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为了寻找一种简单有效的数字PID调节器参数的自寻最优控制方法 ,先论述了数字PID调节器的原理 ,后讨论了在运动伺服系统中的具体应用。为强调系统响应的快速、稳定 ,在对常用目标函数误差绝对值与时间积的积分进行分析后提出了一种目标函数即误差绝对值与时间商的积分 ,并编写了相应的软件应用单纯形加速法进行参数搜索寻优。最后在具体硬件平台上进行了验证 ,结果证明此方法可行
In order to find a simple and effective self-seeking optimal control method of digital PID regulator parameters, the principle of digital PID regulator is discussed first, and then the specific application in motion servo system is discussed. In order to emphasize the fast and steady response of the system, an integral of the objective function, namely the absolute value of the error and the time quotient, is proposed after analyzing the integral of the error absolute value and the time integral of the commonly used objective function. Corresponding software applications of simplex Acceleration method for parameter search optimization. Finally, the verification is carried out on a specific hardware platform, the results prove that this method is feasible