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Chang Box U 2006
Chang Box U 2006
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
ᨬ㽕ᴀ᭛䩜ᇍ☿⬉ॖ≑⏽㋏㒳ⱘࠊˈᦤߎњϔ⾡ᮄⱘࠊᮍ⊩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ᑨখ᭄ⱘব࣪ˈ᳝ᕜᔎⱘ剕Ầᗻ㞾䗖ᑨⱘ㛑DŽ
2. ⬅ᇍ䈵ࠊ䗮䘧ⱘᛄᗻऎ⇨⏽ൟ G1 (s ) ˈЏࠊ఼
3ˊPID㞾ᭈᅮ⭿ܡ㊞ࠊ㋏㒳ⱘ䆒䅵ߚᵤ
C1 (s ) ҹঞࡃࠊಲ䏃㒘៤ⱘЏࠊಲ䏃DŽ
䩜ᇍ⦄⢊ˈḍᅲ䰙ⱘ䳔㽕ˈ៥Ӏ䗝ᢽњPID㞾ᭈᅮܡ
PID ࠊ఼ҹ㒧ᵘㅔऩǃ〇ᅮᗻདǃৃ䴴ᗻ催ǃ䇗ᭈ
⭿㊞ࠊˈᅗϡҙᆍᯧᅲ⦄ˈ㗠Ϩࠊ఼ⱘখ᭄ৃҹ䱣
ᮍ֓ㄝӬ㗠㹿ᑓ⊯ᑨ⫼Ѣᅲ䰙ᎹЁDŽ݊Ё↨՟P⦃㡖
Ꮉⱘމᬍব䖯㸠䇗ᭈˈᅲ⦄њⳳℷᛣНϞⱘ㞾ࡼࠊDŽ
⫼ᴹᦤ催㋏㒳ⱘડᑨ䗳ᑺˈ⿃ߚI⦃㡖⫼ᴹ⍜䰸䴭Ꮒˈᖂ
3Ў≑⏽PID㞾ᭈᅮ⭿ܡ㊞ࠊⱘ㒧ᵘˈॳ᳝
䖛⛁఼ ఼⏽ޣ 䖛⛁఼ t2 PIDІ㑻ࠊⱘ⸔Ϟˈ䆒䅵њϸϾ㊞ࠊ఼ˈ݊ЁϔϾ
⫼ᴹ䇗ᭈPIDⱘখ᭄ˈϔϾ߭⫼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
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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 পDŽ
ߑ᭄ᔶ⢊↨䕗ᇪᯊˈ㊞ᄤ䲚ⱘߚ䕼⥛߭催˗Ⳍডˈᔧ䲊 3䞣࣪ᄤⱘ⹂ᅮ
ሲᑺߑ᭄ᔶ⢊↨䕗㓧ᯊˈߚ䕼⥛߭↨䕗Ԣˈ݊ࠊ⡍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
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↨݊Ёⱘࠊ㾘ᕟˈᕫࠄ ᡥࠊ㛑䍞āⱘॳ߭ˈᴹ⹂ᅮ䇗ᭈ㾘߭[7]DŽ
བᵰ䇃Ꮒ e2 䇃Ꮒব࣪⥛ ec2 ഛˈ߭ 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 Ўࠊডᑨ䗳ᑺˈτ Ўࠊ〇ᅮᬜᵰˈ f (x ) ЎϔϾ ߭ f (x ) প䳊˗
䗝ᅮⱘ䴲㒓ᗻߑ᭄ˈ⫼ᴹ㸼⼎㒚㚲ᡥࠊࠎ▔㛑ⱘᇣ[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ᵘDŽԧ䆒䅵ℹ偸བϟ˖ Ёⱘ⹂ᅮᮍ⊩DŽ
