基于GLBest-PSO算法的CSTR系统鲁棒PID控制

连续搅拌反应釜(CSTR)系统是一类具有多变量、强非线性和多工作点的复杂工业过程,对外界扰动及内部参数变化较为敏感。针对常规PID控制器参数整定困难,难以取得满意效果,本文提出了一种基于改进粒子群优化算法的CSTR系统鲁棒PID控制方法。通过对优化目标的分析,将鲁棒PID控制器的参数整定问题转化成一个求解最大-最小问题,在对粒子群优化算法进行改进的基础上,引入合作进化思想对该最大-最小问题进行求解,获得了基于优化性能指标最优的鲁棒PID控制器参数。针对实例的仿真结果表明,利用此方法整定得到的鲁棒PID控制器具有良好的鲁棒性,性能指标优于其它方法得到的鲁棒PID控制器,当过程对象操作范围发生大的变化时,利用本文方法设计得到的鲁棒PID控制器能获得满意的结果。     

基于人工鱼群算法的鲁棒PID控制器参数整定方法研究

本文首先分析了采用极小--极大原理设计鲁棒PID控制器的方法,指出这是一类复杂非线性且非单鞍点的优化命题,常规优化算法通常不能有效的求解.随后提出了采用人工鱼群算法进行参数整定的方法.最后对典型问题进行了仿真研究.结果表明,人工鱼群算法具备分布并行的寻优能力,对初值不敏感,能够快速对鲁棒PID的参数进行整定,整定后的PID控制器具有良好的控制效果.     

强时变时滞系统的鲁棒PID继电自整定控制技术

文章对于工业过程中常见的大时变时滞过程,提出了一种数字鲁棒PID控制器参数继电自整定控制策略和技术,应用这种整定方法整定的PID控制器,闭环不确定系统可具有大时变时滞鲁棒镇定性,且完全抑制负载干扰,具有很好的动静态性能,在造纸工业现场应用效果良好。     

几种PID控制器参数整定方法的比较研究

本文以一阶惯性加时滞过程为研究对象，通过数字仿真和在实验室的物理对象进行的控制实验，研究了一些比较适合典型工业过程应用的PID整定方法的特点。本文选取了控制工程中常用的4：1衰减法、临界比例度法、鲁棒PID参数整定法和ISTE（Integral Squared Time-weighted Errors）最优参数整定法，从系统跟踪、抗干扰性能和鲁棒性方面进行了分析比较研究。数字仿真和物理对象的实时控制表明了这些方法有各自的优缺点，其中，鲁棒PID参数整定法和ISTE最优参数整定法在综合性能，特别是在系统的鲁棒性方面具有一定的优越性。本文的研究结果对于典型工业过程的PID控制器参数的整定有一定的借鉴作用。     

基于H∞回路成形的鲁棒PID参数整定

积分过程在工业过程控制中经常遇到,采用常规的PID参数整定方法很难得到理想的控制效果。本文采用基于H∞回路成形的鲁棒PID参数整定方法,实现对积分过程的有效控制。通过Simulink软件的仿真结果表明该方法的有效性。     

一种时滞过程内模PID控制器鲁棒整定方法

针对典型的一阶时滞（FOPTD）、二阶时滞（SOPTD）以及一阶时滞积分（FODI）过程,提出了一种简便的内模PID控制器设计和参数整定方法。 用一阶泰勒级数逼近系统模型的时滞项,导出内模PID控制器参数表达式,且仅有一个可调参数β,该可调参数与系统的动态性能和鲁棒性直接相关。基于控制系统的鲁棒性能指标给出了控制器可调参数β进行鲁棒整定的解析表达式。仿真结果表明,该方法可使系统同时获得良好的设定值跟踪特性、扰动抑制特性和克服参数变化的鲁棒性。        

模糊自整定PID控制器在再热汽温控制中的应用研究

针对工业过程中再热汽温等一类大迟延惯性时变对象,采用模糊自整定PID控制器对PID参数调节和优化,该方法将模糊技术与PID控制综合起来,实现了PID控制的智能化.仿真结果表明与常规PID控制器相比,模糊自整定PID控制器具有很强的适应性、鲁棒性和抗干扰性.     

