三容水箱的非线性PID控制
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摘要
三容水箱是工业生产过程中多容流程对象的抽象模型,具有很强的代表性,可模拟工业过程中一阶或多阶次、线性或非线性、单容或多容、耦合或非耦合等特性、验证各种控制策略的性能优劣,因而研究三容水箱的控制具有重要的理论意义和实际应用价值。
本文在对三容水箱结构形式和工作机理分析的基础上,首先建立三容水箱的非线性数学模型,然后根据流量特性的特点,采用分段线性化的方法设计了变参数PID控制器,仿真分析指出该控制策略在给定大范围变化时动态和静态性能较差的不足。在此基础上研究了非线性变参数PID控制和非线性模糊PID控制策略,这两种控制策略引入了非线性特性,在液位差较大时,采用不同参数的PI控制;液位差在小范围时采用变参数PID或模糊PID达到加快动态调节过程和保证液位调节精度的目的。从仿真和实验结果来看,非线性PID控制可以实现液位控制的“粗调”和“精调”,保证液位给定大范围变化情况下控制的快速性和准确性,验证了本文所研究控制策略的正确性和可行性。
As an abstract and typical model of industrial production process, three-tank water can be used to simulate the characteristics of first order or multiple order, linear or nonlinear, single-capacity or multiple-capacity, coupling or non-coupling industrial processes, and verify the validity of various control strategies, so that it is of an important theoretical significance and application value to study control of three-tank water.
In this thesis, based on the analysis of the structure and mechanism for three-tank water, the nonlinear mathematical model of the three-tank water is established, and according to its flow characteristics, variable parameter PID is designed by using the piecewise linearization method. Simulation results indicate that the control strategy has poor dynamic and steady performance under large variation in set water level. Nonlinear variable parameter PID and nonlinear fuzzy PID are put forward to overcome the drawback of variable parameter PID. By the introduction of nonlinear characteristics, these two controllers use the PI with different parameters under a larger change in water level set, and use nonlinear variable PID or fuzzy PID under a smaller set level variation to speed up the dynamic adjustment process and to ensure steady regulation accuracy. Simulation and experimental results show the "coarse tuning" and "fine tuning" of nonlinear variable parameter PID and nonlinear fuzzy PID control have been achieved under a larger variation in water level set, and verify the correctness and feasibility of the control strategies proposed in the thesis.
本文在对三容水箱结构形式和工作机理分析的基础上,首先建立三容水箱的非线性数学模型,然后根据流量特性的特点,采用分段线性化的方法设计了变参数PID控制器,仿真分析指出该控制策略在给定大范围变化时动态和静态性能较差的不足。在此基础上研究了非线性变参数PID控制和非线性模糊PID控制策略,这两种控制策略引入了非线性特性,在液位差较大时,采用不同参数的PI控制;液位差在小范围时采用变参数PID或模糊PID达到加快动态调节过程和保证液位调节精度的目的。从仿真和实验结果来看,非线性PID控制可以实现液位控制的“粗调”和“精调”,保证液位给定大范围变化情况下控制的快速性和准确性,验证了本文所研究控制策略的正确性和可行性。
As an abstract and typical model of industrial production process, three-tank water can be used to simulate the characteristics of first order or multiple order, linear or nonlinear, single-capacity or multiple-capacity, coupling or non-coupling industrial processes, and verify the validity of various control strategies, so that it is of an important theoretical significance and application value to study control of three-tank water.
In this thesis, based on the analysis of the structure and mechanism for three-tank water, the nonlinear mathematical model of the three-tank water is established, and according to its flow characteristics, variable parameter PID is designed by using the piecewise linearization method. Simulation results indicate that the control strategy has poor dynamic and steady performance under large variation in set water level. Nonlinear variable parameter PID and nonlinear fuzzy PID are put forward to overcome the drawback of variable parameter PID. By the introduction of nonlinear characteristics, these two controllers use the PI with different parameters under a larger change in water level set, and use nonlinear variable PID or fuzzy PID under a smaller set level variation to speed up the dynamic adjustment process and to ensure steady regulation accuracy. Simulation and experimental results show the "coarse tuning" and "fine tuning" of nonlinear variable parameter PID and nonlinear fuzzy PID control have been achieved under a larger variation in water level set, and verify the correctness and feasibility of the control strategies proposed in the thesis.
