液位控制系统PID控制的调试和分析毕业论文

1、evaluation of scientific development. nature security type-nature security is to maintenance people of health value for target, through strengthening security based management, and risk management, and equipment management and technology supervision, ensure production in the people, and real, and sy

2、stem, and system, elements security reliable, and harmony unified, full control various against factors, achieved thought no slack, and management no empty document, and equipment no hidden, and system no blocked, and unit zero non-stopped. quality and efficiency-quality benefit is to adhere to the

3、enterprise "survival, profit and development" business truth, adhere to the "all activity is economic activity, all costs can be controlled, money should not be wasted" management philosophy, management analysis, to improve management quality, improve cost control capacity and ma

4、rket competitiveness. innovation of science and technology-science and technology innovation is to play the role of science and technology as the primary productive force, active use of new technologies, new materials, new processes, new equipment, increase investment in science and technology, stre

5、ngthening scientific and technological training, speeding up transforming scientific and technological achievements, forming a number of proprietary technology, enhancing core competitiveness. resource-saving-the-resources saving enterprise was to reduce coal consumption, water consumption, electric

6、ity at the core, enhance the operation of lean management to realize low consumption, high efficiency, reduce production costs. second is to strengthen the business, financial, material, information and the optimization of organization and management, saving the internal transaction costs. harmoniou

7、s development of harmonious development-is to construct a "foreign" environment for development. "xing" refers to the "internal security firm and internal management of the internal management measures are effective, harmonious". "foreign currency" means "

8、;enterprise coordinating development of homeopathy, well, get along with the neighbors better." (b) xx 2013 five enterprises building intrinsic safety power company goals are: unplanned outage 0 times. class of disorders 0, 0 is equivalent forced outage rate. no personal injury accident, materi

9、al and equipment accidents do not occur, no fire, no environmental pollution accident. enterprise integrated to achieve zero cases of violation, zero accidents, zero. quality goal is: when generating capacity 7.5 billion-kilowatt, sales of over 7.11 billion kwh, total profits of 306.6 million yuan,

10、. bfs+、pi、mis、scm information systems infrastructure, fully integrated information system to realize information resources sharing; to expand the breadth and depth of the portal system, information system of enterprise management assistant role to play; to improve the day-to-day operation and mainte

11、nance operation record of promoting causes and transfer system; to strengthen the training液位控制系统pid控制的调试和分析摘 要： 为实现液位的自动控制，分析液位控制系统的pid控制调节原理。以sunytdcs9200系统、调节阀、传感器为核心，运用水箱液位控制的系统结构及相应的软件画面， 分析pid的控制方法。关健词：液位控制，sunytdcs9200，pid。目 录1 引言··········

12、3;·························12 sunytdcs9200概述······················

13、;···13 系统的软件组态·························14 调试及结果分析··················

14、83;······45 结束语·····························7 参考文献············

15、83;·················8 致谢·······························9supe

16、rvision in large and medium goods vehicle. a is established large vehicles and small vehicles classification management of motor vehicle test mode, increased medium van car, and dangerous goods transport car, and school car test project; ii is established motor vehicle test regulatory platform, achi

17、eved motor vehicle test full process video, and data remote regulatory; three is strictly motor vehicle identification management, equipped with unified of identification equipment and tool, using mobile identification terminal, and law enforcement records instrument, technology identification means

18、. as to 20xx years june 20 statewide motor vehicle keep volume for 567,408 car, and last year earlier than growth 75,814 car, growth 13.36%; this year january-june, vehicles management section and license archives management section total accepted the motor vehicle registration business 42,543 car t

19、imes, which registered registration 6,905 car times, and transfer registration 3,592 car times, and change registration 1033 car times, and mortgage registration 696 car times, and cancellation registration 187 car times, and into business 980 car times, and archives corrections 81 pieces times, and

20、 issued test qualified logo 25,429 car times, and other vehicles business 3,640 car times; supervision survey section relies on "motor vehicle detection remote issued test qualified logo software platform" supervision motor vehicle test, and identification situation 7418l liangci, investig

21、ation motor vehicle exception business 30 car times, his pards business warning 244 article, vehicles and driving people sound video regulatory screenshots 1852 zhang, checks motor vehicle archives 716 pieces times, and medium bus, and medium above truck, and of hazardous chemicals, vehicles and sch

