发布时间 : 星期一 文章工业锅炉过热蒸汽温度控制系统设计(大学本科毕业设计)更新完毕开始阅读7fcd10380622192e453610661ed9ad51f01d54a8
山东科技大学学士学位论文 附录
degradation in the form of either stiction or a deadband in the mechanical response to an input signal. The rate of mechanical wear is mainly a function of how often a device is activated to make a change. Where wear is a significant concern, the PID loop may have an output deadband to reduce the frequency of activation of the output (valve). This is accomplished by modifying the controller to hold its output steady if the change would be small (within the defined deadband range). The calculated output must leave the deadband before the actual output will change.The proportional and derivative terms can produce excessive movement in the output when a system is subjected to an instantaneous \case of the derivative term, this is due to taking the derivative of the error, which is very large in the case of an instantaneous step change. 5. Limitations of PID control
While PID controllers are applicable to many control problems, they can perform poorly in some applications.PID controllers, when used alone, can give poor performance when the PID loop gains must be reduced so that the control system does not overshoot, oscillate or \The control system performance can be improved by combining the feedback (or closed-loop) control of a PID controller with feed-forward (or open-loop) control. Knowledge about the system (such as the desired acceleration and inertia) can be \overall system performance. The feed-forward value alone can often provide the major portion of the controller output. The PID controller can then be used primarily to respond to whatever difference or \remains between the setpoint (SP) and the actual value of the process variable (PV). Since the
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山东科技大学学士学位论文 附录
feed-forward output is not affected by the process feedback, it can never cause the control system to oscillate, thus improving the system response and stability. For example, in most motion control systems, in order to accelerate a mechanical load under control, more force or torque is required from the prime mover, motor, or actuator. If a velocity loop PID controller is being used to control the speed of the load and command the force or torque being applied by the prime mover, then it is beneficial to take the instantaneous acceleration desired for the load, scale that value appropriately and add it to the output of the PID velocity loop controller. This means that whenever the load is being accelerated or decelerated, a proportional amount of force is commanded from the prime mover regardless of the feedback value. The PID loop in this situation uses the feedback information to effect any increase or decrease of the combined output in order to reduce the remaining difference between the process setpoint and the
feedback value. Working together, the combined open-loop feed-forward controller and closed-loop PID controller can provide a more responsive, stable and reliable control system.
Another problem faced with PID controllers is that they are linear. Thus, performance of PID controllers in non-linear systems (such as HVAC systems) is variable. Often PID controllers are enhanced through methods such as PID gain scheduling or fuzzy logic. Further practical application issues can arise from instrumentation connected to the controller. A high enough sampling rate, measurement precision, and measurement accuracy are required to achieve adequate control performance.
A problem with the Derivative term is that small amounts of measurement
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山东科技大学学士学位论文 附录
or process noise can cause large amounts of change in the output. It is often helpful to filter the measurements with a low-pass filter in order to remove higher-frequency noise components. However, low-pass filtering and derivative control can cancel each other out, so reducing noise by instrumentation means is a much better choice. Alternatively, the differential band can be turned off in many systems with little loss of control. This is equivalent to using the PID controller as a PI controller. 6. Cascade control
One distinctive advantage of PID controllers is that two PID controllers can be used together to yield better dynamic performance. This is called cascaded PID control. In cascade control there are two PIDs arranged with one PID controlling the set point of another. A PID controller acts as outer loop controller, which controls the primary physical parameter, such as fluid level or velocity. The other controller acts as inner loop controller, which reads the output of outer loop controller as set point, usually controlling a more rapid changing parameter, flowrate or accelleration. It can be mathematically proved that the working frequency of the controller is increased and the time constant of the object is reduced by using cascaded PID controller.[vague] 7. Physical implementation of PID control
In the early history of automatic process control the PID controller was implemented as a mechanical device. These mechanical controllers used a lever, spring and a mass and were often energized by compressed air. These pneumatic controllers were once the industry standard.Electronic analog controllers can be made from a solid-state or tube amplifier, a capacitor and a resistance. Electronic analog PID control loops were often found within more complex
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山东科技大学学士学位论文 附录
electronic systems, for example, the head positioning of a disk drive, the power conditioning of a power supply, or even the movement-detection circuit of a modern seismometer. Nowadays, electronic controllers have largely been replaced by digital controllers implemented with microcontrollers or FPGAs. Most modern PID controllers in industry are implemented in software in programmable logic controllers (PLCs) or as a panel-mounted digital controller. Software implementations have the advantages that they are relatively cheap and are flexible with respect to the implementation of the PID algorithm. 8.Alternative nomenclature and PID forms 8.1 Pseudocode
Here is a simple software loop that implements the PID algorithm:
previous_error = 0 start: error = setpoint - actual_position P = Kp * error I = I + Ki * error * dt D = (Kd / dt) * (error - previous_error) output = P + I + D previous_error = error wait(dt) goto start
8.2 Ideal versus standard PID form
The form of the PID controller most often encountered in industry, and the one most relevant to tuning algorithms is the \Kp gain is applied to the Iout, and Dout terms, yielding:
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