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Setting method of stable PI lambda D mu controller parameter based on sensitivity constraint
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A μ controller and parameter tuning technology, which is applied to controllers with specific characteristics, electric controllers, etc., can solve the problem that the sensitivity threshold cannot be guaranteed, and achieve the effect of convenient parameter tuning.
Inactive Publication Date: 2013-05-22
SHANGHAI JIAO TONG UNIV
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However, when a given amplitude and phase angle margin is used as a robustness judgment condition, it is often impossible to guarantee a reasonable sensitivity limit
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Embodiment 1
[0037] A Stable PI Based on Sensitivity Constraints λ D. μ controller parameter tuning method, wherein the PI λ D. μ The controller is used in a control system, including the following steps:
[0038]S1: Given a frequency range, a K d , λ, μ value and a sensitivity, according to the sensitivity constraint function to be satisfied to find K p , K i solution set;
[0039] S2: Find the stable boundary of the control system, draw the stable domain according to the stable boundary, and judge K successively p , K i Whether the elements in the solution set fall into the stable domain, and determine K accordingly p , K i The stable solution in the solution set;
[0040] S3: Use the ITAE / ISE performance index as the judgment condition to find the best parameter K in the stable solution obtained in step S2 p , K i .
[0041] Specifically, the structure of the fractional order control system targeted by the present invention is as follows figure 1 shown. Among them, C(s) s...
Embodiment 2
[0119] A Stable PI Based on Sensitivity Constraints λ D. μ controller parameter tuning method, wherein the PI λ D. μ The controller is used in a control system, which includes the following steps:
[0120] S1: Given a frequency range and K d , λ, the value range of μ, for the parameter K d , λ, μ take values with a certain step size, and find the K of each group under the given sensitivity requirement d , λ, K of μ p , K i solution set;
[0121] S2: With the K p , K i A set of K with the largest number of solutions in the solution set d , λ, μ are the parameters of this control system;
[0122] S3: Find the stable boundary of the control system, and judge K in turn p , K i Whether the elements in the solution set fall into the stable domain, and determine the stable solution accordingly;
[0123] S4: Use the ITAE / ISE performance index as the judgment condition to find the best parameter K in the stable solution obtained in step S2 p , K i .
[0124] (2) Spec...
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Abstract
The invention discloses a setting method of a stable a PI lambda D mu controller parameter based on sensitivity constraint. The process of the method includes: determining a frequency range and a group of Kd, lambda and mu values, and figuring out a Kp, Ki solution set when a demand of determined sensitivity is met; then figuring out a stable edge of a system, sequentially judging whether elements in the Kp, Ki solution set are in a stable domain or not, and accordingly determining a stable solution; finally adopting ITAE / ISE performance index as a judging condition to figure out best parameters Kp, Ki in the stable solution figured out from S2. By the setting method, a complicated process of judging stability of the system for another time can be avoided after the Kp, Ki solutions are figured out. The ITAE / ISE performance index is adopted as the judging condition, best point of dynamic features is figured out, so that a problem of guaranteeing good dynamic features of the system is effectively solved.
Description
technical field [0001] The present invention relates to a PI λ D. μ Tuning methods for controllers, especially involving a stable PI based on sensitivity constraints λ D. μ Controller parameter tuning method. Background technique [0002] PID controller is the most widely used controller in the field of automatic control nowadays, and the research on PID controller tuning methods has also achieved a lot of results. In recent years, the research on the stability of controller parameters has attracted the attention of many scholars. [0003] The tuning methods of PI / PID are divided into two categories: the method emphasizing the given amplitude phase angle margin and the method emphasizing the given sensitivity limit. And the two kinds of tuning methods have achieved certain results. The research results in the setting of the given amplitude and phase angle margin include: PID controller design method based on the given amplitude and phase angle margin, and a graphical me...
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