22、ool buses and other key vehicle inspection record of 420. (c) based on their own, and strict adherence to defense, more cheating, false false fugitive suspects, robbery suspect vehicles and the internet crackdown. dmv full play to the "first line of defense" position control, investigating

23、 cheating, fake identification and robbery suspect vehicles through operational work, and carefully examine the documents and legal proof, check traffic violations, traffic accidents, the fugitive suspect suspected vehicles and theft than to work, further tight car, driving management business forma

24、lities review procedures. . truck driver information management platform. motor vehicles and traffic police departments, state transport authority to further clarify the division of labour, implementation responsibility, strengthen our collaboration and management together, reinforcing the managemen

25、t of drivers on which strongly synthetic warfare and information warfare. 3 strictly implemented. from may 1 up, a is implemented complex road and bad weather driving exam, currently dmv is urged contractors party in treasures driving school increased simulation highway, and continuous urgent detour

26、s, and snow days, and wet sliding road, and burst situation disposal, subjects ii field to driving exam project, is expected 1 引 言本人毕业实习单位是浙江正泰中自控制工程有限公司。该公司是一家集工业自动化的研发、生产、销售、工程服务于一体的企业。现如今的工业自动化被应用到各个领域，包括石油油化、精细化工、污保水处理等。而在这些领域的工程自动化过程中，最常涉及到的便是液位的控制系统。在这样的背景下公司的工程人员都必须对液位的控制系统有个全面的了解和掌握，而液位控制系统的

27、核心便是pid控制。于是我应用了单容水箱的液位控制系统，并进行了调试和分析pid的控制规律来掌握液位的控制方法，以利于将来的工作中在这些工业领域的工程中能够减少组态错误，降低事故，提高企业安全和个人人身安全。2sunytdcs9200概述在这里我采用浙大中自的sunytdcs9200集散控制系统。sunytdcs9200是浙大中自 distributed control system9200的缩写词， 它基于全智能化、全数字化、全网络化的核心设计思想，系统以网络为基础，配以各种挂接在网络上的模板、模块和组件，实现和部分协调工作和数据共享，共同完成各种自动控制和信息管理功能，是一套分层分布式计算

28、机控制系统。它能够满足各种设备的自动化需求。 3. 系统的软件组态 组态操作一般按照如图3.1.10步骤进行：图3.1.10组态步骤示意图3.1.工程建立 根据项目的硬件配置情况及项目概况中对操作画面、控制方案、用户权限等方面的设计要求，我们需要新建一个组态文件，在新建的组态文件中完成上述项目要求的设置。 1.双击桌面上的“sunytech8.0”图标，进入工程界面 2.单机新建工程，准备建立一个本课题准备使用的工程。3.选定工程路径，在这里我们可以建立一个名为“液位控制”的新建文件夹，将工程建立在里面。 3.2组态操作 工程建立完毕后，需要根据工程的硬件配置情况在软件界面建立操作站和控制站。

29、这里我们可以分别单独建立一个操作站和控制站，分别取名为fcs和ops。 1. 右键单击软件界面的【液位控制】，选中【新建节点】，将弹出站点的建立界面。图3.2.10站点的建立 2 这里我们可以根据系统要求分别建立一个fcs控制站和ops操作站，建立控制站时要在【时钟服务器】的复选框上打上，以确定系统的全局时间。操作站和控制站建立完毕之后，便可以进行工程的算法组态和界面组态，并进行工程的调试等。3.3常规控制方案组态控制方案分为两种，常规控制方案和自定义控制方案。常规控制方案是一些比较通用的控制方案，易于组态、操作方便。这些控制方案在系统内部已经编程完毕，只要进行简单的组态即可。自定义控制方案是

30、一些要求比较特殊的控制方案，需要用到图形化编程软件来实现。本项目中我们我们用到的是常规控制方案的组态。在本项目中我们用到的是单回路pid控制。图3.2.14 回路控制框图 其中控制参数包括：比例度p，积分时间i，微分时间d，控制周期ts。表3.1 参数说明变量变量说明sv给定值pv测量值mv控制量dv偏差（pv-sv）单回路pid控制是最常用的控制系统，绝大多数情况下，它已经能够满足生产的需要。它的基本控制思路是取控制对象的测量值pv和最初的设定值sv进行比较，差值输入pid调节控制器，计算阀位mv应当输出多少，新的阀位值mv会导致新的测量值pv，继续与设定值sv进行比较，直到测量值与设定值相

