since E.H.Mandani introduced fuzzy control technology into boiler-turbine firstly, fuzzy control has been widely adopted in industrial process. Based on fuzzy control theory, this paper proposes to substitute fuzzy self-tuning PID controller for the main regulator of cascade control system, at the same time, simulation based on the proposed scheme is carried out. The result shows that the proposed scheme has better performance such as control quality, robustness and anti-disturbance than the conventional PID cascade control scheme.

1. Introduction
The main steam temperature of the thermal power plant directly affects the security and economy of an operating unit. On the one hand, if the main steam temperature is too high, the metal material of boiler and turbine will be over temperature and heat, which will accelerate metal oxidation and decrease the service life of the material; on the other hand, if the main steam temperature is too low, the efficiency of thermodynamic cycle will be reduced and the temperature of last stage vanes of turbine will be increased, which will also accelerate the corrosion of vanes and affect the operating security of turbine. During the period of the rated power state, it is well known that the temperature of main steam has an allowable range deviating rating temperature from 10 to +5 . Nevertheless, there are many factors which affect the main steam temperature, such as boiler load, furnace over-air coefficient, feedwater temperature, fuel quality, the pollution of heating surfaces and the operation mode of combustion appliances. Furthermore, the controlled object of main

2. Cascade control
2.1 Conventional cascade control system
Due to long time-delay, large inertial and nonlinear time-variation characteristics of main steam temperature, at present, a great many thermal power plants have adopted the conventional cascade control scheme as shown in Fig.1. Both G1(S) and G2(S) are the controlled object of main steam temperature which respectively are the transfer functions of inertia section and leading section. PID1 and PID2 respective are main regulator and auxiliary regulator of the system. In this paper, the transfer functions of the controlled object on the rating load are as follows: G1(s)=1.125/(30s+1)3 and G2(s)=8/(15s+1)2 [11]. In the rated power state, optimized by Matlab tools, the parameters of the main and auxiliary regulators are fixed as follows: {Kp1=1.4, Ki1=0.01273, Kd1=20} and {Kp2=2.4, Ki2=0, Kd2=0}. Through the result of

978-0-7695-3357-5/08 $25.00 2008 IEEE DOI 10.1109/ICICTA.2008.435

878

Authorized licensed use limited to: Norges Teknisk-Naturvitenskapelige Universitet. Downloaded on December 4, 2009 at 08:25 from IEEE Xplore. Restrictions apply.

simulation based on those above parameters, relative ideal performance is acquired. But when the load of the unit has been greatly changed, the performance of this cascade control system with those above parameters will decrease obviously.

initialization r, at the same time, the fuzzy self-tuning PID controller will online adjust these three parameters: Kp, Ki and Kd so as to alter the output u(t) of the fuzzy self-tuning PID controller. In this system, as u(t) is the initialization of auxiliary loop, the output of auxiliary regulator PID2 can be adjusted by u(t) accordingly, then the flux of reducing temperature water will be adjusted, finally, the main steam temperature will be stabilized and preserved at initialization r.

3.
Fig.1 Cascade control system

Design of controller

fuzzy

self-tuning

PID

2.2 Fuzzy self-tuning PID controller

Accounting for the characters of the controlled object, this paper proposes to substitute fuzzy selftuning PID controller for the main regulator of cascade control system so as to improve the dynamic performance and anti-disturbance capacity when the load has been greatly changed. The structure figure of the control system is shown in Fig.2, the broken line section in Fig.2 is called as fuzzy self-tuning PID controller, which is composed of fuzzy controller and PID controller.

3.1 Input variables

Suppose that the fuzzy domain of the inputs e and de of the fuzzy controller is [-3, 3], and the fuzzy subsets of those linguistic variables are described as {NB, NM, NS, ZE, PS, PM, PB}, and the membership function curves of these linguistic variables are shown in Fig.3.

