液位控制系统建模及其控制算法的研究
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摘要
液位不仅是工业过程中的常见变量,且便于直接观察,也容易测量。以液位过程构成实验系统,可灵活地进行过程组态,实施各种不同的控制方案,可以构成一阶系统,二阶系统,三阶系统和双入双出系统。液位控制系统是过程控制的重要研究模型,对液位控制系统的研究具有显著的理论和实际意义。
论文以“控制理论与控制工程”学科实验室建设为背景,针对开发研制的三容水箱液位控制实验系统,进一步完善实验系统的软硬件设施建设,针对系统中存在的问题和不足之处加以及时的改进和完善,使实验设备能够更好地应用于实验教学之中。
从总体上对三容水箱液位控制系统的硬件结构、各种对象的工作原理进行了详细的说明,并给出了实际中的设置方案,对系统所用的进水阀门和泄水阀门的非线性进行了详细的讨论和分析,并给出实际中使用的线性化方程和非线性补偿算法,对实际对象进行了数学建模,并在此基础上对所建模型的参数进行确定,着重以阶跃响应曲线法和最小二乘辩识的方法进行了详细的研究。
本文以三容水箱液位控制系统作为研究对象,对几种控制算法进行了研究,其中包括PID控制算法、积分分离PID控制算法、大林算法、Smith预估控制算法、模糊控制算法和模糊PID控制算法,并通过实际C语言编程对控制算法进行具体实现,同时结合Matlab对系统进行仿真研究,说明了各控制算法的可行性和优越性。
Liquid level not only is a familiar variable in the field of industry process, but also it is easy to observe and to measure directly in process control. Liquid level process can constitute experiment system, can vividly carry on process combination and carry out various different control projects, such as SISO subjects of first-order, second-order, third-order and nonlinear two inputs and two outputs subjects. Liquid level control system is a importance research model and its research has important theoretical and actual meaning in process control.
An equipment, which is called three-tank water control system, is designed as a process control experiment device in order to satisfy the need of Control Theory & Engineering laboratory construction. The thesis will further perfect software and hardware facilities construction of experiment system, give some advice and measure to improve and enforce the system actual value, and make experiment equipments apply in experiment teaching better.
The thesis introduces the hardware structure, the work principle of various objects and the characteristic of the components of the independent designed three-tank liquid level control system as a whole. The thesis also gives a real setting scheme. Following this,after the thesis discussion and nonlinear analysis of the input water valve and the leak valve in detail, it gives several linear equations and a nonlinear compensation algorithm which is used in the application and gives models of the components of the device. Then the thesis finishes building models of various objects and identifying model parameters in system in the method of the step response and the least squares.
Considering the three-tank liquid level control system as the research object, the thesis discusses and studies a few kind of control algorithms, including: PID control algorithm, integral separation PID control algorithm, Dahlin control algorithm, Smith predictor control algorithm, fuzzy and fuzzy-PID control algorithm. At the same time the paper accomplishes these algorithms by programming with C and simulating with Matlab, according to the comparison results of experiment, it comes to a conclusion on the possibility and superiority of the control algorithms.
论文以“控制理论与控制工程”学科实验室建设为背景,针对开发研制的三容水箱液位控制实验系统,进一步完善实验系统的软硬件设施建设,针对系统中存在的问题和不足之处加以及时的改进和完善,使实验设备能够更好地应用于实验教学之中。
从总体上对三容水箱液位控制系统的硬件结构、各种对象的工作原理进行了详细的说明,并给出了实际中的设置方案,对系统所用的进水阀门和泄水阀门的非线性进行了详细的讨论和分析,并给出实际中使用的线性化方程和非线性补偿算法,对实际对象进行了数学建模,并在此基础上对所建模型的参数进行确定,着重以阶跃响应曲线法和最小二乘辩识的方法进行了详细的研究。
本文以三容水箱液位控制系统作为研究对象,对几种控制算法进行了研究,其中包括PID控制算法、积分分离PID控制算法、大林算法、Smith预估控制算法、模糊控制算法和模糊PID控制算法,并通过实际C语言编程对控制算法进行具体实现,同时结合Matlab对系统进行仿真研究,说明了各控制算法的可行性和优越性。
Liquid level not only is a familiar variable in the field of industry process, but also it is easy to observe and to measure directly in process control. Liquid level process can constitute experiment system, can vividly carry on process combination and carry out various different control projects, such as SISO subjects of first-order, second-order, third-order and nonlinear two inputs and two outputs subjects. Liquid level control system is a importance research model and its research has important theoretical and actual meaning in process control.
