Proceedings of the 6th World Congress on Intelligent Control

and Automation, June 21 - 23, 2006, Dalian, China

PID Self-tuning Immune Fuzzy Control of Steam

Temperature Control System in Fossil-fired Power Plant
Changbo Xu1,2, Congcong Liu 1,2, Zhenfu Bi1, Chengjin Zhang 2
1)
Shandong Electric Power Research Institute, Jinan 250002 (E-mail: xuchangbo@mail.sdu.edu.cn)
2)
School of Control Science and Engineering, Shandong University, Jinan, 250061
(E-mail: cjzhang@sdu.edu.cn)

Abstract—A new design method of PID self-tuning immune fuzzy control was proposed to control the steam temperature
system in fossil-fired power plant. Two fuzzy controllers, fuzzy self-tuning controller and immune P fuzzy controller, are designed
to strengthen the normal PID cascade control. The outputs of self-tuning fuzzy controller are applied to tune the parameters of PID;
the output of immune P fuzzy controller is transformed to regulate the proportion gain by the law of immunity feedback response
in biology. Simulation results show that the control performance of this strategy is superior to that of normal PID cascade control.
It is featured by strong robustness and self-adaptability, and can readily accommodate itself to the parameters variation.

Keywords—self-tuning control, immune P control, fuzzy control, boiler steam temperature control system

☿⬉ॖ≑⏽ PID 㞾ᭈᅮ‫⭿ܡ‬῵㊞᥻ࠊㄪ⬹

ᕤ䭓⊶ 1,2߬ϯϯ 1,2↩䋲⽣ 1ᓴᡓ䖯 2
1)
ቅϰ⬉࡯ⷨお䰶 ⌢फ 250002
2)
ቅϰ໻ᄺ᥻ࠊ⾥ᄺϢᎹ⿟ᄺ䰶 ⌢फ 250061

ᨬ㽕ᴀ᭛䩜ᇍ☿⬉ॖ≑⏽㋏㒳ⱘ᥻ࠊˈᦤߎњϔ⾡ᮄⱘ᥻ࠊᮍ⊩ˉPID㞾ᭈᅮ‫⭿ܡ‬῵㊞᥻ࠊㄪ⬹DŽ䆹᥻ࠊㄪ⬹೼ᐌ㾘PID
І㑻᥻ࠊⱘ෎⸔ϞDŽ䆒䅵њϸϾ῵㊞᥻ࠊ఼˖㞾ᭈᅮ῵㊞᥻ࠊ఼੠‫⭿ܡ‬P῵㊞᥻ࠊ఼DŽ㞾ᭈᅮ῵㊞᥻ࠊ఼ⱘ䕧ߎ⫼ҹ䇗ᭈ໪⦃PID
ⱘখ᭄˗㗠‫⭿ܡ‬P῵㊞᥻ࠊ఼ⱘ䕧ߎˈ߭ḍ᥂⫳⠽‫⭿ܡ‬ড作㾘ᕟ㒣䖛䕀࣪ৢˈᇍ‫↨⦃ݙ‬՟๲Ⲟ䖯㸠䇗㡖DŽӓⳳ䆩偠偠䆕њ䆹ㄪ⬹
ӬѢᐌ㾘ⱘPIDІ㑻᥻ࠊˈ㛑䗖ᑨখ᭄ⱘব࣪ˈ‫݋‬᳝ᕜᔎⱘ剕Ầᗻ੠㞾䗖ᑨⱘ㛑࡯DŽ

݇䬂ᄫ㞾ᭈᅮ᥻ࠊˈ‫ ⭿ܡ‬P ᥻ࠊˈ῵㊞᥻ࠊˈ≑⏽᥻ࠊ



1ˊᓩ㿔 ⡍⚍ˈ಴ℸᐌ㾘ⱘPIDІ㑻᥻ࠊϡ㛑⒵䎇݊ᣛᷛ㽕∖DŽ
೼☿࡯থ⬉ॖ⛁Ꮉ䖛⿟᥻ࠊ㋏㒳Ёˈ䖛⛁㪌≑ߎষⱘ Ⳃࠡⷨお≑⏽᥻ࠊⱘᮍ⊩ᕜ໮ˈབ෎Ѣ⼲㒣㔥㒰ⱘ䖛
⏽ᑺᰃ䫙♝ⱘЏ㽕খ᭄Пϔˈᇍ⬉ॖⱘᅝܼ㒣⌢䖤㸠᳝䞡 ⛁≑⏽῵ൟ乘⌟᥻ࠊ[2]ˈ㱑✊↨ᐌ㾘ⱘ᥻ࠊᮍ⊩དˈԚᰃ
໻ᕅડDŽ≑⏽‫أ‬催ˈӮՓ䖛⛁఼੠≑䕂ᴎ催य़㔌ᡓফ䖛催 䳔㽕Փ⫼⼲㒣㔥㒰䕼䆚ᇍ䈵῵ൟˈᎹ⿟Ёϡᆍᯧᅲ⦄˗ᇍ
ⱘ⛁ᑨ࡯㗠ᤳണˈҢ㗠࿕㚕ᴎ㒘ⱘᅝܼ䖤㸠˗≑⏽‫أ‬Ԣˈ Ѣ㞾䗖ᑨ῵㊞Smith᥻ࠊ[3]ˈ Smith᥻ࠊ఼㱑✊ᰃ໘⧚໻ᓊ
߭Ӯ䰡Ԣᴎ㒘ⱘ⛁ᬜ⥛ˈᕅડᴎ㒘䖤㸠ⱘ㒣⌢ᗻDŽ಴ℸˈ 䖳䯂乬ⱘϔ⾡᳝ᬜⱘ䗨ᕘˈԚᰃ䳔㽕㊒⹂ⱘ῵ൟˈेՓ䞛
ᖙ乏ᇚ㪌≑⏽ᑺϹḐ᥻ࠊ೼㒭ᅮؐ䰘䖥[1]DŽ㗠☿⬉ᴎ㒘Ё ⫼๲Ⲟ㞾䗖ᑨⱘᮍ⊩ˈৠḋ䳔㽕Ԅ䅵ᇍ䈵῵ൟˈ೼ᅲ䰙ᑨ
≑⏽ᇍ䈵῵ൟϡ㛑㊒⹂ᕫࠄˈ㗠Ϩ‫݋‬᳝໻ᯊ⒲ˈ໻ᛃᗻⱘ ⫼Ё䖛Ѣ㐕⧤ˈϡᯧᅲ⦄˗ϔ㠀ⱘ῵㊞᥻ࠊˈ⬅‫أ‬Ꮒ੠‫أ‬
 Ꮒব࣪⥛ˈᕫࠄ᥻ࠊ䞣uˈ‫ݡ‬Փ⫼㞾䗖ᑨⱘᮍ⊩ᬍব䞣࣪಴
ቅϰ⬉࡯䲚ಶ݀ৌ⾥ᡔ෎䞥䌘ࡽ乍Ⳃ˄䌘ࡽো˖2004B-TZ24˅ ᄤ[4]ˈ៪㗙ᬍব䆎ඳ[5]ˈᴹ䇗ᭈ᥻ࠊ఼ⱘ䕧ߎˈ䖭⾡ᮍ⊩㢹

