【作者】 赵辉；

【导师】 张国山；

【作者基本信息】 天津大学 ， 控制理论与控制工程， 2005， 硕士

【摘要】 PID控制是自动控制领域中产生最早,应用最广的一种控制方法。文中以论述PID参数先进整定方法开始,并且介绍了近几年得到的最新研究成果。接下来,从PID控制的结构形式、实际控制工程需求和实现条件分析了PID控制的独特优点和理论依据。在众多的PID调整方法中,本文选择了内模控制方法进行主要研究。根据等效反馈结构,将内模控制方法引入PID控制器的设计,得到PID参数的明确解析结果。针对典型的工业过程控制对象(一阶和二阶纯滞后过程)根据内模控制原理提出了一种PID控制器参数整定的新方法;针对一类不稳定时滞过程,采用双环控制结构,首先选取P控制器参数,使得广义对象(内环)稳定,然后按照内模控制原理设计外环控制器,并且针对这些模型提出了一种二自由度PID控制器的设计方法,所设计的控制器有两个可调参数,而且被调参数与系统的性能直接相关。可使系统同时具有良好的目标值跟踪特性和干扰抑制特性。仿真实验证明,这些方法不但有良好的鲁棒性,而且调节快速、参数整定方法简单,适合工程应用。最后文章对PID将来的发展进行了展望。更多还原

【Abstract】 PID control, as a kind of control method in automatic control, is produced the earliest and used for the widest range of application. This paper starts with surveying the advanced PID parameter tuning methods and the newest achievements in this subject. Next, based on PID control’s structure, the need of practical control engineering and the realizable conditions, it is analyzed that PID control’s special advantages and the theoretical argument. In most PID tuning rules, method of internal model control (IMC) tunings is investigated. The PID controller is designed by using the equivalent feedback structure, and the theoretical results of PID parameters can be obtained. A new PID tuning method is presented for an industrial process control plant (the first-order or second-order pure delay process). A double loop structure is employed to a class of unstable process with time delay. After selecting the P controller to stabilize the inner loop, the IMC principle is used to design the main feedback controller . The design procedure of the two-degree-of-freedom (2DOF) PID controller is presented for these processes. The designed controller has only two adjustable parameters that are directly related to system performance. In this method a good dynamic response performance of both objective tracking and disturbance rejection can be achieved simultaneously. The simulation shows that this method has not only high robustness, but also good expeditiousness and flexibility, and it is fit in with engineering applications. At last, it also points out the directions of the future development.更多还原