PID参数继电自整定的一种方法

介绍了ＰＩＤ调节器参数的继电自整定的基本原理。通过分析一阶惯住加纯滞后对象在继电特性作用下的输入输出持性，推导了计算对象特性参数的公式。利用这些公式进行辨识，从而整定ＰＩＤ参数。实验表明，这是一种行之有效的ＰＩＤ参数自整定方法。

A Method of the Relay Auto-tuning for PID Parameters

The fundamental principles of the relay auto-tuning of parameters for PID regulator were introduced.The authors deduce the formulas of estimating the parameters for PID regulators from analyzing the input and output wave-forms of a flrst order with dead timeacted by a relay input.Auto-tuning of PID regulators could be performed by using theseformulas to estimate the parameters of the plant.Experiments have shown that the methodis feasible in practice.