摘要
为了使PID参数调整不依赖于模型参数,而是直接基于闭环响应,首先分析PID参数对闭环系统性能的影响,然后以振荡最小、开环增益最大等为基本原则给出一种无模型PID参数调整方法.该方法只需要闭环响应曲线中的振荡频率信息,避免了模型参数辨识误差对调整结果的影响,简化了参数调节的过程.最后通过实验验证了所提出方法的有效性.
To tune PID parameters according to closed loop response, rather than the information of model parameters, the influence of PID parameters on the closed loop performance is first analyzed. Then a model free PID parameter tuning method is proposed according to the principle of least vibration and maximal open loop gain. This method only requires the information of vibration frequency of the closed loop response curves, thus the influence of model parameter identification error on the tuning result is avoided and the tuning process is simplified. Finally, experimental results show the effectiveness of the proposed method.
出处
《控制与决策》
EI
CSCD
北大核心
2014年第10期1833-1838,共6页
Control and Decision
基金
国家863计划项目(2012AA041501)
关键词
PID控制
特征频率
闭环响应
频域分析
PID control
characteristic frequency
closed loop response
frequency zone analysis
