根据幅相裕度整定PID内模控制器参数

Tuning PID Internal Model Controllers Based on Gain and Phase Margin

基于内模控制思想的PID参数整定,所需整定的参数只有滤波器1个参数,而且该参数直接与闭环系统的响应速度及鲁棒性相关。提出了根据幅相裕度的要求来确定滤波器参数。首先由幅相裕度确定一个合适的比例增益Kc,然后根据Kc计算滤波器参数α,以此做为初值,在此附近再做进一步的调整。该方法简单易行,能方便地应用于工程中,同时仿真表明该种方法能带来较好的控制效果。

Among tuning PID parameters based on internal model control, only one parameter of wave filter need to be tuning, the parameter relates directly with both speed and robustness of respond. It is presented that the parameter could be tuned according to gain and phase margin. Firstly tunes proportional gain according to gain and phase margin, then the tuning parameter of wave filters on it. This method is simple and can be easily adopted. Simulation shows that using this method optimal control quality can be obtained.