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研究生:陳黛婷
研究生(外文):Day-Ting,Chen
論文名稱:基於極點配置之數位PID控制器最適化設計
論文名稱(外文):Optimal Design of Digital PID Controllers Based on Pole Assignment
指導教授:黃世宏
指導教授(外文):Shyh-Hong,Hwang
學位類別:碩士
校院名稱:國立成功大學
系所名稱:化學工程學系
學門:工程學門
學類:化學工程學類
論文種類:學術論文
論文出版年:2002
畢業學年度:90
語文別:中文
論文頁數:105
中文關鍵詞:極點配置數位PID控制器
外文關鍵詞:Pole AssignmentDigital PID Controllers
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本論文提出的基於極點配置之數位PID控制器設計,可藉調整z平面上兩個主要的極點位置,來決定三種結構PID控制器之比例、積分和微分增益。這種設計方法由於調諧的參數變少,很容易在設定點改變或擾動發生之情況下,藉著目標函數最小化和一些強韌性限制,而快速地找到PID最佳參數,使系統獲得良好的控制品質和強韌性。論文針對具時延之一階、二階和高階系統進行模擬研究,並與基於廣義預測控制法之PID控制器作比較。模擬結果顯示基於極點配置之數位PID控制器,可在滿足相同的強韌性限制下獲得較佳之控制效能。

The thesis presents the design of digital PID controllers based on pole assignment. The design method determines the proportional, integral, and derivative gains for three types of control structures by adjusting the position of two dominant poles on the z-plane. Due to the reduction of the tuning parameters, the optimal controller parameters for setpoint changes and load disturbances can be found rapidly by minimizing an objective function subject to certain robustness limitation. The design could result in good performance as well as satisfactory robustness. A simulation study is conducted on first-order, second-order, and high-order systems with time delays. The results are compared with those obtained by the generalized predictive PID controllers. It appears that the proposed digital design has better control performance under the same robustness constraint.

目錄
中文摘要 …………………………………………………………………...Ⅲ
英文摘要 …………………………………………………………………...Ⅳ
誌謝 ………………………………………………………………….……..Ⅴ
表目錄 ……………………………………………………………………...Ⅵ
圖目錄 ……………………………………………………………………...Ⅸ
第一章 緒論
1.1 研究動機與目的 ……..……………………..….…………………...1
1.2 文獻回顧 ..………………………………..……….………………...3
1.3 章節與組織 ..……………………………..…………………….…...6
第二章 基於極點配置之數位PID控制器
2.1 極點配置控制原理 .…………………….………….…………......8
2.2 極點配置控制和PID控制器之間關係 ..………….……….….....14
2.2.1 數位PID控制器 ….……..……………….…….….............14
2.2.2 類型Ⅰ之PID控制架構 .…………………………...............16
2.2.3 類型Ⅱ之PID控制架構 .…………………………...............17
2.2.4 類型Ⅲ之PID控制架構 .…………………………...............19
第三章 基於極點配置數位PID控制器之最佳參數調諧
3.1 目標函數 ………………………………………………………......22
3.2 基於廣義預測控制法之PID控制器 ..…………………….…….....25
3.2.1 廣義預測控制法之推導 ...……….……….….….............25
3.2.2 推導廣義預測控制法和PID 控制器之間關係 .................32
3.3 範例選取 ………………………………………………………...... 34
3.4 參數最適化調諧 ..………………………….……………………....37
第四章 模擬結果與討論
4.1類型Ⅱ控制結構下之模擬結果與討論 ………………………........44
4.1.1一階具時延模式 .………………………………..….............44
4.1.2二階具時延模式 ……….…………………………...............56
4.1.3高階具時延模式 …………………………………................66
4.2類型Ⅲ控制結構下之模擬結果與討論 ………………………........76
4.2.1 一階具時延模式 …………………………………...............76
4.2.2 二階具時延模式 …………………………………...............79
4.2.3 高階具時延模式 …………………………………...............84
第五章 結論………………………………………....................88
附錄 .…………………………………………………………………………91
參考文獻………………………………………………………………….…102
自述 ……………………………………………………………………....105

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