时滞系统几种控制策略研究
发布时间：2019-05-19 14:15
【摘要】：在工业过程控制领域,时滞现象普遍存在,时滞系统的控制研究一直是控制界所关注的热点和难点。PID控制,由于其结构简单,鲁棒性好和便于操作等优点,在过程控制领域得到了最为广泛的应用。时滞系统的PID控制一直处于不断的发展和完善之中。很多先进控制方法都可以和PID控制结合,以使得闭环系统同时具有先进控制方法性能优越和PID控制易于实现等优点,其中内模PID最具有代表性。在过程控制领域,系统的扰动抑制性能是衡量系统性能的一个重要指标,扰动观测器可以有效补偿不可测扰动和未建模动态对系统性能的不利影响。常规PID控制器由于其结构上的限制,很难应用于某些对系统性能和鲁棒性要求更高的场合,而分数阶PID不失为一种有效的控制方案。分数阶PID是对PID控制的一般化,它比PID控制具有更多的自由度,因此可以进一步改善系统的性能和鲁棒性。本文的主要工作如下：第1章概述了国内外关于PID控制的研究现状。第2章研究了基于失配模型的内模PID。通过继电辨识得到对象的低阶模型,并基于低阶模型设计控制器。无论对象阶次的高低,所设计的内模控制器始终具有简单的结构。并利用Pade公式和泰勒公式推导出了相应的内模PID的解析表达式,便于工程应用。第3章针对非最小相位时滞过程,研究了一种时滞系统扰动观测器控制方案,通过引入相位超前补偿器,有效补偿了过程时滞对系统扰动抑制性能的不利影响。第4章针对一阶时滞过程,研究了两种分数阶IλIμ控制器设计方法。利用频域鲁棒性能指标设计控制器,并通过图解法求解非线性方程,得到整定参数,避免了复杂的非线性数值优化。所设计的控制器比常规PI控制器多一个整定参数,可用于改善对控制对象参数变化的鲁棒性。第5章针对一阶大时滞对象,研究了一种分数阶PIλ控制器设计方法,利用相位裕度指标设计控制器,并通过优化分数阶次λ来增强系统对控制对象参数变化的鲁棒性。最后将本文方法和常规PI控制以及Smith预估控制进行了比较。第6章对本文进行了总结和未来展望。
[Abstract]:In the field of industrial process control, the phenomenon of time delay is widespread, and the research on the control of time-delay systems has always been a hot and difficult point in the control field. Pid control has the advantages of simple structure, good robustness and easy operation. It has been widely used in the field of process control. The PID control of time-delay systems has been in the process of continuous development and improvement. Many advanced control methods can be combined with PID control, so that the closed-loop system has the advantages of superior performance of advanced control method and easy implementation of PID control, among which the internal model PID is the most representative. In the field of process control, the disturbance suppression performance of the system is an important index to measure the system performance. The disturbance observer can effectively compensate for the adverse effects of unmeasured disturbances and unmodeled dynamics on the system performance. Because of its structural limitations, conventional PID controllers are difficult to be applied to some situations where the performance and robustness of the system are higher, and fractional PID is an effective control scheme. Fractional PID is a generalization of PID control, which has more degrees of freedom than PID control, so it can further improve the performance and robustness of the system. The main work of this paper is as follows: chapter 1 summarizes the research status of PID control at home and abroad. In chapter 2, the internal model PID. based on mismatch model is studied. The lower order model of the object is obtained by relay identification, and the controller is designed based on the low order model. Regardless of the order of the object, the designed internal model controller always has a simple structure. The analytical expression of the corresponding internal model PID is derived by using Pade formula and Taylor formula, which is convenient for engineering application. In chapter 3, a disturbance observer control scheme for time-delay systems is studied for non-minimum phase time-delay processes. By introducing phase lead compensators, the adverse effects of process delays on disturbance suppression performance of the system are effectively compensated. In chapter 4, two design methods of fractional I 位 I 渭 controller are studied for the first order time delay process. The controller is designed by using the robust performance index in frequency domain, and the nonlinear equation is solved by graphic method, and the tuning parameters are obtained, which avoids the complex nonlinear numerical optimization. The designed controller has one more tuning parameter than the conventional PI controller, which can be used to improve the robustness to the parameter change of the control object. In chapter 5, a design method of fractional PI 位 controller is studied for the first order plant with large time delay. The controller is designed by using the phase margin index, and the robustness of the system to the parameter change of the control object is enhanced by optimizing the fractional 位. Finally, the proposed method is compared with conventional PI control and Smith predictive control. Chapter 6 summarizes this paper and looks forward to the future.
【学位授予单位】：陕西科技大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP273
[Abstract]:In the field of industrial process control, the phenomenon of time delay is widespread, and the research on the control of time-delay systems has always been a hot and difficult point in the control field. Pid control has the advantages of simple structure, good robustness and easy operation. It has been widely used in the field of process control. The PID control of time-delay systems has been in the process of continuous development and improvement. Many advanced control methods can be combined with PID control, so that the closed-loop system has the advantages of superior performance of advanced control method and easy implementation of PID control, among which the internal model PID is the most representative. In the field of process control, the disturbance suppression performance of the system is an important index to measure the system performance. The disturbance observer can effectively compensate for the adverse effects of unmeasured disturbances and unmodeled dynamics on the system performance. Because of its structural limitations, conventional PID controllers are difficult to be applied to some situations where the performance and robustness of the system are higher, and fractional PID is an effective control scheme. Fractional PID is a generalization of PID control, which has more degrees of freedom than PID control, so it can further improve the performance and robustness of the system. The main work of this paper is as follows: chapter 1 summarizes the research status of PID control at home and abroad. In chapter 2, the internal model PID. based on mismatch model is studied. The lower order model of the object is obtained by relay identification, and the controller is designed based on the low order model. Regardless of the order of the object, the designed internal model controller always has a simple structure. The analytical expression of the corresponding internal model PID is derived by using Pade formula and Taylor formula, which is convenient for engineering application. In chapter 3, a disturbance observer control scheme for time-delay systems is studied for non-minimum phase time-delay processes. By introducing phase lead compensators, the adverse effects of process delays on disturbance suppression performance of the system are effectively compensated. In chapter 4, two design methods of fractional I 位 I 渭 controller are studied for the first order time delay process. The controller is designed by using the robust performance index in frequency domain, and the nonlinear equation is solved by graphic method, and the tuning parameters are obtained, which avoids the complex nonlinear numerical optimization. The designed controller has one more tuning parameter than the conventional PI controller, which can be used to improve the robustness to the parameter change of the control object. In chapter 5, a design method of fractional PI 位 controller is studied for the first order plant with large time delay. The controller is designed by using the phase margin index, and the robustness of the system to the parameter change of the control object is enhanced by optimizing the fractional 位. Finally, the proposed method is compared with conventional PI control and Smith predictive control. Chapter 6 summarizes this paper and looks forward to the future.
【学位授予单位】：陕西科技大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP273
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