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PIlambdaDmu controller parameter setting method based on parameter stability domain

A μ controller and parameter tuning technology, applied in the field of PID control, can solve the problem that the optimal controller design method is not given.

Inactive Publication Date: 2013-05-08
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] However, currently PI λ D. μ The research on the stability domain of controller parameters mostly focuses on what kind of controllers to adopt for different systems and how to obtain the maximum stability domain, but does not give the specific design method of the optimal controller

Method used

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  • PIlambdaDmu controller parameter setting method based on parameter stability domain
  • PIlambdaDmu controller parameter setting method based on parameter stability domain
  • PIlambdaDmu controller parameter setting method based on parameter stability domain

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Embodiment 1

[0033] A PI Based on Parameter Stable Domain λ D. μ Controller parameter tuning method, where the control system of the controller includes the fractional order PI represented by C(s) λ D. μ The controller, the controlled process represented by G(s) and the virtual module represented by T, where G ( s ) = N ( s ) D ( s ) e - s T d , T=Me -jθ , where

[0034] 0<λ, μ<2, N(s), D(s) are polynomials about s, respectively:

[0035] N ( s ) = b 0 s β ...

Embodiment 2

[0085] Pick G ( s ) = 1 s 1.5 e - 0.5 s ,

[0086] For the controlled object, at K d =1, λ=0.2, μ=1.3, the maximum (K p , K i ) parameter stability space. Take the phase angle and the phase angle margin as 30° and 45° respectively, and get K i The stable region of parameters under the condition of ≥0 is attached Figure 4 shown.

[0087] in the attached Figure 4 , the K on the two CRB graph lines respectively p K on the minimum point and the CRB boundary curve with a phase angle margin of 45° p The maximum point is perpendicular to K p axis line. The frequencies of intersection points can be obtained as ω 0 =0, ω 1max =2.1,ω 2max =1.52, ω 11 =0.205,ω 12 =0.75,ω 13 =1.2,ω 14 =1.835, ω 21 =0.43, at the same time, corresponding to the K ...

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Abstract

The invention discloses a PIlambdaDmu controller parameter setting method based on a parameter stability domain. The method includes the following steps: judging if the input and the output of a controller system are stable, then determining parameter stability domain boundary curves at phase margin upper limit and at the position of phase margin appearing, determining a value range of two boundary curve frequency on the condition of ensuring parameters with practical significance, confirming the range of parameter Ki and Kp in the stability domain on the boundary curve, inserting a plurality of points on two boundary curves, determining a plurality of groups of points which are equal in Kp value respectively on the two boundary curves, obtaining a value range of Ki corresponding to the plurality of groups of points, determining an optimum value of Ki corresponding to each group of points by adopting a genetic algorithm, and finally determining an optimal solution through integral time absolute error (ITAE). According to the PIlambdaDmu controller parameter setting method based on the parameter stability domain, stable phase margin of a system and dynamic characteristics are both considered, and controller parameters are set by means of the genetic algorithm. A controller which is set by using the method can well control a system on the condition of meeting given stable phase margin, and therefore the fact that a system has better dynamic characteristics is guaranteed.

Description

technical field [0001] The invention relates to the field of PID control, in particular to a method for adjusting PI in the parameter stability domain λ D. μ Method for controller parameters. Background technique [0002] to PI λ D. μ The research on controller tuning method is a hot spot in the field of control research in recent years, and a series of remarkable results have emerged. Among them, PI is performed for integer order or fractional order time-delay systems λ D. μ The research on the stability domain of controller parameters has been greatly developed. Serdar E H proposed a solution for the first time, that is, in (K p ,K i , K d ) determines the set of global stable regions in the coefficient space, and obtains the maximum stable region by changing the given order λ, μ. This method uses the principle of D-division to determine the range of the stable region by obtaining the real root boundary (RRB), complex root boundary (CRB) and infinite root boundar...

Claims

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Application Information

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IPC IPC(8): G05B11/42
Inventor 王昕牟金善唐苦
Owner SHANGHAI JIAO TONG UNIV
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