摘要随着工业技术的发展，工业生产中用到的设备也日益复杂，对相应的自动控 制系统的要求也日益提高。许多设备的自动控制系统需要具备最优的设定值跟踪 性能以及抗干扰性能，并有足够高的鲁棒性。而在生产中广泛应用的常规 PID 控制技术只能采取折中的办法获得合适的参数，不能同时满足以上这些要求。81550

针对这一现状，本文研究了基于二自由度 PID 控制的板坯加热炉自动燃烧 控制系统。该控制系统采用设定值滤波器型二自由度不完全微分 PID 结构。本 文通过仿真的方法对板坯加热炉自动燃烧控制系统的参数进行了整定，以减少加 热炉的温度控制误差及超调量，并且尽可能地提高控制器的鲁棒性。

经过仿真结果的对比表明，二自由度 PID 控制技术能够克服一自由度 PID 控制技术的缺陷，系统的控制性能也能够满足要求，并且能够在节约能源的同时 又使钢坯烧损尽量降低，使得经济效益大大提高。

毕业论文关键词：二自由度 PID；自动燃烧控制系统；加热炉

Abstract With the development of industrial technologies, equipments used in industrial production are becoming increasingly sophisticated, more requirements are therefore imposed on the corresponding automatic control systems。 The automatic control systems of many equipments thus need to have the optimal set-point tracking performance, anti-jamming performance, and sufficiently high robustness。 The conventional PID control technology widely used in the production can only take compromise to get the optimal parameters, and thus cannot meet the above requirements。

To address this situation, this work develops a controller for slab furnace automatic combustion control systems based on the principles of PID control with two degrees of freedom。 The control system employs the structure of the incomplete derivative two-degree of freedom PID controller of set-point filter type。 The parameters of this control system are tuned by simulation, the goal of tuning parameters is to reduce the control error of furnace temperature and overshoot, and improve the robustness of the controller as much as possible。

After comparing the results of simulation, we conclude that this control technology can overcome the deficiencies of conventional PID control, the control quality of system can also meet the requirements。 In addition, the system is able to save energy while minimizing the amount of slabs damaged due to over-burning, which can significantly enhance the economics of the industry。

Keywords ： two-degree-of-freedom PID;automatic combustion control system;furnace

目 录

第一章 绪 论 1

1。1 概述 1

1。1。1 选题原因 1

1。1。2 选题的实际意义 1

1。2 选题的学术背景及理论 2

1。2。1 PID 控制简介 2

1。2。2 二自由度 PID 控制简介 3

1。3 国内外综述 4

1。3。1 板坯加热炉控制技术 4

1。3。2 二自由度 PID 控制技术 5

1。4 本文主要工作 6

第二章 二自由度 PID 控制器详述 7

2。1 二自由度 PID 控制器结构形式