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本文对于离散时间的线性定常系统,讨论了 PID 调节器与二次型性能指标下的最优反馈控制律的关系,同时给出 PID 参数的一种最优整定方法。我们以持久机的炉温控制系统(二输入-二揄出的线性定常系统)为例,说明如何建立系统的数学模型和整定 PID 参数,并对所设计的 PID 调节器进行数字模拟和现场试用,其结果表明,在稳态情况下,本文所给出的 PID 参数整定方法是简便可行的。
In this paper, we discuss the relationship between the PID regulator and the optimal feedback control law under the quadratic performance index for linear time-invariant systems with discrete time, and give an optimal tuning method of PID parameters. Take the example of a continuous furnace temperature control system (two-input-two-out linear steady-state system) as an example to illustrate how to set up a mathematical model of the system and set PID parameters. The PID controller is designed to be digitally simulated and field-tested The results show that the PID tuning method given in this paper is simple and feasible under steady-state conditions.