激流式生物反应器温度控制中PID控制算法的改进研究

摘要

目的:改进常规比例-积分-微分(proportion-integration-differentiation,PID)控制容易产生积分饱和的情况,设计一种适合激流式生物反应器的温度控制策略.方法:根据激流式生物反应器对温度控制的要求,通过实验确定温度控制系统模型,再利用仿真实验验证积分限幅PID控制的有效性,最后结合实际实验结果利用积分分离法进一步改进积分限幅PID控制并验证其有效性.结果:通过仿真实验可知积分限幅PID控制效果较好,但实际实验结果仍存在较大超调量及稳定时间长的问题,利用积分分离法对积分限幅PID进行改进后得到了良好的实验结果.结论:改进的积分限幅型PID控制方法可以有效避免因积分饱和造成的系统超调,并且能够达到较高的控制精度,说明改进的积分限幅型PID控制对激流式生物反应器温度具有很好的控制调节性能,能够很好地满足其培养动物细胞的要求.%Objective To design a temperature control strategy for riptide bioreactor to eliminate integral saturation by conventional proportion integration differentiation (PID) control.Methods According to the requirement of the riptide bioreactor for the temperature control,the temperature control system model determined by experiment was got,then the effectiveness of the integral limiter PID control method was verified,and finally the integral limiter PID control method wasimproved further using the integral separation combined with the actual experimental results and its effectiveness was tested.Results The simulation results showed that the control effects of the integral limiter PID was good.However,the actual tests proved that there was still deficiencies in large overshoot and long stable time,and good experimental results were obtainedafter improving the integral limiter PID by the integral separation method.Conclusion The improved integral limiter PID control method effectively avoids the overshoot of the system caused by the integral saturation,achieves high control precision,has a very good control performance for the temperature control of riptide bioreactor,and well meets the requirements of mammalian cell culture.