一种新型非线性PID控制器及其参数设计-控制理论与应用.PDF

26 4 Vol. 26 No. 4 2009 4 Control Theory Applications Apr. 2009 :2009 PID , , (, 030027) : PID. PID, . , , PID, PID; , , ; , –PID , PID. . : ; PID; ; : TP273 : A Parameter selection for a new class of nonlinear PID controller SHANG Hong, CHEN Zhi-min, REN Yong-ping (Technique Department, Taiyuan Satellite Launch Center, Taiyuan Shanxi 030027, China) Abstract: The preferred features for a nonlinear PID controller are its simplicity and effectiveness. To achieve these features, we propose a new class of nonlinear PID controller, analyze the nonlinear function characteristics and develop the method of parameter selection. Firstly, we put forward a method for constructing nonlinear functions based on the action principle of the electric field between two plates of a capacitor. This method is applied to modify the conventional PID controller to form a new class of nonlinear PID controller. Secondly, an analysis is given to the nonlinear function, revealing the relation between the function and its parameter. Thirdly, concepts of T-Passivity are employed to explore the stability of the nonlinear PID controller, and a guideline for the parameter selection of the nonlinear controller is given. Simulation shows the validities of the nonlinear PID controller and its parameter selection conclusion. Key words: nonlinear system; PID controller; stability; passivity 1 (Introduction) 1. PID , PID 3. . , 3 PID, PID. , , PID , .