用直接综合法设计的微分先行鲁棒PID控制器

A Differential Forward Robust PID Controller Based on Direct Synthesis Method

针对积分时滞系统应用直接综合方法设计了一种微分先行鲁棒PID控制器。这种方法基于比较积分时滞系统与后置超前滞后滤波器的微分先行PID控制器组成的闭环系统的特征方程和期望特征方程。期望特征方程由多个位于同一期望位置的极点组成。所设计的控制器的参数以实现期望鲁棒性的方式获得。通过选择不同的调优参数获取相应的Ms值,进而在参数具有标称性的限定条件下拟合出关于Ms和调优参数的关系曲线。整定规则以解析表达式的形式给出。仿真结果表明该方法在阶跃响应中具有较好的追踪性能和扰动抑制性能以及鲁棒性能,在方波响应中具有很好的跟随性能以及较小的TV值,在给定值频繁变化的系统中响应效果最佳。

A differential forward PID controller is designed for integrating systems with time delay by using direct synthesis method.This method is based on comparing the characteristic equation of the closed-loop system which consists of the differential forward PID controller adding a lead lag filter and the integrating time-delay system with the desired characteristic equation.The desired characteristic equation is obtained by placing a plurality of poles at the same desired position.Parameters of the differential forward PID controller are tuned to achieve the desired robustness.The corresponding Ms values are obtained by selecting different tuning parameters,and then a curve about Ms and tuning parameters is fitted with the constraint that the parameters have good nominal.The tuning rules are given in the form of analytical expressions.The simulation results show that the proposed method has good set-point tracking performance,disturbance rejection performance and robustness in step response,and also has good set-point tracking performance and small TV in square wave response.The proposed method is more effective for frequently changed set-points.