【正文】 可獲得較為理想的控制效果。本文旨在充分發(fā)揮遺傳算法的特點(diǎn)，提高 PID控制系統(tǒng)設(shè)計(jì)和控制品質(zhì)。進(jìn)一步研究三容水箱系統(tǒng)的控制算法并構(gòu)建現(xiàn)代實(shí)驗(yàn)教 學(xué)系統(tǒng)，在工業(yè)控制領(lǐng)域和工程控制論教學(xué)中都具有較為重要的理論 和實(shí)際應(yīng)用價(jià)值。 1 目錄 目錄 ................................................................................................................................. 1 摘要 ................................................................................................................................. 3 第一章 概論 ................................................................................................................. 5 課題來源 ........................................................................................................... 5 水箱控制策略的研究 ......................................................................................... 6 本文研究課題 .................................................................................................... 6 第二章 三容水箱系統(tǒng)簡(jiǎn)介及數(shù)學(xué)模型 .......................................................................... 8 三容水箱系統(tǒng)的總體結(jié)構(gòu)及工作原理 ................................................................. 8 三容水箱試驗(yàn)系統(tǒng)的總體結(jié)構(gòu) .......................................................................... 8 三容水箱試驗(yàn)臺(tái)控制結(jié)構(gòu)的組成 ....................................................................... 9 單入單出一階對(duì)象的結(jié)構(gòu) ............................................................................... 10 三容水箱系統(tǒng)的特點(diǎn) ...................................................................................... 10 實(shí)驗(yàn)建模法推導(dǎo)三容水箱系統(tǒng)的數(shù)學(xué)模型 ....................................................... 11 系統(tǒng)的性能分析 ............................................................................................. 13 本章小結(jié) ........................................................................................................ 15 第三章 基于三 容水箱系統(tǒng)的 PID 控制算法研究 .......................................................... 16 PID 控制原理簡(jiǎn)介 .......................................................................................... 16 基于 ZN的算法實(shí)現(xiàn) ...................................................................................... 17 數(shù)字 PID 控制算法簡(jiǎn)介 .................................................................................. 18 積分分離 PID 控制算法 .................................................................................. 19 基于 ZN 整定法的 Kp、 Ki、 Kd 控制參數(shù)整定 ............................................... 20 基于遺傳算法的 PID控制的設(shè)計(jì) ..................................................................... 24 遺傳算法簡(jiǎn)介 ................................................................................................. 24 基于遺傳算法 PID 參數(shù)整定的算法設(shè)計(jì) .......................................................... 26 適應(yīng)度目標(biāo)函數(shù)討論 ...................................................................................... 33 基于自適應(yīng)遺傳算法改進(jìn)的 PID參數(shù)整定 ....................................................... 34 自適應(yīng)遺傳算法 ............................................................................................. 34 基于自適應(yīng)遺傳算法求解最優(yōu)化模型 .............................................................. 36 基于自適應(yīng)遺傳算法的改進(jìn) ............................................................................ 38 本章小結(jié) ........................................................................................................ 40 第四章 總結(jié) ............................................................................................................... 41 結(jié)論 ............................................................................................................... 41 2 后續(xù)工作 ........................................................................................................ 41 參考文獻(xiàn) ........................................................................................................................ 42 致謝 ............................................................................................................................... 43 附錄 1 常規(guī)遺傳算法 PID整定程序 ............................................................................. 43 附錄 2 計(jì)算目標(biāo)函數(shù)值的子程序 .............................................................. 47 附錄 3 基于自適應(yīng)遺傳算法的 PID整定程序 ............................................................... 49 附錄 4 快速仿真曲線程序 ........................................................................................... 56 3 摘要 三容水箱系統(tǒng)是工業(yè)過程控制中許多被控對(duì)象的典型抽象模型，在非線性、大慣性 過程控制研究應(yīng)用中具有廣泛代表性。近年來國(guó)內(nèi)外許多學(xué)者對(duì)三容水箱系統(tǒng)的建模方法、控制算法及故障診斷等方面進(jìn)行了探討。 PID控制是最早發(fā)展起來的控制策略之一，由于其算法簡(jiǎn)單、魯棒性好和可靠性高，被廣泛應(yīng)用于工業(yè)過程控制，尤其適用于可建立精確數(shù)學(xué)模型的確定性控制系統(tǒng)。 首先采用實(shí)驗(yàn)建模法推 導(dǎo) 了三容水箱的數(shù)學(xué)模型，然后根據(jù)上述模 型在三容水箱中應(yīng)用了兩種 PID控制策略：基于自適應(yīng)遺傳算法的 PID控制和 基于自適應(yīng)遺傳算法的改進(jìn) 快速 PID控制算法。 關(guān)鍵詞 三容水箱系統(tǒng) ； 數(shù)學(xué)模型 ； 自適應(yīng)遺傳算法 ； 基于自適應(yīng)遺傳算法的改進(jìn) 快速 PID控制算法 4 ABSTRACT Threetank system is a typical and nonobjective model of many objects in industrial process control,and the system is broadly representative in the research of nonlinear and inertial process recent years,many scholars in home and abroad have explored the mehhod of modeling,control algorithm and diagnosis of faults etc…It has true values of theoretics and pratical application in the field of industrial control and the teaching of Engineering Control Theory to further research on the control algorithm of threetank system and the construction of experiment teaching system. PID controller is one of the earliest developed control controller has been applied on industrial control extensively because of its simple algorithm 、 good robustness and high it is shuitable for controlsystem which we can find mathematical paper aims at improving the control system design and control quality through the full use of geic ,experimental modeling method derived mathematical model of the we used two kindsof PID control games on single are PIDcontroller based on auto GA and fast PID control algorithm based on adapive geic algorith