自动控制原理毕业设计论文

摘要

电厂锅炉主汽温具有大延迟、大惯性、非线性等特点，传统的PID控制很难取得满意的控制品质，本文在线性PID的基础上，引入跟踪微分器及非线性模块，构造出一种新型的非线性PID控制器，进而提出了汽温非线性PID控制方案，对其进行仿真，并进行了抗干扰能力和鲁棒性测试。结果表明相比于线性PID，非线性PID具有更好地控制品质，并且具有较强的抗干扰能力和鲁棒性。

尽管线性理论不仅在理论上完善，在各种国防和工业控制中也已成功地应用，但是随着现代科学技术的发展和现代工业对控制系统性能要求的不断提高，线性反馈控制已经很难满足各种实际需要。大多数控制系统往往是非线性的，采用近似的线性模型虽然可以更全面、更容易地分析系统的各种性能，却很难刻画出系统的非线性本质，所设计的控制器也很难达到系统的性能要求。线性系统的动态特性已不足以解释许多常见的实际非线性现象。早期的非线性系统分析与设计没有自身的理论体系，对非线性系统的处理主要是采用将非线性特性分段线性化，然后使用线性控制理论分析与设计。

关键词：非线性PID控制器；电厂锅炉主汽温；使用Matlab仿真

Power plant boiler main steam temperature with large delay, large inertia and nonlinear characteristics of the traditional PID control is difficult to obtain satisfactory control quality, this article on the basis of the linear PID, the introduction of tracking differentiator and nonlinear module, a new kind of nonlinear PID controller is constructed, and steam temperature of nonlinear PID control scheme is presented, simulation, and the anti-jamming ability and robustness test. The results show that compared with the linear PID, nonlinear PID has better control quality, and has strong anti-jamming ability and robustness.

Although linear theory not only perfect in theory, in a variety of national defense and also has been successfully used in industrial control, but with the development of modern science and technology and the continuous improvement of modern industrial control system performance requirements, the linear feedback control has been difficult to meet various practical needs. Most often is the nonlinear control system, an approximate linear model can be more comprehensive, more easily analysis various performance of the system, but it is difficult to depict a nonlinear nature of the system, the designed controller is difficult to meet the requirements of the performance of the system. Dynamic characteristics of a linear system is not enough to explain the actual nonlinear phenomena of the many common. Nonlinear system analysis and design of the early without its own theoretical system, handling of the nonlinear system is mainly used to nonlinear piecewise linearization, and then use the linear control theory analysis and design.

Key words: nonlinear PID controller; Power plant boiler main steam temperature; Using matlab simulation

摘要 ................................................................................................................................... I A BSTRACT........................................................................................................................... II 1引言.. (1)

1.1选题的背景及意义 (1)

1.2国内外发展水平及面临的问题 (1)

1.3课题研究内容 (2)

2非线性PID控制器 (4)

2.1非线性理论 (4)

2.1.1非线性控制的经典方法及局限性 (4)

2.1.2 非线性系统理论的最新发展及问题 (5)

2.2跟踪微分器（TD） (7)

2.2.1 跟踪微分器的数学表达式 (7)

2.2.2 跟踪微分器的数学模型的搭建（simulink下的实现） (9)

2.2.3 跟踪微分器的仿真实现与分析 (11)

2.3非线性组合 (13)

2.3.1 几种典型的非线性组合 (13)

2.3.2非线性组合的数学模型实现 (14)

2.3.3非线性组合的simulink搭建及仿真实现 (14)

2.4非线性PID控制器 (15)

2.5α、δ对非线性函数

FAL的影响及假设 (16)

2.5.1α对非线性函数fal的影响 (16)

2.5.2δ对非线性函数fal的影响 (18)

2.6δ对跟踪微分器的影响 (19)

3电厂主汽温控制系统方案 (21)

3.1火电厂主汽温常规控制方案 (21)

3.1.1串级调节系统 (21)

3.1.2 仿真实例 (22)

3.2火电厂主汽温非线性PID控制方案 (23)

3.2.1非线性PID串级控制系统结构 (23)

3.2.2仿真实现与结果分析 (24)