基于极点配置的直线伺服系统自校正PID控制

采用基于极点配置的自校正PID控制算法，实现针对直线伺服系统的控制设计与仿真。首先确定了系统的ARX模型结构，引入带遗忘因子的递推最小二乘法在线估计模型参数，根据参数估计结果以及期望的系统闭环特征多项式，再通过极点配置的方法来整定增量式PID控制器的输出；整定过程中引入了普通增量式PID控制器形成变结构控制器，以避免系统初始阶段由于数据量不足所带来的影响。利用Matlab实现了所提出算法的设计与仿真。仿真结果表明，自校正PID控制能够实时估计被控对象的参数，适应被控系统的变化，具有较强的参数估计与自校正能力。

Self-tuning PID Control for Linear Servo System Based on Pole-assignment

This paper introduces a self-tuning PID control algorithm based on pole-assignment to realize the control for linear servo system. First, determine the system＇s ARX model structure and estimate its parameters by forgetting factor recursive least squares （FFRLS） method. Tune the controller output by pole-assignment which is designed to get the expected close-loop characteristic polynomial. A common PID controller is also introduced in the initial state to avoid the influence of the lack of data stream. Realize the controller design and simulation by Matlab. The results demonstrate that the self-tuning PID control could estimate the model＇s parameters online, be adaptive to the system＇s disturbance and have the ability