一阶参数不确定滞后过程的鲁棒PID控制器设计

Design of a Robust PID Controller for First-order Plus Dead Time Processes with Parametric Uncertainties

提出一种针对一阶参数不确定滞后过程的鲁棒PI/PID控制器优化设计方法。首先基于D-分割法技术,给出确定一阶参数不确定滞后过程的整个PI/PID控制器的可行鲁棒稳定域算法;在定义一个与控制器给定点跟踪性能、鲁棒性能和抗扰动性能相关的目标函数的基础上,给出PI/PID控制器设计的约束优化问题;最后应用一种启发式粒子群优化(PSO)算法对该约束问题进行求解。仿真结果表明,所提出的方法可得到更小的调节时间、更小的超调、较强鲁棒性和更好的抗扰动性能,表明了所提出的方法的有效性。

An optimal PI/PID controller design approach for first - order plus dead time （FOPDT） processes with parametric uncertainties is presented. First, based on the D - partition technique, the method for determining the entire PI/PID admissible robust stabilizing domain for FOPDT systems with parametric uncertainties is constructed. Then, a constraint optimization problem is derived by defining an object function related to controller performance attributes such as set - point tracking, robustness and disturbance rejection. The problem is then solved using a heuristic algorithm called particle swarm optimization （PSO）. Simulation results show that less settling time, less overshoot, higher robustness and better disturbance rejection are obtained using the proposed method. The examples show the validity of the proposed design method.