臺灣博碩士論文加值系統

本研究主要是針對含時間延遲之一階系統，從增益邊限與相位邊限去推導、設計PID控制器。先討論一些文獻上PI、PID控制器調整法則應用在中鋼水簾系統的時域響應與頻率響應，其上升時間、最大超越量、安定時間與增益邊限、相位邊限的表現。
接者研究與探討以上各控制器改良的空間。由控制器之阻尼比的觀念，推導出改良後的Ziegler-Nichols_Chu PID控制器。再參考Ho-Hang-Cao PI與Ho-Hang-Zhou PID控制器的設計概念，由使用者指定增益邊限與相位邊限，推導出改良後的Ho-Hang-Zhou_Chu PID控制器。然後討論其應用時域響應與頻率響應的結果。最後，針對參數發生最大誤差25%時，探討各控制器之強健性。實際應用的結果可以發現，Ho-Hang-Zhou_Chu PID控制器的確是個優異的、自我調適的PID控制器。

This research derives to tune/design the PID controller to meet user-specified gain margin and phase margin for first-order plants with time lag. First, the effects of PI, PID controller on rise time, overshoot,setting time, and gain margin, phase margin for CSC water curtain are analyzed.
Then, research and discuss the improve space of these controllers''tuning methods. A improved formulae "Ziegler-Nichols_Chu PID" is derived from controller''s damp. Again, reference the designed concepts of Ho-Hang-Cao PI and Ho-Hang-Zhou PID, a new improved formulae "Ho-Hang-Zhou_Chu PID" is derived. Similarly, the effects of these tuning methods on time response and frequency response are analyzed.Finially, discuss all tuning methods'' robustness, when plant has 25% error.In practical application results, it is found that "Ho-Hang-Zhou_Chu PID" is really a adaptive and selt-tuning PID controller.

壹、前言 1
一、研究背景與動機 2
二、熱軋概念 3
三、熱軋廠配置圖 4
(一) 熱軋製程 5
(二) 精軋區架構 7
貳、研究項目與目標 9
一、研究項目 10
二、研究目標 10
參、文獻回顧 11
一、熱軋模型方面 12
二、控制器方面 13
三、引用文獻之部分 16
(一) 精軋區之溫度模型 16
(二) 轉移函數 20
肆、研究成果 23
一、控制系統的性能指標 23
二、水簾溫控系統之線性化轉移函數的近似程度 24
三、自我調適式PI與PID控制器調整法則之探討 29
(一) Ziegler-Nichols Step Response Tuning (PI、PID) 29
(二) ZN_Wang Tuning (PI、PID) 33
(三) Ziegler-Nichols Ultimate Sensitivity Tuning (PI、PID) 37
(四) Khan-Lehman Tuning (PI Controller) 41
(五) Ho-Hang-Cao Tuning (PI) 44
(六) Ho-Hang-Zhou Tuning (PID Controller) 48
(七) 各式PI、PID控制器之比較 57
三、改良型自我調適式PID之調整法則 67
(一) Ziegler-Nichols_Chu PID Tuning 67
(二) Ho-Hang-Zhou_Chu Tuning (PID Controller) 71
四、強健性探討 84
伍、未來研究方向 87
陸、參考文獻 88

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