臺灣博碩士論文加值系統

本文的目的是建構兩套以實驗方法為基礎的PI/PID控制器微調(fine tuning)的程序。本文以機械系統中常見的二階具時間延遲系統為研究對象，以IAE、ISE、ITSE、ITAE為系統的性能指標。在第一種的調整法當中，對於PI/PID控制器本文設計了一序列以不同的實驗跨距進行簡單方格實驗。對於第二種調整法，首先進行一次PI/PID控制的簡單方格實驗，計算得最佳配方及搜尋方向，並以最佳配方有其特定方向的特性，進行延伸搜尋最佳值的實驗。電腦模擬的結果顯示，第一種調整法對於PI/PID控制器的調整，大部分都可以微調至較佳的狀態，有效的改善Z-N推薦參數，而對於原本就以很接近最佳配方的Z-N推薦參數，改善的幅度則有限；第二種調整法對於大部分的案例，可以補捉到最佳的性能值，顯著的改善Z-N推薦參數，同時也可以減少實驗所需的次數，節省成本的耗費。由結果可看出，第二種調整法已較第一種改善許多，不論是對Z-N中心的改善率或以較少的實驗次就可達到相同的改善程度，皆優於第一種調整法，但有時因為案例的搜尋過程較複雜，以至於不能快速且準確的尋得最佳值，因此未來可能發展其他的調整法，以利使用者參考。

The purpose of this study is to construct two processes of PI/PID fine tuning adjustment which based on experimental method as the target of this study is Second Order System with Time delay which is commonly applied in machinery and indexed by IAE, ISE, ITSE, and ITAE system. Therefore, a series of different experimentations is operated in the first process of fine tuning adjustment and calibrated by simple square design. As for the second process of fine tuning adjustment, a simple square design is operated to figure the formula out and to search the experimentation which has the best numerical analysis. The results of computer simulation shows that most of the first process of fine tuning adjustment could be fine tuned to the best situation and effective in improving Z-N present parameters. On the other hand, the improving scale is limited for those Z-N present parameters that close to the best situation. To most cases, the second process of fine tuning adjustment could catch the best parameters which obviously ameliorate the Z-N present parameters, reduce the amount of experimentations, as well as cut down the cost. The results show that the second fine tuning has been greatly modified while comparing with the first process of fine tuning adjustment either on improving the Z-N centered rate or on more efficiently reducing the experimental amount. However, the best situation might not be promptly and accurately found for some cases have more complex searching courses. Consequently, the other adjustment is very possible to be developed in the future for users’ reference.

第一章 緒論
1.1研究動機..............................................1
1.2 研究目的............................................2
1.3 文獻回顧.............................................3
1.4 全文概述...........................................11
第二章 研究系統架構
2.1 PID控制器..........................................12
2.2 二階具時間延遲系統.................................17
2.3 Ziegler-Nichols法則................................23
2.4 系統的性能參考指標.................................26
2.5 改善率的定義.......................................28
2.6 名詞解釋...........................................28
第三章 以同心方格法進行微調實驗
3.1 實驗設計............................................30
3.2 實驗步驟...........................................34
3.3 執行實驗...........................................38
3.4 結果與討論.........................................39
3.4.1 PI控制器....................................39
3.4.2 PID控制器...................................55
第四章 以延伸搜尋法進行微調實驗
4.1 實驗說明...........................................65
4.2 實驗步驟...........................................68
4.3 執行實驗...........................................72
4.4 結果與討論.........................................76
4.4.1 PI控制......................................76
4.4.2 PID控制器...................................86
第五章 結論與建議
5-1結論................................................105
5-2建議................................................107

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