极点配置自校正PID调节器

A Self-Tuning PID Controller With Pole Placement

PID控制简单 ,稳定性能好 ,可靠性高。但对于复杂的受控对象 ,特别是模型参数未知的慢变化的受控对象采用常规PID控制器 ,不仅PID参数难于选择 ,而且即使PID参数选择好了 ,也因受控对象的参数发生变化而不能获得满意的效果。自校正调节在过程控制中的应用 ,提高了系统的自适应能力 ,使系统调节品质的综合指标有了明显的改进。对于一大类时滞最小相位二阶系统 ,设计了一种基于相消原理极点配置自校正PID调节器 ,对消对象的零极点。该算法先离线根据经验设定b0 、g0 ,然后在线辨识系统参数 ,实现控制。它计算简单 ,收敛快 ,鲁棒性好 。

PID control is simple ,with good stability,high reliability. But using general PID controller has difficulty in selecting parameters to complicated controlled objects, especially to the objects with unknown and slow changing model parameters; moreover, even PID parameters are selected well,the control may not achieve satisfactory effect because of changes of controlled object parameters. Applications of self-tuning in process control enhance adaptive ability of system and obviously improve synthesis characters. A pole placement self-tuning PID controller based on cancellation principle was proposed for plants with minimum phase and time delay. The proposed algorithm is simple,of fast response and strong robustness. The simulation example shows the efficiency of the algorithm.