一阶加纯滞后对象的PID控制器参数整定方法的比较研究.txt

涓闃跺姞绾粸鍚庡璞殑PID鎺埗鍣弬鏁版暣瀹氭柟娉曠殑姣旇緝鐮旂 銆銆銆愭憳瑕併戝湪宸笟鎺埗棰嗗煙锛屼互涓闃跺姞绾粸鍚庢帶鍒惰繃绋嬩负鐮旂瀵硅薄锛屽垎鍒噰鐢-N娉曘佺矑瀛愮兢銆佹绯婃帶鍒跺PID鎺埗鍣殑鍙傛暟杩涜鏁村畾锛屽苟涓斾粠绋冲畾鎬佽窡韪佷互鍙婃姉骞叉壈鎬瓑鏂归潰閫氳繃MATLAB浠跨湡锛屽垎鏋愭瘮杈冨悇鑷殑浼樼己鐐广傜爺绌剁粨鏋滆鏄庣矑瀛愮兢绠楁硶浠強妯硦鎺埗娉曞浜嶱ID鍙傛暟鐨勬暣瀹氬湪缁煎悎鎬兘鏂归潰鏈変竴瀹氱殑浼樺娍锛屽苟瀵圭幇浠伐涓氭帶鍒剁殑PID鏁村畾璁捐鏂归潰鏈変竴瀹氬疄鐢环鍊笺?銆銆銆愬叧閿瘝銆戝弬鏁版暣瀹?Z-N;绮掑瓙缇畻娉?妯硦PID;MATLAB浠跨湡 銆銆Abstract锛欼n the field of industrial control锛宼o a first order plus dead time control process for the study锛寃ere used Z-N method锛孭SO锛宖uzzy control parameters were tuning PID controllers锛宎nd from stability锛宼racking锛宎s well as other aspects of immunity by MATLAB simulation锛宎nalysis and comparison of their advantages and disadvantages.The results show that particle swarm optimization and fuzzy PID control method for the whole parameter set in terms of overall performance has certain advantages and tuning PID control of modern industrial design has some practical value. 