基于模糊PID的恒压供水控制系统设计
摘要
随着经济社会的高速发展,能源的需求越来越大,人们对供水系统可靠性的要求也不断提高,采用先进的自动化控制技术来设计高节能、高可靠性的恒压供水系统成为必然趋势。由于供水系统具有严重的非线性和时变性,无法用线性化方法近似,传统PID控制器的参数很难调整、适应性差。针对此问题,本文研究了供水的恒压控制,分析了恒压供水出水压力变化的特点及控制难点。在参阅大量的中外文献并结合实际控制要求的基础上,对基于模糊控制的恒压供水控制系统进行了理论研究和工程设计,提出了模糊控制的方法,对模糊控制进行了实验研究,取得了理想的控制效果。
恒压供水系统的工作,水泵由初始状态向管网供水,一般分为压力上升过程和恒压过程。压力上升过程可近似为一个大时间常数为T1的一阶惯性环节；恒压过程,压力可认为基本保持不变,是一个纯滞后过程。变频器和电机可近似等效为带死区时间T的一阶惯性环节。系统中的其它控制和检测环节,如继电器控制等可以等效为放大环节。这样系统就可以等效为两个一阶惯性环节和纯滞后环节组成的系统。
控制系统是以管网水压为设定参数,根据用水量的多少由单片机控制投入运行的水泵数量及电机的转速,实现管网水压的闭环调节,即恒压供水。本文主要工作包括：
1.研究了恒压供水系统的系统构成及工作原理,并对各环节总结近似的数学模型。
2.根据系统的工作原理和数学模型,设计模糊控制器,并利用MATLAB的Simulink仿真,验证系统的设计。
3.根据仿真结论,设计控制系统,给出了系统框图、控制原理图。研究了控制系统的总体硬件结构,确立了各部分硬件模块的功能,给出了一些典型电路设计和电动机的控制及电路原理图。
4.详细研究了PID控制算法以及程序总体设计思路,设计了主程序模块、PID模块、检测模块、水泵控制等模块。
With the rapid development of economy and society, energy resources are seriously lacking. At the same time, the demands for quality and reliability of water supply system are increased continually. So it is inevitable tendency to design one kind of water supply system which is high reliable and saves on energy well, with the help of advanced technique of automation and control. The model of the water supply system is intrinsic nonlinear and time variant, which makes it difficult to liberalize the plant. Thus the traditional PID controller cannot adapt to the changes. To tackle this problem, we have designed an adaptive controller.
The paper references a lot of Chinese and foreign literature and combines practical control requirements, and conduct theoretical study and project design on computer controlled constant pressure water supply system. The paper combines general control with fuzzy control, and brings forward an intelligent complex control scheme, and gives a detailed analysis approach and control arithmetic. This thesis compares general control with fuzzy control and analyzes them with matlab (matrix laboratory),and then applies this controller to the constant pressure water supply control, and achieves ideal control effect
The system is based on setting parameters for the pipeline pressure, the size for usage are controlled by microcomputer in operation of the pump number and motor speed, to achieve closed-loop pipe network water pressure regulator, that is to achieve constant pressure water supply.
The main work of the constant pressure water supply system, the system structure and working principle.
Components in the system, given the system block diagram of control principle, and this system the main function of the hardware and software, a brief introduction.
According to the working principle, set of fuzzy controller, using MATLAB's Simulink simulation and verification system works.
Of the control system's overall hardware architecture, and established various parts of the hardware module function, gives some typical circuit:studies of the model and the device options, on the use of various chip features and characteristics described in detail; of the system hardware design circuit, given the system hardware design charts and motor control chart.
