我的控制实验实验报告

1、三内模法系统参数整定与随动1、实验目的(1)了解被控系统的结构与组成。(2) 掌握 IMC 法整。(3) 研究调节器三参数的变化对系统静、动态性能的影响。(4) 了解 P、PI、PD 和 PID 四种调节器分别对被控过程的的作用。2、实验设备实验对象、电源3、实验原理台、研华模块、计算机一台、万用表一个、实验连接线若干。被控量为空气的温度，实验要求系统的温度稳定在给定值。将温度传感器检测到温度信号作为反馈信号，在与给定量比较后的差值通过调节器加热时间，以达到被控温度的目的。为了实现系统在阶跃给定和阶跃扰动作用下的无静差PID。，系统调节器应为 PI 或内模法就是先求出系统的广义过程传递函数，再

2、利用下面那个表格求出对于的参数。4、实验内容与步骤（1）突增（或突减）仪表设定值的大小，使其有一个正（或负）阶跃增量的变化。作广义过程的阶跃响应曲线，并由此确定被控过程的数学模型。（2）采用 IMC 法整。（3）分别适量改变调节仪的 P、I、D 参数，重复步骤，用计算机统的给定值阶跃响应曲线。不同参数时闭环系（4）给定值的输入 r(t)分别为斜坡信号及度信号时,输出跟随输入的实验,要求运行界面同时显示输出跟随输入的情况。R(t)= 0.5t2R(t)=1(t),R(t)= t,5、实验程序A、IMC程序说明Dim DATA!, tep!, c!, pretep!, newsp! Dim Ret

3、Val As Long, IPAddress As String Dim wID%, wModuleName%Dim q0!, q1!, q2!, e1!, e2!, e3!, u1!, u0!, sp!, b!, f%, kp!, td!, ti!, oupt!, st%, a%, d!Dim wGain(0 To 9) As IntegerDim wHex(0 To 15) As Integer, fValue(0 To 15) As DoubleDim byData(0 To 127) As Byte, wData(0 To 63) As IntegerPrivate Sub Comma

4、nd2_Click() Timer1.Enabled = False Timer2.Enabled = FalseIPAddress = ""byData(1) = 0RetVal = ADAMTCP_Write6KDO(IPAddress, 6050, 1, 1, 1, byData(1)Label4.Caption = "待检测" Label6.Caption = "待检测" Label8.Caption = "待检测" End Sub微分时间对过渡过程的影响Private Sub Comm

5、and1_Click() sp = Val(Text1.Text) Timer1.Enabled = True Timer3.Interval = 1000Timer1.Interval = 10000Line (1200, 6240 - sp * 23.6)-(14640, 6240 - sp* 23.6), RGB(0, 255, 0)End SubPrivate Sub Command3_Click() Timer1.Enabled = False Timer2.Enabled = FalseIPAddress = ""byData(1) = 0Ret

6、Val = ADAMTCP_Write6KDO(IPAddress, 6050, 1, 1, 1, byData(1)Label4.Caption = "待检测" Label6.Caption = "待检测" Label8.Caption = "待检测" EndEnd SubPrivate Sub Command4_Click() sp = Val(Text1.Text)Line (1200, 6240 - sp * 23.6)-(14640, 6240 - sp* 23.6), RGB(0, 255, 0)End SubPrivat

7、e Sub Form_Load() u0 = 0u1 = 0e1 = 0e2 = 0e3 = 0td = 40.455kp = 15.3ti = 370.277q0 = kp * (1 + td / 10 + 10 / ti) q1 = -kp * (1 + 2 * td / 10)q2 = kp * td / 10将计算出来的参数代如 PID 参数中RetVal = ADAMTCP_Open() IPAddress = ""RetVal = ADAMTCP_Connect(IPAddress, 502, 2000, 2000, 2000)IfRetValT

8、hen BeepMsgBox "Can't connect" + IPAddress ADAMTCP_CloseUnload Me End IfwGain(5) = 9wModuleName = 6017RetVal = ADAMTCP_Read6KAI(IPAddress, wModuleName, 1, wGain(0), wHex(0), fValue(0)DATA = fValue(5)tep = (DATA - 4) * 500 / 16b = tep End SubPrivate Sub Form_Unload(Cancel As Integer) AD

