基于模糊控制的PID算法的炉温控制器设计与仿真研究
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摘要
PID控制器是工业过程控制中最常见的一种过程控制器。模糊控制可改善PID控制参数难以整定的问题。本文将EDA技术与控制理论相结合,以FPGA为核心,提出了一种模糊自整定PID算法的炉温控制器。由于PID算法有一定的并行性,该方案充分发挥了EDA技术的优势,由硬件描述语言实现的硬件电路解决了快速、并行运算的问题,从而实现高速的PID控制。
本文首先介绍了PID控制器的发展动态,引入模糊理论,介绍了EDA技术和FPGA的开发流程。本文采用自顶向下的方法根据PID运算步骤分割模块,然后利用硬件描述语言实现各模块功能,并进行仿真。本文详细阐述了实现模糊控制的全过程,包括模糊量化、模糊推理、解模糊等步骤,用离线计算和在线查表的方法完成模糊控制器的设计,最后利用模糊PID控制器控制PWM的输出占空比来控制可控硅的导通时间,设计出了一套基于FPGA的模糊PID温度控制器。FPGA的使用避免了其它微处理器在恶劣条件下程序跑飞、程序死循环、复位不可靠等问题,同时加强了模块的通用性,减少了系统硬件开发周期,降低了设计开发成本。
PID controller is the most commonly used process controller in industrial process control. The fuzzy control can help adjust the parameters of the PID control algorithm.In this dissertation,a furnace temperature controller based on the fuzzy PID algorithm is detailed introduced according to EDA technologies and control theories.Due to the parallelism of the PID algorithm,this design makes use of the advantages of EDA technologies.The hardware circuit that is carried out by hardware description language can solve the problems of high speed and concurrent calculation,thus makes the high-speed PID control come true.
In this dissertation,the development of the PID controller is firstly introduced.Later on,fuzzy theory is introduced,then EDA technology and the design procesure of FPGA are demonstrated.The PID algorithm is divided into several modules by the top-down method.Each module is carried out and simulated by the hardware descirption language.The whole procesure of fuzzy control including fuzzy quantization,fuzzy deduce and fuzzy decoding is detailedly elaborated.The design of fuzzy control is mainly completed by the methods of offline calculation and online look-up table.Eventually,PWM output controlled by the fuzzy PID controller controls the break-over time of the thyrister.Designing on FPGA can improve the reliability of the control and avoid some problems,like programme fleet,dead loop and abnormal reset,which accur to other microprocessors.It not only enhances the versatility of the module and reduces the hardware development cycle,but also reduces the cost of the design.
本文首先介绍了PID控制器的发展动态,引入模糊理论,介绍了EDA技术和FPGA的开发流程。本文采用自顶向下的方法根据PID运算步骤分割模块,然后利用硬件描述语言实现各模块功能,并进行仿真。本文详细阐述了实现模糊控制的全过程,包括模糊量化、模糊推理、解模糊等步骤,用离线计算和在线查表的方法完成模糊控制器的设计,最后利用模糊PID控制器控制PWM的输出占空比来控制可控硅的导通时间,设计出了一套基于FPGA的模糊PID温度控制器。FPGA的使用避免了其它微处理器在恶劣条件下程序跑飞、程序死循环、复位不可靠等问题,同时加强了模块的通用性,减少了系统硬件开发周期,降低了设计开发成本。
PID controller is the most commonly used process controller in industrial process control. The fuzzy control can help adjust the parameters of the PID control algorithm.In this dissertation,a furnace temperature controller based on the fuzzy PID algorithm is detailed introduced according to EDA technologies and control theories.Due to the parallelism of the PID algorithm,this design makes use of the advantages of EDA technologies.The hardware circuit that is carried out by hardware description language can solve the problems of high speed and concurrent calculation,thus makes the high-speed PID control come true.