Fig.2 Fuzzy self-tuning PID cascade control system Based on the conventional PID cascade controller [ Fig.3 Membership function curves of e and de In an operating control system, the actual values of error e and error rate de are limited respectively in the region of [-emax, emax]and [-demax, demax], which are defined as basic domain of error e and error rate de. Therefore, it is essential to transform by scaling factors Ke and Kde that are defined respectively as follows: Ke= 3/emax and Kde= 3/demax.

u(t)=K p e(t)+K i e(t)dt+K d

de(t) ], the fuzzy dt

self-tuning PID controller has established the function relation between system error e and system error rate de with three parameters: Kp, Ki and Kd. Those parameters relations are as follows: Kp=Kp0+f1(e,de), Ki=Ki0+f2(e,de) and Kd=Kd0+f3(e,de). In those relations, Kp0, Ki0 and Kd0 are original values of the main regulator parameters, and f1(e,de), f2(e,de) and f3(e,de) are the outputs of fuzzy controller. So the fuzzy self-tuning PID controller can online adjust the three parameters: Kp, Ki and Kd according to different error e and error rate de. When the load of the boiler has been changed, the measure value y of the controller variable will deviate

3.2 Output variables

Suppose that these three outputs Kup, Kui and Kud of the fuzzy controller are defined as follows: Kup=f1(e,de), Kui=f2(e,de) and Kud=f3(e,de), and whose fuzzy domain is also [-3,3] and whose fuzzy subsets are described as {NB, NM, NS, ZE, PS, PM, PB} and

879

Authorized licensed use limited to: Norges Teknisk-Naturvitenskapelige Universitet. Downloaded on December 4, 2009 at 08:25 from IEEE Xplore. Restrictions apply.

whose membership function curves are shown in Fig.4. Suppose that the basic domain of Kup, Kui and Kud are defined as follows:[-Kupmax, Kupmax], [-Kuimax, Kuimax] and [-Kudmax, Kudmax]. Based on the conception of scaling factor, those scaling factors can be defined as follows:Kbp= Kupmax/3, Kbi= Kuimax/3 and Kbd= Kudmax/3.

smaller overshoot, shorter settling time, better capacity of anti-disturbance and stronger robustness than the latter. Tab.1 Fuzzy control rule table of Kup
kup de
NB NM NS ZE PS PM PB

NB PB PB NS PM PS PS ZE

NM

NS

ZE

PS

PM

PB

PB PM PM PS ZE ZE PB PM PS PB ZE NS PM PM PS ZE NS NS PM PS ZE NS NM NM PS ZE NS NS NM NM ZE NS NM NM NM NB ZE NM NM NM NB NB

Tab.2 Fuzzy control rule table of Kui

kui de NB NM NS ZE PS PM PB e
NB NM NS ZE PS NS NS ZE PS PS PM PM PM ZE ZE PS PM PM PB PB PB ZE ZE PS PM PB PB PB

Fig.4 Membership function curves of the output variables Kup, Kui and Kud

3.3 Fuzzy control rule

To obtain perfect performance, it is necessary for fuzzy controller to possess integrated fuzzy control rules which are hard to acquire. Based on lucubrating the function of these three parameters Kp, Ki and Kd, observing the dynamic characteristic of the controlled object, and analyzing a great many of simulation experiments, we have presented three sets of fuzzy control rules as shown in Tab.1, Tab.2 and Tab.3 in this paper[12-13].

NB NB NM NM NB NB NM NS NS NB NS NS NM NM NS ZE NM NS ZE PS ZE ZE PS PS ZE ZE PS PM

Tab.3 Fuzzy control rule table of Kud

kud de
NB NM NS ZE PS PM PB

NB PS PS NS ZE ZE PB PB

NM

NS

ZE

PS

PM

PB PS ZE ZE ZE ZE PB PB

4. Simulation experiments
Simulation of the proposed system is carried out, and parameters of system regulators are set as follows: the parameters of fuzzy self-tuning PID are Kp0=1.4, Ki0=0.01273 and Kd0=20; and the input scaling factors are Ke=0.0055 and Kde=0.35; and the output scaling factors are Kbp=0.1, Kbi=0.003 and Kbd =10; and the parameters of auxiliary regulator PID2 are Kp2=2.4, Ki2=0 and Kd2=0. Fig.5 is the simulation result of step input response, Fig.6 is the simulation result of disturbance input response, and Fig.7 is the simulation result of the changing of the dynamic parameters of the controlled object. By analyzing these simulation curves of the proposed control scheme and the conventional cascade control scheme, it is obvious that the former has

NS PM NB NB NM NS NB NM NM NS ZE NM NM NS NS NS NS ZE NS NS ZE ZE ZE ZE ZE NS PS PS PS PS PM PM PM PS PS

5. Conclusion
In this paper, a new cascade control system based on fuzzy self-tuning PID for main steam temperature control is presented. On the basis of the conventional PID cascade control, we have designed a fuzzy selftuning PID controller to substitute for the main regulator of cascade control system. With the fuzzy self-tuning PID controller, the proposed control system has a better performance than conventional PID cascade control scheme which is demonstrated by the simulation results.

