模糊PID动态切换控制算法的研究
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摘要
PID控制技术以其结构简单、稳定可靠、容易实现、理论体系成熟等特点,在实际工程中得到了极为广泛的应用。它可以消除系统的稳态误差,但其快速性与超调量之间不可调和的矛盾关系、对被控对象参数变化较差的适应能力,使得这种算法在一定程度上难以满足高标准的技术要求。模糊控制能够保证系统在快速响应的同时保持较小的超调量,且对被控参数变化有较强的适应能力,但却不可避免的在控制过程中存在稳态误差。
本论文从工程应用的角度出发,针对上述两种控制算法各自的特点,将两者有机地结合在一起,实现优势互补,提出了一种模糊PID动态切换控制算法。论文的主要研究工作如下:
1、研究了PID控制与模糊控制算法的原理和特性,分析两种控制方法的优点与不足,探讨了一种融合两种算法优点的新算法的重要性。
2、为降低计算复杂度,使控制算法便于在嵌入式系统中实现,本文以成熟的PID算法与模糊控制算法为基础,设计了一种新型的模糊PID动态切换控制算法,来提高控制系统对被控对象参数变化的适应能力。
3、结合列车制动控制系统对模糊PID动态切换控制算法进行了仿真,对算法的可行性进行分析和验证。同时,对列车制动控制系统分别采用经典的PID控制、纯模糊控制、以及自适应模糊PID控制,将它们的控制效果与采用模糊PID动态切换控制的效果进行对比,验证模糊PID算法的控制品质;对模糊PID动态切换控制算法对被控对象参数变化及外界干扰的适应能力进行仿真和分析,验证该算法针对列车制动系统这类被控对象参数变化剧烈的系统的适应能力。
4、根据模糊PID动态切换控制算法,设计了一种基于单片机的列车制动测试系统,并对该测试系统的工作原理、硬件系统和软件设计流程进行详述。
PID control algorithm has been widely used in the real control engineering for its advantages such as structure simplicity, stable, easy realization and mature in theory. It has the advantage to eliminate the error, but the characteristic, which the contradiction of rapidity and overshoot is hard to balance and poor adaptability of control object parameter variation, make the algorithm difficult to meet the high level requirement of control quality. Nevertheless, fuzzy control algorithm which has strong adaptability of control object parameter variation can ensure the fast response and less overshoot for the control system, but it has the disadvantage of static error remaining.
A kind of fuzzy and PID switching algorithm which bases on switching control strategy has been proposed in this thesis by combining the advantages of fuzzy control and PID control algorithm according to the real control engineering application. The main work of this thesis includes:
1. Theory and design methods of fuzzy control and PID control algorithm are analyzed and their advantages and disadvantages have been summarized. The importance of the new algorithm which fuses the advantages of fuzzy and PID control algorithm has been illustrated.
2. To reduce the complexity of calculation and to make the algorithm easy to use in embedded system, a novel fuzzy and PID dynamic switching control algorithm is brought forward based on mature PID and fuzzy control algorithm to acquire the adaptability of control object parameter variation.
3. Fuzzy and PID dynamic switching control algorithm is proposed and simulated by using Simulink. The simulation is based on a kind of air press following control application of train break test system. The simulation results are also analyzed and compared with PID control algorithm, fuzzy control algorithm and a kind of fuzzy adaptive control algorithm to verify the control quality and adapt ability of fuzzy and PID dynamic switching control algorithm.
4. A kind of train brake test system based on fuzzy and PID dynamic switching control algorithm is designed and its principle, hardware and software systems design process have been elaborated.
