自耦PID控制器

Self-coupling PID Controllers

针对比例-积分-微分(Proportional-integral-differential,PID)控制器的整定问题,提出了自耦PID (Self-coupling PID,SC-PID)控制方法.该方法将系统动态和内外不确定性定义为总和扰动,从而将非线性不确定系统变换为线性不确定系统,进而构建了总和扰动反相激励下的误差动态系统,据此设计了SC-PID控制律模型和整定规则,进而设计了自适应速度因子(Adaptive speed factor,ASF)模型.数值仿真结果表明,SC-PID具有快的响应速度、高的控制精度、良好的抗总和扰动鲁棒性等诸多优点.SC-PID整定规则为现有PID整定结果的技术评估与技术升级提供了科学的理论依据,在国防和工业控制领域具有广泛的应用价值.

Aiming at tuning problem for proportional-integral-differential(PID)controller,the self-coupling PID(SC-PID)control method was proposed.Dynamic and uncertainty both inside and outside system was defined as a total disturbance in the proposed method,so as to transform nonlinear uncertain system to linear uncertain system,and then error dynamic system(EDS)inversely driven by the total disturbance was built.Control law and its tuning rules for SC-PID were designed on the basis of EDS,and then adaptive speed factor(ASF)model was designed.Numerical simulation results showed that SC-PID has fast response,high control accuracy,good global stability robustness and good total disturbance rejection robustness etc.many advantages.The SC-PID tuning rules will provide a scientific theoretical basis for the technical evaluation and technical upgrading of the existing PID tuning results,and has extensive application value in national defense and industrial control.