变参数的PID控制器设计

范文编号:ZD1028    范文字数:12777,页数:40

摘要
 常规PID控制是发展较为长久的一种控制策略，由于其算法简单，鲁棒性好，可靠性高而被广泛应用于过程控制与运动控制中，尤其适用于精确数学模型的确定性系统，通过比例，积分，微分，三个参数的协调，能够最优化的完成理想系统的控制过程。
 而实际应用过程往往存在具有非线性时变不确定性，特别是当控制对象存在较大的惯性非线性强干扰特性时，利用事先整定好的PID参数来实现长时间的控制很难获得预想的效果，尤其是当被控对象的参数变化超出实际范围时，系统性能会明显变差。
 区别于常规PID控制器，变参数PID控制器是根据误差信号e的变化对PID控制器各参数进行在线整定，并且运用模糊数学的基本理论和方法，把变参规则的条件或操作用模糊集来表示，并把这些模糊控制规则以及有关信息（评价指标、初始PID参数等）作为知识存入知识库，通过计算机根据控制系统的实际运行情况，运用模糊推理，即可自动实现PID参数的最佳在线调整，即实现模糊自适应PID控制。
 由此，通过模糊自适应控制达到很好的控制效果，利用MCGS达到良好的观测效果。

关键字：PID控制、变参数、模糊自适应、MCGS组态

Abstract
The development of a more conventional PID control is a control strategy for a long time, because of its simple algorithm, robustness, reliability and is widely used in process control and movement control, especially for accurate mathematical model of deterministic systems, by proportional, integral, differential, the coordination of the three parameters ,can be optimized to complete the control process of the ideal system.
However,the actual application process often has nonlinear time-varying uncertainty, especially when there is a big inertia control object fei xian xing strong interference characteristics, by using the entire Ding good PID parameters in advance to get a long way to control the desired results difficultly, especially when the parameters of the object beyond the actual range, system performance will be significantly worse.
Different from the conventional PID controller, variable PID controller is the error signal e according to changes in the parameters of the PID controller tuning on line, and the basic theory of fuzzy mathematics and methods, to change parameters or operating conditions of the rules of fuzzy sets to represent, and to the fuzzy control rules and the relevant information (evaluation index, the initial PID  parameter, etc.) as knowledge put into knowledge storehouse, by the computer control system according to the actual operation of situation ,using fuzzy reasoning, PID parameters can be automatically best line adjustment, that is, a fuzzy adaptive PID control.
As a result, through the fuzzy adaptive controling to achieve a good result, the use of the observation MCGS achieve good results.

Keywords：PID control、variable parameter、fuzzy adaptive、observation MCGS

目录

摘要 I
Abstract II
1  前 言 1
2  PID控制 2
2.1常规PID控制简述 2
2.2 模糊自适应控制简介 2
2.3 模糊控制器 3
2.3.1模糊控制系统结构 3
2.3.2 各变量隶属度函数的确定 4
2.3.3 模糊自适应PID设计 5
3  MCGS简述 13
3.1 MCGS组态软件的定义 13
3.2 MCGS组态软件的系统构成 14
3.2.1．嵌入式体系结构 14
3.2.2．通用版体系结构 14
3.3.  MCGS的工作方式 15
3.4.  MCGS的工程过程 16
4  AE2000A实验对象 18
4.1 AE2000A型系统主要特点 18
4.2 AE2000A型实验对象组成结构 18
4.3 AE2000A型实验对象控制台 20
4.4 AE2000A型系统控制软件 22
4.5 AE2000A型装置的安全保护体系 22
5  综合设计 23
5.1常规PID控制 23
5.1.1实验原理 23
5.1.2实验操作及结果 24
5.2模糊PID控制 26
6  总结 37
致 谢 38
参考文献 40
附录 41

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