基于继电反馈的PID自整定软件包开发及相关算法研究
|
摘要
PID调节器具有结构简单、适应性强、不依赖于被控对象的精确模型、对系统参数变化的鲁棒性较强等优点,因此在难以建立精确模型的工业过程控制中应用广泛。PID控制的效果好坏对产品的产量和质量都有着重大的影响。因此对PID控制器设计和参数整定问题的研究不但具有理论价值更具有很大的实践意义。
但在实际应用中PID控制器参数大多是依赖控制工程师所积累的现场调节经验来实现整定的,因而往往很难达到令人满意的程度。在日本、加拿大和英国对工业实践最近进行的调查显示,实际状况是超过90%的控制回路是PID类型的,其中30%的控制器是在手动模式下操作的,并且有20%的回路使用的是工厂现场经验整定,仅有很小比例的控制回路工作在良好整定的条件下。尤其对于时变或非线性系统,随着生产过程或负载变化使系统模型发生改变时,PID控制器参数往往不能及时被调整。可见在工业实践中PID控制器是广泛应用但普遍缺乏整定的。
针对这些问题本文作了如下的工作。首先对PID控制器的参数整定和自整定问题进行了比较系统的综述。重点讨论了基于继电反馈试验的自整定算法及其相关问题。其次对增强继电反馈试验的方法进行了系统的研究,其基本思想是通过应用整形后的继电信号来提高自整定的性能。针对应用饱和继电环节来提高继电试验精度的问题也进行了定量的分析,总结了相应的试验过程并完成了仿真实验。通过对具有不稳定零极点系统继电反馈的深入研究,找到了该类系统继电试验失效的原因及其预防措施。此外对负载扰动情况下的继电反馈问题进行了分析,并通过应用输出偏置继电克服了负载扰动的影响。
最后在算法研究的基础上,在Matlab 6.5环境下开发了基于继电反馈方法的PID自整定软件包(PCPA—PID Controller Parameter Autotuner)。该软件包通过继电反馈的方法对系统的频域信息进行了辨识,并简单有效的实现了、PID控制器参数的自动整定。PCPA软件包为控制工程师和研究工作者改善控制器性能或解决实际问题(如现场快速整定PID控制器参数或先进控制算法的参数初始化)提供了一个良好的实用工具。
PID controller has a simple structure with excellent adaptability and robustness to parameter change without dependence on accurate process model. So it has widely application in the process control field especially when it is difficult or impossible to get the accurate process model. The performance of the PID controller has great influence on the quantity and quality of the product. So the researches on the PID controller design and its tuning algorithms have not only much value in theory but also significant meaning in practice.But in practice, most tuning processes of the PID controller depend on the engineers' reckoning with his own practical experience or even by error and try tests which are both time consuming and not very satisfactory. The surveys over industrial practices in Japan, Canada and UK indicate that more than 90% of the control loops are of the PID typed where about 30% of the controllers are operated in manual model and 20% of the loops use factory tuning. The conclusion is that only a small proportion of the control loops work on well tuned condition. The PID controller parameters are always not well tuned in time especially when the process is time variant and nonlinear or has large and frequent load disturbance. In one word, we can get the conclusion that PID controllers are most widely applied but poorly tuned in the industrial practice.As a step in the direction of solving the above problem, some researches on the PID autotuning algorithms were done and a PID autotuning software package was developed. In this thesis, the main contributions are summarized as follows. Firstly, the problem of PID controller design and different autotuning algorithms were introduced and analyzed. Then the problem of relay feedback autotuning approach was mainly discussed. Secondly, the problem of the improved relay feedback method was in-depth analyzed. The key idea of using the saturation relay feedback is to enhance the information getting from the relay feedback experiment by using the "shaped" relays. The reason of the failing of relay feedback tests and methods to prevent it were analyzed through the
但在实际应用中PID控制器参数大多是依赖控制工程师所积累的现场调节经验来实现整定的,因而往往很难达到令人满意的程度。在日本、加拿大和英国对工业实践最近进行的调查显示,实际状况是超过90%的控制回路是PID类型的,其中30%的控制器是在手动模式下操作的,并且有20%的回路使用的是工厂现场经验整定,仅有很小比例的控制回路工作在良好整定的条件下。尤其对于时变或非线性系统,随着生产过程或负载变化使系统模型发生改变时,PID控制器参数往往不能及时被调整。可见在工业实践中PID控制器是广泛应用但普遍缺乏整定的。
针对这些问题本文作了如下的工作。首先对PID控制器的参数整定和自整定问题进行了比较系统的综述。重点讨论了基于继电反馈试验的自整定算法及其相关问题。其次对增强继电反馈试验的方法进行了系统的研究,其基本思想是通过应用整形后的继电信号来提高自整定的性能。针对应用饱和继电环节来提高继电试验精度的问题也进行了定量的分析,总结了相应的试验过程并完成了仿真实验。通过对具有不稳定零极点系统继电反馈的深入研究,找到了该类系统继电试验失效的原因及其预防措施。此外对负载扰动情况下的继电反馈问题进行了分析,并通过应用输出偏置继电克服了负载扰动的影响。
