Hindawi

Complexity
Volume 2019, Article ID 9361723, 12 pages
https://doi.org/10.1155/2019/9361723

Research Article
Performance Analysis of Reheat Steam Temperature
Control System of Thermal Power Unit Based on Constrained
Predictive Control

Xiaoli Li ,1,2,3 Jian Liu ,1 Kang Wang ,1 Fuqiang Wang,4 and Yang Li5
1
Faculty of Information Technology, Beijing University of Technology, Beijing 100124, China
2
Beijing Key Laboratory of Computational Intelligence and Intelligent System, Engineering Research Center of Digital Community,
Ministry of Education, Beijing 100124, China
3
Beijing Advanced Innovation Center for Future Internet Technology, Beijing University of Technology, Beijing 100124, China
4
Technology Research Center, Shenhua Guohua Electric Power Research Institute Corporation, Beijing 100025, China
5
School of International Studies, Communication University of China, Beijing 100024, China

Correspondence should be addressed to Xiaoli Li; [email protected]

Received 17 April 2019; Revised 28 June 2019; Accepted 8 July 2019; Published 5 August 2019

Guest Editor: Xiaoqing Bai

Copyright © 2019 Xiaoli Li et al. This is an open access article distributed under the Creative Commons Attribution License, which
permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

The reheat steam temperature control system of thermal power unit is a complex control object with time-varying parameters
and large delay. In order to achieve precise control of reheat steam temperature, the performance of the reheat temperature control
system is analyzed according to the data that are obtained based on the constrained predictive control algorithm. Firstly, the process
and mathematical model of reheat steam temperature control system are introduced. Then the principle of constrained predictive
control algorithm is analyzed. Finally, the steady-state values of control quantities of reheat steam temperature control system under
different conditions are given by MATLAB simulation, and, by analyzing the steady-state values and steady-state time of the input
and output of the system, the reference values and the regulating law of the control quantities and the specific constraint range of
the control quantities of the system are given, which can provide reference data and theoretical basis for the field adjustment of the
reheat steam temperature control system in power plant and improve the safety and effectiveness of the system.

1. Introduction of the unit’s infrastructure design and the limitation of

metal material of boiler, the upgrading and transformation of
In recent years, China’s electric power industry has developed operating parameters of unit require a large amount of invest-
rapidly. Ultra-supercritical thermal power unit, which has ment of funds. Therefore, it is very important to improve
the characteristics of nonlinear, uncertain parameters and the control effect of steam temperature on the existing
time-variation, has become the main unit in coal-fired basis.
power generation industry. Thus higher requirements for In thermal power unit, reheat steam temperature is an
automatic control of coal-fired power plants are put forward. important parameter that affects the economic value of unit.
At the same time, China’s clean energy industry has made The reheat steam temperature control system is a complex
great progress, and a variety of clean energy sources have object with the characteristics of large inertia and hysteresis,
entered the electricity market, which has a certain impact and the dynamic characteristics of the system are different
on the traditional coal-fired plants. In order to improve the during the load variation of generator unit, which make the
market competitiveness of coal-fired plants, it is necessary to control of reheat steam temperature extremely difficult. If the
improve the efficiency of unit continuously. Increasing the reheat steam temperature is too high, it may increase the
pressure and temperature of steam is an effective means to corrosion of the metal material of pipeline and the heating
improve competitiveness, but, due to the design requirement surface of the boiler through which the steam flows, so
2 Complexity

that the service life of unit may be reduced. If the steam (MPSO-RBF) for radial basis function (RBF) neural network
temperature is too low, the humidity of steam will be very based on modified particle swarm optimization (MPSO)
high, which not only makes the last turbine blades more is presented in [8]. The results have proved that MPSO-
vulnerable to damage, but also reduces the thermal efficiency RBF method has good performance index. In [9], a scheme
of unit. The large variation of reheat steam temperature combining neural network identification technology and
will also cause unit fatigue and reduce the service life of adaptive inverse control technology is proposed for the
unit. Therefore, understanding the regulating law of the control of boiler superheated steam temperature in fossil-
control quantities and the constraint range of the control fired power plant. The identified inverse model is preset
quantities of the reheat steam temperature control system can as the controller and connected in series with the con-
not only ensure the safety of thermal equipment, but also trolled object to form an adaptive inverse control system.
have important significance to the stability of reheat steam In [10, 11], active disturbance rejection control (ADRC) is
temperature. applied in the control of superheated steam temperature.
In order to improve the control effect of steam temper- Comparing with PID algorithm, the method achieved an
ature, a large number of scholars have adopted a variety excellent performance. In [12], a nonlinear control strategy
of advanced control strategies to study it. A new cascade for steam power plants is proposed. The strategy decomposes
feedback control system with load feed-forward of reheat the overall plant into three separate subsystems and applies
steam temperature is proposed in [1]. Single-Neuron Self- decoupling with dead time compensation for each one of
adaptive PSD algorithm controller applied to outer loop and them. The simulation results show that the method has
double-degree PID controller is applied to inner loop, which good performance and robustness. When the superheated
achieves good control effect. In [2], based on the charac- steam temperature is controlled by adjusting the cooling
teristics of superheated steam temperature of a boiler, a water, the nonlinear characteristics of the valve are caused
new cascade control system is designed. The main regulator by the flow rate. In [13], by collecting the valve input and
adopts multimodel observer control, and the secondary output data and fitting the valve flow characteristic curve, a
controller adopts weighted synthesizing proportional control. valve opening degree compensator based on the polynomial
The system integrates the characteristics of the multimodel fitting method was designed. The simulation results show
control with those of the state variable control with observer. that the method can overcome the nonlinear problem caused
The results show that the control system has strong robust- by valve flow characteristics. In [14], a system of automatic
ness. In [3], an adaptive predictive control algorithm is control over the temperature of superheated steam for the
designed for the reference model, and two compensators boiler with three-tier steam cooling system is considered.
are introduced; one is two-order compensator for process; A regulating algorithm rests on a cascade control method
the other one is time delay compensator for the reference with the temperature error correction based on a force signal.
model. The algorithm has been applied in a 200MW peak The force signal is a speed of steam temperature change
regulating drum boiler for reheating temperature process, after the condensate injection. The simulation results show
and high control accuracy is obtained. As the superheated the effectiveness of the method. Besides, based on robust
steam temperature has large inertia, time-delay, and non- H∞ control method, the reheat steam temperature control
linearity and its dynamic characteristics change with the system of boiler is studied in [15]. In [16], according to the
operating conditions, a self-tuning PID controller based on characteristics of reheat steam temperature, a hybrid opti-
fuzzy-RBF neural networks is presented for its control in mization method based on Biogeography-Based Optimiza-
[4], which has the advantages of traditional PID control, tion (BBO) algorithm is proposed to optimize the traditional
neutral networks control, and fuzzy control and optimizes PID controller. It turns out that the optimized PID controller
online PID parameters. In [5], a new intelligent control has better tracking ability and better anti-internal and exter-
algorithm of cloud models is proposed. The variant dimen- nal interference performance in reheat steam control sys-
sion cloud model intelligent controller, which contains a tem.
one-dimension cloud model controller to eliminate steady- Aiming at the difficulty of reheat steam temperature
state error, is designed, and it is used for superheated steam control, model predictive control is a useful control method.
temperature control of a supercritical once-through 600MW It can deal with multivariable, constrained, and time-delay
boiler. In [6], a multimodel internal mode control strategy problems effectively and has good dynamic control per-
is proposed, and it has been successfully applied to a 1024 formance. Model predictive control (MPC) [17–20] was
t/h supercritical pressure boiler. Performance studies show proposed in the 1980s. It has been improved and developed
that the control strategy ensures that the superheated steam continuously in recent years and has been widely used in
temperature stays within the desired range for both steady many industrial fields such as robots [21–24]. The control
and varying loads. In [7], dynamic matrix control (DMC) mechanism of MPC is that, at each sampling time, according
is applied in controlling steam temperatures of a large-scale to the current measurement information, an open-loop
once-through boiler-turbine system. Online optimization is optimization problem in finite time domain is solved online,
performed for the DMC using the step response model. The and the first element of the control sequence is acted on
simulation results show satisfactory performance of the pro- the controlled object. At the next sampling time, the above
posed DMC technique. Aiming at the characteristics of large process is repeated; that is, the optimization problem is
inertia, large time delay, and nonlinearity of Reheater Tem- refreshed and resolved with new measurements. In addition,
perature Control System, a hybrid optimization algorithm in the actual industrial control process, the physical quantity
Complexity 3

