串级控制系统的鲁棒性分析与整定
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摘要
本文应用鲁棒控制理论的结构奇异值定理对单回路反馈控制系统、串级控制系统进行鲁棒性分析,重点讨论了串级控制系统的鲁棒性与整定方法。提出了串级控制系统鲁棒尺度的概念。针对传统串级系统顺序整定法的不足,提出了一种新的整定方法,这一方法借助于鲁棒尺度图,可以对内外环单独进行整定,具有调节参数简单,较强的鲁棒性等特点。文章最后,针对过热汽温过程控制,进行了仿真,并与传统串级控制常用整定方法比较,说明此方法的有效性。
The robustness and performance of the single feedback control system and thecascade control system are analyzed in this article. Mainly analyze the robustness and itstuning method of cascade system. A robustness measure is defined, and the measure canserve as a graphic aid for tuning the cascade controller. Avoiding shortcoming ofconventional tuning methods, the proposed one can tuned each loop individually and thetuned systems is more robustness. Finally, two simulations example is given here. Theapproach is applied to a super-heater temperature process, comparing with conventionalPID tuning methods to show its effectiveness.
The robustness and performance of the single feedback control system and thecascade control system are analyzed in this article. Mainly analyze the robustness and itstuning method of cascade system. A robustness measure is defined, and the measure canserve as a graphic aid for tuning the cascade controller. Avoiding shortcoming ofconventional tuning methods, the proposed one can tuned each loop individually and thetuned systems is more robustness. Finally, two simulations example is given here. Theapproach is applied to a super-heater temperature process, comparing with conventionalPID tuning methods to show its effectiveness.
引文
[1] 刘晨晖.多变量过程控制系统解耦理论 北京: 水利电力出版社, 1984
[2] Ball, J. A. and Cohen, N. The sensitivity minimization in an H∞norm: parameterization of all optimal solutions [J]. Int J.Contr. , 1987, 46: 785-816.
[3] W.Tan,T.Chen, and H.J.Marquez. Robust Controller design and PID tuning for multivariable process. Asian Journal of control,2002,4(4): 439-451.
[4] DC McFarlane,K Glover. Robust Controller Design Using Normalized Coprime Factorization. Springer-Verlag,1990.
[5] G Vinnicombe. Measuring the Robustness of Feedback Systems. PhD thesis,University of Cambridge,1993.
[6] J C Doyle. Analysis of feedback systems with structured uncertainties. IEE Proc.Control and Applications,vol.129,pp.242-250,1982.
[7] Packard A, Doyle J. The Complex Structured Singular Value[J]. Automatica,1993,29(1):71-109
[8] J G Zielger,N B Nichols. Optimum settings for automatic controllers [J].Trans.A.S.M.E.,1942,62:759-768.
[9] K J Astrom,H Hagglund. PID Controllers:Theory,Design and Tuning[M]. Research Triangle Park,NC:Instrument Society of America,2nd ed.,1995.
[10] K Ogate. Modern Control Engineering, 2nded. Englewood Cliffs, NJ: Prentice-Hall, 1990.
[11] G F Franklin,J D Powell,A E Naeini. Feedback Control of Dynamic Systems. Reading, MA: Addison-Wesley, 1986.
[12] W K Ho,C C Hang,J Zhou. Self-Tuning PID Control of a Plant with Under-Damped Response with Specifications on Gain and Phase Margins. IEEE ransactions on control systems technology,vol.5(4).1997 pp: 446-452.
[13] Q G Wang, T H Lee, H W Fung. PID Tuning for Improved Performance [J]. IEEE Trans. Contr. Syst. Technol, 1999, 7(4): 457-765.
[14] M Morari,E Zafiriou. Robust Processs Control. Englewood Cliffs NJ: Prentice-Hall,1989.
[15] I L Cien,P S Fruehauf. Consider IMC tuning to improve controller performance. Chem. Eng. Progress, 1990,86(10): 33-41.
[16] Y.H.Lee,S.W.Park,M.Y.lee(1998a) PID controller tuning to obtain desired closed loop responses for cascade control systems,Ind. Eng. Chem. Res.,37(5),1859-1865.
[17] Kaya,I.(2001) Improving performance using cascade control and a Smith predictor,ISA Trans.,40(3),223-234
[18] Eker,i. And Johnson,M.A.(1996)New aspects of cascade and multi-loop process control. Chem.Eng.Res.and Des.,74(AI) 38-54.
[19] Lee,Y.,Park,S.,Lee,M.and Brosilow,C.,(1998b) PID controller tuning for desired closed-loop responses for SI/SO systems,AIChE J., 44(1), 106-115
[20] Eker,I.,Johnson,M.A. and Grimble,M.J.,1994,AMST'94 Application of Multivariable System Techniques,29-30 March,Bradford,UK,119-131
[21] Grimble,M.J.and Johnson,M. A.,1988 Optimal Control and Stochastic Estimation:Theory and Application,Part 1-2,(JohnWiley, Chichester, UK.).
