大滞后系统智能控制器的研究
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摘要
回顾了控制理论的发展和历史,研究了控制理论的数学基础和传递函数的研究方法,阐述了控制系统传递函数模型,研究和分析了控制系统分析中应用的不同的特征检测信号。阐述了工业生产中常用的PID控制器的结构和传递函数表示。从时域和频域两方面研究了PID控制器对典型一阶、二阶系统和高阶系统的影响。提出了在高度非线性系统和时间滞后系统中PID控制器的局限性。比较了智能控制和传统控制的特点,并比较了智能控制和传统PID控制的优缺点。研究了模糊数学中与模糊控制相关的基本理论,研究了模糊控制系统的结构以及设计和分析方法。实例研究了模糊控制系统对高度非线性系统和时间滞后系统控制的有效性。推广了含有积分过程的时间滞后系统。提出了时间滞后指数项的精确近似方法,摆脱了传统频域设计中的局限。提出了二阶大时间滞后系统PID控制器参数调节的简单方法,证明了推广二阶时间滞后系统的PID参数调节方法的有效性,得到了调节PID参数的α参数。建立了模糊推理机对得到的α参数进行智能模糊调节,并与文献中的调节方法进行了比较,证明了智能调节方法的有效性,为大时间滞后系统的在线控制提供了条件。
The development and history of control theory was reviewed. The mathematic fundamental and transfer function method were studied. Transfer function based control system model was investigated and different characteristic input signals were studied and analysed. The structure of PID controller was proposed and the proposed PID controller was investigated in both time domain and frequency domain with typical first-order and second-order system. The limitation of PID controller was concluded and the characteristics of conventional PID controllers and intelligent controllers were compared. The theory related to fuzzy mathematics and fuzzy control systems was studied. Fuzzy control structure was designed and proposed. A typical first-order time delay control system with integrator was generalized to a generalized second-order form. A more accurate model was proposed which can get rid of the limitation of the frequency domain. A effective simple design method of intelligent controller was proposed and the a parameter was obtained. Effectiveness of the simple method was verified and compared with the controller design method in the literature. Better online control performance of large scale time delay system can be obtained.
The development and history of control theory was reviewed. The mathematic fundamental and transfer function method were studied. Transfer function based control system model was investigated and different characteristic input signals were studied and analysed. The structure of PID controller was proposed and the proposed PID controller was investigated in both time domain and frequency domain with typical first-order and second-order system. The limitation of PID controller was concluded and the characteristics of conventional PID controllers and intelligent controllers were compared. The theory related to fuzzy mathematics and fuzzy control systems was studied. Fuzzy control structure was designed and proposed. A typical first-order time delay control system with integrator was generalized to a generalized second-order form. A more accurate model was proposed which can get rid of the limitation of the frequency domain. A effective simple design method of intelligent controller was proposed and the a parameter was obtained. Effectiveness of the simple method was verified and compared with the controller design method in the literature. Better online control performance of large scale time delay system can be obtained.
