Adaptive digital PID control of first‐order‐lag‐plus‐dead‐time dynamics with sensor, actuator, and feedback nonlinearities
Adaptive digital PID control of first‐order‐lag‐plus‐dead‐time dynamics with sensor, actuator, and feedback nonlinearities
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具有传感器、执行器和反馈非线性的一阶滞后加死区动态的自适应数字 PID 控制
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
D. Bernstein
中科院分区：
文献类型：
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作者：
M. Kamaldar;S. A. Islam;Sneha Sanjeevini;A. Goel;Jesse B. Hoagg;D. Bernstein
比例积分微分（PID）控制是最广泛使用的反馈控制策略之一，因为它能够跟随阶跃命令并以零渐近误差拒绝恒定干扰，以及易于调整。针对具有传感器、执行器和反馈非线性的采样数据系统，提出了一种自适应数字PID控制器。线性连续时间动力学被假设为具有死区时间（即延迟）的一阶滞后。假设设备增益具有已知的符号但未知的幅度，并且假设死区时间未知。传感器和致动器的非线性被假定为单调的，具有已知的趋势，但在其他方面是未知的，并且反馈非线性被假定为单调的，但在其他方面是未知的。一个数值研究，以支持基于模拟的猜想，这涉及闭环稳定性和性能。数值例子说明了初始化对自适应率的影响，并在违反基于模拟的猜想的假设的情况下研究故障模式。
Proportional‐integral‐derivative (PID) control is one of the most widely used feedback control strategies because of its ability to follow step commands and reject constant disturbances with zero asymptotic error, as well as the ease of tuning. This paper presents an adaptive digital PID controller for sampled‐data systems with sensor, actuator, and feedback nonlinearities. The linear continuous‐time dynamics are assumed to be first‐order lag with dead time (ie, delay). The plant gain is assumed to have known sign but unknown magnitude, and the dead time is assumed to be unknown. The sensor and actuator nonlinearities are assumed to be monotonic, with known trend but are otherwise unknown, and the feedback nonlinearity is assumed to be monotonic, but is otherwise unknown. A numerical investigation is presented to support a simulation‐based conjecture, which concerns closed‐loop stability and performance. Numerical examples illustrate the effect of initialization on the rate of adaptation and investigate failure modes in cases where the assumptions of the simulation‐based conjecture are violated.