PID控制器性能平评价 可实现最小方差评价指标

结论 .................................................................... 54 参 考 文 献 ........................................................... 56 谢辞 ................................ 错误！未定义书签。错误！未定义书签。59
摘要
长期以来，控制理论的研究主要集中在各种控制策略的研究上，而有关运行中的控 制系统性能评价的研究却很少。工业过程中控制性能的监测和评估己越来越受到关注， 而绝大部分控制回路采用 PID 控制器，很有必要研究它的控制品质。而且人们也普遍认 识到，控制系统若没有定期的维护，它的性能会随着时间推移而逐渐退化。性能不好的 控制器会降低控制系统的有效性， 从而导致产品质量的降低或者操作成本的增大。 因此， 只有那些得到良好设计、整定和维护的过程控制系统才能真正为生产带来长期、稳定和 可靠的效益。PID 控制是工业过程控制中应用最广泛的方法，因为这种控制策略不仅具 有简单的控制结构，而且在许多过程控制应用中都能够获得满意的控制效果。 本文的主要研究工作和成果包括以下几个方面: 1.在回顾 PID 控制器的历史和发展现状的基础上，着重介绍 PID 控制性能评价的方 法，包括确定性方法和随机性方法。 2.着重研究了最小方差准则原理以及单回路反馈控制系统性能评价、前馈-反馈控 制系统性能评价、串级控制系统性能评价。 3.最后进行了各系统的仿真分析，仿真结果表明综合寻优得到的 PID 控制器在抑制 随机干扰和设定值跟踪方面有良好的控制性能，也有很好的鲁棒性。 4.论文最后是全篇的总结， 并展望了 PID 控制器设计和性能评价等领域所面临的挑 战。
关键词：PID 控制；性能评价；确定性；随机性；最小方差。
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Abstract
Long-term since, control theory research mainly focus on various control strategy, and relevant research on the operation of the control system performance evaluation is little research. Industrial process control performance monitoring and assessment has more attention, but most of the control circuit adopts PID controller, it is necessary to study its control quality. And there is also widespread realized, the control system without regular maintenance, its performance will be gradually over time, and degradation. The controller can reduce performance is validity of the control system, leading to a drop in the quality of products or the operation cost increases. Therefore, only those who get good design, setting and maintenance of performance. PID control is in industrial process control is the most widely used method, because this control strategy not only has a simple control structure, and in many process control application can get satisfactory control effect. This paper main research work and work included the following respects : 1. The PID controller in the review the history and present situation of development, introduces emphatically based on PID control performance evaluation methods, including deterministic method and randomicity method. 2. This paper studies the minimum variance criteria principle and single loop feedback control system performance evaluation, feedforward - feedback control system performance evaluation, cascade control system performance evaluation. 3. The various systems of the simulation analysis, the simulation results show that the integrated optimization get PID controller in inhibiting random disturbance and set-point tracking is good control performance, also has good robustness. 4. The paper finally is summarized, and the future throughout the PID controller design and performance evaluation of the challenges facing the field. Keywords: PID control; Performance evaluation; certainty; randomness; Minimum variance
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目录
摘要 ..................................................................... I ABSTRACT ............................................................... II 1 绪论 .................................................................. 1
1.1 引言 ................................................................ 1 1.2 论文研究的目的和意义 ................................................ 2 1.3 论文研究的内容及工作简述 ............................................ 3 1.4 国内外文献综述 ...................................................... 4 1.4.1 控制器性能评价的发展及现状 ...................................... 4 1.4.2 性能评价技术在工业控制领域的应用 ................................ 6 1.5 PID 控制原理及应用 .................................................. 7 1.5.1 PID 控制原理 .................................................... 7 1.5.2 PID 控制应用 .................................................... 8
3 过程控制回路的控制器性能评价 ..................................... 28
3.1 控制器性能评价算法与系统 ........................................... 28 3.1.1 最小方差准则原理 ............................................... 29 3.1.2 时间延迟的定义 ................................................. 33
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3.1.3 最小方差性能评价算法及步骤 ..................................... 35 3.2 单回路反馈控制系统性能评价 ......................................... 41 3.2.1 单回路系统性能评价算法 ......................................... 41 3.2.2 仿真分析 ....................................................... 43 3.3 串级控制系统性能评价 ............................................... 45 3.3.1 串级控制系统简述 ............................................... 45 3.3.2 串级系统性能评价算法 ........................................... 48 3.3.3 仿真分析 ....................................................... 49 3.4 前馈-反馈控制系统性能评价 .......................................... 50 3.4.1 前馈-反馈控制系统简述 .......................................... 50 3.4.2 前馈反馈控制系统性能评价算法 ................................... 51
2 控制器性能评价方法研究 ............................................. 9
2.1 闭环系统性能评价方法 ................................................ 9 2.2 确定性方法 ......................................................... 10 2.2.1 单回路控制系统 ................................................. 10 2.2.2 串级回路控制系统 ............................................... 15 2.2.3 前馈控制系统 ................................................... 19 2.3 随机性方法 ......................................................... 24 2.4 控制器性能评价的其他方法 ........................................... 27 2.5 传统性能指标的优点和不足 ........................................... 28