一种基于满意度的PID参数整定方法

提出了一种基于满意度与遗传算法的PID(Proportional Integral Derivative)参数在线整定控制器的设计方法．利用满意解的原理设计系统响应超调量、上升时间及调整时间等的满意度函数，再离线通过遗传算法搜索PID控制器的3个参数kp，ki和kd作为在线调整PID参数的基值，然后设计跟踪误差与kp，ki和kd的关系函数，在线调整PID控制器参数，以获得良好的稳态性能、动态性能及鲁棒性能．Matlab仿真结果证明了所提出的PID控制器的有效性。

An Algorithm for Tuning PID Parameters Based on Satisfactory Degree

A controller for the on-line tuning of PID (Proportional-Integral-Derivative) parameters based on the sa-tisfactory degree and genetic algorithm is proposed. With the theory of satisfactory solution, the satisfactory functions of over-shoot, rise time and setting time of the system response are designed, and the three parameters k_p, k_i and k_d of the PID controller are obtained by means of gaenetic algorithm. These three parameters are used as the base values for the on-line tuning of PID parameters. Then, by designing the nexus functions between the tracking error and k_p, k_i , k_d, the PID controller parameters are adjusted online, thus improving the static performance, dynamic performance and robust performance of the control system. The results of Matlab simulation show that the proposed PID controller is valid.