恒压供水系统的工作,水泵由初始状态向管网供水,一般分为压力上升过程和恒压过程。压力上升过程可近似为一个大时间常数为T1的一阶惯性环节；恒压过程,压力可认为基本保持不变,是一个纯滞后过程。变频器和电机可近似等效为带死区时间T的一阶惯性环节。系统中的其它控制和检测环节,如继电器控制等可以等效为放大环节。这样系统就可以等效为两个一阶惯性环节和纯滞后环节组成的系统。
控制系统是以管网水压为设定参数,根据用水量的多少由单片机控制投入运行的水泵数量及电机的转速,实现管网水压的闭环调节,即恒压供水。本文主要工作包括：
1.研究了恒压供水系统的系统构成及工作原理,并对各环节总结近似的数学模型。
2.根据系统的工作原理和数学模型,设计模糊控制器,并利用MATLAB的Simulink仿真,验证系统的设计。
3.根据仿真结论,设计控制系统,给出了系统框图、控制原理图。研究了控制系统的总体硬件结构,确立了各部分硬件模块的功能,给出了一些典型电路设计和电动机的控制及电路原理图。
4.详细研究了PID控制算法以及程序总体设计思路,设计了主程序模块、PID模块、检测模块、水泵控制等模块。
With the rapid development of economy and society, energy resources are seriously lacking. At the same time, the demands for quality and reliability of water supply system are increased continually. So it is inevitable tendency to design one kind of water supply system which is high reliable and saves on energy well, with the help of advanced technique of automation and control. The model of the water supply system is intrinsic nonlinear and time variant, which makes it difficult to liberalize the plant. Thus the traditional PID controller cannot adapt to the changes. To tackle this problem, we have designed an adaptive controller.
The paper references a lot of Chinese and foreign literature and combines practical control requirements, and conduct theoretical study and project design on computer controlled constant pressure water supply system. The paper combines general control with fuzzy control, and brings forward an intelligent complex control scheme, and gives a detailed analysis approach and control arithmetic. This thesis compares general control with fuzzy control and analyzes them with matlab (matrix laboratory),and then applies this controller to the constant pressure water supply control, and achieves ideal control effect
The system is based on setting parameters for the pipeline pressure, the size for usage are controlled by microcomputer in operation of the pump number and motor speed, to achieve closed-loop pipe network water pressure regulator, that is to achieve constant pressure water supply.
The main work of the constant pressure water supply system, the system structure and working principle.
Components in the system, given the system block diagram of control principle, and this system the main function of the hardware and software, a brief introduction.
According to the working principle, set of fuzzy controller, using MATLAB's Simulink simulation and verification system works.
Of the control system's overall hardware architecture, and established various parts of the hardware module function, gives some typical circuit:studies of the model and the device options, on the use of various chip features and characteristics described in detail; of the system hardware design circuit, given the system hardware design charts and motor control chart.
引文
[1]黄良沛,黄听参数自适应模糊PID控制在恒压供水系统中的应用[J].自动化与仪器仪表,2005(4)：67-69
[2]王静.交流变频在恒压供水中的应用[J].西北水资源与水工程,,1998(09)：40-44
[3]侯存玉,马维明.变频器在恒压供水系统中的应用[J].河北科学院学报,2000(01)：33-36
[4]王玉存.模糊逻辑控制变频调速恒压供水系统设计[R].大连：大连理工大学,2004(3)：40-60
[5]郁汉琪,陆宝春.基于专家PID调节变频调速恒压供水系统的研究[J].仪器仪表学报,1998(12)：88-90
[6]C.Elkan, Hrberenji, The Paradoxical Success of Fuzzy Logic. IEEE Expert,1994
[7]诸静.模糊控制理论与系统原理[M].北京：机械工业出版社,2005.
