模糊自适应PID控制器及Simulink仿真 目 录 摘 要 ............................................... 1 ABSTRACT ............................................. 1 第一章 绪论 ..................................... 1 1.1 PID控制器的发展与应用 ................................ 1 1.2 PID控制器参数设置中存在的问题 ........................ 2 1.3模糊自适应PID控制器发展研究现状 ...................... 2 1.4 本文的主要工作........................................ 4

第二章 PID控制原理简介 .......................... 4 2.1引言 .................................................. 4 2.2 PID控制原理 .......................................... 5 2.3 PID控制器系统概述 .................................... 5 2.3.1比例控制(P) ......................................... 7 2.3.2 积分调节(I) ........................................ 7 2.3.3微分调节(D) ......................................... 9

第三章 PID控制器应用技术简介.................... 10 3.1数字PID控制算法原理 ................................. 11 3.2位置式PDI控制算法 ................................... 11 3.3 控制规律的选择....................................... 12 3.4 PID控制器的参数整定 ................................. 13 2

第四章 模糊PID控制器及系统仿真 ................. 13 4.1模糊自适应PID控制系统 ............................... 13 4.2 常规PID和模糊自适应PID控制系统的仿真比较 ........... 14 4.3常规PID控制系统仿真 ................................. 14 4.4模糊自适应PID控制系统仿真 ........................... 16 4.5二者的比较 ........................................... 18

第五章 总结 ..................................... 20参考文献 .......................................... 23 致 谢 ............................................ 24 *******大学2012届本科生毕业设计（论文）

- 1 - 摘 要

随着工业生产的发展，于20世纪30年代，美国开始使用PID功调节器，它比直接作用式调节器具有更好的控制效果，因而很快得到了工业界的认可。至今，在所有生产过程控制中，大部分的回路仍采用结构简单、鲁棒性强的PID控制或改进型PID控制策略。PID控制作为一种经典的控制方法，几乎遍及了整个工业自动化领域，是实际工业生产过程正常运行的基本保证;控制器的性能直接关系到生产过程的平稳高效运行以及产品的最终质量，因此控制系统的设计主要体现在控制器参数的整定上。随着计算机技术的飞跃发展和人工智能技术渗透到自动控制领域，近年来出现了各种实用的PID控制器参数整定方法。 PID控制算法作为最通用的控制方法，对它的参数整定有许多方法;对于不同的控制要求、不同的系统先验知识，考虑用不同的方法;这些算法既要考虑到收敛性、直观、简单易用，还要综合负载干扰、过程变化的影响，并能根据尽可能少的信息和计算量，给出较好的结果。 论文在较为全面地对PID控制器参数自整定方法的现状分析研究的基础上，针对基于继电器反馈和最小二乘的自整定方法以及其应用的可行性进行了相关的研究，主要的工作和结果概括如下: 为克服一自由度PID控制器无法兼顾目标跟踪和外扰抑制的缺点，结合二自由度控制器的结构和基于幅值最优化的控制器参数整定方法，并通过分析得到控制器参数求解公式，实现了二自由度PID控制器参数整定和二自由度Pl控制器参数整定。与常规控制方法相比，该方法得到的控制器具有更好的闭环响应性能，并且由于二自由度系数的半固定性，在整定PID控制器参数之前就可以确定，因此，对控制器参数的求解难度无影响。 针对一类一阶大时滞不稳定特殊对象，普通的PID控制器很难满足要求，甚至不能实现系统的稳定。基于首先引入内环状态反馈，以改善对象动态特性的思想，采用双环控制结构，先将对象状态反馈镇定，然后按照内模控制原理设计外环的控制器。只要选择适当的可调参数兄的值，通过该方法得到的PID控制器对不稳定对象具有较好控制效果及鲁棒性。 通过仿真比较研究，对于连续对象，综合得到几种较好的基于继电器反馈的控制器参数整定方法，对离散采样数据采用基于最小二乘模型辨识的参数整定方沪书尸摘要法，提出并设计基于Matlab/simulink仿真工具的PID控制器参数整定仿真应用软件。介绍了PID整定控制器的应用框架、辅助设计与仿真软件的功能、特点，并给出了仿真实例。 最后是对论文的综述和展望。

关键词：模糊PID控制器 参数自整定 Matlab 自适应PID控制 时滞系统 参数整定继电反馈 幅值最优化 不稳定

ABSTRACT With the development of industrial production in the 1930s, the United States began using the - 2 -

PID power regulator, it has better control effect than the direct-acting regulator, and thus soon be recognized by the industry. So far, all the production process control, most of the loop is still a simple structure and robustness of PID control or improved PID control strategy. PID control as a classical control methods, almost throughout the entire industrial automation sector, the basic guarantee for the normal operation of the actual industrial production process; controller performance is directly related to the production process smooth and efficient operation, and the final product quality, and therefore control The system design is mainly reflected in the controller parameter tuning. With the rapid development of computer technology and artificial intelligence techniques to infiltrate the field of automatic control in recent years, a variety of practical PID controller parameter tuning. PID control algorithm as the most common control method, its parameter tuning There are many ways; for the different control requirements, consider the use of different methods for different systems a priori knowledge; these algorithms it is necessary to take into account the convergence, intuitive, simple use, but also integrated load disturbance, the process of change, and can give good results for as little as possible information and computation, Paper on the basis of the study more fully the status quo analysis of self-tuning method of PID controller parameters for the self-tuning based on relay feedback, and the least squares method and the feasibility of its application-related research, the main work and The results are summarized as follows: In order to overcome a degree of freedom PID controller can not take into account the shortcomings of target tracking and external disturbance rejection, combined with two degrees of freedom controller structure and amplitude-based optimal controller parameters tuning method, the controller parameters by analyzing the formula to solve two degree of freedom PID controller tuning and two degrees of freedom Pl controller parameter tuning. Compared with the conventional control method, this method controller has better performance of the closed-loop response, and two degree of freedom coefficient of semi-fixed, before tuning PID controller parameters can be determined, therefore, the controller parameters solving difficulty. Special object for a class of first order delay unstable ordinary PID controller is difficult to meet the requirements, can not even achieve the stability of the system. Based on the inner state feedback was first introduced, in order to improve the dynamic characteristics of the object thought, using the dual-loop control structure, the first object state feedback stabilization, in accordance with the principle of internal model control design of the outer ring of the controller. Select the appropriate value of the adjustable parameters brother, through the PID controller has better control effect of unstable objects and robustness. Through simulation studies for a continuous object, integrated several good controller tuning based on relay feedback, discrete sampling data based on least squares model identification parameter tuning side of Shanghai book dead Abstract method proposed design simulation tool based on Matlab / Simulink PID controller parameter tuning simulation software applications. PID tuning controller application framework that aided design and simulation software functions, characteristics, and gives a simulation example. Finally, the overview and outlook of the paper.