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2910200810PIDIntelligentPIDControloftheStatusandtheApplicationofProspect(上海电力学院电力与自动化工程学院,上海200090):PID,PIDPIDPIDPID,PIDPIDPID,PID,PID:PID:TP273:AAbstract:TheintelligentPIDcontrollerintegratedadvancedintelligentcontrolconceptandconventionalPIDcontroloffersmorefavorablecharacteristicsthantheconventionalPIDcontrolinmanyaspects.Atpresen,tthedevelopingtrendofPIDcontrolisfacingmoreintelligen,tselfadaptive,andoptmiized.SomeofthecommonlyusedintelligentPIDcontrollers,includingFuzzyPID,NNPID,andPIDcontrolbasedongeneticalgorithmareintroduced;andthetypicalstructureandfeaturesofthesecontrollersareanalyzedrespectively.ThemajorissuesandexistingproblemsinresearchingintelligentPIDcontrollersaresummarized,andtheprospectiveapplicationofthesecontrollersisexpoundedfinally.Keywords:PIDcontrolNeuralnetworkIntelligentcompoundcontrolFuzzycontrolGeneticalgorithm修改稿收到日期:2008-06-20第一作者王威,男,1984年生,现为上海电力学院电力系统及其自动化专业在读硕士研究生;主要从事智能控制测控系统方向的研究0PID[1-2]PIDPID,PID[3],,,,DESBOROUGHMILLER2002,11600PID,97%PID[4],,PID[5],1/3PID,2/3PID[4][6],[7]:!,;∀PIDPID[8],,,;,PID,PID,PID,1PIDFC(fuzzycontroller),,PID,,PIDPID,,,PID1PID,PROCESSAUTOMATIONINSTRUMENTATIONVo.l29No.10October2008,,eec,,PD,,,1BASSEVILLEMPID,,,,图1模糊PID控制器Fig.1FuzzyPIDcontrollerPIDPID,[9]PID,[10-11]PID,[12-13]PIDFPGA2PIDANN(artificialneuralnetwork),,,PID,:,PID,,;PID,BP(),PID,,,,2PID[14],2,,,e1,,PID,,,,,[15]PID,BP,图2神经网络PID控制器Fig.2PIDcontrollerbasedonneuralnetworks3PID2090,GA20,[16],#∃,4:PID3,,,,,PID,:!,;∀;%;&,PID,PIDPID,PID2PID,2910200810,,,图3基于遗传算法的PID控制器Fig.3ThePIDcontrollerbasedonGAPID:!,;∀,;%;&,,[17]PID,[18]PID,,4PID,PID,:!,,,GAPID,,[19]PID,PID∀PID,,ControlEngineeringPracticeIEEEControlSystemsMagazine20012006PID2000,IFACTerrassa#Past,PresentandFutureofPIDControl∃PIDASTROM,PID,#∃[20-21],PID,PID,[22]%,,,YokogawaFuji,PID,,;,,PID,5,PIDPID,,,PID[1].PID[M].:,1992.[2]ASTROMKJ,HAGGLUNDT.PIDcontrollers:theory,design,andtuning[M].2nded.NC,ResearchTrianglePark:InstrumentSocietyofAmerican,1995.[3]WENDELLSR.TakecontrolofPIDtuning[J],PlantEngineering,2005,59(9):57-60.[4]DESBOUROUGHL,MILLERR.IncreasingcustomervalueofindustrialcontrolperformancemonitoringHoneywellsexperience[C].Proceedingsofthe6thInternationalConferenceonChemicalProcessContro,l2002:172-192.[5]QINSJ,BADGWELLTA.Anoverviewofindustrialmodelpredictivecontroltechnology[R].CACHE,AICHE,1997:232-256[6].[C].,1989:29-32.[7].[M].:,2007.[8],,.PID[J].,2002(6):11-13.[9]CARVAJALJ,CHENG,HALUKO.FuzzyPIDcontroller:Design,performanceevaluation,andstabilityanalysis[J].InformationSciences,2000,123(3):249-270.(7)3PID,2910200810(y(t),x(t))=0(29)LPV(2):A()=-1T+r1x1r1x2r2x1-1T+r2x2B1()=B1,B2()=B2C()=yx1yx2(30)pH,(t)=y(t),pH3~7,h=0.2min,!=1.0min,L=5,T=5min,A()C()pH2:∀(kh+Lh,kh+Lh+t)eA(k)t,k=(kh)(31)F(q-1)=0.3(1-0.7q-1),d0.001,pH4~5,3IMC,,IMC,图3基于速度模型的IMC输出曲线Fig.3OutputcurveofIMCbasedonvelocitymodel4,LPV,,,,pH,[1]KAMINERI,PASCOALAM.Avelocityalgorithmfortheimplementationofgainscheduledcontrollers[J].Automatica,1995,31(5):1185-1191.[2]JOHANSENTA,HUNTKJ.Offequilibriumlinearisationanddesignofgainscheduledcontrolwithapplicationtovehiclespeedcontrol[J].Eng.Practice,1998,31(1):167-180.[3]LEITHDJ,LEITHEADWE.Gainscheduledcontrollerdesign:ananalyticframeworkdirectlyincorporatingnonequilibriumplantdynamics[J].In.tJ.Con,t1998,70(2):249-269.[4]LEITHDJ,LEITHEADWE.Gainscheduledandnonlinearsystems:dynamicanalysisbyvelocitybasedlinearizationfamilies[J].In.tJ.Con,t1998,70(2):289-317.[5]APKARIANP,ADAMSRJ.Advancedgainschedulingtechniquesforuncertainsystems[J].IEEETransactionsonControlSystemsTechnology,1998,6(1):21-32.[6]GARCIACE,MORARIM.Internalmodelcontro.l3.multivariablecontrollawcomputationandtuningguidelines[J].Ind.Eng.Chem.Res,1985,24(2):484-494.[7].[M].:,2003.[8]ECONOMOUCG,MORARIM.Internalmodelcontro:lextensiontononlinearsystems[J].Ind.Eng.Chem.ProcessDes,1986,25(11):403-411.[9]GUSTAFSSONTK,SKRIFVARSBO.ModelingofpHforcontrol[J].Ind.Eng.Chem.Res,1995,34(10):820-827.[10]NYSTROMRH,SANDSTROMKV.MultimodelrobustcontrolappliedtoapHneutralizationprocess[J].ComputersChem.Eng,1998,22(10):467-474.(3)[10],.PID[J]..2007,23(7):46-48.[11],,.[J].,2006(5):17-20.[12],,.FPGAPID[J].,2005,25(8):833-837.[13].Atmega16PID[J].,2005(8):66-71[14],.PID[J].,1999,26(6):45-48.[15],.PID[J].,2004,26(6):777-778,810.[16].[M].:,2007.[17],,.PID[J].,2007(4):66-71.[18].PID[J].,2006,19(3):865-868.[19],,,,PID[J].,2004,33(4):481-485.[20],,,.[J].,1999,25(1):9-17.[21],,,.[J].:,2001,31(2):137-149.[22],,PID[J].,2003,10(1):37-42.7,