銆銆Keywords锛歅arameter tuning;Z-N;Particle Swarm Optimization;Fuzzy PID control;MATLAB simulation 銆銆寮曡 銆銆PID鎺埗鍣槸鐩墠鍦伐涓氭帶鍒朵腑搴旂敤鏈骞挎硾鐨勬帶鍒剁瓥鐣箣涓1銆傝繃鍘诲父瑙勭殑PID鏁村畾鍙傛暟鐨勯夊彇鍙栧喅浜庡绉嶅洜绱犮傚锛氳繃绋嬬殑鍔佹兘锛屾帶鍒剁洰鏍囦互鍙婃搷浣滀汉鍛樺鎺埗杩囩鐨勭悊瑙紝鍥炶矾鏁村畾璐规椂璐瑰姏锛岃繃绋嬫帶鍒跺強鎿嶄綔鏉欢鐨勯绻佸彉鍖栫瓑閮戒細閫犳垚鏁村畾澶辫锛屽挨鍏跺浜庣幇鍦伐涓氭帶鍒剁殑瑕佹眰锛堥珮鍑嗙锛岄珮绋冲畾锛岄珮璺熻釜鎬瓑锛夋洿鏄棤娉曟弧瓒宠姹傘傝繎骞存潵闅忕潃鍏堣繘鎺埗鎶鏈殑鍙戝睍锛屽悇绉峆ID鏁村畾鐩哥户琚娇鐢紝浣嗘槸濡備綍鍘婚夋嫨閫傚悎鑷繁鐨凱ID鍙傛暟鏁村畾锛屼互杈惧埌鏈濂界殑鏁堟灉锛屼粛鏄澶鍥版儜鐨勯棶棰樸?銆銆閽堝宸笟鎺埗鐨勮姹傦紝浠強PID鎺埗鍣殑鐗圭偣锛孭ID鎺埗闈炲父閫傚悎搴旂敤浜庡伐绋嬪疄闄呬腑銆傚洜姝湰鏂囬夊彇鍏堣繘鎺埗鐨勫嚑绉嶆瘮杈冨父鐢殑鏂规硶鏉仛姣旇緝鐮旂銆傞氳繃涓庣粡鍏哥殑鏁村畾鏂规硶杩涜姣旇緝锛屽緱鍒颁粬浠殑浼樼己鐐癸紝浠究鍦夋嫨PID鍙傛暟鏁村畾鏃讹紝鏈変釜澶綋鐨勪緷鎹紝姝瘮杈冪爺绌跺浜庡伐绋嬩汉鍛樺湪閫夊彇PID鍙傛暟鏁村畾鏂规硶鏃舵湁涓瀹氱殑瀹炵敤浠峰笺?銆銆1.鍙傛暟鏁村畾鏂规硶 銆銆1.1 涓闃跺姞绾粸鍚庡璞?銆銆鍦伐涓氳繃绋嬫帶鍒朵腑锛屽緢澶氬疄闄呭伐涓氬璞槸闈炲父澶嶆潅鐨勶紝鎵浠纭畾鍑哄畠鐨勭簿纭鍨嬫槸涓嶇幇瀹炵殑锛屼篃鏄病鏈夊繀瑕佺殑銆傚湪瀹為檯涓彲浠敤涓闃跺姞绾粸鍚庢鍨嬫潵杩戜技琛瀹為檯宸笟瀵硅薄锛屽寮忥紙1锛夋墍绀猴細 銆銆锛?锛?銆銆鍏朵腑锛欿涓洪潤鎬佸鐩?T涓烘椂闂村父鏁?蟿涓虹函婊炲悗甯告暟銆?銆銆Z-N娉曟槸宸笟鎺埗鐨勪竴绉嶅吀鍨嬫柟娉曪紝绠鍗曞疄鐢紝浣嗘槸鍏舵暣瀹氱殑PID鍙傛暟浼氫娇闂幆绯荤粺鍝嶅簲鐨勮秴璋冮噺杈冨锛岃屼笖鏈変竴瀹氱殑缂洪櫡锛孒ang.C.C鎻愬嚭浜嗘敼杩涘瀷Ziegler-Nichols鏁村畾鏂规硶鍗砇efined Ziegler-Nichols鏁村畾鏂规硶銆傞氳繃澶噺瀹為獙寰楀嚭浜嗗涓嬫敼杩涘瀷Z-N鏁村畾鏂规硶锛?銆銆锛?锛夎嫢2.25<k<15鏃讹紝淇濇寔鍘熸湁Z-N鍙傛暟涓嶅彉;褰撹姹備娇瓒呰皟閲忓垎鍒皬浜?0%鎴?0%鏃讹紝寮曞叆濡備笅尾绯绘暟杩涜淇銆?銆銆锛堣繖鏃惰秴璋冮噺绾负10%锛? 锛?锛?銆銆锛堣繖鏃惰秴璋冮噺绾负20%锛?锛?锛?銆銆褰揔15鏃讹紝尾宸茬粡涓嶈捣澶氬鐨勪綔鐢紝杩欐椂鐨勮繃绋嬪璞疄闄呭氨鏄綆闃剁郴缁熴?銆銆锛?锛夎嫢1.5<k<2.25鏃讹紝灏哯-N绉垎绯绘暟鎸夊紡锛?