本论文从工程应用的角度出发,针对上述两种控制算法各自的特点,将两者有机地结合在一起,实现优势互补,提出了一种模糊PID动态切换控制算法。论文的主要研究工作如下:
1、研究了PID控制与模糊控制算法的原理和特性,分析两种控制方法的优点与不足,探讨了一种融合两种算法优点的新算法的重要性。
2、为降低计算复杂度,使控制算法便于在嵌入式系统中实现,本文以成熟的PID算法与模糊控制算法为基础,设计了一种新型的模糊PID动态切换控制算法,来提高控制系统对被控对象参数变化的适应能力。
3、结合列车制动控制系统对模糊PID动态切换控制算法进行了仿真,对算法的可行性进行分析和验证。同时,对列车制动控制系统分别采用经典的PID控制、纯模糊控制、以及自适应模糊PID控制,将它们的控制效果与采用模糊PID动态切换控制的效果进行对比,验证模糊PID算法的控制品质;对模糊PID动态切换控制算法对被控对象参数变化及外界干扰的适应能力进行仿真和分析,验证该算法针对列车制动系统这类被控对象参数变化剧烈的系统的适应能力。
4、根据模糊PID动态切换控制算法,设计了一种基于单片机的列车制动测试系统,并对该测试系统的工作原理、硬件系统和软件设计流程进行详述。
PID control algorithm has been widely used in the real control engineering for its advantages such as structure simplicity, stable, easy realization and mature in theory. It has the advantage to eliminate the error, but the characteristic, which the contradiction of rapidity and overshoot is hard to balance and poor adaptability of control object parameter variation, make the algorithm difficult to meet the high level requirement of control quality. Nevertheless, fuzzy control algorithm which has strong adaptability of control object parameter variation can ensure the fast response and less overshoot for the control system, but it has the disadvantage of static error remaining.
A kind of fuzzy and PID switching algorithm which bases on switching control strategy has been proposed in this thesis by combining the advantages of fuzzy control and PID control algorithm according to the real control engineering application. The main work of this thesis includes:
1. Theory and design methods of fuzzy control and PID control algorithm are analyzed and their advantages and disadvantages have been summarized. The importance of the new algorithm which fuses the advantages of fuzzy and PID control algorithm has been illustrated.
2. To reduce the complexity of calculation and to make the algorithm easy to use in embedded system, a novel fuzzy and PID dynamic switching control algorithm is brought forward based on mature PID and fuzzy control algorithm to acquire the adaptability of control object parameter variation.
3. Fuzzy and PID dynamic switching control algorithm is proposed and simulated by using Simulink. The simulation is based on a kind of air press following control application of train break test system. The simulation results are also analyzed and compared with PID control algorithm, fuzzy control algorithm and a kind of fuzzy adaptive control algorithm to verify the control quality and adapt ability of fuzzy and PID dynamic switching control algorithm.
