基于幅值裕度和相位裕度的自整定PID控制器

提出一种简单而有效的基于频域辩识的自整定ＰＩＤ控制器。系统首先引入继电反馈，在线测出过程对象两点的频率特性，从而辩识出二阶加纯滞后的模型；然后基于相位裕度和幅值裕度，整定出ＰＩＤ参数。仿真结果表明了该控制器的有效性。

Gain and Phase Margin Tunning for PID Controllers

A simple and efficient tuning formula for PID controllers is presented based on freguency domain identification. The system is excited by generating limit cycle oscillations at two different frequencies, which are the crossover frequency and the critical frequency for the feedback loop. A second order plus dead time model is estimated from the experimental data. The PID controller is designed based on gain and phase margin specifications. Simulation examples show the effectiveness of the tunning formula.