带大延时环节系统的PID控制器研究综述

针对带大延时环节的系统，提出了一种新的PID调节器自整定算法。对于可以用延时二阶模型来拟合的过程，使用一种智能采样技术，结合阶跃下降法，实现了对实时过程的在线模拟。基于Smith预估器，提出了一个带延时补偿的PID调节公式，同时，运用开环零点定位法来消去对象的开环极点。为了便于说明上述问题，纳入了仿真内容。

A new algorithm for the self-tuning of PID controllere for dorminant time delay process is proposed.An intelligent sampling technique coupled with the steepest descent method is implemented for on-line estima-tion of the process, which can be approximated by a second-order model with time delay. A delay-compensatedPID tuning formula is besed on the Smith predictor to cancel the process time delay and the placement of theopen-loop zeros to cancel the open-loop poles of the estimated process. Meanwhile, simuhation studies are includ-ed to illustrate the concept.