摘要
伺服与扰动抑制是时滞积分系统最基本的控制问题,对其进行控制难度较大。文中提出一种基于直接综合法和多主导极点配置法的微分先行PID(Proportional-Integral-Derivative)整定方法,这种方法通过比较串联滤波器与时滞积分被控对象组成的特征方程与实际期望的特征方程的系数,将三阶主导极点置于-1/λ处,并将二阶非主导极点置于-5/λ处(λ为调整参数),从而获得期望的特征方程。以实现期望的鲁棒性方式获得设计的控制器参数,通过选择不同的调优参数获取相应的Ms(Maximum sensitivity)值,在参数具有标称性的限定条件下拟合出关于Ms和调优参数的关系曲线,给出整定规则的解析形式。PIPTD(Pure Integral Plus Time Delay system)、DIPTD(Double Integral Plus Time Delay system)和FOPTDI(First-Order Plus Time Delay Integral System)系统的仿真结果表明,IAE(Integral Absolute Error)指标平均可降低35.79%,TV(Total Variation)指标平均可降低18.97%。
As the most basic control problem of the time delay integral system,it is difficult to control servo and disturbance rejection.In this study,a differential forward PID tuning method based on direct synthesis method and multiple dominant pole-placement method is proposed.This method mainly compares the coefficients of the characteristic equation composed of series filter and the time-delay integral controlled process with the actual desired characteristic equation.The third-order dominant pole is placed at-1/λ,and the second-order non-dominant pole is placed at-5/λ(λis the adjustment parameter),so as to obtain the desired characteristic equation.Parameters of the controller are tuned to achieve the desired robustness.The corresponding Ms values can be obtained by selecting different tuning parameters,and the relationship curves between Ms and the tuning parameters can be fitted under the limited condition that the parameters are nominal,and the analytical form of the tuning rules can be given.The simulations of PIPTD,DIPTD and FOPTDI systems show that the IAE index can be reduced by average 35.79%and the TV index can be reduced by average 18.97%.
作者
丁祥鑫
张伟
王亚刚
DING Xiangxin;ZHANG Wei;WANG Yagang(School of Optical-Electrical and Computer Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
出处
《电子科技》
2023年第8期56-64,共9页
Electronic Science and Technology
基金
国家自然科学基金(11502145)。
关键词
直接综合法
微分先行PID
MS
阶跃响应
方波响应
积分系统
时滞
多主导极点配置法
direct synthesis method
differential forward PID
Ms
step response
square wave response
integral system
time delay
multiple dominant pole-placement method
