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首页> 外文学位 >Development of PID tuning rules for low-order dynamic models using multi-criteria optimization.
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Development of PID tuning rules for low-order dynamic models using multi-criteria optimization.

机译：使用多准则优化为低阶动态模型开发PID调节规则。

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摘要

This report is a Research Thesis report for tuning PID controllers for optimum performance under non-standard-assumption circumstances, using the integral performance criteria. The thesis also involves development and use of new integrals' performance indicators for assessment and comparison, and a new method for creating Pareto plots for multiple objective optimization. Considering the impractical results provided by analytical methods, this problem was investigated and approached from the basics in order to arrive to better controllers in applied industry's point of view. The target set for the research dictated consideration of practical needs of the industry; Bode's sensitivity integral and development of a performance evaluation criterion, accordingly.;After review of available literature and previous work, the report describes the project stages and the work done. Problems and difficulties encountered in use of MATLAB are also pointed out. Describing study's stages is vital for understanding the output; because the study methodology and goals were reviewed recursively along the study; based on the findings. Results of this project are more robust and comprehensive mathematical formulae that use a system's model parameters to calculate optimal PID parameters; as well as investigation of system's behaviour in optimization in frequency domain.;The first stage of the work was verification of existing tuning models of PID controllers based on the ITAE criterion for step input only. Work proceeded into investigation of two objectives optimization. Some of the aspects were Pareto efficiency principle, and development of a new performance index for the new objective. The following stage involved investigation of optimization in the frequency domain alone. This is because this aspect is sophisticated enough on its own to be considered alone, before integrated with other objectives. Investigation to choose a good performance index is discussed in the report. Candidates discussed include functions evaluated analytically, and one function for optimization in SIMULINK. The discussion involves the advantages and disadvantages of each concept.;Moreover, complexity also lies in choosing the boundaries for the period of frequencies to simulate the system at. Interesting and new results are obtained on the behaviour of PID gains with respect to that. It was observed that even for the same system under consideration, choice of the upper limit of the frequency range for consideration affects the controller's gains. Behaviour of the like of bifurcation is noticed for the gain of the integral part of the PID controller, abruptly and steeply falling from a finite value to zero at a certain frequency value.;A factor predicting the borderline value is found to be applicable for all systems. Study also considered using plant's bandwidth as the upper limit frequency of evaluation. All of this work was done for FOPDT systems then, repeated for SOPDT system, keeping in mind findings and lessons learned from FOPDT systems.;Furthermore, SOPDT plants have one more parameter compared to FOPDT, which calls for more sophisticated regression and modelling tools. This lead to increase in simulation time to an extent where an orthodox programming approach and a general-purpose computer are not sufficient. The program code was re-developed from scratch, in order to utilize parallel computing, where simulations are run in parallel rather in series. Later on, the Institution's High Performance Computer Cluster dedicated for research was used. The HPCC allowed running the simulation on up to 31 cores, compared to 2 or 4 cores as in a personal computer. Job execution time went down from a prelimenary estimate of 2-3 months, to less than 5 days.;Finally, an application study is carried out to test and confirm our hypothesis. The application study involved a single-bus power system with a fourth order linearization of its nonlinear dynamics. The study aimed to find optimum tuning parameters for different types of controllers, using the same concepts.
机译：该报告是一份研究论文报告，使用积分性能标准对PID控制器进行了优化，以在非标准假设条件下实现最佳性能。本文还涉及开发和使用新积分的性能指标进行评估和比较，以及为多目标优化创建帕累托图的新方法。考虑到分析方法所提供的不切实际的结果，因此从基础上研究并解决了该问题，以便从应用行业的角度出发，找到更好的控制器。研究目标设定了对行业实际需求的考虑。波特的敏感度积分和相应的绩效评估标准的制定。在对现有文献和以前的工作进行回顾之后，该报告描述了项目阶段和完成的工作。还指出了使用MATLAB时遇到的问题和困难。描述学习的阶段对于理解输出至关重要。因为研究方法和目标是在研究过程中递归审查的；根据调查结果。该项目的结果是更强大，更全面的数学公式，这些公式使用系统的模型参数来计算最佳PID参数。工作的第一阶段是基于仅用于阶跃输入的ITAE标准验证现有PID控制器的调节模型。工作进行了两个目标优化的调查。其中一些方面是帕累托效率原理，以及为新目标开发新的绩效指标。接下来的阶段涉及仅在频域中进行优化研究。这是因为在与其他目标集成之前，此方面本身足够复杂，可以单独考虑。报告中讨论了选择良好性能指标的调查。讨论的候选对象包括经过分析评估的功能，以及SIMULINK中用于优化的功能。讨论涉及每个概念的优缺点。此外，复杂性还在于选择频率周期的边界来模拟系统。与此相关的PID增益行为获得了有趣的新结果。据观察，即使对于所考虑的同一系统，所考虑的频率范围上限的选择也会影响控制器的增益。对于PID控制器的积分部分的增益，注意到了类似的分叉行为，在某个频率值处陡峭陡峭地从有限值下降到零。;发现一个预测边界值的因子适用于所有系统。研究还考虑了使用工厂的带宽作为评估的上限频率。所有这些工作都是在FOPDT系统中完成的，然后在SOPDT系统中重复进行，同时要牢记从FOPDT系统中获得的发现和经验教训;此外，与FOPDT相比，SOPDT工厂具有更多的参数，这需要更复杂的回归和建模工具。这导致模拟时间增加到一定程度，以至于传统编程方法和通用计算机还不够。为了利用并行计算，程序代码是从头开始重新开发的，在并行计算中，仿真是并行而不是串行进行的。后来，使用了研究所专用的高性能计算机集群。 HPCC允许在多达31个内核上运行模拟，而在个人计算机中则为2或4个内核。工作执行时间从初步估计的2-3个月减少到不到5天。最后，进行了应用研究，以检验和证实我们的假设。该应用研究涉及具有其非线性动力学的四阶线性化的单总线电源系统。该研究旨在使用相同的概念为不同类型的控制器找到最佳的调节参数。

著录项

  • 作者

    Mohandes, Baraa.;

  • 作者单位

    The Petroleum Institute (United Arab Emirates).;

  • 授予单位 The Petroleum Institute (United Arab Emirates).;
  • 学科 Electrical engineering.
  • 学位 M.S.
  • 年度 2015
  • 页码 285 p.
  • 总页数 285
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

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