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对于具有强烈非线性和时变特征的被控对象,传统PID控制通常难以达到满意的控制效果。为了提高PID控制器的自适应性,将自适应逆控制策略与PID控制策略相结合,提出了一种基于对象逆模型的自适应PID控制方法:首先,根据PID控制算式确定对象逆模型的结构,而后,采用模糊模型辨识被控对象的逆模型,并通过对逆模型参数的约束优化实现了其与PID控制器的有机结合;控制过程中通过对逆模型的离线辨识获得PID控制器的初始参数,根据逆模型在线辨识结果形成具有自适应能力的PID控制器。通过对连续搅拌反应器(CSTR)系统控制的仿真实例对所提方法的有效性进行了验证。
For controlled objects with strong nonlinearity and time-varying characteristics, traditional PID control is usually difficult to achieve satisfactory control effect. In order to improve the adaptability of PID controller, an adaptive PID control method based on object inverse model is proposed by combining adaptive inverse control strategy with PID control strategy. Firstly, the structure of inverse model of object is determined according to PID control formula Then, the fuzzy model is used to identify the inverse model of the controlled object and the organic combination of the inverse model with the PID controller is realized by constrained optimization of the inverse model parameters. The initial stage of the PID controller is obtained through offline identification of the inverse model Parameters, based on the inverse model online identification results to form a self-adaptive PID controller. The effectiveness of the proposed method was verified by a simulation example of the system control of continuous stirred reactor (CSTR).