气动调节阀最优分数阶PID控制器设计

Design of the optimal fractional order PID controller for a pneumatic control valve

针对工业控制过程气动调节阀阀位控制中非线性,模型不精确等问题,提出一种基于分数阶PID控制器(fractional order PID controller, PI~λD~μ)的阀位控制方法。分析气动调节阀工作原理并建立其数学模型,为提高模型准确性,针对分数阶PID控制器参数整定范围广、复杂性高等问题,提出一种改进量子粒子群算法(improved quantum particle swarm optimization, IQPSO)整定分数阶PID控制器参数,引入混沌映射和非均匀高斯变异增强算法寻优能力,将改进算法用于调节阀控制系统模型辨识。仿真与试验结果表明,相比于整数阶PID控制器,所设计的分数阶PID具有更快的响应速度和控制精度,能更好地满足气动调节阀阀位控制要求。

Aiming at the problems of nonlinearity and inaccurate modelling of the valve position control of a pneumatic control valve in industrial control process, a valve position control method based on fractional order PID controller(PID) was proposed. The working principle of the pneumatic control valve was analyzed and its mathematical model was established. In order to improve the accuracy of the model, and in view of the wide tuning range and high complexity, characteristics of the fractional order PID controller, an improved quantum particle swarm optimization(IQPSO) algorithm was proposed to tune the controller parameters. Chaos mapping and non-uniform Gauss mutation were introduced to enhance the optimization ability of the algorithm, which was then used for model identification of the control system of the control valve. The simulation and experimental results clearly demonstrate that compared with the integer order PID controller, the designed fractional order PID controller has faster response speed and control accuracy, and can better meet the position control requirements of pneumatic control valves.