31、同为止。本项目中，以液位调节为例，我们需要控制的是液位测量量li_101，通过阀门lv_101来调节，设定值可以在监控中设置。根据li_101和设定值的偏差，计算出阀门lv_101的开度，然后输出至现场。图3.2.15 液位调节回路 根据课题要求，我们首先要建立一系列的变量来连接和显示现场设备的变化。双击控制站中的数据库，进行变量编辑，位号命名要尽量符合国家规定；如若没有明文规定，则尽量按照各自公司的不成文的规则。数据库建立完成之后，双击控制站下面的算法进入算法组态界面。可供我们使用的逻辑语言有fbd、ld、sfc、st、il五种。根据课题要求，建立对应的pid控制逻辑。 回路的设定值sv、回

32、路的pid参数等都是在监控画面中设置的。4.调试及结果分析4.1流程图图4.1.10系统当前状况 流程图是流经一个系统的信息流、观点流或部件流的图形代表。在工业现场，流程图反映的是生产线上的工艺流程，是为完成一项任务必需的管理。在本系统设计中，流程图反映是当前水箱的液位值以及调节阀的开度。如图4.1.10显示，监控画面显示当前水箱的液位值为20.01cm，调节阀的开度为6.89%，很直观的描述了当前的工况。4.2 pid控制的原理pid控制器问世至今已有近70年历史，它以其结构简单、稳定性好、工作可靠、调整方便而成为工业控制的主要技术之一。当被控对象的结构和参数不能完全掌握，或得不到精确的数学

33、模型时，控制理论的其它技术难以采用时，系统控制器的结构和参数必须依靠经验和现场调试来确定，这时应用pid控制技术最为方便。也就是说当我们不完全了解一个系统和被控的参数对象，或者不能通过有效的测量手段来获得系统参数时，最适合用pid控制技术。pid控制，实际中也有pi和pd控制。pid控制器就是根据系统的误差，利用比例、积分、微分计算出控制量进行控制的。 比例（p）控制 比例控制是一种最简单的控制方式。其控制器的输出与输入误差信号成比例关系。当仅有比例控制时系统输出存在稳态误差（steady-state error）。 积分（i）控制 在积分控制中，控制器的输出与输入误差信号的积分成正比关系。对

34、一个自动控制系统，如果在进入稳态后存在稳态误差，则称这个控制系统是有稳态误差的或简称有差系统（system with steady-state error）。为了消除稳态误差，在控制器中必须引入“积分项”。积分项对误差取决于时间的积分，随着时间的增加，积分项会增大。这样，即便误差很小，积分项也会随着时间的增加而加大，它推动控制器的输出增大使稳态误差进一步减小，直到等于零。因此，比例+积分(pi)控制器，可以使系统在进入稳态后无稳态误差。 微分（d）控制 在微分控制中，控制器的输出与输入误差信号的微分（即误差的变化率）成正比关系。 自动控制系统在克服误差的调节过程中可能会出现振荡甚至失稳。其原因

35、是由于存在有较大惯性组件（环节）或有滞后(delay)组件，具有抑制误差的作用，其变化总是落后于误差的变化。解决的办法是使抑制误差的作用的变化“超前”，即在误差接近零时，抑制误差的作用就应该是零。这就是说，在控制器中仅引入“比例”项往往是不够的，比例项的作用仅是放大误差的幅值，而目前需要增加的是“微分项”，它能预测误差变化的趋势，这样，具有比例+微分的控制器，就能够提前使抑制误差的控制作用等于零，甚至为负值，从而避免了被控量的严重超调。所以对有较大惯性或滞后的被控对象，比例+微分(pd)控制器能改善系统在调节过程中的动态特性。4.3 pid调试根据pid调试的特点，由于液位控制的惯性（滞后）不是很大，所以在pid调试时，一般只要调节p或pi就可以了。1.如图4.1.11所示：控制器 p=200%i=0.04min图4.1.11 趋势图12.如图4.1.12所示：控制器 p=150%