最佳自動調諧模糊PID控制器在生物反應器之應用

模糊PID控制器非常適合應用於非線性工業控制系統，但是不能採用傳統PID控制器的參數調諧方法，本文考慮生物反應器含有非線性、不穩定狀態、量測遲延的情況，用適應最佳控制法設計自動調諧模糊PID控制器，自動調諧機制採用適應最佳控制法所建立的學習程序逐步減小總成本函數而達成參數最佳化的目標。為防止受控系統遭遇不穩定狀態而導致學習程序不能收斂，自動調諧模糊PID控制器附有順滑模控制規則使受控系統的狀態維持在可操作範圍。考慮量測遲延時間對閉迴路系統響應的不良影響，在輸出回饋路線採用史密斯預測器抵銷量測遲延時間。一般生物反應器的高效率操作點正好位於系統狀態的不穩定範圍，而且輸出的遲延時間可長達一小時，生物反應器應用例的模擬結果顯示自動調諧模糊PID控制器都可以順利達成自動優化控制器參數的目標，與粒子群演算法調諧之PID控制器的模擬結果比較生物反應器的控制效能，自動調諧模糊PID控制器的控制效能在超越量和安定時間等效能評比都明顯的更優越。

關鍵字

模糊PID控制器；自動調諧；適應性最佳控制；生物反應器

並列摘要

Fuzzy PID controllers are useful in conducting the behavior of nonlinear industrial processes. However, the famous tuning methods used in traditional PID controllers are not applicable to the fuzzy PID controller. This thesis focuses on the design techniques of optimal auto-tuning fuzzy PID controllers for bioreactors. The bioreactor is essentially a nonlinear process with unstable states and long measurement delay. Closed-loop control of the bioreactor intends to maintain the state at an unstable position where the system is more productive. The proposed optimal auto-tuning fuzzy PID controller implements the adaptive optimal control algorithm to achieve optimization on the control parameters. Auto tuning aims at satisfying the necessary conditions of optimality stated by the minimum principle. The fuzzy PID controller includes sliding-mode control rules to stabilize the bioreactor for carrying out auto tuning. The severe measurement delay inherent in the bioreactor is cancelled by a Smith predictor. The overall design is investigated for effectiveness in a simulation system of bioreactor, and the results outperforms a PID-controlled bioreactor tuned by the particle swarm optimization algorithm.

並列關鍵字

fuzzy PID controller ； auto-tuning ； bioreactor

參考文獻

1. Agrawal, P. and H. Lim, Analyses of various control schemes for continuous bioreactors, in Bioprocess Parameter Control. 1984, Springer Berlin Heidelberg. p. 61-90.

2. Bequette, B.W., Nonlinear control of chemical processes: a review. Industrial & Engineering Chemistry Research, 1991. 30(7): p. 1391-1413.

3. Ramaswamy, S., T. Cutright, and H. Qammar, Control of a continuous bioreactor using model predictive control. Process Biochemistry, 2005. 40(8): p. 2763-2770.

4. Srinivas, M. and M. Chidambaram, Fuzzy logic control of an unstable bioreactor. Bioprocess Engineering, 1995. 12(3): p. 135-139.

6. Chtourou, M., et al., Control of a bioreactor using a neural network. Bioprocess Engineering, 1993. 8(5-6): p. 251-254.

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最佳自動調諧模糊PID控制器在生物反應器之應用

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