锛変慨姝紝鍏朵腑鍙傛暟濡傚紡锛?锛夊拰锛?锛夊畾涔夛細 銆銆锛?锛?銆銆 锛?锛?銆銆 锛?锛?銆銆锛?锛夊浜嶱I鎺埗鍣紝褰?.2<k<1.5鏃讹紝涓轰娇绯荤粺瓒呰皟閲忓皬浜?0%锛岀郴缁熷弬鏁板仛濡備笅淇锛?銆銆锛?锛?銆銆锛?锛?銆銆1.2 绮掑瓙缇畻娉?銆銆绮掑瓙缇紭鍖栫畻娉曪紙PSO锛夋槸涓绉嶈繘鍖栬绠楁妧鏈紝鍋囪鍦竴涓狣缁寸殑鐩爣鎼滅储绌洪棿涓紝鏈塶涓井绮掔粍鎴愪竴涓矑瀛愮兢锛屽叾涓瘡涓井绮掓槸涓涓狣缁寸殑鍚戦噺锛屽畠鐨勭闂翠綅缃绀轰负xi=锛坸i1锛寈i2锛屸紝xiD锛夛紝i=1锛?锛屸銆傚井绮掔殑绌洪棿浣嶇疆鏄洰鏍囦紭鍖栭棶棰樹腑鐨勪竴涓锛屽皢瀹冧唬鍏傚簲搴嚱鏁板彲浠绠楀嚭閫傚簲搴硷紝鏍规嵁閫傚簲搴肩殑澶皬琛噺寰矑鐨勪紭鍔?绗琲涓井绮掔殑椋炶閫熷害涔熸槸涓涓狣缁寸殑鍚戦噺锛岃涓簐i=锛坴i1锛寁i2锛屸紝viD锛?绗琲涓井绮掓墍缁忓巻杩囩殑鍏锋湁鏈濂介傚簲鍊肩殑浣嶇疆绉颁负涓綋鍘嗗彶鏈濂戒綅缃紝璁皃i=锛坧i1锛宲i2锛屸紝piD锛?鏁翠釜寰矑缇墍缁忓巻杩囩殑鏈濂戒綅缃涓哄叏灞鍘嗗彶鏈濂戒綅缃紝璁皃g=锛坧g1锛宲g2锛屸紝pgD锛夛紝绮掑瓙缇殑杩涘寲鏂圭鍙弿杩颁负锛?銆銆锛?锛?銆銆锛?0锛?銆銆鍏朵腑锛氫笅鏍噅琛寰矑鐨勭j缁达紝涓嬫爣i琛寰矑i锛宼琛绗瑃浠紝c1锛宑2涓哄姞閫熷洜瀛愶紝閫氬父鍦紙0锛?锛夐棿鍙栧硷紝r1锝濽锛?锛?锛夛紝r2锝?U锛?锛?锛変负涓釜鐩镐簰鐙珛鐨勯殢鏈哄嚱鏁般備粠涓婅堪寰矑杩涘寲鏂圭鍙互鐪嬪嚭锛宑1璋冭妭寰矑椋炲悜鑷韩鏈濂戒綅缃柟鍚戠殑姝暱锛宑2璋冭妭寰矑鍚戝叏灞鏈濂戒綅缃琛岀殑姝暱4銆? 銆銆1.3 妯硦鎺埗 銆銆妯硦鎺埗鏄互妯硦闆嗗悎璁恒佹绯婅瑷鍙橀噺鍜屾绯婇昏緫鎺悊涓哄熀纭鐨勪竴绉嶈绠楁満鎺埗鏂规硶锛屽畠浣滀负鏅鸿兘鎺埗鐨勪竴涓噸瑕佸垎鏀紝鍦帶鍒堕鍩熻幏寰椾簡骞挎硾搴旂敤5銆傚叾鏍稿績鏄绯婃帶鍒跺櫒锛屾绯婃帶鍒跺櫒鐨勫叧閿槸鏍规嵁涓撳鎴栬呮搷浣滆呯殑鎵嬪姩鎺埗缁忛獙鎬荤粨鍑烘潵鐨勪竴绯诲垪鎺埗瑙勫垯鐨勭瀹氥?銆銆2.浠跨湡姣旇緝鐮旂 銆銆鏈枃閫夊彇鐨勭爺绌惰繃绋嬪璞寮忥紙11锛夛紝瀵逛簬璇璞紝涓嬮潰鍒楀嚭浜嗗嚑绉嶅弬鏁版暣瀹氭柟娉曠畻鍑虹殑鍙傛暟锛屼豢鐪熺粨鏋滃鍥?-3鎵绀猴細 銆銆 锛?1锛?銆銆涓闃剁函婊炲悗鏁村畾鍙傛暟姣旇緝锛?銆銆Z-N锛堜复鐣屾瘮渚嬶級娉曪細 銆銆Kp=3.5锛孠i=0.0875锛孠d=0.35 銆銆绮掑瓙缇畻娉曪細 銆銆Kp=15.7223锛孠i=0.1195锛孠d=28.4769 銆銆妯硦鎺埗绠楁硶锛?