9、AMTCP_DisconnectADAMTCP_Close Unload MeEnd SubPrivate Sub Timer1_Timer() IPAddress = ""wGain(5) = 9wModuleName = 6017RetVal = ADAMTCP_Read6KAI(IPAddress, wModuleName, 1, wGain(0), wHex(0), fValue(0)DATA = fValue(5)tep = (DATA - 4) * 500 / 16Label4.Caption = tepLine (a / 180 * 1344

10、+ 1200, -b * 23.6 + 6240)-(st / 180 * 1344 + 1200, -tep * 23.6 + 6240),RGB(205, 16, 26)b = tep u0 = u1 e1 = e2 e2 = e3e3 = sp - tepu1 = u0 + q0 * e3 + q1 * e2 + q2 * e1 If u1 < 0.1 Thenu1 = 0.1ElseIf u1 >4.5 Then u1 = 4.5End IfLine (a / 180 * 1344 + 1200, -d * 23.6 * 3 +6240)-(st / 180 * 1344

11、+ 1200, -u1 * 23.6 * 3 +6240), RGB(0, 0, 255)d = u1·Call appedatfile1 Label8.Caption = u1 a = stTimer2.Interval = Int(u1) * 1000) byData(1) = 1RetVal=ADAMTCP_Write6KDO(IPAddress, 6050, 1, 1, 1, byData(1)Timer2.Enabled = True End SubPrivate Sub Timer2_Timer() byData(1) = 0RetVal=ADAMTCP_Write6KD

12、O(IPAddress, 6050, 1, 1, 1, byData(1)Timer2.Enabled = False End SubPrivate Sub Timer3_Timer() sp = Val(Text1.Text)st = st + 1 Label6.Caption = st End SubSub appedatfile1()Open"C:Documentsand SettingsAdministrator 桌面文本.txt" For Append As #1Write #1, st; Spc(8); tep; Spc(8); u1 Close #1End S

13、ubB、IMC 斜坡输入程序程序说明Dim DATA!, tep!, c!, pretep!, newsp! Dim RetVal As Long, IPAddress As String Dim wID%, wModuleName%Dim q0!, q1!, q2!, e1!, e2!, e3!, u1!, u0!, sp!, b!, f%, kp!, td!, ti!, oupt!, st%, a%, d!, cc%Dim wGain(0 To 9) As IntegerDim wHex(0 To 15) As Integer, fValue(0 To 15) As DoubleDim b

14、yData(0 To 127) As Byte, wData(0 To 63) As IntegerPrivate Sub Command2_Click() '停止加热Timer1.Enabled = FalseTimer2.Enabled = False IPAddress = ""byData(1) = 0RetVal = ADAMTCP_Write6KDO(IPAddress, 6050, 1, 1, 1, byData(1)Label4.Caption = "待检测" Label6.Caption = "待检测&

15、quot; Label8.Caption = "待检测" End SubPrivate Sub Command1_Click() '开始加热sp = 0.05 * st + 30Timer1.Enabled = True Timer3.Interval = 1000Timer1.Interval = 5000End SubPrivate Sub Command3_Click() '关闭Timer1.Enabled = False Timer2.Enabled = FalseIPAddress = ""byData(1) =

16、 0RetVal = ADAMTCP_Write6KDO(IPAddress, 6050, 1, 1, 1, byData(1)Label4.Caption = "待检测" Label6.Caption = "待检测" Label8.Caption = "待检测"按开始加热的时候，计算斜坡输入的设定值End End SubPrivate Sub Command4_Click() '确定t0 = stt0 = tep End SubPrivate Sub Form_Load() u0 = 0u1 = 0t0 = 0t1 = 0t

