鎽樿锛歅ID鎺у埗鏄亷(gu貌)绋嬫帶鍒朵腑鎳�(y墨ng)鐢ㄦ渶寤ｆ硾鐨勬帶鍒舵柟娉�锛屽叾闂�(gu膩n)閸靛湪浜嶱ID鍙冩暩(sh霉)鐨勫劒(y艒u)鍖�銆傞嚌灏�(du矛)鍏跺弮鏁�(sh霉)鏁村畾鍜屽劒(y艒u)鍖栧晱(w猫n)椤�锛屾彁鍑轰簡涓€绋敼閫�(j矛n)鐨勭矑瀛愮兢鍎�(y艒u)鍖栫畻娉�銆備豢鐪熺祼(ji茅)鏋滆瓑鏄庝簡瑭茬畻娉曠殑鏈夋晥鎬э紝鍏舵€ц兘鍎�(y艒u)浜庨伜鍌崇畻娉曞拰鍩烘湰寰矑缇ょ畻娉�锛屽叿鏈変竴瀹氱殑宸ョ▼鎳�(y墨ng)鐢ㄥ墠鏅�銆�
闂�(gu膩n)閸靛瓧锛氱矑瀛愮兢绠楁硶锛汸ID鎺у埗鍣紱鍏嬮殕閬告搰锛涘弮鏁�(sh霉)鍎�(y艒u)鍖�
Application of an improved PSO algorithm in PID parameters optimization
Shao hui-feng
(Oxygen Factry,Tonggang Iron&Stell Inc.Tonghua134004,Jilin,P.R.China)

Abstract锛歅ID control is the most common control method used in process control, and the core technology lies in the optimization of the PID parameters. An improved particle swarm optimization is proposed in tuning and optimization of PID parameters in this paper. Simulation results verified the effectiveness of improved PSO and show that its performance is better than GA algorithm and base PSO, which means a well prospective.

Key words锛歅article swarm algorithm; PID controller; Clone selection; Parameter optimization
1 寮曡█
      PID鎺у埗鍣ㄧ祼(ji茅)妲�(g貌u)绨�(ji菐n)鍠�锛屽皪(du矛)妯″瀷瑾ゅ樊鍏锋湁榄鎬у拰鏄撲簬鎿嶄綔绛夊劒(y艒u)榛�(di菐n)锛屽晱(w猫n)涓栧崐鍊�(g猫)澶氫笘绱€(j矛)浠ヤ締(l谩i)鍦ㄥ悇鍊�(g猫)鎺у埗闋�(l菒ng)鍩熶腑寰楀埌浜嗗唬娉涚殑鎳�(y墨ng)鐢�銆侾ID鎺у埗鍣ㄦ槸鎸夊亸宸殑姣斾緥锛圥锛�銆佺⿳鍒嗭紙I锛夊拰寰垎锛圖锛夐€氶亷(gu貌)绶氭€х祫鍚堟(g貌u)鎴愭帶鍒堕噺锛屽皪(du矛)琚帶灏�(du矛)璞￠€�(j矛n)琛屾帶鍒�銆傞€欎笁鍊�(g猫)鍙冩暩(sh霉)鏁村畾鐨勫ソ澹炰笉浣嗘渻(hu矛)褰遍熆鍒版帶鍒剁殑璩�(zh矛)閲忥紝鑰屼笖閭勬渻(hu矛)褰遍熆鍒版帶鍒跺櫒鐨勯妫掓€�銆傚洜姝ゅ皪(du矛)PID鎺у埗鍣ㄥ弮鏁�(sh霉)鏁村畾鐨勭爺绌舵垚浜嗕汉鍊戦棞(gu膩n)娉ㄧ殑閲嶈鍟�(w猫n)椤屼箣涓€銆�
      闅ㄨ憲PID鍙冩暩(sh霉)鏁村畾鎶€琛�(sh霉)鐨勪笉鏂风櫦(f膩)灞�锛屼汉鍊戞彁鍑轰簡鍚勭ó鍚勬ǎ鐨勬暣瀹氭柟娉�銆傚父瑕�(gu墨)鐨勬柟娉曚竴鑸槸鍩轰簬妯″瀷鎴栬€呭熀浜庤(gu墨)鍓囩殑鑷暣瀹氾紝闅ㄨ憲鏅鸿兘绠楁硶鐨勭櫦(f膩)灞曚汉鍊戞彁鍑轰簡涓€绯诲垪鐨凱ID鑷暣瀹氭柟娉�锛屽鍩轰簬妯＄硦瑕�(gu墨)鍓嘯1]锛屽熀浜庣缍�(j墨ng)缍�(w菐ng)绲�(lu貌)[2]浠ュ強閬哄偝绠楁硶[3]鐨勮嚜鏁村畾鏂规硶绛夌瓑銆�
      寰矑缇ゅ劒(y艒u)鍖栵紙Particle Swarm Optimization , PSO锛夌畻娉曞叿鏈夌畻娉曠啊(ji菐n)鍠槗瀵�(sh铆)鐝�(xi脿n)鐨勫劒(y艒u)榛�(di菐n)锛屽凡缍�(j墨ng)琚噳(y墨ng)鐢ㄤ簬鐪惧宸ョ▼闋�(l菒ng)鍩�銆傛湰鏂囧皣鍦ㄥ師鏈夌畻娉曠殑鍩虹(ch菙)涓婃彁鍑轰竴绋敼閫�(j矛n)鐨勫井绮掔兢绠楁硶锛屽皣鍏舵噳(y墨ng)鐢ㄤ簬PID鎺у埗鍣ㄧ殑鍙冩暩(sh霉)鏁村畾涓�銆傝┎绠楁硶鍏嬫湇浜嗗偝绲�(t菕ng)PID鎺у埗鍣ㄥ弮鏁�(sh霉)灏嬪劒(y艒u)鐨勪笉瓒�锛屼豢鐪熺祼(ji茅)鏋滆〃鏄庤┎绠楁硶鍎�(y艒u)浜庨伜鍌崇畻娉曠殑鍩烘湰寰矑缇ょ畻娉曘€�

