基于自适应PID控制算法的壁挂式锅炉控制软件开发
|
摘要
燃气壁挂式锅炉是一种集采暖、洗浴、供生活热水于一体,能够满足人们对现代生活舒适感要求的家用电器。随着我国经济的快速发展和人民生活水平的不断提高,燃气壁挂式锅炉在人们日常生活中使用越来越普遍。因此,研究安全性高、体积小、高效率、功能齐全的燃气壁挂式锅炉具有广阔的市场前景。在此背景下,本文首先对燃气壁挂式锅炉的内部结构和工作原理进行了的介绍,并对其控制系统的软硬件进行了详细的描述,特别对控制电路中无极功率控制模块对风机转速的控制和利用电力线实现芯片间的异步串行通信的工作机理进行了深入的分析。
其次,详细研究了燃气壁挂炉风机和燃气比例阀的物理模型和控制特性,通过大量的实验,确定了风机转速和燃气比例阀开启度与PWM波占空比之间的关系,为准确的控制系统输出提供了理论依据,详细阐述了燃气燃烧和热交换的工作原理,并近似确定了燃气燃烧过程中燃气与空气的配比关系。
由于燃气壁挂炉在水温控制过程中,被控对象具有纯滞后、非线性、时变性等特性,并在诸多外界干扰因素的影响下,导致受控对象的模型参数或模型本身发生变化,在这种情况下,采用传统的PID控制方法难以实现系统的稳定输出。针对受控对象的模型随外界干扰而变化的情况,本文提出了一种基于自适应PID控制算法的控制方法,详细阐述了算法的实现过程,并重点讨论了燃气壁挂炉极点配置自校正PID控制系统的设计。
最后,根据极点配置自校正PID控制原理,确定了PID控制系统的参数,建立了系统的仿真模型,并对仿真结果进行了深入分析,证实了该算法的可行性。根据用户要求,设计了系统的主控制程序流程,并编写了主控制程序、LED显示程序和串行通信程序。
The wall-mounted gas boiler is a multifunctional household electric appliance which can satisfy people’s demand for a comfortable and convenient life by providing heating and domestic hot water. With the rapid development of China’s economy and the increasing elevation of Chinese people’s living standards, wall-mounted gas boilers have been more and more widely used in people’s daily life.
First of all, this thesis offers an introduction to the internal structure and working principles of the wall-mounted gas boiler, as well as the software and hardware of its control system. And particularly, it makes an in-depth analysis of the continuously variable power control module in the control circuit over the rotation speed of the draught fan.
Secondly, this thesis makes a thorough study of the phisycal models and control features of the draught fan and the gas proportional valve of the wall-mounted gas boiler. And it, through a large amount of experiments, defines the connections between the rotation speed of the draught fan as well as the turning angle of the gas proportional valve and the duty ratio of the PWM wave, and thus provides a theoretical basis for the accurate output of the control system.
During the control of the water temperature of the wall-mounted gas boiler, the manipulated object has such features as dead time, nonlinearity and time varying. Besides, the model parameter of the manipulated object or the model itself will change due to various external interferences. In view of the condition that the model of the manipulated object will change with various external interferences, the thesis puts forward a control method based on the adaptive PID control algorithm, gives a detailed account of the implementation process of the algorithm, and focuses on the discussion of the programming of the pole placement self-tuning PID control system of the wall-mounted gas boiler.
And finally, this thesis, based on the pole placement self-tuning PID control principle, defines the parameter of the PID control system, establishes the simulation model of the system, and confirmes the feasibility of the algorithm. It also devises the master control program flow of the system and writes the master control program.
