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针对非最小相位对象,提出了一种比例—积分—微分(PID)控制器的整定方法.将含有右半复平面零点的非最小相位系统近似拟合为一个稳定的大滞后系统,应用一种专门针对大滞后系统的PID参数两步整定方法可以对系统PID参数进行粗调,然后通过调整比例系数α,便可以成功地设置其PID控制器参数,达到抑制非最小相位时滞和负调的作用.仿真实验证明了两步整定方法的有效性和鲁棒性.
Aiming at non-minimum phase object, a method of setting PID controller is proposed, in which approximate non-minimum phase system with right half-complex plane zero point is fitted to a stable large lag system. The two-step tuning method of PID parameters, which is specially designed for large lag systems, can coarsely adjust the system PID parameters and then adjust the proportional coefficient α to set the PID controller parameters successfully, so as to suppress the non-minimum phase delay and negative regulation The simulation experiment proves the validity and robustness of the two-step tuning method.