模糊PID控制方法在单室跳汰模型中的应用研究
摘要
风阀自动控制一直是跳汰机控制的难点，而风阀控制性能的好坏直接影响着床层的分层效果，因此，对风阀控制的研究尤为重要。现场跳汰机均处于正常生产状态，用其要进行大量的实验研究，势必会影响选煤厂的正常生产秩序，将导致一定程度的经济损失，这是选煤厂所不能接受的。为此，本文设计一种基于液压伺服控制的实验室跳汰机装置，对跳汰机风阀工作状态进行模拟，从而为风阀自动控制，跳汰制度的改进提供实验上的支持。
本文所设计的实验室跳汰机采用的是活塞液压缸式结构，由于其具有非线性往复运动和负载时变等特征，难以确定其精确的动力学模型，所以提出了用模糊PID控制方法来实现对其控制。
文中首先论述了模糊PID控制的理论基础，介绍了模糊控制的原理及模糊PID控制器的结构和设计。然后分析了单室跳汰液压伺服装置的组成、结构，介绍了跳汰工作原理及
太原理工大学硕士研究生学位论文
系统的工作过程，建立单室跳汰伺服系统的模型。在此基础
上设计了适用于单室跳汰伺服系统的模糊P功控制器，利用
MATLAB进行仿真，并对控制效果进行了详细的分析。最后
通过实验室实验进一步验证了该控制器的控制效果，给出了
主要的模拟脉动水流曲线，为现场风阀控制改进提供了必要
的实验支持。
The auto -control of air-valve is a difficult problem in the jigger control project, the capability of the auto-control of air-valve affects the delamination of the coal bed directly. So, it is important to study the control of the air-valve. The jigger is in productive state. Using it process large of experimental research, it's result to affect product order of the coal washiery and to bring economic lost in certain extent, which the coal washiery can't except. So, the purpose of this thesis is to design an experimental device based on hydraulic servo control to simulate the working state of the jigger air-valve, then to provide basement of experiment, with auto-control of air-valve, with modifying of jigger system.
The structure of jigger at lab is piston type. Due to the non-linear reciprocation of the experimental system and the
time variation of the load, and as the accurate dynamics model is difficult to establish, fuzzy PID control to realize this goal is proposed in this thesis.
Firstly, the basic theory of Fuzzy PID Control is discussed in the paper. The principle of Fuzzy Control and the structure and the design of Fuzzy PID Control are introduced. Secondly, the composing and structure of the single room jigger's hydraulic servo system is analyzed, the jigger working principle and the process of system are introduced, the model of single room jigger servo system is established. Based on this, Fuzzy PID Controller applied to single room jigger servo system is designed with simulation by MATLAB, analysis in detail to the control effect is processed. Lastly, the control effect of this controller is validated again by experiment in lab. Primary simulating fluctuating flow curve has painted, it provided necessary experiment sustain with improving on air-valve controlling at locale.
本文所设计的实验室跳汰机采用的是活塞液压缸式结构，由于其具有非线性往复运动和负载时变等特征，难以确定其精确的动力学模型，所以提出了用模糊PID控制方法来实现对其控制。
文中首先论述了模糊PID控制的理论基础，介绍了模糊控制的原理及模糊PID控制器的结构和设计。然后分析了单室跳汰液压伺服装置的组成、结构，介绍了跳汰工作原理及
太原理工大学硕士研究生学位论文
系统的工作过程，建立单室跳汰伺服系统的模型。在此基础
上设计了适用于单室跳汰伺服系统的模糊P功控制器，利用
MATLAB进行仿真，并对控制效果进行了详细的分析。最后
通过实验室实验进一步验证了该控制器的控制效果，给出了
主要的模拟脉动水流曲线，为现场风阀控制改进提供了必要
的实验支持。
The auto -control of air-valve is a difficult problem in the jigger control project, the capability of the auto-control of air-valve affects the delamination of the coal bed directly. So, it is important to study the control of the air-valve. The jigger is in productive state. Using it process large of experimental research, it's result to affect product order of the coal washiery and to bring economic lost in certain extent, which the coal washiery can't except. So, the purpose of this thesis is to design an experimental device based on hydraulic servo control to simulate the working state of the jigger air-valve, then to provide basement of experiment, with auto-control of air-valve, with modifying of jigger system.