引文
1.胡松涛.自动控制原理[M],北京；科学出版社,2001,1-2
2.张凌云,肖维荣.非线性调节技术在大滞后系统中的应用[J],China Academic Journal Electronic Publishing House,1003-0492(2005)04-0065-03
3.王子第.连续加热炉在线控制的系统仿真研究[D],沈阳东北大学,2004
4.刘立志.微型计算机控制技术[M],济南；山东大学出版社,1996,1-2
5.Chien, I.L.,Fruehauf, P.S.Consider IMC tuning to improve performance[J], Chemical Engineering,1990,10-33
6.宁宝林,陈海耿.炉子热过程数学模型[M].沈阳：东北工学院,1990
7.宁宝林,尚德义.火焰炉段法预示计算数学模型[J].东北工学院学报,1983,4(3)：64-72
8.宁宝林,陈海耿.段法能量平衡方程组的主变量修正解法[J].东北工学院学报,1986,7(2)：33-37
9. Jianghua Xu,Huihe Shao. A novel method of PID tuning for integrating process[J], Proceedings of the 42nd IEEE Conference on Decision and Control Maui, Hawaii USA,2003
10. L.Wang,W.R. Cluett. Tuning PID controllers for integrating process[J],IEEE Proceedings Control Theory Application,1997, Volume 44, No.5
11.Marlin, T.E. Process Control:designing process and control systems for dynamic performance[M],New York;McGraw-Hill,1995,102-105
12. O'Dwyer, A.PI and PID controller tuning rules for time delay process:a summary[M],Diblin;Dublin Institute of Technology,2000,5-8
13.HO, W.K., XU, W. PID tuning for unstable process based on gain and phase-margin specification[J],IEEE Proceedings Control Theory Application, 1998,Volume 145,No.5392-396
14. Poulin, E., Pomerleau, A. PID tuning for integrating and unstable process[J],IEEE Proceedings Control Theory Application,1996, Volume 143,No.5429-435
15.Tan, W.,Liu, J.,Tam, P.K.S.PID tuning for integrating process[J], Proceedings IEEE International Conference on Control Applications,1998,873-876
16. Venkatashankar, V.,Chidambaram, M. Design of P and PI controllers for unstable first-order plus time delay systems[J],Int. J.Control,1994,60,137-144
17. Tan,W.,Yuan, Y.,Niu, Y. Tuning of PID controller for unstable process[J], Proceedings IEEE International Conference on Control Applications,1999,121-124
18.De Paor,A.M., O'Malley, M. Controllers of Ziegler-Nichols type for unstable process with time delays[J],Int. J. Control,1989,49,1273-1284
19.A.Visioli.Optimal tuning of PID controllers for integral and unstable process[J],IEE Proc.-Control Theory Appl.,2001,Vol.148, No.2
20. Ya-Gang Wang, Hui-He Shao.Optimal tuning for PI controller[J],Automatica, 2000,Vol.36,147-152
21.Astrom, K.J,Hagglund, T. PID controllers:Theory, design and tuning 2nd ed.[M], USA;NC:Instrument Society of America,1995,5-9
22.Astrom, K.J.,Hagglund, T. Automatic tuning of simple regulators with specifications on phase and amplitude margins[J],Autimatica,20,645-651
23.Benjamin C.Kou, Farid Golnaraghi.Automatic Control Systems[M],USA:John Wiley & Sins, INC,2003,483-545
24.Daniel E.Rivera, Manfred Morarl, Sigurd Skogestad.Internal Model Control.4 PID Controller Design[J],Ind.End.Chem.Process Des.,1986,25,252-265
25.Shinskey,F.G.Process Control Systems[M],USA:McGraw-Hill,1979
26. Wiberg, D.M.State Space and Linear Systems[M],USA;McGraw-Hill,1971, 123-130
27.Ziegler,J.G.Nichois[J],ASME transactions,1942,64,759
28.Precup, R.-E.,Preitl,S.,Korondi,P. Fuzzy Controllers With Maximum Sensitivity for Servosystems[J],Industrial Electronics, IEEE Transactions on,2007,Vol. 54,1298-1310
29. Kawamata, M.,Uno, Y.,Higuchi,T. Sensitivity minimization of digital controllers via frequency-weighted balancing[J],Circuits and Systems,1991,Vol.5,2419-2422