2 PID鎺у埗鍣ㄦ弿杩�

鍦�1 妯℃摤PID鎺у埗绯荤当(t菕ng)鍘熺悊妗嗗湒

3 绠楁硶鎻忚堪
3.1 鍩烘湰寰矑缇ゅ劒(y艒u)鍖栫畻娉�
寰矑缇ょ畻娉曪紙particle swarm optimization,绨�(ji菐n)绋�(ch膿ng)PSO锛夋槸Eberhart鍜孠ennedy绛変汉妯℃摤槌�(ni菐o)椤�(l猫i)鐨勬崟椋熻鐐轰簬1995骞存彁鍑虹殑涓€绋柊鐨勫叏灞€閫�(j矛n)鍖栧劒(y艒u)鍖栫畻娉昜4]?锛涱姠椹诡劰纭庣壍绨╊暔?y艒u)鍖栧晱(w猫n)椤岀殑姣忓€�(g猫)瑙ｄ綔鐢ㄤ竴鍊�(g猫)绮掑瓙锛屾瘡鍊�(g猫)绮掑瓙鍦╪缍┖闁撲腑浠ヤ竴瀹氱殑閫熷害椋涜锛屽苟閫氶亷(gu貌)涓€瀹氱殑閬╂噳(y墨ng)搴﹀嚱鏁�(sh霉)渚�(l谩i)鍒ゆ柗绮掑瓙浣嶇疆鐨勫劒(y艒u)鍔ｏ紝姣忓€�(g猫)绮掑瓙鏍规摎(j霉)鑷韩鐨勯琛岀稉(j墨ng)椹�(y脿n)浠ュ強缇ら珨鐨勯琛岀稉(j墨ng)椹�(y脿n)渚�(l谩i)瑾�(di脿o)鏁磋嚜宸辩殑椋涜鐙€鎱�(t脿i)锛屽悜绌洪枔涓殑鏇村劒(y艒u)浣嶇疆椋涜銆傜矑瀛愯嚜韬稉(j墨ng)閬�(gu貌)鐨勬渶鍎�(y艒u)浣�

3.2 鏀归€�(j矛n)寰矑缇ゅ劒(y艒u)鍖栫畻娉�
PSO绠楁硶鍏锋湁姒傚康绨�(ji菐n)鍠�銆佹槗浜庡(sh铆)鐝�(xi脿n)銆佸叿鏈夎純寮�(qi谩ng)鐨勫叏灞€鏀舵杺鑳藉姏鍜岄妫掓€х瓑鍎�(y艒u)榛�(di菐n)锛屼絾鏄畠鍚屾檪(sh铆)涔熷叿鏈夋櫤鑳界兢楂旂畻娉曠殑鍥烘湁缂洪櫡瀹规槗闄峰叆灞€閮ㄦ渶鍎�(y艒u)銆傜偤浜嗗厠鏈嶇矑瀛愮兢绠楁硶鐨勭己榛�(di菐n)锛屾垜鍊戝紩鍏ュ厠闅嗗厤鐤(j墨)鍒舵(g貌u)閫犱竴绋厠闅嗗厤鐤矑瀛愮兢绠楁硶銆傚厤鐤畻娉曪紙Immune Algorithm, IA锛夋槸鍙楀埌鍏嶇柅绯荤当(t菕ng)鍟熺櫦(f膩)鑰岀櫦(f膩)灞曡捣渚�(l谩i)鐨勪竴椤�(l猫i)浠跨敓绠楁硶锛岃┎绠楁硶涓昏鏄ā鎿嚜鐒剁晫鐢熺墿鍏嶇柅绯荤当(t菕ng)鐨勬(j墨)鐞嗗拰鍔熻兘鑰屽(sh铆)鐝�(xi脿n)[5]銆傚厠闅嗛伕鎿囩畻娉曟槸鍏嶇柅绠楁硶涓熀浜庡厠闅嗛伕鎿囧(xu茅)瑾�(shu艒)鑰屾彁鍑�銆傜敱浜庡厠闅嗛伕鎿囩畻娉曚腑瀛樺湪钁楅伕鎿�锛屽厠闅嗕互鍙婅畩鐣版搷浣滃彲浠ヤ繚璀夎В鐨勫妯ｆ€с€�
鏈枃鐨勫仛娉曟槸鍦ㄧ矑瀛愮兢绠楁硶澶栭儴寤虹珛涓€鍊�(g猫)瑕�(gu墨)妯＄偤鍒濆绮掑瓙鍊�(g猫)鏁�(sh霉)1/10鐨勬渶鍎�(y艒u)瑙ｉ泦m銆傛瘡鐣�(d膩ng)绮掑瓙缇ょ畻娉曞嚭鐝�(xi脿n)涓€鍊�(g猫)鏂扮殑鍏ㄥ眬鏈€鍎�(y艒u)瑙� 鎴戝€戝氨灏囧叾鍔犲叆鍒版渶鍎�(y艒u)瑙ｉ泦涓�,鏇挎彌鏈€鍎�(y艒u)瑙ｉ泦涓仼鎳�(y墨ng)搴︽渶灏忕殑瑙�锛屼娇鏈€鍎�(y艒u)