[22] Grimble,M.J,1987,Int J Control,46(5):1819-1840
[23]Balas,G.j.,Doyle,J.C.,Glover,k.,Packard,A.,and Smith,R. (1993) μ -Analysis and Synthesis Toolbox:For use with MATLAB,MUSYN and The Mathworks, Inc.,Natick,Mass.
[24] Yu,C.C. and Luyben,W.L.(1986).Conditional stability in cascade control,Ind,Eng.Chem. Fundam,25,171-174
[25] Krishnasmamy,P.R., and Rangaiah,G.P.(1992) Role of secondary integral action in cascade control,Trans.Inst.Chem.Eng.,70,149-152
[26] Morari,M.and Zafiriou,E.(1989) Robust Process Control. Prentice-Hall, Englewood Cliffs,N.J.
[27] W.Tan,J.Z.liu and P.K.S.Tam,PID tuning based on loop-shaping H∞contol, IEE Pro. Control Theory and Applications,145(4),1998,485-490
[28] Zhuang,M. and Atherton,D.p.(1993) Automatic tuning of optimum PID controllers,IEE Pro.Control Theory Appl.,140,216-224.
[29] Zhuang,M. and Atherton,D.p.(1994) Optimum PID controllers design for SISO sytems, Proceedings of Control'94,vol.1,606-611,IEE Stevenage, U.K.
[30] Krishnasmamy,P.R., and Rangaiah,G.P.Jha,R.k., and Deshapande,P.B. (1990)When to use cascade control,Ind.Eng.Chem.Eng.,70,149-152
[31] 殷红. 采用串级控制系统可有效地提高调节品质 内蒙古科技与经济 2002 年 第 8 期
[32] 褚健 俞立 苏宏业 鲁棒控制理论及应用 浙江大学出版社 2000.4
[33] 冯伯纯 田玉平 忻欣 鲁棒控制系统设计 东南大学出版社 1995.12
[34] 吴志刚 线性鲁棒控制的理论与计算 大连理工大学出版社 2003.10
[35] 蒋毅恒 现代鲁棒控制及其数学基础 华北电力大学学报 2000.10 第27卷第4期
[36] 金鑫 PID 控制器的鲁棒分析与设计 华北电力大学硕士论文 2003.10
[37] 高垒 PID 控制系统鲁棒分析与性能比较 华北电力大学硕士论文 2004.10
[38] Chun.d.,Chon,J.Y.,and Lee,J.(1999).Parallel compensation with a secondary measrurement,ind.Eng.Chem.Res.,38(4),1575-1579
[39] Hang,C.C.,Loh,A.P.,and Vasnani,V.U.(1994) Relay feedback auto-tuning of cascade controllers,IEEE Trans.Control Sys.technol.,2(1),42-45.
[40] Ho W K,Hang C C,Cao L S.Tuning of PID controllers based on gain and phase margin specifications.Automatica,vol.31,no.3,pp.497-502,1995
[41] W.Tan,H.j.Marquez,and T Chen.Performance assessment of PID controllers Control and Intelligent Systems,Vol.32,No.3,2004
[2] Ball, J. A. and Cohen, N. The sensitivity minimization in an H∞norm: parameterization of all optimal solutions [J]. Int J.Contr. , 1987, 46: 785-816.
[3] W.Tan,T.Chen, and H.J.Marquez. Robust Controller design and PID tuning for multivariable process. Asian Journal of control,2002,4(4): 439-451.
[4] DC McFarlane,K Glover. Robust Controller Design Using Normalized Coprime Factorization. Springer-Verlag,1990.
[5] G Vinnicombe. Measuring the Robustness of Feedback Systems. PhD thesis,University of Cambridge,1993.
[6] J C Doyle. Analysis of feedback systems with structured uncertainties. IEE Proc.Control and Applications,vol.129,pp.242-250,1982.
[7] Packard A, Doyle J. The Complex Structured Singular Value[J]. Automatica,1993,29(1):71-109
[8] J G Zielger,N B Nichols. Optimum settings for automatic controllers [J].Trans.A.S.M.E.,1942,62:759-768.
[9] K J Astrom,H Hagglund. PID Controllers:Theory,Design and Tuning[M]. Research Triangle Park,NC:Instrument Society of America,2nd ed.,1995.
[10] K Ogate. Modern Control Engineering, 2nded. Englewood Cliffs, NJ: Prentice-Hall, 1990.
[11] G F Franklin,J D Powell,A E Naeini. Feedback Control of Dynamic Systems. Reading, MA: Addison-Wesley, 1986.
