基于H∞回路成形优化的蒸汽发生器水位PID控制器参数.docxVIP

基于H∞回路成形优化的蒸汽发生器水位PID控制器参数整定周世梁，刘玉燕，姜瑞涛(华北电力大学，北京市 昌平区 102206)摘要：针对U 形管蒸汽发生器水位前馈-反馈串级三冲量控制系统的主控制器PID参数整定困难，且鲁棒性要求高的特点，提出了一种系统的PID参数整定方法。该方法结合了PID型H∞回路成形控制器综合算法与本文提出的一阶超前滞后型权函数优化算法，优化后的PID控制器能在保证一定控制品质前提下最大化系统的鲁棒稳定裕量。且整个优化算法基于线性矩阵不等式技术，计算代价低。运用所提方法整定了蒸汽发生器水位控制系统的主控制器参数。仿真结果表明采用该方法整定的水位控制系统具有较好的鲁棒性能和鲁棒稳定性，综合控制品质优于高/低阶权函数优化和标准H∞回路成形控制器综合相结合的方法。关键词：H∞回路成形；权函数优化；线性矩阵不等式；蒸汽发生器；水位控制中图分类号：TK 172文献标志码：Optimal H∞ Loop Shaping basedSteam Generator Level PID Controller TuningZHOU Shiliang, LIU Yuyan, Jiang Ruitao(North China Electric Power University, Changping District, Beijing 102206, China)Abstract：In view of difficulty of PID parameters tuning for feed-forward and feed-back three elements level control system of U-type steam generator, and high requirement of control system robustness, a systematic coefficients optimization method for PID controller is given. The proposed method based on first order lead-lag structured weight optimization and H∞ loop shaping PID structured controller synthesis. PID controller tuned by this method can maximal robust stability margin while keep desired control performance. Another advantage is the proposed method is not time-consuming attributed to linear matrix inequality based solution algorithm. Steam generator water level controller is optimized using this method. Simulation results show that the control system designed by the given method has good robust stability and robust performance, better than ordinary high/low order weight optimization combined with normal H∞ controller synthesis methods.Keywords: H∞ loop shaping; weight optimization; linear matrix inequality; steam generator; water level control引言在核电厂运行过程中,蒸汽发生器水位低将引起蒸汽进入给水环,使管束传热恶化,或引起蒸汽发生器的管板热冲击;水位过高,则影响汽水分离效果,造成蒸汽品质恶化,危害汽轮机的叶片。因而其水位控制很大程度上决定了核电站机组的安全、可靠、经济运行。基金项目：国家重点基础研究发展计划项目(973计划) (2006CB200303，2006CB2003056)。The National Basic Research Program (973 Program) (2006CB2003-03, 2006CB2003056).蒸汽发生器是一个高度复杂的非线性、时变的非最小相位系统，并且蒸汽发生器存在“收缩”与“膨胀”的逆动力学效应、随运行功率而变化的动力学特性[1]等因素使得蒸汽发生器的水位控