PIDparametertuningPID參數(shù)整定落版在此PID參數(shù)整定PIDparametertuning謝聰XieCong主講教師Teacher調(diào)節(jié)器參數(shù)整定Processcontrolsystem影響控制效果ImpactoncontroleffectPID參數(shù)整定PIDparametertuning工程整定方法Engineeringtuningmethods快速找到合適參數(shù)的實(shí)用技巧PracticaltipsforquicklydeterminingappropriateeparametersPID參數(shù)整定PIDparametertuning工廠里的水箱要維持液位穩(wěn)定。假設(shè)設(shè)定液位是1米，剛開始沒調(diào)對參數(shù)，閥門一打開就猛地進(jìn)水，液位沖到1.5米才慢慢降，來回晃半天才能穩(wěn)住，這就是參數(shù)不合適導(dǎo)致的超調(diào)和震蕩。Thewatertankinthefactoryneedstomaintainstableliquidlevel.Assumethesetliquidlevelis1m.Initially,iftheparametersarenottunedproperlyandthevalveopensabruptly,theliquidlevelwillreach1.5mandthenslowlydrop,oscillatebackandforthforalongtimeandthenkeepastablelevel.Thisistheovershootandoscillationcausedbyinappropriateparameters.LCTT水箱液位控制系統(tǒng)WatertankliquidlevelcontrolsystemPID參數(shù)整定PIDparametertuning后來師傅用工程整定方法調(diào)了調(diào)，同樣的進(jìn)水情況，液位很快就穩(wěn)定在1米左右，波動(dòng)特別小，這就是整定的魔力。Later,theoperatortunedtheparametersusingtheengineeringtuningmethods.Andthenunderthesamewatersupplyconditions,theliquidlevelquicklystabilizesaround1mwithminimalfluctuation.Thisisthemagicoftuning.水箱液位控制系統(tǒng)WatertankliquidlevelcontrolsystemThetuningofcontrollerparameters控制器參數(shù)的整定Thetuningofcontrollerparameters控制器參數(shù)的整定按照已定的控制方案，求取使已建好的過程控制系統(tǒng)性能指標(biāo)最好的控制器參數(shù)值。Involvesdeterminingtheoptimalparametervaluesforthecontrollerthatresultinthebestperformanceindicatorsfortheestablishedprocesscontrolsystembasedonthepredefinedcontrolscheme.具體來說，就是確定最合適的：Specifically,itmeansdeterminingthemostsuitable:控制器比例度PControllerproportionalbandP積分時(shí)間TIIntegraltimeTI微分時(shí)間TDDerivativetimeTDThetuningofcontrollerparameters控制器參數(shù)的整定理論計(jì)算法Theoreticalcalculationmethod工程整定法Engineeringtuningmethod控制器參數(shù)整定方法Controllerparametertuningmethods理論計(jì)算法偏公式推導(dǎo)，工程整定法靠實(shí)踐經(jīng)驗(yàn)完成。Theoreticalcalculationmethodsfocusonformuladerivation,whileengineeringtuningmethodsrelyonpracticalexperience.Engineeringtuningmethod工程整定法Engineeringtuningmethod工程整定法穩(wěn)定邊界法（臨界比例度法）Stabilityboundarymethod(criticalproportionalbandmethod)屬于閉環(huán)整定方法，根據(jù)純比例控制系統(tǒng)臨界振蕩試驗(yàn)所得數(shù)據(jù)（臨界比例度Pm和振蕩周期Tm）；Thisisaclosed-looptuningmethod.Basedonthedataobtainedfromcriticaloscillationtestsofapureproportionalcontrolsystem(criticalproportionalbandPmandoscillationperiodTm);按經(jīng)驗(yàn)公式求出調(diào)節(jié)器的整定參數(shù)Thecontroller’stuningparametersarecalculatedusingempiricalformulasEngineeringtuningmethod工程整定法系統(tǒng)臨界振蕩曲線Systemcriticaloscillationcurve

