基于幅值裕度和相位裕度的PID参数最优整定方法_欧林林.pdf

24 5 Vol. 24 No. 5 2007 10 Control Theory Applications Oct. 2007 2007 PID , , (1. , 310032; 2. ,200030) : PID. , D– , , . , . , . : PID; ; ; ; : TP273 : A Optimal tuning method of PID controller based on gain margin and phase margin OU Lin-lin , GU Dan-ying , ZHANG Wei-dong (1. College of Information Engineering, Zhejiang University of Technology, Hangzhou Zhejiang 310032, China; 2. Department of Automation, Shanghai Jiao Tong University, Shanghai 200030, China) Abstract: An optimal tuning method of PID controller based on gain margin and phase margin is proposed in this paper. The stability region of the controller parameters, which satisfies the required gain margin and phase margin, is first determined on the basis of the improved D-partition approach. Then, in the resultant stability region, the optimal control parameters are found in terms of the objective function related to maximal sensitivity function, overshoot and settling time. Simulation results also demonstrate that, the proposed tuning method ensures that the closed-loop system has strong robustness, good setpoint tracking performance and disturbance rejection performance. It is appropriate not only for stable plants with time delay but also for unstable time-delayed processes. Key words: PID controller; gain margin; time delay; optimal tuning 1 (Introduction) PID. PID , , PID.