自抗扰控制器在温控系统中的实用化研究及应用
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摘要
经过数十年的发展,PID控制算法因结构简单、鲁棒性好、可靠性高,成为最广泛、最通用的控制策略之一。然而,实际工业生产过程往往具有非线性、时变不确定性等因素,应用经典线性PID控制器难以达到满意的控制效果,而自抗扰控制器(ADRC)对工业中非线性对象具有更高的控制性能,但是因为参数调节理论的不完善,影响其实际应用。
本文在此背景下,针对非线性PID控制、自抗扰控制以及Smith预估器和前馈控制展开研究。为了提高控制器的稳定性和鲁棒性,设计了ADRC-Smith预估控制器和前馈ADRC控制器,将其应用于大时滞温度控制系统,并在此基础上设计了吹塑机控制系统解决方案,通过大量的理论研究、仿真和实验,实现了良好的控制效果。论文的主要工作有:
1.研究了自抗扰技术和温度控制的现状以及温度控制的特点。
2.研究了ADRC的发展史,深入了解ADRC的原理与优点。ADRC在控制非线性对象时比PID具有更好的控制性能,但是参数调节理论不完善,阻碍了其广泛应用。
3.通过MATLAB仿真,得到ADRC参数之间的内在规律,通过将ADRC的参数统一到一个时间因子上,达到简化调节参数个数的目的,从而降低调试难度,同时,在无时滞温控实验平台上进行实验,验证了参数调节规律的可行性。
4.自抗扰控制器在大时滞温控上的应用,以前文献一般将时滞环节等效成一阶惯性环节,这样就要求增加ADRC的阶次,增加了调节参数个数,在参数调节理论不完善的情况下无疑是增加了调试难度。本文将ADRC分别与Smith预估器和前馈控制器相结合,设计了ADRC-Smith预估控制器和前馈ADRC控制器来解决具有大时滞控制问题。这两类新控制器的优点是不增加ADRC的阶次,是解决不确定大时滞被控对象的新途径,也是ADRC控制器实际应用上的一次创新。
5.在可编程计算机控制器(PCC)搭建的大时滞温控实验平台上进行实验,将前馈ADRC控制器和贝加莱专用温度控制器PIDXH的控制效果进行比较,实验结果表明前馈ADRC控制器在稳定性、鲁棒性等方面都优于PIDXH控制器。
6.研究了吹塑机控制系统解决方案,并在吹塑机上实验前馈ADRC控制器,得到了良好的控制效果,进一步验证了算法的可行性。
With decades of years development, PID algorithm has become one of the most widely and universal control strategies, for its simpleness, stability and reliability. However, as a result of the nonlinearity and time varying in industry producing process, classical PID controller cannot bring well effect. Though having good control capability, the parameter tuning theory of ADRC (Active Disturbance Rejection Controller) is not perfect, which is not well applied.
Under this background, this paper mainly aims to study nonlinear PID controller, active disturbance rejection controller, Smith predictor controller and feedforward controller. In order to improve the stability, this paper puts forward ADRC-Smith predictor controller and feedforward ADRC controller, which is applied to large-lag temperature control system, and then brings the solutions of blow molding control system. After a mass of theory study, emulating and experimentation, the solution reaches well effect. The major works of this paper are summarized as follows:
1. The status and characteristic of active disturbance control and temperature control have been studied.
2. The development of ADRC is studied and the theory and advantage are deeply studied. ADRC has better characteristic than PID when the object is nonlinear, but parameter tuning theory is not perfect, so is not widely used.
3. Via MATLAB emulating, the parameter of ADRC is found. Via unifying the parameter, the aim of simplifying the tuning is reached. Experiment is taken on non-lag platform, and the feasibility of parameter tuning discipline is confirmed.
