PID控制作用下一阶时滞系统的鲁棒稳定性分析_欧林林.pdfVIP

　　:1006-2467(2006)11-1907-05 PID 1 2 2 欧林林 , 　张卫东, 　顾诞英 (1. , 310032;2. , 200240) 　:研究了PID 控制作用下参数不确定一阶时 系统的鲁棒稳定性问题. 确定了一阶时 系 统能被PID 控制器镇定的前提条件,利用双轨迹法的解析形式, 给出了系统参数必须满足的几 个 稳定约束条件, 证明了PID 控制器对于 一阶时 系统的镇定始终是时 相关的. 依据所得到的稳 定约束条件,通过具体的例子分别定量给出了3 个对象参数中1 个、2 个和 3 个参数不确定3 种情 况下系统参数的鲁棒稳定域. :PID 控制器;一阶时 系统;鲁棒稳定 :TP 273　　　:A The Robustness Analysis of Firs-t order Systems w ith Time Delay under PID Cont rol 1 2 2 O U L in-l in , 　Z H A N G Wei-d ong , 　GU D an-y ing (1. College of Information Eng . , Zhejiang Univ. of Technology, Hangzhou 310032, China; 2. Dept. of Automation, Shanghai Jiaotong Univ. , Shanghai 200240, China) Abst ract :The robustness problem of firs-t order time-delayed system w ith parametric uncertainty under PID control w as studied. The preconditions under w hich firs-t order system w ith time delay can be stab-i lized using the PID controller w as presented. Then, using the analytical form of the dua-l locus diagram method, several stability limits of the system parameters were derived. Based on the obtained stability lim- its of the system parameters, the robust stability areas of the plant parameters w ere quantitatively dete-r mined in the three cases of one-parameter, tw o-parameter and three-parameter uncertainty via the numer-i cal examples. Key words:PID controller;firs-t order system with time delay ;robust stability 　　PID . , , ,、、 , 、 , , ,, ke- θs / (τs +1) [1] . , PID ,, , . , . , :2005-1-1 07 :;(04QMH 1405) :(19 -0 ), , , , . (), , , , (T el. ):021E-m ail:wdzhang @sjtu. edu . cn. [2-5] PID , . ,