引文
[1]李小平.液位控制系统建模及其控制算法的研究[D].哈尔滨工业大学硕士学位论文,2007
[2] Roberto Saco1, Eduardo Pires ,Carlos Godfrid.Real time controlled laboratory plant for control education [C] .32nd ASEE/IEEE Frontiers in Education Conference,2002,12～16
[3]王天杰.基于以太网的液位控制系统[D].青岛大学硕士学位论文,2008
[4] Armstronq,G.Rose,A.Holdo A.Analysis of flow-trough ballast water exchange[J].International Maritime Technology,1999,111(2):59～70
[5]天煌科技.液位过程控制系统实验指导书[M] .杭州天煌科技,2003
[6] David Cartes, Lei Wu.Experimental evaluation of adaptive three-tank level control[J] .ISA Transactions, 2005,44:283–293
[7]李智.基于模糊PID的三容水箱液位控制[D].内蒙古大学硕士学位论文,2007
[8]简珣.模糊PID控制在三容水箱系统控制中的应用研究[D].合肥工业大学硕士学位论文,2007
[9]李兵.模糊PID液位控制系统的设计与实现[D].合肥工业大学硕士学位论文,2006
[10] Mizumoto M.Realization of PID controls by fuzzy control methods [J].Fuzzy Sets and Systems,1995,70(2):171～182
[11]王桂荣.三水箱实验装置在线检测与控制[D].辽宁工程技术大学硕士学位论文,2002
[12]赵科.三容水箱的建模及基于T-S模型的模糊PID控制[D].内蒙古工业大学硕士学位论文,2006
[13]李学军,徐俊山.三容模糊控制系统设[J].长春大学学报,2004,14(6):8～10
[14]潘永平,张慧,王钦若.非线性液位系统的稳定自适应模糊控制研究[J].电气传动,2007,37(3):44～48
[15]许伟明,居滋培,张凤登.单神经元自适应控制器在液位控制中的应用[J].上海理工大学学报,2001,23(2):180～182
[16]陈家衡,谢成祥,刘雁玲.预测函数控制及其在三容水箱中的应用[J].微计算机信息,2007,23(1):58～60
[17]邓秋连.RBF—ARX模型在三容水箱液位控制系统建模中的应用[D].中南大学硕士学位论文,2008
[18]赵飞.无模型自适应控制原理在液位控制中的应用[J].中国科技信息,2006,24:106～109
[19]陈荣保,李劲松.基于动态矩阵算法的液位控制系统[J].自动化仪表,2001,22(10):53～54
[20]都智红,崔桂梅,梁建坤.基于ANFIS的三容系统解耦及液位控制[J].包头钢铁学院学报,2005,24(4):357～360
[21]向婉成.控制仪表与装置[M].北京:机械工业出版社,1999
[22]贺庆之.过程控制仪表与装置[M].北京:中国轻工业出版社,1999
[23]邵裕森,巴莜云.过程控制系统及仪表[M].北京:化学工业出版社,1998
[24]方康玲.过程控制系统[M].武汉:武汉理工大学大学出版社,2002
[25]金以慧.过程控制[M].北京:清华大学出版社,1993
[26]何衍庆,俞金寿,蒋慰孙.工业生产过程控制[M].北京:化学工业出版社,2004
[27] Katsuhiko Ogata.现代控制工程[M].卢伯英,于海勋等译.第四版.北京:电子工业出版社,1999
[28] Jafarov,E.M.,Parlakci,M.N.A.,lstefanopulos,Y.A new variable structure PID controller design for robot manipulators[J].IEEE Transactions on Control Systems Technology,2005,13(1):122～130
[29]胡寿松.自动控制原理[M].北京:科学出版社,2001
[30] M.Zhuang,D.P.Atherton.Automatic tuning of opimum PID controllers[J].IEE Proceedings-D,1993,140(3):216～224
[31] Qing-Guo Wang,Chang-Chieh Hang,Wei Zou.Automatic tuning of nonlinear PID controllers for unsymmetrical processes [J].Computers chem. Engng,1998,22(4):687～694
[32] David Cartes, Lei Wu.Experimental evaluation of adaptive three-tank level control [J].ISA Transaction ,200,44(2005):283～293
[33]张计科,王生铁,段慧.三容水箱的非线性模糊PID控制[J].仪器仪表控制(增刊),2009
[34] Zhi-Wei Woo, Hung-Yuan Chung, Jin-Jye Lin. A PID type fuzzy controller with self-tuning scaling factors [J]. Fuzzy Sets and Systems, 1998, 115(2000): 321-326
[35] K.K. Tan , S. Huang, R. Ferdous . Robust self-tuning PID controller for nonlinear systems[J].Journal of Process Control,2002,12(2002):753～761
[36] Panda,R.C..Synthesis of PID controller for unstable and integrating processes [J].Chemical Engineering Science,2009,10(1016):1～9