In this dissertation,the development of the PID controller is firstly introduced.Later on,fuzzy theory is introduced,then EDA technology and the design procesure of FPGA are demonstrated.The PID algorithm is divided into several modules by the top-down method.Each module is carried out and simulated by the hardware descirption language.The whole procesure of fuzzy control including fuzzy quantization,fuzzy deduce and fuzzy decoding is detailedly elaborated.The design of fuzzy control is mainly completed by the methods of offline calculation and online look-up table.Eventually,PWM output controlled by the fuzzy PID controller controls the break-over time of the thyrister.Designing on FPGA can improve the reliability of the control and avoid some problems,like programme fleet,dead loop and abnormal reset,which accur to other microprocessors.It not only enhances the versatility of the module and reduces the hardware development cycle,but also reduces the cost of the design.
引文
[1]方康玲,王新民,刘彦春.过程控制系统[M].武汉:武汉理工大学出版社,2002.
[2]刘金琨.先进PID控制及其MATLAB仿真[M].北京:电子工业出版社,2003.
[3]曾光奇,胡均安,王东等.模糊控制理论与工程应用.武汉:华中科技大学出版社,2006.
[4]吴振顺,姚建均,岳东海.模糊自整定PID控制器的设计及其应用.哈尔滨工业大学学报,2004, 36(11):1578—1580.
[5]白瑞林,江吕锋,王建.基于FPGA的模糊自整定PID控制器的研究[J].仪器仪表学报,2005,26(8):833—837.
[6]任爱锋,初秀琴,常存等.基于FPGA的嵌入式系统设计[M].西安:西安电子科技大学出版社,2004.
[7]徐伟业,江冰,虞湘宾.CPLD/FPGA的发展与应用之比较.现代电子技术,2007,(1):4-7.
[8]潘松,黄继业,曾毓.SOPC技术实用教程[M].北京:清华大学出版社,2005.
[9]李兰英等.NiosⅡ嵌入式软核SOPC设计原理及应用[M].北京:北京航空航天大学出版社,2006.
[10]贺今朝.一种基于FPGA的模糊控制器的研究:(硕士学位论文).大连:大连理工大学,2002.
[11] V.Tipsuwanpom,T.mmghimmawan,S.Intajag,et a1.Fuzzy logic PID controller based on FPGA for process contr01.Intemational Symposium on Industrial Electronics,Ajacoio,2004:1495-1500.
[12]袁文波,张皓,唐振中.FPGA应用开发从实践到提高[M].北京:中国电力出版社,2007.
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[15]谭会生,张昌凡.EDA技术及应用[M].西安:西安电子科技大学出版社,2004.
[16]谭会生,瞿遂春.EDA技术综合应用实例与分析[M].西安:西安电子科技大学出版社,2004.
[17]徐志军,徐光辉CPLD/FPGA的开发与应用[M].电子工业出版社,2002.
[18]周润景,图雅,张丽敏.基于Quartus II的FPGA/CPLD数字系统设计实例[M].北京:电子工业出版社,2007.
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[23]徐光辉,程东旭.黄如.基于FPGA的嵌入式开发与应用[M].北京:电子工业出版社,2006.
[24]廖日坤.CPLD/FPGA嵌入式应用开发技术白金手册[M].北京:中国电力出版社,2005.
[25]刘爱荣,王振成.EDA技术与CPLD/FPGA开发应用简明教程[M].北京:清华大学出版社,2007.
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[28]马克斯菲尔德.FPGA设计指南[M].北京:人民邮电出版社,2007.
[29]马建伟,李银伢.满意PID控制设计理论与方法[M].北京:科学出版社,2007.8.
[30]孙泽勇.自适应PID在过程控制中的应用研究[M].成都:四川大学出版社,2003.
[31]霍罡,曹辉.可编程序控制器模拟量及PID算法应用案例[M].北京:高等教育出版社,2008.
[32] Lima Joao,Menotti Ricardo,Cardoso Joao M P,etL A Methodology to Design FPGA-based PID Controllers.The IEEE International Conference on Systems, Man and Cybernetics.Taipei,2006" 2577-2583.
[33] M zhang, DP Atherton. Automatic tuning of optimum PID controllers[J]. IEEE procD,1993, 140(3):216-244.
[34] J.G Zigeler and N.B. Nichols,Optimization setting for automatic controller[J].Trans. ASME, 1992.64(11):756-769.
[35]陶永华,尹怡欣,葛芦生.新型PID控制及其应用/电气自动化新技术丛书[M].北京:机械工业出版社,1998.
