一种二自由度PID控制器参数整定方法  

Two-degrees-of-freedom PID controller tuning method

作　　者：王维杰[1] 李东海[1] 高琪瑞[1] 王传峰[1] 

机构地区：[1]清华大学热能工程系,北京100084

出　　处：《清华大学学报（自然科学版）》2008年第11期1962-1966,共5页Journal of Tsinghua University(Science and Technology)

基　　金：清华大学热能工程系基金项目;国家科技支撑计划课题(2006BAA03B04)

摘　　要：针对二自由度PID控制器,提出一种简单的基于预期动力学方程设计的参数整定方法。通过分析,将二自由度PID控制器表示成闭环系统预期动力学特性方程和系统扰动量观测器的函数。选取预期动力学特性方程系数和观测器参数作为控制器参数,分析了参数与系统性能的关系,并提出了各个参数的取值规则。仿真结果表明,该方法对含纯积分环节对象、非最小相位对象、时滞对象、高阶对象、不稳定对象等都具有良好的控制效果。A simple parameter tuning method was developed based on the dynamics equation for two-degrees-of-freedom （2-DOF） PID controllers. The 2-DOF PID controller can be simplified to the function of the desired dynamics equation and the system disturbance observer. The desired dynamics equation coefficients and the disturbance observer parameters were chosen as the controller parameters to analyze the relationship between the system performance and the controller parameters and to develop a parameter tuning rule. Simulations show that satisfactory performance can be obtained using this tuning method for integrating processes, non-minimum-phase processes, time delay processes, higher-order processes, and unstable processes.

关 键 词：PID控制器 二自由度 参数整定 

分 类 号：TP214[自动化与计算机技术—检测技术与自动化装置]