880

Authorized licensed use limited to: Norges Teknisk-Naturvitenskapelige Universitet. Downloaded on December 4, 2009 at 08:25 from IEEE Xplore. Restrictions apply.

[2]

[3]

[4]

Fig.5 Comparison of step response

[5]

[6]

[7]

[8]

Fig.6 Comparison of disturbance response

[9]

[10]

[11]

[12]

[13]

Fig.7 Test with parameters perturbation

6. References
[1] LIU Ji-zhen, YUE Jun-hong, LIU Xiang-jie and TAN Wen, Fuzzy Predictive Functional Control ofmain

Steam Temperature of Circulating Fluidized Bed Boilers, Journal of Power Engineering, Vol.27, No.4, Aug. 2007, pp. 537-644. A.Sanchez-Lopez, A.Villavicencio-Ramirez, Advanced control algorithms for steam temperature regulation of thermal power plants, International Journal of Electrical Power & Energy Systems, Volume 26, Issue 10, December 2004, pp. 779-785. R. N. Silva, P. O. Shirley, J. M. Lemos, and A. C. Gonalves, Adaptive regulation of super-heated steam temperature: a case study in an industrial boiler, Control Engineering Practice, Volume 8, Issue 12, December 2000, pp. 1405-1415. G. Arroyo-Figueroa, L. E. Sucar, and A. Villavicencio, Fuzzy intelligent system for the operation of fossil power plants, Engineering Applications of Artificial Intelligence, Volume 13, Issue 4, 1 August 2000, pp. 431-439. YANG Ping, XU Li-wei, Focusing variable structure fuzzy control and its application to steam temperature control of a boiler, Control Theory & Applications, Vol.24, No.1, Feb. 2007, pp. 137-142. Cheng Qiming, Wang Yonghao, Simulation Study of Fuzzy/PID Cascade Control System Based on Smith Predictive Estimate on Main Steam Temperature, Transactions of China Electrotechnical Society, Vol.22, No.3, Mar. 2007, pp. 143-147. YANG Yan-xi, LIU Ding and GAO Yi, Main Stream Temperature Control System in Fossil Fired Power Station Based on Fuzzy Immune PID-Smith Controller, Acta Simulata Systematica Sinica, Vol.17, No.11, Nov. 2005, pp. 2756-2758. PENG Dao-gang, YANG Ping, WANG Zhi-ping and YU Hui-qun, Immune PID Cascade Control ofmain Steam Temperature Control System in Fossil-fired Power Plant, Power Engineering, Vol.25, No.2, Apr. 2005, pp. 234-238. WANG Guo-yu, MEI Hua, HAN Pu and WANG Dongfeng, Fuzzy adaptive predictive functional control in main steam temperature system, Proceedings of the Csee, Vol.23, No.10, Oct. 2003, pp. 230-235. Zou Ling, Sun Yuqiang, Research and Application of fuzzy self-tuning PID controller in the Reheat Temperature Control System, Control & Automation, 2005, pp.25-26. GAO Yun-xia, TIAN Pei, LI Qin, and SU Xi-feng Research on main steam temperature control system based on H mixed sensitivity, Journal of North China Electric Power University, 2006, pp.76-79. B.M. Mohan, Arpita Sinha , Analytical structure and stability analysis of a fuzzy PID controller, Applied Soft Computing, Volume 8, Issue 1, January 2008, pp. 749-758. Zhi-Wei Woo, Hung-Yuan Chung and Jin-Jye Lin, A PID type fuzzy controller with self-tuning scaling factors, Fuzzy Sets and Systems, Volume 115, Issue 2, October 2000, pp.321-326.

881

Authorized licensed use limited to: Norges Teknisk-Naturvitenskapelige Universitet. Downloaded on December 4, 2009 at 08:25 from IEEE Xplore. Restrictions apply.