基于混沌优化的数字PID控制器及其应用

为了解决在工业控制中PID参数整定繁琐、控制结果出现大的振荡和超调等问题，提出一种基于混沌变量的数字PID控制器参数优化方案。该方案不仅适用于运动控制中的PID参数整定，还适用于过程控制中的PID参数整定。对柔性机械臂进行运动控制仿真，结果证明：该算法快速有效地实现了PID参数的优化整定；控制结果具有稳定、超调小、响应快、调节时间短的优点，从而实现了对柔性机械臂的PID优化控制。而且在纯滞后系统中也得到了很好的控制效果。

Digital PID Controller Based on Chaos Optimization and its Application

Aimed at the problem that the parameters of PID controller is difficult to tune,which often leads to oscillation and overshoot,a integrated arithmetic to search after the parameters was proposed based on chaos of digital PID controller,which can be applied for process control and motion control,and can get the optimizing parameters fast and efficiently according to the control of a flexible manipulator arm.The simulation results show the advantages of stability,fast response,small overshoot and short setting-time,the optimization control of PID controller in the flexible manipulator arm is realized,and there is also very good effect in the pure time-delay system.