The structure of jigger at lab is piston type. Due to the non-linear reciprocation of the experimental system and the
time variation of the load, and as the accurate dynamics model is difficult to establish, fuzzy PID control to realize this goal is proposed in this thesis.
Firstly, the basic theory of Fuzzy PID Control is discussed in the paper. The principle of Fuzzy Control and the structure and the design of Fuzzy PID Control are introduced. Secondly, the composing and structure of the single room jigger's hydraulic servo system is analyzed, the jigger working principle and the process of system are introduced, the model of single room jigger servo system is established. Based on this, Fuzzy PID Controller applied to single room jigger servo system is designed with simulation by MATLAB, analysis in detail to the control effect is processed. Lastly, the control effect of this controller is validated again by experiment in lab. Primary simulating fluctuating flow curve has painted, it provided necessary experiment sustain with improving on air-valve controlling at locale.
引文
[1]刘长年，液压伺服系统优化设计理论，冶金工业出版社，1989
[2]陆元章，液压系统的建模与分析，上海交通大学出版社，1989
[3]肖体兵，吴百海，基于SIMULINK和功率键合图的液压控制系统的非线性仿真模型的建立，流体传动与控制，2003(1)：29～32
[4]张志学，李峥嵘，李朝晖，水轮机调速系统的PID参数模糊整定，水电自动化与大坝监测，2002(1)：34～36
[5]姚磊，二级计算机模糊加权PID温控系统，武汉理工大学学报，2002(2)：22～24
[6]王少愚，参数自整定PID控制器的研究，硕士学位论文，2001
[7]何善君，基于PLC通信网络技术的双缸水闸液压启闭控制系统的建模、远程监控和故障诊断，硕士学位论文，2001
[8]姜学宝，基于模糊PID控制理论的双微机励磁调节器的研制，硕士学位论文，2002
[9]WU Huai yu, ZHOU Zhaoying, XIONG Shenshu. Fuzzy Control Method with Application for Functional Neuromuscular Stimulation System. TsingHua Science and Technology, 2001, 6,2: 294～297
[10]Hung-Ching Luand Wen-Chen Lin Robust Controller with Disturbance Rejection for Hydraulic Servo-Systems IEEE Transactions on Industrial Electronics, Vo140, No 1, pp157～162, Feb. 1993
[11]Vaughan, N D and Gamble, J B Sliding Mode Control of Proportional Solenoid Valve Fourth Int Fluid Power Workshop, Sep. 1991, Bath, UK
[12] Hinton, C the Control of Servo-hydraulic Material Testing Machines Instn of Mech Eng Discussion Meeting on Adaptive Control of Hydraulic Systems, London, UK, April 1992
[13] J S Yun, H S Cho Application of an Adaptive Model Following Control Technique to a Hydraulics Servo System Subjected to Unknown Disturbances Journal of Dynamic Systems, Measurement, and Control,Vol113, p479～486, Sep. 1991
[14] H Hahn, A Piepen brink, K D Leimbach Input/Output Linearization Control of an Electro Servo-hydraulic Actuator Proc of the Third IEEEC on ference on Control Applications, Vol2, pp995～1000, 1994
