时滞对象的控制方法研究及其在电加热器温控系统中的应用
摘要
本文主要研究了工业过程中广泛存在的时滞控制问题的解决方法。分析了三种先进PID控制算法，并对三种算法进行仿真以验证其控制效果。着重研究了过程控制中被广泛采用的DMC算法，并提出其改进方案，仿真研究证明其有效性。在理论研究基础上，针对电加热器对象设计并实现了一个温度控制系统。具体内容如下：
1、改进PID算法。虽然纯PID控制不能很好的解决大时滞问题，但由于PID本身固有的诸多优点，仍有许多学者提出改进的PID算法。本文对应用或研究较多的三种先进PID控制方法进行分析及仿真。三种算法即：基于内模的PID(IMC-PID)、预测性PI(PIP)、模糊PID(FUZZY-PID)，仿真研究证明了三种算法构成的控制器都具有优于传统PID及Smith预估控制器的控制效果。
2、DMC算法及其改进。DMC算法广泛应用于工业过程中并被证明是克服滞后的有效方法。文中介绍了非参数模型及状态空间模型的DMC算法。同时指出，传统DMC算法计算时间较长，所需的存储空间大，故不适用于要求快速性或存储容量小的实际对象(如单片机系统)。由此引出单值DMC算法，但单值DMC在抗干扰和鲁棒性方面却有着令人遗憾的缺陷。故本文在单值DMC的基础上，提出状态空间双值DMC算法，该算法保留了单值算法计算速度快，占用存储空间较小
摘要
的优点，同时充分发挥DMC算法简单，鲁棒性较强，适用于有纯时
延系统的优点。仿真研究证明了这种改进的算法的优点。
3、针对电加热器对象设计并实现了一个温度控制系统。该系统由MCS
一51系列单片机构成，采用汇编语言及C语言混和编程，由于电
加热器的大滞后特性，控制算法采用双值DMC。把该算法用于控制
实验室电加热器具有较好的控制效果。为便于比较，编制模糊PID
程序并进行实控，结果表明双值DMC算法与模糊P功有相当的控制
效果。最后给出了所实现的温度控制系统的软、硬件构成及其具体
的设计方案。
The time delay control problems that occur in most of the industry processes are studied in this dissertation. Firstly, three of the advanced PID control algorithms are analyzed and the simulation results show these algorithms are effective. Next, Dynamic Matrix Control (DMC) algorithm is studied, and an improved algorithm of DMC is proposed for application. Finally, a temperature control system is designed for electrical heating instrument. The main research results are as follows: 1. As is known, the basic PID controller cannot have good control performance facing time delay . Three advanced PID algorithms, which are IMC-PID, PIP and FUZZY-PID, have been studied in Chapter 2. The simulations show that all the three algorithms have better performance than the basic PID and the Smith predictor. 2. DMC is widely used in industry and has been proved an effective
control algorithm for time delay processes. The nonparametric model DMC and the state-space model DMC are introduced in Chapter 3.
Since traditional DMC algorithm needs much calculation and memory space, a double point state-space DMC algorithm is proposed for application. The simulations show that the proposed algorithm has many merits such as better robust, lesser memory and fitting for the
time delay system.
3. A temperature control system of electrical heating instrument is designed and implemented, which is based on MCS-51 series single chip computer, programmed with the assemble language and the C language. Both the double point DMC and Fuzzy-PID are applied for comparison. The implementation results indicate that the double point DMC has pretty much the same performance with Fuzzy-PID.
1、改进PID算法。虽然纯PID控制不能很好的解决大时滞问题，但由于PID本身固有的诸多优点，仍有许多学者提出改进的PID算法。本文对应用或研究较多的三种先进PID控制方法进行分析及仿真。三种算法即：基于内模的PID(IMC-PID)、预测性PI(PIP)、模糊PID(FUZZY-PID)，仿真研究证明了三种算法构成的控制器都具有优于传统PID及Smith预估控制器的控制效果。
2、DMC算法及其改进。DMC算法广泛应用于工业过程中并被证明是克服滞后的有效方法。文中介绍了非参数模型及状态空间模型的DMC算法。同时指出，传统DMC算法计算时间较长，所需的存储空间大，故不适用于要求快速性或存储容量小的实际对象(如单片机系统)。由此引出单值DMC算法，但单值DMC在抗干扰和鲁棒性方面却有着令人遗憾的缺陷。故本文在单值DMC的基础上，提出状态空间双值DMC算法，该算法保留了单值算法计算速度快，占用存储空间较小
摘要
的优点，同时充分发挥DMC算法简单，鲁棒性较强，适用于有纯时
延系统的优点。仿真研究证明了这种改进的算法的优点。
3、针对电加热器对象设计并实现了一个温度控制系统。该系统由MCS
一51系列单片机构成，采用汇编语言及C语言混和编程，由于电
加热器的大滞后特性，控制算法采用双值DMC。把该算法用于控制
实验室电加热器具有较好的控制效果。为便于比较，编制模糊PID
程序并进行实控，结果表明双值DMC算法与模糊P功有相当的控制
效果。最后给出了所实现的温度控制系统的软、硬件构成及其具体
的设计方案。
The time delay control problems that occur in most of the industry processes are studied in this dissertation. Firstly, three of the advanced PID control algorithms are analyzed and the simulation results show these algorithms are effective. Next, Dynamic Matrix Control (DMC) algorithm is studied, and an improved algorithm of DMC is proposed for application. Finally, a temperature control system is designed for electrical heating instrument. The main research results are as follows: 1. As is known, the basic PID controller cannot have good control performance facing time delay . Three advanced PID algorithms, which are IMC-PID, PIP and FUZZY-PID, have been studied in Chapter 2. The simulations show that all the three algorithms have better performance than the basic PID and the Smith predictor. 2. DMC is widely used in industry and has been proved an effective
control algorithm for time delay processes. The nonparametric model DMC and the state-space model DMC are introduced in Chapter 3.
