模糊免疫自适应PID控制在恒张力控制中的应用
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摘要
恒张力控制是纺丝、造纸、石化、冶金等行业的主要控制环节,其控制精度直接影响着产品的质量,传统的建立在对象模型上的控制方法往往难以满足闭环优化控制的要求,基于知识且不依赖于模型的智能控制为解决这类问题提供了新的思路,成为目前提高过程控制质量的重要途径。
本文从实际出发,以安庆石化有限公司纺丝生产线的恒张力系统为研究对象,对这个受随机因素干扰的、结构复杂的以及动态过程的要求高的非线性随机系统进行了研究。文中对恒张力控制系统进行分析、建模,着重研究了模糊系统、免疫系统和PID控制融合的可行性及融合方式,借鉴生物免疫反馈响应过程的调节作用和模糊推理逻辑可逼近非线性函数的特性,在传统PID控制基础上提出了一种复合式控制方法--模糊免疫自适应PID控制算法,并将此算法与常规PID控制算法、模糊自整定PID控制算法进行了仿真比较。结果表明,本文所设计的控制器不仅响应速度快、控制输出稳定、抗干扰能力强和鲁棒性好,较传统PID控制器具有更好的动、静态特性,而且系统设计方法简单,为该算法的实际应用奠定了基础。
As the main control equipment in acrylic fibers product lines, paper, metallurgy making lines, the control precision affects the quality of the products. The control means based traditionally on controlled object are difficult to satisfy the demands of closed-loop control. The intelligence control that is based on knowledge and independent of models is a new way to solve the kind of questions, and it can improve the control quality.
In view of practical use, taking the constant tension system of the lines as controlled plant, the thesis studies the nonlinear stochastic and complicated process with casual disturbance, high demands to dynamic process. This system is analyzed and mathematical model is built in this paper. The combination feasibility and mode of fuzzy system, immune system and PID control are studied, and then a compound control scheme-fuzzy adaptive PID control method that based on the immune feedback mechanism is proposed based the principium of immune feedback system and the approaching ability for nonlinear function of fuzzy rational logic, also the comparison among compound control, PID control and fuzzy self-adjusted PID control is made in simulation. The result of simulation experiment shows the improved performance is superior to the traditional PID controller. It works well with high dynamic and static performance, because of its advantages such as quick response , steady output, effective anti-interference and good robustness. The design is so simple that it can be applied to practice.
本文从实际出发,以安庆石化有限公司纺丝生产线的恒张力系统为研究对象,对这个受随机因素干扰的、结构复杂的以及动态过程的要求高的非线性随机系统进行了研究。文中对恒张力控制系统进行分析、建模,着重研究了模糊系统、免疫系统和PID控制融合的可行性及融合方式,借鉴生物免疫反馈响应过程的调节作用和模糊推理逻辑可逼近非线性函数的特性,在传统PID控制基础上提出了一种复合式控制方法--模糊免疫自适应PID控制算法,并将此算法与常规PID控制算法、模糊自整定PID控制算法进行了仿真比较。结果表明,本文所设计的控制器不仅响应速度快、控制输出稳定、抗干扰能力强和鲁棒性好,较传统PID控制器具有更好的动、静态特性,而且系统设计方法简单,为该算法的实际应用奠定了基础。
As the main control equipment in acrylic fibers product lines, paper, metallurgy making lines, the control precision affects the quality of the products. The control means based traditionally on controlled object are difficult to satisfy the demands of closed-loop control. The intelligence control that is based on knowledge and independent of models is a new way to solve the kind of questions, and it can improve the control quality.
In view of practical use, taking the constant tension system of the lines as controlled plant, the thesis studies the nonlinear stochastic and complicated process with casual disturbance, high demands to dynamic process. This system is analyzed and mathematical model is built in this paper. The combination feasibility and mode of fuzzy system, immune system and PID control are studied, and then a compound control scheme-fuzzy adaptive PID control method that based on the immune feedback mechanism is proposed based the principium of immune feedback system and the approaching ability for nonlinear function of fuzzy rational logic, also the comparison among compound control, PID control and fuzzy self-adjusted PID control is made in simulation. The result of simulation experiment shows the improved performance is superior to the traditional PID controller. It works well with high dynamic and static performance, because of its advantages such as quick response , steady output, effective anti-interference and good robustness. The design is so simple that it can be applied to practice.
引文
[1]齐福斌,张力控制系统[M].北京:印刷工业出版社,1990.
