一类输入有约束线性系统的数据驱动PID控制器设计

针对一类输入受限的线性系统,提出具有适应输入约束和抗积分饱和性能的数据驱动PID控制器改进设计方法.采用虚拟参考迭代整定法,应用递归最小二乘辨识算法在线计算PID参数.当输入有约束时,计算的控制器输出超过这个限制条件可能导致性能下降甚至出现稳定性问题,同时PID算法中的积分作用也可能出现饱和现象.改进的方法基于输入-输出观测数据和输入约束信息,在PID控制环节后串联一个类似抗积分饱和的环节,适应控制器输出过大需要限定的客观要求.通过控制器结构设计和仿真,演示了改进方法的有效性.

Data-Driven PID Controller Design of Linear Systems with Input Constraints

This paper improves the design method of the data-driven PID controller which is able to adapt the situation that input is constrained and resists the phenomena of the integral saturation in linear systems.In order to design the PID controller directly based on input and output data,the tuning method of fictitious reference iterative tuning is modified and utilized,and the recursive weighted least squares algorithm with a forgetting factor is also applied to compute the PID parameters,and a similar anti-windup part is connected to the PID controller to limit the output of controller.Furthermore,the structure of the controller and the design steps are given,and a simulation example is provided to demonstrate the effectiveness of this improved method.