Sprinkler of
side A (u3)
Steam from High
Pressure Cylinder Sprinkler of
side B (u4)

Pumping water

Overfire Flue
air Burnout gas
zone Super-
Reburning Reheater
heater
fuel Reburning
zone Econo- Econo-
u1 mizer mizer
Flue damper Flue damper
Primary
combustion
zone
u2

Air Powdered-
coal Mixture

Figure 1: The process diagram of reheat steam temperature control system.

of the system can only be taken in a certain range, such 2. The Technological Principle and
that the opening range of the valve dampers in the unit of Mathematical Model of Reheat Steam
thermal power plant can only be taken from 0% to 100%. Temperature Control System
Executing agencies are not allowed to change too much to
prevent damage to them. Therefore, in actual control process, 2.1. The Technological Principle of Reheat Steam Temperature
the control input and output must be constrained according Control System. At present, in order to improve the opera-
to the actual requirement, so that their values can be kept tion efficiency of large-scale thermal power unit, the steam
within a certain range. Considering the above factors, the which has finished the work in the high-pressure cylinder is
reheat steam temperature control system of 660 MW Ultra- reheated generally. The process of steam reheating involves
supercritical Once-through Boiler in a power plant is taken three steps. At first, the steam discharged from high pressure
as the research object in this paper. And the control process cylinder is resent back to the boiler for heating. Then the
of reheat steam temperature in coal-fired power plant is reheat steam is heated to a certain temperature. Finally, the
studied and analyzed by using constrained predictive control reheat steam is sent to the middle- and low-pressure cylinders
algorithm. Through the simulation results, the regulation law for work.
and the restriction range of system inputs during the reheat There are many ways to regulate reheat steam tempera-
steam temperature system regulation are obtained, which ture. The commonly used methods include adjusting flue gas
provides theoretical and data support for field regulation. In damper opening, swinging burner swing angle, and spraying
this way, we can improve the safety and efficiency of reheat water to reduce temperature. The process diagram of reheat
steam temperature control and the quality of reheat steam steam temperature control system is shown in Figure 1. In
temperature control of ultra-supercritical coal-fired units. the control process of steam temperature, reheat steam pipe
The paper is organized as follows. In Section 2, the tech- is generally divided into side A and side B. The burner and
nological principle and mathematical model of reheat steam the flue gas baffle act on the reheat steam temperature of
temperature control system are formulated. Then the prin- both sides at the same time. The sprinkler that is installed
ciple of constrained predictive control algorithm is analyzed on the A side and the B side of the reheater can only control
in Section 3. In Section 4, we apply constrained predictive the reheat steam temperature of the A side and the B side,
control to reheat steam temperature control system and carry respectively. When reheat steam temperature is controlled
out MATLAB simulation. And, by analyzing the simulation by flue gas damper, the tail flue of the boiler is divided into
results, the input regulation law and appropriate constraint two parallel flues. Low temperature reheater is arranged in
range of system inputs are given. Finally, conclusions are the main flue, low temperature superheater is arranged in
given in Section 5. the bypass flue, and economizer is arranged behind them.
4 Complexity

Temperature regulating damper is installed under econo- steam temperature on the A side of reheater, rather than the
mizer. By changing the opening of two flue dampers, the ratio actual reheat steam temperature. If the initial temperature of
of flue gas that flows through cryogenic reheater and cryo- reheat steam is 580∘ C and the expected temperature is 590∘C,
genic superheater is changed, so as to control the temperature then 𝑦1 is the change of the initial temperature, that is, 10∘ C.
of reheat steam. Specifically, when the opening of the flue Similarly, 𝑦2 is the variance of reheat steam temperature on
gas damper increases, the reheat steam temperature increases; the B side of reheater, 𝑢1 is the variance of the flue gas damper
otherwise the reheat steam temperature decreases. The way of opening, 𝑢2 is the variance of the burner swing angle, 𝑢3 is
adjusting the swing angle of the burner is to change the up and the variance of the sprinkler valve opening on the A side of
down inclination angle of the swing burner nozzle, which will reheater, and 𝑢4 is the variance of the sprinkler valve opening
adjust the position of the high temperature flame center in the on the B side of reheater.
furnace, so as to change the flue gas temperature at the outlet The transfer functions of burner swing angle-reheat steam
of the furnace and control the reheat steam temperature. temperature, flue gas damper-reheat steam temperature,
Similar to the flue gas damper, the reheat steam temperature and spray desuperheating-reheat steam temperature can be
increases with the increase of burner swing angle; otherwise described by the mode of first-order inertia plus pure delay.
the reheat steam temperature decreases. In case of emergency, The expression of the transfer functions is as follows:
sprinklers on both sides of reheater can spray water to cool
down. 𝐾
In general, adjusting flue gas damper opening and burner 𝐺 (𝑠) = exp (−𝜏𝑠) , (2)
𝑇𝑠 + 1
swing angle is the main control means in the control process
of reheat steam temperature system. The performance of
burner swing angle regulation and flue gas damper regulation where 𝐾 is the gain, 𝑇 is the first-order inertia time, and
is stable, and heat shock is small, so the two control methods 𝜏 is the delay time. The transfer function form of 𝐺11 , 𝐺12 ,
have higher thermal economy. Although spray desuperheat- 𝐺13 , 𝐺21 , 𝐺22 , 𝐺24 in model (1) is determined by (2).
ing has a rapid effect on reheat steam temperature control,
it will reduce the thermal efficiency of the unit, so it is not 3. Theoretical Analysis of Constrained
the main method of regulation. Usually only in the process of
Predictive Control [26]
unit start-up and shutdown, or in the case of accident, spray
desuperheating is used as an auxiliary emergency means. The theoretical analysis of predictive control algorithm is
Besides, in the normal operation of the unit, small amount usually based on the state space equation of the system model.
of cooling water can be used intermittently, or it can be Therefore, the transfer function model of the research object
combined with other temperature regulation methods as a in this paper needs to be transformed into the state space
fine-tuning method of reheat steam. model. The transformation method can be easily found in
many data [27], so it is no longer detailed.
2.2. The Mathematical Model of Reheat Steam Temperature The state space incremental model of the linear discrete
Control System. From the above analysis, we can learn that time system is considered as follows:
the ideal control method for the reheat steam temperature
should be to use the burner swing angle and the flue gas
damper to adjust the reheat steam temperature roughly and Δ𝑥 (𝑘 + 1) = 𝐴Δ𝑥 + 𝐵𝑢 Δ𝑢 (𝑘) + 𝐵𝑑 Δ𝑑 (𝑘) , (3a)
use the method of water spraying to reduce the temperature
𝑦𝑐 (𝑘) = 𝐶𝑐 Δ𝑥 (𝑘) + 𝑦𝑐 (𝑘 − 1) , (3b)
to achieve fine adjustment. As an emergency safety measure,
the sprinkler valve should be kept as small as possible. At the 𝑦𝑏 (𝑘) = 𝐶𝑏 Δ𝑥 (𝑘) + 𝑦𝑏 (𝑘 − 1) , (3c)
same time, the variance of burner swing angle and flue gas
damper opening must be limited to a certain range.
According to the requirements of reheat temperature where
control process, the mathematical model [25] of reheat steam
temperature control system for 660 MW ultra-supercritical Δ𝑥 (𝑘) = 𝑥 (𝑘) − 𝑥 (𝑘 − 1) ,
once-through boiler in a power plant is established:
Δ𝑢 (𝑘) = 𝑢 (𝑘) − 𝑢 (𝑘 − 1) , (4)
𝑢1
[ ] Δ𝑑 (𝑘) = 𝑑 (𝑘) − 𝑑 (𝑘 − 1) .
𝑦1 𝐺11 𝐺12 𝐺13 0 [𝑢2 ]
[ ]=[ ]×[ ]
[𝑢 ] . (1)
𝑦2 𝐺21 𝐺22 0 𝐺24 [ 3] In the model ((3a), (3b), and (3c)), Δ𝑥(𝑘) ∈ R𝑛𝑥 is the
[𝑢4 ] state increment; Δ𝑢(𝑘) ∈ R𝑛𝑢 is the increment of control
input; Δ𝑑(𝑘) ∈ R𝑛𝑑 is the increment of measurable external
where 𝑢1 , 𝑢2 , 𝑢3 , 𝑢4 are the control quantities of the system interference; 𝑦𝑐 (𝑘) ∈ R𝑛𝑐 is the controlled output; 𝑦𝑏 (𝑘) ∈
and 𝑦1 , 𝑦2 are the output of the system. It should be noted R𝑛𝑏 is the constrained output; 𝐴, 𝐵𝑢 , 𝐵𝑑 , 𝐶𝑐 , 𝐶𝑏 is the system
that the model is established based on the input variance and matrix of the corresponding dimension.
output variance of reheat steam temperature control system. The control objective is to make the controlled output 𝑦𝑐
For example, in model (1), 𝑦1 is the variance of the reheat track the given reference input 𝑟. At the same time, the control
Complexity 5

