积分过程PID控制器参数的新型优化整定方法

针对积分时滞过程，结合菌群优化（BSFO）算法和控制系统优化设计策略，提出了一种新的PID控制器参数优化整定方法.通过将PID控制器的参数设置为群体细菌在参数空间的位置，将时间乘以绝对误差的积分（ITAE）作为细菌对环境的适应度函数，并模拟细菌群体觅食的动态行为来实现对PID控制器参数的寻优.实例仿真结果表明，菌群优化算法能够实现对PID控制器参数的有效整定，并在稳定时间、超调量、鲁棒性和抗干扰性等方面具有满意的综合性能.在大量仿真结果的基础上，给出了一个积分时滞对象的PID控制器参数整定经验公式.

New optimal tuning method of PID controller parameters for integrating Processes

For integrator plus time delay processes,a new optimal tuning method of PID controller was proposed by combining the bacterial swarm foraging for optimization(BSFO) and the strategy of control system optimization design.BSFO simulates the social behavior of foraging bacteria,in which the bacteria positions in the parameter spaces are set as the parameters of PID controller,with the index of integral time absolute error(ITAE) being the fitness function of bacteria.Simulation of an integrator plus time delay process showed that the optimal PID controller based on BSFO has satisfying performance of settling time,overshoot,robustness and anti-disturbance capability.Finally,an empirical tuning formula was found by carrying out a large amount of simulation experiments.