基于闭环响应特性的PID参数调节方法

刘坤; 朱志强; 王峰; 杜恺; 韩建达

doi:10.13976/j.cnki.xk.2014.0669

基于闭环响应特性的PID参数调节方法

刘坤^1,2, ,,
朱志强^1,3,
王峰²,
杜恺²,
韩建达¹

1.
中国科学院沈阳自动化研究所机器人学国家重点实验室, 辽宁沈阳 110016
2.
中国人民解放军93115部队, 辽宁沈阳 110031
3.
中国科学院大学, 北京 100049

基金项目: 国家863计划资助项目（2012AA041501,2011AA040202）；中国博士后科学基金资助项目（Y0P119H101）

详细信息

作者简介:
刘坤（1973-），男，博士后．研究领域为高性能2自由度控制．

通讯作者:
刘坤， lk_sy@163.com

中图分类号: TP13
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出版历程
- 收稿日期: 2013-12-11
- 修回日期: 2014-10-16
- 发布日期: 2014-12-19

Tuning Method for Proportional-integral-derivative Parameters Based on Closed Loop Response

LIU Kun^1,2, ,,
ZHU Zhiqiang^1,3,
WANG Feng²,
DU Kai²,
HAN Ji¹

1.
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.
PLA 93115, Shenyang 110031, China
3.
Graduate University of Chinese Academy of Sciences, Beijing 100049, China

摘要

摘要: 针对控制系统设计中，物理系统的模型辨识误差对控制系统性能的影响问题，提出了一种基于闭环响应特性的PID（proportional-integral-derivative）控制器参数调整方法．首先分析了PID控制器自身的频域特性，并提出了PID特征频率的概念，从而建立了PID参数和PID控制系统频域特性之间的联系．在此基础上，提出了基于系统闭环响应特性的PID参数调整准则．这些调整准则的优点在于：在应用这些准则对PID控制系统进行调整时，所依据的是系统的闭环响应特性，而不需要被控对象的系统模型．采用本文所提方法，对典型被控系统模型进行了控制器的仿真设计．仿真结果表明，所设计控制系统，其阶跃响应快速且无超调，同时具有良好的扰动抑制能力．仿真结果验证了这套调整准则的有效性．
- PID控制 /
- 特征频率 /
- 频率特性 /
- 闭环响应 /
- 频域分析
Abstract: In the design of control systems, the model identification error of a physical system will affect the performance of the designed system. To solve this problem, we propose a proportional-integral-derivative (PID) parameter tuning method based on the closed loop response property. After analyzing the frequency properties of a PID controller, we propose the concept of characteristic frequency of a PID controller to build a relationship between the PID parameters and the frequency properties of a PID control system. Then we give the PID parameter tuning rules based on the characteristics of closed loop response. The main merit of these tuning rules is that only the characteristics of the closed loop response of the control system are required in the tuning process, while the system model of the controlled object is not needed. Using the proposed method, simulations are conducted to design control systems for typical models. The simulation results show that the step response of the designed system is quick without overshot, and its disturbance suppression is very effective. Thus the effectiveness of these tuning rules is verified.
- PID control /
- characteristic frequency /
- frequency characteristics /
- closed loop response /
- frequency domain analysis

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参考文献(13)

[1]	Åström K J, Hägglund T. PID controllers: Theory, design and tuning[M]. Research Triangle Park, North Carolina, USA: ISA, 1995.
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文章访问数: 1011
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基于闭环响应特性的PID参数调节方法

作者简介: 刘坤（1973-），男，博士后．研究领域为高性能2自由度控制．

通讯作者: 刘坤， lk_sy@163.com

计量

出版历程

Tuning Method for Proportional-integral-derivative Parameters Based on Closed Loop Response

计量

出版历程

目录

作者简介:
刘坤（1973-），男，博士后．研究领域为高性能2自由度控制．

通讯作者:
刘坤， lk_sy@163.com