1-4244-0332-4/06/$20.00 ©2006 IEEE

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㽕೼⬉ॖⱘDCSϞᅲ⦄ˈህ㽕ᬍবॳᴹⱘ᥻ࠊಲ䏃ˈҢ㗠๲ ߚD⦃㡖⫼ᴹᦤࠡᡥℶᡄࡼDŽ
ࡴњ៤ᴀDŽ⬅ℸˈߚᵤ⦄᳝ⱘ៤ᵰˈḍ᥂ᅲ䰙ⱘᎹ⿟㚠᱃ˈ І㑻᥻ࠊӬѢऩಲ䏃᥻ࠊˈ㗠Ϩ㛑໳ᬍ୘䇗㡖ક䋼ˈ
៥ӀᦤߎњPID㞾ᭈᅮ‫⭿ܡ‬῵㊞᥻ࠊㄪ⬹DŽ Џ㽕ᰃ಴ЎᓩܹњϔϾᖿ䗳ࡼ԰ⱘࡃ᥻ࠊಲ䏃DŽ೼ࡃಲ䏃
ᴀ䇒乬䩜ᇍⱘᰃቅϰ䚍ও⬉ॖЁ 600MW Ⳉ਍ᓣথ⬉ Ёˈᓩܹ t1 ⱘ䋳ড作ⱘࡃಲ䏃᳝〇ᅮ t1 ⱘ԰⫼ˈৃҹ䅸Ў
ᴎ㒘ⱘ䖛⛁≑⏽᥻ࠊˈ⦄᳝ⱘ䖛⛁≑⏽᥻ࠊᇍ῵ൟⱘձ䌪 ࡃಲ䏃᳝㉫䇗䖛⛁≑⏽ⱘ԰⫼ˈ಴ℸᐌᐌՓ⫼ P ៪㗙 PD
ᗻᕜ໻ˈ㗠Ϩখ᭄೎ᅮˈ೼ᅲ䰙⫳ѻЁˈা㛑ձ䴴Ҏⱘ㒣 ᥻ࠊ఼DŽ䆒ࡴ೼ࡃಲ䏃ⱘᡄࡼЎ w ˈ߭Ңᡄࡼࠄࡃಲ䏃ⱘ
偠᠟ࡼ䇗㡖DŽ㗠ᮄⱘ᥻ࠊᮍ⊩ˈ೼Џಲ䏃Ё䞛⫼㞾ᭈᅮ῵ 䕧ߎП䯈ⱘӴ䗦ߑ᭄Ў
㊞᥻ࠊˈᇍॳᴹⱘ PID ᥻ࠊ఼খ᭄䖯㸠䇗ᭈ ˗೼ࡃಲ䏃 [6]
t1 G (s )G2 (s )
= (1)
Ёˈ䞛⫼‫݋‬᳝㞾䗖ᑨࡳ㛑ⱘ‫↨⭿ܡ‬՟(P)᥻ࠊˈᇍ↨՟๲Ⲟ w 1+ C2 (s )G2 (s )
䖯㸠䇗ᭈ˗Ң㗠ᦤ催㋏㒳ⱘ᥻ࠊᗻ㛑DŽ
⬅ᓣ1ৃҹⳟߎߚ↡ⱘ㋏᭄໻Ѣ 1 ˈҢ㗠‫ޣ‬ᔅњᡄࡼ
w ᇍ䕧ߎ t1 ⱘᕅડDŽ䖛⛁≑⏽ⱘᳳᳯؐЏ㽕ᰃ⬅Џ᥻ࠊ఼
2ˊ䯂乬ⱘᦣ䗄
ᴹ䇗ᭈˈЏ᥻ࠊ఼䗮ᐌ䞛⫼ PID ᥻ࠊ఼DŽ
⦄೼໻໮᭄☿⬉ॖᇍ䖛⛁≑⏽ⱘ᥻ࠊˈ䞛⫼ⱘᰃ೎ᅮ
㱑✊ PID І㑻᥻ࠊৃҹ⒵䎇ϔᅮⱘᎹ‫ˈމ‬Ԛ೼ᅲ䰙ⱘ
খ᭄ⱘPIDІ㑻᥻ࠊˈ㗠ᇍѢ໻䖳ᓊǃᯊব㋏㒳ˈϡ㛑ᅲ⦄
Ꮉ⿟Ёˈ䱣ⴔᎹ‫ⱘމ‬ᬍবˈᇍ䈵῵ൟгӮথ⫳ব࣪DŽ㗠᥻
ⳳℷⱘ㞾ࡼ᥻ࠊDŽᔧᎹ‫މ‬থ⫳ব࣪ᯊˈা㛑䴴Ҏⱘ㒣偠ᇍ
ࠊ఼ᴀ䑿ⱘখ᭄ᰃ೎ᅮϡবⱘˈϡ㛑Փᯊবⱘ㹿᥻ᇍ䈵䖒
PIDখ᭄䖯㸠᠟ࡼ䇗ᭈDŽ
ࠄ⧚ᛇⱘᗻ㛑ᣛᷛDŽ
೒ 1 ᠔⼎Ўቅϰ䚍ও⬉ॖ 5ʿᴎ㒘 600MW 䖛⛁≑⏽І
⬅ℸৃҹⳟߎᐌ㾘ⱘ PID І㑻᥻ࠊϡ㛑⒵䎇⬉ॖ≑⏽
㑻᥻ࠊ㋏㒳ˈ݊Ё Yt1 ˈYt 2 Ў⏽ᑺব䗕఼᭰⥛ˈt1 Ў‫ৢ⏽ޣ‬
᥻ࠊⱘ䳔㽕ˈᖙ乏䆒䅵ϔ⾡ᮄⱘ᥻ࠊㄪ⬹DŽ㗠ϨᏠᳯ೼ϡ
ⱘ≑⏽ˈ t 2 Ў䖛⛁఼ߎষ⏽ᑺDŽ஋∈䇗㡖䯔ⱘᓔᑺᰃ᥻ࠊ
ᬍবॳᴹ᥻ࠊ㒧ᵘⱘৠᯊ䖒ࠄᳳᳯⱘᗻ㛑ᣛᷛˈᅲ⦄ⳳℷ
䗮䘧ⱘ䕧ֵܹোˈ䖛⛁఼ߎষ⏽ᑺ t 2 Ў䕧ߎֵোDŽ
ⱘ㞾ࡼ᥻ࠊˈᦤ催㒣⌢ᬜⲞDŽ಴ℸ䆒䅵ϔϾ᮶ᆍᯧᅲ⦄ˈ
≑⏽І㑻᥻ࠊᮍḚ೒བ೒ 2 ᠔⼎ˈᅗࣙᣀϸϾಲ䏃DŽ
⬅ᇍ䈵᥻ࠊ䗮䘧ⱘᇐࠡऎ≑⏽῵ൟ G 2 (s ) ˈࡃ᥻ࠊ఼
জৃҹ䗖ᑨ໻ᛃᗻǃ໻ᓊ䖳੠ᯊব⡍⚍ⱘ᥻ࠊ఼ˈᰃ☿⬉
1.
C 2 (s ) 㒘៤ⱘࡃ᥻ࠊಲ䏃DŽ
ॖ≑⏽᥻ࠊⱘᔧࡵПᗹDŽ