其次,详细研究了燃气壁挂炉风机和燃气比例阀的物理模型和控制特性,通过大量的实验,确定了风机转速和燃气比例阀开启度与PWM波占空比之间的关系,为准确的控制系统输出提供了理论依据,详细阐述了燃气燃烧和热交换的工作原理,并近似确定了燃气燃烧过程中燃气与空气的配比关系。
由于燃气壁挂炉在水温控制过程中,被控对象具有纯滞后、非线性、时变性等特性,并在诸多外界干扰因素的影响下,导致受控对象的模型参数或模型本身发生变化,在这种情况下,采用传统的PID控制方法难以实现系统的稳定输出。针对受控对象的模型随外界干扰而变化的情况,本文提出了一种基于自适应PID控制算法的控制方法,详细阐述了算法的实现过程,并重点讨论了燃气壁挂炉极点配置自校正PID控制系统的设计。
最后,根据极点配置自校正PID控制原理,确定了PID控制系统的参数,建立了系统的仿真模型,并对仿真结果进行了深入分析,证实了该算法的可行性。根据用户要求,设计了系统的主控制程序流程,并编写了主控制程序、LED显示程序和串行通信程序。
The wall-mounted gas boiler is a multifunctional household electric appliance which can satisfy people’s demand for a comfortable and convenient life by providing heating and domestic hot water. With the rapid development of China’s economy and the increasing elevation of Chinese people’s living standards, wall-mounted gas boilers have been more and more widely used in people’s daily life.
First of all, this thesis offers an introduction to the internal structure and working principles of the wall-mounted gas boiler, as well as the software and hardware of its control system. And particularly, it makes an in-depth analysis of the continuously variable power control module in the control circuit over the rotation speed of the draught fan.
Secondly, this thesis makes a thorough study of the phisycal models and control features of the draught fan and the gas proportional valve of the wall-mounted gas boiler. And it, through a large amount of experiments, defines the connections between the rotation speed of the draught fan as well as the turning angle of the gas proportional valve and the duty ratio of the PWM wave, and thus provides a theoretical basis for the accurate output of the control system.
During the control of the water temperature of the wall-mounted gas boiler, the manipulated object has such features as dead time, nonlinearity and time varying. Besides, the model parameter of the manipulated object or the model itself will change due to various external interferences. In view of the condition that the model of the manipulated object will change with various external interferences, the thesis puts forward a control method based on the adaptive PID control algorithm, gives a detailed account of the implementation process of the algorithm, and focuses on the discussion of the programming of the pole placement self-tuning PID control system of the wall-mounted gas boiler.
And finally, this thesis, based on the pole placement self-tuning PID control principle, defines the parameter of the PID control system, establishes the simulation model of the system, and confirmes the feasibility of the algorithm. It also devises the master control program flow of the system and writes the master control program.
引文
[1]杨月斐,刘宝侠.燃气壁挂式锅炉.油气田地面工程(Vol.25,No.9). 2006
[2]燃气壁挂炉分户采暖应用前景.中国燃气设备网. www.ccgas.net
[3]钱文斌.燃气壁挂炉分户采暖的应用前景.中国燃气设备. 2005
[4]赵钦新,章燕谋.燃气热水器与壁挂式锅炉.工业锅炉(总第74期). 2002
[5]崔永章,李振鸣,陈维冬等.壁挂燃气锅炉的控制与安全装置.煤气与热力. (Vol.23,No.6). 2003
[6]许德章.采暖、洗浴两用燃气炉控制器的研制.安徽机电学院学报(Vol.16,No.4). 2001
[7]刘桂香,赵艳秋.基于89S52单片机的无极功率控制器设计.微计算机信息(Vol.23,No.10-1). 2007
[8]张福学.传感器电子学及其应用.北京:国防工业出版社. 1990
[9]李学海. PIC单片机实用教程.北京:北京航空航天大学出版社. 2007
[10]李荣正,刘启中,陈学军编著. PIC单片机原理及应用.北京:北京航空航天大学出版社. 2006. 10
[11]刘笃仁. PIC软硬件系统设计—基于PIC16F87X系列.北京:电子工业出版社. 2005
[12]陶永华,尹怡欣,葛芦生.新型PID控制及其应用.北京:机械工业出版社. 1998
[13]徐湘元.自适应控制理论与应用.北京:电子工业出版社. 2007
[14]陈新海,李言俊,周军.自适应控制及应用.陕西:西北工业大学出版社. 1998
[15]李光彬,张雪梅,赵光等.基于PWM控制技术的电液比例阀的研究.煤矿机械(Vol.21,No.11). 2007
[16]路甬祥.电液比例控制技术.北京:机械工业出版社. 1988
[17]王立权.关于在壁挂炉中使用比例阀的初探.电力机械. 2003
[18]李素玲,刘军营.比例控制与比例阀及应用.液压与气动. 2003.2
[19]赵建海,谢友保.电气比例阀气压控制系统数学模型的建立及研究.机械与电子. 2008.2
[20]刘志珍,张忠祥,侯延进.电-气比例阀高压驱动与低压PWM的双压控制模式.农业机械学报(Vol.39,No.7). 2008
[21]倪文波,王雪梅等.基于PWM技术的电空比例阀研究.机车电传动(2005年第3期). 2005
[22]陈夕松,汪木兰.过程控制系统.科学出版社. 2005,92-102.
