基于可视化的PI控制器参数整定方法

Tuning method of PI Controller Parameters Based on Visualization Algorithm

在控制器优化设计问题的研究中,PI控制器的参数通常采用归一参数法和试凑法来整定,很难得到最优的整定参数。为解决上述问题,提出了一种快速且有效的四维数据可视化算法的PI控制器参数整定方法。采用可视化方法将伯德图图形簇体现在四维可视化幅频特性图和相频特性图里,可直接观察k_p,k_i与幅频特性和相频特性的关系,并可间接地将幅值裕度和相角裕度表现在频域特性里,通过观察频域特性的变化来达到整定的目的。仿真实例表明,提出的方法适用于低阶或高阶被控对象,得到了满意的效果,为控制器优化设计提供了依据。

Usually normalizing method and trial and error method are used for tuning PI controller parameters, which is difficult to obtain the optimal tuning parameters.This paper presented a fast and effective PI controller parameters tuning method based on four-dimensional date visualization algorithm.Bode plot graphics cluster is reflected in the four-dimensional visualization of the amplitude-frequency characteristic diagram and phase-frequency characteristic diagram by use of visualization method,it can direcdy observe the relationship between k_p,k_i and the amplitude -frequency characteristic and phase- frequency characteristic.This method can indirectly display the amplitude margin and phase margin performance in the frequency domain characteristics,by observing the changes in frequency domain characteristics to achieve the purpose of tuning.Simulation examples show that the method is suitable for low -level or high-level controlled objects to get satisfactory results,the correctness of the method has been verified with step response.