基于期望闭环系统响应的网络化串级控制系统PID整定

研究有常数网络诱导时延的一类典型网络化串级控制系统的PID控制器参数整定问题。系统中的网络诱导时延为常数,主对象和副对象均为一阶惯性加纯迟延环节(FOPDT)。主控制器是有超前滞后校正环节的PID,副控制器是带有滤波环节的PID。基于过程模型和期望闭环系统响应整定PID参数,采用一阶P偄de近似纯迟延环节,以解析的形式推导出了主控制器和副控制器整定参数的表达式,并采用双线性变换法得到离散时间PID控制器。提出了网络化串级控制系统的控制性能综合指标,并基于TrueTime工具箱在不同网络诱导时延时对网络化串级控制系统进行了仿真研究。仿真结果和性能指标计算结果均验证了所提算法的可行性和有效性。

PID Tuning of Networked Cascade Control System Based on Desired Closed-loop System Responses

The PID controller tuning issue for a typical class of networked cascade control systems （NCCS） with constant network-induced delays was addressed. In the system, the network-induced delays considered were constant. Both of the primary and secondary processes were first order plus dead time （ FOPDT）, and the primary controller was a PID with lag-lead element while the secondary controller was a PID controller with filter element. Based on the process models and the desired closed-loop system responses, the analytical expressions of the tuning parameters of the primary and secondary controllers were proposed by means of first order P6de approximation, and then the digital PID controllers were obtained by using bilinear transformation method. A comprehensive index of the NCCS control performance was proposed, and the simulation of NCCS with different network-induced delays was implemented based on TrueTime toolbox. The feasibility and effectiveness of the PID tuning method proposed is verified by the simulation results and the computational results of the performance index.