quantity, control increment, and output of the system satisfy 𝑅(𝑘 + 1) is a reference sequence of control output, and it is
the following control constraints and output constraints: given as

𝑢min (𝑘) ≤ 𝑢 (𝑘) ≤ 𝑢max (𝑘) , ∀𝑘 ≥ 0, (5a) 𝑟 (𝑘 + 1)

[ 𝑟 (𝑘 + 2) ]
Δ𝑢min (𝑘) ≤ Δ𝑢 (𝑘) ≤ Δ𝑢max (𝑘) , ∀𝑘 ≥ 0, [ ]
(5b) [ ]
𝑅 (𝑘 + 1) = [ . ] , (11)
[ . ]
𝑦min (𝑘) ≤ 𝑦𝑏 (𝑘) ≤ 𝑦max (𝑘) . ∀𝑘 ≥ 0, (5c) [ . ]
[𝑟 (𝑘 + 𝑝)]𝑝×1
At 𝑘 time, the measured value of state is 𝑥(𝑘). According
to the basic principle of predictive control, the optimization Δ𝑈(𝑘) is a sequence of control quantity. As an independent
problem of constrained MPC is described as follows. variable for constrained optimization problems, it is defined
as
Question 1
Δ𝑢 (𝑘)
min 𝐽 (𝑥 (𝑘) , Δ𝑈 (𝑘)) (6) [ Δ𝑢 + 1) ]
Δ𝑈(𝑘) [ (𝑘 ]
𝑑𝑒𝑓 [ ]
Δ𝑈 (𝑘) = [ .. ] , (12)
satisfies system dynamics (𝑖 = 0, 1, ⋅ ⋅ ⋅ , 𝑝) and the following [ ]
[ . ]
time-domain constraints ((8a), (8b), and (8c)):
[Δ𝑢 (𝑘 + 𝑚 − 1)]𝑚×1
Δ𝑥 (𝑘 + 𝑖 + 1 | 𝑘) = 𝐴Δ𝑥 (𝑘 + 𝑖 | 𝑘) + 𝐵𝑢 Δ𝑢 (𝑘 + 𝑖)
(7a) 𝑌𝑝,𝑐 (𝑘 + 1 | 𝑘) is the p step control output based on model
+ 𝐵𝑑 Δ𝑑 (𝑘 + 𝑖) , ((3a), (3b), and (3c)) prediction at 𝑘 time, and it is defined as
Δ𝑥 (𝑘 | 𝑘) = Δ𝑥 (𝑘) , (7b) 𝑦𝑐 (𝑘 + 1 | 𝑘)
[ 𝑦 (𝑘 + 2 | 𝑘) ]
𝑦𝑐 (𝑘 + 𝑖 | 𝑘) = 𝐶𝑐 Δ𝑥 (𝑘 + 𝑖 | 𝑘) [
𝑑𝑒𝑓 [ 𝑐
]
]
(7c) 𝑌𝑝,𝑐 (𝑘 + 1 | 𝑘) = [ . ] . (13)
+ 𝑦𝑐 (𝑘 + 𝑖 − 1 | 𝑘) , 𝑖 ≥ 1, [ . ]
[ . ]
𝑦𝑐 (𝑘 | 𝑘) = 𝑦𝑐 (𝑘) , (7d) [𝑦𝑐 (𝑘 + 𝑝 | 𝑘)]𝑝×1

𝑦𝑏 (𝑘 + 𝑖 | 𝑘) = 𝐶𝑏 Δ𝑥 (𝑘 + 𝑖 | 𝑘) Specifically, the controlled output 𝑦𝑐 (𝑘 + 𝑖 | 𝑘) and