17、2 = 0e1 = 0e2 = 0e3 = 0td = 40.455kp = 15.3ti = 370.277q0 = kp * (1 + td / 5 + 5 / ti) q1 = -kp * (1 + 2 * td / 5) q2 = kp * td / 5RetVal = ADAMTCP_Open() IPAddress = ""RetVal = ADAMTCP_Connect(IPAddress, 502, 2000, 2000, 2000)If RetVal Then BeepMsgBox "Can't connect"

18、 + IPAddress ADAMTCP_CloseUnload Me End IfwGain(1) = 9wModuleName = 6017RetVal = ADAMTCP_Read6KAI(IPAddress, wModuleName, 1, wGain(0), wHex(0), fValue(0)DATA = fValue(1)tep = (DATA - 4) * 100 / 16b = tep带入 PID 参数End SubPrivate Sub Form_Unload(Cancel As Integer) ADAMTCP_DisconnectADAMTCP_Close Unload

19、 MeEnd SubPrivate Sub Timer1_Timer() IPAddress = ""wGain(1) = 9wModuleName = 6017RetVal = ADAMTCP_Read6KAI(IPAddress, wModuleName, 1, wGain(0), wHex(0), fValue(0)DATA = fValue(1)tep = (DATA - 4) * 100 / 16Label4.Caption = tepLine (a / 180 * 1344 + 1200, -b * 23.6 + 6240)-(st / 180

20、* 1344 + 1200, -tep * 23.6 + 6240),RGB(205, 16, 26)cc = spsp = 0.05 * st + 30Line (a / 180 * 1344 + 1200, -cc * 23.6 + 6240)-(st / 180 * 1344 + 1200, -sp * 23.6 + 6240),RGB(0, 255, 0)b = tep u0 = u1 e1 = e2 e2 = e3e3 = (sp - tep) / 100'偏差无量纲化u1 = u0 + (q0 * e3 + q1 * e2 + q2 * e1) * 4.4 '4.4

21、=4.5-0.1 是加热时间的量程'u1 = u0 +(q0 * e3 +q1*e2+q2*e1)* 4.4 If u1 < 0.1 Thenu1 = 0.1ElseIf u1 > 4.5 Then u1 = 4.5End IfLine (a / 180 * 1344 + 1200, -d * 23.6 * 3 +6240)-(st / 180 * 1344 + 1200, -u1 * 23.6 * 3 +6240), RGB(0, 0, 255)d = u1设置中间变量，用于保留上一次的设定值的计算值每 5s 画一次设定值曲线，颜色为绿色。C、IMC度输入程序程序说明Di

22、m DATA!, tep!, c!, pretep!, newsp! Dim RetVal As Long, IPAddress As String Dim wID%, wModuleName%Dim q0!, q1!, q2!, e1!, e2!, e3!, u1!, u0!, sp!, b!, f%, kp!, td!, ti!, oupt!, st%, a%, d!, cc%Dim wGain(0 To 9) As IntegerDim wHex(0 To 15) As Integer, fValue(0 To 15)Call appedatfile1 Label8.Caption =

23、u1 a = stTimer2.Interval = Int(u1) * 1000) byData(1) = 1RetVal=ADAMTCP_Write6KDO(IPAddress, 6050, 1, 1, 1, byData(1)Timer2.Enabled = True End SubPrivate Sub Timer2_Timer() byData(1) = 0RetVal=ADAMTCP_Write6KDO(IPAddress, 6050, 1, 1, 1, byData(1)Timer2.Enabled = False End SubPrivate Sub Timer3_Timer(

24、) sp = 0.05 * st + 30st = st + 1 Label6.Caption = st End SubSub appedatfile1()Open"C:Documentsand SettingsAdministrator桌面实验四内模法- 斜坡.txt" For Append As #1Write #1, st; Spc(8); tep; Spc(8); u1 Close #1End SubAs DoubleDim byData(0 To 127) As Byte, wData(0 To 63) As IntegerPrivate Sub Command2

25、_Click() '停止加热Timer1.Enabled = FalseTimer2.Enabled = False IPAddress = ""byData(1) = 0RetVal = ADAMTCP_Write6KDO(IPAddress, 6050, 1, 1, 1, byData(1)Label4.Caption = "待检测" Label6.Caption = "待检测" Label8.Caption = "待检测" End SubPrivate Sub Command1_Cli

