基于模糊自适应PID控制的可控波形压力交变系统研究与设计

上海交通大学硕士学位论文基于模糊自适应PID控制的可控波形压力交变系统研究与设计姓名：王海峰申请学位级别：硕士专业：控制理论与控制工程指导教师：陈坚20071201VPIDPID1.PLC2.PIDPIDVI3.4.PIDVIITHERESEARCHANDDESIGNOFWAVECONTROLLABLEPRESSUREALTERNATINGSYSTEMBASEDONFUZZYADAPTIVEPIDCONTROLABSTRACTPressurefluctuationtest-bedisatypicalkindofenvironmentsimulationequipment,whichiswidelyusedinthetestofreliabilityanddurabilityfortheproductofmilitary,motorsandaviation.Thenonlinearityofpressuresystemistoostrongtomaketheprecisionandstabilitymeettherequestandthisproblempreventsitsfurtherapplication.Thus,howtouseprocesscontroltheorytogetthebestperformancehasbecomeoneofthemostdifficultyissues.Basedontheprojectofpressuretest-bedforShanghaiVolkswagenAutomotive.,LTD,thisthesisinvestigatesthedesignandrealizationofpressurealternatingsystemwithfuzzadaptivePIDcontrol.Themaincontributionsarelistedasfollows:1.Weanalyzethetechnicalrequestofthesystem,proposethedesignschemeanddiscussthedetailsofthehardwaredesign.TheprincipleandVIIItypeofkeyelementssuchasdatacollectingequipment,proportionalvalve,aswellasPLCarealsoincluded.2.Severalcommonstrategiesofprocesscontrolareintroduced,includingPIDcontrol,adaptivecontrolandfuzzcontrol.WefocusonhowtorealizethefuzzadaptivePIDcontrolinthissystem.3.Thedetaildescriptionofgeneraldesignforsoftwareisgivenandtherealizationofthemodulesfordatacollecting,serialportcommunicationaswellascontrolalgorithmisalsoproposed.4.Weanalyzethetestingcontentandprocessofthesystem,includingseparatetestofsoftwareandhardwareandcooperationtest.Furthermore,weintroducethewavegenerationtestmethod.KEYWORDSFuzzAdaptivePID,PressureTest-bed,DataCollecting,PneumaticProportionalControl.III20061220IV200612202006122011.1200511PLCPLC200611NationalInstrument(NI)PCI62292PLC34VC21.2[1][2][3]1.2.11.11.1312341.2.21.2PC1.2PC4PC1.ISAPCINationalInstrumentAdvantech2.RS232,RS485PC1.2.3/80/()/5///FESTOMPYE155HZ/1.2.4?()20601965(K.S.FU):197161.3PID72.1[4][5]2.1.1301002.12.110100%60%40%150806bar0.12HZ06bar2.1.22.22.33282.3150292.210PID10021PIDFESTOSMC2.4PCI62292.4IPCRS232AFP2SHPLCADAM4000RS2324852PXRVFD055M43AADAM4015PCI62292.5112.512382.2[6][7][8][9][10][11][12]PLC2.2.1122.62-()2.613123eU1eUeIeIeFfF0fXFeFXKFF+=±∆g(2.1)F∆XFK0XFffXFFKX=g(2.2)eFeIeUfIFeIFUIeFKIKKU==ggg(2.3)IFKUIK(2.2)(2.3)(2.1)XeU00eXFXFKUXK=∆−−g00eeXFXUKXFUKK∆±(2.4)14K()IFUIXFKKKK+=(2.4)XeU()0X2.7MPYE152.7fUeUMPYE-5-3/8FESTOMPYE-5-3/81.2.3.4.162.12.21730VDCDIN417755010VDC420mA20W30VDC1002W,0.4%EN60529IP6565HZ2.15um060C050C6bar10bar0barG3/82000L/min10mm2.22.8172.82