离散PID控制器的参数自整定  

Parameters Self-Regulating of Discrete PID Controller

作　　者：王执铨[1] 李军[1] 张立元 孙金生[1] 

机构地区：[1]南京理工大学

出　　处：《电气传动》1993年第6期41-44,56,共5页Electric Drive

摘　　要：本文介绍了笔者研制的一套高速高精度交流数字伺服系统的结构,并针对该系统模型复杂及含非线性因素的特点,设计了参数能自整定的离散PID控制器,其整定依据ITAE性能指标次优。文中较为详细地介绍了该控制算法,最后给出了该方法应用于上述系统所得的实验曲线。实验结果表明系统获得了较理想的动、静态特性。对单位阶跃输入响应做到了基本无超调,而且具有较快的响应速度。采用该方法的系统对模型不确定性有较强的鲁棒性。In this paper the author introduces a procedure which regulates the parameters of the PID con-troller by itself on-line, and the method is based on the integral of time multiplied by the absolute value of error criterion (ITAE criterion). The procedure is used in a self-developed high-speed, high-accuracy digital AC ser-vo-system, and experiments show that the system has very high accurcy and good stationary characteristic. For a step input, the system has good qualities of speed transient process and overshoot which is approximate to ze-ro.

关 键 词：交流调速 伺服系统 微机 PID控制 

分 类 号：TM921.5[电气工程—电力电子与电力传动]