基于粒子群算法的控制系统PID参数优化设计

辽宁科技大学毕业设计（论文）第I页基于粒子群算法的控制系统PID参数优化设计摘要本文主要研究基于粒子群算法控制系统PID参数优化设计方法以及对PID控制的改进。PID参数的寻优方法有很多种，各种方法的都有各自的特点，应按实际的系统特点选择适当的方法。本文采用粒子群算法进行参数优化，主要做了如下工作：其一，选择控制系统的目标函数，本控制系统选用时间乘以误差的绝对值，通过对控制系统的逐步仿真，对结果进行分析。由于选取的这个目标函数的解析式不能直接写出，故采用逐步仿真来实现；其二，本文先采用工程上的整定方法（临界比例度法）粗略的确定其初始的三个参数pK，iK，dK，再利用粒子群算法进行寻优，得到更好的PID参数；其三，采用SIMULINK的仿真工具对PID参数优化系统进行仿真，得出系统的响应曲线。从中发现它的性能指标，都比原来有了很大的改进。因此，采用粒子群算法的优越性是显而易见的。关键词目标函数；PID参数；粒子群算法；优化设计；SIMULINK辽宁科技大学毕业设计（论文）第II页OptimaldesignofPIDparameterofthecontrolsystembasedonParticleSwarmOptimizationAbstractThemainpurposeofthispaperistostudytheoptimaldesignofPIDparameterofthecontrolsystembasedonParticleSwarmOptimizationandfindawaytoimprovethePIDcontrol.TherearealotofmethodsofoptimizationfortheparametersofPID,andeachofthemhasitsowncharacteristics.Thepropermethodsneedtobeselectedaccordingtotheactualcharacteristicsofthesystem.InthispaperweadopttheParticleSwarmOptimizationtotunetheparameters.Tofinishit,thefollowingtasksshouldbedone.First,selectthetargetfunctionofthecontrolsystem.Thetargetfunctionofthecontrolsystemshouldbechosenastheabsolutevalueoftheerrormultipliedbytime.Thenwesimulatethecontrolsystemgradually,andanalyzetheresultsoftheprocess.Becausethesolutionofthetargetfunctioncannotbeworkedoutdirectly,thisdesignadoptssimulationgradually.Second,thispaperadoptstheengineeringmethod(thecriticalratiomethod)todetermineitsinitialparameterspK,iK,dK,thenusestheParticleSwarmOptimizationtogetaseriesbetterPIDparameters.Third,thispaperusesthetoolofSIMULINKtooptimizetheparametersofPIDandgetstheresponsecurveofthesystem.Bycontrastwiththetworesponsecurves,itisclearlythattheperformancehasimprovedalotthantheformerone.Therefore,itisobviouslytofindtheadvantagesinusingtheParticleSwarmOptimization.Keyword:targetfunction;PIDparameters;ParticleSwarmOptimization;optimaldesign;SIMULINK辽宁科技大学毕业设计（论文）第III页目录摘要......................................................................................................错误!未定义书签。Abstract...................................................................................................错误!未定义书签。第1章绪论........................................................................................错误!未定义书签。1.1研究背景和课题意义.....................................................................错误!未定义书签。1.2基本的PID参数优化方法............................................................................................11.3常用的整定方法............................................................................................................21.4本文的主要工作............................................................................................................4第2章粒子群算法的介绍................................................................错误!未定义书签。2.1粒子群算法思想的起源................................................52.2算法原理........................................................................................................................52.3算法流程........................................................................................................................62.4全局模型与局部模型....................................................................................................72.5算法特点........................................................................................................................82.6带惯性权重的粒子群算法............................................................................................82.7粒子群算法的研究现状................................................................................................9第3章用粒子群方法优化PID参数.............................................................................103.1PID控制原理................................................................................................................103.2PID控制的特点............................................................................................................113.3优化设计简介..............................................................................................................113.4目标函数选取..............................................................................................................123.5大迟滞系统.....................................................................................错误!未定义书签。3.6加热炉温度控制简介.....................................................................错误!未定义书签。3.7加热炉系统的重要特点.................................................................错误!未定义书签。3.8加热炉的模型结构.........................................................................错误!未定义书签。第4章系统仿真研究........................................................................错误!未定义书签。4.1工程上的参数整定.........................................................................错误!未定义书签。4.2粒子群算法参数整定.....................................................................错误!未定义书签。4.3结果比较.........................................................................................错误!未定义书签。辽宁科技大学毕业设计（论文）第IV页4.4P、I、D参数对系统性能影响的研究...........................................错误!未定义书签。4.5Smith预估补偿器............................................................................错误!未定义书签。结论.........................