[2]童朝南,胡红军,孙一康.热连轧机带观测器的微张力控制.控制与决策,1996,291-295
[3]何致远,模糊自整定PID在交流收卷张力控制中的应用.浙江工程学院学报,2000,17(2):99-102
[4]H.Koc,D.Knittel,M.de Mathelin,G.Abba,Robust control of web transport systems,3st IFAC Symposium on Robust Control Design,ROCOND'2000,Czech Republic,June 21-23,2000
[5]陶永华,尹怡欣等,新型PID控制及其应用,机械工业出版社,1998
[6]赵涛,基于PROFIBUS-DP的腈纶纺丝控制系统的研制,合肥工业大学硕士学位论文,2007.3
[6]刘泽祥,现场总线技术[M].北京:机械工业出版社,2005.35-107.
[7]李秋明,顾德英,汪晋宽.基于工业三层网络的电梯群控制系统[J].仪器仪表学报,2003,24(4):109-111
[8]邓则名,邝穗芳.电器与可编程控制器应用技术[M].北京:机械工业出版社,2002.7.216-240.
[9]冯冬芹,工业通信网络与系统集成[M].北京:科学出版社,2005.1.113-124.
[10]候维岩,张海峰,费敏锐.现场总线PROFIBUS系统的实时性能分析[J].电子测量与仪器学报.2004,18(2):56-60.
[11]崔坚,西门子工业网络通信指南[M].北京:机械工业出版社,2005.7-122.
[12]关会芳,PLC控制系统的抗干扰设计[J].控制工程,2005,12(增刊):177-185.
[13]廖常初,S7-300/400PLC应用技术[M].北京:机械工业出版社,2005.
[14]西门子(中国)有限公司自动化与驱动集团.深入浅出西门子WinCC V6[M].北京:北京航空航天大学出版社,2005.
[15]西门子(中国)有限公司自动化与驱动集团.深入浅出西门子STEP7[M].北京:北京航空航天大学出版社,2005.
[16]王庆超等,320湿卷曲张力架位置闭环同步变频电气传动控制系统[J].哈尔滨工业大学学报,1998,30(4):78-82.
[17]徐谦绪,纺丝生产线电力拖动控制系统[J].化工自动化及仪表,21(3):11-16.
[18]顾绳谷,电机及拖动基础[M].北京:机械工业出版社,2001.
[19]陈伯时,电力拖动自动控制系统[M].北京:机械工业出版社,2002
[20]胡寿松,自动控制原理[M].北京:国防工业出版社,1994.
[21]杨霏红.舒国汀.PROFIBUS在交流电动机变频调速系统中的实现[J].中国纺织大学学报,1999,25(1):63-66.
[22]林桦.邹云屏,王兴伟.交交变频器-同步电动机系统等效电路模型及电流调节器设计[J].中国电机工程学报,2005,25(8):134-138.
[23]许勇.许镇琳,蔡昆,马小亮.数字式交-交变频器的仿真模型与分析[J].电力电子技术,2000:49-51.
[24]李洪兴.模糊控制器与PID调节器的关系,中国科学E辑,1999,29(2):136-145
[25]胡包刚.应浩,模糊PID控制技术发展回顾及面临的若干问题,自动化学报,24(2),1998,230-234
[26]赵振宇.徐用懋,模糊理论和神经网络的基础与应用,清华大学出版社,广西科学技术出版社,1996
[27]汤兵勇.路林吉,王文杰,模糊控制理论与应用技术,清华大学出版社,2002.9
[28]曾光奇.胡均安,王东,刘春玲,模糊控制理论与工程应用,模糊控制理论与工程应用,华中科技大学出版社,2006.1
[29]张铭钧.智能控制技术,哈尔滨工程大学出版社,2006.1
[30]丁永生,任立红.人工免疫系统:理论与应用[J].模式识别与人工智能,2000,13(1):52-59.
[31]Lim M H,Rahardja S,Gwee B H.A GA paradigm for learning fuzzy rules [J].Fuzzy Sets and Systems,1996,(82):177-186.
[32]张晓缋.戴冠中.遗传算法在抽取和过滤模糊控制规则中的应用研究[J].控制理论与应用,1998,15(3):379-384.
[33]Takahashi K,Yamada Application of an Immune Feedback Mechanism to Control Systems.JSME International journal,Series C,1998,41(2):184-191
[34]丁永生.任立红.一种新颖的模糊自调整免疫反馈控制系统.控制与决策.2000,15(4):112-116
[35]付冬梅,郑德玲.等.人工免疫控制器的设计及其控制效果的仿真[J].北京科技大学学报,2004,24(4):442-445
[36]丁永生,任立红(Ding Yongsheng,Ren Lihong).一种新颖的模糊自调整免疫反馈控制系统(A new fuzzy self-tuning immune feedback controlsystem)[J].控制与决策(Control And Decision).2000,15(4):443-446.
[37]谈英姿,沈炯,吕震中.免疫PID控制器在汽温控制系统中的应用研究[J].中国电机工程学报,2002,22(10):148-152.
