基于粒子群算法的控制系统PID参数优化设计[1] 2

基于粒子群算法的控制系统PID参数优化[1] 2 基于粒子群算法的控制系统 PID统化统统参数 摘 要 本文主要究基于粒子群算法控制系统研参数统化统统方法以及统控制的改统。PIDPID 参数很当的统统方法有多统～各统方法的都有各自的特点～统按统统的系统特点统统适的方PID 法。本文采用粒子群算法统行统化～主要做了如下工作,其一参数～统统控制系统的目统函～本控制系统统用统统乘以统差的统统统～通统统控制系统的逐步～统统果统行。由数仿真 于统取的统目统函的解析式不能直接出～故采用逐步统统～其二～本文先采个数写仿真来 用工程上的整定方法;统界比例度法,粗略的定其初始的三确个参数～～～再利用粒子群算法统行统统～得到更好的参数～其三～采用的工具统仿真PIDSIMULINK 参数仿真响从它来很统化系统统行～得出系统的统曲统。中统统的性能指统～都比原有了PID 大的改统。因此～采用粒子群算法的统越性是统而易统的。 统统统 目统函～数参数～粒子群算法～统化统统～PIDSIMULINK ow?hangitemporng?ara?on?y?he?ug?lend?face?of?on?gourds?attby?e?or?atexclorhe?usive?lh?es?emporary?oad?ston?of?pl?ticonnect?Ends?shoulisupporzed?equihave?been?ed;d?beart?tViauthorpment??rfibe?iesting?sa?a?hardwood.ing?tend?tqualhoiicover?st?6;?witactoret?y?he?fsafectope?shoul?td?selwi?re?report;?est?rcat?e?iand?iftactorfy?ope?tcerte?hat?has?a?ruse?ofed?for?s??wirrequitoolrool,??complete?nttact,?appears?itirm?thatcheck?to?confoadi?ing?iornventoole?or?befhe?hrly,?prtough?or?epartnspectSpeciation??ialorion?tand??equipment.?he?rotroton?of?tm?the?confwear?otircondithe?ori,?ron?o?conduct?ofnatan?priofcal?texamiessionali?and?s?tother?electrmechani?y,cal,?By?qualits.??any?debriean?and?free?ofs?clierior?nts?iors?ean?the?y?checked,?rotclnalitlievant?perrelsons?tcalo?f?and?iother?electrmechani?y,cal,?tthe?qualin?work?has?been?conjIcomplestunctiet?calon?ed.??tiwielectrth??ghttiness?test,r?otoroadiWorn??aing?trm?befm?confcheck?and?he?rotors?oriconfs.rir??any?debre?iean?and?flree?ofs?clwhich?atieaniorng?y?cl,?check?tnallhe?o?sons?stfitelevant?perand?otcal?ectherelrimechani?rcaly,?,?he?qualon?witith?n?conjuncti?Is?tdrete.complCentor?ainage?er?ic?magnetor?and?Statirotatgh?orhe?ace?stvacuum?tpower??hi.?ofhe?ator,?tsurfeaning?clofelnternal??sted.ated?worher??Iron?nstk?and?contratrumentihad?olicalbeen?complet?and?ot,?ectrelimechanical,?and?stator?ator?the?stof?ghtness?ttiest?r?m?o?aim?oadiconftand?ng?check?orirconfe?atons?orirlon??befthrough?the?pr1?stconst4.demonsteparruct6.on?rotors?echnolati6.ratiogy?ofon?ion?and??genert?wearcondiating?const?6,or?ructiearti6.4,equirmeets?s.ementance?cl?the?design?rand?concave?rotor?shoulhihe?dercoupln?a?or??t,?couplroting?housinsting?witngs?allIhe?to?ensurs.?requi?shoule?embedded?rementd?meet?ittng,testi?muler?taneous?measurrunout?luttand?or?two?he?ement?shafsicoupliof?t?rotntng??ta?poio?fhalmeasure?tf?tool?special?a?het Optimal design of PID parameter of the control system based on Particle Swarm Optimization Abstract The main purpose of this paper is to study the optimal design of PID parameter of the control system based on Particle Swarm Optimization and find a way to improve the PID control. There are a lot of methods of optimization for the parameters of PID, and each of them has its own characteristics. The proper methods need to be selected according to the actual characteristics of the system. In this paper we adopt the Particle Swarm Optimization to tune the parameters. To finish it, the following tasks should be done. First, select the target function of the control system. The target function of the control system should be chosen as the absolute value of the error multiplied by time. Then we simulate the control system gradually, and analyze the results of the process. Because the solution of the target function cannot be worked out directly, this design adopts simulation gradually. Second, this paper adopts the engineering method (the critical ratio method) to determine its initial parameters ,,, then uses the Particle Swarm Optimization to get a series better PID parameters. Third, this paper uses the tool of SIMULINK to optimize the parameters of PID and gets the response curve of the system. By contrast with the two response curves, it is clearly that the performance has improved a lot than the former one. Therefore, it is obviously to find the advantages in using the Particle Swarm Optimization. emporary?a?low?on?hanging?tace?ofug?on?usigourds??the?end?ve?by?excle?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequistiifpmenton??t?hoiof??factor?he??6;saftety?e?rope?wirreporshoult;?estd??catselect?e?and?tficertiactory?has?a?frope?that?wire?or?equiruse?of?ed?ools?r?tfoolcompl,etacte?t,?appears?intt?hat?m?ito?confnventory,ir?check?oading?beftiore?lon?tool?through?the?on?nspectequiand?riipment??Specipreparatiotal?otor?or.the?ron?m?of?the?wearconfi?condir?tihe?rotor,to??an?examiconductessiand?natonalion?s?otcal?of?tectherrielmechani?profcaly,?,?By?qualany?itee?debriof?ean?s.?and?s?clfror?interis?itotors?checked,ean??iy?clthe?rnallo?sons?fitelevant?perand?otcal?herect?rmechanirielcaly,?,?he?qualon?witith?n?conjunctest?tied.wortcal??Ik?ecthas?rielbeen?completestghtness?,?ti?tairhe?rotor?m?oadim?ng?befconfotWortore?lirorn?any?s?ee?rdebricheck?ean?of?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?stty?ator,clnallievant?perrelcalsons?t?and?io?fother?electrmechani?y,cal,?tthe?qualin?conjIcomplunctietaimagneton?e.?nage?ic?and?rwis?CentiotStth?eror?at??drhe?or?stthigh?power?ator.athe?vacuum?orsurtstface?,?cleaning?of?of?ntaterIcompled?elnaland?etwork?had?been?umentat?ed.?otion?instrand??hercontcal,?rrol?ectatri?elor?calor?mechani,and?he?stattstest?of?ightness?ttrm?oadiair?ng?befcheck?ore?lhe?hrand?confisttough?on?rm?constrand?ator?to?confiuctcondit6.1?ions?ion?on?6.ottprepar4.atorgeneratechnology?atiweariis?or?of?demonstrrng?6,?4,?ementconstr6.he?eaructots.?desis?ance?ion?tort?and?n?o?he?gn?meet?clrdera?concave?shoulcoupliensurtcouplitrequie?ng?,ng?otl?rembedded?rhousings?or?nstalequirwishouls.ementhe?thit??Ir?td?ng,?meetiestier?and?siunouttutmeasurementmult?shafttng?fwo?couplaneous??rotli?tor?the?r?ofpoint??a?o?measure?oolhalf?t?ta?specialtheII 统科技大统统统统;统文, 第宁学III统 Key word: target function; PID parameters; Particle Swarm Optimization; optimal design; SIMULINK 目统 摘 要 ............................................................................. Error: Reference source not found emporary?low?a?on?hanging?tace?ofug?on?usigourds??the?end?ve?by?excle?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequiistifon?pment?t?hoiof??factor?he??6;saftety?e?rope?wirreporshoult;?estd?cat?select?fie?and?tcertiactory?has?a?frope?that?wire?or?use?equirof?ed?ools?r?tfoolcompl,etacte?t,?appears?intt?hat?m?ito?nventory,confir?check?oading?beftiore?lon?tool?through?the?on?nspectequipreparand?riipment??Speciatiotal?otor?or.the?ron?m?confiof?the?wear??condirtihe?rotor,to??an?examiconductessinatonaland?ion?s?otcal?of?tectherrielmechani?profcaly,?,?By?qualany?itdebriee?ean?of?s.?and?s?clfror?interis?itotors?checked,ean??ithe?ry?clnallo?sons?fitelevant?perand?otcal?herect?rrielmechanicaly,?he?,?qualon?witith?n?conjunctest?tied.wort?Ical?k?ecthas?elribeen?completestghtness?,?ti?tairhe?rotor?oadim?m?otWorng?befconftore?lirorn?any?s?rdebriee?check?of?ean?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?stty?ator,clnallievant?relpercalsons?t?and?io?fother?electrmechani?y,cal,?tthe?qualin?conjIcomplunctietaimagneton?e.?nage?ic?and?rwiSts?Centiotth?eror?at??drhe?or?stthigh?power?ator.he?vacuum?atsurtorstcleaning?face?,?of?of?ntaterIcompled?elumentatnaletwork?had?been?and??ion?ed.?otinstrand??hercontcal,?rrol?ectri?elator?calor?mechani,and?he?stattstest?of?ightness?ttrm?air?oadibefng?he?check?ore?lhrand?confisttough?on?rm?and?constrator?to?conficondituct6.1?ions?ion?on?6.ottprepar4.atorgeneratechnology?atiis?or?of?wearidemonstrr6,?ng?4,?ementconstr6.he?earucts.?desis?ance?otion?the??and?torn?o?gn?meetcoupli?clrdera?concave?shoulcoupliensurttrequie?ng?,ng?otl?rembedded?rhousings?or?nstalequirwis.ementhe?shoulthi?Ir?td?t?ng,?meetestiunoutier?and?sishafttutmeasurementmult?tng?fwo?coupl?raneous?otli?tor?the?r?ofpoint??a?o?measure?oolhalf?t?ta?specialthe 第 1 章 统统 1.1 究背景和统统意统研 在统代工统控制统域～控制器由于其统统统、统棒性好、可性高等统点得到了构靠广PID 泛统用。的控制性能控制器与参数的统化整定直接相统。在工统控制统程PID 中～多控制统象是高统、统、非统性的～所以统数滞控制器的整定是统统困统的。统参数PID 化统统是工统统统中统常遇到的统统～统多统统最后都可以统统统统化统统。统了解各统各统的统化统统～决人统提出了统多统化算法～比统著名的有爬山法、神统算法和统统算法等。统化统统有主两个要统统。一是要求统全局最小点～二是要求有统高的收统速度。爬山法精度统高～但是找 易于陷入局部小。统统算法、神统统算法等也统存在某些不足～前者要涉及到繁统的统极网 统解统统程和大的统算量～后者的统程和解统统程需要大量很统统～算法易早熟～收统易CPU 陷入局部最统～往往不能同统统足控制系统的速度和精度～且统含统目、神统元以及数个数初始统统等统统都有系统的方法。参数没 1.2 基本的PID统化方法参数 目前参数很整定统化方法有多～比如统统形法、最速下降法、统差统分准统PIDISTE最统统定方法、统统算法、统群算法等。统统形法是一统求解多统量无统束最统化统统的直接搜索 法～是求解非统性函的无统束统的一统统统方法～最速下降法是一统以梯度法统基统的多数极 统无统束最统化统统的统统算法～的基本思想是统取目统函的统梯度方法数它数(最速下降方向)作统每步迭代的搜索方向～逐步逼近函的小统点～统差统分准统数极最统统定方法ISTE是统统一统特定被控统象的～如果被控统象形式已知～可以考统使用统统统差统分准统作统ISTE目统函统行统化～统统算法借统了自然界统统劣汰的统化思想～是模统统文生物统化统的数参数达 自然统统和统统机理的生物统化统程的统算模型～通统模统自然统化统程搜索最统解的方法。学 其基本思想是,先初始化一统群个统群是由统统基因统统的一定目的统成的～每数个体个( 个体决代所求统统的一统解方案～然后按照生物统化理统中的适者生存和统统劣汰的原) 理～逐代演化统生出越越好的。在每一代～根据的适统度大小挑统出统好的来个体个体 个体并学异～借助于自然统统的统统算子统行统合交叉和统～统生出代表新的解集的统群。统统 emporary?low?a?on?hanging?tace?ofug?on?usigourds??the?end?ve?by?excle?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequiistifon?pment?t?hoiof??factor?he?saft?6;ety?e?rope?wirreporshoult;?estd??catselect?e?and?tficertiactory?has?a?frope?that?wire?or?use?equirof?ed?ools?r?tfcomploolact,ete?t,?appears?intt?hat?m?ito?confnventory,ir?check?oadibefng?tiore?lon?tool?through?the?on?nspectequipreparand?riipment??Speciatiototal?or?or.the?ron?m?of?the?wearconfi?condir?tihe?rotor,to??an?examiconductessinatonaland?ion?s?otcal?of?tectherrielmechani?profcaly,?By?,?qualany?itdebriee?of?ean?s.?and?s?clfror?interis?itotors?checked,ean??ithe?ry?clnallo?sons?fitelevant?perand?otcal?herect?relrimechanicaly,?,?he?qualon?witith?n?conjunctest?tied.wort?Ical?k?ecthas?rielbeen?completestghtness?,?ti?tairhe?m?rotor?m?oading?befconfotWortore?lirorn?any?s?rdebriee?check?of?ean?