【摘要】：在工業(yè)過(guò)程控制領(lǐng)域,時(shí)滯現(xiàn)象普遍存在,時(shí)滯系統(tǒng)的控制研究一直是控制界所關(guān)注的熱點(diǎn)和難點(diǎn)。PID控制,由于其結(jié)構(gòu)簡(jiǎn)單,魯棒性好和便于操作等優(yōu)點(diǎn),在過(guò)程控制領(lǐng)域得到了最為廣泛的應(yīng)用。時(shí)滯系統(tǒng)的PID控制一直處于不斷的發(fā)展和完善之中。很多先進(jìn)控制方法都可以和PID控制結(jié)合,以使得閉環(huán)系統(tǒng)同時(shí)具有先進(jìn)控制方法性能優(yōu)越和PID控制易于實(shí)現(xiàn)等優(yōu)點(diǎn),其中內(nèi)模PID最具有代表性。在過(guò)程控制領(lǐng)域,系統(tǒng)的擾動(dòng)抑制性能是衡量系統(tǒng)性能的一個(gè)重要指標(biāo),擾動(dòng)觀測(cè)器可以有效補(bǔ)償不可測(cè)擾動(dòng)和未建模動(dòng)態(tài)對(duì)系統(tǒng)性能的不利影響。常規(guī)PID控制器由于其結(jié)構(gòu)上的限制,很難應(yīng)用于某些對(duì)系統(tǒng)性能和魯棒性要求更高的場(chǎng)合,而分?jǐn)?shù)階PID不失為一種有效的控制方案。分?jǐn)?shù)階PID是對(duì)PID控制的一般化,它比PID控制具有更多的自由度,因此可以進(jìn)一步改善系統(tǒng)的性能和魯棒性。本文的主要工作如下：第1章概述了國(guó)內(nèi)外關(guān)于PID控制的研究現(xiàn)狀。第2章研究了基于失配模型的內(nèi)模PID。通過(guò)繼電辨識(shí)得到對(duì)象的低階模型,并基于低階模型設(shè)計(jì)控制器。無(wú)論對(duì)象階次的高低,所設(shè)計(jì)的內(nèi)�？刂破魇冀K具有簡(jiǎn)單的結(jié)構(gòu)。并利用Pade公式和泰勒公式推導(dǎo)出了相應(yīng)的內(nèi)模PID的解析表達(dá)式,便于工程應(yīng)用。第3章針對(duì)非最小相位時(shí)滯過(guò)程,研究了一種時(shí)滯系統(tǒng)擾動(dòng)觀測(cè)器控制方案,通過(guò)引入相位超前補(bǔ)償器,有效補(bǔ)償了過(guò)程時(shí)滯對(duì)系統(tǒng)擾動(dòng)抑制性能的不利影響。第4章針對(duì)一階時(shí)滯過(guò)程,研究了兩種分?jǐn)?shù)階IλIμ控制器設(shè)計(jì)方法。利用頻域魯棒性能指標(biāo)設(shè)計(jì)控制器,并通過(guò)圖解法求解非線性方程,得到整定參數(shù),避免了復(fù)雜的非線性數(shù)值優(yōu)化。所設(shè)計(jì)的控制器比常規(guī)PI控制器多一個(gè)整定參數(shù),可用于改善對(duì)控制對(duì)象參數(shù)變化的魯棒性。第5章針對(duì)一階大時(shí)滯對(duì)象,研究了一種分?jǐn)?shù)階PIλ控制器設(shè)計(jì)方法,利用相位裕度指標(biāo)設(shè)計(jì)控制器,并通過(guò)優(yōu)化分?jǐn)?shù)階次λ來(lái)增強(qiáng)系統(tǒng)對(duì)控制對(duì)象參數(shù)變化的魯棒性。最后將本文方法和常規(guī)PI控制以及Smith預(yù)估控制進(jìn)行了比較。第6章對(duì)本文進(jìn)行了總結(jié)和未來(lái)展望。
[Abstract]:In the field of industrial process control, the phenomenon of time delay is widespread, and the research on the control of time-delay systems has always been a hot and difficult point in the control field. Pid control has the advantages of simple structure, good robustness and easy operation. It has been widely used in the field of process control. The PID control of time-delay systems has been in the process of continuous development and improvement. Many advanced control methods can be combined with PID control, so that the closed-loop system has the advantages of superior performance of advanced control method and easy implementation of PID control, among which the internal model PID is the most representative. In the field of process control, the disturbance suppression performance of the system is an important index to measure the system performance. The disturbance observer can effectively compensate for the adverse effects of unmeasured disturbances and unmodeled dynamics on the system performance. Because of its structural limitations, conventional PID controllers are difficult to be applied to some situations where the performance and robustness of the system are higher, and fractional PID is an effective control scheme. Fractional PID is a generalization of PID control, which has more degrees of freedom than PID control, so it can further improve the performance and robustness of the system. The main work of this paper is as follows: chapter 1 summarizes the research status of PID control at home and abroad. In chapter 2, the internal model PID. based on mismatch model is studied. The lower order model of the object is obtained by relay identification, and the controller is designed based on the low order model. Regardless of the order of the object, the designed internal model controller always has a simple structure. The analytical expression of the corresponding internal model PID is derived by using Pade formula and Taylor formula, which is convenient for engineering application. In chapter 3, a disturbance observer control scheme for time-delay systems is studied for non-minimum phase time-delay processes. By introducing phase lead compensators, the adverse effects of process delays on disturbance suppression performance of the system are effectively compensated. In chapter 4, two design methods of fractional I 位 I 渭 controller are studied for the first order time delay process. The controller is designed by using the robust performance index in frequency domain, and the nonlinear equation is solved by graphic method, and the tuning parameters are obtained, which avoids the complex nonlinear numerical optimization. The designed controller has one more tuning parameter than the conventional PI controller, which can be used to improve the robustness to the parameter change of the control object. In chapter 5, a design method of fractional PI 位 controller is studied for the first order plant with large time delay. The controller is designed by using the phase margin index, and the robustness of the system to the parameter change of the control object is enhanced by optimizing the fractional 位. Finally, the proposed method is compared with conventional PI control and Smith predictive control. Chapter 6 summarizes this paper and looks forward to the future.
【學(xué)位授予單位】：陜西科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP273

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