Since traditional DMC algorithm needs much calculation and memory space, a double point state-space DMC algorithm is proposed for application. The simulations show that the proposed algorithm has many merits such as better robust, lesser memory and fitting for the
time delay system.
3. A temperature control system of electrical heating instrument is designed and implemented, which is based on MCS-51 series single chip computer, programmed with the assemble language and the C language. Both the double point DMC and Fuzzy-PID are applied for comparison. The implementation results indicate that the double point DMC has pretty much the same performance with Fuzzy-PID.
引文
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[9] 谢书明，柴天佑．一种参数自适应模糊PID控制器．信息与控制，1998，27(4)：255-259．
[10] 睢刚，陈绍炳，徐治臬．模糊预估PID控制及其应用．东南大学学报．1998，28(1)：104-108．
[11] Rad A. B., Wai Lun Lo. Predictive PI controller. International Journal of Control. 1994,69(5):953-975.
[12] W. L. Lo, A. B. Rad, K. M. Tsang. Auto-tuning of output predictive PI controller. ISA Transactions. 1999,38(1):25-36.
[13] Minyou Chen, D. A. Linkens. A hybrid neuro-fuzzy PID controller. Fuzzy Sets and Systems. 1998,99(1):27-36.
[14] 杨智，高靖．神经元自适应预测PID控制器及实现．信息与控制，1999，28(5)：345-349．
[15] Sigeru O, Michifuml Y. Self-tuning neuron PID control applied to an inverted pendulum system. Journal A, 1996, 37(7): 17-21.
[16] 杨智，高靖．基于遗传算法的预测自整定PID控制器．控制与决策．2000，15(1)：113-118．
[17] Jialiang Lu, Guanrong Chen, Hao Ying. Predictive fuzzy PID control: theory,design and simulation. Information Sciences .2001, 137(1-4): 157-187.
[18] Smith, O. J. M. Closer Control of Loops with Dead Time. Chemical Engineering Progress, 1957,53:217-219。
[19] Hang CC. A Performance study of Control System with Dead Time. IEEE. IECI, 1980,27:234-241.
[20] 王建辉，齐昕，顾树生．一类纯滞后系统Smith控制策略的研究．控制与决策．1998，13(2)：141-145．
[21] 姜会霞，肖雁鸿，杜志国，周靖林．一种新型的模糊自校正Smith控制器的设计．仪器仪表学报．2000，22(3)：84-86．
[22] Tan Yonghong, Achiel R. Van Cauwenberghe. Neural Network Based on Nonlinear Smith Predictor.Control Theory And Applications.2000,17(3):410-414.
[23] 靳其兵，李鸿儒，刘子静，顾树生．带神经网络补偿的Smith预估极点配置自校正控制．东北大学．1999．20(2)：133-136．
[24] Giles R.f, Bartley T M. Gain-adaptive dead time compensation ISA.Trans, 1977,(1):46-49.
[25] 王连铮，张建华，孟庆贤．增益预估自适应纯滞后补偿控制器．自动化学报，1997，23(1)：139-142．
[26] Darko Vrecko,Damir Vrancic Dani Juricic ,Stanko Strmcnik.. A new modified Smith predictor:the concept,design and tuning.ISA Transactions.2001,40(2):111-121.
[27] 张卫东，孙优贤．基于Taylor展开的Smith预估优化设计．仪器仪表学报．1997，18(2)：213-216．
[28] 张卫东，孙优贤．一类Smith预估器及其鲁棒整定．自动化学报．1997，23(5)：660-663．
[29] Weidong Zhang ,Xiaoming Xu Analytical design and analysis of mismatched Smith predictor. ISA Trans.2001,40(2): 133-138.
[30] 李平，王树青，王骥程．预测控制研究的概况．化工自动化及仪表．1995，22(6)：3-9．
[31] 杨马英，王树青，王骥程．大时滞过程的预测控制——催化裂化反应再生系统原料预热回路控制．控制理论与应用．2000，17(1)：143-146．
[32] Tore Hagglund. A Predictive PI Controller for Processes with Long Dead
Times. IEEE Control Systems Magazine. 1992,12(1): 57-60.
[33] Futao Zhao.Jing Ou, Wei Du. Pattern-based fuzzy predictive control for a chemical process with dead time. Engineering Applications of Artificial Intelligence. 2000,13(1):37-45.
[34] 曹永岩，毛维杰，孙优贤，冯旭．现代控制理论的工程应用．杭州：浙江大学出版社．2000，5．
[35] Seng Teo Lian, Khalid Marzuki, Yusof Rubiyah. Tuning of a neuro-fuzzy controller by genetic algorithms with a application to a coupled-tank liquid-level control system. Engineering Applications of Artificial Intelligence.1998,11(4): 517-529.
[36] Garcia C E, M Morari. Internal model control-1: A unifying review and some new results. Ind Eng Chem Proc Des Dev, 1982,21:308-323.
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