30.Robyns, B.,Sente, P.A.,Labrique, F.Influence of digital current control strategy on the sensitivity to electrical parameter uncertainties of induction motor indirect firdl=oriented control [J],Circuits and Systems,1991,Vol.5,2419-2422
31.Nobakhti,A.,Wang, H.Design of simply structured robust controllers[J],Control Theory and Applications, IEE Proceedings,2008, Vol.153,493-501
32.Hinamoto, T.,Inoue, T. Optimal synthesis of state-estimate feedback analog controllers with minimum L/sub z/-sensitivity[J],Circuits and Systems,2002, Vol.3, 4-7
33.Rouco, L.Design of damping controllers of static series voltages source using eigenvalue sensitivities[J],Transmission and Distribution Conference and Exposition,2001,Vol.1,8-13
34. Bouchon Meunier, B.,Gouyou, F. Some elements on sensitivity of fuzzy controllers[J],Fuzzy Systems,1995,Vol.4,2099-2102
35.Soni,M.P.,Hariharan, M.V. A new method for low sensitivity design of a controller for a load following BWR power plant[J],Nuclear Science, IEEE Transactions on, 1978,Vol.25,1085-1092
36.Lotfi A.Zadeh.Fuzzy sets and fuzzy information-granulation theory[M] Beijing; Beijing Normal University Press,2000,1-20
37.Zadeh, L.A.Fuzzy logic[J],Computer,1988,Vol.21,83-89
38.Zadeh, L.A.Soft computing and fuzzy logic[J],Software, IEEE,1994, Vol.11, 48-56
39.Zadeh,L.A.,Fu,K.S.,Tanaka, K.,Shimura, M.,Negoita, C.V. Fuzzy sets and their applications to congnition and decision processes[J],Systems.Man and Cybernetics, IEEE Transactions on,1977,Vol.7,122-123
40.Li-Xin Wang.A course in fuzzy systems and control[M],USA;Prentice Hall PTR, 1997,4-5
41.诸静等.模糊控制原理与应用[M],北京；机械工业出版社,1995,1-10
42.诸静.模糊控制原理与应用及其现状[J],电工技术杂志,1993,18-22
43.汪培庄.模糊集合论及其应用[M],上海；上海科学技术出版社,1983,12-15
44.诸静.控制理论十年回顾与展望[J],浙江大学学报,1993,1-7
45.王昆翔.锅炉的模糊控制[J],第一届全球华人智能控制与智能自动化大会论 文集,1993,980-986
46.孙优贤等.造纸过程建模与控制[M],杭州,浙江大学出版社,1993,
47.Bahill. A simple adaptive simth predictor for controlling time delay system[J], Control System Magazine,1983,Vol.3,16-22
48.King P.J. Application of fuzzy control systems to industrial process[J],Automat., 1977,Vol.13,235-242
49.Kickert W.J. Application of fuzzy controller in a warm water plant[J],Automat., 1976,Vol.12,301-308
50. Rivera, D.E.,Morari,M.,Skogestad, S.Internal model control[J],Ind, Eng, Chem. Process,1994,1684-1685
51.Tyreus, B.D,Luyben,W.L.Tuning PI controllers for integrator/dead-time process[J], Ind, Eng, Chem. Process,1992,2624-2625
52.M.Chidambaram, R. Padma Sree. A simple method of tuning PID controllers for integrator/dead-time processes[J],Computers and Chemical Engineering,2003,Vol. 27,211-215
53.Jiangming Zhang, Ning Wang, Shuqing Wang. A developed method of tuning PID controllers with fuzzy rules for integrating process[J],Proceeding of the 2004 American Control Conference,2004,1109-1114
54.韩俊峰,李玉惠.模糊控制技术[M],重庆；重庆大学出版社,2003,1-15
55.黄布毅,崔光照.模糊控制技术在家用电器中的应用[M],北京；中国轻工业出版社,1998,3-20
56.余永权,曾碧.单片机模糊逻辑控制[M],北京；北京航空航天大学出版社,1995,1-20
57.冯冬青,谢宋和.模糊智能控制[M],北京；化学工业出版社,1998,15-17
58.李红星,江群.工程模糊数学方法及应用[M],天津；天津科学技术出版社,1993,23-60
59. Tanaka, Wang. Fuzzy control systems design and analysis:a linear matrix inequality approach[M],USA;John Wiley & Sons, INC,2001,5-34
60.Li-Xin Wang, Jerry M.Mendel.Generating fuzzy rules by learning from examples[J],IEEE Transactions on Systems, Man and Cybernetics, Vol.21, 1414-1427
61.D. Nguyen, B.Widrow. The truck backer-upper:an example of self learning in neural network, IEEE Contr. Syst, Mag.,1990, Vol.10,18-23
