加热炉的非线性PID控制算法研究

文档编号:TX071        文档字数:14867,页数:26

摘  要
PID控制器由于其自身结构简单，方便易行而获得广泛的应用。但是，经典PID控制器采用“线性组合”形式产生的控制量，常引起快速性和超调量及准确性之间的矛盾，这就限制了经典PID控制器的使用范围。本文叙述了传统PID模型的常见缺陷, 通过分析PID各环节在不同响应曲线时应有的变化趋势, 以偏差e作为参数修正量, 生成了各环节的系数. 建立了一种通用的非线性PID 控制器模型。它继承了PID不依赖于对象模型的优点，并且从根本上改进了经典PID所固有的缺陷。基于这种非线性PID，结合加热炉的特性，设计出了一种非线性PID控制器，并分别用普通PID、非线性PID对其控制，通过系统仿真比较发现，本文提出的非线性PID不仅具有高鲁棒性和适应性特点，同时使调节时间更短，响应速度更快。

关键词：PID；非线性PID；非线性函数；大滞后；温度控制

Abstract
Classical PID controller has been widely used because of its single structure, convenient use, and so on. But PID controller has its limitation, where its linear combination brings the contradiction in speediness and overshoot, which limits PID controller's use. After discussing the defects of classical PID model and analyzing the variation tendency of each PID section in different responsive curves, the authors have created a coefficient model of each section by using the warp ′e′ as parameter correction, and established a universal nonlinear PID model. This model succeeds to the classical PID's advantage of the independence on models and improves on the classical PID's disadvantage. In this paper, considering the characteristic of the heating furnace, a kind of nonlinear PID controller has been put forward based on the nonlinear PID. Two kinds of manipulative methods are applied to heating furnace systems, they belong to classical PID ,nonlinear PID .From comparing with them，we can find that the nonlinear PID method which is presented by this paper, not only has the characteristic of high "robustness and adaptability" that nonlinear PID controller has，but also has higher corresponsive speed and shorter regulating time.

Key words: PID; Nonlinear PID; Nonlinear function; Large lag; Temperature control

目  录 
1 绪论   1
1.1 控制理论的发展   1
1.2 PID控制[1,2,3,4]   1
1.3 工业电加热炉温度控制技术总体概述   3
1.4 本文档的主要内容与工作   5
2 传统PID的结构及理论分析   6
2.1 传统PID的结构和特点  6
2.2 控制系统性能指标   7
2.2.1 典型输入测试信号   7
2.2.2 动态控制指标   8
2.3 PID参数整定   10
2.3.1 凑试法   11
2.3.2临界比例度法(Z-N法  11
2.3.3衰减曲线法   12
2.3.4 ISTE最优设定方法   12
3 非线性PID的结构和理论分析  14
3.1 非线性PID模型的建立   14
3.2 非线性PID的设计原理   15
3.2.1比例增益参数   16
3.2.2积分增益参数   17
3.2.3微分增益参数   17
4 仿真与实验   19
4.1加热炉研究   19
4.2 NCD工具箱简介   19
4.3 具体仿真比较  20
结    论   21
参考文献   22
致    谢   23

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