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针对控制系统设计中,物理系统的模型辨识误差对控制系统性能的影响问题,提出了一种基于闭环响应特性的PID(proportional-integral-derivative)控制器参数调整方法.首先分析了PID控制器自身的频域特性,并提出了PID特征频率的概念,从而建立了PID参数和PID控制系统频域特性之间的联系.在此基础上,提出了基于系统闭环响应特性的PID参数调整准则.这些调整准则的优点在于:在应用这些准则对PID控制系统进行调整时,所依据的是系统的闭环响应特性,而不需要被控对象的系统模型.采用本文所提方法,对典型被控系统模型进行了控制器的仿真设计.仿真结果表明,所设计控制系统,其阶跃响应快速且无超调,同时具有良好的扰动抑制能力.仿真结果验证了这套调整准则的有效性.
Aiming at the problem of the influence of the model identification error of the physical system on the performance of the control system in the design of the control system, a PID-proportional-integral-derivative (PID) controller parameter adjustment method is proposed. And the concept of PID characteristic frequency is proposed, and then the relationship between PID parameters and frequency domain characteristics of PID control system is established. Based on this, the adjustment rules of PID parameters based on system closed-loop response characteristics are proposed. The advantages of the adjustment criterion are as follows: When applying these guidelines to adjust the PID control system, it is based on the closed-loop response characteristics of the system and does not require the system model of the controlled object.According to the proposed method, The simulation results show that the designed control system has fast and no overshoot of step response and good disturbance rejection ability.The simulation results verify the validity of this adjustment criterion.