2.张凌云,肖维荣.非线性调节技术在大滞后系统中的应用[J],China Academic Journal Electronic Publishing House,1003-0492(2005)04-0065-03
3.王子第.连续加热炉在线控制的系统仿真研究[D],沈阳东北大学,2004
4.刘立志.微型计算机控制技术[M],济南；山东大学出版社,1996,1-2
5.Chien, I.L.,Fruehauf, P.S.Consider IMC tuning to improve performance[J], Chemical Engineering,1990,10-33
6.宁宝林,陈海耿.炉子热过程数学模型[M].沈阳：东北工学院,1990
7.宁宝林,尚德义.火焰炉段法预示计算数学模型[J].东北工学院学报,1983,4(3)：64-72
8.宁宝林,陈海耿.段法能量平衡方程组的主变量修正解法[J].东北工学院学报,1986,7(2)：33-37
9. Jianghua Xu,Huihe Shao. A novel method of PID tuning for integrating process[J], Proceedings of the 42nd IEEE Conference on Decision and Control Maui, Hawaii USA,2003
10. L.Wang,W.R. Cluett. Tuning PID controllers for integrating process[J],IEEE Proceedings Control Theory Application,1997, Volume 44, No.5
11.Marlin, T.E. Process Control:designing process and control systems for dynamic performance[M],New York;McGraw-Hill,1995,102-105
12. O'Dwyer, A.PI and PID controller tuning rules for time delay process:a summary[M],Diblin;Dublin Institute of Technology,2000,5-8
13.HO, W.K., XU, W. PID tuning for unstable process based on gain and phase-margin specification[J],IEEE Proceedings Control Theory Application, 1998,Volume 145,No.5392-396
14. Poulin, E., Pomerleau, A. PID tuning for integrating and unstable process[J],IEEE Proceedings Control Theory Application,1996, Volume 143,No.5429-435
15.Tan, W.,Liu, J.,Tam, P.K.S.PID tuning for integrating process[J], Proceedings IEEE International Conference on Control Applications,1998,873-876
16. Venkatashankar, V.,Chidambaram, M. Design of P and PI controllers for unstable first-order plus time delay systems[J],Int. J.Control,1994,60,137-144
17. Tan,W.,Yuan, Y.,Niu, Y. Tuning of PID controller for unstable process[J], Proceedings IEEE International Conference on Control Applications,1999,121-124
18.De Paor,A.M., O'Malley, M. Controllers of Ziegler-Nichols type for unstable process with time delays[J],Int. J. Control,1989,49,1273-1284
19.A.Visioli.Optimal tuning of PID controllers for integral and unstable process[J],IEE Proc.-Control Theory Appl.,2001,Vol.148, No.2
20. Ya-Gang Wang, Hui-He Shao.Optimal tuning for PI controller[J],Automatica, 2000,Vol.36,147-152
21.Astrom, K.J,Hagglund, T. PID controllers:Theory, design and tuning 2nd ed.[M], USA;NC:Instrument Society of America,1995,5-9
22.Astrom, K.J.,Hagglund, T. Automatic tuning of simple regulators with specifications on phase and amplitude margins[J],Autimatica,20,645-651
23.Benjamin C.Kou, Farid Golnaraghi.Automatic Control Systems[M],USA:John Wiley & Sins, INC,2003,483-545
24.Daniel E.Rivera, Manfred Morarl, Sigurd Skogestad.Internal Model Control.4 PID Controller Design[J],Ind.End.Chem.Process Des.,1986,25,252-265
25.Shinskey,F.G.Process Control Systems[M],USA:McGraw-Hill,1979
26. Wiberg, D.M.State Space and Linear Systems[M],USA;McGraw-Hill,1971, 123-130
27.Ziegler,J.G.Nichois[J],ASME transactions,1942,64,759
28.Precup, R.-E.,Preitl,S.,Korondi,P. Fuzzy Controllers With Maximum Sensitivity for Servosystems[J],Industrial Electronics, IEEE Transactions on,2007,Vol. 54,1298-1310
29. Kawamata, M.,Uno, Y.,Higuchi,T. Sensitivity minimization of digital controllers via frequency-weighted balancing[J],Circuits and Systems,1991,Vol.5,2419-2422
