基于继电反馈的伺服系统PID参数整定研究

研究了电机伺服系统的PID控制参数离线调试技术，通过继电反馈技术实现不同负载状况下的最优或次优PID参数的整定。首先利用继电反馈激振被控系统，根据系统输入输出信息，对系统模型参数进行识别。然后依据识别模型使用ITAE（Integral Time Absolute Error）等方法来确定控制器参数。该技术适用于不同的负载状况，具有很强的普适性，而且系统在激振时，持续时间短，电机的转角位移很小，不会造成系统的损伤。参数调节过程只需单次运行系统，即可确定PID拳数．实现简便．通过在伺服电机拖动的XY运动平台上的一系列实验。验证了该方法的有效性。

Research on PID Controller Tuning of Servo Systems Basod on Relay Feedback

PID controller tuning technology of servo systems is studied.Optimal or suboptimal PID parameters under different load conditions can be gained through the use of relay feedback.First,the controller system is oscillated by relay feedback and the model parameters are identified through the input and output signals.Then,ITAE principle is utilized to determine the controller parameters based on the identified model.This method is applicable to different load appl ications.Featuring short duration of oscillation and small angular displacement,it will not result in any damage to the system.Moreover,the controller param eter tuning can be implemented only through a single time of oscillation running so as to determine the PID parameters conveniently.The experimental results on XY motion platform driven by the servo motor demonstrate the validity of this method.