4. ADRC is applied to large-lag temperature control system. If the time lag system is equivalent to one order system, the order of ADRC must be increased, and the number of parameters is increased, which increase the difficulty of tuning,while lacking principle of parameter tuning. The paper combines the ADRC with Smith predictor controller and feedforward controller to make ADRC-Smith predictor controller and feedforward ADRC controller to solve large-lag control problem. The advantage of the two new controllers is that the order will not increase, which is a new approach to resolve uncertain time lag control problem, and is innovation in ADRC controller application.
5. Experiments on large-lag platform based on PCC (Programmable Computer Controller) are taken and the control effect is compared with the special temperature controller PIDXH. The result indicates that feedforward ADRC controller is better than PIDXH in stability, robustness.
6. The solution of blow molding machine control system is researched, and feedforward ADRC controller is tested in blow molding machine. The control effect is good and the feasibility of the algorithm is validated.
本文在此背景下,针对非线性PID控制、自抗扰控制以及Smith预估器和前馈控制展开研究。为了提高控制器的稳定性和鲁棒性,设计了ADRC-Smith预估控制器和前馈ADRC控制器,将其应用于大时滞温度控制系统,并在此基础上设计了吹塑机控制系统解决方案,通过大量的理论研究、仿真和实验,实现了良好的控制效果。论文的主要工作有:
1.研究了自抗扰技术和温度控制的现状以及温度控制的特点。
2.研究了ADRC的发展史,深入了解ADRC的原理与优点。ADRC在控制非线性对象时比PID具有更好的控制性能,但是参数调节理论不完善,阻碍了其广泛应用。
3.通过MATLAB仿真,得到ADRC参数之间的内在规律,通过将ADRC的参数统一到一个时间因子上,达到简化调节参数个数的目的,从而降低调试难度,同时,在无时滞温控实验平台上进行实验,验证了参数调节规律的可行性。
4.自抗扰控制器在大时滞温控上的应用,以前文献一般将时滞环节等效成一阶惯性环节,这样就要求增加ADRC的阶次,增加了调节参数个数,在参数调节理论不完善的情况下无疑是增加了调试难度。本文将ADRC分别与Smith预估器和前馈控制器相结合,设计了ADRC-Smith预估控制器和前馈ADRC控制器来解决具有大时滞控制问题。这两类新控制器的优点是不增加ADRC的阶次,是解决不确定大时滞被控对象的新途径,也是ADRC控制器实际应用上的一次创新。
5.在可编程计算机控制器(PCC)搭建的大时滞温控实验平台上进行实验,将前馈ADRC控制器和贝加莱专用温度控制器PIDXH的控制效果进行比较,实验结果表明前馈ADRC控制器在稳定性、鲁棒性等方面都优于PIDXH控制器。
6.研究了吹塑机控制系统解决方案,并在吹塑机上实验前馈ADRC控制器,得到了良好的控制效果,进一步验证了算法的可行性。
With decades of years development, PID algorithm has become one of the most widely and universal control strategies, for its simpleness, stability and reliability. However, as a result of the nonlinearity and time varying in industry producing process, classical PID controller cannot bring well effect. Though having good control capability, the parameter tuning theory of ADRC (Active Disturbance Rejection Controller) is not perfect, which is not well applied.
Under this background, this paper mainly aims to study nonlinear PID controller, active disturbance rejection controller, Smith predictor controller and feedforward controller. In order to improve the stability, this paper puts forward ADRC-Smith predictor controller and feedforward ADRC controller, which is applied to large-lag temperature control system, and then brings the solutions of blow molding control system. After a mass of theory study, emulating and experimentation, the solution reaches well effect. The major works of this paper are summarized as follows:
1. The status and characteristic of active disturbance control and temperature control have been studied.
2. The development of ADRC is studied and the theory and advantage are deeply studied. ADRC has better characteristic than PID when the object is nonlinear, but parameter tuning theory is not perfect, so is not widely used.
3. Via MATLAB emulating, the parameter of ADRC is found. Via unifying the parameter, the aim of simplifying the tuning is reached. Experiment is taken on non-lag platform, and the feasibility of parameter tuning discipline is confirmed.
