一类非最小相位系统的PID控制器整定方法

Tuning Method for a PID Controller in a Non-minimum Phase System

针对非最小相位对象,提出了一种比例—积分—微分(PID)控制器的整定方法.将含有右半复平面零点的非最小相位系统近似拟合为一个稳定的大滞后系统,应用一种专门针对大滞后系统的PID参数两步整定方法可以对系统PID参数进行粗调,然后通过调整比例系数α,便可以成功地设置其PID控制器参数,达到抑制非最小相位时滞和负调的作用.仿真实验证明了两步整定方法的有效性和鲁棒性.

We propose a simple tuning method for PID controllers in non-minimum phase systems.A non-minimum phase system,which contains zero in its right-half plane,can be approximated as a stable dead-time system. Therefore,its PID controller parameters can be roughly tuned using a two-step tuning method for stable dead-time systems.Subsequently,the parameters of the PID controller can be successfully tuned by adjusting the scale factorα.The undershoot and dead-time caused by the zeros in the right-half plane are thus eliminated. The effectiveness and the robustness of this two-step tuning method have been proven through simulations.