4. A kind of train brake test system based on fuzzy and PID dynamic switching control algorithm is designed and its principle, hardware and software systems design process have been elaborated.
引文
[1]刘金琨.先进PID控制及其MATLAB仿真.第2版.北京.电子工业出版社.2003.21-73
[2]陶永华.新型PID控制及其应用.北京.机械工业出版社.2002.1-13,87-127
[3]谢克明,刘文定,谢刚.自动控制原理.北京.兵器工业出版社.1997 12.165-168
[4]金以慧.过程控制.第1版.北京.清华大学出版社.2000.46-65
[5]Ziegler J G,Nichols N B.Optimum setting for automatic controllers.TransASME[J].194264(8).759-768
[6]Hang C C,Astrom K J,Ho W K.Refinement of the Ziegler-Nichols tuning formula,IEE.Proceeding.ParLD.1991.138(2).111-118
[7]单冬.模糊控制原理及应用.北京.中国铁道出版社.1995.3-86
[8]诸静.模糊控制原理及应用.北京.机械工业出版社.1999.1-108
[9]何平,王鸿.模糊控制器的设计与应用.北京.科学出版社.2000.25-37
[10]张曾科.模糊数学在自动化技术中的应用.北京.清华大学出版社.1977.207-263
[11]冯冬青,谢宋和.模糊智能控制.北京.化学工业出版社.2003.23-87
[12]杨辉,王金章.模糊控制技术及其应用.北京.国防工业出版社.1995.108-131
[13]章卫国.模糊控制理论与应用.第1版.西安.西北工业大学出版社.2000.2-5,41-56
[14]李士勇.模糊控制理论及应用.第1版.哈尔滨.哈尔滨工业大学出版社.1998.33-56
[15]方千山.模糊控制工程优化设计及应用研究[博士学位论文].福建.华侨大学.2003.34-45
[16]李友善,李军.模糊控制理论及其在过程控制中的应用[M].北京.国防工业出版社.1993.13-35
[17]林小峰.隶属函数对模糊控制性能的作用与影响.电机与控制学报.1998(6).197-200
[18]白瑞林,肖津.模糊控制中隶属函数的自动生成.自动化与仪表.1995.60-64
[19]J.M.Keller,J.Givens.Membership function issues in fuzzy pattern recognition.Pro.inter,confon SMC.Tuscon.1985.210-214
[20]余南华,马文通,张会生.基于分形测度的软切换控制仿真研究.系统仿真学报.2006.18(1).185-188
[21]徐华中,宋柏杉.FUZZY-PID双模蒸纱锅控制器.武汉理工大学学报.2006.11(6).8-13
[22]刘泽,孙秀芳.可组态模糊PID自调整控制器设计.测控技术.2004.23(12).34-35
[23]瞿伟廉,李海峰.列车制动仿真程序实现技术.武汉理工大学学报.2007.29(7). 82-85
[24]李人厚,张平安.精通MATLAB——综合辅导与指南.西安.西安交通大学出版社.1998.12-17
[25]范影乐 杨胜天 李轶.MATLAB仿真应用详解.北京.人民邮电出版社.2001.259-297
[26]李晋宏,田成方.关于建立通用模糊控制表的研究[J].北方工业大学学报.1994.6(1).9-13
[27]瞿亮.基于MATLAB的控制系统计算机仿真.北京.清华大学出版社,北京交通大学出版社.2006.87-152
[28]黄忠霖.控制系统MATLAB计算及仿真.北京.国防工业出版社.2001.65-77
[29]薛定宁.控制系统计算机辅助设计:MATLAB语言及应用.北京.清华大学出版社2001.53-64
[30]姚俊,马松辉.SIMULINK建模与仿真.西安.西安电子科技大学出版社.2002.51-82
[31]乔海泉,田新华,黄柯棣.将Simulink模型用于HLA仿真.系统仿真学报.2006.11(2).44-53
[32]魏伟,王自力.列车制动系统缓解性能的动态模拟.西安交通大学学报.1995.30(4).462-465
[33]袁秀平.基于MATLAB的电液伺服系统自适应模糊PID仿真.上海示范大学学报.2006.35(3).43-47
[34]耿瑞.基于MATLAB的自适应模糊PID控制系统计算机仿真.信息技术.2007.31(1).43-47
[35]翟旭升,谢寿生,杨伟蔡开龙.基于自适应模糊PID控制的恒压供气系统.液压与气动.2008(2).21-23
[36]沈晖,刘大铭.参数自适应模糊PID在恒压供水中的应用.中国农村水利水电.2007(9).63-67.
[37]Astrom J,Hagglund T.PID Controllers Theory Design and Tuning[M].London.Instrument Society of America.1995.25-26
[38]P B Deshpande.Improve quality control on-line with PID controlers.Chemical Engineering Progress.1991.71-76
[39]Chen G.Conventional and fuzzy PID contlol,control & Systems.1996.41(6).235-246
