自整定鲁棒PID控制器

Automatic Tuning of Robust PID Controller

深入分析了基于极点配置理论和鲁棒控制基本原理而提出的鲁棒ＰＩＤ控制器，导出了该控制器极点配置的约束条件，提出了一种基于对象开环阶跃响应辨识对象参数的控制参数自动整定方法． 就不同的对象（包括τ／Ｔ＝ ２０ 的对象）进行的仿真结果表明，该方法是相当有效的。

The robust PID controller,which is presented based on the pole assignment theory and the basic pronciple of robust control,is analyzed in detail.The constraints of the desired closed loop poles and the automatic tuning method,according to the parameter identification based on the open loop step response,are presented.Several plants,including a τ/T =20's one,are simulated to prove the effectiveness and the bright future of the medthod.