26、ck() '开始加热sp = 0.0002 * st * st + 30Timer1.Enabled = True Timer3.Interval = 1000Timer1.Interval = 5000End SubPrivate Sub Command3_Click() '关闭Timer1.Enabled = False Timer2.Enabled = FalseIPAddress = ""byData(1) = 0RetVal = ADAMTCP_Write6KDO(IPAddress, 6050, 1, 1, 1, byData(1

27、)Label4.Caption = "待检测" Label6.Caption = "待检测" Label8.Caption = "待检测" EndEnd SubPrivate Sub Command4_Click() '确定t0 = stt0 = tep End SubPrivate Sub Form_Load() u0 = 0u1 = 0t0 = 0按开始按键之后，计算设定值的初值t1 = 0t2 = 0e1 = 0e2 = 0e3 = 0td = 40.455kp = 15.3ti = 370.277q0 = kp * (

28、1 + td / 5 + 5 / ti) q1 = -kp * (1 + 2 * td / 5) q2 = kp * td / 5RetVal = ADAMTCP_Open() IPAddress = ""RetVal = ADAMTCP_Connect(IPAddress, 502, 2000, 2000, 2000)If RetVal Then BeepMsgBox "Can't connect" + IPAddress ADAMTCP_CloseUnload Me End IfwGain(1) = 9wModuleName

29、= 6017RetVal = ADAMTCP_Read6KAI(IPAddress, wModuleName, 1, wGain(0), wHex(0), fValue(0)DATA = fValue(1)tep = (DATA - 4) * 100 / 16b = tep End SubPrivate Sub Form_Unload(Cancel As Integer) ADAMTCP_DisconnectADAMTCP_Close Unload MeEnd SubPrivate Sub Timer1_Timer() IPAddress = ""wGain

30、(1) = 9wModuleName = 6017RetVal = ADAMTCP_Read6KAI(IPAddress, wModuleName, 1, wGain(0), wHex(0), fValue(0)DATA = fValue(1)tep = (DATA - 4) * 100 / 16Label4.Caption = tepLine (a / 180 * 1344 + 1200, -b * 23.6 + 6240)-(st / 180 * 1344 + 1200, -tep * 23.6 + 6240),RGB(205, 16, 26) 'cc = spsp = 0.000

31、2 * st * st + 30Line (a / 180 * 1344 + 1200, -cc * 23.6 + 6240)-(st / 180 * 1344 + 1200, -sp * 23.6 + 6240),RGB(0, 255, 0)b = tep u0 = u1 e1 = e2 e2 = e3e3 = (sp - tep) / 100'偏差无量纲化u1 = u0 + (q0 * e3 + q1 * e2 + q2 * e1) * 4.4 '4.4=4.5-0.1 是加热时间的量程'u1 = 3 + q0 * e3 * 4.4 If u1 < 0.1 T

32、henu1 = 0.1ElseIf u1 > 4.5 Then u1 = 4.5End IfLine (a / 180 * 1344 + 1200, -d * 23.6 * 3 +6240)-(st / 180 * 1344 + 1200, -u1 * 23.6 * 3 +6240), RGB(0, 0, 255)d = u1Call appedatfile1 Label8.Caption = u1 a = stTimer2.Interval = Int(u1) * 1000) byData(1) = 1RetVal=ADAMTCP_Write6KDO(IPAddress, 6050,

33、1, 1, 1, byData(1)Timer2.Enabled = True End Sub每 5s，利用度输入计算式计算一次设定值，画一段线。6、数据及处理由实验 1 可知 k=0.90，T=968s，=228s，则由内模法整定的经验公式KcK=(T+/2)/(Tc+/2) Ti=T+/2 Td=T/(2T+)计算得Td = 100s， kp = 15.3，Ti = 370.277s。A、输入函数为 1（t）初始设定的 Ti=370.277，其他参数不变，进行实验，实验数据如下。时间温度时间温度时间温度5,29.61166,610,74.96147,1215,82.41702,10,29.