4. ADRC is applied to large-lag temperature control system. If the time lag system is equivalent to one order system, the order of ADRC must be increased, and the number of parameters is increased, which increase the difficulty of tuning,while lacking principle of parameter tuning. The paper combines the ADRC with Smith predictor controller and feedforward controller to make ADRC-Smith predictor controller and feedforward ADRC controller to solve large-lag control problem. The advantage of the two new controllers is that the order will not increase, which is a new approach to resolve uncertain time lag control problem, and is innovation in ADRC controller application.
5. Experiments on large-lag platform based on PCC (Programmable Computer Controller) are taken and the control effect is compared with the special temperature controller PIDXH. The result indicates that feedforward ADRC controller is better than PIDXH in stability, robustness.
6. The solution of blow molding machine control system is researched, and feedforward ADRC controller is tested in blow molding machine. The control effect is good and the feasibility of the algorithm is validated.
引文
[1]韩京清.自抗扰控制技术[J].前沿科学,2007,1(1):24-31
[2]黄一,张文革.自抗扰控制器的发展[J].控制理论与应用,2002,19(4):485-492
[3]Han Jingqing.The Structure of linear system and computation of feedback system[J].The Proceeding of Control Theory and Its Application.Beijing:Academic Press,1980
[4]张荣,韩京清.串联型扩张状态观测器构成的自抗扰控制器[J].控制与决策,2000,15(1):122-124
[5]赵习为,慕春棣.自抗扰控制器的简易实现[J].制造业自动化,1999,21(6):52-53
[6]朱丽玲,于希宁等.基于遗传算法的ADRC参数整定及其应用[J].仪器仪表用户,2005,12(4):64-66
[7]张荣,韩京清.用模型补偿自抗扰控制器进行参数辨识[J].控制理论与应用,2000,17(1):79-81
[8]韩京清,张文革,高志强.模型配置自抗扰控制器[J].中国控制会议论文集,1998.9
[9]张荣,韩京清.基于神经网络的自抗扰控制器[J].系统仿真学报,2000,12(2):149-151
[10]余鹏程.基于模糊理论的塑料挤出机温度控制系统[D].武汉理工大学.2005.5
[11]韩京清.从PID技术到“自抗扰控制”技术[J]_控制工程,2002,9(3):13-18
[12]王沛然.主汽温新型控制系统设计与研究[D].华北电力大学,2005.11
[13]张凌云.快速智能化挤出机料筒温度算法的研究及应用[D].山东大学,2005.6
[14]王鹏飞.基于自抗扰控制器的高速卷绕头控制系统的研究与应用[D].山东大学,2005.6
[15]韩京清,王伟.非线性跟踪—微分器[J].系统科学与数学,1994,14(2):177-183
[16]宋金来,甘作新,韩京清.自抗扰控制技术滤波特性的研究[J].控制与决策,2003,18(1):110-119
[17]韩京清,黄远灿.二阶跟踪-微分器的频率特性[J].数学的实践与认识,2003,33(3):71-74
[18]王永庆,基于自抗扰控制器的丙烯聚合过程温度控制系统的研究与实施[D].华南理工大学,2003.2
[19]万晖.自抗扰控制器的稳定性分析及其应用[D].中国科学院数学与系统科学研究院,2001.5
[20]韩京清,张荣.二阶扩张状态观测器的误差分析[J].系统科学与数学,1999,19(4):465-471
[21]Y.Houbbchen,Z.Gao,F.Jiang and B.T.Bouiter.Active Disturbance Rejection Control for Web Tension Regulation[J].Proceedings of the 40th IEEE Conference on Decision and Control,Orlando,Florida USA,December 2001,PP:4974-4979
[22]王景景.基于神经网络的PID控制器参数在线自整定[D].青岛科技大学,2002.5
[23]武卫华.基于模糊自整定PID的温控系统研究[J].电子质量,2003,5:32-33
[24]杨智,高靖.基于遗传算法的预测自整定PID控制器[J].控制与决策,2000,15(1):113-115.