[40]谢子方,高向东.列车制动技术的研究与展望.内燃机车.2002.3(2).26-30
[41]赵鑫,王成国,刘金朝,马大炜.万吨中载列车制动系统初充气性能仿真研究.铁道车辆.2005.43(9).1-5
[2]陶永华.新型PID控制及其应用.北京.机械工业出版社.2002.1-13,87-127
[3]谢克明,刘文定,谢刚.自动控制原理.北京.兵器工业出版社.1997 12.165-168
[4]金以慧.过程控制.第1版.北京.清华大学出版社.2000.46-65
[5]Ziegler J G,Nichols N B.Optimum setting for automatic controllers.TransASME[J].194264(8).759-768
[6]Hang C C,Astrom K J,Ho W K.Refinement of the Ziegler-Nichols tuning formula,IEE.Proceeding.ParLD.1991.138(2).111-118
[7]单冬.模糊控制原理及应用.北京.中国铁道出版社.1995.3-86
[8]诸静.模糊控制原理及应用.北京.机械工业出版社.1999.1-108
[9]何平,王鸿.模糊控制器的设计与应用.北京.科学出版社.2000.25-37
[10]张曾科.模糊数学在自动化技术中的应用.北京.清华大学出版社.1977.207-263
[11]冯冬青,谢宋和.模糊智能控制.北京.化学工业出版社.2003.23-87
[12]杨辉,王金章.模糊控制技术及其应用.北京.国防工业出版社.1995.108-131
[13]章卫国.模糊控制理论与应用.第1版.西安.西北工业大学出版社.2000.2-5,41-56
[14]李士勇.模糊控制理论及应用.第1版.哈尔滨.哈尔滨工业大学出版社.1998.33-56
[15]方千山.模糊控制工程优化设计及应用研究[博士学位论文].福建.华侨大学.2003.34-45
[16]李友善,李军.模糊控制理论及其在过程控制中的应用[M].北京.国防工业出版社.1993.13-35
[17]林小峰.隶属函数对模糊控制性能的作用与影响.电机与控制学报.1998(6).197-200
[18]白瑞林,肖津.模糊控制中隶属函数的自动生成.自动化与仪表.1995.60-64
[19]J.M.Keller,J.Givens.Membership function issues in fuzzy pattern recognition.Pro.inter,confon SMC.Tuscon.1985.210-214
[20]余南华,马文通,张会生.基于分形测度的软切换控制仿真研究.系统仿真学报.2006.18(1).185-188
[21]徐华中,宋柏杉.FUZZY-PID双模蒸纱锅控制器.武汉理工大学学报.2006.11(6).8-13
[22]刘泽,孙秀芳.可组态模糊PID自调整控制器设计.测控技术.2004.23(12).34-35
[23]瞿伟廉,李海峰.列车制动仿真程序实现技术.武汉理工大学学报.2007.29(7). 82-85
[24]李人厚,张平安.精通MATLAB——综合辅导与指南.西安.西安交通大学出版社.1998.12-17
[25]范影乐 杨胜天 李轶.MATLAB仿真应用详解.北京.人民邮电出版社.2001.259-297
[26]李晋宏,田成方.关于建立通用模糊控制表的研究[J].北方工业大学学报.1994.6(1).9-13
[27]瞿亮.基于MATLAB的控制系统计算机仿真.北京.清华大学出版社,北京交通大学出版社.2006.87-152
[28]黄忠霖.控制系统MATLAB计算及仿真.北京.国防工业出版社.2001.65-77
[29]薛定宁.控制系统计算机辅助设计:MATLAB语言及应用.北京.清华大学出版社2001.53-64
[30]姚俊,马松辉.SIMULINK建模与仿真.西安.西安电子科技大学出版社.2002.51-82
[31]乔海泉,田新华,黄柯棣.将Simulink模型用于HLA仿真.系统仿真学报.2006.11(2).44-53
[32]魏伟,王自力.列车制动系统缓解性能的动态模拟.西安交通大学学报.1995.30(4).462-465
[33]袁秀平.基于MATLAB的电液伺服系统自适应模糊PID仿真.上海示范大学学报.2006.35(3).43-47
[34]耿瑞.基于MATLAB的自适应模糊PID控制系统计算机仿真.信息技术.2007.31(1).43-47
[35]翟旭升,谢寿生,杨伟蔡开龙.基于自适应模糊PID控制的恒压供气系统.液压与气动.2008(2).21-23
[36]沈晖,刘大铭.参数自适应模糊PID在恒压供水中的应用.中国农村水利水电.2007(9).63-67.
[37]Astrom J,Hagglund T.PID Controllers Theory Design and Tuning[M].London.Instrument Society of America.1995.25-26
[38]P B Deshpande.Improve quality control on-line with PID controlers.Chemical Engineering Progress.1991.71-76
[39]Chen G.Conventional and fuzzy PID contlol,control & Systems.1996.41(6).235-246
[40]谢子方,高向东.列车制动技术的研究与展望.内燃机车.2002.3(2).26-30
[41]赵鑫,王成国,刘金朝,马大炜.万吨中载列车制动系统初充气性能仿真研究.铁道车辆.2005.43(9).1-5