【正文】 IMATLAB的數(shù)字 PID控制器設(shè)計(jì)及仿真分析 摘 要 PID控制作為 歷史最為悠久，生命力最強(qiáng)的控制方式一直在生產(chǎn)過程自動(dòng)化控制中發(fā)揮著巨大的作用。 PID控制是最早發(fā)展起來的控制策略之一，由于其算法簡單、魯棒性好和可靠性高，被廣泛用于過程控制和運(yùn)動(dòng)控制中。數(shù)字 PID控制算法是將模擬 PID離散化而得到的，各參數(shù)有著明顯的物理意義，而且調(diào)整方便，所以 PID控制器很受工程技術(shù)人員的喜愛。 本論文主要實(shí)現(xiàn)基于 MATLAB的數(shù)字 PID控制器設(shè)計(jì)及仿真。首先介紹了傳統(tǒng)的模擬 PID控制方法，包括比例控制方法、比例積分控制方法、比例積分微分控制方法等。接下來，介紹了數(shù)字 PID控制。隨著時(shí)代的 發(fā)展，科技的進(jìn)步，傳統(tǒng)的模擬 PID控制方法不能滿足人們的需求，數(shù)字 PID控制的改進(jìn)算法也便隨之而來。本文最后，應(yīng)用 MATLAB軟件，在實(shí)驗(yàn)的環(huán)境下實(shí)現(xiàn)了其設(shè)計(jì)及仿真。 本次畢業(yè)設(shè)計(jì)用來完成 數(shù)字 PID控制器的設(shè)計(jì) ， 并 通過 MATLAB實(shí)現(xiàn)其仿真同時(shí)加以分析 。 通過查閱文獻(xiàn)得知， 與 傳統(tǒng)模擬 PID 控制 器相 比較，該 控制器 具有良好的 靈活 性，而且 可得到精確的數(shù)學(xué)模型 。另外， 基于 MATLAB 的數(shù)字 PID 控制器設(shè)計(jì)及仿真，充分的利用了 MATLAB 的實(shí)驗(yàn)環(huán)境，整個(gè)設(shè)計(jì)驗(yàn)證了數(shù)字 PID的廣泛可實(shí)現(xiàn)性及準(zhǔn)確性。 關(guān)鍵詞 ： PID控制 ；模擬 PID控制器；數(shù)字 PID控制器； MATLAB仿真； Design and simulation analysis of Digital PID Controller MATLABbased Abstract As the most ageold and powerful control mode, PID control always has had a great effect on the automatic control of the production process. PID control is one of the first developed control strategy, because of the II simple algorithm， great robust and high reliability, it is widely used in process control and motor control. Digital PID control algorithm is gotten by discreting the analog PID control, and the parameters have obvious physical meaning and facility adjustment, so PID controller is popular with engineering and technical personnel. In the paper, the main idea is to acplish MATLABbased digital PID controller design and simulation analysis. In the first place, the traditional analog PID control methods is introduced, including proportional control methods, proportional integral control and proportional integral differential control. In the second place, the digital PID control methods are offered. With the development of the times, the advancement of technology, traditional analog PID control method cannot make a satisfaction, then digital PID control is followed. At last，the application of MATLAB software to achieve their design and simulation is easy to acplish. The graduation project is to plete the digital PID controller design and simulation through MATLAB simulation and analysis. It is known that through the literature, pare with traditional PID controller, the controller has good flexibility and precision of the mathematical models available. In addition, in the number of MATLABbased PID controller design and simulation, the MATLAB experiment environment is used prehensively. The entire design is confirmed the wide range and accuracy of digital PID controller. Key words： PID control； analog PID controller； digital PID controller； MATLAB simulatio III 目 錄 摘 要 ....................................................................... I ABSTRACT ..................................................................... I 第 1章 緒論 .................................................................. 1 課題目的及意義 .......................................................... 1 數(shù)字 PID控制器的研究現(xiàn)狀 ................................................ 2 第 2章 PID控制器 ............................................................. 3 傳統(tǒng) PID控制器概述 ...................................................... 3 PID控制器的基本原理 .................................................... 4 比例 (P)調(diào)節(jié) ......................................................... 5 比例積分 (PI)調(diào)節(jié) .................................................... 7 比例積分微分 (PID)調(diào)節(jié) ............................................... 8 第 3章 數(shù)字 PID控制器 ........................................................ 11 數(shù)字 PID控制系統(tǒng) ....................................................... 11 數(shù)字 PID控制的基本算法 ................................................. 11 位置式 PID控制算法 ................................................. 11 增量式 PID控制算法 ................................................. 13 位置算式與增量算式的比較 ........................................... 14 第 4章 數(shù)字 PID的改進(jìn)算法 .................................................... 15 積分算法的改進(jìn) ......................................................... 16 積分分離法 ......................................................... 18 變速積分法 ......................................................... 20 IV 遇限消弱積分法 ..................................................... 21 梯形積分法 ......................................................... 22 微分算法的改進(jìn) .........................................