最后在算法研究的基础上,在Matlab 6.5环境下开发了基于继电反馈方法的PID自整定软件包(PCPA—PID Controller Parameter Autotuner)。该软件包通过继电反馈的方法对系统的频域信息进行了辨识,并简单有效的实现了、PID控制器参数的自动整定。PCPA软件包为控制工程师和研究工作者改善控制器性能或解决实际问题(如现场快速整定PID控制器参数或先进控制算法的参数初始化)提供了一个良好的实用工具。
PID controller has a simple structure with excellent adaptability and robustness to parameter change without dependence on accurate process model. So it has widely application in the process control field especially when it is difficult or impossible to get the accurate process model. The performance of the PID controller has great influence on the quantity and quality of the product. So the researches on the PID controller design and its tuning algorithms have not only much value in theory but also significant meaning in practice.But in practice, most tuning processes of the PID controller depend on the engineers' reckoning with his own practical experience or even by error and try tests which are both time consuming and not very satisfactory. The surveys over industrial practices in Japan, Canada and UK indicate that more than 90% of the control loops are of the PID typed where about 30% of the controllers are operated in manual model and 20% of the loops use factory tuning. The conclusion is that only a small proportion of the control loops work on well tuned condition. The PID controller parameters are always not well tuned in time especially when the process is time variant and nonlinear or has large and frequent load disturbance. In one word, we can get the conclusion that PID controllers are most widely applied but poorly tuned in the industrial practice.As a step in the direction of solving the above problem, some researches on the PID autotuning algorithms were done and a PID autotuning software package was developed. In this thesis, the main contributions are summarized as follows. Firstly, the problem of PID controller design and different autotuning algorithms were introduced and analyzed. Then the problem of relay feedback autotuning approach was mainly discussed. Secondly, the problem of the improved relay feedback method was in-depth analyzed. The key idea of using the saturation relay feedback is to enhance the information getting from the relay feedback experiment by using the "shaped" relays. The reason of the failing of relay feedback tests and methods to prevent it were analyzed through the
引文
[1] Astrom K J, and Hagglund T. Automatic tuning of PID controllers, Research Triangle Park, Instrument Society of American, 1988
[2] Astrom K J, and Hagglund T. PID controllers: theory, design and tuning, Research Triangle Park, Instrument Society of America, 1995
[3] Astrom K J, Hang C C, Persson P, Ho W K. Towards intelligent PID control.Automatica.1992
[4] Atherton D P.Nonlinear control engineering-describing function analysis and design, London: Van Nostrand Reinhold, 1975
[5] Bennett S.Development of the PID controllers. IEEE Control Systems Magazine,1993
[6] 薛定宇.控制系统计算机辅助设计—MATLAB语言及应用,北京:清华大学出版社,1996
[7] Golten and Verwer. Control System Design and Simulation, 1993
[8] 薛定宇.反馈控制系统的分析与设计-MATLAB语言及应用,北京:清华大学出版社,2000
[9] 陶永华,尹怡欣,葛芦生编著.新型PID控制系统及其应用,北京:机械工业出版社,1998
[10] 王趯南.智能控制系统,长沙:湖南大学出版社,1999
[11] J. G. Ziegler and N. B. Nichols. Optimum settings for automatic controllers.Transcation of ASME,1942,64:759-768
[12] Zhuang M, Atherton D P.Automatic tuning of optimum PID controllers. Proceedings of IEE, Ph.D, 1993,140:216-224
[13] Cheng Ching Yu. Autotuning of PID Controllers, Springer, 1999
[14] G.Zames.Feedback and optimal sensitivity: Model reference transformations, multiplieative seminorms and approximate inverses. IEEE Trans. on Automatic Control, AC-26(4): 301-320, April 1981.
