直接由製程資料設計多環路及去偶合控制系統

本研究提出直接由製程資料設計多環路和去偶合控制系統，而無需識別程序模式，因為文獻上大部分的方法都是基於模式設計，所以識別模式所導致的控制性能衰退無法避免，為了彌補這個缺陷並達到更好控制效果，本研究發展出基於製程資料設計方法。對於多環路控制系統設計，等效開環路轉移函數(EOTF)被估計成每一個環路所控制的程序，控制器設計問題可拆解成單環路設計問題，其設計目標為找到控制器參數，使每一個環路盡可能接近指定的參考模式，設計過程指定一個控制系統韌性指標，只需要一個調諧參數就能設計所有環路控制器。針對去偶合控制系統本研究所考慮的控制架構為簡化去偶合控制系統和反轉去偶合控制系統，環路的交互作用可以有效的被去偶合器消除。首先基於完美去偶合的程序設計控制器，接下來設計去偶合器使控制系統達到解偶的情況。當找到不可執行的去偶合器，本設計方法提出藉由外加額外動態去獲得可執行之去偶合器，而加入額外動態環路對應的控制器需要新調諧。透過大量的模擬例子顯示，比較各種基於模式設計方法，本研究提出基於資料設計方法皆能達到相當或更好的控制表現。

關鍵字

多環路控制；去偶合控制；基於資料之控制器設計；多變數程序；簡化去偶合；反轉去偶合

並列摘要

This study develops the design methods of multi-loop and decoupling control systems directly from plant data, without resorting to the identification of process models. As most of the methods in the literature are model-based design methods, modeling errors, which could result in the degradation of control performance, cannot be avoided in practice. To alleviate this drawback and achieve better control, data-based methods are presented in this thesis. For the design of multi-loop control systems, the equivalent open-loop transfer functions (EOTF) are considered as the approximated processes to be controlled for each loop, and the problem of controller design is decomposed into several single-loop design problems. The design goal is to find the controller parameters, so that each of the loops can behave as close to the prescribed reference model as possible. The proposed design involves only one adjustable parameter to handle the system robustness. For the design of decoupling control systems, the structures of simplified decoupling and inverted decoupling are considered. The interactions among loops can be effectively eliminated with the introduction of decouplers. Therefore, the controllers are first designed based on the perfectly decoupled processes. The decouplers are subsequently designed to achieve the desired decoupling conditions. When the optimal decouplers are found non-realizable, appropriate solutions by inserting extra dynamics are proposed to obtain realizable decouplers, and the corresponding controllers are retuned. Extensive simulation examples show that the proposed data-based design method can achieve comparable or better control performance than existing model-based design methods.

並列關鍵字

Multi-loop control ； decoupling control systems ； data-based controller design ； MIMO processes ； simplified decoupling ； inverted decoupling

參考文獻

35. W. L. Tseng, PID controller design directly from plant data for Single-Loop and Multi-Loop systems, Master Thesis, National Taipei University of Technology, Taipei, 2012

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直接由製程資料設計多環路及去偶合控制系統

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