[38]Rajahi,K.M.,Nikhil,R.P.,"A robust self-tuning scheme for PI-and PD-type fuzzy controllers",IEEE Trans on Fuzzy Systems,1999, vol.7,no.1,pp.2-16
[39]J.Guo,J.Zhou and T.Cui,"The application of the hybrid fuzzy controlof the furnace," The Information of microcomputer,vol.21,no.07S,pp.92-94,July 2005.
[40]G.Cao,C.Lou and D.An,"Application of fuzzy self-tuning PID controlto air conditioning systems," Heating Ventilating and Air Conditioning,vol.34,no.10,pp106-109,October 2004.
[41]G.Cao,The Research on Application of Auto-tuning PID Control in AirConditioning Auto-control System,Tianjin:Tianjin university,2003.
[42]C.J.Park,D.M.Lee,S.G.Choi.Development of Fuzzy PID control system for hot strop finishing mill.The 27st,Annual Conference of the IEEE Industrial Electronics Society,787-791,2002
[43]M.F.YEUNG,A.H.FALKNER,S.GERGELY.The control of tension in textile filament winding.Mechanics Vol.5,No.2/3,pp.117-131,1995
[44]Perelson A S.Weisbuch G.Immunology for physicists[J].Reviews of Modern Physics,1997,69(4):1219-1267.
[45]Dasgupta D.Artificial Immune Systems and Their Applications[M].Berlin:Springer Verlag,1999.
[46]Kawafuku M,Sasaki M,Takahashi K.Adaptive learning method of neural network controller using an immune feedback law[A].1999IEEE/ASME International Conference on Advanced Intelligent Mechatronics[C].Atlanta,GA,USA:IEEE,1999.641-646.
[47]Takahashi K.Yamada T.Application of an immune feedback mecha nism to control systems[J].JSME International Journal,Series C,1998,41(2):184-191.
[48]孙增析等,智能控制理论与技术,清华大学出版社,2002
[49]李国勇,智能控制及其MATLAB实现[M],电子工业出版社
[50]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
[51]刘金琨.先进PID控制及其MATLAB仿真[M],电子工业出版社 2003.
[52]薛定宇,控制系统仿真与计算机辅助设计,机械工业出版社,2005
[2]童朝南,胡红军,孙一康.热连轧机带观测器的微张力控制.控制与决策,1996,291-295
[3]何致远,模糊自整定PID在交流收卷张力控制中的应用.浙江工程学院学报,2000,17(2):99-102
[4]H.Koc,D.Knittel,M.de Mathelin,G.Abba,Robust control of web transport systems,3st IFAC Symposium on Robust Control Design,ROCOND'2000,Czech Republic,June 21-23,2000
[5]陶永华,尹怡欣等,新型PID控制及其应用,机械工业出版社,1998
[6]赵涛,基于PROFIBUS-DP的腈纶纺丝控制系统的研制,合肥工业大学硕士学位论文,2007.3
[6]刘泽祥,现场总线技术[M].北京:机械工业出版社,2005.35-107.
[7]李秋明,顾德英,汪晋宽.基于工业三层网络的电梯群控制系统[J].仪器仪表学报,2003,24(4):109-111
[8]邓则名,邝穗芳.电器与可编程控制器应用技术[M].北京:机械工业出版社,2002.7.216-240.
[9]冯冬芹,工业通信网络与系统集成[M].北京:科学出版社,2005.1.113-124.
[10]候维岩,张海峰,费敏锐.现场总线PROFIBUS系统的实时性能分析[J].电子测量与仪器学报.2004,18(2):56-60.
[11]崔坚,西门子工业网络通信指南[M].北京:机械工业出版社,2005.7-122.
[12]关会芳,PLC控制系统的抗干扰设计[J].控制工程,2005,12(增刊):177-185.
[13]廖常初,S7-300/400PLC应用技术[M].北京:机械工业出版社,2005.
[14]西门子(中国)有限公司自动化与驱动集团.深入浅出西门子WinCC V6[M].北京:北京航空航天大学出版社,2005.
[15]西门子(中国)有限公司自动化与驱动集团.深入浅出西门子STEP7[M].北京:北京航空航天大学出版社,2005.
[16]王庆超等,320湿卷曲张力架位置闭环同步变频电气传动控制系统[J].哈尔滨工业大学学报,1998,30(4):78-82.
[17]徐谦绪,纺丝生产线电力拖动控制系统[J].化工自动化及仪表,21(3):11-16.
[18]顾绳谷,电机及拖动基础[M].北京:机械工业出版社,2001.
[19]陈伯时,电力拖动自动控制系统[M].北京:机械工业出版社,2002
[20]胡寿松,自动控制原理[M].北京:国防工业出版社,1994.
