Development of a mathematical model of the heating phase of rubber mixture and development of the synthesis of the heating control algorithm using the Pontryagin maximum principle

The article is devoted to the development of the algorithm of the heating phase control of a rubber compound for CJSC “Voronezh tyre plant”. The algorithm is designed for implementation on basis of controller Siemens S-300 to control the RS-270 mixer. To compile the algorithm a systematic analysis of the heating process has been performed as a control object, also the mathematical model of the heating phase has been developed on the basis of the heat balance equation, which describes the process of heating of a heat-transfer agent in the heat exchanger and further heating of the mixture in the mixer. The dynamic characteristics of temperature of the heat exchanger and the rubber mixer have been obtained. Taking into account the complexity and nonlinearity of the control object – a rubber mixer, as well as the availability of methods and great experience in managing this machine in an industrial environment, the algorithm has been implemented using the Pontryagin maximum principle. The optimization problem is reduced to determining the optimal control (heating steam supply) and the optimal path of the object’s output coordinates (the temperature of the mixture) which ensure the least flow of steam while heating a rubber compound in a limited time. To do this, the mathematical model of the heating phase has been written in matrix form. Coefficients matrices for each state of the control, control and disturbance vectors have been created, the Hamilton function has been obtained and time switching points have been found for constructing an optimal control and escape path of the object. Analysis of the model experiments and practical research results in the process of programming of the controller have showed a decrease in the heating steam consumption by 24.4% during the heating phase of the rubber compound.