(7e) constrained output 𝑦𝑏 (𝑘 + 𝑖 | 𝑘) of predictive control are
+ 𝑦𝑐 (𝑘 + 𝑖 − 1 | 𝑘) , 𝑖 ≥ 1,
calculated by equation ((7a), (7b), (7c), (7d), (7e), and (7f)),
𝑦𝑏 (𝑘 | 𝑘) = 𝑦𝑏 (𝑘) , (7f) where (7b), (7d), and (7f) indicate that the measured states
are the initial condition for predicting the future dynamics of
𝑢min (𝑘 + 𝑖) ≤ 𝑢 (𝑘 + 𝑖) ≤ 𝑢max (𝑘 + 𝑖) , the system. If the states are not all measurable, the estimated
(8a) states are used as the initial conditions for predicting the
𝑖 = 0, 1, ⋅ ⋅ ⋅ , 𝑚 − 1, future dynamics of the system.
𝑌𝑝,𝑐 (𝑘 + 1 | 𝑘) can be calculated by the equation
Δ𝑢min (𝑘 + 𝑖) ≤ Δ𝑢 (𝑘 + 𝑖) ≤ Δ𝑢max (𝑘 + 𝑖) ,
(8b)
𝑖 = 0, 1, ⋅ ⋅ ⋅ , 𝑚 − 1, 𝑌𝑝,𝑐 (𝑘 + 1 | 𝑘) = 𝑆𝑥 Δ𝑥 (𝑘) + 𝐼𝑦𝑐 (𝑘) + 𝑆𝑢 Δ𝑈 (𝑘)
(14)
𝑦min (𝑘 + 𝑖) ≤ 𝑦𝑏 (𝑘 + 𝑖) ≤ 𝑦max (𝑘 + 𝑖) . + 𝑆𝑑 Δ𝑑 (𝑘) ,
(8c)
𝑖 = 0, 1, ⋅ ⋅ ⋅ , 𝑝, where

where 𝐶𝑐 𝐴
[ ]
[𝐶𝑐 𝐴2 + 𝐶𝑐 𝐴]
󵄩 󵄩2 [ ]
𝐽 (𝑥 (𝑘) , Δ𝑈 (𝑘)) = 󵄩󵄩󵄩󵄩Γ𝑦 (𝑌𝑝,𝑐 (𝑘 + 1 | 𝑘) − 𝑅 (𝑘 + 1))󵄩󵄩󵄩󵄩 [
..
]
𝑆𝑥 = [
[
] ,
]
(9) [ . ]
󵄩 󵄩2 [ 𝑝 ]
+ 󵄩󵄩󵄩Γ𝑢 Δ𝑈 (𝑘)󵄩󵄩󵄩 . [ ]
∑ 𝐶𝑐 𝐴𝑖
[ 𝑖=1 ]𝑝×1
In the above optimization problems, Γ𝑦 and Γ𝑢 are weighted
matrices, and they are given as follows: 𝐼𝑛𝑐 ×𝑛𝑐
[ ]
[𝐼𝑛 ×𝑛 ]
[ 𝑐 𝑐]
Γ𝑦 = diag {Γ𝑦,1 , Γ𝑦,2 , ⋅ ⋅ ⋅ Γ𝑦,𝑝 }𝑝×𝑝 , 𝐼=[
[ .. ]
] ,
[ . ]
(10) [ ]
Γ𝑢 = diag {Γ𝑢,1 , Γ𝑢,2 , ⋅ ⋅ ⋅ Γ𝑢,𝑚 }𝑚×𝑚 , [𝐼𝑛𝑐 ×𝑛𝑐 ]𝑝×1
6 Complexity

𝐶𝑐 𝐵𝑑 Table 1: The model of flue gas damper-reheat steam temperature

[ ]
[𝐶𝑐 𝐴𝐵𝑑 + 𝐶𝑐 𝐵𝑑 ] under 400 MW, 500 MW, and 600 MW.
[ ]
[ ]
𝑆𝑑 = [ .. ] , Load 𝐺11 𝐺21
[ . ]
[ ]
[ 𝑝 ]
[ 𝑖−1 ]
∑ 𝐶𝑐 𝐴 𝐵𝑑
[ 𝑖=1 ]𝑝×1 0.34 0.31
400MW 𝑒−251𝑠 𝑒−250𝑠
284.5𝑠 + 1 261.3𝑠 + 1
𝑆𝑢 0.69 0.67
500MW 𝑒−170𝑠 𝑒−152𝑠
244.2𝑠 + 1 214.3𝑠 + 1
𝐶𝑐 𝐵𝑢 0 0 ⋅⋅⋅ 0 0.85 0.81
[2 ] 600MW 𝑒−121𝑠 𝑒−121𝑠
[ ] 210.1𝑠 + 1 201.2𝑠 + 1
[ ∑ 𝐶 𝐴𝑖−1 𝐵 𝐶𝑐 𝐵𝑢 0 ⋅⋅⋅ 0 ]
[ 𝑐 𝑢 ]
[𝑖=1 ]
[ .. .. .. .. ]
[ . . . . ] Table 2: The model of burner swing angle-reheat steam temperature
[ ]
[ ] under 400 MW, 500 MW, and 600 MW.
=[ 𝑚 𝑚−1
[ ∑ 𝐶 𝐴𝑖−1 𝐵 ∑ 𝐶 𝐴𝑖−1 𝐵 ⋅ ⋅ ⋅ ⋅ ⋅ ⋅
]
] .
[ 𝐶𝑐 𝐵𝑢 ] 𝐺12 𝐺22
[𝑖=1 𝑐 𝑢
𝑖=1
𝑐 𝑢
] Load
[ .. .. .. .. ] 1 1.01
[ ] 400MW 𝑒−300𝑠 𝑒−300𝑠
[ . . . . ] 345.6𝑠 + 1 324.1𝑠 + 1
[ ]
[𝑝 ] 1.18 1.275 −260𝑠
[ 𝑝−1 𝑝−𝑚+1 ] 500MW 𝑒−251𝑠 𝑒
∑ 𝐶𝑐 𝐴𝑖−1 𝐵𝑢 ∑ 𝐶𝑐 𝐴𝑖−1 𝐵𝑢 ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ∑ 𝐶𝑐 𝐴𝑖−1 𝐵𝑢 375.1𝑠 + 1 384.2𝑠 + 1
[𝑖=1 𝑖=1 𝑖=1 ]𝑝×𝑚 1.36 1.445 −153𝑠
600MW 𝑒−161𝑠 𝑒
(15) 397.3𝑠 + 1 289.5𝑠 + 1