[21]杨霏红.舒国汀.PROFIBUS在交流电动机变频调速系统中的实现[J].中国纺织大学学报,1999,25(1):63-66.
[22]林桦.邹云屏,王兴伟.交交变频器-同步电动机系统等效电路模型及电流调节器设计[J].中国电机工程学报,2005,25(8):134-138.
[23]许勇.许镇琳,蔡昆,马小亮.数字式交-交变频器的仿真模型与分析[J].电力电子技术,2000:49-51.
[24]李洪兴.模糊控制器与PID调节器的关系,中国科学E辑,1999,29(2):136-145
[25]胡包刚.应浩,模糊PID控制技术发展回顾及面临的若干问题,自动化学报,24(2),1998,230-234
[26]赵振宇.徐用懋,模糊理论和神经网络的基础与应用,清华大学出版社,广西科学技术出版社,1996
[27]汤兵勇.路林吉,王文杰,模糊控制理论与应用技术,清华大学出版社,2002.9
[28]曾光奇.胡均安,王东,刘春玲,模糊控制理论与工程应用,模糊控制理论与工程应用,华中科技大学出版社,2006.1
[29]张铭钧.智能控制技术,哈尔滨工程大学出版社,2006.1
[30]丁永生,任立红.人工免疫系统:理论与应用[J].模式识别与人工智能,2000,13(1):52-59.
[31]Lim M H,Rahardja S,Gwee B H.A GA paradigm for learning fuzzy rules [J].Fuzzy Sets and Systems,1996,(82):177-186.
[32]张晓缋.戴冠中.遗传算法在抽取和过滤模糊控制规则中的应用研究[J].控制理论与应用,1998,15(3):379-384.
[33]Takahashi K,Yamada Application of an Immune Feedback Mechanism to Control Systems.JSME International journal,Series C,1998,41(2):184-191
[34]丁永生.任立红.一种新颖的模糊自调整免疫反馈控制系统.控制与决策.2000,15(4):112-116
[35]付冬梅,郑德玲.等.人工免疫控制器的设计及其控制效果的仿真[J].北京科技大学学报,2004,24(4):442-445
[36]丁永生,任立红(Ding Yongsheng,Ren Lihong).一种新颖的模糊自调整免疫反馈控制系统(A new fuzzy self-tuning immune feedback controlsystem)[J].控制与决策(Control And Decision).2000,15(4):443-446.
[37]谈英姿,沈炯,吕震中.免疫PID控制器在汽温控制系统中的应用研究[J].中国电机工程学报,2002,22(10):148-152.
[38]Rajahi,K.M.,Nikhil,R.P.,"A robust self-tuning scheme for PI-and PD-type fuzzy controllers",IEEE Trans on Fuzzy Systems,1999, vol.7,no.1,pp.2-16
[39]J.Guo,J.Zhou and T.Cui,"The application of the hybrid fuzzy controlof the furnace," The Information of microcomputer,vol.21,no.07S,pp.92-94,July 2005.
[40]G.Cao,C.Lou and D.An,"Application of fuzzy self-tuning PID controlto air conditioning systems," Heating Ventilating and Air Conditioning,vol.34,no.10,pp106-109,October 2004.
[41]G.Cao,The Research on Application of Auto-tuning PID Control in AirConditioning Auto-control System,Tianjin:Tianjin university,2003.
[42]C.J.Park,D.M.Lee,S.G.Choi.Development of Fuzzy PID control system for hot strop finishing mill.The 27st,Annual Conference of the IEEE Industrial Electronics Society,787-791,2002
[43]M.F.YEUNG,A.H.FALKNER,S.GERGELY.The control of tension in textile filament winding.Mechanics Vol.5,No.2/3,pp.117-131,1995
[44]Perelson A S.Weisbuch G.Immunology for physicists[J].Reviews of Modern Physics,1997,69(4):1219-1267.
[45]Dasgupta D.Artificial Immune Systems and Their Applications[M].Berlin:Springer Verlag,1999.
[46]Kawafuku M,Sasaki M,Takahashi K.Adaptive learning method of neural network controller using an immune feedback law[A].1999IEEE/ASME International Conference on Advanced Intelligent Mechatronics[C].Atlanta,GA,USA:IEEE,1999.641-646.
[47]Takahashi K.Yamada T.Application of an immune feedback mecha nism to control systems[J].JSME International Journal,Series C,1998,41(2):184-191.
[48]孙增析等,智能控制理论与技术,清华大学出版社,2002
[49]李国勇,智能控制及其MATLAB实现[M],电子工业出版社
[50]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
[51]刘金琨.先进PID控制及其MATLAB仿真[M],电子工业出版社 2003.
[52]薛定宇,控制系统仿真与计算机辅助设计,机械工业出版社,2005
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