穩(wěn)定邊界法（臨界比例度法）Stabilityboundarymethod(criticalproportionalbandmethod)逐漸減小P，加干擾觀察，直到出現(xiàn)等幅振蕩為止。記錄此時(shí)的臨界值Pm和Tm。GraduallydecreaseP,applydisturbancesandobserveuntilthepersistentoscillationoccurs.RecordthecriticalvaluesPmandTmatthispoint.Engineeringtuningmethod工程整定法根據(jù)Pm和Tm，按經(jīng)驗(yàn)公式計(jì)算控制器參數(shù)整定值。BasedonPmandTm,calculatethecontrollerparametertuningvaluesusingempiricalformulas.整定參數(shù)Tuningparameters控制規(guī)律ControllawP(%)TITDP2Pm______________PI2.2Pm0.85Tm_______PID1.7Pm0.50Tm0.125Tm穩(wěn)定邊界法整定參數(shù)計(jì)算表ParameterTuningandCalculationusingStableBoundaryMethod對應(yīng)控制規(guī)律：先明確控制系統(tǒng)用的是P、PI還是PID，找到表格里的對應(yīng)行；Correspondingcontrollaw:FirstdeterminewhetherthecontrolsystemusesP,PI,orPID,thenlocatethecorrespondingrowinthetable;代入臨界值：把之前試驗(yàn)得到的Pm、Tm，套進(jìn)公式里計(jì)算；Substitutecriticalvalues:SubstitutethepreviouslyobtainedPmandTmfromexperimentsintotheformulaforcalculation;算出的P（比例度），TI（積分時(shí)間）、TD（微分時(shí)間），就是讓系統(tǒng)更穩(wěn)定的“最優(yōu)參數(shù)”。ThecalculatedP(proportionalband),TI(integraltime),andTD(derivativetime)arethe“optimalparameters”tokeepthesystemmorestable.Engineeringtuningmethod工程整定法整定參數(shù)Tuningparameters控制規(guī)律ControllawP(%)TITDP2Pm______________PI2.2Pm0.85Tm_______PID1.7Pm0.50Tm0.125Tm穩(wěn)定邊界法整定參數(shù)計(jì)算表ParameterTuningandCalculationusingStableBoundaryMethod根據(jù)Pm和Tm，按經(jīng)驗(yàn)公式計(jì)算控制器參數(shù)整定值。BasedonPmandTm,calculatethecontrollerparametertuningvaluesusingempiricalformulas.注：經(jīng)驗(yàn)公式雖然是從實(shí)際經(jīng)驗(yàn)中歸納出來的，但有一定的理論依據(jù)。以表中PI控制參數(shù)整定為例，可以看出PI控制比例度較純比例控制時(shí)增大，這是因?yàn)榉e分作用產(chǎn)生一定滯后相位，降低了系統(tǒng)的穩(wěn)定度，需要降低比例增益予以補(bǔ)償?shù)木壒?。Note:Althoughempiricalformulasarederivedfrompracticalexperience,theyhaveacertaintheoreticalbasis.TakingthePIcontrolparametertuninginthetableasanexample,itcanbeseenthattheproportionalbandforPIcontrolislargerthanthatforpureproportionalcontrol.Thisisbecausetheintegralactioncausesacertainlagphase,whichreducesthestabilityofthesystem.Therefore,itisnecessarytoreducetheproportionalgaintomakeupforthis.Engineeringtuningmethod工程整定法臨界比例度Pm過小時(shí)，調(diào)節(jié)閥容易游移于全開或全關(guān)位置，對生產(chǎn)工藝不利或不容許。WhenthecriticalproportionalbandPmistoosmall,thecontrolvalvetendstooscillatebetweenfullyopenorfullyclosedpositions,whichisunfavorableorunacceptableforproductionprocesses.穩(wěn)定邊界方法以下情況下不宜采用：Thestableboundarymethodshouldnotbeusedinthefollowingsituations：例如：一燃料為燃油的加熱爐，如閥門出現(xiàn)全關(guān)狀態(tài)就要熄火。Forexample：Inafuel-firedheatingfurnace,ifthevalveisfullyclosed,theflamewillgoout.Engineeringtuningmethod工程整定法穩(wěn)定邊界方法以下情況下不宜采用：Thestableboundarymethodshouldnotbeusedinthefollowingsituations：工藝約束條件嚴(yán)格時(shí)，等幅振蕩將可能威脅到生產(chǎn)安全。Whenprocessconstraintsarestrict,persistentoscillationsmaythreatenworksafety.例如：化工合成塔，溫度、壓力稍微一振蕩，可能讓反應(yīng)失控，甚至爆炸。Forexample：,inachemicalsynthesistower,evenslightoscillationsintemperatureandpressurecancausethereactiontogetoutofcontrol,orevenleadtoanexplosion.Engineeringtuningmethod工程整定法如果遇到調(diào)節(jié)閥易極端動(dòng)作或工藝約束嚴(yán)格的情況，振蕩試驗(yàn)本身就會(huì)搞破壞。Ifthecontrolvalveispronetoextremeactionsorprocessconstraintsarestrict,theoscillationtestitselfmaycausedamage.穩(wěn)定邊界法核心“先振蕩、再整定”Coreofthestableboundarymethod“Firstoscillate,andthentune”Engineeringtuningmethod工程整定法衰減曲線法Decaycurvemethod也屬于閉環(huán)整定，不需要控制系統(tǒng)達(dá)到等幅振蕩狀態(tài)，只需尋找到最佳衰減振蕩狀態(tài)即可。Thisisalsoaclosed-looptuningmethod.Thereisnoneedforthecontrolsystemtoreachapersistentoscillationstate;itonlyneedstofindtheoptimaldecayoscillationstate.TsTrPVPV0