[15] D.Xue and D.P.Atherton. An optimal model reduction algorithm for linear systems. In Proceedings of American Control Conference, Boston, USA,1991.
[16] L.P.Wang and W.R.Cluett. From Plant Data to Process Control: Ideas for Process Identification and PID Design. Taylor &Francis, Research Triangle Park, 2000
[17] K.K.Tan. Towards Autonomous Process Control With Relay-based Feedback Identification. PHD thesis, National University of Singapore, 1994.
[18] J.E.Marshall.Control Time-Delay Systems, volume 10 of Control Engineering Series. IEE, London, 1979.
[19] J.E.Marshall, H.Gorecki, K.Walton, and A.Korytowski. Time Delay Systems, Stability and Performance Criteria with Applications. Ellis Horwood Limited, West Sussex,England,1992
[20] McMillan, G.K. Tuning and control Loop Performance; Instrument Society of American, Reaearch Triangle Park, 1994.
[21] Yuwana. M, Seborg,D. E. A New Method for On-line Controller Tuning.AIChE J.1982,28,434
[22] Astrom,K. J.,Hagglund T. Automatic Tuning of Simple Regulators with Specifications on Phase and Amplitude Margins. Automatica 2,645,1984
[23] Chang.R.C, Shen. S. H, Yu, C.C. Derivation of Transfer Function from Relay Feedback System.Ind. Eng.Chen.31,855,1992
[24] Friman M, Waller K.V. Autotuning of Mutiloop Control Systems. Ind. Eng. Chem.res 33, 1708, 1994.
[25] Hang C.C, Astrom K.J., Ho,W. K. Refinements on the Ziegler Nichols Tuning Formula. IEE Proc.Pt. D 138,111,1991
[26] Li W, Eskinat E.,Luben W.L.An Improved Autotune identification Method. Ind. Eng. Chem. Res. 530,30, 1991
[27] Shen S.H., Yu C.C. Use of relay Feedback Test for Automatic Tuning of Multivariable Systems. AIChE J. 40,627,1994.
[28] Fendrich O.R. Describing Function and Limit Cycles.IEEE Trans Autom.Contr.37,486,1992
[29] Ogata,K. Modern Control Engineering 2~(nd) Ed. Prentice Hall: Englewood Cliffs, 1990.
[30] Hang C.C, Astrom K.J.,Ho W.K. Relay Auto-Tuning in the Presences of Static Load Disturbance. Automatica,29,563,1993.
[31] Oldenburger,R.,Boyer,R.C. Effects of Extra Sinusoidal Input to Nonlinear Systems. Trans. A\SME, 84,559,1962.
[32] Shen S.H, Wu J.S.,Yu C.C Biased-Relay Feedback for System Identification.AIChE J,42,1174, 1996.
[33] Arzen K. Architecture for Expert System Based on Feedback Control. Automatica 25,813,1989
[34] Astrom K. J.,Anton J.J.,Arzen K.E. Expert Control. Automatica 22,227,1986
[35] Alleyne A. and Hughes F.M. Generalised self-tuning controller with pole assignment. IEE Proc, 127,1,2001
[36] Astrom K.J., Lee T.H.,Tan K.K.,Johansson,K.H. Recent advances in relay feedback methods-a survey. Systems, Man and Cybernetica.IEEE International Conference,3,1616,1995
[37] Consider IMC Tuning to improve controller performance.Chem.Eng.Prog 86,10,1990
[38] Automatic retuning of PI controllers in oscillating control loops.Ind. Eng.Chem,36,4225,1997
[39] Friman and Waller K.V.A two-channel relay for autotuning.Ind Eng. Chem. Res, 36, 2662, 1997
[2] Astrom K J, and Hagglund T. PID controllers: theory, design and tuning, Research Triangle Park, Instrument Society of America, 1995
[3] Astrom K J, Hang C C, Persson P, Ho W K. Towards intelligent PID control.Automatica.1992
[4] Atherton D P.Nonlinear control engineering-describing function analysis and design, London: Van Nostrand Reinhold, 1975
[5] Bennett S.Development of the PID controllers. IEEE Control Systems Magazine,1993
[6] 薛定宇.控制系统计算机辅助设计—MATLAB语言及应用,北京:清华大学出版社,1996
[7] Golten and Verwer. Control System Design and Simulation, 1993
[8] 薛定宇.反馈控制系统的分析与设计-MATLAB语言及应用,北京:清华大学出版社,2000
[9] 陶永华,尹怡欣,葛芦生编著.新型PID控制系统及其应用,北京:机械工业出版社,1998
[10] 王趯南.智能控制系统,长沙:湖南大学出版社,1999
[11] J. G. Ziegler and N. B. Nichols. Optimum settings for automatic controllers.Transcation of ASME,1942,64:759-768
[12] Zhuang M, Atherton D P.Automatic tuning of optimum PID controllers. Proceedings of IEE, Ph.D, 1993,140:216-224
[13] Cheng Ching Yu. Autotuning of PID Controllers, Springer, 1999
[14] G.Zames.Feedback and optimal sensitivity: Model reference transformations, multiplieative seminorms and approximate inverses. IEEE Trans. on Automatic Control, AC-26(4): 301-320, April 1981.
