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研究生:張舜宏
研究生(外文):Shun-Hung Chang
論文名稱:具專家系統知識源之智慧型PID控制器
論文名稱(外文):The Implementation of an Expert System Knowledge Based Intelligent PID Controller
指導教授:沈金鐘江煥鏗
學位類別:碩士
校院名稱:國立雲林科技大學
系所名稱:電機工程系碩士班
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2003
畢業學年度:91
語文別:中文
論文頁數:81
中文關鍵詞:PID控制器基因演算法專家系統
外文關鍵詞:expert systemgenetic algorithmPID controller
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雖然有關PID控制器的研究已久,控制理論也進步迅速,但在實際的製程應用上,PID參數調整是一項既麻煩又耗時的嚐試錯誤測試程序,且須由工程師之實際經驗值來解決。因此才會有利用專家系統來控制系統的想法,即所謂專家控制。本文將介紹一種具專家系統知識源之智慧型PID控制器。它由一部個人電腦、一片數位訊號處理(DSP)卡所構成。此控制器具有下列功能:
1. 對受控體的動態特性所知有限的情形下,能穩定的控制。
2. 包含四種受控體簡化模型供使用者選擇,以增加此控制器的適用性。
3. 能監測控制系統的動態響應,並即時顯示出來,當系統不穩定或性能不符合預期時,能即時發現並重新調整控制器參數。
4. 整個控制器的架構是開放性的,能很容易依使用者的需求來修改、擴大,以增加其它智能。
最後我們利用數個實驗例子,來說明、驗證此智慧型PID控制器的性能。
Although the research about the PID controller has been existed for a long time and control theory is progressing fast. In practical application, the tuning of the PID controller is a troublesome and time-consuming process. It must be solved by practical experience of the engineers. Therefore, The expert control has been developed. In this thesis, we will present an expert system knowledge-based intelligent PID controller. It consists of one personal computer and a digital signal processor (DSP) card. This controller has the following abilities:
1. It can stabilize a process with minor knowledge about the dynamics of processes.
2. Provide four kinds of plant models that can be chose by user.
3. It can monitor the performance of the whole system. If the closed-loop system become unstable or the performance does not attain the expectation, the expert system can recover the system from instability and find out new proper controller parameters.
4. The architecture of controller is open, can be modified and extended easily.
Finally, some examples are given to verify the performance of the controller.
中文摘要 ----------------------------------------------------------------- i
英文摘要 ----------------------------------------------------------------- ii
致謝 -------------------------------------------------------------------- iii
目錄 ------------------------------------------- ------------------------- iv
表目錄 ------------------------------------------------------------------- vi
圖目錄 ------------------------------------------ ------------------------ vii
符號說明 ------------------------------------------------------------------ x
第一章 緒論 ------------------------------------------------------------- 1
1.1 研究動機 ------------------------------------------------------------- 1
1.2 研究內容 ------------------------------------------------------------- 3
1.3 內容大綱 ------------------------------------------------------------- 4
第二章 PID控制器之設計及調整 -------------------------------------------- 5
2.1 前言 ----------------------------------------------- ----------------- 5
2.2 PID控制器的架構 ------------------------------------------------------ 8
2.3 受控體簡化模型之求取 --------------------------------------------- 13
2.3.1 過阻尼響應受控體之簡化模型求取 --------------------------- 13
2.3.2 欠阻尼響應受控體之簡化模型求取 --------------------------- 18
2.3.3 二階系統之模型求取 ----------------------------------------- 21
2.3.4 二階具積分器系統之模型求取 --------------------------- 22
2.4 以基因演算法為基礎的控制器參數調整公式 -------------------- 24
2.4.1 適用於二階系統的調整公式 -------------------------------------- 27
2.4.2 適用於二階具積分器系統的調整公式 --------------------------- 30
2.4.3 適用於過阻尼控制對象的調整公式 ------------------------------ 32
2.4.4 適用於欠阻尼控制對象的調整公式 ------------------------------ 33
2.5 性能評估公式 --------------------------------------------------------- 36
2.5.1 適用於二階系統的性能評估公式 ----------------------------- 36
2.5.2 適用於二階具積分器系統的性能評估公式 ------------------ 38
2.5.3 適用於過阻尼控制對象的性能評估公式 --------------------- 40
2.5.4 適用於欠阻尼控制對象的性能評估公式 --------------------- 40
第三章 系統架構 ------------------------------------------------------ 42
3.1 前言 ---------------------------------------------------------------- 42
3.2 控制器架構 --------------------------------------------------------- 43
3.3 專家系統 ------------------------------------------------------------ 45
第四章 各種受控體之控制結果 -------------------------------------------- 53
4.1 類比電路實驗結果 ---------------------------------------------------- 57
4.2 風扇與板之定位控制系統實驗結果 -------------------------------- 72
第五章 結論 ------------------------------------------------------------- 76
參考文獻 ------------------------------------------------------------------ 78
參考文獻

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