[8]章卫国,、杨向忠.模糊控制理论与应用[M].西安：西北工业大学出版社,1999
[9]Comeliu Caileanu. Software Package for Intelligent Controller of AC Drivers, IFAC, No.I-3b-02-2
[10]陈玉东,刘红波.模型参考自适应控制模糊PID控制的综合应用[J]自动化与仪表,1998(2)：30-34
[11]曾光奇.模糊控制理论与工程应用[M].武汉：华中科技大学出版社,2006
[12]刘玉成，刘玉斌.自适应模糊控制在烧结炉系统中的应用[J].控制系统,2009(2)：57-61
[13]FengFu Cheng, Sheng Nian Yeh. Application of Fuzzy Logic in the Speed Control of AC Servo System, IEEE,1994,82 (8)
[14]J.A.Benrard.Use of Rule Based System for Process Control. IEEE Control Systems Mag,1988,8:3-13
[15]曾光奇.模糊控制理论与工程应用[M].武汉：华中科技大学出版社,2001
[16]姚俊,马松辉.Simulin建模与仿真[M].西安：西安电子科技大学出版社,2003
[17]Lee C.C. Fuzzy Logic in contorl system,Fuzzy Contorler IEEE Trans on SMC,1990
[18]Mamdani E H. Application of Fuzzy Algorithms for Simle Dynamic Plant, Proc. IEEE,1974,121:1585-1588
[19]齐京礼等.基于自适应模糊PID控制器的温度控制系统[J],《微计算机信息》.2008,9(24)：74-76
[20]Zadeh L A. Fuzzy Sets, Informat Control.1965
[21]颜国正，于莲芝等 基于自适应模糊PID控制的气动微型机器人系统[J],《仪器仪表学报》.2007,9(28)：1543-1546
[22]周黎英,赵国树.模糊PID控制算法在恒速升温系统中的应用[J],《仪器仪表学报》.2008,2(29)：406-409
[23]. Sun Ming, Study of Fuzzy PID Control, Computer Applicaiton,2004,4:51-53
[24]Marek Hartman, Eugeniusz Loeiec, Piotr Boguslawski. Water Pumping Stations Remote Control System in Depression Areas Based GSM-900 Celllar Communications System. TCSET2002, Lviv-Slavsko,Ukraine,2002
[25]赵海,朱鹏等.模糊自适应控制算法在水轮机调速器建模中的应用[J].东北大学学报,2007(12)112-116
[26]张善德.微型计算机系统的设计方法和接口技术[M].北京：人民邮电出版社,2005
[27]李秀改,侯媛彬.基于神经网络BP算法的模糊自适应控制器的研究与实现[J].电气传动自动化,2002(4)：67-70
[28]孙庚山,兰西柱.工程模糊控制[M].北京：机械工业出版社,1995
[29]CPS-21C变频恒压供水控制器使用说明书
[30]DB-21000系列恒压供水模糊控制器使用手册
[31]马书磊.水处理智能控制系统[R].郑州：郑州大学,2003：20-40
[32].Eker.lyas, Operation and Control of Water Supply System,ISA Transactions,July,2003,2(3):461-473
[33]黄永安.]Vlatlab7.0/Simulink6.0应用实例仿真与高效算法开发[M].北京：清华大学出版社,2005
[34]李颖.Simulink动态系统建模与仿真基础[M].西安：西安电子科技大学出版社,2005
[35]薛定宇.控制系统计算机辅助设计MATLAB语言与应用[M].北京：清华大学出版社,2006
[36]刘金琨.先进PID控制MATLAB仿真[M].成都：电子工业出版社,2007
[37]王正林等.MATLAB/Simulink与系统仿真[M].北京：电子工业出版社,2006
[38]周立功.深入浅出ARM7[M].北京：航空航天大学出版社,2008
[39]周立功.ARM嵌入式系统基础教程[M].北京：航空航天大学出版社,2005
[40]周立功.ARM嵌入式系统实验教程[M].北京：航空航天大学出版社,2005
[2]王静.交流变频在恒压供水中的应用[J].西北水资源与水工程,,1998(09)：40-44
[3]侯存玉,马维明.变频器在恒压供水系统中的应用[J].河北科学院学报,2000(01)：33-36
[4]王玉存.模糊逻辑控制变频调速恒压供水系统设计[R].大连：大连理工大学,2004(3)：40-60
[5]郁汉琪,陆宝春.基于专家PID调节变频调速恒压供水系统的研究[J].仪器仪表学报,1998(12)：88-90
[6]C.Elkan, Hrberenji, The Paradoxical Success of Fuzzy Logic. IEEE Expert,1994
[7]诸静.模糊控制理论与系统原理[M].北京：机械工业出版社,2005.