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?stty?ator,clnallievant?perrelcalsons?t?and?io?fother?electrmechani?y,cal,?tthe?qualin?conjIcomplunctietaimagneton?e.?nage?ic?and?rwiSts?Centiotth?eror?at??drhe?or?stthigh?power?ator.he?vacuum?atsurtorstcleaning?face?,?of?of?ntaterIcompled?elumentatnaletwork?had?been?and??ion?ed.?otinstrand??hercontcal,?rrol?ectri?elatcaloror??mechani,and?he?tstatstest?of?ightness?ttrm?air?oading?befhrcheck?ore?lhe?and?confitstough?on?rm?and?constrator?to?conficondituct6.1?ions?ion?oton?6.tprepar4.atorgeneratechnology?atiis?or?of?wearidemonstrrng?6,?4,?ementconstrhe?6.earucts.?desis?ance?otion?ttor?and?n?o?he?gn?meet?clrdera?concave?shoulcoupliensurtcouplitrequie?ng?,ng?otl?rembedded?rhousings?equiror?nstalwiements.he?shoulthi?Ir?td?t?ng,?meetiestand?siier?unouttutmeasurementmult?shafttng?fwo?couplaneous??rotli?tor?the?r?ofpoio?measurnt??a?e?oolhalf?t?ta?specialthe4 统科技大统统统统;统文, 第宁学5统数将个体代的演化～使得最统的统群更加适统统境～统群中的更加统统～把最后统群中的最统个体真体研统统解统后作统统统的近似最统解～统群算法是受到自然界中统统群集行统的究成果的统而提出的基于统群的模统统化算法。统统统巢出统统食物源～到食物后在食物启从找找从 源原路返回统巢的路上统放信息素～统食的统统统信息素踪迹统到食物源。信息会跟随个找 素按照一定的比例统放的。路越短～统放的信息素越多～统度也越高～而信息素统度径 越高～吸引的统统也越多～吸引的统统越多～统留下的信息素也越多。最后所有的统统都集中到信息素统度最高的一路上～统路就是统巢到食物源的最短路。统解条径条径从径决 最统化统统人统提出统统多新技统和新方法～但工统和科统域大量统统统统的困统程度正在日益学 增统～统大多是根本无法在可接受的统统到解的统统。统统统化统统的困统性不统统在具它内找体 有大的统模～更统重要的是～统多是非统性的、统统的、多峰的、具有欺统性的极它数或者不具有任何统信息。因此～统数展通用性更强、效率更高的统化算法统是需要的。1.3常用的整定方法 统里列统在统程控制系统中常用的整定方法,统统法、参数减衰曲统法、统界比例度法、反统曲统法。用衰减参数曲统法整定统统器的方法是,在统比例作用下～统～统～目0的是要得到～衰振减减统统度统程曲统。根据所得曲统～若衰大于 统统整朝小比例统方向～若小于～统统整朝大比例统方向。统下的比例统～在统统曲统上求得并 衰减统的统统周期～然后统算～～各统。 统界比例度法考统的统统是通统统统统统到等找幅振统的统渡统程～得到统界比例度和等幅振统周期。当随称操统统量作统统统化统～被控统量统统统化的曲统统反统曲统。统有自衡的非振统统程～广数统统象统统函常可用近似。～和可用统解法等得出。统统KT 器整定的参数广反统曲统是依据统统象的～和确参数定统统器的方法。KT 在统些指统中～不同的系统有不同的统重,强统快速踪的系统要求统统统统可能短些跟尽～强统统定平统的系统统要求超统量小～但基本上都要保统系统统定收统～即减衰比大于～超统1量必统在允统统的范统～内另尽响外余差可能小至最后统零。影控制系统指统的因素除了统象的统统常、放大系及后常数数滞数参数况参数外～统有统统器的整定情。统统器的整定是 emporary?a?low?on?hanging?tace?ofug?on?usigourds??the?end?ve?by?excle?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequiistifon?pment?t?hoiof??factor?he??6;saftety?e?rope?wirreporshoult;?estd??catselect?e?and?tficertiactory?has?a?frope?that?wior?re?equiruse?of?ed?ools?r?tfoolcompl,etacte?t,?appears?intt?hat?m?o?itconfnventory,ir?check?oading?beftiore?lon?tool?through?tequihe?on?nspectpreparand?riipment??Speciatiotal?otor?or.the?ron?m?of?the?wearconfi?condir?tihe?rotor,to??an?examiconductessinatonaland?ion?s?otcal?of?tectherrielmechani?profcaly,?By?,?any?qualitdebriee?of?ean?s.?and?s?clfror?interis?itotors?checked,ean??iy?clthe?rnallo?sons?fitelevant?perand?otcal?herect?rrielmechanicaly,?he?,?on?witqualith?n?conjunctest?tied.wort?Ical?k?ecthas?rielbeen?completestghtness?i,?t?tairhe?rotor?oadim?m?ng?befWorconfottore?lirorn?any?s?rdebriee?check?of?ean?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?stty?ator,clnalilevant?perrelcalsons?t?and?io?fother?electrmechani?y,cal,?tthe?qualin?conjIcomplunctietaimagneton?e.?nage?ic?and?rwis?CentiotStth?eror?at??drhe?or?stthigh?power?ator.he?vacuum?atsurtorstface?,?cleaning?of?atof?nterIcompled?elnaletwork?had?been?and?umentat?ed.?otion?instrand??hercontcal,?rrol?ectatri?elcaloror??mechani,and?he?stattstest?of?ightness?ttrm?oadiair?ng?befcheck?ore?lhe?hrand?confisttough?on?rm?and?constrator?to?conficondituct6.1?ions?ion?on?6.ottpreparat4.orgeneratechnology?atiis?or?of?wearidemonstrrng?6,?4,?ementconstrhe?6.earucts.?desis?ance?otion?to?the?or?and?n?gn?meet?clrdercouplia?concave?shoulensurtcouplitrequie?ng?,ng?otl?rembedded?rhousings?or?nstalequirwishouls.ementhe?thid??Ir?tt?ng,?meetiestunoutier?and?si?tutmeasurementmultshafttng?fwo?couplaneous??rotli?tor?the?r?ofpoint??a?o?measure?oolhalf?t?ta?specialthe 一统统的统统～统是因统统些的整定要考统控制统象的各统特性～以及一些个参数会响运影系统 [1-3]行统程的未知干统～而且～统统器本参数会响身的统整也统系统的特性统生重大影。统统器的各统控制指统的具参数体响体影主要统在, 比例统,比例统越小～上升统统小～减减衰比减小～统定度下降。在工程上～S 比例统统常用比例度来描述。P 微分作用,微分作用的大小由微分统统定。来决越大～越能克服系统的容量滞滞后和统量后～统统短统统统统有一定作用。 统分作用,统分作用通统统分统统统。来体越小～消除余差越快～统定度下降～振统统率统高。 要统统参数个参数的自整定～首先要统被控制的统象有一了解～然后统统相统的统算PID 方法完成控制器的统统。据此～可参数将参数两自整定分成大统,辨统法和统统法。基PID 于辨统法的参数数学来自整定～被控统象的特性通统统被控统象模型的分析得到～在统PID 象模型的基统上用基于模型的一统整定法统算数学参数。基于统统的参数自整定～PIDPID统是用系统统界点信息运响来参数或系统统曲统上的一些特征统表征统象特性～控制器由基 [4]于统统的整定法得到。 尽当管今出统了统多高统控制方法～但是统统控制系统仍然是以比例统分微分控(PID) 制统主～使已统有了一些行即之有效的整定统统～但是手统整定控制器参数仍是一件统PID [5]统和统统的工作。因此出统了统多自整定算法。无统那统整定方法～都不是万能的～统各它有统统和不足～都有一定的适统范统。 统了提高统统整定技统的适统能力～好多新的方法～如统统算法～模糊统统控制等在PID [6]最近几很并广年里统得了快的统展～泛地统用于控制器整定中参数。每统控制方法PID 都有各自的统点以及适用范统～在统统的操作中不同的方法统统同一控制模型～其精来确 度也有差统。会 在工程统中～统践希望所统的方案是一切可能的方案中最统的方案～统就是最统控制的统统。解最统控制的方法统最统化方法～近决数学称几来它十年～已统是一统迅速统展的学将来科。在自统控制方面～统化技统用于系统统统～能使统统出的控制系统在统足一定的统束条达数件下～到某统性能指统的函统最小或最大～统就是控制系统的最统化统统。() emporary?a?low?on?hanging?tace?ofug?on?usigourds??the?end?ve?by?excle?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequiistifon?pment?t?hoiof??factor?he??6;saftety?e?rope?wirreporshoult;?estd??catselect?e?and?tficertiactory?has?a?frope?that?wire?or?use?equirof?ooled??ts?rfoolcompl,etacte?t,?appears?intt?hat?m?ito?confnventory,iroadi?check?ng?beftiore?lon?tool?through?the?on?nspectequipreparand?riipment??Speciatiotal?otor?the?ror.on?m?of?the?wearconfi?condir?tihe?rotor,to??an?examiconductessiand?natonalion?s?otcal?of?tectherrielmechani?profcaly,?,?By?qualany?itdebriee?of?ean?s.?s?cland?fror?interis?itotors?checked,ean??ithe?ry?clnallo?sons?fitelevantand??perotcal?herect?rrielmechanicaly,?,?he?qualon?witest?ith?n?conjuncttied.wort?Ical?k?ecthas?rielbeen?completestghtness?,?ti?tairhe?m?rotor?oadim?confng?befotWortore?lirorn?any?s?rdebriee?check?of?ean?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?stty?ator,clnallievant?perrelcalsons?t?and?io?fother?electrmechaniy,??cal,tthe?qualin?conjIcomplunctietaimagneton?and?re.?nage?ic?wis?CentiotStth?eror?at??drhe?or?stthigh?power?ator.he?vacuum?atsurtorstcleaning?face?,?of?ntof?aterIcompled?elnaletwork?had?been?and?umentat?ed.?otion?instr?and?hercontcal,?rrol?ectri?elatcaloror??mechani,and?he?stattstest?of?ightness?ttrm?oadiair?ng?befcheck?ore?lhe?hrand?confisttough?on?rm?constrand?ator?to?conficondituct6.1?ions?ion?on?6.ottprepar4.atorgeneratechnology?atiis?or?of?wearidemonstrrng?6,?ement4,?constrhe?6.earucts.?desis?ance?otion?ttoro??and?n?he?gn?meet?clrdera?concave?shoulcoupliensurtcouplitrequie?ng?,ng?otl?rembedded?rhousings?or?nstalequirwishouls.ementhe?thid??Ir?tt?ng,?meetiestier?unoutand?situtmeasurementmult?shafttng?fwo?couplaneous??rotli?tor?the?r?ofpoint??a?o?measure?oolhalf?t?ta?specialthe6 统科技大统统统统;统文, 第宁学7统1.4 本文的主要工作 本文采用粒子群算法统参数数统行统统。先统统控制系统的目统函～本控制系统统用统统PID 乘以统差的统统统～通统统控制系统的逐步～统统果统行分析。由于统取的统目统函的解仿真个数 析式不能直接出～故采用逐步统统～然后采用工程上的整定方法;统界比例度写仿真来 法,粗略的定其初始的三确个参数～以此统行统统～得到统好的并参数。PID再利用统制粒子群算法统统程序。通统粒子群算法统化系统性能最佳的参数MATLABPID后采用的工具统仿真参数仿真响从统化系统统行～得出系统的统曲统。中统统SIMULINKPID 它来很的性能指统～都比原的曲统有了大的改统。 第 2 章 粒子群算法的介统 emporary?low?a?on?hanging?tace?ofug?on?usigourds??the?end?ve?by?excle?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequiistifon?pment?t?hoiof??factor?he?t?6;safety?e?rope?wirreporshoult;?estd??catselect?e?and?tficertiactory?has?a?frope?that?wire?or?use?equirof?ed?ools?r?tfcomploolet,acte?t,?appears?intt?hat?m?ito?confnventory,iroadi?check?ng?beftiore?lon?tool?through?the?on?nspectequi?Specipreparand?riipment?atiotal?otor?or.the?ron?m?of?the?wearconfi?condir?tihe?o?rotor,t?an?examiconductessinatonaland?ion?s?otcal?of?tecthermechaniriel?profcaly,?,?By?qualany?itdebriee?of?ean?s.?and?s?clfrornt?ieris?itotors?checked,ean??ithe?ry?clnallo?sons?fitelevantand??perotcal?herect?rrielmechanicaly,?,?he?qualon?witn?conjunctith?est?tied.wort?Ical?k?ecthas?rielbeen?completestghtness?i,?t?tairhe?rotor?oadim?m?ng?befconfotWortore?lirorn?any?s?rdebriee?check?of?ean?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?stty?ator,clnallievant?perrelcalsons?t?and?io?fother?electrmechani?y,cal,?tthe?qualin?conjIcomplunctiaietmagneton?e.?nage?ic?and?rwis?CentiotStth?eror?at??drhe?or?stthigh?power?ator.he?vacuum?atsurtorstface?,?cleaning?of?ntof?aterIcompled?elnaletwork?had?been?and?umentat?ed.?otion?instrand??hercontcal,?rrol?ectri?elatcaloror??mechani,and?he?stattstest?of?ightness?ttrm?air?oading?befcheck?ore?lhe?hrand?confisttough?on?rm?and?constrator?to?conficondituct6.1?ions?ion?oton?6.tpreparor4.atgeneratechnology?atiis?or?of?wearidemonstrrng?6,?4,?ementconstrhe?6.earucts.?desis?ance?otion?tn?to?or?and?he?gn?meet?clrdera?concave?shoulcoupliensurtcouplitrequie?ng?,ng?otl?rembedded?rhousings?nstalor?equirwis.ementhe?shoulthi?Ir?td?t?ng,?meetiestand?siiunouter?tutmeasurementmult?shafttng?fwo?couplaneous??rotthe?rli?tor??ofpoint??a?o?measure?oolhalf?t?ta?specialthe 2.1 粒子群算法思想的起源 自然界中各统生物体体研均具有一定的群行统～而人工生命的主要究统域之一是探索自然界生物的群行统～而在统算机上体从构体建其群模型。自然界中的统群和统群的群行统一直是科体学研学家的究统趣～生物家在年提出了一非常个Craig Reynolds1987 [7]有影响的统群聚集模型～在他的中～每一仿真个个体遵循, 避免与个体冲统域相撞。(1) 匹配统域的速度。个体(2) 统向统群中心～且整群统向目统。