The constrained optimization problem is a quadratic

programming (QP) problem, so we transform it into a QP system of boiler based on constraint predictive control algo-
description. The specific transformation process is detailed in rithm when the loads of generator unit are 400MW, 500MW,
[15]. and 600MW, respectively. The initial temperature of reheat
The constraint MPC optimization Question 1 is converted steam is set to 580∘ C and the expected output temperature
into the following QP problem description: of reheat steam is set to 590∘ C; that is, the reference input is
𝑟 = 10. The sampling period is 10 seconds. The prediction
min Δ𝑈 (𝑘)𝑇 𝐻Δ𝑈 (𝑘) − 𝐺 (𝑘 + 1 | 𝑘)𝑇 Δ𝑈 (𝑘) (16a)
horizon is p=100, and the control horizon is m=3. The output
Δ𝑈(𝑘) error weighting matrix of quadratic performance index is
ywt = [], and control quantity weighting matrix of quadratic
satisfies 𝐶𝑢 Δ𝑈 (𝑘) ≥ 𝑏 (𝑘 + 1 | 𝑘) . (16b) performance index is uwt = [1 1 1 1].
In order to make comparison and analysis, the constraints
The QP problem ((16a) and (16b)) has a solution to any
of 𝑢𝑗 are set to 0∼8, 0∼10, 0∼12, and 0∼15, respectively, where
weighting matrix Γ𝑦 ≥ 0, Γ𝑢 ≥ 0, which is denoted as
𝑗 = 1, 2, 3, 4. Note that if we want to rise the reheat steam
Δ𝑈∗ (𝑘). Obviously, Δ𝑈∗ (𝑘) is a function that is related to temperature, 𝑢1 , 𝑢2 should be greater than or equal to 0
the measured value 𝑥(𝑘), the control horizon 𝑚, and the and 𝑢3 , 𝑢4 should be close to or equal to 0. Therefore, the
prediction horizon 𝑝. According to the basic principle of constraints of 𝑢𝑗 should start from 0. The unit of 𝑢1 , 𝑢3 , 𝑢4
predictive control, the first step of the obtained open-loop is %. The unit of 𝑢2 is degree.
control sequence will be applied to the controlled system. At When the load of generator unit is 400MW, 𝑢𝑗 ∈ [0, 15],
the next sampling time, the constrained optimization ques- Δ𝑢𝑗 = 0.5, the simulation results of reheat steam temperature
tion 1, that is, QP problem ((16a) and (16b)), will be refreshed control system are shown in Figures 2 and 3.
with the new measured value and solved again. Therefore, the From Figures 2 and 3, we can see that the steady state
closed-loop control law of constrained MPC is defined as values of 𝑢1 , 𝑢2 , 𝑢3 , 𝑢4 are 13.94, 5.62, 0.26, and 0, respectively,
and the time that is required for the input and output to reach
Δ𝑢 (𝑘) = [𝐼𝑛𝑢 × 𝐼𝑛𝑢 0 ⋅ ⋅ ⋅ 0] Δ𝑈∗ (𝑘) . (17)
the steady state is about 120 sampling periods, that is, 1200s.
Similarly, we can obtain the steady state time of the 𝑢𝑗 and
4. Performance Analysis of 𝑦1,2 and the steady state values of 𝑢𝑗 under different loads and
Reheat Steam Temperature Control different input constraints, and they are shown in Tables 4,
System with Variable Load 5, 6, and 7. According to the data that is obtained from the
simulation, we can analyze the control performance of the
4.1. Simulation Results. The transfer functions [25] of spray reheat steam temperature control system.
desuperheating (valve opening), reheat steam temperature, Since the dynamic characteristics of reheat steam tem-
burner swing angle, reheat steam temperature and flue gas perature control system are different during the change of
damper, and reheat steam temperature of a 660MW ultra- generators load, that is, the model parameters of reheat steam
supercritical once-through boiler under 400MW, 500MW, temperature control system are changing with the change of
and 600MW load are shown in Tables 1, 2, and 3. generator load, so the models of reheat steam temperature
According to the mathematical model in Tables 1, 2 and control system under one or several loads can only provide
3, we simulate the control effect of reheat steam temperature the system input under the one or several loads at the site,
Complexity 7

Table 3: The model of spray desuperheating-reheat steam temperature under 400 MW, 500 MW, and 600 MW.

Load 𝐺13 𝐺24

−1.4 −40𝑠 −1.39 −39𝑠
400MW 𝑒 𝑒
85𝑠 + 1 82𝑠 + 1
−1.11 −35𝑠 −1.02 −34𝑠
500MW 𝑒 𝑒
41𝑠 + 1 40𝑠 + 1
−0.81 −26𝑠 −0.79 −24𝑠
600MW 𝑒 𝑒
34𝑠 + 1 31𝑠 + 1

Table 4: Steady-state values of 𝑢𝑗 when 𝑢𝑗 ∈ [0, 15].

𝑢𝑗 ∈ [0, 15] 400MW 500MW 600MW

Δ𝑢𝑗 0.5 1 1.5 2 0.5 1 1.5 2 0.5 1 1.5 2
Steady-state time of 𝑦1,2 120 100 90 85 95 87 85 80 60 55 50 45
Steady-state time of 𝑢𝑗 120 100 90 85 95 87 85 80 60 55 50 45
Steady-state value of 𝑢1 13.94 13.2 12.63 12.12 12.62 12.78 12.61 12.44 10.63 10.89 10.56 10.20
Steady-state value of 𝑢2 5.62 5.84 6.02 6.18 1.21 1.13 1.22 1.34 0.96 0.82 1.00 1.20
Steady-state value of 𝑢3 0.26 0.24 0.23 0.22 0.12 0.13 0.12 0.11 0.42 0.45 0.42 0.38
Steady-state value of 𝑢4 0 0 0 0 0 0 0 0 0 0 0 0

Table 5: Steady-state values of 𝑢𝑗 when 𝑢𝑗 ∈ [0, 12].

𝑢𝑗 ∈ [0, 12] 400MW 500MW 600MW

Δ𝑢𝑗 0.5 1 1.5 2 0.5 1 1.5 2 0.5 1 1.5 2
Steady-state time of 𝑦1,2 110 100 95 90 105 100 98 95 60 55 55 55
Steady-state time of 𝑢𝑗 110 100 95 90 105 100 98 95 60 55 55 55
Steady-state value of 𝑢1 11.16 10.51 9.98 9.55 11.12 10.94 10.79 10.68 10.10 9.81 9.40 9.05
Steady-state value of 𝑢2 6.48 6.67 6.84 6.97 2.00 2.09 2.17 2.23 1.26 1.42 1.65 1.85
Steady-state value of 𝑢3 0.19 0.18 0.17 0.16 0.03 0.02 0.01 0 0.37 0.33 0.29 0.25
Steady-state value of 𝑢4 0 0 0 0 0 0 0 0 0 0 0 0

Table 6: Steady-state values of 𝑢𝑗 when 𝑢𝑗 ∈ [0, 10].

𝑢𝑗 ∈ [0, 10] 400MW 500MW 600MW

Δ𝑢𝑗 0.5 1 1.5 2 0.5 1 1.5 2 0.5 1 1.5 2
Steady-state time of 𝑦1,2 115 105 100 95 110 100 95 90 105 95 90 80
Steady-state time of 𝑢𝑗 115 105 100 95 110 100 95 90 105 95 90 80
Steady-state value of 𝑢1 9.25 8.65 8.18 8.05 9.73 9.59 9.46 9.35 9.09 8.71 8.33 8.03
Steady-state value of 𝑢2 7.06 7.25 7.39 7.43 2.78 2.87 2.92 3.01 1.82 2.04 2.25 2.42
Steady-state value of 𝑢3 0.15 0.13 0.12 0.11 0 0 0 0 0.26 0.22 0.18 0.14
Steady-state value of 𝑢4 0 0 0 0 0.07 0.08 0.01 0.01 0 0 0 0

Table 7: Steady-state values of 𝑢𝑗 when 𝑢𝑗 ∈ [0, 8].

