一种PID控制器参数的鲁棒整定方法

在总结某些ＰＩＤ控制器经典整定经验和控制模型优化的基础上,提出一种简单的与规范化的ＰＩＤ参数整定新方法,其规律称为４个１／４规划,即ＰＩＤ控制器的参数分别为Ｋｐ＝（１／４）Ｇ（c）－１,Ｔ1＝Ｔｄ＝（１／４）Ｔ１,结果使闭环系统呈１／４衰减振荡．系统的操作频率ω１可由被控对象模型Ｇ（ｓ）＝Ｋ０／（ＴＳ＋１）n"确定,即ｗ１＝（１／Ｔ）ｔａｎ［（１８０°＋ｄ）／ｎ］,其整定结果由仿真加以证实．

A New Robust Tuning Parameter Methodfor the PID Controller

Based on the summation of some classical tuning PID controller experience andcontrol model optimization. A simple, standardized and new method for tuning PID controller are presented. The tuning rule is called four-one fourth rule, i.e. the parameter areseparately K_p = (1 / 4)l G(w1)-1, T_i = Td = (1 / 4)T1. The result is 1 / 4 dampingoscillation of the closed system. The system operational frequency w1 can be determined bythe controlled plant model G(s) = K0 / (TS + 1)", i.e. w1 = (1 / T)tan(180 + d) / n].The tuning result is shown by system simulation.