[23] (美)Microchip Technology Inc.著刘和平等译. PIC16F87X数据手册:28/40脚8位FLASH单片机.北京:航空航天大学出版社. 2001
[24]余永权,汪明慧,黄英.单片机在控制系统中的应用.北京:电子工业出版社. 2005
[25]刘建清.电子元器件识别与检测技术.北京:国防工业出版社. 2007
[26] (西德)W.格尔拉赫(Gerlach,W),卞抗译.晶闸管.北京:机械工业出版社. 1984
[27]周东祥,潘晓光.电子元件与材料测试技术.黑龙江:黑龙江科学技术出版社. 1989
[28] (法)I.D.朗道著,吴百凡译.自适应控制.北京:国防工业出版社. 1985
[29]舒怀林. PID神经元网络及其控制系统.北京:国防工业出版社. 2006
[30]刘伯春.离散系统采样周期的选择.化工自动化及仪表. 1989,28-33
[31]刘伯春.离散时间自适应控制算法的一种新统一格式.控制理论与应用. 1989.6
[32]苏晓生. MATLAB 5.3实例教程.北京:中国电力出版社. 2000
[33]高俊斌. MATLAB 5.0语言与程序设计.湖北:华中理工大学出版社. 1999
[34]王正林,王胜开,陈国顺. MATLAB/Simulink与控制系统仿真.北京:电子工业出版社. 2005
[35]黄忠霖.控制系统MATLAB计算及仿真.北京:国防工业出版社. 2004
[36]朱荣明,戴冠中.燃气热水器水温智能控制系统.西北工业大学学报(Vol.19,No.11). 2001
[37]钟斌,程文明,马莉丽等.二阶系统模糊自适应PID变阻尼控制仿真研究.计算机仿真(Vol.24,No.8). 2007
[38]曹玉强.甲醛反应器温度的自适应PID控制.应用基础与工程科学学报(Vol.9,No.1). 2001
[39]杨智,高靖.时变大时滞神经元自适应预测PID控制器.仪器仪表学报(Vol.21,No.3). 2000
[40]赵德永,雷振山,杨文平等.基于虚拟仪器的锅炉供热自动控制系统.机械与电子. 2000
[41]宫文斌,刘昕辉,孙延伟.电液比例PWM控制方法.吉林大学学报(Vol.33,No.3). 2003
[42]张惠荣,高南,王国贞.控制器参数的自适应调整.无线电通信技术. (Vol.29,No.1). 2003
[43]邓娟,丛爽.控制工程中几种自校正控制的应用及其性能对比研究.系统仿真技术及其应用. (Vol.8). 2003
[44]杨承志,孙棣华,张长胜.系统辨识与自适应控制.重庆:重庆大学出版社. 2003,245-266.