[36]吴振顺,姚建均,岳东海.模糊自整定PID控制器的设计及其应用.哈尔滨工业大学学报,2004,36(11):1578—1580.
[37]李国洪,沈明山,胡辉.可编程器件EDA技术与实践[M].北京:机械工业出版社,2004.7.
[38]廖日坤.CPLD/FPGA嵌入式应用开发技术白金手册[M].北京:中国电力出版社,2005.
[39] Ciletti Michael D.Advanced Digital Design with the Verilog HDL[M].
[40] Lund T. The Architecture of An FPGA-style programmable Fuzzy logic Controller Chip [A].5th Australasian Computer Architecture Conference[C].2000.
[41]董旭,许维胜,吴继伟.基于FPGA单回路数字PID控制器的实现[J].现代电子技术,2004,27(23):35-37,40.
[42]王利,李向华.基于FPGA的模糊逻辑控制器的硬件实现[J].控制工程, 2004,11(1):34-35.
[43]白瑞林,江吕锋,王建..基于FPGA的模糊自整定PID控制器的研究[J].仪器仪表学报,2005,26(8):833——837.
[44]肖奇军,李胜勇.模糊自整定PID控制器设计以及MATLAB仿真分析.计算机仿真,2005,22(9) 242—244.
[45]花瑞,宋炳生,陈静.一种模糊自整定PID控制器的VHDL语言设计[J].,智能控制技术,2007,(10):110-112.
[46] Masmoudi N,Hachicha M,Samet L,Kharrat M.W,Kamoun L,FPGA implementation of a Fuzzy Controller,The Fifth Canadian Workshop on Field-Programmable Devices FPD'98 June 7-10 1998 Montréal,Canada.
[47] Altera Corporation. Megafunctions Selector Guide.1999.
[48] Altera Corp.ByteBlaster Parallel Port Download Cable Data Sheet.
[49] http://www.maxim-ic.com.cn/max5270-739/max6675.pdf
[50]虞致国.MAX6675的原理及应用.国外电子元器件,2002(12):41-43.
[2]刘金琨.先进PID控制及其MATLAB仿真[M].北京:电子工业出版社,2003.
[3]曾光奇,胡均安,王东等.模糊控制理论与工程应用.武汉:华中科技大学出版社,2006.
[4]吴振顺,姚建均,岳东海.模糊自整定PID控制器的设计及其应用.哈尔滨工业大学学报,2004, 36(11):1578—1580.
[5]白瑞林,江吕锋,王建.基于FPGA的模糊自整定PID控制器的研究[J].仪器仪表学报,2005,26(8):833—837.
[6]任爱锋,初秀琴,常存等.基于FPGA的嵌入式系统设计[M].西安:西安电子科技大学出版社,2004.
[7]徐伟业,江冰,虞湘宾.CPLD/FPGA的发展与应用之比较.现代电子技术,2007,(1):4-7.
[8]潘松,黄继业,曾毓.SOPC技术实用教程[M].北京:清华大学出版社,2005.
[9]李兰英等.NiosⅡ嵌入式软核SOPC设计原理及应用[M].北京:北京航空航天大学出版社,2006.
[10]贺今朝.一种基于FPGA的模糊控制器的研究:(硕士学位论文).大连:大连理工大学,2002.
[11] V.Tipsuwanpom,T.mmghimmawan,S.Intajag,et a1.Fuzzy logic PID controller based on FPGA for process contr01.Intemational Symposium on Industrial Electronics,Ajacoio,2004:1495-1500.
[12]袁文波,张皓,唐振中.FPGA应用开发从实践到提高[M].北京:中国电力出版社,2007.
[13] http://www.altera.com.
[14]王行,李衍.EDA技术入门与提高[M].西安:西安电子科技大学,2007.
[15]谭会生,张昌凡.EDA技术及应用[M].西安:西安电子科技大学出版社,2004.
[16]谭会生,瞿遂春.EDA技术综合应用实例与分析[M].西安:西安电子科技大学出版社,2004.
[17]徐志军,徐光辉CPLD/FPGA的开发与应用[M].电子工业出版社,2002.
[18]周润景,图雅,张丽敏.基于Quartus II的FPGA/CPLD数字系统设计实例[M].北京:电子工业出版社,2007.
[19] IEEE.IEEE Standard VHDL Language Reference Manual IEEE Std 1076-1993 Institute of Electrical and Electronics Engineers Inc.1993.
[20]谭浩强.C程序设计(第三版)[M].北京:清华大学出版社,2005.
[21]李洪伟,袁斯华.基于QuartusⅡ的FPGA/CPLD设计[M].北京:电子工业出版社,2006.
[22]李辉.PLD与数字系统设计[M].西安:西安电子科技大学,2005.5.
[23]徐光辉,程东旭.黄如.基于FPGA的嵌入式开发与应用[M].北京:电子工业出版社,2006.
[24]廖日坤.CPLD/FPGA嵌入式应用开发技术白金手册[M].北京:中国电力出版社,2005.
[25]刘爱荣,王振成.EDA技术与CPLD/FPGA开发应用简明教程[M].北京:清华大学出版社,2007.
[26] Altera,CycloneⅡDevice Handbook,Altera Corporation,2007.
[27] Altera Corporation.2002. Altera Digital Library.Altera.
[28]马克斯菲尔德.FPGA设计指南[M].北京:人民邮电出版社,2007.
[29]马建伟,李银伢.满意PID控制设计理论与方法[M].北京:科学出版社,2007.8.
[30]孙泽勇.自适应PID在过程控制中的应用研究[M].成都:四川大学出版社,2003.
[31]霍罡,曹辉.可编程序控制器模拟量及PID算法应用案例[M].北京:高等教育出版社,2008.
[32] Lima Joao,Menotti Ricardo,Cardoso Joao M P,etL A Methodology to Design FPGA-based PID Controllers.The IEEE International Conference on Systems, Man and Cybernetics.Taipei,2006" 2577-2583.
[33] M zhang, DP Atherton. Automatic tuning of optimum PID controllers[J]. IEEE procD,1993, 140(3):216-244.
[34] J.G Zigeler and N.B. Nichols,Optimization setting for automatic controller[J].Trans. ASME, 1992.64(11):756-769.
[35]陶永华,尹怡欣,葛芦生.新型PID控制及其应用/电气自动化新技术丛书[M].北京:机械工业出版社,1998.
[36]吴振顺,姚建均,岳东海.模糊自整定PID控制器的设计及其应用.哈尔滨工业大学学报,2004,36(11):1578—1580.
[37]李国洪,沈明山,胡辉.可编程器件EDA技术与实践[M].北京:机械工业出版社,2004.7.
[38]廖日坤.CPLD/FPGA嵌入式应用开发技术白金手册[M].北京:中国电力出版社,2005.
[39] Ciletti Michael D.Advanced Digital Design with the Verilog HDL[M].
[40] Lund T. The Architecture of An FPGA-style programmable Fuzzy logic Controller Chip [A].5th Australasian Computer Architecture Conference[C].2000.
[41]董旭,许维胜,吴继伟.基于FPGA单回路数字PID控制器的实现[J].现代电子技术,2004,27(23):35-37,40.
[42]王利,李向华.基于FPGA的模糊逻辑控制器的硬件实现[J].控制工程, 2004,11(1):34-35.
[43]白瑞林,江吕锋,王建..基于FPGA的模糊自整定PID控制器的研究[J].仪器仪表学报,2005,26(8):833——837.
[44]肖奇军,李胜勇.模糊自整定PID控制器设计以及MATLAB仿真分析.计算机仿真,2005,22(9) 242—244.
[45]花瑞,宋炳生,陈静.一种模糊自整定PID控制器的VHDL语言设计[J].,智能控制技术,2007,(10):110-112.
[46] Masmoudi N,Hachicha M,Samet L,Kharrat M.W,Kamoun L,FPGA implementation of a Fuzzy Controller,The Fifth Canadian Workshop on Field-Programmable Devices FPD'98 June 7-10 1998 Montréal,Canada.
[47] Altera Corporation. Megafunctions Selector Guide.1999.
[48] Altera Corp.ByteBlaster Parallel Port Download Cable Data Sheet.
[49] http://www.maxim-ic.com.cn/max5270-739/max6675.pdf
[50]虞致国.MAX6675的原理及应用.国外电子元器件,2002(12):41-43.