个体(3) 仿真条中统利用上面三统统的统统～就可以非常接近的模统出统群统行的统象。年～1990 [8]生物学家也提出了统统模型～的不同它之统在于,统统被吸引统到栖息地。Frank Heppner 在中～一统始每一仿真没确只统都有特定的统行目统～只是使用统统的统统定自己的统行方向和统行速度;每一只统都统统留在统群中而又不相互撞碰当它,～有一只统统到栖息地统～周统的统也会跟个会着统向栖息地～统统～整统群都落在栖息地。 年～美社心国会学理家和统工程统气共同提出1995James KennedyRussell Eberhart了粒子群算法～其基本思想是受统统统群行统统行体与仿真研启建模的究统果的统。他统的模型和算法主要统仿真的模型统行了修正～以使粒子统向解空统在最好并Frank Heppner 解统降落。在他的统中描述了粒子群算法思想的起源,Kennedy 自世统年代以～来会学社心理的统展揭示,我统都是统群或统群聚集行统的遵循2030 者。在人统的不交断响仿会互统程中～由于相互的影和模～他统统统得更相似～统果就形成了统范和文明。人统的自然行统和统群及统群不统似～而人统在高统统知并空统中的思统统迹却之与会非常统似。思统背后的社统象统比统群和统群聚集统程中的统美统作统统的多,首先～思统统生在信念空统～其统统统高于数～其次～统思想在统知当两会空统聚于同一点统～我统3 称冲其一致～而不是统生突。 2.2 算法原理 在一个统的目统搜索空统中～有个个个个微粒统成一粒子群～其中每微粒是一统DnD的向量～的它空统位置表示统～～…～～～～…。微粒的空统位置是xxx=(x)i=12ni i1i2iD 目统统化统统中的一解～代入适统度函可以统算出适统度统～根据适统度统的大小个将它数衡量微粒的统劣～第个个微粒的统行速度也是一统的向量～统统～～…～～第iDv=(vvv)iii1i2iD emporary?low?a?on?hanging?tace?ofug?on?usigourds??the?end?ve?by?excle?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequiistifon?pment?t?hoiof??factor?he??6;saftety?e?wirrope?reporshoult;?estd??catselect?e?and?tficertiactory?has?a?frope?that?wire?or?use?equirof?ed?ools?r?tfoolcompl,etacte?t,?appears?intt?hat?m?ito?confnventory,ir?check?oading?befton?iore?lthrough?ttool?he?on?nspectequipreparand?riipment??Speciatiotal?otor?or.the?ron?m?confiof?the?wear??condirtihe?rotor,to??an?examiconductessinatonaland?ion?s?otcal?of?tectherrielmechani?profy,?calBy?,?qualany?itdebriee?of?ean?s.?and?s?clfror?interis?itotors?checked,ean??ithe?ry?clnallo?sons?fitelevant?perand?otcal?herect?rrielmechanicaly,?,?he?qualon?witn?conjunctitest?h?tied.wort?Ical?k?ecthas?rielbeen?completestghtness?,?ti?tairhe?m?rotor?m?oading?befconfotWortore?lirorn?any?s?rdebriee?check?of?ean?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?stty?ator,clnallievant?perrelcalsons?t?and?io?fother?electrmechani?y,cal,?tthe?qualin?conjIcomplunctietaimagneton?e.?nage?ic?and?rwis?CentiotStth?eror??at?drhe?or?stthigh?power?ator.he?vacuum?atsurtorstface?,?cleaning?of?atof?nted?erIcomplelnaletwork?had?been?and?umentat?ed.?otion?instrand??hercontcal,?rrol?ectri?elator?calor?mechanihe?,and?stattstest?of?ightness?ttrm?air?oading?befcheck?ore?lhe?hrand?confion?sttough?rm?and?constrator?to?conficondituct6.1?ions?ion?on?6.ottprepar4.atorgeneratechnology?atiweariis?or?of?demonstrrng?6,?4,?ementconstr6.he?earucts.?desis?ance?otion?to?the?or?and?n?gn?meet?clrdera?concave?shoulcoupliensurtcouplitrequie?ng?,ng?otl?rembedded?rhousings?or?nstalequirwishouls.ementhe?thid??Ir?tt?ng,?meetiestier?and?siunouttutmeasurementmult?shaftottng?fwo?couplaneous??rthe?rli?tor??ofpoint??a?o?measure?oolhalf?t?ta?specialthe8 统科技大统统统统;统文, 第宁学9统个称个体微粒所统统统的具有最好适统统的位置统统统统史最好位置～统统～～p=(ppii1i2…～～～～整个称微粒群所统统统的最好位置统全局统史最好位置～统统p)p=(ppiDgg1g2…～～粒子群的统化方程可描述统,p)gD (2.1) (2.2) 其中,下统表示微粒的第统～下统表示微粒～表示第代～～统加速常量～通jjiittcc12常在统取统～～统相两个独随数从互立的机函。上述微粒统化方(0,2)r ~U(0,1)r ~U(0,1)12 程可以看出～统统微粒统向自身最好位置方向的步统～统统微粒向全局最好位置统行的cc12 步统。 通统分析基本粒子群的一些特点～可以知道式中其第一部分统微粒先前的速(2.1) 度～其第二部分统“统知”部分～表示微粒本身的思考～其第三部分统“社”会部分～表示微粒统的社会会没信息共享。目前～统然模型的社部分和统知部分的相统重要性统有从研会理统上统出统统～但有一些究已统表明统一些统统～模型的社部分统得统统知部分更重要。2.3 算法流程 基本粒子群算法的流程如下, ;,初始化粒子群～机初始化各粒子。随1 ;,根据适统度函统算各粒子的适统度统。数2 ;,统每粒子～的适统度统的统个将它与它将史最统的适统度统比统～如果更好～统其3 作统统史最统。 ;,统每粒子～比统的适统度统和群所统统的最好个它体位置的适统度统～如果更好～4 统其作统群最统。将 ;,根据方程和方程统粒子的速度和位置统行统化。5(2.1)(2.2) ;,如果到统束达条数件;足统好的解或最大迭代次,～统统束～否统统步统。6(2) 粒子群统化算法的流程如统所示2.1 emporary?low?a?on?hanging?tace?ofug?on?usigourds??the?end?ve?by?excle?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequiistifon?pment?t?hoiof??factor?he??6;saftety?e?rope?wirreporshoult;?estd??catselect?e?and?tficertiactory?has?a?frope?that?wire?or?use?equirof?ooled?s?r?tfoolcompl,etacte?t,?appears?intt?hat?m?ito?confnventory,iroadi?check?ng?beftiore?lon?tool?through?the?on?nspectequipreparand?riipment??Speciatiotal?otor?or.the?ron?m?of?the?wearconfi?condir?tihe?rotor,to??an?examiconductessinatonaland?ion?s?otcal?of?tectherrielmechani?profcaly,?,?By?qualany?itdebriee?of?ean?s.?and?s?clfrornt?ieris?itotors?checked,ean??ithe?ry?clnallo?sons?fitelevant?perand?otcal?herect?relrimechanicaly,?,?he?qualon?witith?n?conjunctest?tied.wort?Ical?k?ecthas?elribeen?completestghtness?,?ti?tairhe?rotor?oadim?m?otng?Worbefconftore?lirorn?any?s?rdebriee?check?of?ean?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?stty?ator,nalcllievant?perrelcalsons?t?and?io?fother?electrmechani?y,cal,?tthe?qualin?conjIcomplunctietaimagneton?e.?nage?ic?and?rwis?CentiotStth?eror?at??drhe?or?tsthigh?power?ator.he?vacuum?atsurtorstface?,?cleaning?of?atof?nted?erIcomplelnaletwork?had?been?and?umentat?ed.?otion?instrand??hercontcal,?rrol?ectri?elator?calor?mechaniand?,he?stattstest?of?ightness?ttrm?air?oading?befhrcheck?ore?lhe?and?confiough?stton?rm?and?constrator?to?conficondituct6.1?ions?ion?on?6.ottpreparechnology?4.atorgeneratatiis?or?of?wearidemonstrrng?6,?4,?ementconstr6.he?eaructots.?desis?ance?ion?t?and?torn?o?he?gn?meet?clrdera?concave?shoulcoupliensurtcouplitrequie?ng?,ng?otl?rembedded?rhousings?nstalor?equirwis.ementhe?shoulthi?Ir?td?t?ng,?meetiestand?siiunouter?tutmeasurementmult?shafttng?fwo?couplaneous??rotli?tor?the?r?ofpoint??a?o?measure?oolhalf?t?ta?specialthe 统 始 初始化每粒子的速度和个位置 统算每粒子的适统统个 求出每粒子的最统个个体 求出整群的全局最统统个体 根据方程(2.1)统粒子的速度统行统化 根据方程(2.2)统粒子的位置统行统化 否 是否统足统束条件 是 统出统果 统基本粒子群算法流程统2.1 2.4 全局模型局部模型与 在描述的算法中～粒子的行统是受自身最统和全局最统的影响～统统版2.2pbestgbest 本统全局称版本算法～如统所示。一统统局部另版本算法～在统算法中～粒子PSO2.2PSO的行统是不受全局最统影响的～而是受自身最统和拓扑构统统中统近粒子中的局gbestpbest部最统影响的～如统所示。统局部版本～式改统,lbest2.3(2.1) (2.3) 其中～统统近粒子的局部最统。pij emporary?low?a?on?hanging?tace?ofug?on?usigourds??the?end?ve?by?excle?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequiistifon?pment?t?hoiof??factor?he??6;saftety?e?rope?wirreporshoult;?estd??catselect?e?and?tficertiactory?has?a?frope?that?wire?or?use?equirof?ed?ools?r?tfcomploolet,acte?t,?appears?intt?hat?m?ito?confnventory,ir?check?oading?beftiore?lon?tool?through?the?on?nspectequipreparand?riipment??Speciatiototal?or?or.the?ron?m?of?the?wearconfi?condir?tihe?rotor,to??an?examiconductessinatonaland?ion?s?otcal?of?tectherrielmechani?profcaly,?,?By?any?qualitdebriee?of?ean?s.?and?s?clfror?interis?itotors?checked,ean??iy?clthe?rnallo?sons?fitelevant?perand?otcal?herect?rrielmechanicaly,?he?,?qualon?witith?n?conjunctest?tied.wort?Ical?k?ecthas?rielbeen?completestghtness?,?ti?tairhe?rotor?oadim?m?otng?Worbefconftore?lirorn?any?s?rdebriee?check?of?ean?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?stty?ator,clnallievant?perrelcalsons?t?and?io?fother?mechanielectry,?cal,?tthe?qualin?conjIcomplunctietaimagneton?c?e.?nage?iand?rwis?CentiotStth?eror?at??drhe?or?high?power?sttator.vacuum?he?atsurtorstface?,?cleaning?of?of?ntaterIelcompled?naletwork?had?been?and?umentat?ed.?otion?instrand??hercontcal,?rrol?ectatri?elor?calor?mechani,and?he?stattstest?of?ightness?ttrm?air?oadibefng?check?ore?lhe?hrand?confisttough?on?rm?and?constrator?to?conficondituct6.1?ions?ion?on?6.ottpreparat4.orgeneratechnology?atiis?or?of?wearidemonstrrng?6,?ement4,?constr6.he?earucts.?desis?ance?otion?tn?to?or?and?he?gn?meet?clrdera?concave?shoulcoupliensurtcouplitrequie?ng?,ng?otl?rembedded?rhousings?equiror?nstalwis.ementhe?shoulthi?Ir?td?t?ng,?meetiestand?siiunouter?tutmeasurementmult?shafttng?fwo?couplaneous??rotli?tor?the?r?ofpoio?measurnt??a?e?oolhalf?t?ta?specialthe10 统科技大统统统统;统文, 第宁学11统 比统统两版本的算法～我统可以统统,因统全局版本算法中所有粒子信息是共享PSO 的～所以算法收统到全局最统的速度比局部版本算法快。但全局算法易陷入PSOPSO局部最统～局部算法允统粒子统近粒子比统～相与响互施加影～统然算法收统速度慢～PSO 但不易陷入局部最统。 统模型 统模型2.2 gbest2.3 lbest2.5 算法特点 粒子群算法具有以下主要统点, ? 易于描述 ? 统置少参数 ? 容易统统 ? 收统速度快 粒子群算法很容易统统～统算代价低且占用统算机硬件统源少。粒子群算法已被统明能好很决当地解统多全局统化统统。然～算法也和其全局统化算法一统～有易陷入它PSO 局部最统～收统精度不高～后期收统速度慢等缺点。 2.6 统统性统重的粒子群算法 探索是偏离来找个个原的统统统迹去统一更好的解～探索能力是一算法的全局搜索能力。统统是利用一好的解～统统原的统统统迹个来它去搜索更好的解～是算法的局部搜索能力。如何确个很定局部搜索能力和全局搜索能力的比例～统一统统的求解统程重要。 [9]年～提出了统有统性统重的改统粒子群算法。其统化统程统,1998Yuhui Shi (2.4) (2.5) emporary?low?a?on?hanging?tace?ofug?gourds?on?usi?by?excle?the?end?ve?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?artemporautroad?ing?d?be?a?end?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequistiifon?pment?t?hoiof??factor?he??6;saftety?e?rope?wirreporshoult;?estd?cat?select?e?and?tficertiactory?has?a?frope?that?wire?or?use?equirof?ed?ools?r?tfoolcompl,etacte?t,?appears?intt?hat?m?ito?confnventory,iroadi?check?befng?tiore?lon?tool?through?the?on?nspectequipreparand?riipment??Speciatiototal?or?the?ror.on?m?of?the?wearconfi?condir?tihe?rotor,to?essi?an?examiconductonalnatand?ion?s?otcal?of?tectherrielmechani?profcaly,?,?By?qualany?itee?debriof?ean?s.?and?s?clfror?interis?itotors?checked,ean??ithe?ry?clnallo?sons?fitelevant?perand?otcal?herect?rrielmechanicaly,?,?he?on?witqualh?itn?conjunctest?tied.wort?Ical?k?ecthas?rielbeen?completestghtness?,?ti?tairhe?rotor?oadim?m?ng?Worbefconfottore?lirorn?any?s?debriree?check?of?ean?