[15] Hu B G, Mann G K I., Gosine R G. How to evaluate fuzzy PID controllers without using process information. Processing of the 14th World Congress-IFAC, K. Beijing: 1999. 177～182
[16] Raju G V, Zhuo J. Adaptive hierarchical fuzzy controller. IEEE Transaction on System, Man& Cybernetics, 1993,23: 973～980
[17] Yager R R. On the construction of hierarchical fuzzy systems models. IEEE Transaction on Systems, Man, and Cybernetics, 1998, 28C: 55～66
[18] Katata R, de Geest D, Titli A. Fuzzy controller: design,evaluation, parallel and hierarchical combination with a PID Controller. Fuzzy Sets & Systems, 1995, 71: 113～129
[19] Chen G. Conventional and fuzzy PID controllers: An overview. Int. J. of Intelligent Control & System, 1996, 1: 235～246
[20] 胡包钢，应浩，模糊PID控制技术研究发展回顾及其面临的若干重要问题，自动化学报，2001，27(4)：567～583
[21] 韩瑞珍，陈国定，杨马英，基于模糊推理的自整定PID控制器，
基础自动化，2002，9(2)：38～40
[22]罗海福，毛义梅，张晶，一种参数自适应模糊PID控制器的设计与仿真，自动化与仪器仪表，2001(3)：10～12
[23]黄晓宇，基于MATLAB的模糊自整定PID参数控制器计算机仿真，自动化与仪器仪表，2001(3)：21～24
[24]袁世强，赵锡龄，模糊控制与PID控制的比较，科技情报开发与经济，2001，11(2)：49～51
[25]朱凯，跳汰机自动排料装置在选煤厂的应用，选煤技术，2002(3)：52～54
[26]刘素芬，熊诗波，郑利兵，跳汰机自动排料系统模糊控制的研究，煤矿机械，2001(2)：23～24
[27]李明，雷汝海，姬伟，汪宁，跳汰机排料系统模糊控制，煤矿自动化，2001(5)：8～11
[28]林明星，尹守仁，跳汰床层松散的模糊控制，煤矿自动化，2001(2)：17～18
[29]刘骏跃，PID参数的模糊整定器研究，机电工程，2001，18(4)：65～67
[30]曹月东，高东杰，胡包钢，一类模糊PID控制器的鲁棒优化设计，控制与决策，2002，17(1)：73～76
[31]王守唐，高东杰，一维模糊PID控制器的钝性稳定性分析，信息与控制，2002，31(1)：51～54
[32]张涛，李家启，基于参数自整定模糊PID控制器的设计与仿真．交通与计算机，2001，增刊 19：27～30
[33]路甬祥主编，液压气动手册，机械工业出版社，2002
[34]何克忠，李伟，计算机控制系统，清华大学出版社，1998
[35]薛定于，反馈控制系统分析与设计，清华大学出版社，2000
[36]刘金锟，先进PID控制及其MATLAB仿真，电子工业出版社，2003
[37]吴晓莉，林哲辉，MATLAB辅助模糊系统设计，西安电子科技大学出版社，2002
[38]张葛祥，李娜，MATLAB仿真技术与应用，清华大学出版社，2003
[39]陈维山，赵杰，机电系统计算机控制，哈尔滨工业大学出版社，1999
[40]楼顺天，胡昌华，张伟，基于MATLAB的系统分析与设计—模糊系统，西安电子科技大学出版社，2001
[41]章卫国，杨向忠，模糊控制理论与应用，西北工业大学出版社，1999
[2]陆元章，液压系统的建模与分析，上海交通大学出版社，1989
[3]肖体兵，吴百海，基于SIMULINK和功率键合图的液压控制系统的非线性仿真模型的建立，流体传动与控制，2003(1)：29～32
[4]张志学，李峥嵘，李朝晖，水轮机调速系统的PID参数模糊整定，水电自动化与大坝监测，2002(1)：34～36
[5]姚磊，二级计算机模糊加权PID温控系统，武汉理工大学学报，2002(2)：22～24
[6]王少愚，参数自整定PID控制器的研究，硕士学位论文，2001
[7]何善君，基于PLC通信网络技术的双缸水闸液压启闭控制系统的建模、远程监控和故障诊断，硕士学位论文，2001
[8]姜学宝，基于模糊PID控制理论的双微机励磁调节器的研制，硕士学位论文，2002
[9]WU Huai yu, ZHOU Zhaoying, XIONG Shenshu. Fuzzy Control Method with Application for Functional Neuromuscular Stimulation System. TsingHua Science and Technology, 2001, 6,2: 294～297
[10]Hung-Ching Luand Wen-Chen Lin Robust Controller with Disturbance Rejection for Hydraulic Servo-Systems IEEE Transactions on Industrial Electronics, Vo140, No 1, pp157～162, Feb. 1993
