本文關(guān)鍵詞： 抗擾 PID控制 非凸優(yōu)化 內(nèi)�？刂� 不確定系統(tǒng) 數(shù)據(jù)驅(qū)動(dòng) 多變量系統(tǒng) 分散控制 部分解耦控制　出處：《北京化工大學(xué)》2016年博士論文　論文類型：學(xué)位論文

【摘要】：近年來,隨著擾動(dòng)概念的拓展,研究者越發(fā)重視對(duì)控制系統(tǒng)的抗擾性能進(jìn)行研究。而在化工工業(yè),控制系統(tǒng)的擾動(dòng)抑制性能尤為重要。因此,研究抗擾控制是當(dāng)前熱點(diǎn),也具有實(shí)際意義。本論文結(jié)合化工對(duì)象的特點(diǎn),以抗擾為核心,針對(duì)單變量和多變量時(shí)滯系統(tǒng),在存在定值擾動(dòng)干擾下,研究化工工業(yè)廣泛使用的固定結(jié)構(gòu)控制器的優(yōu)化設(shè)計(jì),提出了滿足抗擾需求的模型綜合設(shè)計(jì)方法和基于數(shù)據(jù)驅(qū)動(dòng)的性能優(yōu)化方法。1.基于模型綜合的PID和帶擾動(dòng)觀測器的控制系統(tǒng)設(shè)計(jì)。內(nèi)�？刂剖悄Ｐ途C合設(shè)計(jì)思想的典型代表(其它模型綜合方法可以轉(zhuǎn)化或者等價(jià)成內(nèi)模原理)。本文深入研究了內(nèi)模-PID的控制性能,提出了不同對(duì)象下滿足擾動(dòng)抑制性能的內(nèi)模濾波器結(jié)構(gòu),并使用優(yōu)化手段得到了最優(yōu)的濾波器參數(shù)。類似地,論文還設(shè)計(jì)了帶擾動(dòng)觀測器的控制系統(tǒng)。2.抗擾PID的直接優(yōu)化。先進(jìn)的PID設(shè)計(jì)方法將PID的整定轉(zhuǎn)化成一個(gè)約束優(yōu)化問題。一般地,將控制系統(tǒng)的輸出性能指標(biāo)(在時(shí)域上定義)作為目標(biāo)函數(shù),將系統(tǒng)的魯棒性能指標(biāo)(在頻域上定義)作為約束條件。此類約束優(yōu)化問題是一個(gè)非凸優(yōu)化問題,是一類特殊的優(yōu)化問題。為解此特殊的優(yōu)化問題,本論文首先研究系統(tǒng)的穩(wěn)定性,求出滿足系統(tǒng)穩(wěn)定性的參數(shù)空問,然后求出滿足約束條件的參數(shù)空間,在兩者的交集中尋找使得目標(biāo)函數(shù)最優(yōu)的參數(shù)。如此得到的最優(yōu)解是全局最優(yōu)解,同時(shí)提出的方法只需要對(duì)象的頻率響應(yīng),不需要低階近似模型,從而可用于高階對(duì)象。論文將相關(guān)結(jié)果用到了不確定時(shí)滯對(duì)象的抗擾設(shè)計(jì)上3.基于數(shù)據(jù)驅(qū)動(dòng)的帶擾動(dòng)觀測器的控制系統(tǒng)設(shè)計(jì)。數(shù)據(jù)驅(qū)動(dòng)控制器設(shè)計(jì)可以看成是直接基于性能指標(biāo)的設(shè)計(jì)方法,此類方法通常是在模型未知的情況下直接優(yōu)化某一性能指標(biāo)。通過改變設(shè)定值,可以很容易得到以設(shè)定值跟蹤為目標(biāo)的性能指標(biāo)值,從而優(yōu)化控制系統(tǒng),但是如果要優(yōu)化以擾動(dòng)抑制為目標(biāo)的性能指標(biāo),則需要引入一個(gè)足夠明顯的擾動(dòng)信號(hào),這對(duì)系統(tǒng)通常是不利的,因而限制了其在抗擾方面的應(yīng)用。鑒于此,本論文提出一種間接的數(shù)據(jù)驅(qū)動(dòng)控制方法。具體而言,通過引入模型參數(shù)為中間變量,直接優(yōu)化模型參數(shù),而利用指定的函數(shù)關(guān)系確定控制器參數(shù),達(dá)到間接優(yōu)化控制器的目的。其中,該指定的函數(shù)關(guān)系根據(jù)擾動(dòng)抑制性能提出,從而達(dá)到設(shè)計(jì)具有良好擾動(dòng)抑制的基于數(shù)據(jù)驅(qū)動(dòng)的控制系統(tǒng)的日的。4.多變量時(shí)滯對(duì)象的抗擾設(shè)計(jì)。最常見的多變量控制方案是分散控制,本論文首先考慮了在此類控制結(jié)構(gòu)中,系統(tǒng)的擾動(dòng)抑制問題。在分析外部擾動(dòng)對(duì)系統(tǒng)輸出影響的基礎(chǔ)上,論文提出了一種基于非參數(shù)等價(jià)模型的分散控制器抗擾設(shè)計(jì)方法。除了分散式控制結(jié)構(gòu),另外一種典型的多變量系統(tǒng)控制方案是解耦控制,其目的在于消除回路之間的耦合。但是如果從抑制擾動(dòng)的角度出發(fā),可以發(fā)現(xiàn)在某些情況下,回路之間的耦合有利于擾動(dòng)抑制�；诖�,本論文提出了部分解耦的控制策略,其目的是消除不利于擾動(dòng)抑制的耦合,而保留有利于擾動(dòng)抑制的耦合,從而得到比完全解耦控制更優(yōu)的擾動(dòng)抑制性能。
[Abstract]:In recent years, with the development of the concept of disturbance, the researchers pay more attention to the research on anti disturbance performance of the control system. And in the chemical industry, the control system disturbance rejection performance is particularly important. Therefore, the anti disturbance control research is the current hot topic, also has great practical significance. This paper combined with the characteristics of chemical engineering, anti disturbance the core for single variable and multi variable time-delay systems in the presence of constant disturbances, optimal design of fixed structure controller is widely used in chemical industry research, put forward to meet the integrated design method of anti disturbance model of demand and performance optimization of.1. based on data driven control system design based on PID model and with disturbance observer the internal model control is a typical model of integrated design (other models can be transformed into a comprehensive method or equivalent internal model principle). This paper studies internal model -PID The control performance, put forward different objects to meet internal disturbance suppression performance of the filter structure, and use the