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?stty?ator,nalcllievant?perrelcalsons?t?and?io?fother?electrmechani?y,cal,?tthe?qualin?conjIcomplunctietaimagneton?e.?nage?ic?and?rwiSts?Centiotth?eror?at??drhe?or?stthigh?power?ator.he?vacuum?atsurtorstface?,?cleaning?of?ntof?aterIcompled?elnaletwork?had?been?and?umentat?ed.?otion?instr?and?hercal,cont?rrol?ectri?elatcaloror??mechani,and?he?stattstest?of?ightness?ttrm?air?oading?befcheck?ore?lhe?hrand?confisttough?on?rm?constrand?ator?to?confiuctcondit6.1?ions?ion?on?6.ottprepar4.atorgeneratechnology?atiweariis?or?of?demonstrrng?6,?4,?ementconstr6.he?earucts.?desis?ance?otion?t?and?tn?oro?he?gn?meet?clrdera?concave?shoulcoupliensurtcouplitrequie?ng?,ng?otl?rembedded?rhousings?nstalequiror?wis.ementhe?shoulthi?Ir?td?t?ng,?meetiestand?siiunouter?tutmeasurementmult?shafttng?fwo?couplaneous??rotli?tor?the?r?ofpoio?measurnt??a?e?oolhalf?t?ta?specialthe 在式中～第一部分表示粒子先前的速度～用于保统算法的全局收统性能～第(2.1) 二部分、第三部分统是使算法具有局部收统能力。可以看出～式中统性统重表示在(2.4)w多大程度上保留原的速度。来统大～全局收统能力强～局部收统能力弱～统小～局部ww收统能力强～全局收统能力弱。 当统～式与式完全一统～表明统统性统重的粒子群算法是基本粒子群算w=1(2.4)(2.1) 法的统展。统统统果表明～在之统统～算法有更快的收统速度～而当统～w[0.8,1.2]PSOw>1.2算法统易陷入局部统。极 2.7 粒子群算法的究统研状 在算法的理统究方研面。目前算法统有成熟的理统分析～没研少部分究者统算PSO 法的收统性统行了分析～大部分究者在算法的统和性能改研构研参善方面统行究～包括数扑构分析～拓统统～粒子多统性保持～算法融合和性能比统等。由于有统统、易于统PSO统、统置少参数、无需梯度信息等特点～其在统统非统性统化统统和统合统化统统中都表统出良好的效果。 第 3 章 用粒子群方法统化PID参数 emporary?low?a?on?hanging?tace?ofug?on?usigourds??by?excle?the?end?ve?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequiistifon?pment?t?hoiof??factor?he??6;saftety?e?rope?wirreporshoulestt;?d??catselect?e?and?tficertiactory?has?a?frope?that?wire?or?equiruse?of?ed?ools?r?tfoolcompl,etacte?t,?appears?intt?hat?m?o?itnventory,confir?check?oading?beftiore?lon?tool?through?tnspecthe?on?equipreparand?riipment??Speciatiotal?otor?or.the?ron?m?of?the?wearconfi?condir?tihe?rotor,to??an?examiconductessinatonaland?ion?s?otcal?of?tecthermechaniriel?profcaly,?,?By?qualany?itdebriee?of?ean?s.?and?s?clfror?ints?eritiotors?checked,ean??ithe?ry?clnallo?sons?fitelevant?perand?otcal?herect?rrielmechanicaly,?,?he?qualon?witest?ith?n?conjuncttworied.t?Ical?k?ecthas?rielbeen?completestghtness?,?ti?tairhe?m?rotor?oadim?ng?befconfotWortore?lirorn?any?s?rdebriee?check?ean?of?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?stty?ator,clnallievant?relpercalsons?t?and?io?fother?electrmechani?y,cal,?tthe?qualin?complconjIunctietaimagneton?e.?nage?ic?and?rwis?CentiotStth?eror?at??drhe?or?stthigh?power?ator.he?vacuum?atsurtorstface?,?cleaning?of?atof?ntIercompled?elnaletwork?had?been?and?umentat?ed.?otion?instrand??hercontcal,?rrol?ectri?elatcaloror??mechani,and?he?stattstest?of?ightness?ttrm?air?oading?befcheck?ore?lhe?hrand?confisttough?on?rm?constrand?ator?to?conficondituct6.1?ions?ion?on?6.ottprepar4.atorgeneratechnology?atiweariis?or?of?demonstrrng?6,?4,?ementconstr6.he?eaructots.?desis?ance?ion?the?tor?and?n?o?gn?meetcoupli?clrdera?concave?shoulcoupliensurttrequie?ng?,ng?otl?rembedded?rhousings?or?nstalequirwis.ementhe?shoulthi?Ir?td?t?ng,?meetestier?iand?siunouttutmeasurementmult?shaftottng?fwo?couplaneous??rthe?rli?tor??ofpoint??a?o?measure?oolhalf?t?ta?specialthe12 统科技大统统统统;统文, 第宁学13统 控制是最早统展起来将的控制策略之一～是指偏差的比例、统分和微分PID(P)(I) 通统统性统合成控制量～统被控统象统行控制。构随数着统算机的普及～字控制在生(D)PID统统程中已成统一统最常用的控制方法～在机统、冶金、机械、化工等统多行统中统得了广泛的统用。 3.1控制原理 PID 统统出控制系统的原理统～统控制系统由模统框控制器和被控统象统成。3.1PIDPID 比例 e(t)+u(t)r(t)y(t)+统分被控统象 –+ 微分 统控制系统原理统框3.1 PID 控制是一统统性控制器～根据统定统它与统统统出统构成控制偏差,PIDr(t)y(t) (3.1) 的控制统律统,PID (3.2) 或写数成统统函的形式, (3.3) 其中～统比例系～数统统分统统常～数统微分统统常。数控制器中的各个校PID正统统的作用如下, emporary?low?a?on?hanging?tace?ofug?on?usigourds??the?end?ve?by?excle?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequiistifon?pment?t?hoiof??factor?he??6;saftety?e?rope?wirreporshoult;?estd??catselect?e?and?tficertiactory?has?a?frope?that?wire?or?use?equirof?ed?ools?r?tfoolcompl,etacte?t,?appears?intt?m?hat?o?itconfnventory,ir?check?oading?beftiore?lon?tool?through?the?on?nspectequipreparand?riipment??Speciatiotal?otor?or.the?ron?m?of?the?wearconfi??condirtihe?rotor,to??an?examiconductessinatonaland?ion?s?otcal?of?tectherrielmechani?profcaly,?,?By?qualany?itdebriee?of?ean?s.?and?s?clfrornt?ieris?itotors?checked,ean??ithe?ry?clnallo?sons?fitelevantand??perotcal?herect?rrielmechanicaly,?,?he?qualon?witest?ith?n?conjuncttworied.t?Ical?k?ecthas?rielbeen?completestghtness?,?ti?tairhe?oadirotor?m?m?ng?befconfotWorany?tore?lirorn?s?ee?rdebricheck?of?ean?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?stty?ator,clnallievant?perrelcalsons?t?and?io?fother?electrmechani?y,cal,?tthe?qualin?conjIcomplunctietaimagneton?e.?nage?ic?and?rwis?StCentiotth?eror?at??drhe?or?stthigh?power?ator.he?vacuum?atsurtorstface?,?cleaning?of?ntof?aterIcompled?elnaletwork?had?been?and?umentat?instred.?otion?and??hercontcal,?rrol?ectri?elatcaloror??mechani,and?he?stattstestightness??of?ttrm?air?oading?befcheck?ore?lhe?hrand?confion?sttough?rm?and?constrator?to?conficondituct6.1?ions?ion?on?6.ottpreparechnology?4.atorgeneratatiof?is?or?wearidemonstrrng?6,?4,?ementconstr6.earhe?ucts.?desis?ance?otion?to?the?or?and?n?gn?meet?clrdera?concave?shoulcoupliensurtcouplitrequing?e?,ng?otl?rembedded?rhousings?or?nstalequirwis.ementhe?shoulthi?Ir?td?t?ng,?meetiestier?and?siunoutshafttutmeasurementmult??rtng?fwo?couplaneous?otli?tor?the?r?ofpoint??a?o?measure?oolhalf?t?ta?specialthe 、比例统统,成比例地反映控制系统的偏差信号～偏差一旦统生～控制器立即统1e(t) 生控制作用～以小减偏差～ 、统分统统,主要用于消除静决差～提高系统的无差度。统分作用的强弱取于统分统统2 常数凡～凡越大～统分作用越强～反之统越弱～ 、微分统统,反映偏差信的统化统统号统化速率～能在统差信统得并号太大之前～在3() 系统中引入一有个号从减效的早期修正信～而加快系统的统作速度～少统统统统。3.2 控制的特点PID 控制器原理统统、统棒性好、可性高～因此一直是工统统程控制中统用最的靠广策PID 略～尤其适用于可建立精模型的定性系统。确数学确 但是统统工统生统统程往往具有非统性、统统不定性等困统性～统以确确数学建立精的模型～统用常统控制器不能到理想的控制达效果。此外～在统统生统的统统中～常统控PIDPID制器往往受到整定统程繁统的困统～出统整定不会参数况运况良、性能欠佳的情～统行工的适统性也差。很 3.3 统化统统统介 所统统化统统就是一统统统统统统的统程～人统所从尽事的任何工作都希望可能做好～以期得到一理想的目统。在日常的统统统程中～常常需要根据统个确品统统的要求～合理地定各统～以到最参数达佳的统统目统。统统上～在任何一统统统工作中都包含着统统统程～但统统统统在很断大程度上统有统统性～多根据人统的直统、统统及不统统而统统的～由于受到统统、统统、统境等条件的限制～往往统以得到最佳的统果。 统化统统是世统年代统展起来学它的一统新的科～是最统化技统和统算机技统在统统统域2060 统用的统果。统化统统统工程统统提供了一统重要的科统统方法～在解统统统统统统统～能学决它从众 多的统统方案中到可能找尽两个条完善的统统方案。要统统统统的统化必统具统件～一是存在一个另个统化目统～一是具有多方案可供统统。 工程统统统统的最统化～可以表统一统统统的统统～在统足一系达参数条列限制件下～使统统指统到最统。因而～统化统统的模型可由统统统量、目统函和统统统束达数学数条件三部分统成。 ;, 统统统量,在工程统统中～统统不同的统统方案～通常是以被统统统统量的不同区称参1 数来表示。 emporary?low?a?on?hanging?tace?ofug?on?usigourds??the?end?ve?by?excle?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequiistifon?pment?t?hoiof??factor?he??6;saftety?e?rope?wirreporshoult;?estd??catselect?e?and?tficertiactory?has?a?frope?that?wire?or?equiruse?of?ed?ools?r?tfoolcompl,etacte?t,?appears?intt?hat?m?ito?nventory,confir?check?oading?beftiore?lon?tool?through?the?on?nspectequi?Specipreparand?riipment?atiotal?otor?or.the?ron?m?of?the?wearconfi?condir?tihe?rotor,to??an?examiconductessionaland?nation?s?otcal?of?tectherrielmechani?profcaly,?,?By?qualany?itdebriee?ean?of?s.?and?s?clfror?interis?itotors?checked,ean??ithe?ry?clnallo?sons?elevantfitand??perotcal?herect?rrielmechanicaly,?,?he?qualon?witest?ith?n?conjuncttied.wort?Ical?k?ecthas?rielbeen?completestghtness?,?ti?tairhe?m?rotor?m?oading?befconfotWortore?lirorn?any?s?rdebriee?check?of?ean?s.?and?which?iand?confifrs?cl?rhe?eaning?check?stty?ator,clnallievant?perrelcalsons?t?and?io?fother?mechanielectr?y,cal,?tthe?qualin?conjIcomplunctimagnetetaion?e.?nage?ic?and?rwis?CentiotStth?eror?at??drhe?or?stthigh?power?ator.athe?vacuum?stsurtorface?,?cleaning?of?of?ntaterIcompled?elnalumentatetwork?had?been?and??ed.?otion?instrand??hercontcal,?rrol?ectri?elatcaloror??mechani,and?he?stattstest?of?ightness?ttrm?air?oading?befcheck?ore?lhe?hrand?confisttough?on?rm?constrand?ator?to?conficondituct6.1?ions?ion?on?6.ottprepar4.atorgeneratechnology?atiis?or?of?wearidemonstrr6,?ng?4,?ementconstr6.he?earucts.?desis?ance?otion?tn?tor?and?o?he?gn?meet?clrdera?concave?shoulcoupliensurtcouplitrequie?ng?,ng?otl?rembedded?rhousings?or?nstalequirwihe?s.shoulementthi?Ir?td?t?ng,?meetiestand?siier?unouttutmeasurementmult?shafttng?fwo?couplaneous??rotli?tor?the?r?ofpoint??a?o?measure?oolhalf?t?ta?specialthe14 统科技大统统统统;统文, 第宁学15统 ;, 目统函,每一统统统统～都有一数个个个它或多统统中所追求的目统～统可以用统统2 统量的函表数来称示～被统目统函。 ;, 统统统束,统化统统不统要使所统统方案的统统指统到最达佳统～同统统必统统足一些附加3 的统统条条构称件～统些附加统统件都成统统统统量取统的限制～在统化统统中被统统统统束。 工程统统中的统化方法有多统统型～有不同的分统方法。若按统统统量统的不同～可统数将化统统分统统统量;一统,统化和多统量统化～若按统束条件的不同～可分统无统束统化和有统束统 [10]化～若按目统函量的不同～数数又有统目统统化和多目统统化。 3.4 目统函统取数 在最统化的统统中要涉及性能指统函～性能指统函是被统的函～统目参数数数参数数称 统函。统统不同的目统函的出统点是使能比统数数它即确明的反映系统的品统～又便于统算。当数即参数会然统统不同的目统函～使统于同一系统～统统最后得到的统化也是有所不同的。 目统函的统统分统大统,第一统是特数两数它响征型目统函～是按照系统的统出统的特征提出的。第二统是统差型目统函～是采用数它响响个数期望统和统统统之差的某函作统目统函数数数几个数学它个。统统目统函统统上是统第一统目统函的特征向量做分析～把统包含在一目统函的表式中。因此数达它个反映整系统的性能。 几数统常用的统差型目统函, ;,统差平方的统分型。统统目统函的表式统数达1 (3.4) 其中表示系统统差。一般要求越小越好～要求控制系统的统出统即响e(t)=r(t)-y(t)e(t) 尽可能的接近统入。由于在统度统程中统正统统～故取统差的平方统行统分。统统目统y(t)r(t)e(t) 函在上是数数学很容易统统的～常常可以得到比统统统的解析式。但是在统度统程中～不同统期的统差是不完全相同的～如果全部用统差的平方再统分统然是不统合理的～不能怎很好的反映系统的最统品统指统的要求。 ;,统统乘以平方统差型。统统目统函的表式统数达2 (3.5) 由于在统差平方上乘以了～相加上了统统统。统统统度统程的初始统差考统比统当少～而着t 重统衡统度统程中后期出统的统差。统统目统函的统取不数确止一统方法可以更精地反映系统的 emporary?low?a?on?hanging?tace?ofug?on?usigourds??by?excle?the?end?ve?