基于反馈线性化的液位最优控制系统的设计与实现

发布时间：2018-05-10 23:10

本文选题：反馈线性化 + 最优控制　；参考：《河北大学》2017年硕士论文

【摘要】：反馈线性化是非线性控制中的一种基本方法,其优点在于线性化模型精确,工作点范围广。为了研究实际工业中液位系统的非线性控制问题,本文以三容水箱液位系统为研究对象,针对其非线性、多变量、时变的特性,利用反馈线性化的方法将非线性模型转化为线性模型,再根据线性二次型的方法设计最优控制律,提高了控制精确度。本文主要研究了针对多容液位系统的反馈线性化最优控制律的设计与实现方法。首先搭建了三容水箱液位系统实验平台,完成了水箱设备、执行机构与检测元件、Control Logix控制器以及I/O接口等组成部分的电气连接及NetLinx网络通信。然后根据物理流程的机理分析,建立了三容水箱液位系统的数学模型结构,并通过实验测试数据确定了模型参数;根据反馈线性化的基本理论,以单输入—单输出线性化方式,推导出反馈线性化模型,并基于该线性化模型,设计了最优控制律。为研究该算法的工程应用效果,在RSLogix5000中采用结构化文本语言编写控制算法程序,利用RSview32 works设计了监控界面,进行了仿真验证。并将该控制算法下载到PLC控制器中,完成了水箱液位系统的实时控制,对反馈线性化最优控制与传统PID控制的系统输出响应曲线进行了比较,实验结果表明了该算法的有效性,对工程应用具有一定指导意义。
[Abstract]:Feedback linearization is a basic method in nonlinear control. Its advantage is that the linearization model is accurate and the range of working points is wide. In order to study the nonlinear control problem of the liquid level system in practical industry, this paper takes the three-tank liquid level system as the research object, aiming at its nonlinear, multi-variable, time-varying characteristics. The nonlinear model is transformed into a linear model by the method of feedback linearization, and the optimal control law is designed according to the method of linear quadratic form, which improves the control accuracy. In this paper, the design and implementation of feedback linearization optimal control law for multi-volume liquid level systems are studied. First, the experimental platform of three-tank level system is built, and the electrical connection and NetLinx network communication between the water tank equipment, the actuator and the detecting element Logix controller and the I / O interface are completed. Then according to the mechanism analysis of the physical flow, the mathematical model structure of the three-tank liquid level system is established, and the model parameters are determined by the experimental test data, and according to the basic theory of feedback linearization, the single-input-single-output linearization mode is adopted. The feedback linearization model is derived and the optimal control law is designed based on the linearization model. In order to study the engineering application effect of the algorithm, the control algorithm program is programmed by structured text language in RSLogix5000, and the monitor interface is designed by using RSview32 works, and the simulation is carried out. The control algorithm is downloaded to the PLC controller and the real-time control of the water tank level system is completed. The output response curve of the feedback linearized optimal control is compared with that of the traditional PID control. The experimental results show the effectiveness of the algorithm. It has certain guiding significance to engineering application.
【学位授予单位】：河北大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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