经典PID控制器

安徽工业大学毕业设计（论文）说明书共47页第1页┊┊┊┊┊┊┊┊┊┊┊┊┊装┊┊┊┊┊订┊┊┊┊┊线┊┊┊┊┊┊┊┊┊┊┊┊┊摘要PID控制器因为结构简单、容易实现，并且具有较强的鲁棒性，因而被广泛应用于各种工业过程控制中。作为一种广泛的控制规律，PID控制在相当长的一段时间内，并没有因为各种先进控制算法的出现而遭到淘汰，相反，经过时间的考验，PID控制仍然在各种控制技术中占着主导地位。控制器参数整定优劣与否，是控制器能否在实用中得到好的闭环控制效果的一个前提。近年来，随着计算机技术的飞跃发展和人工智能技术渗透到自动控制领域，各种整定控制器参数整定方法层出不穷，给控制器参数整定的研究带来了活力与契机。但在实际应用中，同经典的PID控制器参数整定方法相比较而言，这些先进的整定方法并没有像预期的那样产生完美的控制效果。这主要是因为PID控制器结构上的简单性决定了它在控制品质上的局限性，并且这种简单性使得PID控制器对大时滞，不稳定对象等被控对象的控制性能不是很好。同样，PID控制器只能确定闭环系统的少数零极点，无法得到更好的闭环控制品质。此外，PID控制器无法同时满足对设定值跟踪和抑制外扰的不同性能要求。本文阐述了常用的经典PID控制器参数整定方法，并用MATLABISIMULINK工具对这些方法做了一定的仿真，在此基础上，针对SISO（SingleInputandSingleOutput）一阶惯性加纯滞后模型，提出了实用的PID控制器参数整定方法。主要的工作概括如下：首先就PID控制器的发展过程及其基本原理作简要介绍由于传统PID控制存在局限性，人们设计出非线性PID控制器来克服。本文讨论了一些非线性控制器的设计方法，仿真实验的结果验证了非线性PID控制器的优点。然后综述几年在PID参数整定方面的研究发展情况。其中，着重探讨了继电器PID自整法及其改进型，并且给出了仿真的示例。最后是对整篇文章的综述和个人的一点展望。关键词：PID控制，参数整定，继电反馈，非线性控制。安徽工业大学毕业设计（论文）说明书共47页第2页┊┊┊┊┊┊┊┊┊┊┊┊┊装┊┊┊┊┊订┊┊┊┊┊线┊┊┊┊┊┊┊┊┊┊┊┊┊AbstractPID（Proportional,IntegralandDifferential）controllerisusedwidelyinkindsofindustrycircumstanceforitssimplestructure,easyimplementationandstrongrobustness.Andasanabroadcontrollaw,duringalongperiod,PIDcontrolhasnotbeenknockedoutfromtheemergenceofdifferentadvancedarithmetic,andonthecontrary,itplaysanmajorroleinsundriesofcontroltechnologies.WhetherthePIDcontrollercankeepthecontrolperformancegoodisduetothetuningofthePIDparameter.Withthedevelopmentofcomputertechnologyandartificialintelligenceinautomaticcontrolfield,auto-tuning.However,inpracticalapplication,withtheclassicPIDcontrollerparameterstuningmethodBycomparison,theentiresetoftheseadvancedmethodsanddidnot,asexpected,asaperfectcontrol.ThisismainlybecausethePIDcontrolleronthesimplestructureofitsdecisiontocontrolthequalityofthelimitations,andthissimplicitymakesPIDcontrollerofthedelay,unstableobjectssuchascontroloftheobjectisnotverygood;Similarly,PIDcontrollercanonlyidentifyasmallnumberofclosed-loopsystem,thePoles,couldnotbebetterclosed-loopcontrolquality;Inaddition,PIDcontrolleratthesametimecannotmeetthesetoftrackandcurbthenuisanceofdifferentperformancerequirements.Thepaperexpatiatethecommon-usedclassicalparameterstuningmethodsofPIDcontrollerindetail,andsomeresearchworkisdoneMATLAB/SIMULINKtoolboxAndtwoimprovedparameterstuningmethodsofPIDcontrollerareproposedinthepaperaimingatFOPDTmodel.Mainlyworkandresultsaresummedbellow:Firstly,thepaperintroducesthedevelopingprocessandbriefintroductionofPIDcontrollers.AgainstsometheweaknessesofConventionalPIDcontrollers.Weproposeimprovingmeasure–bynonlinerPIDcontrollersandintroduceseveraldesigningmethodsofnonlinearPIDcontrollers.TheresultofSimulationshowthatthenonlinearPIDcontrolleradvantages.WealsosummarizetheresearchsituationonthetuningofPIDparameter,highlightthebasicandimprovedmethodsbasedauto-tuningrelay-PIDcontrollers,andgiveexamplesofthesimulation.Thesummaryofthepaperandpersonalperpectivearegivenintheendofthepaper.Keywords:PIDcontrol,parametertuning,relay-feedbacknonlinearcontrol.安徽工业大学毕业设计（论文）说明书共47页第3页┊┊┊┊┊┊┊┊┊┊┊┊┊装┊┊┊┊┊订┊┊┊┊┊线┊┊┊┊┊┊┊┊┊┊┊┊┊目录摘要...................................................................................................................................................................1ABSTRACT......................................................................................................................................................2第1章绪论...................................................................................................................................................51.1选题背景与研究现状.............................................................................................................................51.2论文安排.................................................................................................................................................6第2章PID控制的基础知识...........................................................................................................................72.1引言........................................................................................................................................................72.2PID控制器简介......................................................................................................................................72.2.1PID控制器的基本结构和基本原理...............................................................................................72.2.2PID控制器参数对控制性能的影响...............................................................................................82.2.3控制规律的选择...........................................................................................................................102.3本章小结...............................................................................................................................................10第3章常规PID控制器参数整定方法及仿真研究...................................................................................123.1引言......................................................................................................................................................123.2ZN经验公式法.........