在穩(wěn)定狀態(tài)下，階躍改變給定值（通常以5%左右為宜），觀察調(diào)節(jié)過程曲線。Underthestablestate,makeastepchangetothesetvalue(usuallyaround5%)andobservethecontrolprocesscurve.適當(dāng)改變比例度，重復(fù)上述實(shí)驗(yàn)，直到出現(xiàn)滿意的衰減曲線（一般為n=4:1），并記錄。Adjusttheproportionalbandappropriately,repeattheexperimentuntilasatisfactorydecaycurve(typicallyn=4:1)isachieved,andrecordtheresults.Engineeringtuningmethod工程整定法衰減曲線法Decaycurvemethod也屬于閉環(huán)整定，不需要控制系統(tǒng)達(dá)到等幅振蕩狀態(tài)，只需尋找到最佳衰減振蕩狀態(tài)即可。Thisisalsoaclosed-looptuningmethod.Thereisnoneedforthecontrolsystemtoreachapersistentoscillationstate;itonlyneedstofindtheoptimaldecayoscillationstate.TsTrPVPV0記錄此時(shí)的比例度Ps及周期Ts。RecordtheproportionalbandPsandperiodTsatthispoint.n=10:1時(shí)，記錄P’s與Tr。Whenn=10:1,recordP’sandTr.Engineeringtuningmethod工程整定法整定參數(shù)Tuningparameters控制規(guī)律ControllawP(%)TITDPPs______________PI1.2Ps0.5Ts_______PID0.8Ps0.3Ts0.1Ts表6.2衰減比為4:1時(shí)，整定參數(shù)計(jì)算表Table6.2TuningParameterCalculationwithaDecayRatioof4:1整定參數(shù)Tuningparameters控制規(guī)律ControllawP(%)TITDPP's______________PI1.2P's2Tr_______PID0.8P's1.2Tr0.4Tr表6.3衰減比為10:1時(shí)，整定參數(shù)計(jì)算表Table6.3TuningParameterCalculationwithaDecayRatioof10:1按表6-2（n=4:1）或按表6-3（n=10:1）計(jì)算對應(yīng)控制規(guī)律的整定參數(shù)。CalculatethetuningparametersforthecorrespondingcontrollawaccordingtoTable6-2(n=4:1)orTable6-3(n=10:1).Engineeringtuningmethod工程整定法穩(wěn)定邊界法Stableboundarymethod響應(yīng)曲線法Responsecurvemethod衰減曲線法DecaycurvemethodEngineeringtuningmethod工程整定法穩(wěn)定邊界法Stableboundarymethod響應(yīng)曲線法Responsecurvemethod衰減曲線法DecaycurvemethodEngineeringtuningmethod工程整定法響應(yīng)曲線法Responsecurvemethod屬于開環(huán)整定方法Thisisanopen-looptuningmethod以廣義被控過程（對象）控制通道階躍響應(yīng)為依據(jù)，通過經(jīng)驗(yàn)公式求得控制器最佳參數(shù)整定值。Basedonthestepresponseofthegeneralizedcontrolledprocess(object)controlchannel,theoptimalparametertuningvaluesforthecontrollerareobtainedthroughempiricalformulas.Engineeringtuningmethod工程整定法響應(yīng)曲線法Responsecurvemethod按照下圖所示方法，作廣義控制通道階躍響應(yīng)曲線。Createthestepresponsecurveofthegeneralizedcontrolchannelaccordingtothemethodshowninthefigurebelow.更安全MoreSafer更可控Morecontrollable適合不允許頻繁波動(dòng)的生產(chǎn)場景ItissuitableforproductionscenarioswherefrequentfluctuationsarenotallowedEngineeringtuningmethod工程整定法響應(yīng)曲線法Responsecurvemethod根據(jù)實(shí)驗(yàn)所得階躍響應(yīng)曲線，計(jì)算廣義對象特性參數(shù)K0、T0、τ0，用表6-4的經(jīng)驗(yàn)公式計(jì)算整定參數(shù)。CalculatethegeneralizedobjectcharacteristicparametersK0,T0andτ0basedontheexperimentallyobtainedstepresponsecurve,andusetheempiricalformulasinTable6-4tocomputethetuningparameters.整定參數(shù)Tuningparameters控制規(guī)律ControllawP(%)TITDP______________PI_______PID表6.4響應(yīng)曲線法整定參數(shù)計(jì)算公式Table6.4CalculationFormulasforTuningParametersUsingResponseCurveMethodT0τ0y0x0t