模糊自整定PID控制器在再热汽温控制中的应用研究

针对工业过程中再热汽温等一类大迟延惯性时变对象,采用模糊自整定PID控制器对PID参数调节和优化,该方法将模糊技术与PID控制综合起来,实现了PID控制的智能化。仿真结果表明:与常规PID控制器相比,模糊自整定PID控制器具有很强的适应性、鲁棒性和抗干扰性。     

一阶线性自抗扰控制的整定

线性自抗扰控制（linear active disturbance rejection control,LADRC）是解决系统外部不可测扰动和内部未知不确定性的一种新型控制方法。其精髓是将系统的不确定性转化为一个可观测的状态,利用扩张状态观测器进行实时估计,并用状态反馈控制率实时进行补偿。在满足鲁棒度策略和时间乘平方误差积分的约束条件下,首先针对一阶惯性加迟延模型提出了一阶LADRC的整定公式,然后通过典型的基准系统和温度控制实验,对整定公式进行测试,最后与常规的SIMC （simplified internal model control）-PI （proportional-integral）整定方法进行性能比较。仿真结果证明了该一阶LADRC整定公式的可行性,拓展了其在工业控制领域的应用。     

预测PI控制器性能评价与参数整定

控制器的性能评价与参数自整定能极大的提高工业过程的控制性能,目前这个领域的研究越来越受到控制界的重视。针对大滞后过程对象控制中用到的一种预测PI控制器（PPI）,提出了一种性能评价与参数自整定方法。该方法采用一种更精确的继电辨识方法来确定过程参数,并以一种鲁棒稳定性性能指标与绝对误差积分（IAE）性能指标相结合作为性能评价与参数整定的依据。两种性能指标结合的方法,保证了控制器有较强的设定点跟踪能力和噪声抑制能力,并具有很好的鲁棒稳定性。仿真结果表明了该方法的有效性和可行性。     

A dead-time compensating PID controller structure and robust tuning

In the present paper a dead-time compensating proportional-integral-derivative (DTC–PID) controller with anti-windup action is derived. The proposed controller also can be configured as a PID controller or as a dead-time compensating PI (DTC–PI) controller. For stable, integrating and unstable processes, approximated with the first-order plus dead-time (FOPDT) model, robust tuning procedure is derived for the DTC–PI controller. Optimization of the regulatory performance of the DTC–PID controller is based on the frequency response of higher-order models, under constraints on the robustness and sensitivity to measurement noise. Excellent performance/robustness trade-off is obtained for stable, integrating and unstable processes, including dead-time, as confirmed by simulations and by experimental results obtained on a laboratory thermal process.     

基于改进粒子群算法的PID参数优化与仿真

提出了一种基于改进的粒子群优化（PSO）算法的PID控制器参数整定方法。该方法采用了PSO的惯性权值自适应调整机制和粒子种群的动态更新策略，用以加速优化算法的收敛和维持群体的多样性。与常规的PSO算法相比，该方法简单易行，更容易找到全局最优解，优化效率和性能明显提高。将该算法应用非最小相位、一阶滞后等系统的PID控制器参数的优化，能够使控制系统获得较好的动态特性和很强的鲁棒性。仿真实验表明了所提出算法的有效性和优越性。     

A unified step response procedure for autotuning of PI controller and Smith predictor for stable processes

The step response autotuning of PI controller and Smith dead-time compensator (DTC), for stable processes, is studied in detail. A simple and effective procedure proposed is based on the first-order plus dead-time model, obtained from the step response by measuring the time to go to ten and sixty three percent of the steady-state value of the process output. The tuning formulae derived contain an adjustable parameter, with a clear meaning with respect to the performance/robustness, enabling the user to specify its value within a well defined range, in accordance with the expected range of process parameter variations and the controller used (PI or DTC). Comparison with recently proposed methods and experimental results presented confirm that high and consistent closed-loop system performance/robustness are obtained for a wide range of dynamic characteristics common to industrial processes.     

