基于继电反馈自整定PID控制器研究及应用.docVIP

收稿日期:2009-12-27 第28卷 第2期 计 算 机 仿 真 2011年2月 文章编号:1006-9348(201102-0192-04 基于继电反馈自整定PID 控制器研究及应用 王 豪,郑恩让,张金果 (陕西科技大学电气与信息工程学院,陕西西安710021 摘要:研究控制器优化问题,提出了一种改进型的继电反馈自整定P I D ,用来控制自衡过程。改进型的继电环节是由一个标准的继电环节串联一个比例积分控制器组成,比例积分控制器的比例系数设定为单位增益,积分时间由保持最小相角裕度为 /6来确定。自整定P I D 控制器的参数是根据改进型的继电环节产生的极限环的输出数据确定的,微分时间常数需保持上述提到的相角裕度,积分时间常数等于改进型继电环节中的比例积分控制器的积分时间,进行仿真。结果PI D 控制器可用到造纸机的热泵供汽控制中,并收到了明显效果。 关键词:自整定控制器;继电反馈;相角裕度;幅值裕度;热泵供汽控制中图分类号:TP319 9 文献标识码:A A R el ay Feedback Based Autotuni ng PID Controller and its Application WANG H ao ,Z HENG En-rang ,Z HANG Jin-guo (College o f E lectr i c and Infor m ati on Eng i nee ri ng ,Shanx iU n i ve rs i ty o f Science and T echno l ogy ; X i an Shanx i 710021,Ch i na AB STRACT :An autotun i ng P I D m ethod based on mod ifi ed re l ay feedback for stable process is presented .T he m odi fi ed relay i s m ade up o f a standard re l ay f o ll owed by a P I contro ll e r .The propo rti ona l g ain o f the P I contro ller is set as a un ity and the integ ra l ti m e constant of it i s chosen so as to ens ure a m i ni m u m l oop phase m arg i n o f /6.The P I D contro ller i s desi gned i n ter m s of t he li m it cyc le output da ta gene ra ted by the mod ified re l ay .T he derivati ve ti m e con stant is de ter m i ned by ma i nta i n i ng the loop phase m arg i n m enti oned above .M i n i m izi ng the d istance o fN yqu ist curve o f the l oop transfer f uncti on from t he i m ag i nary ax is o f the co m plex p l ane g i ves t he propor tiona l ga i n .T he i ntegra l ti m e constant o f t he P ID contro ller is set equa l t o t he i ntegra l ti m e constan t o f the P I con tro ll er of t he m odified relay .T he resulti ng P ID contro ller is used to pulp stea m supply i ng contro l o f a paper m achi ne and good eff ec ti veness i s ob ta i ned . K EY W ORDS :A utotun i ng P ID contro ller ;R e lay feedback ;Phase m arg i n ;G a i n m arg i n ;C onsistency contro l 1 引言 P I D 控制器[1]因其简便易行和良好的鲁棒性得到了广泛的认可和应用,在P I D 控制器的整定上已经有学者做了大量的研究工作[2,3