t

PIEngineeringtuningmethod工程整定法響應(yīng)曲線法Responsecurvemethod整定參數(shù)Tuningparameters控制規(guī)律ControllawP(%)TITDP______________PI_______PID表6.4響應(yīng)曲線法整定參數(shù)計(jì)算公式Table6.4CalculationFormulasforTuningParametersUsingResponseCurveMethodT0τ0y0x0t

t

PI滯后時(shí)間τ0：執(zhí)行器給了階躍擾動(dòng)，被控參數(shù)不是立刻變，而是等了一會(huì)兒才開始動(dòng)，這段“延遲時(shí)間”就是τ0；Lagtimeτ0:Aftertheactuatorappliesastepdisturbance,thecontrolledparameterdoesnotchangeimmediatelybutstartstochangeafteradelay.This“l(fā)agtime”referstoτ0.Engineeringtuningmethod工程整定法響應(yīng)曲線法Responsecurvemethod整定參數(shù)Tuningparameters控制規(guī)律ControllawP(%)TITDP______________PI_______PID表6.4響應(yīng)曲線法整定參數(shù)計(jì)算公式Table6.4CalculationFormulasforTuningParametersUsingResponseCurveMethodT0τ0y0x0t

t

PI時(shí)間常數(shù)T0：被控參數(shù)從“開始變化”到“接近穩(wěn)定值”的時(shí)間（曲線斜率最大處作切線，與最終值交點(diǎn)的時(shí)間差）；TimeconstantT0:Timeduringwhichthecontrolledparameterchangesfrom“beginningtochange”to“approachingthestablevalue”(afterthetangentlineisdrawnatthepointwheretheslopeofthecurveisthegreatest,thetimedifferencebetweentheintersectionpointwiththefinalvalue);Engineeringtuningmethod工程整定法響應(yīng)曲線法Responsecurvemethod整定參數(shù)Tuningparameters控制規(guī)律ControllawP(%)TITDP______________PI_______PID表6.4響應(yīng)曲線法整定參數(shù)計(jì)算公式Table6.4CalculationFormulasforTuningParametersUsingResponseCurveMethodT0τ0y0x0t

t

PI放大系數(shù)K0：最終穩(wěn)態(tài)時(shí)，被控參數(shù)變化量Δy與執(zhí)行器階躍變化量Δx

的比值（K0=Δy/

Δx

）。AmplificationcoefficientK0:RatioofthechangeinthecontrolledparameterΔytothestepchangeintheactuatorΔxatthestablestate(K0=Δy/Δx).Engineeringtuningmethod工程整定法響應(yīng)曲線法Responsecurvemethod整定參數(shù)Tuningparameters控制規(guī)律ControllawP(%)TITDP______________PI_______PID表6.4響應(yīng)曲線法整定參數(shù)計(jì)算公式Table6.4CalculationFormulasforTuningParametersUsingResponseCurveMethodT0τ0y0x0t