2. ⬅ᇍ䈵᥻ࠊ䗮䘧ⱘᛄᗻऎ⇨⏽῵ൟ G1 (s ) ˈЏ᥻ࠊ఼
3ˊPID㞾ᭈᅮ‫⭿ܡ‬῵㊞᥻ࠊ㋏㒳ⱘ䆒䅵੠ߚᵤ
C1 (s ) ҹঞࡃ᥻ࠊಲ䏃㒘៤ⱘЏ᥻ࠊಲ䏃DŽ
䩜ᇍ⦄⢊ˈḍ᥂ᅲ䰙ⱘ䳔㽕ˈ៥Ӏ䗝ᢽњPID㞾ᭈᅮ‫ܡ‬
PID ᥻ࠊ఼ҹ㒧ᵘㅔऩǃ〇ᅮᗻདǃৃ䴴ᗻ催ǃ䇗ᭈ
⭿῵㊞᥻ࠊˈᅗϡҙᆍᯧᅲ⦄ˈ㗠Ϩ᥻ࠊ఼ⱘখ᭄ৃҹ䱣
ᮍ֓ㄝӬ࢓㗠㹿ᑓ⊯ᑨ⫼Ѣᅲ䰙Ꮉ⿟ЁDŽ݊Ё↨՟P⦃㡖
Ꮉ‫ⱘމ‬ᬍব䖯㸠䇗ᭈˈᅲ⦄њⳳℷᛣНϞⱘ㞾ࡼ᥻ࠊDŽ
⫼ᴹᦤ催㋏㒳ⱘડᑨ䗳ᑺˈ⿃ߚI⦃㡖⫼ᴹ⍜䰸䴭Ꮒˈᖂ
೒3Ў≑⏽PID㞾ᭈᅮ‫⭿ܡ‬῵㊞᥻ࠊⱘ㒧ᵘ೒ˈ೼ॳ᳝
䖛⛁఼ ‫఼⏽ޣ‬ 䖛⛁఼ t2 PIDІ㑻᥻ࠊⱘ෎⸔Ϟˈ䆒䅵њϸϾ῵㊞᥻ࠊ఼ˈ݊ЁϔϾ
⫼ᴹ䇗ᭈPIDⱘখ᭄ˈ঺ϔϾ߭⫼ᴹ䇗ᭈ‫↨ⱘ⦃ݙ‬՟๲ⲞDŽ
t1
㪌≑
Yt 1 Џಲ䏃䞛⫼PID㞾ᭈᅮ῵㊞᥻ࠊ఼ˈࡃಲ䏃䞛⫼‫⭿ܡ‬P῵㊞
᥻ࠊ఼DŽ G 2 (s ) ᰃᇐࠡऎ≑⏽῵ൟ˗ G1 (s ) ᰃᛄᗻऎ≑⏽῵
Yt 2
‫∈⏽ޣ‬

