基于改进灰色预测模型的自适应PID控制算法

Algorithm of Adaptive PID Control Based on Modified Grey Prediction Model

针对大滞后系统提出一种基于改进灰色预测模型的自适应PID控制,采用优化背景值和初始条件的改进GM(1,1)模型作为预测模型,用预测结果代替被控对象测量值,克服了大滞后系统控制效果不能及时反馈的不足,并将二次型性能指标引入到PID控制器的整定过程中,按照性能指标的负梯度方向修改加权系数,实现了自适应PID的最优控制。仿真结果证明,该方法对大滞后系统具有较好的适应性和鲁棒性。

An algorithm of adaptive PID control based on modified grey prediction model was proposed to time delay system. A new GM（ 1,1 ） model of integrated optimizing its background value and original eondition was presented as the prediction model. Predictive value substituted measured value after combining adaptive PID controller with grey prediction controller,with the consequence of the control signal delay was mini-mized. The quadratic index is introduced in order to realize the optimal control of adaptive PID controller. It modifies weight coefficient by anti-gradient direction of the performance figures. Simulation results show adapta-bility and robustness.