[25]张柯,王明春,张雨飞.GPC-PID串级控制在主汽温控制系统中的仿真研究[D].锅炉技术.2006,37(1):20-23
[26]韩京清,张文革.大时滞系统的自抗扰控制[J].控制与决策,1999,9(6):7-17
[27]要晓梅,王庆林,韩京清.大纯滞后纯积分对象的二阶自抗扰控制[J].控制工程,2002,14(4):354-358
[28]李新春.多种控制策略在炉温控制中的应用与研究[D].东北大学,2003.1
[29]郭旭.全方位移动机器人的运动预测控制[D].浙江大学,2006.6
[30]陈莉,张锋.串级-Smith预估控制在温度大滞后系统中的应用[J].仪表技术,2007,(2):37-39
[31]靳继勇.多回路温度控制器的研究与设计[D].兰州理工大学,2006.6
[32]杨宁.电阻加热炉解耦模糊Smith预估PID控制研究与仿真[J].系统仿真学报,2006,18(9):2566-2569
[33]王舰,强文义等.一种改进的模糊Smith预估器[J].控制工程,2005,14(4):331-334
[34]SUN Li-Ming,JIANG Xue-Zhi,LI Dong-Hai.Tuning of Auto-disturbance-rejection Controller for a Class of Nonlinear Plants.ACTA AUTOMATIC SINICA.2004.3(2):251-254
[35]张文革.时间尺度与白抗扰控制器[D].中国科学院系统科学研究所,1999,11
[36]齐蓉,肖维荣.可编程计算机控制器高级技术[M].陕西:西北工业大学出版社,2002
[37]B&R2000高级编程技术.贝加莱培训教材[Z],2003
[38]B&R ACOPOS技术入门.贝加莱培训教材[Z],2004
[39]吴梦旦.塑料中空成型设备使用与维护手册[Z].北京:机械工业出版社,2007
[40]黄汉雄.塑料吹塑技术[M].北京:化学工业出版社,1996
[41]郑尚德.变结构预测控制及其在塑料挤出机温度控制中的应用[J].测控技术,1999,18(12):9-11
[42]多米尼克V.罗萨托.吹塑成型手册[Z].北京:化学工业出版社,2007
[43]李晓杰.基于GPC的自适应PID控制器在大时滞温控对象中的研究与应用[D].山东 大学,2007.6
[44]李彤.挤出机机筒传热分析与温度控制[D].华南理工大学,2000.2.1
[45]周殿明.塑料成型与设备维护[M].北京:化学工业出版社,2004.
[2]黄一,张文革.自抗扰控制器的发展[J].控制理论与应用,2002,19(4):485-492
[3]Han Jingqing.The Structure of linear system and computation of feedback system[J].The Proceeding of Control Theory and Its Application.Beijing:Academic Press,1980
[4]张荣,韩京清.串联型扩张状态观测器构成的自抗扰控制器[J].控制与决策,2000,15(1):122-124
[5]赵习为,慕春棣.自抗扰控制器的简易实现[J].制造业自动化,1999,21(6):52-53
[6]朱丽玲,于希宁等.基于遗传算法的ADRC参数整定及其应用[J].仪器仪表用户,2005,12(4):64-66
[7]张荣,韩京清.用模型补偿自抗扰控制器进行参数辨识[J].控制理论与应用,2000,17(1):79-81
[8]韩京清,张文革,高志强.模型配置自抗扰控制器[J].中国控制会议论文集,1998.9
[9]张荣,韩京清.基于神经网络的自抗扰控制器[J].系统仿真学报,2000,12(2):149-151
[10]余鹏程.基于模糊理论的塑料挤出机温度控制系统[D].武汉理工大学.2005.5
[11]韩京清.从PID技术到“自抗扰控制”技术[J]_控制工程,2002,9(3):13-18
[12]王沛然.主汽温新型控制系统设计与研究[D].华北电力大学,2005.11
[13]张凌云.快速智能化挤出机料筒温度算法的研究及应用[D].山东大学,2005.6
