【作者】 金鑫；

【导师】 刘吉臻； 谭文；

【作者基本信息】 华北电力大学（北京） ， 控制理论与控制工程， 2003， 硕士

【摘要】 本文从分析控制系统的性能指标入手，从抗干扰性能和鲁棒性能两方面综合考虑控制器的设计，得到一种鲁棒PID控制器的设计思路，把PID控制器的设计问题转化为求解一个带鲁棒性能约束的绝对误差积分指标(IAE)优化问题。鉴于问题是非凸的，本文采用遗传算法来求解，仿真结果表明了本文方法的有效性和一般性。由于遗传算法的搜索过程复杂，实时性也不好，本文提出鲁棒图的概念，运用图形方法来辅助判断PID参数的整定结果，并得出一些有趣的结论。最后，针对典型工业过程，本文提出一组鲁棒PID整定公式，通过曲线拟合得到典型工业过程的PD控制器的整定公式。仿真结果表明本文的PID整定公式有效，且控制器具有良好的抗干扰能力和频域鲁棒性。更多还原

【Abstract】 This paper first analyzes performance criteria of a control system, and proposes a controller design method that incorporates disturbance attenuation and robust performance. The robust PID controller design amounts to an optimization problem with a non-convex constraint. Genetic algorithm is used to solve the problem due to its global search ability, simulation examples show that the method is effective and have general sense. However, genetic algorithm has complex search processes and bad realtime performance. So a simple robustness measure is defined and plotted. It is easy to judge the robustness of system by the robust diagram. Use this idea some well-known PID tuning formulae are analyzed and a few interesting conclusions are drawn. In the end, new PID tuning formulae are derived in this paper for typical industrial processes. Simulation results show that these formulae are effective and the resulting PID settings have good compromise between disturbance attenuation and robustness.更多还原