PID controller frequency-domain tuning for stable, integrating and unstable processes, including dead-time

In the present paper a new tuning procedure is proposed for the ideal PID controller in series with the first-order noise filter. It is based on the recently proposed extension of the Ziegler-Nichols frequency-domain dynamics characterization of a process G_p(s). Measured process characteristics are the ultimate frequency and ultimate gain, the angle of the tangent to the Nyquist curve of the process at the ultimate frequency, and G_p(0). For a large class of processes the same tuning formulae can be effectively applied to obtain closed-loop responses with predictable properties. Load disturbance step responses without the undershoot and reference step responses with negligible overshoot are obtained by analyzing a test batch consisting of stable, integrating and unstable processes, including dead-time and oscillatory dynamics. The proposed tuning makes possible to specify the desired sensitivity to the high frequency measurement noise and the desired maximum sensitivity. Comparison with the optimal ideal PID controller in series with the first-order noise filter is presented and discussed. The extension of the proposed method to the PI controller tuning is direct. Comparison with the optimal PI controller is presented and discussed.     

一阶参数不确定滞后过程的鲁棒PID控制器设计

提出一种针对一阶参数不确定滞后过程的鲁棒PI／PID控制器优化设计方法。首先基于D-分割法技术，给出确定一阶参数不确定滞后过程的整个PI／PID控制器的可行鲁棒稳定域算法；在定义一个与控制器给定点跟踪性能、鲁棒性能和抗扰动性能相关的目标函数的基础上，给出PI／PID控制器设计的约束优化问题；最后应用一种启发式粒子群优化（PSO）算法对该约束问题进行求解。仿真结果表明，所提出的方法可得到更小的调节时间、更小的超调、较强鲁棒性和更好的抗扰动性能，表明了所提出的方法的有效性。     

A disturbance observer enhanced composite cascade control with experimental studies

The presence of strong disturbances usually causes great performance degradation of industrial process control systems. A disturbance observer (DOB) enhanced composite cascade control consisting of model predictive control (MPC), proportional-integral-derivative (PID) control, and DOB is proposed in this paper. DOB is employed here to estimate the severe disturbances and the estimated values are applied for feed-forward compensation, forming a composite control together with MPC. To evaluate the efficiency and validity of the proposed control structure, the simulation as well as experimental studies have been carried out for a level tank process which represents a typical first-order plus dead-time (FODT) industry process. Both the simulation and experimental results show that the proposed composite control method significantly improves the disturbance attenuation property of the MPC scheme in controlling such a typical industrial process.     

液压伺服系统的预测函数控制及其仿真研究

为了提高液压伺服系统的跟踪性能和鲁棒性,将预测函数控制(PFC)和PID控制的优点相结合,提出了一种PFC-PID串级控制策略.内环采用PID控制来提高抗十扰性,把内环作为外环PFC控制的广义对象,对广义对象进行拟合简化得到一阶加纯滞后系统,作为PFC的预测模型,外环采用PFC来获得良好的跟踪性能和鲁棒性.通过Matlab建模、仿真及与PID控制的比较表明,PFC-PID串级控制策略能够改善液压伺服系统的控制性能.     

过程控制常用连续模型的直接辨识法及应用

针对工业过程中最常用的一阶加滞后、二阶加滞后、二阶加零点、二阶加零点及滞后、积分惯性加滞后等环节，给出了基于阶跃响应的连续模型参数直接辨识算法。由传递函数的拉普拉斯逆变换式和对象阶跃响应的采样数据构成模型参数回归表达式，用最小二乘法或辅助变量法直接辨识对象的连续时间传递函数模型参数。仿真与实际应用结果表明，该算法提高了模型辨识精度，减小了对过程的扰动，并且对输出测量噪声不敏感，鲁棒性强，容易编程实现，可提高实际PID控制器参数整定质量。     

A new view to Ziegler–Nichols step response tuning method: Analytic non-fragility justification

Recently, exploiting the centroids of stability regions (admissible regions) to be used in tuning two-parameter controllers has been considered as an approach to obtain non-fragile two-parameter controllers. Such an approach can be extended for three-dimensional stability spaces (admissible spaces) by considering the center of mass of these spaces in tuning three-parameter controllers. In this paper, the mentioned approach is used to tune PID controllers for controlling integrator plus dead-time (IPDT) and first order plus dead-time (FOPDT) processes. It is shown that the tuning method resulted from this approach is very similar to the Ziegler–Nichols step response tuning method. Consequently, this paper presents an analytic non-fragility justification for the mentioned tuning method.