常用PID改进编程实现与仿真研究.doc

摘 要 用计算机实现PID控制，不只是简单的把PID控制规律数字化，而是进一步与计算机的强大运算能力，储存能力和逻辑判断能力结合起来，克服在实际应用中的一些PID控制缺陷。本文罗列了常见的四种PID改进方法，包括积分分离算法，抗积分饱和算法，微分项的改进算法和带死区的数字PID算法，这些控制算法的优点是可以减小系统的超调量，使系统变得稳定，提高了控制系统的品质，能在控制过程中设置输出值的上下限，能在设定值变化时使控制作用的变化较为平缓，在使用带死区PID控制算法后，在一定程度上可以抑制由于执行机构存在回差而可能产生的控制量来回振荡现象。在了解PID改进算法规律数字化的基础上使用面向对象的C++语言在VC++6.0平台上写出了完整的运算代码及仿真界面，具有一定的人机交互界面。同时并以一个具有一定纯滞后的典型热工被控对象为例，在上述仿真环境下，验证各种改进算法的效果，并绘制输出后的仿真曲线。 关键词：PID，改进，编程，仿真，C++ ABSTRACT To realize the PID control with the computer, not only Digitalization PID control rules simply, but further unifies with computers formidable operational capability、 the storage power and logical judgment ability to overcome some PID control flaws in the practical application. This article has displayed four common PID corrective methods, including the integral separation algorithm, the anti-integral saturated algorithm, the differential improvement algorithm and the belt dead areas digital PID algorithm, these control algorithms not only reduce systems overshoot ,which make the system become stable, thus improve control systems quality ,but also establish the bound of the output in the controlled process, thus resulting in a stable change when the setting value change, after using dead-section PID control algorithm, to a certain extent ,it may suppress the control variable oscillation caused by backlash exit in Actuator . Using the object-oriented C++ language to write the complete operation part and the simulation contact surface in the VC++6.0 platform in the base of understanding the PID improvement algorithm rule digitization, which have certain man-machine interaction contact surface. Simultaneously, take the example that the certain pure time delay typical hot working controlled plant, under the above simulation environment, confirms the effect of each kind of improvement algorithm and draws up the output simulation curve. KEY WORDS: PID，improve，program，simulate，C++ language目录 摘 要 I ABSTRACT II 第1章 绪论 1 1.1 选题背景和意义 1 1.1.1发