摘要
本文提出了一种以结构奇异值为优化指标的ＰＩＤ控制器设计方法．该方法直接提出了对闭环系统鲁棒性的要求，符合工程实际需要．由于ＰＩＤ控制器可调参数少，因而采用结构奇异值为优化指标的设计可以用共轭方向法等非线性规划的直接方法完成．最后以机械手关节的ＰＩＤ控制器设计为例说明了这种方法．
This paper suggests a way to design the robust PID controller. Generally, the PID controller is confronted with the problem of the existence of external disturbance,Therefore, a robust PID controller should be fit for both robust stability and robust performance. Hence structured singular value (μ) is introduced as a robust indicator. The procedure for robust controller design is discribed along with an example in which the PID parameters for a robot arm are tuned.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
1995年第3期1-5,共5页
Journal of Shanghai Jiaotong University
基金
国家自然科学基金
关键词
PID控制器
鲁棒性
结构奇异值
PID controller, robust control, structured singular value