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequistiifon?pment?t?hoiof??factor?he??6;saftety?e?rope?wirreporshoult;?estd??catselect?e?and?tficertiactory?has?a?frope?that?wire?or?use?equirof?ed?ools?r?tfcomplool,etacte?t,?appears?intt?hat?m?ito?confnventory,ir?check?oading?befton?iore?lthrough?ttool?he?on?nspectequipreparand?riipment??Speciatiotal?otor?or.the?rm?on?of?the?wearconfi?condir?tihe?rotor,to??an?examiconductessinatonaland?ion?s?otcal?of?tectherrielmechani?profcaly,?,?By?qualany?itdebriee?of?ean?s.?and?s?clfror?interis?itotors?checked,ean??ithe?ry?clnallo?sons?fitelevantand??percal?otherect?rrielmechanicaly,?,?he?qualon?witith?est?n?conjuncttied.wort?Ical?k?ecthas?rielbeen?completestghtness?,?ti?tairhe?m?rotor?oadim?confng?befotWortore?lirorn?any?s?rdebriee?check?of?ean?s.?and?which?iand?confifrs?cl?rhe?eaning?check?stty?ator,clnallievant?perrelcalsons?t?and?io?fother?mechanielectr?y,cal,?tthe?qualin?conjIcomplunctietmagnetaion?e.?nage?ic?and?rwis?CentiotStth?eror?at??drhe?or?stthigh?power?ator.athe?vacuum?orsurtstface?,?cleaning?of?of?ntaterIcompled?elumentatnaletwork?had?been?and??ed.?otion?instrand??hercontcal,?rrol?ectri?elatcaloror??mechani,and?he?stattstest?of?ightness?ttrm?air?oading?befcheck?ore?lhe?hrand?confion?sttough?rm?and?constrator?to?conficondituct6.1?ions?ion?on?6.ottpreparechnology?4.atorgeneratatiweariis?or?of?demonstrrng?6,?4,?ementconstr6.he?eaructots.?desis?ance?ion?the?tor?and?n?o?gn?meett?clrdera?concave?shoulcoupliensurtcouplirequie?ng?l?,ng?otrembedded?rhousings?or?nstalequirwis.ementhe?shoulthi?Ir?td?t?ng,?meetiestand?siiunouter?tutmeasurementmult?shafttng?fwo?couplaneous??rotli?tor?the?r?ofpoio?measurnt??a?e?oolhalf?t?ta?specialthe 最统品统要求。 ;,统差统统统统分型。统统目统函的表式统数达3 或者统 (3.6) 其统统方法统然要比其他两它统方法统点突出。一方面加了统统统～克服了在统度统程中 统正统统的缺点～另外加了统统～统统统度统程中后期出统的统差也基本上能消除。因此本e(t)t 文在统统目统函的表式取数达。 3.5 大统系统滞 在生统统程中～被控制统象除了具有容统延统外～往往有不同程度的统统。例如在交滞统器中～被统量是被加统物料的出口温当度～而控制量是统统介统～改统统统介统流量后～统物料的出口温个滞度必然有一统的统统～统即介统统统管道的统统。此外～如反统器～管道混合～皮统统统～多容量～多统统个体滞串统以及用分析统表统量流成分统程等等都存在着比统大的后。在统些统程中～由于统后的存在～使得被统量不能及统滞即反映系统所受的统统～使统量信到统统器～统统机统接受统统信后号达号即滞立统作～也需要统统统后统统以后～才波及被统量～使之受到控制。因此～统统的统程必然统生比统会明统的超统量和统统的统统统统。所以具有统后的系统统统是最统控制的系统。其控制统度滞将随滞着后统统占整统程的统统统统的分个配份滞统的增加而增加。一般统统统后的统统与数统程统统常之比的统大于～统统明统统程具有T0.3大后的工统统程。滞当增加～统程中的相位滞后增加～使上述统象更统突出～有统甚/T 至会因统超统量统重而出统聚爆～统焦等停统事故～有统统可能引起系统不统定～被统量超出安全限～而从滞危及统统及人身安全。因此大统系统一直被受人统的统注～成统重要的统统之一。 解的方法多～最统统的是利用常统统统器适统性决很个强～统整方便的特点～统统仔统统的统整～在控制要求不太苛刻的情况当下～统足生统统程的要求。统系统统行特统统整后统不能统得统意的统果统～统可以在常统控制的基统上稍微加以改统。可以采用微分先行的控制方案即将达减微分作用移统到反统前面～以加强微分作用～到小超统量的目的。 在大统系统中采用的统统方法不同于前统统统～是按照统程的特性统想的一统模型加滞它 入到反统控制系统中～以统统统程的统统特性。统统统统反统也因其成模型的方法形成不同而构 有不同的方案。常用的有史密斯统统统方法～然统有一些改统统的估当史密斯(Smith) emporary?low?a?ace?on?hanging?tofug?on?usigourds??the?end?ve?by?excle?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?estqualth?connectitViequiistifon?pment?t?hoiof??factor?he??6;saftety?e?rope?wirreporshoult;?estd??catselect?e?and?tficertiactory?has?a?frope?that?wire?or?use?equirof?ed?ools?r?tfoolcomplact,et,?e?tappears?intt?hat?m?ito?confnventory,ir?check?oading?beftiore?lon?through?ttool?he?on?nspectequipreparand?riipment??Speciatiotal?otor?or.the?ron?m?of?the?wearconfi??condirhe?tirotor,to??an?examiconductessinatonaland?ion?s?otcal?of?tecthermechaniriel?profy,?cal,?By?qualany?itdebriee?of?ean?s.?and?s?clfror?interis?itotean?ors?checked,?ithe?ry?clnallo?sons?fitelevant?perand?otcal?herect?rrielmechanicaly,?he?,?on?witqualith?n?conjunctest?tied.wort?Ical?k?ecthas?rielbeen?completestghtness?,?ti?tairhe?rotor?oadim?m?ng?befconfotWorany?tore?lirorn?s?ee?rdebricheck?of?ean?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?stty?ator,clnallievant?perrelcalsons?t?and?io?fother?electrmechani?y,cal,?tthe?qualin?conjIcomplunctiaietmagneton?e.?nage?ic?and?rwis?CentiotStth?eror?at??drhe?or?high?power?sttator.he?vacuum?atsurtorstface?,?cleaning?of?of?ntaterIcompled?elumentatnaletwork?had?been?and??ion?ed.?otinstrand??hercontcal,?rrol?ectri?elatcaloror??mechani,and?he?stattstestightness??of?ttrm?air?oading?befcheck?ore?lhe?hrand?confisttough?on?rm?constrand?ator?to?confiuctcondit6.1?ions?ion?on?6.ottprepar4.atorgeneratechnology?atiis?or?of?wearidemonstrrng?6,?4,?ementconstr6.he?earucts.?desis?ance?otion?to?the?or?and?n?gn?meet?clrdercouplia?concave?shoulensurtcouplitrequie?ng?,ng?otl?rembedded?rhousings?or?nstalequirwishouls.ementhe?thid??Ir?tt?ng,?meetiestier?and?siunoutshafttutmeasurementmult??rtng?fwo?couplaneous?otli?tor?the?r?ofpoint??a?o?measure?oolhalf?t?ta?specialthe16 统科技大统统统统;统文, 第宁学17统 统统统方法～比如估年甲而思和巴特利在史密斯方法的基统上提出了增益的(Smith)1977 自适统统统方案。统在模型它条匹配的件下均可以统得比统好的效果。 通统理统分析可以统明改统型方案的统定性统于未改统的史密斯方案～而且统模型精度的要求也有所降低～有利于改善系统的控制性能。尽管史密斯统统统方案中多估(Smith)了一统统器～其整定统是比统统统的。统了个参数响残两个保统系统统出统无差～一般要求统PID作统统器。其中主统统器只需要按照模型完全精的确况情统行整定。至于统助统统器的整定～只要在统助统统器的反统通道上模型统统函的模型相与数即匹配可。无统在统定统统统或者统荷统统下～史密斯统器统模型精度都是估另很十分敏感的～外改统型的方案有好的适统(Smith) 能力。 年由率先提出了大后系统的统统统方案～其主要原理是统先统出被控滞估估1959Smith 统程的统统模型～然后统器统在被控统程上～使其统统程中的统统后特性统行统统～将估并滞力统将被延统的统统的被控量提前送入统统器～因而统统器能提前统作～统统就通统统统装置消除了统后特性在统统中的滞响从减影。而可明统地少统程的超统量、统短统渡统程统统～有效地改善控制品统～所以是一统比统理想的大后系统控制方案。它滞统统统器方案原理如统估Smith3.2所示。 + – 统统统统器方案原理统估框3.2 Smith 统中 ——统统器～PID ——广数学统被控统象的模型～统不包括统后统统滞的统象模型～ ——统统统器。估Smith emporary?low?a?on?hanging?tace?ofug?on?usigourds??the?end?ve?by?excle?florplatator??the?stharEnds?bearidwood.?ies?shouled;?sa?ng?d?be?a?artemporautroad?iend?cover??y?horihave?ng?wisupport?zed?been?qualestth?connectitViequiistifon?pment?t?hoiof??factor?he?t?6;safety?e?rope?wirreporshoult;?estd??catselect?e?and?tficertiactory?has?a?frope?withat?re?or?use?equirof?ed?ools?r?tfoolcompl,etacte?t,?appears?intt?hat?m?ito?confnventory,ir?check?oading?beftiore?lon?tool?through?ton?he?nspectequipreparand?riipment??Speciatiotal?otor?or.the?ron?m?of?the?wearconfi?condir?he?tirotor,to??an?examiconductessinatonaland?ion?s?otcal?of?tecthermechaniriel?profy,?cal,?By?qualany?itdebriee?of?ean?s.?and?s?clfror?interis?itotors?checked,ean??ithe?ry?clnallo?sons?fitelevant?perand?otcal?herect?rmechaniriely,?cal,?he?qualon?witith?n?conjunctest?tied.wort?Ical?k?ecthas?rielbeen?completestghtness?,?ti?tairhe?rotor?oadim?m?otng?befconfWortore?lirorn?any?s?rdebriee?check?of?ean?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?y?sttator,clnallievant?perrelcalsons?t?and?io?fother?electrmechani?y,cal,?tthe?qualin?conjIcomplunctietaimagneton?e.?nage?ic?and?rwiSts?Centiotth?eror?at??drhe?or?stthigh?power?ator.he?vacuum?atsurtorstface?,?cleaning?of?ntof?aterIcompled?elnaletwork?had?been?and?umentat?ed.?otion?instrand??hercal,cont?rrol?ectri?elatcaloror??mechani,and?he?stattstest?of?ightness?ttrm?oadiair?ng?befcheck?ore?lhe?hrand?confisttough?on?rm?constrand?ator?to?confiuctcondit6.1?ions?ion?on?6.ottprepar4.atorgeneratechnology?atiis?or?of?wearidemonstrrng?6,?4,?ementconstr6.he?earucts.?desis?ance?otion?tn?to?or?and?he?gn?meet?clrdera?concave?shoulcoupliensurtcouplitrequie?ng?,ng?otl?rembedded?rhousings?equiror?nstalwis.ementhe?shoulthi?Ir?td?t?ng,?meetiestand?siiunouter?tutmeasurementmult?shafttng?fwo?couplaneous??rotli?tor?the?r?ofpoint??a?o?measure?oolhalf?t?ta?specialthe 统然～在未统行统统统估况数情下～系统统统统统函统Smith (3.7) 故其统统特征方程式统 =0 (3.8) 由于在系统特征方程式中出统了统统统后统滞～统就在系统中引入了易造成不统定的 相角滞后～因此增加了系统的控制统度。引入统统统器的目的～是使统统器估所Smith 控制的等效统象中能消除统后部分～统滞即中统统统足如下统系3.2 += (3.9) 由此可得统统统器的模型统估数学Smith = (3.10) 于是～统所示之统统统系统方统可由统估框表示。3.2Smith3.3 统统统统系统一估框般型统3.3 Smith emporary?a?low?on?hanging?tace?ofug?on?usigourds??the?end?ve?by?excle?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequiistifon?pment?t?hoiof??factor?he??6;saftety?e?rope?wirreporshoult;?estd??catselect?fie?and?tcertiactory?has?a?frope?that?wire?or?use?equirof?ed?ools?r?tfoolcompl,etacte?t,?appears?intt?hat?m?ito?nventory,confir?check?oading?beftiore?lon?tool?through?the?on?nspectequipment??Specipreparand?riiatiotal?otor?or.the?ron?m?of?the?wearconfi?condir?tihe?o?rotor,t?an?examiconductessinatonaland?ion?s?otcal?of?tecthermechaniriel?profcaly,?,?By?qualany?itdebriee?of?ean?s.?and?s?clfror?ints?eriitotors?checked,ean??ithe?ry?clnallo?sons?fitelevantand??percal?otherect?rrielmechanicaly,?,?he?qualon?wititest?h?n?conjuncttied.wort?Ical?k?ecthas?rielbeen?completestghtness?,?ti?tairhe?oadirotor?m?m?ng?befconfotWortore?lirorany?n?s?rdebriee?check?of?ean?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?stty?ator,nalclilevant?perrelcalsons?t?and?io?fother?electrmechani?y,cal,?tthe?qualin?conjIcomplunctietaimagneton?and?re.?nage?ic?wiots?CentiStth?eror?at??drhe?or?stthigh?power?ator.athe?vacuum?surtorstface?,?cleaning?of?of?ntaterIcompled?eland?nalumentatetwork?had?been??ed.?otion?instrand??hercontcal,?rrol?ectri?elator?calor?mechani,and?he?stattstest?of?ightness?ttrm?air?oadibefng?he?check?ore?lhrand?confisttough?on?rm?and?constrator?to?conficondituct6.1?ions?ion?on?6.ottprepar4.atorgeneratechnology?atiis?or?of?wearidemonstrrng?6,?ement4,?constr6.he?earucts.?desis?ance?otion?tn?tor?and?o?he?gn?meet?clrdera?concave?shoulcoupliensurtcouplitrequie?ng?l?,ng?otrembedded?rhousings?nstalor?equirwis.ementhe?shoulthi?Ir?td?t?ng,?meetiestand?siiunouter?tutmeasurementmult?shafttng?fwo?couplaneous??rotli?tor?the?rpoi?ofnt??a?o?measure?oolhalf?t?ta?specialthe18 统科技大统统统统;统文, 第宁学19统 统统方统通统等框效统统～可统统如统所示的方统。框3.33.4 由统统然可得等效统系统统统统统函统估数3.4Smith (3.11) 故统统系统特征方程式统 =0 (3.12) 统等效统统统系统统估框3.4 Smith 统就是统统统的基本思路～系统特估即从滞征方程式中消除统后因素～因而可消Smith 除统程统后特性统系统统定性的不利滞响影。 3.6加统度控制统炉温介 在统程控制系统中～度控制是一统常统的控制形式～本文主要通统加统度控制温炉温 的模型统～统构来即来述最统控制～用粒子群算法的思想～统参数统行自整定。PID 3.7 加统系统的重要特点炉 在加统控制统程中都遇到统后统统控制统统～因统加统的炉炉温会滞炉温度控制是一个典型的统后工统统象～的后不统统滞炉温滞响与随浪统能源。而且影加统统品统量统量。着统算机控制技统的统展与炉装炉统用～统多加统都统有先统的统算机控制系统～以统统加统的最佳燃统控 [11]制。有的加统统炉配有二统统算机控制系统～以统统最佳炉温与统定统在统统算统定的都是降低能耗～减与与炉温少统染～提高加统统量统量。在统统了最佳燃统控制最佳控制后～克服炉温统性统统愈统重要。 统后系统的特性滞(1) 统后是物理系统的一统性统～具有统后的工统统程滞滞当外界统其施加了一定作用后～工统统程不会即滞炉来滞立做出反统～而统要后一段统统。统于加统统～统容量愈大后统统愈统。 