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Nichtlineare modellprädiktive Regelung eines Brammenwärmofens basierend auf einem zeitkontinuierlichen Zustandsraummodell

Nonlinear model predictive control of a pusher-type slab reheating furnace based on a continuous-time state-space model

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Summary

A nonlinear model predictive controller is developed as part of a cascade temperature control system for a continuous furnace that reheats steel slabs. Using a continuous-time state-space model based on first principles, a constrained dynamic optimization problem is formulated. It is converted into an unconstrained optimization problem by means of an input transformation and additional penalty terms in the cost functional. With the help of the quasi-Newton method, the optimization problem is recurrently solved for finite time horizons. The measured furnace temperatures as well as the slab temperatures, which are estimated by an extended Kalman filter, are used as feedback. Results from the application of the control system in a slab furnace of a rolling mill demonstrate the high accuracy of the slab reheating process and significant energy savings.

Zusammenfassung

Es wird ein nichtlinearer modellprädiktiver Regler als Teil einer kaskadierten Temperaturregelung eines kontinuierlichen Ofens zur Erwärmung von Stahlbrammen entwickelt. Dazu wird aufbauend auf einem physikalisch motivierten, zeitkontinuierlichen Zustandsraummodell ein beschränktes dynamisches Optimierungsproblem formuliert und mittels einer Transformation von Eingangsgrößen sowie zusätzlichen Straftermen im Kostenfunktional in eine unbeschränkte Optimierungsaufgabe übergeführt. Das Optimierungsproblem wird mit dem Quasi-Newton-Verfahren wiederkehrend für finite Zeithorizonte gelöst. Als Rückkopplung werden neben gemessenen Ofentemperaturen die mit einem erweiterten Kalman-Filter geschätzten Brammentemperaturen verwendet. Ergebnisse aus der Anwendung des Regelungssystems bei einem Brammenwärmofen eines Walzwerks belegen die hohe Genauigkeit der Brammenerwärmung und eine erhebliche Energieeinsparung.

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  1. Institut für Automatisierungs- und Regelungstechnik, Technische Universität Wien, Wien, Austria

    A. Steinböck & A. Kugi

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  1. A. Steinböck
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Steinböck, A., Kugi, A. Nichtlineare modellprädiktive Regelung eines Brammenwärmofens basierend auf einem zeitkontinuierlichen Zustandsraummodell. Elektrotech. Inftech. 129, 3–10 (2012). https://doi.org/10.1007/s00502-012-0067-3

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