PID控制器增益的稳定范围研究

基于逆Nyquist曲线，提出了一种线性系统在PID控制下确定增益稳定范围的方法，为PID控制器增益的稳定提供了一条快速而有效的途径。由逆Nyquist曲线上的实部为极值的点，将PID增益分割成若干区间。再运用广义的Her—mite-Biehler定理得出一个推理和二个条件，通过纵向直线与逆Nyquist曲线的交点数，可获得系统在PID控制下增益稳定的区间。仿真实例验证了该方法的有效性。该方法应用简便，能有效解决PID控制下增益的稳定范围。

Researches to Gain Stabilizing Regions of PID Controller

Based on the inverse Nyquist plot,a method is presented to ascertain the boundary of stabilizing PID gain for the linear system.This method provides a fast and the effective way for turning gain of PID controllers.According to the extreme points of the real part on the inverse Nyquist plot,the PID gain would be divided into several regions.Then an inference and two conditions can be derived from the generalization of Hermite-Biehler theorem.The stabilizing PID gain regions are obtained by the number of poin...