An equipment, which is called three-tank water control system, is designed as a process control experiment device in order to satisfy the need of Control Theory & Engineering laboratory construction. The thesis will further perfect software and hardware facilities construction of experiment system, give some advice and measure to improve and enforce the system actual value, and make experiment equipments apply in experiment teaching better.
The thesis introduces the hardware structure, the work principle of various objects and the characteristic of the components of the independent designed three-tank liquid level control system as a whole. The thesis also gives a real setting scheme. Following this,after the thesis discussion and nonlinear analysis of the input water valve and the leak valve in detail, it gives several linear equations and a nonlinear compensation algorithm which is used in the application and gives models of the components of the device. Then the thesis finishes building models of various objects and identifying model parameters in system in the method of the step response and the least squares.
Considering the three-tank liquid level control system as the research object, the thesis discusses and studies a few kind of control algorithms, including: PID control algorithm, integral separation PID control algorithm, Dahlin control algorithm, Smith predictor control algorithm, fuzzy and fuzzy-PID control algorithm. At the same time the paper accomplishes these algorithms by programming with C and simulating with Matlab, according to the comparison results of experiment, it comes to a conclusion on the possibility and superiority of the control algorithms.
引文
1赵科.三容水箱的建模及基于T_S模型的模糊PID控制.内蒙古工业大学硕士学位论文. 2005: 5~16
2金以慧,王诗穿,王桂增.过程控制的发展与展望.控制理论与应用.第14卷第2期.1997.4:145~150
3何离庆,张寿明,朱文嘉.过程控制系统与装置.重庆大学出版社, 2003.7: 101~115
4王毅.过程装备控制技术及应用.化学工业出版社, 2001.7:23~42
5孟娟.三容水箱实验系统软件平台开发及多变量过程的在线监测与故障诊断.东北大学硕士学位论文. 2002: 1~12
6冯丽辉.水箱液位模拟控制系统的微机化改造.昆明理工大学报. 24卷5期2001: 1~4
7齐臣坤,李少远.液位过程控制系统的设计与实现.东南大学学报(自然科学版)第33卷增刊.2003年9月,141~143
8 Saco R., Pires E., Godfrid C., Real Time Controlled Laboratory Plant for Control Education, Frontiers in Education, 2002.FIE2002.32nd Annual,Volume:1,6-9 Nov. 2002:102~112
9 Noura Hassan, Theilliol Didier, Sauter Dominique. Actuator Fault-Tolerant Control Design: Demonstration on A Three-Tank System. International Journal of Systems Science, September 2000:1143~1155
10 Tsuda K., Mignone D., Ferrari-Trecate G., Morari M., Reconfiguration Strategies for Hybrid Systems, American Control Conference, 2001. Proceedings of the 2001, Volume:2, 25-27 June 2001:868~873
11 Bohn C., Unbehauen H., Sensitivity Models for Nonlinear Filters with Application to Recursive Parameter Estimation for Nonlinear State-Space Models. Control Theory and Applications, IEE Proceedings Volume:148,Issue: 2,March 2001:137~145
12 Xing Wei, Wu Tie-Jun, Dynamic Cooperation in Intelligent Large Scale System Control, Intelligent Control and Automation, 2000. Proceedings of the 3rd World Congress on, Volume: 4,28 June-2 July 2000:2314~2318
13 Gil P., Henriques J., Dourado A., Duarte-Ramos H., Constrained NeuralModel Predictive Control with Guaranteed Free Offset, Industrial Electronics Society, 2000. IECON 2000. 26th Annual Conference of the IEEE, Volume:3, 22-28 Oct. 2000:1991~1996
