臺灣博碩士論文加值系統

在油槽之程序控制中PID使用相當廣泛，例如高壓槽、常壓槽等都可見其蹤跡，如此受歡迎的原因為此種控制器是屬於通用的型式，適用於各種不同的工作程序，不需受到操控程序的模式。而目前工業界有許多PID控制器，在不同環境下，所設定的PID參數皆不同。在PID驅動的控制閥中，廣泛使用的是溫度控制、壓力控制。本論文中藉由PID參數模擬以及透過Ziegler-Nichols經驗法則對系統不斷的嘗試錯誤，將其結果使用Ziegler-Nichols法則計算其控制器參數，找出最適合用在此實驗中的PID參數設定。
論文中藉由Ziegler-Nichols經驗法則比較得知最佳數值為K_p=0.8，K_i =0.5，K_d=0.25，相較於其他設定數值比較起來使得機台運作趨於穩定狀態，提升生產效率。經由這次研究可使未來在調整PID控制方面，能夠更快的了解客戶的需求，不僅可以確保所獲得的控制器的穩定性，也可以有效改善演算法的運作效率，也能使得控制器的效能更加優良，更具強健性的控制性能。

In the program control of the oil tank, the PID is widely used, such as high pressure troughs, atmospheric trenches, etc., and the reason for such popularity is that such controllers are of a generic type and are suitable for a variety of different operating procedures by the mode of the manipulator. At present, there are many PID controllers in the industry. In different environments, the PID parameters are different. In the PID-driven control valve, the widely used temperature control, pressure control. In this paper, we try to use the Ziegler-Nichols rule to calculate the controller parameters by simulating the PID parameters and passing the Ziegler-Nichols rule of thumb. Then use the Ziegler-Nichols rule to calculate the controller parameters to compare with them to find out the most suitable for this experiment In the PID parameter settings.
In this paper, the optimal value is K_p=0.8, K_i=0.25, K_d=0.05 by Ziegler-Nichols' rule.Compared with other set values, the operation of the machine is stabilized and the production is improved. effectiveness. Through this study can make the future in the adjustment of PID control, to better understand the needs of customers, not only to ensure the stability of the controller obtained, but also can effectively improve the efficiency of the algorithm, but also make the controller performance More excellent, more robust control performance.

目錄
摘要 i
Abstract ii
誌謝 iii
目錄 iv
表目錄 vi
圖目錄 vii
第一章 緒論 1
1.1前言 1
1.2研究動機與目的 2
1.3論文綱要 4
1.4文獻回顧 5
第二章 理論基礎 7
2.1 PID 控制器理論 7
2.1.1 閉迴圈系統 7
2.1.2 比例響應 8
2.1.3 積分響應 8
2.1.4 微分響應 9
2.2 PID 控制迴路運作 9
第三章 研究內容與方法 11
3.1控制器軟件流程圖 11
3.2 Ziegler Nichols PID參數調整方法 12
3.3 PID Simulator 13
3.4 PID模擬參數設計 錯誤! 尚未定義書籤。
第四章 實驗結果與討論 15
4.1 PID參數設定及曲線圖 15
4.1.1 利用PID Simulator(迴路模擬器)模擬PID數值 15
4.1.2 利用PID Control Motion模擬PID數值 25
4.2 Ziegler Nichols 線上調整方法 33
第五章 結論與未來展望 36
5.1結論 36
5.2未來展望 36
參考文獻 38

[1]吳懷宇， 2009，“控制原理與系統分析實驗教程” ，電子工業出版社。
[2]Vanessa Romero Segovia et al. ,2012, “History of PLC and DCS”.
[3]王常力等人， 2016，“分散式控制系統設計與應用實例 第三版”電子工業出版社。
[4]蘇乾元等人， 2008 ，“PID 控制：現狀、功能及調諧＂，台灣化學工程學會，Vol.55， pp. 13-57。
[5]B. W. Bequette et al., 2003, “Process Control Modeling, Design, and Simulation＂,Upper Saddle River
[6]Megha Anand ,2012,“Adopting Distributed Control System To Control Desalting”, International Journal of Emerging Technology and Advanced Engineering, Volume 2, Issue 6.
[7]陳憲鴻，2013，“分散式控制系統於試驗工場之應用－台灣中油煉製研究所之實例” ， 中工高雄會刊， 第21卷，第2期。
[8]Rajesh Kumbara S. K et al.,2013, “Adopting Distributed Control System To Control Desalting”, International Journal of Emerging Technology and Advanced Engineering, Volume 3, Issue 10.
[9]P. Cominos et al., 2002,“PID controllers: recent tuning methods and design to specification,” IEE Proceedings-Control Theory Applications, Vol. 149, No. 1, pp. 46-53.
[10]Meng Joo Er et al. 2001,“Hybrid Fuzzy Proportional-Integral Plus Conventional Derivative Control of Linear and Nonlinrar Systems,” IEEE Transactions on Industrial Electronics, Vol. 48, No. 6, pp. 1109-1117.
[11]Renato A. Krohling et al., 2001, “Design of Optimal Disturbance Rejection PID Controllers Using Genetic Algorithms,” IEEE Transactions on Evolutionary Computation, Vol. 5, No.1, pp. 78-82.
[12]Birgitta Kristiansson et al., 2002, “Robust Tuning of PI and PID Controllers,” IEE Proceedings-Control Theory Applications, Vol. 149, No. 1, pp. 17-25.
[13]Birgitta Kristiansson et al., 2006, “Robust Tuning of PI and PID Controllers,” IEEE Control Systems Magazine, Vol. 26, No. 1, pp. 55-69.
[14]蔡瑞昌等人，2008，“自動控制”，全華圖書股份有限公司。
[15]J.G. Ziegler et al., 1942, “Optimum settings for automatic controllers,” ASME Trans., vol. 65 pp.433-444.