𝑢𝑗 ∈ [0, 8] 400MW 500MW 600MW

Δ𝑢𝑗 0.5 1 1.5 2 0.5 1 1.5 2 0.5 1 1.5 2
Steady-state time of 𝑦1,2 130 130 130 130 120 105 103 100 108 100 98 95
Steady-state time of 𝑢𝑗 130 130 130 130 120 105 103 100 108 100 98 95
Steady-state value of 𝑢1 7.57 7.57 7.57 7.57 7.91 7.81 7.74 7.67 7.67 7.46 7.34 7.23
Steady-state value of 𝑢2 7.58 7.58 7.58 7.58 3.85 3.90 3.95 3.99 2.62 2.74 2.81 2.87
Steady-state value of 𝑢3 0.11 0.11 0.11 0.11 0 0 0 0 0.10 0.08 0.07 0.06
Steady-state value of 𝑢4 0 0 0 0 0.20 0.21 0.22 0.22 0 0 0 0
8 Complexity

592 spray desuperheating is not as the main regulating method

during the regulation of reheat steam temperature.
590 Control quantities 𝑢3 and 𝑢4 do not play a major role
during the control process of reheat steam temperature, so
588
we mainly analyze 𝑢1 and 𝑢2 . Firstly, the change of 𝑢1 is
Temperature (∘ C)

analyzed. From the Tables 4–7, it can be seen that when Δ𝑢𝑗 is
equal and the constraint of control quantities is invariable, the
586 three steady-state values of 𝑢1 do not change much under the
three loads. That is to say, when the reheat steam temperature
584 rises from 580∘ C to 590∘ C and the load of generator unit is
400MW, the variance of flue gas damper opening is basically
582 the same as that under 500MW and 600MW load. Besides,
the smaller the constraint range of 𝑢1 is, the closer the three
steady-state values of 𝑢1 are under the three loads. Thus,
580
0 100 200 300 400 500 600 although the model parameters of reheat steam temperature
Time (10s) control system change with the change of generator load, the
y1
y2 adjustment of flue gas damper opening just has little change
under different loads. Taking Table 7 as an example, when
Figure 2: The variation curve of reheat steam temperature when the 𝑢𝑗 ∈ [0, 8] and Δ𝑢𝑗 = 0.5, the three steady-state values of
load of generator unit is 400MW, 𝑢𝑗 ∈ [0, 15], Δ𝑢𝑗 = 0.5. 𝑢1 , which are 7.57, 7.91, and 7.67, respectively, are the closest
under the three loads. The variation range of 𝑢1 is between
7.57 and 7.91, and the change is not obvious. Therefore, under
16 any other load, the control quantity 𝑢1 can take the value from
14 7.57 to 7.91.
Next, we analyze the change of 𝑢2 according to the
12 Tables 4–7. It can be seen that when the Δ𝑢𝑗 is equal and
10 the constraint of control quantities is invariable, 𝑢2 changes
greatly under the three loads. And the higher the generators’
8 load is, the smaller the 𝑢2 is. Taking Table 5 as an example,
ui

6 when Δ𝑢𝑗 = 0.5, under 400MW, 500MW, and 600MW

load, the steady-state values of 𝑢2 are 6.48, 2.00, and 1.26,
4 respectively, which means if the reheat steam temperature
2 rises from 580∘ C to 590∘ C, the swing angle of the burner
needs to be increased by 6.48 under 400 MW load, while
0 the opening of burner swing angle needs to be increased by
−2 2.00 and 1.26, respectively, under 500MW and 600MW loads.
0 100 200 300 400 500 600 It shows that, in the process of regulating the reheat steam
Time (10s)
u1 u3 temperature control system, with the increase of the load of
u2 u4 the generator unit, the adjusting range of burner swing angles
should be gradually reduced. Therefore, in the actual field
Figure 3: The variation curve of system input when the load of adjustment, the higher the generator load is, the smaller the
generator unit is 400MW, 𝑢𝑗 ∈ [0, 15], Δ𝑢𝑗 = 0.5. adjustment range of the burner swing angles should be, so
as to avoid damaging thermal equipment caused by excessive
reheat steam temperature.
The correctness of the above analysis can also be veri-
and they cannot provide the basis for the field adjustment
fied by Simulink simulation. Taking Table 6 as an example,
of the control system under other loads. Therefore, we need
under different loads, we take the steady-state value of 𝑢j ,
to analyze the input and output of the system based on the
respectively, at Δ𝑢j = 0.5, as the system input and set the
existing models under the three loads and get the regulation
increment of 𝑢2 to 4 in the Simulink simulation. In this way,
law of the control quantities, which can provide a theoretical
we can learn the effect of reheat steam temperature when
basis for the actual field adjustment.
the adjusting range of burner swing angles is too large. The
simulation results are shown in Figures 4, 5, and 6.
4.2. Analysis of Control Quantities of Reheat Steam Tempera- From Figure 4, we can see that when the load of the
ture Control System. From the steady-state values of Tables generator unit is 400MW and the increment of 𝑢2 is 4, that
4, 5, 6, and 7, we can see that 𝑢1 and 𝑢2 are relatively large, is, 𝑢2 = 7.06 + 4 = 11.06, the reheat steam temperature rises
and they play major roles during the regulation of reheat by about 14∘ C. It is 4∘ C higher than the desired output, but it
steam temperature. 𝑢3 and 𝑢4 are close to 0, which means still meets the maximum deviation of system output, which is
that the opening of the two sprinkler valves remains almost ±5∘ C. When the load of the generator unit is 500MW, we can
unchanged. It is consistent with the control requirement that see that the reheat steam temperature rises by about 14.8∘ C
Complexity 9

16 16
14 14
12 12

Temperature (∘ C)
Temperature (∘ C)

10 10
8 8
6 6
4 4
2
2
0
0
−2
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 −2
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
Time (s)
Time (s)
Figure 4: The variation curve of 𝑦1 when the load of generator unit
is 400MW, 𝑢𝑗 ∈ [0, 12], and the increment of 𝑢2 is 4. Figure 6: The variation curve of 𝑦1 when the load of generator unit
is 600MW, 𝑢𝑗 ∈ [0, 12], and the increment of 𝑢2 is 4.

15 589

588

587
Temperature (∘ C)

10 586
Temperature (∘ C)

585

584
5
583

582

0 581
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
Time (s) 580
0 100 200 300 400 500 600
Time (10s)
Figure 5: The variation curve of 𝑦1 when the load of generator unit
is 500MW, 𝑢𝑗 ∈ [0, 12], and the increment of 𝑢2 is 4. y1
y2

Figure 7: The variation curve of reheat steam temperature when the

load of generator unit is 400MW, 𝑢𝑗 ∈ [0, 6], Δ𝑢𝑗 = 0.5.
from Figure 5, and it is approaching the maximum deviation
of output. From Figure 6, we can see that the reheat steam
temperature rises by about 15.4∘ C under 600MW load, and give an appropriate constraint range for reference during field
it has exceeded the maximum deviation of system output. adjustment of reheat temperature control system.
Thus, in order to ensure the safety of the thermal equipment, Firstly, the constraint range of the control quantities
the higher the load of the generator unit is, the smaller the should not be too small; otherwise the reheat steam tempera-
adjustment range of the burner swing angles should be. ture cannot reach the desired temperature. Figures 7 and 8 are
the simulation results of input and output of the reheat steam
4.3. Analysis of the Constraint Range of Control Quantities. In temperature system when the generator load is 400MW, 𝑢𝑗 ∈
this paper, the control quantities 𝑢𝑗 are the variance of system [0, 6], Δ𝑢𝑗 = 0.5. The initial temperature of reheat steam is
input. Taking the 𝑢1 as an example, it is not the actual opening 580∘ C and the desired temperature is 590∘ C.
of the flue gas damper, but it is the opening variance of the flue It can be easily seen from Figure 7 that when 𝑢𝑗 is limited
gas damper. If the original opening of the flue gas damper to 0∼6, the steady state values of the reheat steam temperature
is 50 and 𝑢1 = 10, then the actual opening of the flue gas are about 588.0 and 587.9, which do not reach the desired
damper is 60. In the actual process, the opening of the control temperature. From Figure 8, we can be seen that the steady-
quantities has a maximum value, so it is necessary to restrict state values of 𝑢1 , 𝑢2 have reached the maximum value of
the range of control quantities of the system to ensure that input constraint range, which is 6, and the steady-state values
the control quantities do not exceed their maximum value. of 𝑢3 , 𝑢4 have almost reached the minimum value of input
Next, we analyze the constraints of the control quantities and constraint range, which is 0. This shows that in the reheat
10 Complexity

7 8

6 7

6
5
5
4
4

ui
3
ui

3
2
2
1
1
0 0

−1 −1
0 100 200 300 400 500 600 0 100 200 300 400 500 600
Time (10s) Time (10s)
u1 u3 u1 u3
u2 u4 u2 u4

Figure 8: The variation curve of system input when the load of Figure 10: The variation curve of system input, when the load of
generator unit is 400MW, 𝑢𝑗 ∈ [0, 6], Δ𝑢𝑗 = 0.5. generator unit is 400MW, 𝑢𝑗 ∈ [0, 7.5], Δ𝑢𝑗 = 0.5.