34、48043,615,75.18578,1220,82.4735,15,29.36751,620,75.35515,1225,82.52385,20,29.24849,625,75.53674,1230,82.58641,25,29.12947,630,75.67407,1235,82.66728,30,29.03639,635,75.8175,1240,82.73595,35,28.96773,640,75.94873,1245,82.7802,40,28.89296,645,76.17304,1250,82.83665,45,28.81819,650,76.41718,1255,82.917

35、53,Private Sub Timer2_Timer() byData(1) = 0RetVal=ADAMTCP_Write6KDO(IPAddress, 6050, 1, 1, 1, byData(1)Timer2.Enabled = False End SubPrivate Sub Timer3_Timer() sp = 0.0002 * st * st + 30st = st + 1 Label6.Caption = st End SubSub appedatfile1()Open"C:Documentsand SettingsAdministrator桌面实验四内模法-度.

36、txt" For Append As #1Write #1, st; Spc(8); tep; Spc(8); u1 Close #1End Sub50,28.77394,655,76.61707,1260,82.98619,55,28.76173,660,76.79255,1265,83.06706,60,28.77394,665,76.98025,1270,83.18608,65,28.82429,670,77.17403,1275,83.31731,70,28.91127,675,77.34188,1280,83.38598,75,29.01808,680,77.44259,1

37、285,83.44244,80,29.20577,685,77.51125,1290,83.5172,85,29.44228,690,77.54177,1295,83.61028,90,29.67422,695,77.66689,1300,83.74914,95,29.94278,700,77.79813,1305,83.88036,100,30.26779,705,77.97971,1310,84.05433,105,30.67979,710,78.12314,1315,84.17945,110,31.09331,715,78.26047,1320,84.31068,115,31.52972

38、,720,78.37949,1325,84.38544,120,31.99207,725,78.47409,1330,84.46784,125,32.46815,730,78.5916,1335,84.50446,130,32.92439,735,78.66789,1340,84.57313,135,33.39284,740,78.79912,1345,84.61738,140,33.87961,745,78.93645,1350,84.69825,145,34.3801,750,79.07378,1355,84.75471,150,34.8806,755,79.26756,1360,84.8

39、2338,155,35.42382,760,79.41711,1365,84.90425,160,36.0235,765,79.53613,1370,85.02937,165,36.64302,770,79.61089,1375,85.1606,170,37.24879,775,79.7177,1380,85.28572,175,37.86069,780,79.79247,1385,85.40474,180,38.49241,785,79.84893,1390,85.52986,185,39.11803,790,79.96795,1395,85.64279,190,39.7055,795,80

40、.09156,1400,85.75418,195,40.29908,800,80.19227,1405,85.84879,200,40.91096,805,80.29298,1410,85.93576,205,41.49233,810,80.37995,1415,85.99832,210,42.0737,815,80.49897,1420,86.04257,215,42.69321,820,80.66682,1425,86.11734,220,43.34935,825,80.75532,1430,86.16159,225,43.99329,830,80.77363,1435,86.21042,

41、230,44.61738,835,80.89876,1440,86.29282,235,45.243,840,80.97353,1445,86.34776,240,45.86099,845,81.04829,1450,86.3798,245,46.45457,850,81.09865,1455,86.44236,250,47.04814,855,81.17342,1460,86.47288,255,47.61731,860,81.18562,1465,86.54154,260,48.16815,865,81.22987,1470,86.57969,265,48.75563,870,81.248

42、18,1475,86.63615,270,49.3431,875,81.31075,1480,86.72312,275,49.94888,880,81.42976,1485,86.80399,280,50.5806,885,81.56099,1490,86.86655,285,51.2047,890,81.69833,1495,86.9108,290,51.82422,895,81.79294,1500,86.99778,295,52.46051,900,81.92416,1505,87.10459,300,53.05562,905,82.08591,1510,87.15496,305,53.

