典型工业过程鲁棒PID控制器的整定

提出一阶迟延过程、积分迟延过程、不稳定迟延过程和二阶迟延过程等典型工业过程的鲁棒PID整定公式.本文从抗干扰性能和鲁棒性能两方面综合考虑,把鲁棒PID控制器的设计问题转化为求解一个带鲁棒性能约束的绝对误差积分指标(IAE)优化问题.鉴于该问题是非凸的,本文采用遗传算法来求解,并通过曲线拟合得到典型工业过程的PID控制器的整定公式.仿真结果表明本文的PID整定公式有效,且控制器具有良好的抗干扰能力和频域鲁棒性.

Tuning of robust PID controllers for typical industrial processes

Robust PID tuning formulae are derived for typical industrial processes such as first-order plus dead-time processes,integrating processes,first-order delayed unstable processes and second-order plus dead-time processes.A robust PID controller design method that incorporates disturbance attenuation and robustness is proposed.The problem is the same as the optimization problem with a non-convex constraint.Genetic algorithm is used to solve the problem due to its global search ability,and curve fitting is used to derive the tuning formulae.Simulation results show that these formulae are effective and the resulting PID settings have good compromise between disturbance attenuation and robustness.