摘要PID 调节器的使用开始于 20 世纪 30 年代，由于其结构简单、鲁棒性好等 优点，时至今日，在绝大部分的生产过程控制回路中仍在应用。作为一种经典 的控制方法，PID 的应用几乎涉及整个工业自动化领域，而且其控制效果一般是 能达到要求的。但 PID 控制器也有其劣势，主要在于参数的整定和参数的实时 变化。针对常规的 PID 调节器参数整定比较耗时，而且不能根据对象特性变化 做出实时调整的缺点，本文将 PID 控制器与自校正控制原理进行了结合，将传 统的 PID 控制器作为设计基础，设计出一种用递推最小二乘法来进行参数整定 的方法，从而设计出一种自校正 PID 控制器。该控制器能够更好地进行参数估 计，并解决了传统 PID 不方便对参数进行实时调整的问题。并运用 MATLAB 对其 进行了仿真调试，结果表明，该控制器囊括了自校正控制和传统 PID 控制的优 点，能够根据被控对象参数的变化进行实时调整，从而自适应被控过程的变化， 具有较强的输入跟踪性能力和自适应能力，相比于常规的 PID 控制器，它的控 制性能更加优越。该控制器在很多实际工程中都有很好的控制效果，例如锅炉 的温控系统，空调的自动调温系统等。72290

毕业论文关键字：自校正 PID； MATLAB； 仿真

Design and Simulation of self tuning PID control system

Abstract PID regulators began in 1930s, due to its simple structure, good robustness, and so on, today, in the vast majority of the production process control loop is still in use。 As a classical control method, PID is applied to almost the whole industrial automation field, and its control effect is generally required。 But the PID controller also has its disadvantages, mainly depends on the parameters of the tuning and the parameters of the real-time change。 For conventional PID regulating parameters tuning is time-consuming, and not according to the object properties change make real-time adjustment of the shortcomings, the self correcting control theory and PID controller combination, with the traditional PID controller based design a recursive use of recursive least squares method to parameter tuning method, and design a kind of self - tuning PID controller。 The controller can estimate parameters better, and solve the problem that the traditional PID is not convenient to adjust the parameters in real time。 And the use of the MATLAB simulation and debugging。 The results show that the controller include the self-tuning control and traditional PID control advantages, can according to the controlled object parameters change is adjusted in real time, and adaptive controlled process changes, with a strong  input tracking ability and adaptive ability, better control performance than the conventional PID controller。 The controller in a lot of practical engineering have very good control effect, such as temperature control system of boiler, air conditioning thermostat system。

Key words：Self tuning PID; MATLAB; simulation

目 录

摘要。。Ⅰ

Abstract。。Ⅱ

目录。。Ⅲ

1 绪论 1

1。1 选题背景及意义 1

1。2 论文主要内容 1

2 常规 PID 控制算法及其改进算法 1

2。1 常规 PID 控制原理 2