[12] W K Ho,C C Hang,J Zhou. Self-Tuning PID Control of a Plant with Under-Damped Response with Specifications on Gain and Phase Margins. IEEE ransactions on control systems technology,vol.5(4).1997 pp: 446-452.
[13] Q G Wang, T H Lee, H W Fung. PID Tuning for Improved Performance [J]. IEEE Trans. Contr. Syst. Technol, 1999, 7(4): 457-765.
[14] M Morari,E Zafiriou. Robust Processs Control. Englewood Cliffs NJ: Prentice-Hall,1989.
[15] I L Cien,P S Fruehauf. Consider IMC tuning to improve controller performance. Chem. Eng. Progress, 1990,86(10): 33-41.
[16] Y.H.Lee,S.W.Park,M.Y.lee(1998a) PID controller tuning to obtain desired closed loop responses for cascade control systems,Ind. Eng. Chem. Res.,37(5),1859-1865.
[17] Kaya,I.(2001) Improving performance using cascade control and a Smith predictor,ISA Trans.,40(3),223-234
[18] Eker,i. And Johnson,M.A.(1996)New aspects of cascade and multi-loop process control. Chem.Eng.Res.and Des.,74(AI) 38-54.
[19] Lee,Y.,Park,S.,Lee,M.and Brosilow,C.,(1998b) PID controller tuning for desired closed-loop responses for SI/SO systems,AIChE J., 44(1), 106-115
[20] Eker,I.,Johnson,M.A. and Grimble,M.J.,1994,AMST'94 Application of Multivariable System Techniques,29-30 March,Bradford,UK,119-131
[21] Grimble,M.J.and Johnson,M. A.,1988 Optimal Control and Stochastic Estimation:Theory and Application,Part 1-2,(JohnWiley, Chichester, UK.).
[22] Grimble,M.J,1987,Int J Control,46(5):1819-1840
[23]Balas,G.j.,Doyle,J.C.,Glover,k.,Packard,A.,and Smith,R. (1993) μ -Analysis and Synthesis Toolbox:For use with MATLAB,MUSYN and The Mathworks, Inc.,Natick,Mass.
[24] Yu,C.C. and Luyben,W.L.(1986).Conditional stability in cascade control,Ind,Eng.Chem. Fundam,25,171-174
[25] Krishnasmamy,P.R., and Rangaiah,G.P.(1992) Role of secondary integral action in cascade control,Trans.Inst.Chem.Eng.,70,149-152
[26] Morari,M.and Zafiriou,E.(1989) Robust Process Control. Prentice-Hall, Englewood Cliffs,N.J.
[27] W.Tan,J.Z.liu and P.K.S.Tam,PID tuning based on loop-shaping H∞contol, IEE Pro. Control Theory and Applications,145(4),1998,485-490
[28] Zhuang,M. and Atherton,D.p.(1993) Automatic tuning of optimum PID controllers,IEE Pro.Control Theory Appl.,140,216-224.
[29] Zhuang,M. and Atherton,D.p.(1994) Optimum PID controllers design for SISO sytems, Proceedings of Control'94,vol.1,606-611,IEE Stevenage, U.K.
[30] Krishnasmamy,P.R., and Rangaiah,G.P.Jha,R.k., and Deshapande,P.B. (1990)When to use cascade control,Ind.Eng.Chem.Eng.,70,149-152
[31] 殷红. 采用串级控制系统可有效地提高调节品质 内蒙古科技与经济 2002 年 第 8 期
[32] 褚健 俞立 苏宏业 鲁棒控制理论及应用 浙江大学出版社 2000.4
[33] 冯伯纯 田玉平 忻欣 鲁棒控制系统设计 东南大学出版社 1995.12
[34] 吴志刚 线性鲁棒控制的理论与计算 大连理工大学出版社 2003.10
[35] 蒋毅恒 现代鲁棒控制及其数学基础 华北电力大学学报 2000.10 第27卷第4期
[36] 金鑫 PID 控制器的鲁棒分析与设计 华北电力大学硕士论文 2003.10
[37] 高垒 PID 控制系统鲁棒分析与性能比较 华北电力大学硕士论文 2004.10
[38] Chun.d.,Chon,J.Y.,and Lee,J.(1999).Parallel compensation with a secondary measrurement,ind.Eng.Chem.Res.,38(4),1575-1579
[39] Hang,C.C.,Loh,A.P.,and Vasnani,V.U.(1994) Relay feedback auto-tuning of cascade controllers,IEEE Trans.Control Sys.technol.,2(1),42-45.
[40] Ho W K,Hang C C,Cao L S.Tuning of PID controllers based on gain and phase margin specifications.Automatica,vol.31,no.3,pp.497-502,1995
[41] W.Tan,H.j.Marquez,and T Chen.Performance assessment of PID controllers Control and Intelligent Systems,Vol.32,No.3,2004
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