ᠻ㸠఼ P PID ൟDŽ


೒1䖛⛁⇨⏽І㑻᥻ࠊ㋏㒳 3.1.1῵㊞ PID ᥻ࠊ఼
῵㊞᥻ࠊᰃҹ῵㊞䲚ড়䆎ǃ῵㊞䇁㿔ব䞣ঞ῵㊞䘏䕥
w
G(s) t1
ˇ ˇ PID ῵㊞᥻ ˇ ‫⭿ܡ‬῵㊞
t1 t2
ˇ ˇ ˇ ࠊ఼ ᥻ࠊ఼ G2(s) G1(s)
t C1(s) C2(s) G2(s) G1(s)
t
u1
ˉ

೒3䖛⛁≑⏽ PID 㞾ᭈᅮ‫⭿ܡ‬῵㊞᥻ࠊ㒧ᵘ೒

೒2䖛⛁⇨⏽І㑻᥻ࠊᮍḚ೒

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᥼⧚Ў෎⸔ⱘ䅵ㅫᴎᱎ㛑᥻ࠊDŽ῵㊞᥻ࠊ఼ⱘᅲ⦄ᮍ⊩ᰃ
བᵰ䇃Ꮒ e1 ᇣˈ k p ˈ k i 䗖Ёˈ
ᇚϔ㋏߫῵㊞᥻ࠊ㾘߭⾏㒓䕀࣪ЎϔϾᶹ䆶㸼ˈᄬ‫ټ‬೼䅵
ㅫᴎЁկ೼㒓᥻ࠊՓ⫼DŽ೼῵㊞᥻ࠊ఼ⱘ䆒䅵Ёˈ῵㊞䇁 㢹䇃Ꮒব࣪⥛ ec ᇣˈ߭ k d পᇣ˗
㿔ব䞣ᅲ䰙ϞᰃϔϾ῵㊞ᄤ䲚ˈ㗠䇁㿔᳔ؐ㒜䗮䖛䲊ሲᑺ 㢹䇃Ꮒব࣪⥛ ec Ёㄝˈ߭ k d 䗖Ё˗
ߑ᭄ᴹᅲ⦄DŽ䲊ሲᑺߑ᭄㽚ⲪѢᭈϾপؐ㣗ೈˈᔧ䲊ሲᑺ 㢹䇃Ꮒব࣪⥛ ec ໻ˈ߭ k d প໻DŽ
ߑ᭄ᔶ⢊↨䕗ᇪᯊˈ῵㊞ᄤ䲚ⱘߚ䕼⥛߭催˗Ⳍডˈᔧ䲊 3䞣࣪಴ᄤⱘ⹂ᅮ
ሲᑺߑ᭄ᔶ⢊↨䕗㓧ᯊˈߚ䕼⥛߭↨䕗Ԣˈ݊᥻ࠊ⡍ᗻг k e ੠ k ec ߚ߿ᰃ䇃Ꮒ੠䇃Ꮒব࣪⥛ⱘ䞣࣪಴ᄤˈ ku Ў
↨䕗ᑇ㓧[7]DŽ ᥻ࠊ䞣䕧ߎⱘ䞣࣪಴ᄤˈ݊㸼䖒ᓣߚ߿Ў

k e = n e max ˈ k ec = m ec max ˈ k u = u max l (4)

3.1.2 PID 㞾ᭈᅮ῵㊞᥻ࠊ఼ⱘ䆒䅵
2 2
೒ 4 Ў PID 㞾ᭈᅮ῵㊞᥻ࠊ఼ⱘ㒧ᵘ೒DŽ‫݋‬ԧⱘ䆒䅵 ‫؛‬ᅮᅲ䰙⇨⏽ⱘ‫أ‬Ꮒ੠ব࣪⥛ߚ߿Ў>-10 &ˈ10 &@੠
ℹ偸བϟ˖ >-2 2&Vˈ2 2&V@ˈ䕧ߎЎ>0mAˈ10mA@߭ৃҹᕫࠄ
1.ᅮН᥻ࠊ఼ⱘ䕧ܹ䕧ߎ
k e = n e max = 3 10 = 0.3 (5)
ᇍ㞾ᭈᅮ῵㊞᥻ࠊ఼ˈ䕧ܹЎ㋏㒳䕧ߎ≑⏽⏽ᑺ t 2 Ϣ
䆒ᅮ⏽ᑺ t ⱘ‫أ‬Ꮒ e1 ੠‫أ‬Ꮒব࣪⥛ de1 dt ˄䆄Ў ec1 ˅ˈ䕧 ৠ⧚ৃҹᕫࠄ k ec = 1.5 ˈ k u = 1.67 DŽ

