多模式PID数字控制低速随动系统

Multi-Mode PID Digital Control of Low Speed Servo System

通过对PID控制理论的研究,直接采用计算机作为上位机控制随动系统,引入自适应PID控制以及前馈控制、梯度数字积分控制多种控制模式,采用积分分离PID控制与不完全微分PID控制相结合的算法,使得系统具有优越的低速性能和良好的控制精度,并在实际应用中得到验证。

Through the research on PID control theory, the servo system is controlled by host-computer directly. This paper imports multi-model control methods such as self-adaptation control, feed forward control and gradient digital integral control etc, applies the algorithm that combines the separating integral PID control with the non-complete differential PID control, with that the system has advanced performance of low speed and good control accuracy, and all of that is validated in practice.