[8]章卫国,、杨向忠.模糊控制理论与应用[M].西安：西北工业大学出版社,1999
[9]Comeliu Caileanu. Software Package for Intelligent Controller of AC Drivers, IFAC, No.I-3b-02-2
[10]陈玉东,刘红波.模型参考自适应控制模糊PID控制的综合应用[J]自动化与仪表,1998(2)：30-34
[11]曾光奇.模糊控制理论与工程应用[M].武汉：华中科技大学出版社,2006
[12]刘玉成，刘玉斌.自适应模糊控制在烧结炉系统中的应用[J].控制系统,2009(2)：57-61
[13]FengFu Cheng, Sheng Nian Yeh. Application of Fuzzy Logic in the Speed Control of AC Servo System, IEEE,1994,82 (8)
[14]J.A.Benrard.Use of Rule Based System for Process Control. IEEE Control Systems Mag,1988,8:3-13
[15]曾光奇.模糊控制理论与工程应用[M].武汉：华中科技大学出版社,2001
[16]姚俊,马松辉.Simulin建模与仿真[M].西安：西安电子科技大学出版社,2003
[17]Lee C.C. Fuzzy Logic in contorl system,Fuzzy Contorler IEEE Trans on SMC,1990
[18]Mamdani E H. Application of Fuzzy Algorithms for Simle Dynamic Plant, Proc. IEEE,1974,121:1585-1588
[19]齐京礼等.基于自适应模糊PID控制器的温度控制系统[J],《微计算机信息》.2008,9(24)：74-76
[20]Zadeh L A. Fuzzy Sets, Informat Control.1965
[21]颜国正，于莲芝等 基于自适应模糊PID控制的气动微型机器人系统[J],《仪器仪表学报》.2007,9(28)：1543-1546
[22]周黎英,赵国树.模糊PID控制算法在恒速升温系统中的应用[J],《仪器仪表学报》.2008,2(29)：406-409
[23]. Sun Ming, Study of Fuzzy PID Control, Computer Applicaiton,2004,4:51-53
[24]Marek Hartman, Eugeniusz Loeiec, Piotr Boguslawski. Water Pumping Stations Remote Control System in Depression Areas Based GSM-900 Celllar Communications System. TCSET2002, Lviv-Slavsko,Ukraine,2002
[25]赵海,朱鹏等.模糊自适应控制算法在水轮机调速器建模中的应用[J].东北大学学报,2007(12)112-116
[26]张善德.微型计算机系统的设计方法和接口技术[M].北京：人民邮电出版社,2005
[27]李秀改,侯媛彬.基于神经网络BP算法的模糊自适应控制器的研究与实现[J].电气传动自动化,2002(4)：67-70
[28]孙庚山,兰西柱.工程模糊控制[M].北京：机械工业出版社,1995
[29]CPS-21C变频恒压供水控制器使用说明书
[30]DB-21000系列恒压供水模糊控制器使用手册
[31]马书磊.水处理智能控制系统[R].郑州：郑州大学,2003：20-40
[32].Eker.lyas, Operation and Control of Water Supply System,ISA Transactions,July,2003,2(3):461-473
[33]黄永安.]Vlatlab7.0/Simulink6.0应用实例仿真与高效算法开发[M].北京：清华大学出版社,2005
[34]李颖.Simulink动态系统建模与仿真基础[M].西安：西安电子科技大学出版社,2005
[35]薛定宇.控制系统计算机辅助设计MATLAB语言与应用[M].北京：清华大学出版社,2006
[36]刘金琨.先进PID控制MATLAB仿真[M].成都：电子工业出版社,2007
[37]王正林等.MATLAB/Simulink与系统仿真[M].北京：电子工业出版社,2006
[38]周立功.深入浅出ARM7[M].北京：航空航天大学出版社,2008
[39]周立功.ARM嵌入式系统基础教程[M].北京：航空航天大学出版社,2005
[40]周立功.ARM嵌入式系统实验教程[M].北京：航空航天大学出版社,2005