数字PID算法研究及仿真.doc

摘要 目前工业自动化水平已成为衡量各行各业现代化水平的一个重要标志。本文主要从以下几个方面对PID进行研究，重点是数字PID的算法和仿真。首先，本文简单介绍了数字PID的为后面进行的数字PID的算法研究和仿真提供了理论基础。接着，本文着重对PID控制和PID控制的算法进行了深入的探究最后实际进行了仿真实例探讨。算法Abstract Currently level of the industrial automation has become an important symbol in measuring the level of modernization in most fields, there are many ways to achieve the control effect, but in which the PID is a method used very widely. PID can be explained as proportional - integral - derivative controller, which is the most classic and widely used controller in the automatic control system design. From the practical needs, a good tuning method of PID controller parameters can not only reduce the burden on operators, but also can make the system running at its best state. Therefore, study of the PID Controller Parameters Tuning has an important practical significance. The article is studied from the following aspects of the PID, focusing on the digital PID algorithm and simulation. To begin with, the article introduces the principles of digital control and PID parameter tuning method which provides a theoretical basis for the following digital PID algorithm research and simulation. What’s more, this paper focusing on the positional PID control and PID control algorithm of incremental has a deep research, which demonstrates that the digital PID control of the development prospects are very impressive. Finally, we take a simulation discussion on how to use the digital PID algorithm to control the temperature in practice. Keywords: PID control; control algorithm; parameter tuning; simulation 目 录 摘要 I 关键词 I Abstract II Keywords II 目 录 III 1 引言 - 1 - 1.1 研究的意义 - 1 - 1.2 国内外PID控制算法的研究进展 - 1 - 1.3 本论文研究内容 - 2 - 2 PID控制系统简介 - 3 - 2.1 PID控制理论 - 3 - 2.2 PID参数控制效果分析 - 4 - 2.3 PID参数对系统性能的影响 - 5 - 2.4 PID参数整定方法 - 6 - 3 数字 PID 控制算法 - 10 - 3.1 位置式PID控制算法 - 10 - 3.2 增量式PID控制算法 - 11 - 4 数字PID 控制器研究面临的主要问题 - 13 - 5 PID控制算法的改进 - 14 - 5.1 积分项的改进 - 14 - 5.1.1 抗积分饱和 - 14 - 5.2 微分项的改进 - 19 - 5.2.1 不完全微分PI