预期动态法在四水箱液位控制中的应用Application of Desired Dynamic Equation Method in Control of Four-tank Liquid-level System
胡增嵘,王京,李东海,胡轶超
摘要(Abstract)：
针对实际生产中常见的双输入双输出过程,基于单位反馈闭环控制结构,根据前馈补偿的思想设计全解耦控制器矩阵,结合二自由度PID/PI预期动态法(DDE)鲁棒性强的特性,设计PID/PI解耦控制方案。同时,对于实际中常见的加性和乘性不确定性干扰,分析了控制系统保证鲁棒稳定性的充要条件,给出了基于谱半径判据的判定方法。本文借助英国Feedback 33-040s Coupled Tanks四水箱实验装置,对四水箱液位实时控制设计PI解耦控制器方案。实验结果表明:该方案能够使系统各路输出响应之间实现有效解耦,可对水箱液位进行有效控制,显著地提高了多变量关联系统的控制性能。
关键词(KeyWords)： 四水箱;预期动态法;双输入双输出过程;解耦;鲁棒稳定性
基金项目(Foundation): 国家高技术研究发展计划课题(2009AA04Z163);; 国家科技支撑计划课题(2006BAA03B04)
作者(Author): 胡增嵘,王京,李东海,胡轶超
参考文献(References)：
- [1]SKOGESTAD S,POSTLETHWAITE I.Multivariable feedback control[M].New York:John Wiley and Sons,1996.
- [2]MON Y J,LIN C M.Hierarchical fuzzy sliding-mode Control[C]//The 2002 IEEE World Congress on Computational Intelli-gence.USA:IEEE Neural Network Society Press,2002:656-661
- [3]HSU Y C,CHEN G R,LIHX.A fuzzy adaptive variable structure controller with applications to robot manipulators[J].IEEETranson Systems,2001,31(3):331-340.
- [4]李志峰,赵志诚.基于模型参考模糊自适应的多缸同步控制[J].太原科技大学学报,2010:31(4):266-270.
- [5]LEE M,LEE K,KIMC,LEE J.Analytic design of multiloop PID controllers for desired closed-loop responses[J].AIChE,2004,50(7):1631-1635.
- [6]WANG Q G,HUANG B,GUO X.Auto-tuning of TITO decoupling controllers from step tests[J].ISA Transactions,2000,39(4):407-418.
- [7]刘涛,张卫东,欧林林.双输入输出时滞过程解耦控制的解析设计[J].控制理论与应用,2006,23(1):31-39.
- [8]LIU Y Y,ZHANG W D,CHEN P Y.A New Method for Designing Analytical Non-diagonal PID Controller for Two-by-TwoProcesses with Time Delays[C]//Proceedings of the 2006 American Control Conference Minneapolis,USA:Minnesota,2006:14-16.
- [9]LIU Y Y,ZHANG W D,OU L L.Analytical decoupling PI/PID controller design for two-by-two processes with time delays[J].IETControl Theory Appl,2007,1(1):409-416.
- [10]GOREZ R.New design relations for 2-DOF PID-like control systems[J].Automatica,2003,39:901-905.
- [11]周以琳,戚淑芬,王东雪.二自由度PID锅炉燃烧控制系统的实现[J].自动化与仪表,1997,12(1):33-35.
- [12]王维杰.热力过程多变量控制系统的优化设计PID参数整定方法研究及其在热力对象控制中的应用[D].北京:清华大学,2009.
- [13]TORNAMBE A.A decentralized controller for the robust stabilization of a class of MIMO dynamical systems[J].Journal of Dy-namic Systems:Measurement and Control,1994,116:293-304.
- [14]张毅成,戴连奎,杨正春,等.四水箱实验系统的关联分析与解耦[J].自动化仪表,2005,26(11):15-18.
- [15]黄慎之,顾训,胡赛.一种用于实验室的液位过程控制系统[J].上海大学学报:自然科学版,2001,7(5):412-415.
- [16]姜英妹,张井岗.基于dSPACE的水箱液位控制系统[J].太原科技大学学报,2010,31(4):289-292.
- [17]Feedback Coupled Tanks Control Experiments 33-040S for use with MATLAB R2007a version 7.4[K].2007.
- [18]LIU T,ZHANG W D,GAO F R.Analytical decoupling control strategy using a unity feedback control structure for MIMOprocesses with time delays[J].Journal of Process Control,2007,17:173-186.