.2.2U()SMCCC18SMCCEICLML2B0.1mmSMCMB1200mm100mm2.3MPa0.0510mm/s5010002.3MB12.2.3PCIPCI(PeripheralComponentInterconnect)32/64132MB/s;PCIPCIPCIVESA,ISAMCAPCIPCI3:Win322.9A/D19PCI(PCIFPGA)PCIA/D2.9NIPCI6229NIMDAQPCI62292.10NIMDAQOEM/NIMDAQI/O/I/O16DAQNIPCI6014A/D,D/AI/O,IBMPCXT/ATPCI(A/D)(D/A)(DIO),PCI6014:201.16/8;2.16A/D;3.250KS/s;4.250KS/s;5.0.0510V;6.12;7.8I/O;8.24/;9.;10.Windows2000/NT/Me/9xMacOSNI-DAQ;:1.0550C2.3.4.5.EEPROM2.2.4PLCPLCProgrammableLogicControllerPLCPLC2.11212.11PLCPLCCPUPLC2.122.12PLCDVP32ES01R2PLCDVP32ES01R2PLCPLC2.4(N+1)N(N-1)22us161618082947/RS232RS485///2.4DVP32ES01R2PLC2.524VDC(-15%~10%)5ms2A/250VAC5M8WLN/0555095%22570095%/IEC11312IEC6826430g2.5DVP32ES01R2PLC24DVP24XN11R8DVP08XM11N232.3PLC243.13.13.13.2[13][14],,:1.(),pRTρ=252.3.,,4.5.6.,T7.,3.2.1,:()dGVdtρ=(3.1):G;ρ;VpRTρ=,ρTP:pRTρ=(3.2),,,:()pvdVdQdcGTpcVTdtdtdtρ−+=(3.3):pcGT;dVpdt;pc;vc26,dVpdt;dQdt,,0dQdt=,()vdcVTdtρpvcrc=,pvRcc=−(3.2)(3.3)pvcrc=()vvcpVdrcGTdtR=(3.4)VdpGrRTdt=(3.5)3.2.2,,SanvilleG:22qqsqvsssppGcApcxpRTpRTpφωφ==(3.6)1211()211rrssrrrpprrppzrrrφ+−−−=++0.528100.528sspppp≤≤≤≤(3.7)qc;27qA;ω;vx;sp;p3.2.3,:0()sgn()vfsvvcvmxkUApkxxbxFx=−−+−−&&&&(3.8):fA;k-;sk;U;p;0x;vx;b;cF283.3[15][16][17][18][19][20][21][22][23][24][25]PIDPIDPIDDCSPLCPIDPID2050Smith2080PID3.3.1PIDPIDPIDPID7029PIDPIDPIDPIPDPIDPID011()tcddeuKeedtTTdt=++∫(3.9)cKiTdTPIDPIPDPIDPSteady-stateerrorISystemwithSteady-stateError+(PI)30D(delay)++(PD)3.3.2AdaptiveControlSystems3.23.231ModelReferenceAdaptiveControl3.3ye∑∑rmy-u3.3Self-tuningRegulator703.432∑yur-3.43.3.33.53.512333mm1234551)E1E2uNBNMNSZOPSPMPB2)[ab]U13{−6−5−4−3−2−10123456}U=[−66]x[ab]mU=[−(m−1)/2(m−1)/2]xx034)(1210axabmmx−−−+−−=′(3.10)3.6-1-2-3-4-5-66543210NSNMNBZOPSPMPBx3.60x′1{-6,-5,-4,-3,-2,-1,0,1,2,3,4,5,6}0x′1020x′3)RkifAkandBkthenCkk=1,2,,n3.73521345tyr3.7eyr=−deedt=&0eyre&e&e&0e≤e&e&e&0e≥e&ee&0e≥ee&0e≤ee&3.14)iAjBkCIFiAANDjB,THENkCiAjBkCiANSjBNBkCPM36iijkRABC=××(3.11)E1uE2NBNMNSZOPSPMPBNBPBPBPMPMPSPSZONMPBPMPMPSPSZONSNSPMPMPSPSZONSNSZEPMPSPSZONSNSNMPSPSPSZONSNSNMNMPMPSZONSNSNMNMNBPBZONSNSNMNMNBNB3.1(,,)()()()iijkijkRabcAaBbCc==∩∩3-2TRDC=×%%(3.12)DAB=×%%TD%DDTD%RCDR=×%375)12Uz*U⊆Rz*∫∫=bzzadzxCdzxC**)()(U=[a,b,](3.13)3],[,)()(*baUdzzWdzzzWzbaba==∫∫(3.14)W(x)wiCz38],[,)()(*baUdzzCdzzzCzbaba==∫∫(3.15)3.3.4PIDPIDpKiKdKedePIDPIDPIDPIDPIDPID39(PID)PIDpKiKdKPIDPID3.8EECPID,,pidKKK()Uk∆YR+-3.8PIDPIDPIDEECif()then()EEC,PIDEEC()()40()()()()()()()()PIDG(s)PID:1.pK;2.pK;3.pK;4.iK/;5.iK;6.iK;7.DK;8.iK9.iK10.DK11.DK12.pK13.pK41PIDPIDpKiKDK3