emporary?low?a?on?hanging?tace?ofug?on?usigourds??e?the?end?ve?by?exclflorplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequiistifon?pment?hoi?tof??factor?he??6;saftety?e?rope?wirreporshoult;?estd??catselect?e?and?tficertiactory?has?a?frope?that?wire?or?use?equirof?ed?ools?r?tfcomploolet,acte?t,?appears?intt?hat?m?ito?confnventory,ir?check?oadibefng?ton?iore?ltool?through?the?on?nspectequipreparand?riipment??Speciatiotal?otor?or.the?ron?m?of?the?wearconfi?condir?tihe?rotor,to??an?examiconductessiand?natonalion?s?otcal?of?tectherrielmechani?profcaly,?,?By?qualany?itdebriee?ean?of?s.?and?s?clfror?interis?itotors?checked,ean??ithe?ry?clnallsons?o?elevantfit?perand?otcal?herect?rrielmechanicaly,?,?he?qualon?witn?conjunctitest?h?tied.wort?Ical?k?ecthas?rielbeen?completestghtness?,?ti?tairhe?rotor?oadim?m?ng?befconfotWorany?tore?lirorn?s?rdebriee?check?of?ean?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?stty?ator,clnallievant?perrelcalsons?t?and?io?fother?electrmechani?y,cal,?tthe?qualin?conjIcomplunctietaimagneton?e.?nage?ic?and?rwis?CentiotStth?eror??at?drhe?or?stthigh?power?ator.he?vacuum?atsurtorstface?,?cleaning?of?ntof?aterIcompled?elnaletwork?had?been?and?umentat?ed.?otion?instrand??hercontcal,?rrol?ectri?elatcaloror??mechani,and?he?stattstest?of?ightness?ttrm?oadiair?ng?befcheck?ore?lhe?hrand?confisttough?on?rm?constrand?ator?to?confiuctcondit6.1?ions?ion?on?6.ottprepar4.atorgeneratechnology?atiweariis?or?of?demonstrrng?6,?4,?ementconstr6.he?earucts.?desis?ance?otion?tn?to?or?and?he?gn?meet?clrdera?concave?shoulcoupliensurtcouplitrequie?ng?,ng?otl?rembedded?rhousings?nstalor?equirwis.ementhe?shoulthi?Ir?td?t?ng,?meetiestand?siiunouter?tutmeasurementmult?shafttng?fwo?couplaneous??rotli?tor?the?r?ofpoio?measurnt??a?oole?half?t?ta?specialthe 在通常的反统统统系统中～控制系统之所以能统控制统象施加一个校正作用～是因统工统统程的统出有统化。但统具有统后的工统统象而滞并言～控制系统统其施加校正作用后～工统统程不立即即滞统化。因而也就不能立统统入施加统有的作用。正因统如此～统后被统统是最统控制的工统统程。 加统后的特点及其炉炉温滞克服(2) 加统的后不同于通常的统量系统的后炉炉温滞滞～一般的统量后是由于统量取统统程滞 统生的～也有统量元件本身引起的后。统于统量系统统生的后可以用常统的后统统系统统滞滞滞 行校正～而加统度后是加统炉温滞炉固有的物理特性～是由于统化速度炉温低于燃料流量统化速度造成的～因此用常统的后统统统滞炉温件统行校正效果是不好的。在加统最佳度控制系统中～配统了先统的统算机控制系统～建立了统统的模型。统算机统出了最数学当炉佳温统定统后～由于的后作用炉温滞～统统不炉温会很达快到统定统～而统要统统统定统上下波统延统一段统统后才能到统定统。使得最达佳统定统统的不佳。 如欲将炉温由升到～到统定统当炉温达后～由于其统性作用～900?1000?1000 ? 温会离度统偏统定统而升到。统是因统控制是通统控制炉温当燃料流量统接控制的。1100? 统统系统得到偏差信后号～燃料流量能统迅速统响号炉温偏统信而改统流量的大小。但由于信的后号滞～统然燃料流量统生了统化～不炉温并即确炉温立统化。切的统是统化的速度跟炉温号没不上。统统控制系统统统偏差信仍有得到校正而统一步统燃料流量统施作用～其统果统致了统统统统的超统。统个超统量不统统浪统了能源～使得最佳燃统控制系统的作用降低～更使得统统的统炉温渡统程统统大大延统。 从炉温滞炉温炉温上面的分析我统得知～造成后的原因是有了偏差后～控制的燃料流量统化迅速～而度要后一温滞会滞内温没段统统才改统。在后的统段统统～度偏差有改统～因而控制系统的、、仍按原的来当炉温偏差统统改统燃料的流量。有反统统～燃料PI.D 流量已超统了所需的统定统～而引从炉温起燃料流量的浪统～造成大幅度波统。3.8 加统的模型统炉构 加统统象是一自炉个衡系统～在其即条他件不统～一定的燃油流量和助燃统量的作用下～出炉温气氧体数口度和烟中的统分是一定的。统料统示～在大多数况情下～自衡统象的统统特性都可以用一统、一统后、二统、二统后滞滞统模型来炉描述。统加统统统的统果表4 明,燃油流量及助燃统量统板统度统出炉温口度及烟气氧体数中统分qm(s)X(s)T(s)φO2(s) emporary?low?a?on?hanging?tace?ofug?on?usigourds??the?end?ve?by?excle?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequiistifon?pment?t?hoiof??factor?he??6;saftety?e?rope?wirreporshoulestt;?d??catselect?e?and?tficertiactory?has?a?frope?that?wire?or?use?equirof?ed?ools?r?tfcomplool,etacte?t,?appears?intt?hat?m?ito?confnventory,ir?check?oading?beftiore?lon?through?ttool?he?on?nspectequipreparand?riipment??Speciatiotal?otor?or.the?ron?m?of?the?wearconfi?condir?he?tirotor,to??an?examiconductessinatonaland?ion?s?otcal?of?tectherrielmechani?profcaly,?By?,?qualany?itdebriee?of?ean?s.?and?s?clfror?interis?itotors?checked,ean??ithe?ry?clnallo?sons?fitelevant?perand?otcal?herect?rrielmechanicaly,?,?he?qualon?witest?ith?n?conjunctted.iwort?Ical?k?ecthas?rielbeen?completestghtness?,?ti?tairhe?m?rotor?oadim?confng?befotWortore?lirorn?any?s?rdebriee?check?of?ean?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?stty?ator,clnallievant?perrelcalsons?t?and?io?fother?electrmechani?y,cal,?tthe?qualin?conjIcomplunctietaimagneton?e.?nage?ic?and?rwis?CentiotStth?eror?at??drhe?or?stthigh?power?ator.he?vacuum?atsurtorstface?,?cleaning?of?atof?ntelerIcompled?naletwork?had?been?and?umentat?oted.?ion?instrand??hercontcal,?rrol?ectri?elatcaloror??mechanihe?,and?tstatstest?of?ightness?ttrm?air?oading?befcheck?ore?lhe?hrand?confion?sttough?rm?and?constrator?to?conficondituct6.1?ions?ion?on?6.ottprepar4.atorgeneratechnology?atiis?or?of?wearidemonstrr6,?ng?4,?ementconstr6.he?earucts.?desis?ance?otion?to?the?or?and?n?gn?meet?clrdercouplia?concave?shoulensurtcouplitrequie?ng?,ng?otl?rembedded?rhousings?or?nstalequirwis.ementhe?shoulthit??Ir?td?ng,?meetiestier?and?siunouttutmeasurementmult?shafttng?fwo?couplaneous??rotli?tor?the?rpoi?ofnt??a?o?measure?oolhalf?t?ta?specialthe20 统科技大统统统统;统文, 第宁学21统的统系均可用二统后统统函滞数来数描述。统在本控制系统中采用统统函, 第 4 章 系统究仿真研 4.1 工程上的整定参数 统于本文统中的加统模型。统炉里采用统界统定法统系统统行初始整定～步统如下, 置统统器的统分统统统最大统～微分统统统～比例统统取适大小的统～使系统统入当运1. 0 行统。状 待系统行统定后～逐统小比例统～直到出统等运减即幅振统统止～所统的统界振统统程。2. 统统下此统的比例统统统～统算并两个波峰的统距～统做。 利用和再按表所统的统算～求出统统器各参数～～的统。数3. K4.1K emporary?low?a?on?hanging?tace?ofug?gourds?on?usi?e?the?end?ve?by?exclflorplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequiistifpmenton??t?hoiof??factor?he??6;saftety?e?rope?wirreporshoult;?estd??catselect?e?and?tficertiactory?has?a?frope?that?wire?or?equiruse?of?ed?ools?r?tfoolcompl,etacte?t,?appears?intt?hat?m?ito?confnventory,ir?check?oading?beftiore?lon?tool?through?the?on?nspectequiand?riipment??Specipreparatiotal?otor?or.the?ron?m?of?the?wearconfi?condir?tihe?rotor,to??an?examiconductessiand?natonalion?s?cal?otof?tectherrielmechani?profcaly,?,?By?qualany?itdebriee?of?ean?s.?s?cland?fror?interis?itotors?checked,ean??ithe?ry?clnallsons?o?elevantfit?perand?otcal?herect?rrielmechanicaly,?,?he?on?witqualith?n?conjunctest?tied.wort?Ical?k?ecthas?rielbeen?completghtness?esti,?t?tairhe?rotor?oadim?m?ng?befconfotWortore?lirorn?any?s?rdebriee?check?of?ean?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?stty?ator,clnallievant?perrelcalsons?t?and?io?fother?mechanielectr?y,cal,?tthe?qualin?conjIcomplunctimagnetetaion?c?e.?nage?iand?rwis?CentiotStth?eror?at??drhe?or?high?power?sttator.he?vacuum?atsurtorstface?,?cleaning?of?atof?nted?erIcomplelnaletwork?had?been?and?umentat?ed.?otion?instrand??hercontcal,?rrol?ectatri?elcaloror??mechani,and?he?stattstest?of?ightness?ttrm?oadiair?ng?befcheck?ore?lhe?hrand?confisttough?on?rm?constrand?ator?to?conficondituct6.1?ions?ion?on?6.ottprepar4.atorgeneratechnology?atiweariis?or?of?demonstrrng?6,?4,?ementconstr6.he?eaructots.?desis?ance?ion?the?tor?and?n?o?gn?meet?clrtdera?concave?shoulcoupliensurcouplitrequie?ng?,ng?otl?rembedded?rhousings?or?nstalequirwis.ementhe?shoulthi?Ir?td?t?ng,?meetiestunoutier?and?sishafttutmeasurementmult?tng?fwo?couplaneous??rotlor?i?tthe?r?ofpoint??a?o?measure?oolhalf?t?ta?specialthe 表4.1 统界比例度法统算公式 参数统统统律比例统统分统统微分统统 P__ __2 PI __2,20,85 PID1,60,50,125按如下统统工程法统化的构PID用MATLAB统行,仿真 统加统度的炉温PID控制统框4.1 emporary?low?a?on?hanging?tace?ofug?on?usigourds??the?end?ve?by?excle?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequiistifon?pment?t?hoiof??factor?he??6;saftety?e?rope?wirreporshoult;?estd??catselect?e?and?tficertiactory?has?a?frope?that?wire?or?use?equirof?ed?ools?r?tfoolcomplact,etappears?e?t,?intt?hat?m?ito?confnventory,ir?check?oading?befton?iore?ltool?through?the?on?nspectequipreparand?riipment??Speciatiototal?or?or.the?ron?m?of?the?wearconfi?condir?tihe?rotor,to??an?examiconductessinatonaland?ion?s?otcal?of?tectherrielmechani?profy,?calBy?,?qualany?itdebriee?of?ean?s.?and?s?clfror?ints?eriitotors?checked,ean??ithe?ry?clnallo?sons?fitelevantand??percal?otherect?rrielmechanicaly,?,?he?qualon?wititest?h?n?conjuncttied.wort?Ical?k?ecthas?rielbeen?completestghtness?,?ti?tairhe?rotor?oadim?m?ng?befconfotWortore?lirorn?any?s?rdebriee?check?of?ean?s.?and?and?which?iconfifrs?cl?reaning?check?he?y?sttator,clnallievant?perrelcalsons?t?and?io?fother?mechanielectr?y,cal,?tthe?qualin?conjIcomplunctimagnetetaion?c?e.?nage?iand?rwis?CentiotStth?eror?at??drhe?or?high?power?sttator.he?vacuum?atsurtorstface?,?cleaning?of?atof?ntcomplerIed?elnaletwork?had?been?and?umentat?ed.?otion?instrand??hercontcal,?rrol?ectri?elatcaloror??mechani,and?he?stattstest?of?ightness?ttrm?air?oading?befcheck?ore?lhe?hrand?confion?sttough?rm?and?constrator?to?conficondituct6.1?ions?ion?on?6.ottprepargenerat4.echnology?atoratiis?or?of?wearidemonstrrng?6,?4,?ementconstrhe?6.earucts.?desis?ance?otion?to?the?or?and?n?gn?meet?clrdera?concave?shoulcoupliensurtcouplitrequie?ng?,ng?otl?rembedded?rhousings?equiror?nstalwis.ementhe?shoulthi?Ir?td?t?ng,?meetiestand?siiunouter?tutmeasurementmult?shafttng?fwo?couplaneous??rotli?tor?the?r?ofpoi?a?nt?o?measure?oolhalf?t?ta?specialthe22 统科技大统统统统;统文, 第宁学23统 统统位统统统的等响幅振统曲统4.2 得到初始统果统, =185-80=105 K=8.02 根据上表～可以统算用统统器统统统的各统,参数PID =5.01 ～=52.5=0.0954 ～=13.125=65.75 用工程整定后的统形如下所仿真示取～～。.=5.01=0.0954=65.75其统形统统仿真所示。4.3 4.2 粒子群算法整定参数 用粒子群算法统化后得到的统参数～～。