optimization method get the optimal parameters of the filter. Similarly, the paper also designed the direct optimization of.2. control system with disturbance observer immunity. PID PID advanced design method of PID tuning into a the constrained optimization problem. In general, output performance index of control system (defined in the time domain) as the objective function, the robust performance index system (defined in the frequency domain) as constraints. The constrained optimization problem is a non convex optimization problem is a special class of optimization problems. For the optimization problem this special, this thesis studies the stability of the system, which satisfy the parameters of air system stability asked, and then calculated the parameter space which satisfies the constraints in both the intersection to find the target function of the And the optimal parameters. So the solution is the global optimal solution, the method proposed in this object need only the frequency response does not require low order approximate model, which can be used for high order objects. This paper will use the related results of uncertain anti disturbance design object with time delay is 3. based on disturbance observer data driven control system design. Data driven controller design can be regarded as a direct design method based on performance index, this method is usually the direct optimization of a performance index in the model is unknown. By changing the settings, can easily get to the setpoint tracking performance index of the target value, to optimize the control system, but if you want to in order to optimize the performance indexes of disturbance suppression goals, you need to introduce a sufficiently obvious disturbance signal, the system is usually negative, thus limiting its rejection in the party Application. In view of this, this thesis proposes a drive control method for indirect data. Specifically, through the introduction of model parameters as the intermediate variables, directly optimize the parameters of the model, and the function between the specified parameters of the controller, the controller to achieve indirect optimization. The function of the specified according to the disturbance rejection performance is proposed, which to achieve anti disturbance design design has good disturbance rejection control system based on data driven,.4. multi variable delay object. Multi variable control scheme is the most common decentralized control, this paper firstly considered in this control structure, the system disturbance rejection problem. Based on the effect of external disturbances on the system output analysis last, this paper puts forward a nonparametric equivalent model of decentralized controller anti-interference design method based on distributed control structure. In addition, another typical variable The control scheme is system decoupling control, its purpose is to eliminate the coupling between loops. But from the point of view of disturbance rejection, can be found in some cases, the coupling between the loops for disturbance rejection. Based on this, this paper puts forward control strategy of decoupling, its purpose is to eliminate the coupling disturbance rejection is not conducive to the reserved for coupling disturbance rejection, so as to obtain the complete decoupling control performance of disturbance rejection than better.

【學(xué)位授予單位】：北京化工大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP273

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本文編號(hào)：1501681