[37] Nishikawa Y,Sannomiya N,Ohta T,et al.A method for auto-tuning of PID control parameters[J].Automatica,1984,20(2):321～332
[38]张国良.模糊控制及其MATLAB应用[M].西安:西安交通大学出版社,2002
[39] Lee.S.,Yen,G.G.Analysis of Takagi-Sugeno fuzzy models in system identification for model-based control[J].Control and Intelligent Systems,2004,32(2):39～79
[40] Chanq,W.-J.,Sun,C.-C.,Chunq,H.-Y.Fuzzy controller design for discrete controllabilitycanonical Takagi-Sugeno fuzzy systems[J].Control Theory and Applications,2004,151(3):319～325
[41]刑毅民.基于T-S模型的模糊PID控制器设计及应用研究[D].北京科技大学硕士学位论文,2002
[42] Kazuo Tanaka,Michio Sugeno.Stability analysis and design of fuzzy control systems[J].Fuzzy Sets and Systems,1992,45(2):135～156
[43] Mikio Maeda,Shuta Murakami.A Self-tuning Fuzzy Controller[J].Fuzzy Sets and Systems,1992,51(5):29～40
[44] Hassan B.Kazemian.Comparative study of a learning fuzzy PID controller and a self-turning controller [J].ISA Transaction ,2001,40(2001):245～253
[45]马国华.监控组态软件及其应用[M].北京:清华大学出版社,2001
[46]三维力控.力控用户手册[M].北京:北京三维力控有限公司,1999
[47] Lig , Jing Y . A configuration software system for industrial monitoring and controlling[J].Information Acquisition,2004:466～470
[48] Arnolddb,Reynoldsgj.Configuring graphics systems components.Software Engineering Journal[J].1988,3(6):248-256
[49]孙元娜.现场总线控制系统的组态软件设计[D].哈尔滨工业大学硕士学位论文,2008
[50]周旭.现场总线控制系统组态软件的研究[D].山东大学硕士学位论文,2006
[51]赵文峰.控制系统设计与仿真[M].西安:西安电子科技大学出版社,2002
[52]孙增圻.智能控制理论与技术[M].北京:清华大学出版社,2004
[53]刘金琨.先进PID控制MATLAB仿真[M].第二版.北京:机械工业出版社,2004
[2] Roberto Saco1, Eduardo Pires ,Carlos Godfrid.Real time controlled laboratory plant for control education [C] .32nd ASEE/IEEE Frontiers in Education Conference,2002,12～16
[3]王天杰.基于以太网的液位控制系统[D].青岛大学硕士学位论文,2008
[4] Armstronq,G.Rose,A.Holdo A.Analysis of flow-trough ballast water exchange[J].International Maritime Technology,1999,111(2):59～70
[5]天煌科技.液位过程控制系统实验指导书[M] .杭州天煌科技,2003
[6] David Cartes, Lei Wu.Experimental evaluation of adaptive three-tank level control[J] .ISA Transactions, 2005,44:283–293
[7]李智.基于模糊PID的三容水箱液位控制[D].内蒙古大学硕士学位论文,2007
[8]简珣.模糊PID控制在三容水箱系统控制中的应用研究[D].合肥工业大学硕士学位论文,2007
[9]李兵.模糊PID液位控制系统的设计与实现[D].合肥工业大学硕士学位论文,2006
[10] Mizumoto M.Realization of PID controls by fuzzy control methods [J].Fuzzy Sets and Systems,1995,70(2):171～182
[11]王桂荣.三水箱实验装置在线检测与控制[D].辽宁工程技术大学硕士学位论文,2002
[12]赵科.三容水箱的建模及基于T-S模型的模糊PID控制[D].内蒙古工业大学硕士学位论文,2006
[13]李学军,徐俊山.三容模糊控制系统设[J].长春大学学报,2004,14(6):8～10
[14]潘永平,张慧,王钦若.非线性液位系统的稳定自适应模糊控制研究[J].电气传动,2007,37(3):44～48
[15]许伟明,居滋培,张凤登.单神经元自适应控制器在液位控制中的应用[J].上海理工大学学报,2001,23(2):180～182
[16]陈家衡,谢成祥,刘雁玲.预测函数控制及其在三容水箱中的应用[J].微计算机信息,2007,23(1):58～60
[17]邓秋连.RBF—ARX模型在三容水箱液位控制系统建模中的应用[D].中南大学硕士学位论文,2008
[18]赵飞.无模型自适应控制原理在液位控制中的应用[J].中国科技信息,2006,24:106～109
[19]陈荣保,李劲松.基于动态矩阵算法的液位控制系统[J].自动化仪表,2001,22(10):53～54
[20]都智红,崔桂梅,梁建坤.基于ANFIS的三容系统解耦及液位控制[J].包头钢铁学院学报,2005,24(4):357～360
[21]向婉成.控制仪表与装置[M].北京:机械工业出版社,1999
[22]贺庆之.过程控制仪表与装置[M].北京:中国轻工业出版社,1999