ߎЎ PID ᥻ࠊ఼ⱘ↨՟๲Ⲟ k p ǃ⿃ߚ๲Ⲟ k i ੠ᖂߚ๲Ⲟ
3.2.1 ‫ ⭿ܡ‬P ᥻ࠊ
k d ⱘব࣪䞣DŽᅮН‫أ‬Ꮒ੠‫أ‬Ꮒব࣪⥛ⱘ䆎ඳഛЎ>-3ˈ3@ˈ ࡃಲ䏃Ёˈ៥Ӏ䞛⫼‫⭿ܡ‬῵㊞᥻ࠊᴹᇍ↨՟㋏᭄䖯㸠
ϸ㗙ⱘ῵㊞䲚ഛЎ^NBˈNMˈNSˈZEˈPSˈPMˈPB`DŽ 䇗㡖DŽ᠔䇧‫⭿ܡ‬ডᑨህᰃ⫳⠽ԧⱘϔ⾡⡍ᗻ⫳⧚ডᑨDŽ⫳
៥Ӏ䗝প‫ݐ‬乒ߚ䕼⥛੠ᑇ㓧ᗻⱘ䲊ሲᑺߑ᭄ˈབ೒ 5DŽϸ ⠽ⱘ‫㋏⭿ܡ‬㒳ᇍѢ໪ᴹ։⢃ⱘᡫॳˈৃѻ⫳Ⳍᑨⱘᡫԧᴹ
ッߚ߿Ў Z ൟ੠ S ൟߑ᭄ˈ݊ԭ䞛⫼ϝ㾦ൟߑ᭄DŽ ᢉᕵDŽ⫳⠽ԧⱘ‫㋏⭿ܡ‬㒳᳝⎟Ꮘ㒚㚲੠ᡫԧߚᄤ㒘៤ˈ⎟
ᇍ PID 㞾ᭈᅮ῵㊞᥻ࠊ఼೒ 4 㰮㒓‫݊ˈݙ‬䕧ܹЎ໪ Ꮘ㒚㚲জ⬅㛌㝎ѻ⫳ⱘ T 㒚㚲˄ߚ߿Ў䕙ࡽ㒚㚲 TH ੠ᡥࠊ
⦃ⱘ䇃Ꮒ 㒚㚲 TS ˅੠偼傧ѻ⫳ⱘ B 㒚㚲㒘៤DŽᡥࠊᴎ⧚੠Џড作ᴎ
e1 = t − t 2 (2) ⧚П䯈ⱘⳌѦण԰ˈᰃ䗮䖛‫⭿ܡ‬ড作ᴎ⧚ᇍᡫॳⱘᖿ䗳ড
ᑨ੠〇ᅮ‫㋏⭿ܡ‬㒳ᅠ៤ⱘDŽ‫؛‬䆒㄀kҷⱘᡫॳ᭄䞣Ў ε (k ) ˈ
䕧ߎЎ
⬅ᡫॳࠎ▔ⱘ TH 㒚㚲ⱘ䕧ߎЎ TH (k ) ˈTS 㒚㚲ᇍ B 㒚㚲ⱘ
( )
u1 = k p + Δk p ⋅ e1 + (k i + Δk i ) ⋅ ∫ e1dt + (k d + Δk d ) ⋅ ec1 (3) ᕅડЎ TS (k ) ˈ߭ B 㒚㚲᥹ফⱘᘏⱘࠎ▔Ў

2খ᭄ⱘᭈᅮ㾘߭ S (k ) = TH (k ) − TS (k )  (6)

㞾ᭈᅮ῵㊞᥻ࠊ఼ⱘখ᭄䇗ᭈ㾘߭˖ ‫؛‬䆒ᴔӸ T 㒚㚲ⱘ䞣⬅ B 㒚㚲⌏ࡼᖂߚ㒭ߎˈ߭ᴔӸ

བᵰ䇃Ꮒ e1 ໻ˈ k p প໻ˈ k d পᇣˈ k i 䗖Ё˗ T 㒚㚲ⱘ u kill (k ) 䞣Ў

u kill (k ) = k 1 İ (k ) − k 2 f (ǻu kill (k ))İ (k )

བᵰ䇃Ꮒ e1 Ёㄝˈ k p পᇣˈ k i 䗖Ё˗ = K (1 − τ ⋅ f (ǻu kill (k )))İ (k ) (7)
= k u İ (k )
㞾ᭈᅮ῵㊞᥻ ݊Ё
de
dt
ࠊ఼
ǻu kill (k ) = ukill (k − d ) − u kill (k − d − 1) (8)

Δk p Δ ki Δkd ᓣ(7)ेЎ‫⭿ܡ‬ড作㾘߭[8]DŽ
u1 䆒 f (Δu kill (k )) Ў f (x ) ˈᅗЎϔ䗝ᅮⱘ䴲㒓ᗻߑ᭄DŽ㢹
t + e1
PID ᅮНЎ
-
f (x ) = 1 − exp(− x a )   (9)
t2
݊Ё a > 0 ˈЎϔϾৃҹᬍবߑ᭄ᔶᓣⱘখ᭄DŽᔧ a 䍞໻ˈ
೒4 PID 㞾ᭈᅮ῵㊞᥻ࠊ㒧ᵘ೒ f (x ) ⱘ᳆㒓䍞ᑇ㓧ˈᇍ᠔᳝ⱘ x ˈഛ᳝ f (x )∈ [0,1]DŽ

