基于内模控制策略的自整定PID控制器

Self-tuning PID controller based on internal model control

针对实际控制对象的模型不易建立、大滞后等特点 ,提出基于内模控制策略的继电型自整定方法 .对内模控制器的原理和继电型自整定方法详细分析后 ,结合两者的优点设计出PID控制器 ,并给出了参数整定方法 .仿真研究结果表明 :该方法不但有良好的鲁棒性 ,而且调节快速、参数整定方法简单、不依赖于对象模型的参数 。

Aiming at that the actual control object's model is hard to be set up and the features of great lag, a relay feedback self_tuning method based on internal model control is proposed. Through analysing the principle of IMC and self_tuning method,and combining the virtues of them, a PID controller is designed. Meanwhile, the tuning method of parameters is presented. The simulation results show that this method has not only high robustness,but also good expeditiousness and flexibility.It don't rely on the parameter of module.It is fit in with engineering applications.