[15] D.Xue and D.P.Atherton. An optimal model reduction algorithm for linear systems. In Proceedings of American Control Conference, Boston, USA,1991.
[16] L.P.Wang and W.R.Cluett. From Plant Data to Process Control: Ideas for Process Identification and PID Design. Taylor &Francis, Research Triangle Park, 2000
[17] K.K.Tan. Towards Autonomous Process Control With Relay-based Feedback Identification. PHD thesis, National University of Singapore, 1994.
[18] J.E.Marshall.Control Time-Delay Systems, volume 10 of Control Engineering Series. IEE, London, 1979.
[19] J.E.Marshall, H.Gorecki, K.Walton, and A.Korytowski. Time Delay Systems, Stability and Performance Criteria with Applications. Ellis Horwood Limited, West Sussex,England,1992
[20] McMillan, G.K. Tuning and control Loop Performance; Instrument Society of American, Reaearch Triangle Park, 1994.
[21] Yuwana. M, Seborg,D. E. A New Method for On-line Controller Tuning.AIChE J.1982,28,434
[22] Astrom,K. J.,Hagglund T. Automatic Tuning of Simple Regulators with Specifications on Phase and Amplitude Margins. Automatica 2,645,1984
[23] Chang.R.C, Shen. S. H, Yu, C.C. Derivation of Transfer Function from Relay Feedback System.Ind. Eng.Chen.31,855,1992
[24] Friman M, Waller K.V. Autotuning of Mutiloop Control Systems. Ind. Eng. Chem.res 33, 1708, 1994.
[25] Hang C.C, Astrom K.J., Ho,W. K. Refinements on the Ziegler Nichols Tuning Formula. IEE Proc.Pt. D 138,111,1991
[26] Li W, Eskinat E.,Luben W.L.An Improved Autotune identification Method. Ind. Eng. Chem. Res. 530,30, 1991
[27] Shen S.H., Yu C.C. Use of relay Feedback Test for Automatic Tuning of Multivariable Systems. AIChE J. 40,627,1994.
[28] Fendrich O.R. Describing Function and Limit Cycles.IEEE Trans Autom.Contr.37,486,1992
[29] Ogata,K. Modern Control Engineering 2~(nd) Ed. Prentice Hall: Englewood Cliffs, 1990.
[30] Hang C.C, Astrom K.J.,Ho W.K. Relay Auto-Tuning in the Presences of Static Load Disturbance. Automatica,29,563,1993.
[31] Oldenburger,R.,Boyer,R.C. Effects of Extra Sinusoidal Input to Nonlinear Systems. Trans. A\SME, 84,559,1962.
[32] Shen S.H, Wu J.S.,Yu C.C Biased-Relay Feedback for System Identification.AIChE J,42,1174, 1996.
[33] Arzen K. Architecture for Expert System Based on Feedback Control. Automatica 25,813,1989
[34] Astrom K. J.,Anton J.J.,Arzen K.E. Expert Control. Automatica 22,227,1986
[35] Alleyne A. and Hughes F.M. Generalised self-tuning controller with pole assignment. IEE Proc, 127,1,2001
[36] Astrom K.J., Lee T.H.,Tan K.K.,Johansson,K.H. Recent advances in relay feedback methods-a survey. Systems, Man and Cybernetica.IEEE International Conference,3,1616,1995
[37] Consider IMC Tuning to improve controller performance.Chem.Eng.Prog 86,10,1990
[38] Automatic retuning of PI controllers in oscillating control loops.Ind. Eng.Chem,36,4225,1997
[39] Friman and Waller K.V.A two-channel relay for autotuning.Ind Eng. Chem. Res, 36, 2662, 1997
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |