自适应PID算法在减水剂生产控制中的研究与实现

发布时间：2018-02-14 05:34

本文关键词： PID控制自适应整定临界比例法　出处：《北京工业大学》2015年硕士论文　论文类型：学位论文

【摘要】：聚羧酸减水剂的生产过程中最重要的环节就是定时定速滴加环节,滴加环节常用PID算法进行控制。PID算法结构简单且控制效果好,参数整定是PID算法控制最重要的操作,而目前的算法应用都是采用人工的方式来设定PID算法的各个参数,人工整定方法对于现场工程师有一定的经验要求,若没有整定经验很难根据被控系统的响应特征对PID算法进行参数整定。首先,本研究分析了PID算法各个参数在控制过程中的作用,以及参数的大小对控制的稳定性和快速性的影响,对传统手工定参数的方法进行了对比,如理论分析法、经验试调法、Z-N整定法、衰减曲线法和临界比例度法,分析了各种方法的优缺点及应用场景之后,实现了基于聚羧酸减水剂滴加环节流量控制的PID参数自适应整定,设计了一款自适应PID算法参数整定器。整个算法对比阶段和算法设计阶段都使用Matlab对自适应整定过程进行模拟仿真,验证其正确性和整定后参数的控制性能后,设计了整定器硬件电路。该自适应整定器基于ARM Cortex-M3平台,通过STM32处理器以及外围接口电路实现对被控对象的信息获取与控制,从而自动给出PID算法的参数,在硬件设计阶段着重考虑了工业现场噪声干扰强度大的特点,对各个子模块增加了隔离器。本文最终将自适应整定器与计算机连接进行实物模拟,实现对被控对象的PID算法自适应整定的测试,并将人工整定结果与整定器整定结果从快速性和稳定性方面进行对比,验证自适应PID整定算法的可行性。该设计将自适应算法整合在硬件整定器中,方便用户使用,也将大大降低PID算法使用的复杂度,去除了目前参数整定对精确系统模型或者人工经验的依赖性。
[Abstract]:In the production of polycarboxylic acid superplasticizer, the most important link is timing and constant speed dropping. PID algorithm is usually used to control. Pid algorithm has simple structure and good control effect. Parameter tuning is the most important operation of PID algorithm control. At present, all the algorithms are used to set the parameters of the PID algorithm in a manual way. The manual setting method has some experience for the engineers in the field. It is difficult to adjust the parameters of PID algorithm according to the response characteristics of the controlled system without tuning experience. Firstly, the function of each parameter of PID algorithm in the control process is analyzed. As well as the influence of parameter size on the stability and rapidity of control, the traditional manual parameter determination methods are compared, such as theoretical analysis, empirical trial adjustment method, Z-N tuning method, attenuation curve method and critical proportion method. After analyzing the merits and demerits of various methods and their application scenarios, the PID parameter adaptive tuning based on the flow control of the dripping link of polycarboxylic acid reducer is realized. An adaptive PID algorithm parameter regulator is designed. Matlab is used to simulate the adaptive tuning process in the whole algorithm contrast stage and the algorithm design stage. The correctness of the algorithm and the control performance of the tuning parameters are verified. The hardware circuit of the tuner is designed, which is based on the ARM Cortex-M3 platform and realizes the information acquisition and control of the controlled object through the STM32 processor and the peripheral interface circuit. The parameters of the PID algorithm are given automatically. In the stage of hardware design, the characteristics of large noise interference intensity in industrial field are emphatically considered, and isolators are added to each sub-module. Finally, the adaptive regulator is connected to the computer for physical simulation. The test of adaptive tuning of the PID algorithm of the controlled object is realized, and the results of manual tuning and tuning of the controller are compared in terms of speed and stability. To verify the feasibility of the adaptive PID tuning algorithm, this design integrates the adaptive algorithm into the hardware regulator, which is easy for users to use, and will greatly reduce the complexity of the PID algorithm. The dependence of current parameter tuning on precise system model or artificial experience is removed.
【学位授予单位】：北京工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TU528.042.2;TP273

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