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 ḍ᥂㒚㚲ফࠄⱘࠎ▔ᴹ㉏↨݊Ёⱘ᥻ࠊ㾘ᕟˈᕫࠄ ᡥࠊ㛑࡯䍞໻āⱘॳ߭ˈᴹ⹂ᅮ䇗ᭈ㾘߭[7]DŽ
བᵰ䇃Ꮒ e2 ੠䇃Ꮒব࣪⥛ ec2 ഛ໻ˈ߭ f (x ) পᇣ˗ 
k u = K (1 − τ ⋅ f (x )) (10)
བᵰ䇃Ꮒ e2 ໻˄៪㗙ᇣ˅Ϩ䇃Ꮒব࣪⥛ ec2 ᇣ˄៪㗙໻˅
ˈ
݊Ё K Ў᥻ࠊডᑨ䗳ᑺˈτ Ў᥻ࠊ〇ᅮᬜᵰˈ f (x ) ЎϔϾ ߭ f (x ) প䳊˗
䗝ᅮⱘ䴲㒓ᗻߑ᭄ˈ⫼ᴹ㸼⼎㒚㚲ᡥࠊࠎ▔㛑࡯ⱘ໻ᇣ[1]DŽ བᵰ䇃Ꮒ e2 ੠䇃Ꮒব࣪⥛ ec2 ഛᇣˈ߭ f (x ) প໻˗ 
 3䞣࣪಴ᄤⱘ⹂ᅮ
3.2.2 ‫ ⭿ܡ‬P ᥻ࠊ఼ⱘ䆒䅵 䇃Ꮒǃ䇃Ꮒব࣪⥛੠䕧ߎⱘ䞣࣪಴ᄤⱘ⹂ᅮৠ 3.1.2 㡖
೒ 7 Ў‫⭿ܡ‬῵㊞᥻ࠊ㒧ᵘ೒DŽ‫݋‬ԧ䆒䅵ℹ偸བϟ˖ Ёⱘ⹂ᅮᮍ⊩DŽ
1ᅮН᥻ࠊ఼ⱘ䕧ܹ䕧ߎ 㓐Ϟ᠔䗄ˈЏಲ䏃੠ࡃಲ䏃䛑䞛⫼њ῵㊞㞾䗖ᑨⱘᮍ
‫ ⭿ܡ‬P ῵㊞᥻ࠊ఼ⱘ䕧ܹЎᇐࠡऎ≑⏽ t 1 Ϣ PID ῵㊞ ⊩ˈᴹ⒵䎇ᅲ䰙Ꮉ‫ˈމ‬䖒ࠄ㞾ࡼ䇗㡖ⱘⳂⱘDŽ㗠Ϩᴀ᥻ࠊ
᥻ࠊ఼䕧ߎ u1 ⱘ‫أ‬Ꮒ e 2 ੠‫أ‬Ꮒব࣪⥛ de2 dt ˄䆄Ў ec2 ˅ˈ ㄪ⬹ϡᬍবॳᴹⱘ᥻ࠊಲ䏃ˈ‫݋‬᳝ᕜདⱘᎹ⿟ᅲ⫼ᗻDŽℸ
䕧ߎЎ䴲㒓ᗻߑ᭄ f (x ) ⱘؐDŽ‫أ‬ᏂϢ‫أ‬Ꮒⱘব࣪⥛ⱘ䆎ඳ ໪ˈᅗᇍ῵ൟⱘ㽕∖ϡ催ˈৃҹᑨ⫼Ѣ໻ᓊ䖳ˈ໻ᛃᗻⱘ
ߚ߿Ў>-10ˈ10@੠>-3ˈ3@ˈ䕧ߎⱘ䆎ඳЎ>-3ˈ3@DŽ↣Ͼ ᯊব㋏㒳Ёˈ‫݋‬᳝ᑓ⊯ⱘ䗖⫼ᗻDŽ
䕧ܹব䞣ⱘ῵㊞䲚ഛЎ^NˈP`ˈ䕧ߎব䞣ⱘ῵㊞䲚Ў^Nˈ
ZˈP`DŽ‫أ‬Ꮒⱘ䲊ሲᑺߑ᭄བ೒ 6 ᠔⼎ˈ‫أ‬Ꮒব࣪⥛ⱘ䲊ሲ 4ˊӓⳳⷨお
ᑺߑ᭄Ϣ‫أ‬Ꮒⱘ䲊ሲᑺߑ᭄ᔶ⢊Ⳍৠˈ㗠䆎ඳ䗝পϡৠDŽ ៥Ӏ೼ӓⳳЁᇍPID㞾ᭈᅮ‫⭿ܡ‬῵㊞᥻ࠊϢᐌ㾘PID
ᇍ‫⭿ܡ‬῵㊞᥻ࠊ఼˄೒ 7 㰮㒓‫˅ݙ‬
ˈ䕧ܹЎ‫⦃ݙ‬䇃Ꮒ І㑻᥻ࠊ䖯㸠↨䕗ˈ೼䋳㥋40%ǃ100%ϟߚ߿⌟䆩≑⏽㋏
㒳῵ൟⱘऩԡ䰊䎗ડᑨᗻ㛑DŽϟ䴶ӓⳳ೒ᔶ˄8ˈ9ˈ10ˈ
e 2 = u1 − t1  (11)
11˅ߚ߿Ў≑⏽㋏㒳೼ϸ⾡‫݌‬ൟ䋳㥋ϟˈ䞛⫼PID㞾ᭈᅮ‫ܡ‬
䕧ߎЎ
u 2 = (k u + k n )⋅ e 2  (12)
⭿῵㊞І㑻᥻ࠊㄪ⬹੠ᐌ㾘PIDІ㑻᥻ࠊㄪ⬹ⱘӓⳳ㒧ᵰDŽ
䚍ও⬉ॖ≑⏽ᇍ䈵῵ൟⱘ䗝পབ㸼Ḑ᠔⼎DŽ
݊Ё ku ৠᓣ(10)DŽ 
2খ᭄ⱘ䇗ᭈ㾘߭ 4.1 ᡄࡼ⌟䆩
‫⭿ܡ‬῵㊞ 3 ᥻ࠊⱘখ᭄䇗ᭈ㾘߭ᣝ✻Ā㒚㚲᥹ফⱘࠎ
  ᐌ㾘PID᥻ࠊЏಲ䏃ⱘখ᭄ߚ߿প k p = 100 ˈ k i = 20 ˈ
▔䍞໻ˈ߭ᡥࠊ㛑࡯䍞ᇣāঞĀ㒚㚲᥹ফⱘࠎ▔䍞ᇣˈ߭

1
nb nm ns z ps pm pb
1
N P k d = 1 ˈࡃಲ䏃ⱘ↨՟㋏᭄ K n Ў0.08˗PID㞾ᭈᅮ‫⭿ܡ‬῵㊞
Degree of membership