592
values of 𝑢3 , 𝑢4 are 0.03 and 0, respectively, which have almost
590 reached the lower bound of input constraint range. As can be
seen from Figure 9, the steady-state values of 𝑦1 , 𝑦2 are 590
and 589.9, respectively, which reach the desired temperature
588
Temperature (∘ C)

basically. It can be considered that the minimum upper

bound of input constraint is about 7.5 under 400MW load.
586
Similarly, we can get the minimum upper bound of input
constraint under 500MW and 600MW loads, which are about
584 5.3 and 4.5, respectively. From the minimum upper bound
of the input constraint range under the three loads, we can
582 see that the higher the generator load is, the smaller the
minimum upper bound of the input constraint range is. This
580 also shows that, in the actual operation process, with the
0 100 200 300 400 500 600 increase of the generator load, the adjusting range of system
Time (10s)
y1
inputs should be gradually reduced.
y2 Next, we also make a simple analysis of the maximum
upper limit of input constraint range. We can observe the
Figure 9: The variation curve of reheat steam temperature when the change of system input by simulation when the constraint
load of generator unit is 400MW and 𝑢𝑗 ∈ [0, 7.5].
range of system inputs is too large. When the load of generator
unit is 400MW, 𝑢𝑗 ∈ [0, 40], Δ𝑢𝑗 = 2, the variation curve of
input and output of the system is shown in Figures 11 and 12.
steam temperature control system, if the constraint range From the two figures, we can see that although the system
of the control quantities is too small, even if 𝑢1 , 𝑢2 reach output can reach the desired value, the steady-state value of
the upper bound of the constraint range and the 𝑢3 , 𝑢4 is 𝑢1 has reached 29.0, which means that if the initial opening
close to lower bound, the final reheat steam temperature of 𝑢1 is greater than 71, the final value of 𝑢1 has exceeded the
cannot reach the desired temperature. Therefore, there must maximum opening it can reach. This is obviously unreason-
be a minimum upper bound for the constraint range of the able. Therefore, the upper limit value of the control quantities
control quantities. Next, we try to find out the minimum constraint range should not be too large; otherwise it may
upper bound of the constraint range of the control quantities exceed the maximum range of the control quantities opening.
under 400MW, 500MW, and 600MW loads, respectively, by What is the maximum upper bound of the control quantities
simulation. constraint range? If we want to get an exact value, we need
When the load of the generator unit is 400MW and a huge amount of data. Since our existing data is limited,
𝑢𝑗 ∈ [0, 7.5], the input and output of the system are shown we can only analyze it based on the existing data and get a
in Figures 9 and 10. From Figure 10, we can see that the rough analysis result. Compared with the steady-state value
steady-state values of 𝑢1 , 𝑢2 have reached the upper bound of 𝑢1 , 𝑢2 in other constraint ranges, when the constraint range
of input constraint range, which is 7.5, and the steady-state of system inputs is 0∼15, the steady-state value of 𝑢1 , 𝑢2 has
Complexity 11

Table 8: Reference values of 𝑢𝑗 and input constraint.

𝑢𝑗 ∈ [0, 8], Δ𝑢𝑗 =2 400MW 500MW 600MW

𝑢1 7.57 7.67 7.23
𝑢2 7.58 3.99 2.87
𝑢3 0.11 0 0.06
𝑢4 0 0.22 0

592 learn that, with the increase of the load of the generator
unit, the adjusting range of burner swing angles should
590 be gradually reduced, and large adjustment of the control
quantities may cause reheat steam temperature being too
588 high and the equipment is damaged, which means that,
Temperature (∘ C)

under different loads, the smaller the fluctuation of 𝑢𝑗 is,

the better the stability and robustness of the system are.
586
By observing and analyzing the data in Tables 4–7, we
can see that when the constraint range of 𝑢𝑗 is 0∼ 8 and
584 Δ𝑢𝑗 = 2, the fluctuation of steady-state values of 𝑢𝑗 is the
smallest under different loads compared with that in other
582 constraint ranges. In order to provide reference values of 𝑢𝑗
and input constraint for adjustment of reheat steam tem-
580 perature system in power plant, the most appropriate input
0 100 200 300 400 500 600 values and input constraint in the existing data are given in
Time (10s)
Table 8.
y1
y2

Figure 11: The variation curve of reheat steam temperature when the
5. Conclusions
load of generator unit is 400MW, 𝑢𝑗 ∈ [0, 40], Δ𝑢𝑗 = 2. Aiming at the problem of reheat steam temperature control,
the reheat steam temperature control system of 660MW
thermal power generator unit is studied based on the con-
40
strained predictive control algorithm in this paper. Under the
35 condition of input constraint, steady state value of control
quantities and the time that system reaches steady state in
30 different constraint ranges are listed in tabular form. By
analyzing the data in the tables, the reference values of
25
system input and input constraint are given. These data and
20 analysis provide reference for field adjustment of reheat steam
ui

temperature system in power plant.

15

10 Data Availability
5 The experimental data used to support the findings of this
study are included within the article.
0
0 100 200 300 400 500 600
Time (10s)
Conflicts of Interest
u1 u3
u2 u4 The authors declare that there are no conflicts of interest
Figure 12: The variation curve of system input when the load of
regarding the publication of this paper.
generator unit is 400MW, 𝑢𝑗 ∈ [0, 40],Δ𝑢𝑗 = 2.
Acknowledgments
This work is supported in part by the National Natu-
the largest fluctuation. Therefore, in the existing data, we can ral Science Foundation of China under Grants 61873006,
roughly consider that the maximum upper bound value of the 61473034, and 61673053 and in part by the National Key
constraint range of the control quantities is 15. Research and Development Projects 2018YFC1602704 and
From the analysis of Section 4.3 of the control quan- 2018YFB1702704 and Beijing Major Science and Technology
tities of reheat steam temperature control system, we can Special Projects under Grant No. Z181100003118012.
12 Complexity