14 Uchida M., Nakano K., Simulator-Based Foresight Control of Level of Three tanks in Series, Industrial Electronics, Control, and Instrumentation, 1996.,Proceedings of the 1996 IEEE IECON 22nd International Conference on, Volume:1,5-10 Aug. 1996: 321~325
15 Kovacs S., Koczy L.T., Interpolative Fuzzy Reasoning in Similarity Based System Reconfiguration, Systems, Man, and Cybernetics, 1999. IEEE SM’99 Conference Proceedings. 1999 IEEE International Conference, Volume: 5,12-15 Oct. 1999:226-231
16周浚哲,于洋.神经网络GPC在非线性三容水箱系统中的应用.沈阳工业学院学报. 2002,21(2):55~59
17金以慧.过程控制.清华大学出版社. 1993:1~32
18 Hou, M., Xionq, Y. S., Patton, R. J. Observing A Three-Tank System. IEEE Transactions Control Systems Technology, 2005, 13(3):478~484
19马翼平.三容水箱液位控制系统的研究.哈尔滨工业大学工学硕士学位论文.2003,7:6~19
20冯毅萍.计算机液位控制系统实验装置的研制.实验室研究与探索. 2000,(2 ):78~81
21 [美]Katsuhiko Ogata著,卢伯英,于海勋等译著.现代控制工程.第四版电子工业出版社. 2003年7月第四版:140~145
22赵科,王生铁,张计科.三容水箱的机理建模.控制工程.第13卷第6期2006年11月:521~524
23李伟,三容水箱液位控制系统.黑龙江科技学院学报.第14卷第3期2004.5:160~163
24胡怀中,孙连明,刘文江.输出过采样闭环系统辨识方法中最优过采样率的选择.西安交通大学学报.第38卷第12期.2004.12:1211~1214
25刘静纨.最小二乘法在系统辨识中的应用.北京建筑工程学院学报.第20卷第3期2004.9:19~21
26陶永华.新型PID控制及其应用.机械工业出版社.2003.7第2版:1~30
27 Astrom, K. J. and Hagglund, T.,The Future of PID Control. Control Engineering Practice, 2001,11(9):1163~1165
28董红生. PID控制器参数自动整定方法研究.甘肃工业大学硕士学位论文2003.6: 1-13
29宋云霞,朱学峰.大时滞过程控制方法及应用.过程控制.化工自动化及仪表. 2001.28 (4):9~15
30陈宇杰.时滞系统的Smith预估控制研究.浙江大学硕士学位论文. 2006.3:15~36
31 Kharitonov V L. Robust Stability Analysis of Time Delay Systems: A Survey. Annual Reviews in Control, 1999, 23: 185~196.
32 Silva, G. J., Datta, A., Bhattacharyya, S. P., PI Stabilization of First-Order Systems with Time Delay. Automatic, 2001:2025~2031
33 Majhi S. Atherton D. P. Automatic Tuning of The Modified Smith Predictor Controllers. Proceedings of the 39 IEEE Conference on Decision and Control, Sydney, Australia, 2000.
34 Mahmoud M S. Design of Stabilizing Controllers for Uncertain Discrete-Time Systems with State-Delay. Journal of Systems Analysis and Modeling Simulation, 1995, 21:13~27.
35 Lee Yongho, Lee jeongseok, Park Sunwon. PID Controller Tuning for Integrating and Unstable Processes with Time Delay, Chemical Engineering Science, 2000:3481~3493
36刘金琨.先进PID控制MATLAB仿真(第二版).电子工业出版社.2004:1~128
37丛志茹,王春阳,王淑婷,刘春慧,韩宇.模糊控制器在水位控制系统中的应用.长春理工大学学报.第29卷第4期2006.12:48~50
38苏明,陈伦军,林浩.模糊PID控制及其MAILAB仿真.计算机应用.现代机械.2004年第4期,51~55
39王军,韩建兵,付占稳等.基于模糊PID控制的过程控制实验系统的研究.河北科技大学学报,2005,26(2) :150-152
40 Visiolia. Tuning of PID Controllers with Fuzzy Logic. IEE Proc Online, 2001, 148(1):1~8.
41 Wang HongWei. Nonlinear Systems Modeling via Fuzzy Logic Rules .Control Theory and Applications Vol. 17,Jun. 2000:419~422
42李强华.模糊PID控制在水位控制中的应用与仿真.河南科技大学学报:自然科学版.第27卷第4期2006. 8:49~51
43 Mizumoto M. Realization of PID Controls by Fuzzy Control Methods. Fuzzy Sets and Systems, 1995, 70(2):171~182
44 Qin S.J. Auto-Tuned Fuzzy Logic Control, Proceeding of The American Control Conference.1994, (1): 966~970
45 Mikio Maeda, Shuta Murakami. A Self-Tuning Fuzzy Controller. Fuzzy Sets and Systems, 1992, 51(5):29~40
46 Wang Yin song, Liu Ji Zhen. A PID-Type Fuzzy Controller and Its Parameters Tuning Method. Fifth World Conference on Intelligent Control and Automation. 2004, (3): 2589~2592.