[2]燃气壁挂炉分户采暖应用前景.中国燃气设备网. www.ccgas.net
[3]钱文斌.燃气壁挂炉分户采暖的应用前景.中国燃气设备. 2005
[4]赵钦新,章燕谋.燃气热水器与壁挂式锅炉.工业锅炉(总第74期). 2002
[5]崔永章,李振鸣,陈维冬等.壁挂燃气锅炉的控制与安全装置.煤气与热力. (Vol.23,No.6). 2003
[6]许德章.采暖、洗浴两用燃气炉控制器的研制.安徽机电学院学报(Vol.16,No.4). 2001
[7]刘桂香,赵艳秋.基于89S52单片机的无极功率控制器设计.微计算机信息(Vol.23,No.10-1). 2007
[8]张福学.传感器电子学及其应用.北京:国防工业出版社. 1990
[9]李学海. PIC单片机实用教程.北京:北京航空航天大学出版社. 2007
[10]李荣正,刘启中,陈学军编著. PIC单片机原理及应用.北京:北京航空航天大学出版社. 2006. 10
[11]刘笃仁. PIC软硬件系统设计—基于PIC16F87X系列.北京:电子工业出版社. 2005
[12]陶永华,尹怡欣,葛芦生.新型PID控制及其应用.北京:机械工业出版社. 1998
[13]徐湘元.自适应控制理论与应用.北京:电子工业出版社. 2007
[14]陈新海,李言俊,周军.自适应控制及应用.陕西:西北工业大学出版社. 1998
[15]李光彬,张雪梅,赵光等.基于PWM控制技术的电液比例阀的研究.煤矿机械(Vol.21,No.11). 2007
[16]路甬祥.电液比例控制技术.北京:机械工业出版社. 1988
[17]王立权.关于在壁挂炉中使用比例阀的初探.电力机械. 2003
[18]李素玲,刘军营.比例控制与比例阀及应用.液压与气动. 2003.2
[19]赵建海,谢友保.电气比例阀气压控制系统数学模型的建立及研究.机械与电子. 2008.2
[20]刘志珍,张忠祥,侯延进.电-气比例阀高压驱动与低压PWM的双压控制模式.农业机械学报(Vol.39,No.7). 2008
[21]倪文波,王雪梅等.基于PWM技术的电空比例阀研究.机车电传动(2005年第3期). 2005
[22]陈夕松,汪木兰.过程控制系统.科学出版社. 2005,92-102.
[23] (美)Microchip Technology Inc.著刘和平等译. PIC16F87X数据手册:28/40脚8位FLASH单片机.北京:航空航天大学出版社. 2001
[24]余永权,汪明慧,黄英.单片机在控制系统中的应用.北京:电子工业出版社. 2005
[25]刘建清.电子元器件识别与检测技术.北京:国防工业出版社. 2007
[26] (西德)W.格尔拉赫(Gerlach,W),卞抗译.晶闸管.北京:机械工业出版社. 1984
[27]周东祥,潘晓光.电子元件与材料测试技术.黑龙江:黑龙江科学技术出版社. 1989
[28] (法)I.D.朗道著,吴百凡译.自适应控制.北京:国防工业出版社. 1985
[29]舒怀林. PID神经元网络及其控制系统.北京:国防工业出版社. 2006
[30]刘伯春.离散系统采样周期的选择.化工自动化及仪表. 1989,28-33
[31]刘伯春.离散时间自适应控制算法的一种新统一格式.控制理论与应用. 1989.6
[32]苏晓生. MATLAB 5.3实例教程.北京:中国电力出版社. 2000
[33]高俊斌. MATLAB 5.0语言与程序设计.湖北:华中理工大学出版社. 1999
[34]王正林,王胜开,陈国顺. MATLAB/Simulink与控制系统仿真.北京:电子工业出版社. 2005
[35]黄忠霖.控制系统MATLAB计算及仿真.北京:国防工业出版社. 2004
[36]朱荣明,戴冠中.燃气热水器水温智能控制系统.西北工业大学学报(Vol.19,No.11). 2001
[37]钟斌,程文明,马莉丽等.二阶系统模糊自适应PID变阻尼控制仿真研究.计算机仿真(Vol.24,No.8). 2007
[38]曹玉强.甲醛反应器温度的自适应PID控制.应用基础与工程科学学报(Vol.9,No.1). 2001
[39]杨智,高靖.时变大时滞神经元自适应预测PID控制器.仪器仪表学报(Vol.21,No.3). 2000
[40]赵德永,雷振山,杨文平等.基于虚拟仪器的锅炉供热自动控制系统.机械与电子. 2000
[41]宫文斌,刘昕辉,孙延伟.电液比例PWM控制方法.吉林大学学报(Vol.33,No.3). 2003
[42]张惠荣,高南,王国贞.控制器参数的自适应调整.无线电通信技术. (Vol.29,No.1). 2003
[43]邓娟,丛爽.控制工程中几种自校正控制的应用及其性能对比研究.系统仿真技术及其应用. (Vol.8). 2003
[44]杨承志,孙棣华,张长胜.系统辨识与自适应控制.重庆:重庆大学出版社. 2003,245-266.