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摘要：液位是过程控制中的一个重要参数，控制其达到设定值或在某一范围内变化，是工业生产产品的质量和控制性能的保证。双容水箱作为工业过程控制中常见的被控对象，其液位控制具有大惯性滞后、系统参数时变的特点，且经常受到来自外界水压频繁波动的干扰，因此难以建立系统精确的数学模型，常规PID算法很难使达到理想控制效果。DMC控制是一种随着自适应控制技术发展起来的控制算法，其最显著的优点是不需要得到精确的数学模型，而且它的动态性能优于普通PID控制，同时具有较好的鲁棒性。
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本论文通过对水箱控制对象的数学建模，采用动态矩阵预测控制算法，设计了一个具有时滞的二阶振荡环节的闭环控制系统。基于MATLAB的仿真结果表明，DMC预测控制是一种控制效果好、鲁棒性强、能有效地克服系统滞后的先进控制算法，可应用于不易建立精确数学模型的开环不稳定非最小相位系统。相对于PID控制算法，DMC预测控制结果的动态性能指标、稳态性能指标和鲁棒性更好。20738
毕业论文关键字：液位；双容水箱；DMC预测控制；PID控制；MATLAB
Predictive Control for Dual Vessel Water Tank
Abstract:The water level is an important parameter in the process control, to control it reaching the set point value or changing in a certain range, is the guarantee of the quality of the product and the control performance. Dual vessel water tank is one of the common controlled objects in industrial process control field，the level control for such tank features large inertial lag and time-varying system parameters,so,it is very difficult to build the mathematical model; conventional proportional integral differential(PID)algorithm is difficult to control because it is often disturbed by frequent fluctuation of exterior water pressure．Dynamic Matrix Predictive Control (DMC)is one kind along with the adaptive control technological development control algorithm, its most remarkable merit does not need to obtain the precise mathematical model, moreover its dynamic property surpasses the general proportional integral differential (PID)control, simultaneously has the good robustness.
This article through to the water tank controlled member's mathematical modeling, uses the dynamic matrix predictive control algorithm, designed one with delay second-order oscillating element's closed-loop control system. Indicated based on the simulation result that the dynamic matrix predictive control is one kind of control effect is good, robustness strong, can overcome the system lag effectively the advanced control algorithm, may apply in is not easy to establish the precise mathematical model system. Relative to the PID control algorithm, the system dynamic performance index and steady-state performance index and robustness are better which is established by generalized predictive control algorithm.
Keyword: water level; dual vessel water tank; dynamic matrix predictive control;PID control;MATLAB
目录
1 概述 1
1.1课题背景 1
1.2国内外水箱控制算法研究现况 1
1.3预测控制简介 3
1.3.1预测控制的特点 3
1.3.2预测控制的研究进展及现状 4
1.3.3预测控制的发展方向 5
1.4本文的主要内容 5
2 动态矩阵控制的原理 7
2.1预测模型 7
2.2滚动优化 9
2.3反馈校正 11
2.4参数的设计原则 14
3 双容水箱控制系统模型研究 16
3.1 双容水箱控制系统的硬件结构介绍 16
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