47李兵.模糊PID液位控制系统的设计与实现.合肥工业大学硕士学位论文.2006.4:11~33
48常满波,胡鹏飞.基于MATLAB的模糊PID控制器设计与仿真研究.机车电传动.2002年第5期: 34~36
49王晓鹏.三容水箱液位控制系统动态仿真与多变量过程的在线监测.山东大学, 2005:23~28
50姚俊,马松辉. Simulink建模与仿真.西安电子科技大学出版社,2002:1~50
51黄文梅,杨勇,熊桂林,成晓明.系统仿真分析与设计——MATLAB语言工程应用.国防科技大学出版社. 2001.12 :258~324
52薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用.清华大学出版社.北京,2002:192~422
53徐武雄. MATLAB在控制系统中的应用.咸宁师专学报.第22卷第6期2002.12:50~52
54陈桂琴. MATLAB用于处理曲线拟合.电脑知识与技术. 2005:78~79
55罗兴垅,罗颖. Matlab软件在物理实验数据处理中的应用.赣南师范学院学报.第三期,实验教学研究. 2004,6:79~81
2金以慧,王诗穿,王桂增.过程控制的发展与展望.控制理论与应用.第14卷第2期.1997.4:145~150
3何离庆,张寿明,朱文嘉.过程控制系统与装置.重庆大学出版社, 2003.7: 101~115
4王毅.过程装备控制技术及应用.化学工业出版社, 2001.7:23~42
5孟娟.三容水箱实验系统软件平台开发及多变量过程的在线监测与故障诊断.东北大学硕士学位论文. 2002: 1~12
6冯丽辉.水箱液位模拟控制系统的微机化改造.昆明理工大学报. 24卷5期2001: 1~4
7齐臣坤,李少远.液位过程控制系统的设计与实现.东南大学学报(自然科学版)第33卷增刊.2003年9月,141~143
8 Saco R., Pires E., Godfrid C., Real Time Controlled Laboratory Plant for Control Education, Frontiers in Education, 2002.FIE2002.32nd Annual,Volume:1,6-9 Nov. 2002:102~112
9 Noura Hassan, Theilliol Didier, Sauter Dominique. Actuator Fault-Tolerant Control Design: Demonstration on A Three-Tank System. International Journal of Systems Science, September 2000:1143~1155
10 Tsuda K., Mignone D., Ferrari-Trecate G., Morari M., Reconfiguration Strategies for Hybrid Systems, American Control Conference, 2001. Proceedings of the 2001, Volume:2, 25-27 June 2001:868~873
11 Bohn C., Unbehauen H., Sensitivity Models for Nonlinear Filters with Application to Recursive Parameter Estimation for Nonlinear State-Space Models. Control Theory and Applications, IEE Proceedings Volume:148,Issue: 2,March 2001:137~145
12 Xing Wei, Wu Tie-Jun, Dynamic Cooperation in Intelligent Large Scale System Control, Intelligent Control and Automation, 2000. Proceedings of the 3rd World Congress on, Volume: 4,28 June-2 July 2000:2314~2318
13 Gil P., Henriques J., Dourado A., Duarte-Ramos H., Constrained NeuralModel Predictive Control with Guaranteed Free Offset, Industrial Electronics Society, 2000. IECON 2000. 26th Annual Conference of the IEEE, Volume:3, 22-28 Oct. 2000:1991~1996
14 Uchida M., Nakano K., Simulator-Based Foresight Control of Level of Three tanks in Series, Industrial Electronics, Control, and Instrumentation, 1996.,Proceedings of the 1996 IEEE IECON 22nd International Conference on, Volume:1,5-10 Aug. 1996: 321~325
15 Kovacs S., Koczy L.T., Interpolative Fuzzy Reasoning in Similarity Based System Reconfiguration, Systems, Man, and Cybernetics, 1999. IEEE SM’99 Conference Proceedings. 1999 IEEE International Conference, Volume: 5,12-15 Oct. 1999:226-231
16周浚哲,于洋.神经网络GPC在非线性三容水箱系统中的应用.沈阳工业学院学报. 2002,21(2):55~59
17金以慧.过程控制.清华大学出版社. 1993:1~32
18 Hou, M., Xionq, Y. S., Patton, R. J. Observing A Three-Tank System. IEEE Transactions Control Systems Technology, 2005, 13(3):478~484
19马翼平.三容水箱液位控制系统的研究.哈尔滨工业大学工学硕士学位论文.2003,7:6~19
20冯毅萍.计算机液位控制系统实验装置的研制.实验室研究与探索. 2000,(2 ):78~81
21 [美]Katsuhiko Ogata著,卢伯英,于海勋等译著.现代控制工程.第四版电子工业出版社. 2003年7月第四版:140~145
22赵科,王生铁,张计科.三容水箱的机理建模.控制工程.第13卷第6期2006年11月:521~524
23李伟,三容水箱液位控制系统.黑龙江科技学院学报.第14卷第3期2004.5:160~163
24胡怀中,孙连明,刘文江.输出过采样闭环系统辨识方法中最优过采样率的选择.西安交通大学学报.第38卷第12期.2004.12:1211~1214
25刘静纨.最小二乘法在系统辨识中的应用.北京建筑工程学院学报.第20卷第3期2004.9:19~21
26陶永华.新型PID控制及其应用.机械工业出版社.2003.7第2版:1~30
27 Astrom, K. J. and Hagglund, T.,The Future of PID Control. Control Engineering Practice, 2001,11(9):1163~1165
28董红生. PID控制器参数自动整定方法研究.甘肃工业大学硕士学位论文2003.6: 1-13
29宋云霞,朱学峰.大时滞过程控制方法及应用.过程控制.化工自动化及仪表. 2001.28 (4):9~15
30陈宇杰.时滞系统的Smith预估控制研究.浙江大学硕士学位论文. 2006.3:15~36
31 Kharitonov V L. Robust Stability Analysis of Time Delay Systems: A Survey. Annual Reviews in Control, 1999, 23: 185~196.
