【摘要】 提出了一种改进的鲁棒PID整定方法,该方法通过使开环传递函数的奈奎斯特曲线与实轴交点的绝对值最小化,来求取各个PID参数。由于该方法的稳定裕量是通过取明确依赖于频率的模型来获得,从而避免了陷入保守性。仿真结果表明,使用提出的控制器整定方法,在命令输入和负载干扰发生阶跃变化时,控制系统都有很好的动态响应,同时在系统参数发生变化或存在未建模动态时,也能保证系统的稳定鲁棒性。更多还原

【Abstract】 An advanced and effective method for the robust PID tuning was proposed. The tuning problem was solved by minimizing the absolute value of the crossover point of the Nyquist curve of the open loop transfer function and the real axe. The stability margin could be obtained through the frequency model without fall into conservatism. Simulation results show that good response of the control system due to the step change of command/load disturbance as well as the robustness to system parameter variations or modeling uncertainties can be achieved using the proposed controller tuning method.更多还原