瀹氱京3锛氶伕鎿囩畻瀛�锛岀敤缍�(j墨ng)閬�(gu貌)鏌タ璁婄暟鍚庣敘(ch菐n)鐢熺殑绮掑瓙鐩存帴浠ｆ浛鐣�(d膩ng)鍓嶇殑鎵€鏈夌矑瀛�銆�
鍏嬮殕鍏嶇柅绮掑瓙缇ょ畻娉曡垏鍩烘湰寰矑缇ょ畻娉曚笉鍚岀殑鏅�(sh铆)锛屽畠鍦ㄥ師鏈夊井绮掔兢绠楁硶鍩虹(ch菙)涓婂姞鍏ヤ簡鍏嬮殕鍏嶇柅鎿嶄綔銆傜暥(d膩ng)绮掑瓙缇ょ畻娉曢櫡鍏ュ眬閮ㄦ渶鍎�(y艒u)鏅�(sh铆)锛屽皪(du矛)澶栭儴鏈€鍎�(y艒u)瑙ｉ泦涓殑绮掑瓙閫�(j矛n)琛屽厠闅嗗京(f霉)鍒�锛屽厠闅嗚畩鐣板拰鍏嬮殕閬告搰鎿嶄綔锛屾彁楂樹簡绮掑瓙鐨勫妯ｆ€�锛屽公鍔╃畻娉曡烦鍑哄眬閮ㄦ渶鍎�(y艒u)瑙�锛岄伩鍏嶆棭鐔熸敹鏂�锛屾彁楂樹簡瑙ｇ殑绮惧害銆�

3.4 鍏嬮殕鍏嶇柅绮掑瓙缇ょ畻娉曠殑PID鍙冩暩(sh霉)鍎�(y艒u)鍖栨椹�
鎳�(y墨ng)鐢ㄥ厠闅嗗厤鐤矑瀛愮兢绠楁硶瀵�(sh铆)鐝�(xi脿n)PID鎺у埗鍣ㄥ弮鏁�(sh霉)鍎�(y艒u)鍖栫殑绠楁硶娴佺▼濡備笅锛�

             鍦�3 涓夌ó绠楁硶闅庤簫闊挎噳(y墨ng)鏇茬窔鍦�

寰炲湒2銆佸湒3浠ュ強琛�1鍙互鐪嬪嚭锛氭敹鏂傞€熷害銆佹悳绱㈣兘鍔涗互鍙婂湪绯荤当(t菕ng)闊挎噳(y墨ng)鏅�(sh铆)闁撲笂鏀归€�(j矛n)鐨勫井绮掔兢绠楁硶閮借鍎�(y艒u)浜庡熀鏈井绮掔兢绠楁硶鍜岄伜鍌崇畻娉�銆�
5 绲�(ji茅)璜�
    鏈枃鍩轰簬鍏嬮殕閬告搰绠楀瓙鎻愬嚭浜嗕竴绋敼閫�(j矛n)鐨勭矑瀛愮兢绠楁硶锛屽叾鏀舵杺閫熷害鍜岀簿搴﹂兘鍎�(y艒u)浜庨伜鍌崇畻娉曞拰鍩烘湰寰矑缇ょ畻娉曪紝骞舵湁鏁堥伩鍏嶄簡绠楁硶瀹规槗闄峰叆灞€閮ㄦ渶鍎�(y艒u)鐨勭己榛�(di菐n)銆傚皣鍏舵噳(y墨ng)鐢ㄤ簬PID鍙冩暩(sh霉)鏁村畾锛岄€氶亷(gu貌)浠跨湡瀵�(sh铆)椹�(y脿n)璀夋槑浜嗙畻娉曠殑鍙鎬у拰鏈夋晥鎬�銆�
鍙冭€冩枃鐛�(xi脿n)
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