PID调节器参数自寻优控制在运动伺服中的应用

Application of Self-tuning PID Regulator in Motion Control

为了寻找一种简单有效的数字PID调节器参数的自寻最优控制方法 ,先论述了数字PID调节器的原理 ,后讨论了在运动伺服系统中的具体应用。为强调系统响应的快速、稳定 ,在对常用目标函数误差绝对值与时间积的积分进行分析后提出了一种目标函数即误差绝对值与时间商的积分 ,并编写了相应的软件应用单纯形加速法进行参数搜索寻优。最后在具体硬件平台上进行了验证 。

The object of this paper is to find a simple and effective self tuning PID regulator in motion control . The principle of PID regulator was first interpreted and then its application in motion control was discussed .In order to get a stable and sensitive response, after analysis of the integral of the product of error and time for the usual cost functions, authors designed a new kind of cost function, that is integral of the quotient of error and time. The authors also wrote its software using pure shape method to search optimal parameters of PID regulator . Finally, the experiments on the hardware were completed. It was proved that the method used in this paper is feasible.