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对单回路控制系统,期望得到控制器的统一优化准则。以误差积分性能指标描述系统时间响应,以环路函数的频域约束表示系统稳定裕度,从而建立一种综合的鲁棒性能(RP)指标,即系统的稳定裕度和积分性能的指数加权指标。针对比例积分微分(PID)控制器串联一阶时滞过程(FOPDT)的系统,通过计算机数值运算,选择出RP的合理加权因子范围为1～2。以加权因子取1.5的RP作为控制器优化准则,对时滞比从0到∞的FOPDT过程获得了最优PID控制。仿真表明,该法对鲁棒性和积分性能的折中是合适的,对一般工业过程的控制器参数优化有较大的借鉴意义。
For single-loop control systems, it is desirable to obtain uniform controller optimization guidelines. The error integral performance index is used to describe the system time response, and the system stability margin is expressed by the frequency domain constraint of the loop function, so as to establish a comprehensive robust performance (RP) index, that is, the exponential weight of the system stability margin and integral performance index. For proportional integral derivative (PID) controller series first order delay process (FOPDT) system, through the numerical calculation of the computer, choose a reasonable weighting factor range of RP is 1 ~ 2. Taking the RP with 1.5 as the weighting factor as the controller optimization criterion, the optimal PID control is obtained for the FOPDT process with delay ratio from 0 to ∞. The simulation shows that this method is suitable for the compromise between robustness and integral performance, which is of great reference to the optimization of controller parameters of general industrial process.