基于MATLAB的模糊控制器的设计及其实现Word格式.docx
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基于MATLAB的模糊控制器的设计及其实现Word格式.docx
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2.外文翻译-----------------------------------------------------------------------1
3.毕业实践调研报告-----------------------------------------------------------8
4.毕业设计说明-----------------------------------------------------------------10
5.毕业实践总结-----------------------------------------------------------------43
6.参考文献-----------------------------------------------------------------------44
原文:
Aproportional–integral–derivativecontroller(PIDcontroller)isageneric.controlloopfeedbackmechanismwidelyusedinindustrialcontrolsystems.APIDcontrollerattemptstocorrecttheerrorbetweenameasuredprocessvariableandadesiredsetpointbycalculatingandthenoutputtingacorrectiveactionthatcanadjusttheprocessaccordingly.
ThePIDcontrollercalculation(algorithm)involvesthreeseparateparameters;
theProportional,theIntegralandDerivativevalues.TheProportionalvaluedeterminesthereactiontothecurrenterror,theIntegraldeterminesthereactionbasedonthesumofrecenterrorsandtheDerivativedeterminesthereactiontotherateatwhichtheerrorhasbeenchanging.Theweightedsumofthesethreeactionsisusedtoadjusttheprocessviaacontrolelementsuchasthepositionofacontrolvalveorthepowersupplyofaheatingelement.By"
tuning"
thethreeconstantsinthePIDcontrolleralgorithmthePIDcanprovidecontrolactiondesignedforspecificprocessrequirements.Theresponseofthecontrollercanbedescribedintermsoftheresponsivenessofthecontrollertoanerror,thedegreetowhichthecontrollerovershootsthesetpointandthedegreeofsystemoscillation.NotethattheuseofthePIDalgorithmforcontroldoesnotguaranteeoptimalcontrolofthesystemorsystemstability.
Someapplicationsmayrequireusingonlyoneortwomodestoprovidetheappropriatesystemcontrol.Thisisachievedbysettingthegainofundesiredcontroloutputstozero.APIDcontrollerwillbecalledaPI,PD,PorIcontrollerintheabsenceoftherespectivecontrolactions.PIcontrollersareparticularlycommon,sincederivativeactionisverysensitivetomeasurementnoise,andtheabsenceofanintegralvaluemaypreventthesystemfromreachingitstargetvalueduetothecontrolaction.
Note:
Duetothediversityofthefieldofcontroltheoryandapplication,manynamingconventionsfortherelevantvariablesareincommonuse.
1.Controlloopbasics
Afamiliarexampleofacontrolloopistheactiontakentokeepone'
sshowerwaterattheidealtemperature,whichtypicallyinvolvesthemixingoftwoprocessstreams,coldandhotwater.Thepersonfeelsthewatertoestimateitstemperature.Basedonthis
measurementtheyperformacontrolaction:
usethecoldwatertaptoadjusttheprocess.Thepersonwouldrepeatthisinput-outputcontrolloop,adjustingthehotwaterflowuntiltheprocesstemperaturestabilizedatthedesiredvalue.
Feelingthewatertemperatureistakingameasurementoftheprocessvalueorprocessvariable(PV).Thedesiredtemperatureiscalledthesetpoint(SP).Theoutputfromthecontrollerandinputtotheprocess(thetapposition)iscalledthemanipulatedvariable(MV).Thedifferencebetweenthemeasurementandthesetpointistheerror(e),toohotortoocoldandbyhowmuch.Asacontroller,onedecidesroughlyhowmuchtochangethetapposition(MV)afteronedeterminesthetemperature(PV),andthereforetheerror.ThisfirstestimateistheequivalentoftheproportionalactionofaPIDcontroller.TheintegralactionofaPIDcontrollercanbethoughtofasgraduallyadjustingthetemperaturewhenitisalmostright.Derivativeactioncanbethoughtofasnoticingthewatertemperatureisgettinghotterorcolder,andhowfast,andtakingthatintoaccountwhendecidinghowtoadjustthetap.Makingachangethatistoolargewhentheerrorissmallisequivalenttoahighgaincontrollerandwillleadtoovershoot.Ifthecontrollerweretorepeatedlymakechangesthatweretoolargeandrepeatedlyovershootthetarget,thiscontrolloopwouldbetermedunstableandtheoutputwouldoscillatearoundthesetpointineitheraconstant,growing,ordecayingsinusoid.Ahumanwouldnotdothisbecauseweareadaptivecontrollers,learningfromtheprocesshistory,butPIDcontrollersdonothavetheabilitytolearnandmustbesetupcorrectly.Selectingthecorrectgainsforeffectivecontrolisknownastuningthecontroller.
Ifacontrollerstartsfromastablestateatzeroerror(PV=SP),thenfurtherchangesbythecontrollerwillbeinresponsetochangesinothermeasuredorunmeasuredinputstotheprocessthatimpactontheprocess,andhenceonthePV.VariablesthatimpactontheprocessotherthantheMVareknownasdisturbancesandgenerallycontrollersareusedtorejectdisturbancesand/orimplementsetpointcha
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