t

PI此法在手動(dòng)控制的開環(huán)狀態(tài)下進(jìn)行，對于容易失控（開環(huán)不穩(wěn)定）非自衡生產(chǎn)過程，不能使用。Thismethodisusedinamanuallycontrolledopen-loopstateandcannotbeusedfornon-self-balancingprocessesthatarepronetoout-of-control(open-loopstateisunstable).Engineeringtuningmethod工程整定法經(jīng)驗(yàn)整定法Empiricaltuningmethod憑經(jīng)驗(yàn)試湊，其關(guān)鍵是看曲線，調(diào)參數(shù)。Trial-and-errorbasedonexperience,andthekeyistoobservethecurveandtunetheparameters.核心邏輯：試湊+觀察Corelogic:Trial-and-error+observationEngineeringtuningmethod工程整定法經(jīng)驗(yàn)整定法Empiricaltuningmethod初始參數(shù)，憑經(jīng)驗(yàn)給：Initialparameters,setbasedonexperience:比例度P：先設(shè)個(gè)中間值（比如流量控制設(shè)40~60%，溫度控制設(shè)20~50%）；TheproportionalbandP:Setittoanintermediatevaluefirst(e.g.,set40-60%forflowcontrol,20-50%fortemperaturecontrol);積分時(shí)間TI：先給個(gè)較大值（比如100~200秒），避免積分作用太強(qiáng)；IntegraltimeTI:Setittoalargervalue(e.G.,100-200seconds)toavoidexcessiveintegralaction;微分時(shí)間TD：如果用PID，先設(shè)0，微分作用后期再調(diào)。DerivativetimeTD:IfPIDisused,initiallysetitto0andtunethederivativeactionlater.Engineeringtuningmethod工程整定法經(jīng)驗(yàn)整定法Empiricaltuningmethod加擾動(dòng)，看曲線：Applydisturbancesandobservethecurve:比例度P：曲線振蕩大→調(diào)大P；曲線反應(yīng)慢→調(diào)小P；ProportionalbandP:Ifthecurveoscillatesexcessively→increaseP;ifthecurverespondstooslowly→decreaseP.積分時(shí)間TI：有余差→調(diào)小TI（積分作用變強(qiáng)）；曲線波動(dòng)大→調(diào)大TI；IntegraltimeTI:Withresidualerror→decreaseTI(strongerintegralaction);largecurvefluctuations→increaseTI;微分時(shí)間TD：曲線超調(diào)大→調(diào)大TD（微分提前抑制）；曲線太“僵硬”→調(diào)小TD。DerivativetimeTD:Largecurveovershoot→increaseTD(derivativeinhibitioninadvance);curveistoo“rigid”→decreaseTD.Engineeringtuningmethod工程整定法表6.5控制器整定參數(shù)的經(jīng)驗(yàn)取值范圍Table6.5EmpiricalValueRangeforControllerTuningParameters整定參數(shù)Tuningparameters被控參數(shù)Controlledparameter過程特點(diǎn)及常用控制規(guī)律Processcharacteristicsandcommoncontrollaws比例度P(%)Proportionalband

P(%)積分時(shí)間TI/minIntegraltimeTI/min微分時(shí)間TD/minDerivativetimeTD/min液位(P控制)Level(Pcontrol)

過程時(shí)間常數(shù)較大，一般不用微分，精度要求不高時(shí)選擇P控制；P

可在一定范圍選擇。

Theprocesstimeconstantisrelativelylarge,andthenoderivativetimeisgenerallynotused;Pcontrolisselectedwhenprecisionrequirementsarelow;Pcanbeselectwithinacertainrange.20~80——流量(PI控制)Flow(PIcontrol)

過程時(shí)間常數(shù)小，被控參數(shù)有波動(dòng)，一般選擇PI控制；P要大一些，TI要短；不用微分。

Theprocesstimeconstantissmallandthecontrolledparameterfluctuates,PIcontrolisgenerallyselected;PshouldberelativelylargeandTIisshort;noderivativetimeisused.40~1000.1~1—壓力(PI控制)Pressure(PIcontrol)

過程有容量滯后不大，一般選擇PI控制；不用微分。

Processhassmallcapacitylag,PIcontrolisgenerallyselectedandnoderivativetimeisused.30~