Degree of membership

0.8 0.8

0.6 0.6
᥻ࠊ఼খ᭄ߚ߿Ў k e = 0.3 ˈ k ec = 1.5 ˈ k p = 1 ˈ k i = 0.02 ˈ
0.4 0.4

0.2 0.2
k d = 1 ˈ k n = 2.8 ˈτ = 3.1 ˈ K = 0.85 ˈ‫⭿ܡ‬῵㊞᥻ࠊⱘ䞣
0 0 ࣪಴ᄤপЎ1DŽ䋳㥋ⱘব࣪㋏㒳῵ൟথ⫳ব࣪Ӯᇐ㟈᥻
-3 -2 -1 0 e/ec 1 2 3 -1 -0.5 0e 0.5 1
 ࠊ఼খ᭄ব࣪ˈ䞛⫼ᐌ㾘PID᥻ࠊᯊˈ᥻ࠊ఼ⱘখ᭄ব࣪㣗
೒5㞾ᭈᅮ῵㊞᥻ࠊ఼ⱘ‫أ‬Ꮒ೒6‫ ⭿ܡ‬3 ῵㊞᥻ࠊ఼ⱘ ೈᕜ໻ˈ↣Ͼখ᭄䛑䳔㽕䇗ᭈ˗㗠䞛⫼PID㞾ᭈᅮ‫⭿ܡ‬῵㊞
੠‫أ‬Ꮒব࣪⥛ⱘ䲊ሲᑺߑ᭄‫أ‬Ꮒⱘ䲊ሲᑺߑ᭄ І㑻᥻ࠊᯊˈা᳝ᶤѯᡥࠊখ᭄᳝ᇥ䆌ব࣪ˈ೼ℸ᥻ࠊㄪ
 ⬹ϟˈ䇗㡖 τ ⱘ໻ᇣेৃDŽᔧ䋳㥋Ң40%ব࣪ࠄ100%ᯊˈτ
Ң3.1ব࣪ࠄ1.7ˈᰒ⼎ߎᴀ᭛䆒䅵ⱘ㞾䗖ᑨ᥻ࠊ఼ᇍ≑⏽㋏
‫ ⭿ܡ‬P ῵
de ㊞᥻ࠊ఼ 㒳䋳㥋ব࣪ⱘ䗖ᑨᗻDŽ
dt f (x )
㸼Ḑ1ϡৠ䋳㥋ϟ䚍ও⬉ॖ≑⏽㋏㒳ⱘࡼᗕ῵ൟ
‫⭿ܡ‬ㅫ⊩

ˇ e2 u2 t1 䋳㥋 G2(S) G1(S)

u1 k G2(s)
n 1.32 1
40%  
(28s + 1)3 (58s + 1)8
0.89 1.26
೒7‫⭿ܡ‬῵㊞᥻ࠊ㒧ᵘ೒ 100%  
(18s + 1)2 (18.9 s + 1)6

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 ೒8ˈ9ˈ10ˈ11Ёˈᅲ㒓Ўᐌ㾘PIDІ㑻᥻ࠊⱘડᑨ᳆
㒓ˈ㰮㒓Ўᴀ᭛᥻ࠊㄪ⬹ⱘડᑨ᳆㒓DŽҢӓⳳ㒧ᵰৃҹⳟ
ߎ˖䞛⫼PID㞾ᭈᅮ‫⭿ܡ‬῵㊞І㑻᥻ࠊㄪ⬹ৢˈ☿⬉ॖ≑⏽
㋏㒳ⱘࡼᗕક䋼ᯢᰒӬѢ䞛⫼ᐌ㾘PIDІ㑻᥻ࠊㄪ⬹ⱘ㋏
㒳ⱘࡼᗕક䋼DŽ
4.2≑⏽㋏㒳᥻ࠊⱘ剕Ầᗻ⌟䆩
⬅೒8ˈ9ৃҹⳟߎІ㑻᥻ࠊ㋏㒳ⱘࡃ䇗㡖఼㛑᳝ᬜ⍜
೑ࡼ࡯Ꮉ⿟ᄺ᡹. . .
[2] ⥟ᖫᕕ. ԭኇዄ. ྮ೑ᑇ. ෎Ѣ⼲㒣㔥㒰ⱘ䖛⛁≑⏽῵ൟ乘
⌟᥻ࠊ. ⬉࡯㞾ࡼ᠋䆒໛. . .
[3] ᮍगቅ. ෎Ѣখ㗗䔼䗍ⱘ㞾䗖ᑨ῵㊞6PLWK᥻ࠊ఼⬉ᄤ⌟
䞣ϢҾ఼ᄺ᡹๲ߞ
[4] ߬⾥. 䆌⋾ढ. 㚵ᖋঠ. ϔ⾡ᬍ䖯ⱘ䖛⛁≑⏽῵㊞᥻ࠊঞӓ
ⳳ. ᡓᖋ⷇⊍催ㄝϧ⾥ᄺ᷵ᄺ᡹. 2004.6.
[5] ᴢ⼪⃷. 㩟໽থ. 㩟ѥ㡃. ϔ⾡෎ѢPID䆎ඳ㞾䇗ᭈⱘ῵㊞
䰸‫ݙ‬䚼ᡄࡼˈᴀ᭛ⱘ᥻ࠊㄪ⬹㽕ӬѢᐌ㾘ⱘІ㑻᥻ࠊ㋏㒳DŽ
⬅Ѣᛄᗻऎᰃ≑⏽㋏㒳ⱘЏ㽕⡍ᗻ᠔೼ˈ೼ᅲ䰙Ꮉ⿟Ёˈ
ᇍ䈵খ᭄ব࣪㾘ᕟᕔᕔᰃϡৃⶹⱘˈ䗮ᐌᅗⱘᇍ䈵ᯊ䯈ᐌ
᭄੠↨՟㋏᭄䱣ϡৠ䋳㥋ঞᎹ‫މ‬㗠ব࣪ˈ᠔ҹ䖭䞠া㗗㰥
೼䋳㥋40%ϟˈᛄᗻऎᇍ䈵Ӵ䗦ߑ᭄ⱘᯊ䯈ᐌ᭄੠↨՟㋏
᥻ࠊᮍ⊩. ℺∝⧚Ꮉ໻ᄺᄺ᡹Ѹ䗮⾥ᄺϢᎹ⿟⠜. .
[6] 咘ᅛ. ⥟ϰ. 亢䶽⩲. ῵㊞㞾ᭈᅮPID᥻ࠊҹঞ೼䖛⛁≑⏽
㋏㒳Ёⱘᑨ⫼. ⬉࡯⾥ᄺϢᎹ⿟. 2003. 03003704.
[7] Fuzzy Control Kevin M. Passino Stephen Yurkovich Addison
Wesley Longman, Inc.
᭄থ⫳ব࣪ᯊⱘ㋏㒳ડᑨᚙ‫މ‬DŽ೒10ˈ11ߚ߿㒭ߎњᔧখ [8] ߬䞥⧼. ‫ܜ‬䖯PID᥻ࠊ0$7/$%ӓⳳ㄀Ѡ⠜. ⬉ᄤᎹϮߎ⠜
᭄๲໻੠‫ޣ‬ᇣᯊⱘӓⳳ᳆㒓ˈӓⳳ㒧ᵰ䆕ᯢᴀ᭛᥻ࠊㄪ⬹ ⼒. .
‫݋‬᳝䕗ᔎⱘ剕ẦᗻDŽ 3 3

