网络控制系统的自整定鲁棒数字PID控制

Auto-tuning robust digital PID control for networked control systems

为了有效地抑制网络延时对网络控制系统性能的影响,提出了一种鲁棒数字比例 积分 微分(PID)控制器设计方法.该方法将分布式的网络延时归结为单一延时;在大时变鲁棒数字PID控制方法的基础上,结合二自由度的内模控制结构,实现了控制器参数的数字双PID分离设计.对基于控制局域网络(CAN)总线的典型工业过程进行了仿真实验.结果表明,与最小化模型方法设计的控制器比较,采用设计的PID控制器能补偿网络上的延时,更加有效地抑制负载干扰并提高了系统的动态特性.

In order to restrict the influence of network-induced delays on the performance of networked control systems, a novel robust proportional-integral-differential (PID) control technique was proposed. Based on the error performance index, the distributed network-induced delays were summed as a single delay. Separate designs of a dual PID controller were presented based on the large time-varying robust digital PID control combining with two degrees of freedom internal model control structure. As an example to verify the proposed method, a robust PID controller of typical hybrid industrial plant linking by controller area network (CAN) was considered. The simulation results show that the delay compensate, dynamic performance and load-disturbance rejection capability of the proposed method are better than those of the minimized-model design scheme.