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Lambda是针对自衡对象有效的PID控制器工程整定方法。在频域上针对使用该整定方法的闭环控制系统进行分析,给出了相位裕度和幅值裕度的计算公式,并对λ选择进行了分析。当λ=τ相位裕度和幅值裕度分别达到61.4°和π,这两个参数都非常接近工程推荐的最佳裕度。当被控对象是高阶过程时,可以采用基于响应曲线的控制模型辨识工程方法获得控制模型的等效模型增益、等效时间常数和等效纯滞后时间,然后用Lambda整定公式进行PID整定。仿真结果展示了获得模型的过程和整定方法的有效性。 相似文献
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对单回路控制系统,期望得到控制器的统一优化准则.以误差积分性能指标描述系统时间响应,以环路函数的频域约束表示系统稳定裕度,从而建立一种综合的鲁棒性能(RP)指标,即系统的稳定裕度和积分性能的指数加权指标.针对比例积分微分( PID)控制器串联一阶时滞过程(FOPDT)的系统,通过计算机数值运算,选择出RP的合理加权因子范围为1~2.以加权因子取1.5的RP作为控制器优化准则,对时滞比从0到∞的FOPDT过程获得了最优PID控制.仿真表明,该法对鲁棒性和积分性能的折中是合适的,对一般工业过程的控制器参数优化有较大的借鉴意义. 相似文献
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董红生 《自动化技术与应用》2005,24(5):14-16
利用改进的双通道继电反馈测试,获取0~π范围的任意点频率特性,基于多点频率特性设计满足期望的系统闭环频率特性的方法整定PID控制器的参数。仿真表明系统获得了满意的控制性能,是实现自动型工业控制器简单、有效的方法。 相似文献
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基于逆Nyquist曲线,提出了一种线性系统在PID控制下确定增益稳定范围的方法,为PID控制器增益的稳定提供了一条快速而有效的途径。由逆Nyquist曲线上的实部为极值的点,将PID增益分割成若干区间。再运用广义的Her—mite-Biehler定理得出一个推理和二个条件,通过纵向直线与逆Nyquist曲线的交点数,可获得系统在PID控制下增益稳定的区间。仿真实例验证了该方法的有效性。该方法应用简便,能有效解决PID控制下增益的稳定范围。 相似文献
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方斌 《计算机技术与发展》2010,20(3):203-206,210
基于逆Nyquist曲线,提出了一种线性系统在PID控制下确定增益稳定范围的方法,为PID控制器增益的稳定提供了一条快速而有效的途径。由逆Nyquist曲线上的实部为极值的点,将PID增益分割成若干区间。再运用广义的Her—mite-Biehler定理得出一个推理和二个条件,通过纵向直线与逆Nyquist曲线的交点数,可获得系统在PID控制下增益稳定的区间。仿真实例验证了该方法的有效性。该方法应用简便,能有效解决PID控制下增益的稳定范围。 相似文献
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基于增大求解方法选择性的目的,本文给出了一种从系统开环传递函数入手求解极限增益和极限频率的计算方法,并以TITO系统为例,给出了详细的推导过程;此外,在详细研究设计方法的基础上,本文以两个典型对象作为研究对象对设置点位置与逆Nyquist阵列(INA)设计方法的多变量PID控制器设计方法的设计性能之间的规律性进行了系列仿真实验研究,并得出:系统开环传递函数矩阵的逆的行Gershgorin带与负实轴的交点(离原点最近的交点)与点(-1,j0)之间的距离越远,系统闭环响应曲线的震荡性越弱,系统的稳定裕量越大。 相似文献
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针对控制系统校正器参数适应系统时-频域特定性能要求的问题,提出一种基于自适应粒子群算法的控制系统校正方法。它以系统的时域误差积分指标为目标函数,以系统的幅值裕度、相角裕度等频域指标为约束条件建立优化模型。再利用罚函数,将该带约束的目标函数转化无约束的目标函数。之后,在Matlab环境下,将自适应粒子群算法与Simulink仿真技术相结合,优化控制系统校正器参数,从而实现控制系统校正。仿真结果表明,这种方法简单、高效,所设计的校正器性能优异,十分适合于工程应用。 相似文献
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《Control Engineering Practice》1999,7(7):821-830
In this paper a new PID controller design scheme that uses optimisation in the frequency domain is proposed for industrial process control. An optimal-tuning PID controller is designed to satisfy a set of frequency-domain performance requirements: gain margin, phase margin, crossover frequency and steady-state error. Using an estimated process frequency response, the method can provide optimal PID parameters even in cases where the process dynamics are time variant. This scheme is demonstrated through its application to a rotary hydraulic system and its performance is compared with six alternative PID tuning rules. 相似文献
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In this article, an internal model control plus proportional-integral-derivative (IMC–PID) tuning procedure for cascade control systems is proposed based on the gain and phase margin specifications of the inner and outer loop. The internal model control parameters are adjusted according to the desired frequency response of each loop with a minimum interaction between the inner and outer PID controllers, obtaining a fine tuning and the desired gain and phase margins specifications due to an appropriate selection of the PID controller gains and constants. Given the design specifications for the inner and outer loop, this tuning procedure adjusts the IMC parameter of each controller independently, with no interference between the inner and outer loop obtaining a robust method for cascade controllers with better performance than sequential tuning or other frequency domain-based methods. This technique is accurate and simple, providing a convenient technique for the PID tuning of cascade control systems in different applications such as mechanical, electrical or chemical systems. The proposed tuning method explained in this article provides a flexible tuning procedure in comparison with other tuning procedures because each loop is tuned simultaneously without modifying the robustness characteristics of the inner and outer loop. Several experiments are shown to compare and validate the effectiveness of the proposed tuning procedure over other sequential or cascade tuning methods; some experiments under different conditions are done to test the performance of the proposed tuning technique. For these reasons, a robustness analysis based on sensitivity is shown in this article to analyze the disturbance rejection properties and the relations of the IMC parameters. 相似文献