銆銆Kp=3.5锛孠i=0.0875锛孠d=0.35 銆銆浠庡浘1涓垜浠彲浠湅鍑虹矑瀛愮兢绠楁硶鏁村畾鏈涓哄揩閫燂紝瓒呰皟寰堝皯;妯硦PID鏁村畾閫熷害娆箣锛屽嚑涔庢病鏈夎秴璋?缁忓吀PID鏁村畾閫熷害涓嶅浜烘剰锛岃屼笖鏈変竴瀹氱殑瓒呰皟閲忋備粠鍥?涓垜浠彲浠湅鍑猴細褰揟鍊煎彉澶椂锛岀矑瀛愮兢绠楁硶鏁村畾瓒呰皟鏈灏忥紝鑰屼笖鏈鍏堣揪鍒扮瀹氱姸鎬?妯硦PID鏁村畾瓒呰皟鏈澶紝杈惧埌绋冲畾鐘舵侀熷害娆箣銆傜粡鍏窹ID鏁村畾瓒呰皟涓鑸紝杈惧埌绋冲畾鐘舵侀熷害鏈鎱備粠鍥?涓垜浠彲浠湅鍑猴細褰撓勫煎彉澶椂锛屾绯奝ID鏁村畾鏈涓哄揩閫燂紝瓒呰皟杈冨皬銆傜矑瀛愮兢绠楁硶鏁村畾閫熷害娆箣锛岃秴璋冨嚑涔庢病鏈夈傝岀粡鍏窹ID鏁村畾閫熷害鏈鎱紝鑰屼笖瓒呰皟杈冨銆?銆銆鍥? 鏁村畾鍚庣殑鏇茬嚎 銆銆鍥? T=200锛屽叾瀹冨弬鏁颁笉鍙?銆銆鍥? 蟿=50锛屽叾瀹冨弬鏁颁笉鍙?銆銆3.缁撹 銆銆閫氳繃涓婇潰鐨勫搷搴旀洸绾挎瘮杈冿紝浠庝腑鍙戠幇Z-N娉曠殑璋冭妭鏄渶宸殑锛岃屽叾瀹冧袱绉嶇殑鍚勪釜鎸囨爣涔熸湁浜嗘槑鏄剧殑鎻愰珮锛屽挨鍏舵槸瓒呰皟閲忔湁浜嗘槑鏄剧殑鍑忓皯锛屼笂鍗囨椂闂翠篃鏈変簡鏄庢樉鐨勭缉鐭傝繖涔熸樉绀哄嚭瀵逛簬鍏稿瀷鐨凱ID鍙傛暟鏁村畾寰堥毦婊冻鐜板湪宸笟鎺埗鐨勮姹傘備笉杩囷紝绮掑瓙缇畻娉曠殑杩愮畻鏃堕棿姣旇緝闀匡紝鍦粸鍚庢椂闂磋緝澶椂锛屾晥鏋滀笉澶悊鎯筹紝鎵浠浜庢粸鍚庢瘮杈冮暱鐨勮繃绋嬶紝涓嶅疁閲囩敤杩欑鏁村畾鏂瑰紡锛岃岄噰鐢绯奝ID鑷暣瀹氾紝绯荤粺鐨勫搷搴旈熷害鍔犲揩锛岃皟鑺傜簿搴彁楂橈紝绋虫佹兘濂姐備絾鏄畠鐨勭己鐐瑰湪浜庨渶瑕佸埗瀹氶傚悎鐨勬绯婅鍒欒锛屽悓鏃堕噺鍖栧洜瀛愬拰姣斾緥鍥犲瓙閮介渶瑕佽緝濂界殑閫夋嫨銆?銆銆鍙傝冩枃鐚?銆銆1Lee C C.Fuzzy Logic in Control Systms锛欶uzzy Logic.Controller-part I锛宲art I.IEEE Trans.on Syst锛孧an锛孋ybern锛?990锛?0锛?锛夛細404-435. 銆銆2Astrom K J锛孒angglund T锛孒ang C C and Ho W K.Automatic tuning and adaptation for PID controllers survey.Control Engineerin