1ᅮНࠊ఼ⱘ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Ϩᴀࠊ
ࠊ఼䕧ߎ u1 ⱘأᏂ e 2 أᏂব࣪⥛ de2 dt ˄䆄Ў ec2 ˅ˈ ㄪ⬹ϡᬍবॳᴹⱘࠊಲ䏃ˈ᳝ᕜདⱘᎹᅲ⫼ᗻDŽℸ
䕧ߎЎ䴲㒓ᗻߑ᭄ f (x ) ⱘؐDŽأᏂϢأᏂⱘব࣪⥛ⱘ䆎ඳ ˈᅗᇍൟⱘ㽕∖ϡ催ˈৃҹᑨ⫼Ѣᓊ䖳ˈᛃᗻⱘ
ߚ߿Ў>-10ˈ10@>-3ˈ3@ˈ䕧ߎⱘ䆎ඳЎ>-3ˈ3@DŽ↣Ͼ ᯊব㋏㒳Ёˈ᳝ᑓ⊯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 ៥ӀӓⳳЁᇍPID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ӓⳳᔶ˄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PIDࠊЏಲ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⫳ব࣪Ӯᇐ㟈
-3 -2 -1 0 e/ec 1 2 3 -1 -0.5 0e 0.5 1
ࠊ఼খ᭄ব࣪ˈ䞛⫼ᐌ㾘PIDࠊᯊˈࠊ఼ⱘখ᭄ব࣪㣗
5㞾ᭈᅮ㊞ࠊ఼ⱘأᏂ6 ⭿ܡ3 ㊞ࠊ఼ⱘ ೈᕜˈ↣Ͼখ᭄䛑䳔㽕䇗ᭈ˗㗠䞛⫼PID㞾ᭈᅮ⭿ܡ㊞
أᏂব࣪⥛ⱘ䲊ሲᑺߑ᭄أᏂⱘ䲊ሲᑺߑ᭄ І㑻ࠊᯊˈা᳝ᶤѯᡥࠊখ᭄᳝ᇥ䆌ব࣪ˈℸࠊㄪ
⬹ϟˈ䇗㡖 τ ⱘᇣेৃDŽᔧ䋳㥋Ң40%ব࣪ࠄ100%ᯊˈτ
Ң3.1ব࣪ࠄ1.7ˈᰒ⼎ߎᴀ᭛䆒䅵ⱘ㞾䗖ᑨࠊ఼ᇍ≑⏽㋏
⭿ܡP
de ㊞ࠊ఼ 㒳䋳㥋ব࣪ⱘ䗖ᑨᗻDŽ
dt f (x )
㸼Ḑ1ϡৠ䋳㥋ϟ䚍ও⬉ॖ≑⏽㋏㒳ⱘࡼᗕൟ
⭿ܡㅫ⊩
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8ˈ9ˈ10ˈ11Ёˈᅲ㒓Ўᐌ㾘PIDІ㑻ࠊⱘડᑨ᳆ ࡼᎹᄺ. . .
㒓ˈ㰮㒓Ўᴀ᭛ࠊㄪ⬹ⱘડᑨ᳆㒓DŽҢӓⳳ㒧ᵰৃҹⳟ [2] ⥟ᖫᕕ. ԭኇዄ. ྮᑇ. Ѣ⼲㒣㔥㒰ⱘ䖛⛁≑⏽ൟ乘
ߎ˖䞛⫼PID㞾ᭈᅮ⭿ܡ㊞І㑻ࠊㄪ⬹ৢˈ☿⬉ॖ≑⏽ ⌟ࠊ. ⬉㞾ࡼ᠋䆒. . .
㋏㒳ⱘࡼᗕક䋼ᯢᰒӬѢ䞛⫼ᐌ㾘PIDІ㑻ࠊㄪ⬹ⱘ㋏ [3] ᮍगቅ. Ѣখ㗗䔼䗍ⱘ㞾䗖ᑨ㊞6PLWKࠊ఼⬉ᄤ⌟
㒳ⱘࡼᗕક䋼DŽ 䞣ϢҾ఼ᄺߞ
[4] ߬⾥. 䆌⋾ढ. 㚵ᖋঠ. ϔ⾡ᬍ䖯ⱘ䖛⛁≑⏽㊞ࠊঞӓ
4.2≑⏽㋏㒳ࠊⱘ剕Ầᗻ⌟䆩 ⳳ. ᡓᖋ⊍催ㄝϧ⾥ᄺ᷵ᄺ. 2004.6.
⬅8ˈ9ৃҹⳟߎІ㑻ࠊ㋏㒳ⱘࡃ䇗㡖఼㛑᳝ᬜ⍜ [5] ᴢ⼪. 㩟থ. 㩟ѥ㡃. ϔ⾡ѢPID䆎ඳ㞾䇗ᭈⱘ㊞
䰸ݙ䚼ᡄࡼˈᴀ᭛ⱘࠊㄪ⬹㽕ӬѢᐌ㾘ⱘІ㑻ࠊ㋏㒳DŽ ࠊᮍ⊩. ℺∝⧚ᎹᄺᄺѸ䗮⾥ᄺϢᎹ⠜. .
