导　　师： 曹玉强

学科专业： H1102

授予学位： 硕士

作　　者： ;

机构地区： 山东大学

摘　　要： pid控制算法是最通用的控制策略，在工业过程控制中95％以上的控制回路具有pid结构。pid控制的主要特点是结构简单、稳定性好、工作可靠、调整方便。因此，作为一种广泛的控制规律，pid控制在相当长的一段时间内，并没有因为各种先进控制算法的出现而遭到淘汰，相反，pid控制仍然在各种控制技术中占着主导地位。 pid控制器参数整定优劣与否，是pid控制器能否在实际应用中得到好的闭环控制效果的前提。迄今为止，各种先进pid参数整定方法层出不穷，给pid控制器参数整定的研究带来了活力与契机。 文章介绍了常规的工程整定方法一ziegler-nich01s整定法。该整定法可以通过理想继电反馈辨识获得对象的特征参数k<,c>和t<,c>，然后根据经验公式计算出pid控制器的参数。并且在此基础上提出了二阶加滞后模型的两种pid参数自整定方法：直接综合法和稳定裕度法。 以上述自整定方法为基础，本文设计了一种便携式的pid参数自整定器。 在硬件方面，选用philips的32位arm芯片lpc2138作为自整定器的主控制芯片。lpc2138采用的是arm7tdmi处理器内核，具有高性能、低功耗、低成本的特点。lpc2l38内部集成了521kb的flash和32kb的sram，并包含了2个10位的a/d和1路lo位的d/a，单电源3.3v供电，能很好的满足自整定器对存储器，ram，功耗等方面的要求。在人机对话方面，系统扩展了1 28×64的液晶和1×4的键盘。为了利用微机强大的处理能力，自整定器利用usb协议与微机进行通信，将采集到的数据传送到微机，实现更复杂的算法。 软件方面，实现了pid参数自整定的算法。由于自整定器采用了嵌入式实时操作系统μc/os-Ⅱ，文中对μc/os-Ⅱ进行了介绍并给出了它在lpc2l38上的移植。同时还编写了usb的同件驱动。山于白整定器采用电池供电，本文还讨论了对电源的管理，并采取了相应的省电措施。 The PID control is the most common control algorithm.95/% above control loop has the PID structure in the commercial run control. The main characteristic of the PID control is the simple structure, the good stability, the reliable work and the convenient adjustment. Therefore, as one kind of widespread control rule, the PID control has not been eliminated in quite long period of time, because of each kind of advanced control algorithm appearance. On the contrary, the PID control still was occupying the dominant position in each kind of control technology. In the practical application, is the PID controller's parameter fit or not, determines the PID controller obtain the good closed-loop control effect or not. Until now, each advanced PID parameter installation method emerges one after another incessantly, has brought the vigor and the turning point for the PID controller parameter installation research. The classic Ziegler-Nichols engineering tuning method is introduced in this chapter. By experiential formula, the method can get PID parameters. In the formula, the characteristic parameters K/_c and T/_c is obtained by identification of relay feedback. Two self-tuning methods of PID control are designed based on the SOPDT, which are direct synthesis method and stable abundant method. This article has designed one kind of portable PID parameter self-tuning instrument, based on the installation method above. In the hardware, the master control chip in the instrument is LPC2138. The LPC2138 microcontroller is based on a 132 bit ARM7TDMI-S? CPU which has high performance and low power consumption and cost. It has 512 KB of embedded high speed Flash memory, 32 KB of on-chip static RAM, two 8 channel 10-bit A//D converters, single 10-bit D//A converter, single 3.3V power supply. So it can satisfy the request to the memory, RAM, power cost very well. The instrument expanded 128x64 LCD and 1x4 keyboard to implement

关 键 词： 控制 参数自整定

分 类 号： [TP273.2]

领　　域： [自动化与计算机技术] [自动化与计算机技术]