自耦PID控制器

曾喆昭; 刘文珏

doi:10.16383/j.aas.c180290

自耦PID控制器

doi: 10.16383/j.aas.c180290

曾喆昭^1, ,,
刘文珏^1,

1.
长沙理工大学电气与信息工程学院长沙 410114

基金项目:

国家自然科学基金 51877011

湖南省教育厅重点项目 17A006

详细信息

作者简介:
刘文珏长沙理工大学电子科学与技术硕士研究生.主要研究方向为智能计算与智能控制.E-mail: 269766331@qq.com

通讯作者:
曾喆昭长沙理工大学教授. 1987、1989和2008年先后获湘潭大学物理学、清华大学固体物理学和湖南大学电路与系统等理学学士、理学硕士和工学博士学位.主要研究方向为智能计算与智能控制.本文通信作者. E-mail: 508984293@qq.com

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出版历程
- 收稿日期: 2018-05-08
- 录用日期: 2019-01-18
- 刊出日期: 2021-02-26

Self-coupling PID Controllers

ZENG Zhe-Zhao^{1
, ,},
LIU Wen-Jue^1
,

1.
College of Electrical and Information Engineering, Changsha University of Science and Technology, Changsha 410114

Funds:

National Natural Science Foundation of China 51877011

Key project of Education Department of Hunan Province 17A006

More Information

Author Bio:
LIU Wen-Jue Master student in electronic science and technology at Changsha University of Science and Technology. His research interest covers intelligent computing and intelligent control

Corresponding author: ZENG Zhe-Zhao Professor at Changsha University of Science and Technology. He received his bachelor of science, master of science and Ph. D. of engineering degrees in physics from Xiangtan University, solid state physics from Tsinghua University and Circuits and Systems from Hunan University in 1987, 1989 and 2008. His research interest covers intelligent computing and intelligent control. Corresponding author of this paper

摘要

摘要: 针对比例—积分—微分(Proportional-integral-differential, PID)控制器的整定问题, 提出了自耦PID (Self-coupling PID, SC-PID)控制方法.该方法将系统动态和内外不确定性定义为总和扰动, 从而将非线性不确定系统变换为线性不确定系统, 进而构建了总和扰动反相激励下的误差动态系统, 据此设计了SC-PID控制律模型和整定规则, 进而设计了自适应速度因子(Adaptive speed factor, ASF)模型.数值仿真结果表明, SC-PID具有快的响应速度、高的控制精度、良好的抗总和扰动鲁棒性等诸多优点. SC-PID整定规则为现有PID整定结果的技术评估与技术升级提供了科学的理论依据, 在国防和工业控制领域具有广泛的应用价值.
- 非线性不确定系统 /
- 自适应速度因子 /
- 自耦PID控制 /
- 整定规则 /
- 全局稳定性
Abstract: Aiming at tuning problem for proportional-integral-differential (PID) controller, the self-coupling PID (SC-PID) control method was proposed. Dynamic and uncertainty both inside and outside system was defined as a total disturbance in the proposed method, so as to transform nonlinear uncertain system to linear uncertain system, and then error dynamic system (EDS) inversely driven by the total disturbance was built. Control law and its tuning rules for SC-PID were designed on the basis of EDS, and then adaptive speed factor (ASF) model was designed. Numerical simulation results showed that SC-PID has fast response, high control accuracy, good global stability robustness and good total disturbance rejection robustness etc. many advantages. The SC-PID tuning rules will provide a scientific theoretical basis for the technical evaluation and technical upgrading of the existing PID tuning results, and has extensive application value in national defense and industrial control.
- Nonlinear uncertain system /
- adaptive speed factor /
- SC-PID control /
- tuning rule /
- global stability
Recommended by Associate Editor XU Bin
注释:

1) 本文责任编委许斌

HTML全文

图 1 基于SC-PI的闭环控制系统模型

Fig. 1 Closed loop control system based on SC-PI

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图 2 基于SC-PID的闭环控制系统模型

Fig. 2 Closed loop control system based on SC-PID

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图 3 基于SC-PD的闭环控制系统模型

Fig. 3 Closed loop control system based on SC-PD

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图 4 SC-PI的正弦跟踪控制结果

Fig. 4 Sinusoidal tracking control results of SC-PI

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图 5 SC-PI的阶跃跟踪控制结果

Fig. 5 Step tracking control results of SC-PI

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图 6 时变系统的SC-PI控制结果

Fig. 6 SC-PI control results for time-varying systems

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图 7 SC-PID的正弦跟踪控制结果

Fig. 7 Sinusoidal tracking control results of SC-PID

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图 8 SC-PID的阶跃跟踪控制结果

Fig. 8 Step tracking control results of SC-PID

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图 9 时变系统的阶跃跟踪控制结果

Fig. 9 Step tracking control results for TVS

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图 10 SC-PD的正弦跟踪控制结果

Fig. 10 Sinusoidal tracking control results of the SC-PD

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图 11 SC-PD的阶跃跟踪控制结果

Fig. 11 Step tracking control results of the SC-PD

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图 12 时变系统的阶跃跟踪控制结果

Fig. 12 Step tracking control results for TVS

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图 13 四种控制器的控制结果

Fig. 13 Control results of the four controllers

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图 14 四种控制器的控制结果

Fig. 14 Control results of the four controllers

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