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Roberto Sanchis Julio A. Romero Pedro Balaguer 《International journal of control》2013,86(9):1785-1798
A simple method to design PID controllers in the frequency domain based on a simplified constrained optimisation is proposed. The method is based on the use of a single tuning parameter, defined as the quotient between the final crossover frequency and the zero of the controller. The tuning procedure is based on the maximisation of the controller gain subject to an equality constraint in the phase margin and an inequality constraint in the gain margin. The main advantage of the proposed method is that, even though the maximisation of the controller gain is straightforward, since there is only one parameter to be tuned, the solution is close to the optimal tuning obtained with direct numerical optimisation methods. Moreover the method is applicable to any linear model structure, including dead time and non-minimum phase systems. 相似文献
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A frequency domain design of PID controller for an AVR system 总被引:2,自引:0,他引:2
We propose a new proportional-integral-derivative (PID) controller design method for an automatic voltage regula- tion (AVR) system based on approximate model matching in the frequency domain. The parameters of the PID controller are obtained by approximate frequency response matching between the closed-loop control system and a reference model with the desired specifications. Two low frequency points are required for matching the frequency response, and the design method yields linear algebraic equations, solution of which gives the controller parameters. The effectiveness of the proposed method is demonstrated through examples taken from the literature and comparison with some popular methods. 相似文献
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YangQuan Chen Kevin L Moore 《IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics》2005,35(1):23-31
A new tuning method for proportional-integral-derivative (PID) controller design is proposed for a class of unknown, stable, and minimum phase plants. We are able to design a PID controller to ensure that the phase Bode plot is flat, i.e., the phase derivative w.r.t. the frequency is zero, at a given frequency called the "tangent frequency" so that the closed-loop system is robust to gain variations and the step responses exhibit an iso-damping property. At the "tangent frequency," the Nyquist curve tangentially touches the sensitivity circle. Several relay feedback tests are used to identify the plant gain and phase at the tangent frequency in an iterative way. The identified plant gain and phase at the desired tangent frequency are used to estimate the derivatives of amplitude and phase of the plant with respect to frequency at the same frequency point by Bode's integral relationship. Then, these derivatives are used to design a PID controller for slope adjustment of the Nyquist plot to achieve the robustness of the system to gain variations. No plant model is assumed during the PID controller design. Only several relay tests are needed. Simulation examples illustrate the effectiveness and the simplicity of the proposed method for robust PID controller design with an iso-damping property. 相似文献
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A digital PID algorithm is proposed for the control of a wide class of processes that may be characterized by steady-state gain, time constant, and transport lag. The grapho-analytical pole-placement procedure proposed enables the designer to make rapid and straightforward adjustments to the controller parameters with respect to the desired system accuracy, speed of continuous time response, and stability margin. A sensitivity analysis procedure is developed for investigating the effects of transport lag on the system dynamic behaviour in the sampled-data control system considered 相似文献
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拉盖尔(Laguerre)级数是一类L2空间上的正交级数,具有很好的函数逼近能力,目前在自动控制领域用于连续动态过程建模以及数字控制器设计;为了拓展拉盖尔级数在连续控制器设计方面的应用范围,文章将0型拉盖尔级数型传递函数模型,改进为1型拟拉盖尔级数型传递函数模型,提出了一种具有积分行为的拟拉盖尔控制器;比较了拟拉盖尔控制器与工业常用PID控制器的频域特点;通过将拟拉盖尔控制系统模型和期望模型的麦克劳林(Maclaurin)展开,给出了拟拉盖尔控制器参数的整定规则;在三类不同被控对象的仿真实验中,将拟拉盖尔控制器和PID控制器的系统逼近性能以及抗扰性能进行了对比研究;结果表明,拟拉盖尔控制器只需要三阶展开项,即可获得高于PID控制器的系统逼近能力和抗扰能力,具有较好的应用前景. 相似文献
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