程序控制PID控制器参数调谐Tuning.PDF

程序控制 程序控制 程序控制 PID控制器參數調諧(Tuning) PID控制器參數調諧(Tuning) PID控制器參數調諧(Tuning) 範例 ：控制器參數之影響 Unit-step disturbance response PI controller + FOPTD process model (K = 1, ) θ= 4, τ= 20 unstable best 閉環路系統之性能標準 • The function of a feedback control system is to ensure that the closed loop system has desirable dynamic and steady-state response characteristics. 1. The closed-loop system must be stable. 2. The effects of disturbances are minimized, providing good disturbance rejection. 3. Rapid, smooth responses to set-point changes are obtained, that is, good set-point tracking. 4. Steady-state error (offset) is eliminated. 5. Excessive control action is avoided. 6. The control system is robust, that is, insensitive to changes in process conditions and to inaccuracies in the process model. PID調諧方法 * *  1 *  parallel PID: G (s) = K 1+ + τ s • 線上試誤法 c c * D τ s  I  • 連續環圈法  1  series PID: G (s) = K 1+ (τ s + 1) c c   D • 模型參數法 τ s  I  – Ziegler-Nichols (Z-N)調諧法 – Cohen-Coon (C-C) 調諧法 – 最小化積分誤差準則 (性能指標)