⬅Ѣᛄᗻऎᰃ≑⏽㋏㒳ⱘЏ㽕⡍ᗻ᠔ˈᅲ䰙ᎹЁˈ [6] 咘ᅛ. ⥟ϰ. 亢䶽⩲. ㊞㞾ᭈᅮPIDࠊҹঞ䖛⛁≑⏽
ᇍ䈵খ᭄ব࣪㾘ᕟᕔᕔᰃϡৃⶹⱘˈ䗮ᐌᅗⱘᇍ䈵ᯊ䯈ᐌ ㋏㒳Ёⱘᑨ⫼. ⬉⾥ᄺϢᎹ. 2003. 03003704.
᭄↨՟㋏᭄䱣ϡৠ䋳㥋ঞᎹމ㗠ব࣪ˈ᠔ҹ䖭䞠া㗗㰥 [7] Fuzzy Control Kevin M. Passino Stephen Yurkovich Addison
䋳㥋40%ϟˈᛄᗻऎᇍ䈵Ӵ䗦ߑ᭄ⱘᯊ䯈ᐌ᭄↨՟㋏ Wesley Longman, Inc.
᭄থ⫳ব࣪ᯊⱘ㋏㒳ડᑨᚙމDŽ10ˈ11ߚ߿㒭ߎњᔧখ [8] ߬䞥⧼. ܜ䖯PIDࠊ0$7/$%ӓⳳѠ⠜. ⬉ᄤᎹϮߎ⠜
᭄ޣᇣᯊⱘӓⳳ᳆㒓ˈӓⳳ㒧ᵰ䆕ᯢᴀ᭛ࠊㄪ⬹ ⼒. .
᳝䕗ᔎⱘ剕ẦᗻDŽ 3 3
2 2
ⱘ䇗㡖ᆍᯧ༅ᬜˈϡ㛑㸹ٓాໄ䴲㒓ᗻᑆᡄᓩ䍋ⱘࠊ
1.5 1.5
䇃ᏂDŽ㗠PID㊞ࠊ఼ᇍ⦃ݙখ᭄ⱘᬍবᕜᬣᛳˈࡴܹܡ 1 1
0 0
ৃҹᔎ㋏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
ᑨᚙމDŽ12ˈ13ߚ߿ᰃ䞛⫼PID㞾ᭈᅮ㊞ࠊPID㞾 8䋳㥋40ϟࡴܹᡄࡼ9⒵䋳㥋ࡴܹᡄࡼ
ᭈᅮ⭿ܡ㊞ࠊˈ⦃ݙখ᭄ᬍবᯊⱘડᑨ᳆㒓DŽЁᅲ 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᭛ⱘࠊㄪ⬹ᇍ⦃ݙ 1
1
0.8
খ᭄ᬍবг᳝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⫼ࠄ᳝ᛃᗻǃᓊ䖳ᯊবㄝ⡍ᗻ 10খ᭄ৢⱘ11খ᭄ޣᇣৢⱘ
ⱘ☿⬉ॖ≑⏽ࠊ㋏㒳ЁDŽ䩜ᇍ䚍ও⬉ॖ5ʿ600MWᴎ㒘 ડᑨ᳆㒓˄⦃˅ડᑨ᳆㒓˄⦃˅
䖛⛁≑⏽㋏㒳ˈϸϾൟᎹމϟ䖯㸠ӓⳳˈ䆩偠㒧ᵰ㸼
1.2 1
ᯢˈ䆹ࠊㄪ⬹ⱘࠊᬜᵰϡԚӬѢᐌ㾘ⱘPIDࠊˈ㗠Ϩ 1
гӬѢ3,'㞾ᭈᅮ㊞ࠊDŽ䆹ᮍḜ㛑䗖ᑨᇍ䈵খ᭄ⱘব 0.8
0.6
࣪ˈᑊ㸼⦄ߎ㡃དⱘࠊᬜᵰˈ᳝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᭛⤂ 12খ᭄ৢⱘ13খ᭄ޣᇣৢⱘ
[1] ᕁ䘧߮ㄝ. ☿⬉ॖЏ≑⏽ࠊ㋏㒳ⱘ⭿ܡPIDІ㑻ࠊ. Ё ડᑨ᳆㒓˄˅⦃ݙડᑨ᳆㒓˄˅⦃ݙ
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