一种基于李亚普诺夫方法的非线性自整定PID控制系统的研究.pdfVIP

14 6 Vol. 14 .6 2007 12 E ECTRONICS OPTICS CONTRO Dec. 2007 : 1671- 637 (2007) 06-0082-03 PID 孔繁镍, 李燕 ( , 530006) : 应用李亚普诺夫方法与自适应控制原理针对一类非线性PID 控制系统提出了一种 自整定方法, 用有监督控制和在线调整自适应控制律对PID 控制系统的3 个控制参数进行在线 调整及更新, 保证了非线性PID 控制系统的闭环稳定性最后利用该方法控制倒摆系统的 动轨 迹问题, 仿真结果表明该方法可以获得令人满意的控制性能 : PID 控制系统; 自适应控制; 李亚普诺夫方法; 先进过程控制 : V271.4; TP273. 2 : A Study on a self-tuning PID for a class of nonlinear system based on the Lyapunov approach KONG Fan-nie, I Yan ( College of Physical and Electronic Engineering , Guangxi Universityf or Nationalities, Nanning 530006, China) Abstract: A self-tuning method for a class of nonlinear PID control systems is put forward based on ya- punov approach and the principle of self-adaptive control. Supervised control and on-line adjustment self- adaptive control law are used for on-line adjustment and updating of the three PID control gains, and thus the stability of the close-loop nonlinear PID control system is guaranteed. Finally, the proposed method is em- ployed to control a tracking problem of an inverted pendulum system. The simulation results showed that a sati- sfactory control performance was achieved. Key words: PID control system; self-adaptive control; yapunov approach; advanced process control , PID 0 1PID PID , PID 1. 1PID , PID PID t de( t) upid = Kp e( t) + Ki 0 e( ) d+ Kd dt ( 1)