Tube mill is the most often used equipment in the powder-making system in power plant at present, the tube mill load control system is an independent system relatively[1]. since the controlled object has the characteristic of large delay, large inertia, nonlinear and time-variant, such complex dynamics, which is hard to build precise mathematics model, and mathematics model change slowly with the quality of coal, so adopting the regular control method basing at that the controlled object is a precise model, such as cascade PID control, Smith pre-estimate control and so on, when the condition changes, the object characteristic changes, it is hard to maintain the primary control quality and meet the control needs[1-3]. The tube mill load controlled object can be equivalent as a function consisting of first-order inertia and pure delay, The traditional methods are cascade PID control, Smith pre-estimate control, as well as advanced internal model control, pre-estimate control and so on, Although they can effectively deal with the characteristic of large inertia, large delay, there are also some obvious disadvantages, for example, cascade PID control is effective in overcoming the disturbance in the system, thus enhancing the speediness of the system, however it is short in controlling the characteristics of large delay, large inertia, time-variant parameters. When the parameters of the model match well, Smith predictive control is effective in controlling the plant with large delay and large inertia, otherwise, the result is not ideal and the nonlinear can not be coped with. Internal model control, as an advanced control strategy, is popular with many scientific researchers and corporations for its succinct idea in design and simple method in applying, although it can deal with the large delay and large inertia of the system, the non-linear characteristic can
* This work is supported by National Nature Science Foundation under Grant 50576022.
not be coped with. Predictive control is useful in controlling the large delay and large inertia of the system while it is too complex to realize. The principle of immunization is that the biology immune system constructs self and non-self nonlinear self-adopt network through various antibody, takes important effect in dealing with dynamic changing environment[4]. In the view of engineering, immune calculating system combines human previous knowledge and immune system self-adaptable, which has a lot of meaningful characteristics and offers a strong choice to intelligent control, showing the potential of providing new solution to complex problems[5, 6].In the paper, we refer to the regulating function in the immune feedback response and apply the fuzzy immune PID control to the load-control of tube mill. A fuzzy immune PID controller consists of a basic immune feedback P controller and an increment module, which fully takes advantage of cascade PID control and fuzzy control, and effectively controls the object with large delay and large inertia and adapts to the characteristics of time-variant and nonlinear as well. Furthermore, the idea of control is concise and the control algorithm is very simple to realize and practical.
Tube mill is the most often used equipment in the powder-making system in power plant at present, the tube mill load control system is an independent system relatively[1]. since the controlled object has the characteristic of large delay, large inertia, nonlinear and time-variant, such complex dynamics, which is hard to build precise mathematics model, and mathematics model change slowly with the quality of coal, so adopting the regular control method basing at that the controlled object is a precise model, such as cascade PID control, Smith pre-estimate control and so on, when the condition changes, the object characteristic changes, it is hard to maintain the primary control quality and meet the control needs[1-3]. The tube mill load controlled object can be equivalent as a function consisting of first-order inertia and pure delay, The traditional methods are cascade PID control, Smith pre-estimate control, as well as advanced internal model control, pre-estimate control and so on, Although they can effectively deal with the characteristic of large inertia, large delay, there are also some obvious disadvantages, for example, cascade PID control is effective in overcoming the disturbance in the system, thus enhancing the speediness of the system, however it is short in controlling the characteristics of large delay, large inertia, time-variant parameters. When the parameters of the model match well, Smith predictive control is effective in controlling the plant with large delay and large inertia, otherwise, the result is not ideal and the nonlinear can not be coped with. Internal model control, as an advanced control strategy, is popular with many scientific researchers and corporations for its succinct idea in design and simple method in applying, although it can deal with the large delay and large inertia of the system, the non-linear characteristic can
* This work is supported by National Nature Science Foundation under Grant 50576022.
not be coped with. Predictive control is useful in controlling the large delay and large inertia of the system while it is too complex to realize. The principle of immunization is that the biology immune system constructs self and non-self nonlinear self-adopt network through various antibody, takes important effect in dealing with dynamic changing environment[4]. In the view of engineering, immune calculating system combines human previous knowledge and immune system self-adaptable, which has a lot of meaningful characteristics and offers a strong choice to intelligent control, showing the potential of providing new solution to complex problems[5, 6].In the paper, we refer to the regulating function in the immune feedback response and apply the fuzzy immune PID control to the load-control of tube mill. A fuzzy immune PID controller consists of a basic immune feedback P controller and an increment module, which fully takes advantage of cascade PID control and fuzzy control, and effectively controls the object with large delay and large inertia and adapts to the characteristics of time-variant and nonlinear as well. Furthermore, the idea of control is concise and the control algorithm is very simple to realize and practical.
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