[14]王鹏飞.基于自抗扰控制器的高速卷绕头控制系统的研究与应用[D].山东大学,2005.6
[15]韩京清,王伟.非线性跟踪—微分器[J].系统科学与数学,1994,14(2):177-183
[16]宋金来,甘作新,韩京清.自抗扰控制技术滤波特性的研究[J].控制与决策,2003,18(1):110-119
[17]韩京清,黄远灿.二阶跟踪-微分器的频率特性[J].数学的实践与认识,2003,33(3):71-74
[18]王永庆,基于自抗扰控制器的丙烯聚合过程温度控制系统的研究与实施[D].华南理工大学,2003.2
[19]万晖.自抗扰控制器的稳定性分析及其应用[D].中国科学院数学与系统科学研究院,2001.5
[20]韩京清,张荣.二阶扩张状态观测器的误差分析[J].系统科学与数学,1999,19(4):465-471
[21]Y.Houbbchen,Z.Gao,F.Jiang and B.T.Bouiter.Active Disturbance Rejection Control for Web Tension Regulation[J].Proceedings of the 40th IEEE Conference on Decision and Control,Orlando,Florida USA,December 2001,PP:4974-4979
[22]王景景.基于神经网络的PID控制器参数在线自整定[D].青岛科技大学,2002.5
[23]武卫华.基于模糊自整定PID的温控系统研究[J].电子质量,2003,5:32-33
[24]杨智,高靖.基于遗传算法的预测自整定PID控制器[J].控制与决策,2000,15(1):113-115.
[25]张柯,王明春,张雨飞.GPC-PID串级控制在主汽温控制系统中的仿真研究[D].锅炉技术.2006,37(1):20-23
[26]韩京清,张文革.大时滞系统的自抗扰控制[J].控制与决策,1999,9(6):7-17
[27]要晓梅,王庆林,韩京清.大纯滞后纯积分对象的二阶自抗扰控制[J].控制工程,2002,14(4):354-358
[28]李新春.多种控制策略在炉温控制中的应用与研究[D].东北大学,2003.1
[29]郭旭.全方位移动机器人的运动预测控制[D].浙江大学,2006.6
[30]陈莉,张锋.串级-Smith预估控制在温度大滞后系统中的应用[J].仪表技术,2007,(2):37-39
[31]靳继勇.多回路温度控制器的研究与设计[D].兰州理工大学,2006.6
[32]杨宁.电阻加热炉解耦模糊Smith预估PID控制研究与仿真[J].系统仿真学报,2006,18(9):2566-2569
[33]王舰,强文义等.一种改进的模糊Smith预估器[J].控制工程,2005,14(4):331-334
[34]SUN Li-Ming,JIANG Xue-Zhi,LI Dong-Hai.Tuning of Auto-disturbance-rejection Controller for a Class of Nonlinear Plants.ACTA AUTOMATIC SINICA.2004.3(2):251-254
[35]张文革.时间尺度与白抗扰控制器[D].中国科学院系统科学研究所,1999,11
[36]齐蓉,肖维荣.可编程计算机控制器高级技术[M].陕西:西北工业大学出版社,2002
[37]B&R2000高级编程技术.贝加莱培训教材[Z],2003
[38]B&R ACOPOS技术入门.贝加莱培训教材[Z],2004
[39]吴梦旦.塑料中空成型设备使用与维护手册[Z].北京:机械工业出版社,2007
[40]黄汉雄.塑料吹塑技术[M].北京:化学工业出版社,1996
[41]郑尚德.变结构预测控制及其在塑料挤出机温度控制中的应用[J].测控技术,1999,18(12):9-11
[42]多米尼克V.罗萨托.吹塑成型手册[Z].北京:化学工业出版社,2007
[43]李晓杰.基于GPC的自适应PID控制器在大时滞温控对象中的研究与应用[D].山东 大学,2007.6
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