连续搅拌反应釜过程的闭环增益成形PID控制器设计

针对连续搅拌反应釜（CSTR）系统控制问题，设计了一种基于闭环增益成形算法的PID控制器，以提高PID控制器设计的简洁性和鲁棒性。首先假设期望闭环回路传递函数有一阶形式，同时将受控对象的一阶传递函数和PID控制器构成实际闭环回路传递函数。然后，比较期望闭环回路传递函数和实际闭环回路传递函数，即可确定PID参数。最后，以某CSTR系统为例，利用该方法设计了PID控制器，并通过仿真结果比较，检验了该方法所得PID控制器的良好鲁棒稳定性和动态品质。

PID controller design of closed-loop gain shaping in CSTR process

To solve the control problem of Continuous-Stirred-Tank-Reactor (CSTR), a straightforward PID design based on closed-loop gain shaping algorithm was proposed in this paper to enhance the simplicity and robustness of PID controller. Firstly, the transfer function of the anticipant closed-loop control system was assumed as a 1st order system, and the actual closed-loop transfer function was consisted of the 1st order transfer function and PID controller. Then, the anticipated closed loop transfer function was compared with that of the actual closed loop, thus the PID controller coefficients could be calculated. Finally, the robust PID controller was designed in a CSTR system. The simulation results demonstrate that the PID controller has better robust stability and dynamic performance.