[23]邵裕森,巴莜云.过程控制系统及仪表[M].北京:化学工业出版社,1998
[24]方康玲.过程控制系统[M].武汉:武汉理工大学大学出版社,2002
[25]金以慧.过程控制[M].北京:清华大学出版社,1993
[26]何衍庆,俞金寿,蒋慰孙.工业生产过程控制[M].北京:化学工业出版社,2004
[27] Katsuhiko Ogata.现代控制工程[M].卢伯英,于海勋等译.第四版.北京:电子工业出版社,1999
[28] Jafarov,E.M.,Parlakci,M.N.A.,lstefanopulos,Y.A new variable structure PID controller design for robot manipulators[J].IEEE Transactions on Control Systems Technology,2005,13(1):122～130
[29]胡寿松.自动控制原理[M].北京:科学出版社,2001
[30] M.Zhuang,D.P.Atherton.Automatic tuning of opimum PID controllers[J].IEE Proceedings-D,1993,140(3):216～224
[31] Qing-Guo Wang,Chang-Chieh Hang,Wei Zou.Automatic tuning of nonlinear PID controllers for unsymmetrical processes [J].Computers chem. Engng,1998,22(4):687～694
[32] David Cartes, Lei Wu.Experimental evaluation of adaptive three-tank level control [J].ISA Transaction ,200,44(2005):283～293
[33]张计科,王生铁,段慧.三容水箱的非线性模糊PID控制[J].仪器仪表控制(增刊),2009
[34] Zhi-Wei Woo, Hung-Yuan Chung, Jin-Jye Lin. A PID type fuzzy controller with self-tuning scaling factors [J]. Fuzzy Sets and Systems, 1998, 115(2000): 321-326
[35] K.K. Tan , S. Huang, R. Ferdous . Robust self-tuning PID controller for nonlinear systems[J].Journal of Process Control,2002,12(2002):753～761
[36] Panda,R.C..Synthesis of PID controller for unstable and integrating processes [J].Chemical Engineering Science,2009,10(1016):1～9
[37] Nishikawa Y,Sannomiya N,Ohta T,et al.A method for auto-tuning of PID control parameters[J].Automatica,1984,20(2):321～332
[38]张国良.模糊控制及其MATLAB应用[M].西安:西安交通大学出版社,2002
[39] Lee.S.,Yen,G.G.Analysis of Takagi-Sugeno fuzzy models in system identification for model-based control[J].Control and Intelligent Systems,2004,32(2):39～79
[40] Chanq,W.-J.,Sun,C.-C.,Chunq,H.-Y.Fuzzy controller design for discrete controllabilitycanonical Takagi-Sugeno fuzzy systems[J].Control Theory and Applications,2004,151(3):319～325
[41]刑毅民.基于T-S模型的模糊PID控制器设计及应用研究[D].北京科技大学硕士学位论文,2002
[42] Kazuo Tanaka,Michio Sugeno.Stability analysis and design of fuzzy control systems[J].Fuzzy Sets and Systems,1992,45(2):135～156
[43] Mikio Maeda,Shuta Murakami.A Self-tuning Fuzzy Controller[J].Fuzzy Sets and Systems,1992,51(5):29～40
[44] Hassan B.Kazemian.Comparative study of a learning fuzzy PID controller and a self-turning controller [J].ISA Transaction ,2001,40(2001):245～253
[45]马国华.监控组态软件及其应用[M].北京:清华大学出版社,2001
[46]三维力控.力控用户手册[M].北京:北京三维力控有限公司,1999
[47] Lig , Jing Y . A configuration software system for industrial monitoring and controlling[J].Information Acquisition,2004:466～470
[48] Arnolddb,Reynoldsgj.Configuring graphics systems components.Software Engineering Journal[J].1988,3(6):248-256
[49]孙元娜.现场总线控制系统的组态软件设计[D].哈尔滨工业大学硕士学位论文,2008
[50]周旭.现场总线控制系统组态软件的研究[D].山东大学硕士学位论文,2006
[51]赵文峰.控制系统设计与仿真[M].西安:西安电子科技大学出版社,2002
[52]孙增圻.智能控制理论与技术[M].北京:清华大学出版社,2004
[53]刘金琨.先进PID控制MATLAB仿真[M].第二版.北京:机械工业出版社,2004