43、64919,910,82.15457,1515,87.20531,310,54.24277,915,82.21103,1520,87.28008,315,54.87449,920,82.2858,1525,87.38537,320,55.43603,925,82.34225,1530,87.47997,325,55.99298,930,82.37277,1535,87.53033,330,56.59266,935,82.42314,1540,87.59289,335,57.14198,940,82.50401,1545,87.59289,340,57.69894,945,82.52385,15

44、50,87.64782,345,58.29862,950,82.5742,1555,87.70428,350,58.8922,955,82.64287,1560,87.70428,355,59.44915,960,82.72374,1565,87.75463,360,59.96796,965,82.81071,1570,87.8233,365,60.4242,970,82.87328,1575,87.86755,370,60.90486,975,82.95415,1580,87.90418,375,61.33059,980,83.05486,1585,87.94233,380,61.76699

45、,985,83.10521,1590,87.97895,385,62.18051,990,83.14183,1595,87.99268,390,62.63676,995,83.16777,1600,88.03541,395,63.06096,1000,83.13573,1605,88.09797,400,63.48059,1005,83.10521,1610,88.16663,405,63.89868,1010,83.09911,1615,88.2353,410,64.29847,1015,83.13573,1620,88.3238,415,64.66774,1020,83.16777,162

46、5,88.39246,420,64.99886,1025,83.24255,1630,88.42298,425,65.39253,1030,83.36156,1635,88.44892,430,65.74807,1035,83.43633,1640,88.46113,435,66.12955,1040,83.47295,1645,88.50538,440,66.50492,1045,83.56145,1650,88.5481,445,66.8925,1050,83.62402,1655,88.61677,450,67.28008,1055,83.69268,1660,88.67323,455,

47、67.64172,1060,83.7232,1665,88.7419,460,67.96063,1065,83.74151,1670,88.78004,465,68.22309,1070,83.82391,1675,88.84871,470,68.47334,1075,83.88036,1680,88.90517,475,68.67323,1080,83.96734,1685,88.96773,用 VB 程序画出的图线如下所示。480,68.98604,1085,83.99787,1690,89.01045,485,69.2729,1090,83.97955,1695,89.06081,490

48、,69.59182,1095,83.95513,1700,89.09895,495,69.90463,1100,83.92919,1705,89.15541,500,70.22965,1105,83.89257,1710,89.19203,505,70.51804,1110,83.83001,1715,89.22408,510,70.80491,1115,83.76134,1720,89.2607,515,71.03532,1120,83.69268,1725,89.29274,520,71.28557,1125,83.61028,1730,89.27901,525,71.46716,1130

49、,83.52331,1735,89.2607,530,71.66094,1135,83.42413,1740,89.29884,535,71.87305,1140,83.32342,1745,89.37971,540,72.1294,1145,83.19218,1750,89.43007,545,72.4239,1150,83.03044,1755,89.4545,550,72.67414,1155,82.90532,1760,89.47281,555,72.94881,1160,82.7924,1765,89.49265,560,73.1609,1165,82.6917,1770,89.53

50、537,565,73.36691,1170,82.64287,1775,89.59793,570,73.50423,1175,82.59251,1780,89.62997,575,73.62325,1180,82.53606,1785,89.68643,580,73.74838,1185,82.46129,1790,89.71695,585,73.87961,1190,82.42924,1795,89.71085,590,74.10544,1195,82.44298,1800,89.70474,595,74.31754,1200,82.44908,1805,89.72305,600,74.54

51、795,1205,82.42314,1810,89.74289,605,74.73563,1210,82.40482,1815,89.73526,用画出的图线如下所示由图线可知，虽然系统最终能达到稳定，但是由于调节时间过慢，稳定值与设定值还是有一定的差别，此模型不够理想由图可看出，虽然系统最终能达到稳定，但是调节过慢，调节时间达到 4000s，此模型不够理想。超调量为 9.1%。B、IMC 加斜坡输入时间温度时间温度时间温度5,29.73678,465,52.2179,925,74.91722,10,29.90463,470,52.51087,930,75.27428,15,30.11826,475,52.81758,935,75.56116,20,30.32426,480,53.06783,940,75.84192,25,30.55466,485,53.34249,945,76.0174,30,30.79271,490,5