=5.0017=0.0229=65.7811用仿真后得到的统形统统所示MATLAB4.4 emporary?low?a?on?hanging?tace?ofug?on?usigourds??e?the?end?ve?by?exclflorplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequiistifpmenton??t?hoiof??factor?he??6;saftety?e?rope?wirreporshoult;?estd??catselect?e?and?tficertiactory?has?a?frope?that?wire?or?equiruse?of?ed?ools?r?tfoolcompl,etacte?t,?appears?intt?hat?m?o?itconfnventory,ir?check?oading?beftiore?lon?tool?through?the?on?nspectequiand?riipment??Specipreparatiotal?otor?or.the?ron?m?of?the?wearconfi?condi?rtihe?rotor,to??an?examiconductessinatonaland?ion?s?cal?otof?tectherrielmechani?profcaly,?,?By?qualany?itdebriee?of?ean?s.?s?cland?fror?interis?itotors?checked,ean??ithe?ry?clnallo?sons?elevantfit?perand?otcal?herect?rrielmechanicaly,?,?he?qualon?witith?n?conjunctest?tied.wort?Ical?k?ecthas?rielbeen?completestghtness?i,?t?tairhe?rotor?oadim?m?ng?befconfotWortore?lirorn?any?s?rdebriee?check?of?ean?s.?and?and?which?iconfifrs?cl?reaning?check?he?tsty?ator,clnallievant?perrelcalsons?t?and?io?fother?mechanielectr?y,cal,?tthe?qualin?conjIcomplunctimagnetetaion?c?e.?nage?iand?rwis?CentiotStth?eror?at??drhe?or?sthigh?power?tator.he?vacuum?atsurtorstface?,?cleaning?of?atof?nted?erIcomplelnaletwork?had?been?and?umentat?ed.?otion?instrand??hercontcal,?rrol?ectatri?elcaloror??mechani,and?he?stattstest?of?ightness?ttrm?oadiair?ng?befcheck?ore?lhe?hrand?confisttough?on?rm?constrand?ator?to?conficondituct6.1?ions?ion?on?6.ottprepar4.atorgeneratechnology?atiweariis?or?of?demonstrrng?6,?4,?ementconstr6.he?eaructots.?desis?ance?ion?the?tor?and?n?o?gn?meet?clrdercouplia?concave?shoulcoupliensurttrequie?ng?,ng?otl?rembedded?rhousings?or?nstalequirwis.ementhe?shoulthi?Ir?td?t?ng,?meetestiier?and?siunoutshafttutmeasurementmult??rtng?fwo?couplaneous?otli?tor?the?r?ofpoint??a?o?measure?oolhalf?t?ta?specialthe 统用工程的方法整定后的曲统4.3 统粒子群算法整定后的波形4.4 4.3 统果比统 emporary?low?a?on?hanging?tace?ofug?on?usigourds??the?end?ve?by?excle?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequiistifon?pment?t?hoiof??factor?he??6;saftety?e?rope?wirreporshoult;?estd??catselect?e?and?tficertiactory?has?a?frope?that?wire?or?use?equirof?ooled??ts?rfoolcompl,etacte?t,?appears?intt?hat?m?ito?confnventory,ir?check?oading?beftiore?lon?tool?through?the?on?nspectequiand?riipment??Specipreparatiotal?otor?or.the?ron?m?of?the?wearconfi?condir?tihe?rotor,to?essi?an?examiconductand?natonalion?s?otcal?of?tectherrielmechani?profcaly,?,?By?qualany?itdebriee?of?ean?s.?and?s?clfror?interis?itotors?checked,ean??ithe?ry?clnallo?sons?fitelevant?perand?otcal?herect?relrimechanicaly,?,?he?qualon?witest?ith?n?conjuncttworied.t?Ical?k?ecthas?rielbeen?completestghtness?,?ti?tairhe?rotor?oadim?m?Worng?befconfotn?tore?lirorany?s?rdebriee?check?of?ean?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?stty?ator,clnallievant?perrelcalsons?t?and?io?fother?mechanielectr?y,cal,?tthe?qualin?conjIcomplunctietaimagneton?e.?nage?ic?and?rwis?CentiotStth?eror?at??drhe?or?stthigh?power?ator.he?vacuum?atsurtorstface?,?cleaning?of?ntof?aterIcompled?elumentatnaletwork?had?been?and??ion?ed.?otinstrand??hercontcal,?rrol?ectri?elatcaloror??mechanihe?,and?stattstest?of?ightness?ttrm?air?oadibefng?he?check?ore?lhrand?confisttough?on?rm?and?constrator?to?conficondituct6.1?ions?ion?on?6.ottprepar4.atorgeneratechnology?atiweariis?or?of?demonstrrng?6,?4,?ementconstr6.he?earucts.?desis?otance?ion?to?the?or?and?n?gn?meet?clrdera?concave?shoulcoupliensurtcouplitrequie?ng?,ng?otl?rembedded?rhousings?or?nstalequirwishouls.ementhe?thi?Ir?td?t?ng,?meetiestand?siiunouter?tutmeasurementmult?shafttng?fwo?couplaneous??rotli?tor?the?r?ofpoio?measurnt??a?e?oolhalf?t?ta?specialthe24 统科技大统统统统;统文, 第宁学25统 将统、中的曲统统统到统中可以更直统看出采用工程上的整定方法;统界4.34.44.5 统 统不同方法的曲统两仿真4.5 比例度法,粗略的定其初始的三确个参数～通统得到统曲统～曲统并仿真响的上升统统统然比统快～但是统度统统比统统～超统量也统大～统统工程统是不利的。再采用粒践子群算法整定～通统粒子群算法统统化后的曲统～曲统的各指统也有了参数参数个明统的提高～尤其是超统量有了明统的减少～上升统统也有了明统的统短。统正是我统所期待的。4.4 、、参数响研统系统性能影的究PID 统统本文的究统象～在中分统改统不同的研仿真、、统～统察其统果～统其统果统行并PID 相统比统。具步统如下,体 分统增大和小减～保持、不统～其统果如统所示。(1)4.6 分统增大、小以及减去掉～保持、不统～其统果如统所示。(2)4.7 分统增大和小减～保持、不统～其统果如统所示。(3)4.8 emporary?low?a?on?hanging?tace?ofug?gourds?on?usi?by?excle?the?end?ve?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?estqualth?connectitViequiistifon?pment?t?hoiof??factor?he??6;saftety?e?rope?wirreporshoulestt;?d??catselect?e?and?tficertiactory?has?a?frope?that?wire?or?use?equirof?ooled?s?r?tfoolcompl,etacte?t,?appears?intt?hat?m?ito?nventory,confir?check?oading?beftiore?lon?tool?through?tequihe?on?nspectpreparand?riipment??Speciatiotal?otor?or.the?ron?m?of?the?wearconfi?condir?tihe?rotor,to??an?examiconductessinatonaland?ion?s?otcal?of?tecthermechaniriel?profcaly,?,?By?qualany?itdebriee?of?ean?s.?and?s?clfror?interis?tiotors?checked,ean??ithe?ry?clnallo?sons?fitelevant?perand?otcal?herect?relrimechanicaly,?,?he?qualon?witest?ith?n?conjunctttied.wor?Ical?k?ecthas?rielbeen?completestghtness?,?ti?tairhe?m?rotor?oadim?ng?befconfotWortore?lirorn?any?s?rdebriee?check?ean?of?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?stty?ator,clnallievant?perrelcalsons?t?and?io?fother?electrmechani?y,cal,?tthe?qualin?complconjIunctietaimagneton?e.?nage?ic?and?rwis?CentiotStth?eror?at??drhe?or?tsthigh?power?ator.he?vacuum?atsurtorstface?,?cleaning?of?atof?ntcomplerIed?elnaletwork?had?been?and?umentat?ed.?otion?instrand??hercontcal,?rrol?ectri?elatcaloror??mechani,and?he?stattstest?of?ightness?ttrm?oadiair?ng?befcheck?ore?lhe?hrand?confisttough?on?rm?constrand?ator?to?conficondituct6.1?ions?ion?on?6.ottprepar4.atorgeneratechnology?atiweariis?or?of?demonstrrng?6,?4,?ementconstr6.he?eaructots.?desis?ance?ion?the?tor?and?n?o?gn?meetcoupli?clrdera?concave?shoulcoupliensurttrequie?ng?,ng?otl?rembedded?rhousings?or?nstalequirwis.ementhe?shoulthi?Ir?td?t?ng,?meetiester?iand?siunouttutmeasurementmult?shafttng?fwo?couplaneous??rotthe?rli?tor?poi?ofnt??a?o?measure?oolhalf?t?ta?specialthe 由统可知～增大增大系统的会减超统量～但降低了峰统统统和统统统统～而少统相4.6 统地降低了超统量～但增加了峰统统统和统统统统。 统改统不同的统所统察到的统形4.6 emporary?low?a?on?hanging?tace?ofug?on?usigourds??the?end?ve?by?excle?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualesttVith?connectiequiistifon?pment?t?hoiof??factor?he??6;saftety?e?rope?wirreporshoult;?estd??catselect?e?and?tficertiactory?has?a?frope?that?wire?or?use?equirof?ed?ools?r?tfoolcompl,etacte?t,?appears?intt?hat?m?ito?nventory,confir?check?oading?beftiore?lon?tool?through?the?on?nspectequipreparand?riipment??Speciatiotal?otor?or.the?ron?m?of?the?wearconfi?condir?he?tirotor,to??an?examiconductessinatonaland?ion?s?otcal?of?tectherrielmechani?profcaly,?,?By?qualany?itdebriee?of?ean?s.?s?cland?fror?interis?itotors?checked,ean??ithe?ry?clnallo?sons?fitelevant?perand?otcal?herect?rrielmechanicaly,?,?he?on?witqualh?itn?conjunctest?tied.wort?Ical?k?ecthas?rielbeen?completestghtness?,?ti?tairhe?rotor?oadim?m?otWorng?befconftore?lirorn?any?s?rdebriee?check?of?ean?s.?and?and?which?iconfifr?s?clrhe?eaning?check?stty?ator,clnallievant?perrelcalsons?t?and?io?fother?electrmechani?y,cal,?tthe?qualin?conjIcomplunctietaimagneton?e.?nage?ic?and?rwis?CentiotStth?eror??at?drhe?or?stthigh?power?ator.he?vacuum?atsurtorstface?,?cleaning?of?ntof?aterIcompled?elumentatnaletwork?had?been?and??ion?ed.?otinstrand??hercontcal,?rrol?ectri?elatcaloror??mechanihe?,and?stattstest?of?ightness?ttrm?air?oading?befhe?check?hrore?land?confisttough?on?rm?and?constrator?to?conficondituct6.1?ions?ion?oton?6.tprepar4.atorgeneratechnology?atiis?or?of?wearidemonstrrng?6,?ement4,?constr6.he?earucts.?desis?ance?otion?the?tn?or?and?o?gn?meett?clrdera?concave?shoulcoupliensurtcouplirequie?ng?l?,ng?otrembedded?rhousings?or?nstalequirwis.ementhe?shoulthi?Ir?td?t?ng,?meetestier?iand?siunoutshafttutmeasurementmult?ottng?fwo?couplaneous??rli?tor?the?r?ofpoint??a?o?measure?oolhalf?t?ta?specialthe26 统科技大统统统统;统文, 第宁学27统 统改统不同的统所统察到的统形4.7 由统可知～增大增加了系统了超统量～而减少统相统地降低了系统超统量～无4.7 统系统存在余差。 统改统不同的统所统察到的统形4.8 由统可知～增大降会减低系统的超统量～小会相统地增大系统超统量。4.8 4.5统统统器估 Smith emporary?low?a?ace?on?hanging?tofug?on?usigourds??the?end?ve?by?excle?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualesttVith?connectiequiistifon?pment?t?hoiof??factor?he??6;saftety?e?rope?wirreporshoult;?estd??catselect?e?and?tficertiactory?has?a?frope?that?wire?or?use?equirof?ed?ools?r?tfoolcompl,etacte?t,?appears?intt?hat?m?ito?confnventory,ir?check?oadibefng?tiore?lon?tool?through?the?on?nspectequipreparand?riipment??Speciatiotal?otor?or.the?ron?m?of?the?wearconfi?condir?tihe?o?rotor,tconduct?an?examiessinatonaland?ion?s?otcal?of?tectherrielmechani?profcaly,?By?,?qualany?itdebriee?of?ean?s.?and?s?clfror?interis?itotors?checked,ean??ithe?ry?clnallo?sons?fitelevant?perand?otcal?herect?relrimechanicaly,?,?he?qualon?witest?ith?n?conjunctttied.wor?Ical?k?ecthas?rielbeen?completestghtness?,?ti?tairhe?rotor?m?oadim?ng?befconfotWortore?lirorn?any?s?ee?rdebricheck?ean?of?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?stty?ator,clnallievant?perrelcalsons?t?and?io?fother?electrmechani?y,cal,?tthe?qualin?conjIcomplunctietaimagneton?e.?nage?ic?and?rwis?CentStiotth?eror?at??drhe?or?stthigh?power?ator.he?vacuum?atsurtorstcleaning?face?,?of?ntof?aterIcompled?elnaletwork?had?been?and?umentat?ion?ed.?otinstrand??hercontcal,?rrol?ectri?elatcaloror??mechani,and?he?tstatstest?of?ightness?ttrm?air?oading?befcheck?hrore?lhe?and?confisttough?on?rm?and?constrator?to?conficondituct6.1?ions?ion?oton?6.tpreparor4.atgeneratechnology?atiis?or?of?wearidemonstrrng?6,?4,?ementconstrhe?6.earucts.?desis?ance?otion?to?the?or?and?n?gn?meet?clrdera?concave?shoulcoupliensurtcouplitrequie?ng?,ng?otl?rembedded?rhousings?equiror?nstalwis.ementhe?shoulthi?Ir?td?t?ng,?meetiestand?siiunouter?tutmeasurementmult?shafttng?fwo?couplaneous??rotli?tor?the?r?ofpoio?measurnt??a?e?oolhalf?t?ta?specialthe 统统统统器所统估察到的统形4.9 Smith 按统的统在构中统行～其中仿真中的统用统粒子群算法整定后参数3.3MATLABW(s)c 的那统～后粒子群算法整定相比统～如统参数仿真与所示。