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控制原理專題報告 PID controllers: recent tuning methods and design to specification

控制原理專題報告 PID controllers: recent tuning methods and design to specification. 指導教授 : 曾慶耀 老師 姓名 : 張起銘 學號 :19967003. Introduction two-degrees-of-freedom (2DF) Ziegler-Nichols (ZN) method OLDP method Genetic algorithms for PID tuning PID tuning using the theory of adaptive interaction

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控制原理專題報告 PID controllers: recent tuning methods and design to specification

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  1. 控制原理專題報告PID controllers: recent tuning methods and design to specification 指導教授:曾慶耀 老師 姓名:張起銘 學號:19967003

  2. Introduction • two-degrees-of-freedom (2DF) • Ziegler-Nichols (ZN) method • OLDP method • Genetic algorithms for PID tuning • PID tuning using the theory of adaptive interaction • Conclusion

  3. Introduction • PID控制器，多年以來成功地運用在控制策略上。穩健性、廣泛的適用性接近最優的性能，這是PID控制在學術界和工業界部門如此受歡迎的原因。 最近，已經注意到PID控制器通常是缺乏調整和一些努力，因此想要有系統地解決這個問題。在論文中簡要介紹了PID的理論，其中是一些最常用的PID整定方法，將一些較近期而有希望的技術進行了探討 。

  4. 2DF PID

  5. 2DF PID • 在Kd項加入一個低通濾波器，以減少雜訊放大. • 是指濾波器的時間常數.

  6. 2DF PID • Gsp(s)是從信號傳輸到控制變量和Gs(s)的設定值 • Gs(s)是信號傳輸過程中輸出的控制變量

  7. 2DF PID

  8. Ziegler-Nichols (ZN) method • 增益 為開迴路反應的瞬態部分 • L 為絕對時間

  9. Ziegler-Nichols (ZN) method • 其中 Kappa-tau tuning提到兩個版本 • ：控制器參數的標準化絕對時間的函數 • T ：時間常數 • Ku ：最終增益Tu ：最終週期

  10. OLDP method • OLDP 是D-partitioning的延伸 • 當 ，然後開迴路轉移函數為 PID的情況下 • 然後s由 取代，特徵方程式變為 • 其中 為

  11. OLDP method • 為了在參數空間獲得所需的增益和相位邊限，要繪製三頻域邊界。這些邊界得到考慮以下三種情況： • 對於 PI 的情況下特徵方程的形式如下： • 當 所以 • 在 邊界描述為 • 最後當 • 他的界限是由

  12. Genetic algorithms for PID tuning • 要獲得PID參數通常要減少一個性能指標。這在大多數情況下，是下列之一： • r(t)為參考輸入 y(t)為系統輸出

  13. PID tuning using the theory of adaptive interaction • 基於自適應相互作用的理論，自適應方法在整定PID控制器使用。通過最小化的一個性能指標得到調整（例如誤差平方）。控制系統被分解成四個子系統; 即受控廠，比例控制，積分控制和微分控制，Gp,Kp,Ki,Kd被視為四個子系統之間的相互作用參數。 • 適應性演算法 • 其中 • o 符號表示組成 • 為表示輸入和輸出的空間

  14. PID tuning using the theory of adaptive interaction • 誤差平方最小化提供以下自動調整參數作為性能指數： • 然後，Frkchet微分近似 ….(2) • 代入(1)式 得

  15. PID tuning using the theory of adaptive interaction • 這種方法的優點是，它可以適用於開迴路穩定和不穩定的受控廠，包括系統的時間延遲，它能改變系統的參數和干擾進入系統。

  16. Conclusion • 本文介紹了PID控制的概述其優點，缺點和不同的調整方法。普通的PID整定方法他的效果是有限的。而智能型PID控制的新方法，利用標準化絕對時間的概念和規範化的過程中獲得 ，不過PID可能沒辦法應付某些情況。例如，不只一個震盪情形的模式，或有大量時間延遲或複雜的干擾行為。 PID是一種很有前途的控制策略，值得進一步研究和調查。而且在工業界和學術界上有很多獲益。

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