Automatic tuning of PID controllers based on transfer function estimation
Automatic tuning of PID controllers based on transfer function estimation
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DOI：
10.1016/0005-1098(94)90060-4
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发表时间：
1994-12
期刊：
影响因子：
--
通讯作者：
T. Schei
中科院分区：
文献类型：
--
作者：
T. Schei
本文提出了一种基于参数黑箱传递函数模型的闭环PID控制器自动整定方法。该系统通过在两个不同的频率下产生极限环振荡来激励，这两个频率近似为反馈回路的交叉频率和临界频率。一个离散的参数传递函数模型估计从实验数据。有关的估计，如前置滤波器的截止频率和采样间隔的重要参数，自动确定的实验数据。PID参数由频域中的约束优化确定。约束条件是经典的控制系统属性，如灵敏度和互补灵敏度函数的最大幅度。给定这些约束，PID参数被确定为使得控制器的低频幅度特性被最大化。仿真实验表明，该整定方法在整定过程中对干扰和噪声具有较低的敏感性。
A method for the automatic tuning of PID controllers in a closed loop, based on the estimation of a parametric ‘black-box’ transfer function model, is proposed. The system is excited by generating limit cycle oscillations at two different frequencies, which are approximately the crossover frequency and the critical frequency for the feedback loop. A discrete parametric transfer function model is estimated from the experimental data. Important parameters concerning the estimation, such as the prefilter cut-off frequency and the sampling interval, are determined automatically from the experimental data. The PID parameters are determined from a constrained optimization in the frequency domain. The constraints are classical control system properties, such as the maximum amplitudes of the sensitivity and the complementary sensitivity functions. Given these constraints, the PID parameters are determined such that the low frequency amplitude characteristic for the controller is maximized. Simulation experiments show that the tuning procedure has low sensitivity to disturbances and noise during the tuning experiment.