实时数字PID控制器及应用

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1、东南大学硕士学位论文实时数字PID控制器及应用姓名：AHMADAL-HALAKY申请学位级别：硕士专业：自动控制及应用指导教师：宋文忠2001.5.1册3蛹毫f)了1)(亡e，缸／矛乒多≠男支劣夕孽矿弩名t／字、事乏，z夕Z∥{f攻币j争乌々剧董，龟叮予z彳亏为‘／少，怨g罗哆。彳芗吖孑历{7，芝f)。汐囊吃．争气石矿笼5蔓节’一争7时f哎事1名尸二庐矿钐移／汤彳兹％，／炽《，宅k矿留缈f予乏友a薹石闱。Pp敢彩／糕毡拦彳寥够。f爹北互终，—⋯～一，～一—一一’⋯ABSTRACTDespitehugead

2、vancesinthefieldofcontrolsystemengineering，PID(ProportionalIntegralDerivative)stillremainsthemostcommoncontrolalgorithminindustrialusedtoday．Inprocesscontrol，morethan90％ofthecontrolloopsareofPIDtype，mostloopsareactuallyPIcontr01．Themodemautomation．witllda

3、taprocessingdevelopmentinmicrocomputerscience，makesmoreandmorecalltothedigitalmethodsfortheindustrialprocesscontrol，thereforethemodemPIDcontrollersimplementedindigitalform．ThisworkpresentsamodelfordesigningdigitalPIDcontrollerinthetimedomain．Firstly，prese

4、ntationofPIDcontrollerandsomephenomenainconnectionwithPIDcontrolleraregiven．TheprinciplesofdigitalcontrolandimplementationofPIDcontrollersusingdigitalcomputersarealsodiscussed．Secondly，thecontrolactionsarebasedonthevaluesoftheprocessoutputatdiscretetimeso

5、nly．ThecontrolstrategyUSeSalgorithmsthatcalculatetheproportional，integral，andderivativeparcels．UnacceptedphenomenaconnectionwithPIDcontrolleranddigitalimplementationareconsidered．ThealgorithmsarewritteninClanguageandimplementedonanindustrialcomputer、Ⅳitll

6、AD／DAcards．ThereforedesigningthisPIDcontrollercanbeusedforrealtimeapplications．Finally，thealgorithmshavebeentestedonfirst，second，andfourthordermodels．Furthermore，thecontrolalgorithmshavebeenappliedtolevelcontrolofoneandtwowatertanksysteminthelaboratory．Th

7、ePIDtuningbasedonZiegler—NicholsstepresponsemethodandtheoptimalPIDparametersaredeterminedbasedontheintegralofabsoluteerror．Themathematicalmodelsofthelaboratorysystemsarcderivedbasedonstepresponsecurvemethod．TheresultofPIandtwoalgorithmsofPIDarediscussed．T

8、heresultsthatobtainedusingZ—Nandtheintegralofabsoluteerrormethodsarediscussedandlistedintables．At1astsomeconclusionsaregiven．Keywords：processcontrol，PIDcontroller，digitalimplementation．AcknowledgmentsFirstandforemos