30.Robyns, B.,Sente, P.A.,Labrique, F.Influence of digital current control strategy on the sensitivity to electrical parameter uncertainties of induction motor indirect firdl=oriented control [J],Circuits and Systems,1991,Vol.5,2419-2422
31.Nobakhti,A.,Wang, H.Design of simply structured robust controllers[J],Control Theory and Applications, IEE Proceedings,2008, Vol.153,493-501
32.Hinamoto, T.,Inoue, T. Optimal synthesis of state-estimate feedback analog controllers with minimum L/sub z/-sensitivity[J],Circuits and Systems,2002, Vol.3, 4-7
33.Rouco, L.Design of damping controllers of static series voltages source using eigenvalue sensitivities[J],Transmission and Distribution Conference and Exposition,2001,Vol.1,8-13
34. Bouchon Meunier, B.,Gouyou, F. Some elements on sensitivity of fuzzy controllers[J],Fuzzy Systems,1995,Vol.4,2099-2102
35.Soni,M.P.,Hariharan, M.V. A new method for low sensitivity design of a controller for a load following BWR power plant[J],Nuclear Science, IEEE Transactions on, 1978,Vol.25,1085-1092
36.Lotfi A.Zadeh.Fuzzy sets and fuzzy information-granulation theory[M] Beijing; Beijing Normal University Press,2000,1-20
37.Zadeh, L.A.Fuzzy logic[J],Computer,1988,Vol.21,83-89
38.Zadeh, L.A.Soft computing and fuzzy logic[J],Software, IEEE,1994, Vol.11, 48-56
39.Zadeh,L.A.,Fu,K.S.,Tanaka, K.,Shimura, M.,Negoita, C.V. Fuzzy sets and their applications to congnition and decision processes[J],Systems.Man and Cybernetics, IEEE Transactions on,1977,Vol.7,122-123
40.Li-Xin Wang.A course in fuzzy systems and control[M],USA;Prentice Hall PTR, 1997,4-5
41.诸静等.模糊控制原理与应用[M],北京；机械工业出版社,1995,1-10
42.诸静.模糊控制原理与应用及其现状[J],电工技术杂志,1993,18-22
43.汪培庄.模糊集合论及其应用[M],上海；上海科学技术出版社,1983,12-15
44.诸静.控制理论十年回顾与展望[J],浙江大学学报,1993,1-7
45.王昆翔.锅炉的模糊控制[J],第一届全球华人智能控制与智能自动化大会论 文集,1993,980-986
46.孙优贤等.造纸过程建模与控制[M],杭州,浙江大学出版社,1993,
47.Bahill. A simple adaptive simth predictor for controlling time delay system[J], Control System Magazine,1983,Vol.3,16-22
48.King P.J. Application of fuzzy control systems to industrial process[J],Automat., 1977,Vol.13,235-242
49.Kickert W.J. Application of fuzzy controller in a warm water plant[J],Automat., 1976,Vol.12,301-308
50. Rivera, D.E.,Morari,M.,Skogestad, S.Internal model control[J],Ind, Eng, Chem. Process,1994,1684-1685
51.Tyreus, B.D,Luyben,W.L.Tuning PI controllers for integrator/dead-time process[J], Ind, Eng, Chem. Process,1992,2624-2625
52.M.Chidambaram, R. Padma Sree. A simple method of tuning PID controllers for integrator/dead-time processes[J],Computers and Chemical Engineering,2003,Vol. 27,211-215
53.Jiangming Zhang, Ning Wang, Shuqing Wang. A developed method of tuning PID controllers with fuzzy rules for integrating process[J],Proceeding of the 2004 American Control Conference,2004,1109-1114
54.韩俊峰,李玉惠.模糊控制技术[M],重庆；重庆大学出版社,2003,1-15
55.黄布毅,崔光照.模糊控制技术在家用电器中的应用[M],北京；中国轻工业出版社,1998,3-20
56.余永权,曾碧.单片机模糊逻辑控制[M],北京；北京航空航天大学出版社,1995,1-20
57.冯冬青,谢宋和.模糊智能控制[M],北京；化学工业出版社,1998,15-17
58.李红星,江群.工程模糊数学方法及应用[M],天津；天津科学技术出版社,1993,23-60
59. Tanaka, Wang. Fuzzy control systems design and analysis:a linear matrix inequality approach[M],USA;John Wiley & Sons, INC,2001,5-34
60.Li-Xin Wang, Jerry M.Mendel.Generating fuzzy rules by learning from examples[J],IEEE Transactions on Systems, Man and Cybernetics, Vol.21, 1414-1427
61.D. Nguyen, B.Widrow. The truck backer-upper:an example of self learning in neural network, IEEE Contr. Syst, Mag.,1990, Vol.10,18-23