基于概率鲁棒的PID控制器设计方法研究.pdfVIP

第 27 卷 第 32 期 中 国 电 机 工 程 学 报 Vol.27 No.32 Nov. 2007 2007 年 11 月 Proceedings of the CSEE ©2007 Chin.Soc.for Elec.Eng. 0258-8013 (2007) 32-0092-06 TM 32 A 470 20 文章编号： 中图分类号： 文献标识码： 学科分类号： ⋅ 基于概率鲁棒的PID 控制器设计方法研究 王传峰，李东海，姜学智 (清华大学热能工程系热科学与动力工程教育部重点实验室，北京市 海淀区 100084) A PID Controller Design Method Based on Probablistic Robustness WANG Chuan-feng, LI Dong-hai, JIANG Xue-zhi (Key Laboratory for Thermal Science and Power Engineering of Ministry of Education, Tsinghua University, Haidian District, Beijing 100084, China) ABSTRACT: A PID controller design method based on 程控制中应用最为广泛的控制策略。但热工系统常 probabilistic robustness was presented for thermal process with 具有复杂的动态特性，具有某些时变和不确定性， varied parameters. Based on model uncertainties, the 动态特性在运行过程中也常会存在不同程度的漂 probability of closed system meeting every item of dynamic 移，加上环境干扰的影响，建模时参数测量或辨识 performance requirements was calculated and synthesized as 的误差，热工过程模型经常具有一定的参数不确定 the cost function of genetic algorithms which was used to 性。因此，设计鲁棒 PID 控制器使得存在一定范围 optimize the parameters of PID controller. Monte-Carlo 的参数不确定性时闭环系统仍能满足性能要求具 experiment was applied to test the control system robustness. 有十分重要的意义。 Simulation for four kinds of typical thermal process was 然而，基于标称参数设计的PID控制器，没有 carried out. Comparison with the PID design method based on 整体考虑被控对象参数域，在参数发生变化时常常 nominal conditions and some traditional tuning meth