PID控制器的参数整定及优化设计.doc

PID控制器的参数整定及优化设计 摘 要 PID控制器由于算法很简单、鲁棒性高，可靠性能好，被人们广泛应用于工业控制的各个过程中，在我们实际的生产过程中往往有线性、以及我们通常说的时变不确定性，很难建立精确的数学模型，常规DE PID控制器通常不能达到理想的控制效果。针对这些问题，长期以来人们一直在寻求PID控制器参数的自整定的技术，以适应复杂和高指标的控制要求。 由于PID控制器存在着各种各样的优点但是又有着许多令人头疼的缺点，例如存在着参数的鲁棒性整定较为困难的问题，许多专家开始寻求一些优化算法来警醒PID参数的寻优，例如，自适应智能控制技术方法、神经网络方法以及遗传算法等。传统的遗传算法在理论上已形成了一套较为完善的算法体系并在许多问题中都有了成功的应用，本文采用遗传算法进行PID参数的整定和优化，这是一种寻求全局最优的优化方法，无需目标函数微分。 关键词：遗传算法；参数；优化 The PID controller parameter setting and optimization ABSTRACT PID controller because algorithm is simple, high robustness, good and reliable performance, is widely used in industrial control of each process, in our actual production process is often linear, and time-varying uncertainty, we usually say that it is difficult to establish accurate mathematical model of conventional DE PID controller often cant achieve ideal control effect. To solve these problems, it has long been seeking self-tuning technology of PID controller parameters, to adapt to the complex and high index of control requirements. Because PID controller there are all sorts of advantages but also has many troublesome shortcomings, such as robustness of parameters for there is a relatively difficult problem, many experts began to seek some optimization algorithm to realize the optimization of PID parameters, for example, the adaptive intelligent control method, neural network and genetic algorithm. Traditional genetic algorithm, in theory, has formed a set of relatively perfect algorithm system and have successful applications in many problems, this paper USES the genetic algorithm of PID parameter setting and optimization, this is a kind of to seek the global optimal optimization method, the objective function without differential. Key words: genetic algorithm; Parameters; optimization 目 录 １　引言 1 2　PID控制概述 3 2.1　PID控制原理 3 2.1.１　模拟PID控制器 3 2.1.2　数字PID控制器 4 2.2　PID参数整定方法概述 5 3　基于遗传算法的PID控制器的优化 6 3.1　遗传算法摘要 6 3.1.1　遗传算法的产生与发展 6 3.1.2　遗传算法的应用情况 7 3.2　遗传算法基本原理 8 3.2.1　遗传算法的基本思想 8 3.2.2 　遗传算法的基本操作 8 3.2