鲁棒PID参数整定方法

Robust Parameters Tuning Method for PID Controller

在PID参数整定中充分考虑被控对象的不确定性信息,提出了基于MiniMax原则和EISE指标的鲁棒PID参数整定方法。根据PID闭环控制系统的特性,在MiniMax求解中,采用空间分隔的方法解决了SQP存在的局部极值问题。仿真表明鲁棒PID在被控对象动态特性发生很大变化时仍可以保持较好的控制品质。

The traditional PID parameters tuning methods do not use plant＇s uncertain information.So,if the controlled plant＇s dynamic characheristics change largely,the control performance will become low. In this paper,the robust parameters tuning method for PID controller based on MiniMax ruler and EISE index is presented. Scope partition is used to overcome the local minimal value of SQP.Simulation shows that although the controlled plant＇s dynamic characheristics change largely,the robust PID controller can keep the control performance good.