ऩ㒃ⱘPൟ‫఼ࠊ᥻⭿ܡ‬ᇍѢѠ䰊ҹϞⱘ催䰊ᇍ䈵῵ൟ 2.5 2.5

2 2
ⱘ䇗㡖ᆍᯧ༅ᬜˈϡ㛑㸹ٓాໄ៪䴲㒓ᗻᑆᡄᓩ䍋ⱘ᥻ࠊ
1.5 1.5
䇃ᏂDŽ㗠PID῵㊞᥻ࠊ఼ᇍ‫⦃ݙ‬খ᭄ⱘᬍবᕜᬣᛳˈࡴܹ‫ܡ‬ 1 1

⭿P᥻ࠊ఼ৢˈ᮶ৃҹᬍ୘Pൟ‫ࠊ᥻ⱘ఼ࠊ᥻⭿ܡ‬ᬜᵰˈг 0.5 0.5

0 0
ৃҹ๲ᔎ㋏㒳ⱘ剕ẦᗻDŽ䖭䞠㗗㰥೼䋳㥋40%ᚙ‫މ‬ϟˈᇐ -0.5 -0.5
0 1000 2000 3000 4000 5000 0 2000 4000 6000 8000
ࠡऎᇍ䈵῵ൟⱘᛃᗻᯊ䯈ᐌ᭄੠↨՟㋏᭄ᬍবᯊⱘ㋏㒳ડ
ᑨᚙ‫މ‬DŽ೒12ˈ13ߚ߿ᰃ䞛⫼PID㞾ᭈᅮ῵㊞᥻ࠊ੠PID㞾 ೒8䋳㥋೼40ϟࡴܹᡄࡼ೒9⒵䋳㥋ࡴܹᡄࡼ
ᭈᅮ‫⭿ܡ‬῵㊞᥻ࠊˈ‫⦃ݙ‬খ᭄ᬍবᯊⱘડᑨ᳆㒓DŽ೒Ёᅲ ⱘऩԡ䰊䎗ડᑨ᳆㒓ⱘऩԡ䰊䎗ડᑨ᳆
㒓㸼⼎PID㞾ᭈᅮ῵㊞᥻ࠊⱘડᑨ᳆㒓ˈ㰮㒓ҷ㸼ᴀ᭛᥻ࠊ 1.5 1.2

ㄪ⬹ⱘડᑨ᳆㒓DŽӓⳳ㒧ᵰ㸼ᯢњᴀ᭛ⱘ᥻ࠊㄪ⬹ᇍ‫⦃ݙ‬ 1
1
0.8
খ᭄ᬍবг‫݋‬᳝䕗ᔎⱘ剕ẦᗻDŽ
0.6
0.5
0.4

5ˊ㒧䆎 0
0.2

0
߽⫼῵㊞᥻ࠊЁⱘ㾘߭ˈᇍPIDখ᭄䖯㸠೼㒓䇗ᭈˈᑊ
-0.5 -0.2
0 2000 4000 6000 8000 0 2000 4000 6000 8000
Ϩ‫׳‬䡈⫳⠽‫⭿ܡ‬ড作ડᑨ䖛⿟ⱘ䇗㡖㾘ᕟˈᇚPID㞾ᭈᅮ‫ܡ‬ 
⭿῵㊞᥻ࠊㄪ⬹ᑨ⫼ࠄ‫݋‬᳝໻ᛃᗻǃ໻ᓊ䖳੠ᯊবㄝ⡍ᗻ ೒10খ᭄๲໻ৢⱘ೒11খ᭄‫ޣ‬ᇣৢⱘ
ⱘ☿⬉ॖ≑⏽᥻ࠊ㋏㒳ЁDŽ䩜ᇍ䚍ও⬉ॖ5ʿ600MWᴎ㒘 ડᑨ᳆㒓˄໪⦃˅ડᑨ᳆㒓˄໪⦃˅
䖛⛁≑⏽㋏㒳ˈ೼ϸϾ‫݌‬ൟᎹ‫މ‬ϟ䖯㸠ӓⳳˈ䆩偠㒧ᵰ㸼
1.2 1
ᯢˈ䆹᥻ࠊㄪ⬹ⱘ᥻ࠊᬜᵰϡԚӬѢᐌ㾘ⱘPID᥻ࠊˈ㗠Ϩ 1

гӬѢ3,'㞾ᭈᅮ῵㊞᥻ࠊDŽ䆹ᮍḜ㛑໳䗖ᑨᇍ䈵খ᭄ⱘব 0.8

0.6
࣪ˈᑊ㸼⦄ߎ㡃དⱘ᥻ࠊᬜᵰˈ‫݋‬᳝䕗ᔎⱘ剕Ầᗻ੠㞾䗖 0.5
0.4
ᑨ㛑࡯DŽ 0.2

 0

-0.2 0
0 1000 2000 3000 0 1000 2000 3000
 
খ㗗᭛⤂ ೒12খ᭄๲໻ৢⱘ೒13খ᭄‫ޣ‬ᇣৢⱘ
[1] ᕁ䘧߮ㄝ. ☿⬉ॖЏ≑⏽᥻ࠊ㋏㒳ⱘ‫⭿ܡ‬PIDІ㑻᥻ࠊ. Ё ડᑨ᳆㒓˄‫˅⦃ݙ‬ડᑨ᳆㒓˄‫˅⦃ݙ‬

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