References Systems and Cybernetics, IHMSC 2015, pp. 232–235, China,

August 2015.
[1] X. Zhao and Y. Jiao, “Single neuron self-adaptive PSD control [17] D. Q. Mayne, J. B. Rawlings, C. V. Rao, and P. O. M. Scokaert,
and its application in reheat steam temperature control system,” “Constrained model predictive control: stability and optimal-
Proceedings of the CSEE, vol. 21, pp. 94–97, 2001. ity,” Automatica, vol. 36, no. 6, pp. 789–814, 2000.
[2] X. Luan, S. Li, and L. Li, “Adaptive control for the superheated [18] D. Q. Mayne, M. M. Seron, and S. V. Raković, “Robust model
steam temperature based on multi-model state observer,” IEEE, predictive control of constrained linear systems with bounded
pp. 978–982, 2004. disturbances,” Automatica, vol. 41, no. 2, pp. 219–224, 2005.
[3] H. Lu, J. Sun, and H. Deng, “Design and application of adaptive [19] S. Kouro, P. Cortés, R. Vargas, U. Ammann, and J. Rodrı́guez,
prediction controller in typical large time delay process in “Model predictive control—a simple and powerful method
power plant,” Journal of Nanjing University of Aeronautics and to control power converters,” IEEE Transactions on Industrial
Astronautics, vol. 38, pp. 151–153, 2006. Electronics, vol. 56, no. 6, pp. 1826–1838, 2009.
[4] W.-Z. Wang, X.-T. Zhao, and Y.-P. Song, “Application of fuzzy- [20] D. Q. Mayne, “Model predictive control: recent developments
RBF-based PID controller in superheated steam temperature and future promise,” Automatica, vol. 50, no. 12, pp. 2967–2986,
control system,” Electric Power Automation Equipment, vol. 27, 2014.
no. 11, pp. 48–50, 2007.
[21] H. Xiao, Z. Li, C. Yang et al., “Robust stabilization of a wheeled
[5] E.-R. Zheng, L.-C. Hui, and X.-M. Wang, “Intelligent control mobile robot using model predictive control based on neu-
algorithm of cloud models and simulation research of super- rodynamics optimization,” IEEE Transactions on Industrial
heated steam temperature control,” Journal of System Simula- Electronics, vol. 64, no. 1, pp. 505–516, 2017.
tion, vol. 19, no. 1, pp. 98–100, 2007.
[22] R. Luo, R. Bourdais, T. J. van den Boom, and B. De Schut-
[6] Y. Ding, W. Zhao, L. Yuan, and Z. Wu, “Engineering applications ter, “Multi-agent model predictive control based on resource
of multi-model internal mode control for the superheated steam allocation coordination for a class of hybrid systems with lim-
temperature,” Journal of Tsinghua University, vol. 49, no. 11, pp. ited information sharing,” Engineering Applications of Artificial
1805–1808, 2009. Intelligence, vol. 58, pp. 123–133, 2017.
[7] W. Kim, U.-C. Moon, K. Y. Lee, W.-H. Jung, and S.-H. [23] H. Li, W. Yan, and Y. Shi, “Continuous-time model predictive
Kim, “Once-through boiler steam temperature control using control of under-actuated spacecraft with bounded control
dynamic matrix control technique,” in Proceedings of the IEEE torques,” Automatica, vol. 75, pp. 144–153, 2017.
PES General Meeting, 2010. [24] J. Ji, A. Khajepour, W. W. Melek, and Y. Huang, “Path planning
[8] B. Xiao, J. Xiao, X. Dong, S. Li, and X. Wang, “Neural network and tracking for vehicle collision avoidance based on model
adaptive control for superheated steam temperature based on predictive control with multiconstraints,” IEEE Transactions on
MPSO-RBF hybrid optimization,” Journal of Basic Science and Vehicular Technology, vol. 66, no. 2, pp. 952–964, 2017.
Engineering, vol. 18, no. 4, pp. 705–713, 2010. [25] F. Wang, X. Li, Q. Zhang et al., “Fast calculation method of
[9] W. Wang and J. Wang, “Adaptive inverse control of superheated multivariable control for reheat steam temperature based on
steam temperature,” Electric Power Automation Equipment, vol. Smith control and predictive functional control,” Journal of
33, no. 9, pp. 54–57, 2013. Computer Applications, vol. 35, no. 12, pp. 3597–3601, 2015.
[10] G. Liang, W. Li, and Z. Li, “Control of superheated steam [26] H. Chen, Model Predictive Control, Science Press, China, 2013.
temperature in large-capacity generation units based on active [27] D. Zheng, Linear System Theory, Tsinghua University Press,
disturbance rejection method and distributed control system,” China, 2002.
Control Engineering Practice, vol. 21, no. 3, pp. 268–285, 2013.
[11] H. Li, T. Pan, Z. Li, S. Ding, S. Guo, and M. K. Ahsan, “Reheated
steam temperature control in thermal power plant using
integral-linear active disturbance rejection control,” in Proceed-
ings of the 2017 11th Asian Control Conference, pp. 2636–2640,
2017.
[12] N. Alamoodi and P. Daoutidis, “Nonlinear control of coal-fired
steam power plants,” Control Engineering Practice, vol. 60, pp.
63–75, 2017.
[13] L. Wei and P. Xu, “Superheated steam temperature control based
on valve nonlinear compensation,” in Proceedings of the 37th
Chinese Control Conference, pp. 631–635, 2018.
[14] O. V. Kolesnikova, A. D. Tsypkaikina, and R. A. Prosoedov,
“Method of automation control of boiler steam temperature,”
in Proceedings of the 2018 International Russian Automation
Conference, 2018.
[15] J. Liu, M. Wang, and Z. Hao, “Boiler reheat steam temperature
control based on state variables approach via h∞technology,”
Journal of Chinese Society of Power Engineering, vol. 29, no. 12,
pp. 105–110, 2009.
[16] H. Xue and P. Han, “Hybrid optimization control of reheat
steam temperature based on BBO algorithm,” in Proceedings of
the 7th International Conference on Intelligent Human-Machine
Advances in Advances in Journal of The Scientific Journal of
Operations Research
Hindawi
Decision Sciences
Hindawi
Applied Mathematics
Hindawi
World Journal
Hindawi Publishing Corporation
Probability and Statistics
Hindawi
www.hindawi.com Volume 2018 www.hindawi.com Volume 2018 www.hindawi.com Volume 2018 http://www.hindawi.com
www.hindawi.com Volume 2018
2013 www.hindawi.com Volume 2018

International
Journal of
Mathematics and
Mathematical
Sciences

Journal of

Hindawi
Optimization
Hindawi
www.hindawi.com Volume 2018 www.hindawi.com Volume 2018

Submit your manuscripts at

www.hindawi.com

International Journal of
Engineering International Journal of
Mathematics
Hindawi
Analysis
Hindawi
www.hindawi.com Volume 2018 www.hindawi.com Volume 2018

Journal of Advances in Mathematical Problems International Journal of Discrete Dynamics in

Complex Analysis
Hindawi
Numerical Analysis
Hindawi
in Engineering
Hindawi
Differential Equations
Hindawi
Nature and Society
Hindawi
www.hindawi.com Volume 2018 www.hindawi.com Volume 2018 www.hindawi.com Volume 2018 www.hindawi.com Volume 2018 www.hindawi.com Volume 2018

International Journal of Journal of Journal of Abstract and Advances in

Stochastic Analysis
Hindawi
Mathematics
Hindawi
Function Spaces
Hindawi
Applied Analysis
Hindawi
Mathematical Physics
Hindawi
www.hindawi.com Volume 2018 www.hindawi.com Volume 2018 www.hindawi.com Volume 2018 www.hindawi.com Volume 2018 www.hindawi.com Volume 2018