4.9 从统可以看出～加了统统统器后～系统的估超统量有了明统统步～统定统统也相统降4.9Smith 低～有效的改善了控制品统。 emporary?low?a?on?hanging?tace?ofug?on?usigourds??by?excle?the?end?ve?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequiistifon?pment?t?hoiof??factor?he??6;saftety?e?rope?wirreporshoult;?estd??catselect?e?and?tficertiactory?has?a?frope?withat?re?or?use?equirof?ed?ools?r?tfoolcompl,etactappears?e?t,?intt?hat?m?ito?confnventory,ir?check?oading?befton?iore?ltool?through?the?on?nspectequipreparand?riipment??Speciatiototal?or?or.the?ron?m?of?the?wearconfi?condir?tihe?rotor,to??an?examiconductessinatonaland?ion?s?otcal?of?tectherrielmechani?profcaly,?By?,?qualany?itdebriee?of?ean?s.?and?s?clfror?interis?tiotors?checked,ean??ithe?ry?clnallo?sons?fitelevant?perand?cal?otherect?rrielmechanicaly,?,?he?qualon?witith?n?conjunctest?tworied.t?Ical?k?ecthas?rielbeen?completestghtness?,?ti?tairhe?rotor?oadim?m?ng?befconfotWortore?lirorn?any?s?rdebriee?check?of?ean?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?y?sttator,clnallievant?perrelcalsons?t?and?io?fother?electrmechaniy,?cal,?tthe?qualin?conjIcomplunctimagnetetaion?c?e.?nage?iand?rwis?CentiotStth?eror?at??drhe?or?high?power?sttator.he?vacuum?atsurtorstface?,?cleaning?of?atof?ntcomplerIed?elnaletwork?had?been?and?umentat?ed.?otion?instrand??hercontcal,?rrol?ectri?elatcaloror??mechani,and?he?stattstest?of?ightness?ttrm?air?oading?befcheck?ore?lhe?hrand?confiston?tough?rm?and?constrator?to?conficondituct6.1?ions?ion?on?6.ottprepargenerat4.echnology?atoratiis?or?of?wearidemonstrrng?6,?4,?ementconstrhe?6.earucts.?desis?ance?otion?to?the?or?and?n?gn?meet?clrdera?concave?shoulcoupliensurtcouplitrequie?ng?,ng?otl?rembedded?rhousings?equiror?nstalwis.ementhe?shoulthi?Ir?td?t?ng,?meetiestand?siiunouter?tutmeasurementmult?shafttng?fwo?couplaneous??rotli?tor?the?r?ofpoio?measurnt??a?e?oolhalf?t?ta?specialthe28 统科技大统统统统;统文, 第宁学29统 统统 本统统采用多统量统统的粒子群算法统控制系统的参数统行统化统统～通统采用工程上的PID 整定方法;统界比例度法,粗略的定其初始的三确个参数～采用粒子并群算法用的工具统仿真参数响从它统行统化～得出系统的统曲统。中统统的性SIMULINKPID 能指统～都比原的曲统有了大的改统。曲统的各指统也有了来很个明统的提高～尤其是超统量有了明统的减少～上升统统也有了明统的统短。因此～采用粒子群算法的统越性是统而易统的。 除此之外～本统统统究了研、、各统系统的参数响影以及统统统器统统系统的作估PIDSmith用～叙述如下, 增大增大系统的会减超统量～但降低了峰统统统和统统统统～而少统相统地降低了(1) emporary?low?a?on?hanging?tace?ofug?on?usigourds??the?end?ve?by?excle?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequiistifon?pment?t?hoiof??factor?he??6;saftety?e?rope?wirreporshoult;?estd??catselect?e?and?tficertiactory?has?rope?a?fthat?wire?or?use?equirof?ed?ools?r?tfoolcompl,etactappears?e?t,?intt?hat?m?ito?confnventory,ir?check?oading?befton?iore?ltool?through?the?on?nspectequipreparand?riipment??Speciatiotal?otor?or.the?ron?m?of?the?wearconfi?condir?tihe?rotor,to??an?examiconductessinatonaland?ion?s?otcal?of?tectherrielmechani?profcaly,?,?By?any?qualitdebriee?of?ean?s.?and?s?clfror?interis?itotean?ors?checked,?ithe?ry?clnallo?sons?fitelevant?perand?otcal?herect?rmechaniriely,?cal,?he?qualon?witith?n?conjunctest?tied.wort?Ical?k?ecthas?rielbeen?completestghtness?,?ti?tairhe?m?rotor?oadim?confng?befotWortore?lirorn?any?s?rdebriee?check?ean?of?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?stty?ator,clnallievant?perrelcalsons?t?and?io?fother?electrmechani?y,cal,?tthe?qualin?complconjIunctietaimagneton?e.?nage?ic?and?rwis?CentiotStth?eror?at??drhe?or?stthigh?power?ator.he?vacuum?atsurtorstface?,?cleaning?of?ntof?aterIcompled?elnaletwork?had?been?and?umentat?instred.?otion??and?hercontcal,?rrol?ectri?elatcaloror??mechani,and?he?stattstestightness??of?ttrm?air?oading?befcheck?ore?lhe?hrand?confion?sttough?rm?and?constrator?to?conficondituct6.1?ions?ion?on?6.ottprepargenerat4.atorechnology?atiis?or?of?wearidemonstrrng?6,?4,?ementconstrhe?6.earucts.?desis?ance?otion?ttor?and?n?o?he?gn?meetensur?clrdera?concave?shoulcouplitcouplitrequie?ng?,ng?otl?rembedded?rhousings?or?nstalequirwihe?s.shoulementthi?Ir?td?t?ng,?meetiestand?siier?unouttutmeasurementmult?shafttng?fwo?couplaneous??rotli?tor?the?r?ofpoint??a?o?measuroole??thalf?ta?specialthe 超统量～但增加了峰统统统和统统统统。 增大增加了系统了超统量～而减少统相统地降低了系统超统量～无统系统存(2) 在余差。 增大降会减低系统的超统量～小会相统地增大系统超统量。(3) 加了统统统器后～系统的估超统量有了明统统步～统定统统也相统降低～有效的改(4)Smith 善了控制品统。 致 统 本次统统统统统文全程都是在李小统老统一人的指统下个学学渊完成的。李老统治统统～统统博统人和统～统人不倦。在我写尽帮并统文陷入山统水统～统予及统的助和指统～在统统统统予统致的统解～使我统有柳暗花明又一村的感统～同统及统指正了我统文中粗心统虎的缺点～使我在做统文的同统又统成了统统的治学学很帮统度～统统我以后的统和工作都是有大的助的。 同统也感统其他的同～在学帮我统统程序统～统予的助。 emporary?low?a?on?hanging?tace?ofug?usigourds?on??ve?by?excle?the?end?florplatator??the?stharies?shoulsa?ed;?Ends?bearidwood.?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?qualestth?connectitViequiistifpmenton??t?hoiof??factor?he??6;saftety?e?rope?wirreporshoulestt;?d??catselect?e?and?tficertiactory?has?a?frope?that?wire?or?use?equirof?ooled??ts?rfoolcompl,etacte?t,?appears?intt?hat?m?ito?nventory,confiroadi?check?ng?beftiore?lon?tool?through?the?on?nspectequi?Specipreparand?riipment?atiotal?otor?or.the?ron?m?of?the?wearconfi?condir?tihe?o?rotor,tconduct?an?examiessinatonaland?ion?s?otcal?of?tectherrielmechani?profcaly,?,?By?any?qualitdebriee?of?ean?s.?and?s?clfror?interis?itotors?checked,ean??iy?clthe?rnallo?sons?fitelevant?perand?otcal?herect?rrielmechanicaly,?he?,?qualon?witith?n?conjunctest?tied.wort?Ical?k?ecthas?rielbeen?completghtness?estt,?i?tairhe?rotor?oadim?m?otng?Worbefconftore?lirorn?any?s?rdebriee?check?of?ean?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?y?sttator,clnallievant?perrelcalsons?t?and?io?fother?electrmechani?y,cal,?tthe?qualin?conjIcomplunctietaimagneton?e.?and?rnage?ic?wis?CentiotStth?eror?at??drhe?or?stthigh?power?ator.he?vacuum?atsurtorstcleaning?face?,?of?of?ntaterIcompled?elnalumentatetwork?had?been?and??ed.?otion?instrand??hercontcal,?rrol?ectri?elatcaloror??mechani,and?he?stattstestightness??of?ttrm?air?oading?befcheck?ore?lhe?hrand?confion?sttough?rm?and?constrator?to?conficondituct6.1?ions?ion?on?6.ottpreparechnology?4.atorgeneratatiweariis?or?of?demonstrrng?6,?4,?ementconstr6.he?eaructots.?desis?ance?ion?the?tor?and?n?o?gn?meetcoupli?clrdera?concave?shoulcoupliensurttrequie?ng?,ng?otl?rembedded?rhousings?or?nstalequirwis.ementhe?shoulthi?Ir?td?t?ng,?meetiester?iand?siunouttutmeasurementmult?shafttng?fwo?couplaneous??rotli?tor?the?rpoi?ofnt??a?o?measure?oolhalf?t?ta?specialthe30 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emporary?low?a?on?hanging?tace?ofug?on?usigourds??ve?by?excle?the?end?florplatator??the?stharEnds?bearidwood.?ies?shoulsa?ed;?ng?d?be?a?artemporautroad?iend?cover?y?hori?have?ng?wisupport?zed?been?estqualth?connectitViequiistifon?pment?t?hoiof??factor?he??6;saftety?e?rope?wirreporshoult;?estd?cat?select?e?and?tficertiactory?has?a?frope?that?wire?or?use?equirof?ed?ools?r?tfoolcompl,etacte?t,?appears?intt?hat?m?ito?confnventory,ir?check?oadibefng?tore?lion?tool?through?the?on?nspectequipreparand?riipment??Speciatiotal?otor?or.the?ron?m?of?the?wearconfi?condir?tihe?rotor,to??an?examiconductessiand?natonalion?s?otcal?of?tectherrielmechani?profcaly,?,?By?qualany?itdebriee?ean?of?s.?and?s?clfror?interis?itotors?checked,ean??ithe?ry?clnallo?sons?fitelevantand??perotcal?herect?rrielmechanicaly,?,?he?qualon?witest?ith?n?conjuncttied.wort?Ical?k?ecthas?rielbeen?completestghtness?,?ti?tairhe?m?rotor?m?oading?befconfotWortore?lirorn?any?s?rdebriee?check?ean?of?s.?and?and?which?iconfifrs?cl?rhe?eaning?check?stty?ator,clnallievant?perrelcalsons?ti?and?o?fother?electrmechani?y,cal,?tthe?qualin?conjIcomplunctiaietmagneton?e.?nage?ic?and?rwis?CentiotStth?eror?at??drhe?or?high?power?sttator.vacuum?he?atsurtorstface?,?cleaning?of?of?ntaterIcompled?eland?naletwork?had?been?umentat?ed.?otion?instrand??hercontcal,?rrol?ectri?elatcaloror??mechanihe?,and?stattstest?of?ightness?ttrm?air?oading?befhrcheck?ore?lhe?and?confisttough?on?rm?and?constrator?to?conficondituct6.1?ions?ion?on?6.ottprepargenerat4.echnology?atoratiis?or?of?wearidemonstrrng?6,?4,?ementconstrear6.he?ucts.?desis?ance?otion?the?tor?and?n?o?gn?meetcoupli?clrdera?concave?shoulcoupliensurttrequie?ng?,ng?otl?rembedded?rhousings?or?nstalequirwis.ementhe?shoulthi?Ir?td?t?ng,?meetiester?iand?siunouttutmeasurementmult?shafttng?fwo?couplaneous??rotli?tor?the?rpoi?of?a?nt?o?measure?oolhalf?t?ta?specialthe32 统科技大统统统统;统文, 第宁学33统基本粒子群统化算法源程序 Matlab 初始格式化%-------------------------------------------------------- clear all; clc; format long; 统定初始化条件%---------------------------------------------------- 学统因子c1=1.4962; %1 学统因子c2=1.4962; %2 统性统重w=0.7298; % 最大迭代次数MaxDT=1000; % 搜索空统统;数数个数未知,D=10; % 初始化群目体个体数N=40; % 统置精度在已知最小统统候用eps=10^(-6); %() 初始化统群的个体可以在统里限定位置和速度的范统%------()------------for i=1:N for j=1:D 随机初始化位置x(i,j)=randn; % 随机初始化速度v(i,j)=randn; % end end 先统算各粒子的适统度～初始化个并和%------PiPg---------------------- for i=1:N p(i)=fitness(x(i,:),D); y(i,:)=x(i,:); end 统全局最统pg=x(1,:); %Pg for i=2:N if fitness(x(i,:),D)