自适应的时变比例增益的预测PID控制器

Adaptive Predictive PID Controller Using a Time-Varying Proportional Gain

为了利用PID控制获得先进的控制性能,将广义预测控制(GPC)用于PID参数的实时优化,在此基础上提出了一种新的基于GPC的自适应PID控制器的设计方法。该PID控制器具有时变的比例增益,并且PID控制器的设计利用了GPC的未来参考输入。因此,GPC控制律能由设计的PID控制器精确实现。为使GPC控制器稳定地获得比例增益,采用了基于互质因子分解扩展的强稳定GPC,独立于利用标准GPC设计的闭环系统而重新设计GPC控制器,保证了闭环系统的稳定性。此外,利用递推最小二乘法对系统进行在线辨识,修正模型参数,增强了系统的抗扰性。以一阶时滞非最小相位系统为被控对象,在Matlab中对该设计方法进行了仿真,仿真结果验证了该方法的有效性。

To obtain the performance of advanced control by using PID control, generalized predictive control （GPC） was used in the real-time optimization of PID parameters, then a new design method of a adaptive PID controller based on GPC is proposed. The proportional gain of the PID controller is time-varying, and the PID controller is designed using the future reference input. Hence, a GPC law can be approximated by the PID controller finely. To obtain the proportional gain stably, strongly stable GPC that was extended using coprime factorization was designed, then the controller of GPC can be redesigned independently to a closed-loop system designed by using standard GPC, and the closed-loop system can be stable. Further, the least-square identification was used for on-line identificathen the model parameters are corrected to enhance disturbing resistance. A controlled plant is given by a nonminimum phase system with a dead-time, some simulation analysis for the proposed method is given in Matlab, and simulation results show its effectiveness.