32 Silva, G. J., Datta, A., Bhattacharyya, S. P., PI Stabilization of First-Order Systems with Time Delay. Automatic, 2001:2025~2031
33 Majhi S. Atherton D. P. Automatic Tuning of The Modified Smith Predictor Controllers. Proceedings of the 39 IEEE Conference on Decision and Control, Sydney, Australia, 2000.
34 Mahmoud M S. Design of Stabilizing Controllers for Uncertain Discrete-Time Systems with State-Delay. Journal of Systems Analysis and Modeling Simulation, 1995, 21:13~27.
35 Lee Yongho, Lee jeongseok, Park Sunwon. PID Controller Tuning for Integrating and Unstable Processes with Time Delay, Chemical Engineering Science, 2000:3481~3493
36刘金琨.先进PID控制MATLAB仿真(第二版).电子工业出版社.2004:1~128
37丛志茹,王春阳,王淑婷,刘春慧,韩宇.模糊控制器在水位控制系统中的应用.长春理工大学学报.第29卷第4期2006.12:48~50
38苏明,陈伦军,林浩.模糊PID控制及其MAILAB仿真.计算机应用.现代机械.2004年第4期,51~55
39王军,韩建兵,付占稳等.基于模糊PID控制的过程控制实验系统的研究.河北科技大学学报,2005,26(2) :150-152
40 Visiolia. Tuning of PID Controllers with Fuzzy Logic. IEE Proc Online, 2001, 148(1):1~8.
41 Wang HongWei. Nonlinear Systems Modeling via Fuzzy Logic Rules .Control Theory and Applications Vol. 17,Jun. 2000:419~422
42李强华.模糊PID控制在水位控制中的应用与仿真.河南科技大学学报:自然科学版.第27卷第4期2006. 8:49~51
43 Mizumoto M. Realization of PID Controls by Fuzzy Control Methods. Fuzzy Sets and Systems, 1995, 70(2):171~182
44 Qin S.J. Auto-Tuned Fuzzy Logic Control, Proceeding of The American Control Conference.1994, (1): 966~970
45 Mikio Maeda, Shuta Murakami. A Self-Tuning Fuzzy Controller. Fuzzy Sets and Systems, 1992, 51(5):29~40
46 Wang Yin song, Liu Ji Zhen. A PID-Type Fuzzy Controller and Its Parameters Tuning Method. Fifth World Conference on Intelligent Control and Automation. 2004, (3): 2589~2592.
47李兵.模糊PID液位控制系统的设计与实现.合肥工业大学硕士学位论文.2006.4:11~33
48常满波,胡鹏飞.基于MATLAB的模糊PID控制器设计与仿真研究.机车电传动.2002年第5期: 34~36
49王晓鹏.三容水箱液位控制系统动态仿真与多变量过程的在线监测.山东大学, 2005:23~28
50姚俊,马松辉. Simulink建模与仿真.西安电子科技大学出版社,2002:1~50
51黄文梅,杨勇,熊桂林,成晓明.系统仿真分析与设计——MATLAB语言工程应用.国防科技大学出版社. 2001.12 :258~324
52薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用.清华大学出版社.北京,2002:192~422
53徐武雄. MATLAB在控制系统中的应用.咸宁师专学报.第22卷第6期2002.12:50~52
54陈桂琴. MATLAB用于处理曲线拟合.电脑知识与技术. 2005:78~79
55罗兴垅,罗颖. Matlab软件在物理实验数据处理中的应用.赣南师范学院学报.第三期,实验教学研究. 2004,6:79~81