基于matlab的鲁棒PID控制仿真方法毕业论文.doc

摘 要 在现实的工业生产过程中，特别是过程控制系统的应用中，PID由于其简单可靠、易于实现、鲁棒性较好的优点，获得了广泛的应用。但是实际工业过程的控制对象往往是非线性、具有延迟、带有一定的不确定性的，用固定参数的常规PID控制器往往得不到很好的控制效果。在鲁棒PID控制系统的研究中，它们几乎都是采用完全微分PID，完全微分PID的微分作用只持续一个周期，不能达到有效超前控制误差的目的。为了克服这些不利影响，系统设计了鲁棒不完全微分PID控制器。 基于H∞的鲁棒不完全微分PID控制器利用youla参数化理论、Pade近似、综合运用灵敏度极小化原理进行设计了该控制器的参数化表达式。这种控制器只需要整定一个参数，方便了控制器的整定过程。由于在设计时考虑了系统的鲁棒性，所以利用该鲁棒PID控制器所控制的系统具有较高的鲁棒性。研究结果表明该方法设计的鲁棒PID控制器具有较高的鲁棒性，能满足实际工业的需要，改善了控制系统的性能。 关键词：鲁棒控制；不完全微分PID；H∞；MATLAB Abstract PID controller was widely used in the real industrial processes，especially in the processing control systems， because of its simplicity， reliability， easy implement and good robustness. But the control object in industrial processing control was often time-delaying nonlinear and has a certain degree of uncertainty. In this way，the fixed parameters of PID controllers can hardly achieve satisfactory control effects. Robust PID controller was of great significance for enhancing the endurance of PID controller to uncertainty. Complete differential PID was mostly adopted in researching of the robust PID control system. The differential action of the complete differential PID controller had nearly no effects, which last only one period. In order to overcome these disadvantages, it is necessary to study robust incomplete differential PID controller. The controller use the youla parameterization theory，Pade approximation and sensitivity minimizationthe H∞-based robust incomplete differential PID controller，containing only one turning parameter which facilitated it’s turning process，were designed and the parameter expression were presented. The system based on robust PID controller possessed high robustness，as considering the robust of the system while designing. Simulation on the industrial process with uncertainty was carried out by using the method above by the means of MATLAB. The research proved that the robust PID controllers had been designed were of high robustness，which met the need of real industry and improved