[11]Vaughan, N D and Gamble, J B Sliding Mode Control of Proportional Solenoid Valve Fourth Int Fluid Power Workshop, Sep. 1991, Bath, UK
[12] Hinton, C the Control of Servo-hydraulic Material Testing Machines Instn of Mech Eng Discussion Meeting on Adaptive Control of Hydraulic Systems, London, UK, April 1992
[13] J S Yun, H S Cho Application of an Adaptive Model Following Control Technique to a Hydraulics Servo System Subjected to Unknown Disturbances Journal of Dynamic Systems, Measurement, and Control,Vol113, p479～486, Sep. 1991
[14] H Hahn, A Piepen brink, K D Leimbach Input/Output Linearization Control of an Electro Servo-hydraulic Actuator Proc of the Third IEEEC on ference on Control Applications, Vol2, pp995～1000, 1994
[15] Hu B G, Mann G K I., Gosine R G. How to evaluate fuzzy PID controllers without using process information. Processing of the 14th World Congress-IFAC, K. Beijing: 1999. 177～182
[16] Raju G V, Zhuo J. Adaptive hierarchical fuzzy controller. IEEE Transaction on System, Man& Cybernetics, 1993,23: 973～980
[17] Yager R R. On the construction of hierarchical fuzzy systems models. IEEE Transaction on Systems, Man, and Cybernetics, 1998, 28C: 55～66
[18] Katata R, de Geest D, Titli A. Fuzzy controller: design,evaluation, parallel and hierarchical combination with a PID Controller. Fuzzy Sets & Systems, 1995, 71: 113～129
[19] Chen G. Conventional and fuzzy PID controllers: An overview. Int. J. of Intelligent Control & System, 1996, 1: 235～246
[20] 胡包钢，应浩，模糊PID控制技术研究发展回顾及其面临的若干重要问题，自动化学报，2001，27(4)：567～583
[21] 韩瑞珍，陈国定，杨马英，基于模糊推理的自整定PID控制器，
基础自动化，2002，9(2)：38～40
[22]罗海福，毛义梅，张晶，一种参数自适应模糊PID控制器的设计与仿真，自动化与仪器仪表，2001(3)：10～12
[23]黄晓宇，基于MATLAB的模糊自整定PID参数控制器计算机仿真，自动化与仪器仪表，2001(3)：21～24
[24]袁世强，赵锡龄，模糊控制与PID控制的比较，科技情报开发与经济，2001，11(2)：49～51
[25]朱凯，跳汰机自动排料装置在选煤厂的应用，选煤技术，2002(3)：52～54
[26]刘素芬，熊诗波，郑利兵，跳汰机自动排料系统模糊控制的研究，煤矿机械，2001(2)：23～24
[27]李明，雷汝海，姬伟，汪宁，跳汰机排料系统模糊控制，煤矿自动化，2001(5)：8～11
[28]林明星，尹守仁，跳汰床层松散的模糊控制，煤矿自动化，2001(2)：17～18
[29]刘骏跃，PID参数的模糊整定器研究，机电工程，2001，18(4)：65～67
[30]曹月东，高东杰，胡包钢，一类模糊PID控制器的鲁棒优化设计，控制与决策，2002，17(1)：73～76
[31]王守唐，高东杰，一维模糊PID控制器的钝性稳定性分析，信息与控制，2002，31(1)：51～54
[32]张涛，李家启，基于参数自整定模糊PID控制器的设计与仿真．交通与计算机，2001，增刊 19：27～30
[33]路甬祥主编，液压气动手册，机械工业出版社，2002
[34]何克忠，李伟，计算机控制系统，清华大学出版社，1998
[35]薛定于，反馈控制系统分析与设计，清华大学出版社，2000
[36]刘金锟，先进PID控制及其MATLAB仿真，电子工业出版社，2003
[37]吴晓莉，林哲辉，MATLAB辅助模糊系统设计，西安电子科技大学出版社，2002
[38]张葛祥，李娜，MATLAB仿真技术与应用，清华大学出版社，2003
[39]陈维山，赵杰，机电系统计算机控制，哈尔滨工业大学出版社，1999
[40]楼顺天，胡昌华，张伟，基于MATLAB的系统分析与设计—模糊系统，西安电子科技大学出版社，2001
[41]章卫国，杨向忠，模糊控制理论与应用，西北工业大学出版社，1999