基于开关机制辨识的自整定PID控制器

Self-tuning PID Controller Based on Identification With Switch Mechanism

对一类运动控制系统进行了机理建模和辨识,针对辨识中存在的输入激励不够的问题,提出一种有效的开关机制予以解决,这种带开关机制的辨识为控制器的设计提供了准确的信息;并基于极点配置和零极点相消的原理,提出一种自整定的PID控制器。这种基于开关机制的自整定PID控制器在实际的三轴雕铣床上进行了验证和应用。实验结果表明,这种控制器在改善系统动态性能和跟踪性能的同时提高了工作效率。

Details of the modeling and identification for a class of motion control systems were given, in partitular, a switch mechanism was proposed to deal with the low-excitation problem in the identification, which offered accurate information for the controller design. Then a self-tuning PID controller based on pole placement and zero-pole cancellation was proposed. The self-tuning PID controller based on switch mechanism was verified in a real milling machine and experiments results indicated its validity. This kind of controller can improve the autonomous performance and work efficiency.