一种基于频域辨识的自整定PID控制器
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摘要
本文给出了一种自整定PID控制器的新方法。通过继电反馈辨识系统开环带宽度点和临界点，利用带宽点的信息建立一阶加纯延迟模型。并利用临界点的辨识与带宽点的辨识建立二阶纯延迟模型，从Nyquist图可以看出，模型在对参数整定关键的一段频率范围内都能较好的拟和原对象。控制器采用具有2自由度的结构，结合IAE准则和鲁棒性指标整定出PID参数，是一种抗干扰性能和给定值跟踪性能的折中优化方案。仿真结果表明，本文提出的算法对多数的工业对象都是有效的，系统性能优良，而且具有较好的鲁棒性和抗干扰性，利用权值也很好的改善了给定值的跟踪响应。
This paper summarizes a new method for the auto-tuning of PID controllers. Firstly two characteristic points of the open-loop frequency are identified based on relay feedback experiments: the ultimate point and the bandwidth point. Used the identification of bandwidth point ,a first-order-plus-dead-time model can be available .Meanwhile a 4-parameter model can be obtained with the two points . With the model available,the two-degree-of-freedom PID controller is designed based on the IAE specification and a robustness specification . It is a quasi-optimization of both the response to setpoint and the response to load disturbance changes simultaneously. The simulation shows that this method is effective to most of the process models: the resulting PID settings have good performance of disturbance attenuation and robustness ,and the use of setpoint weighting make good improve to setpoint response.
This paper summarizes a new method for the auto-tuning of PID controllers. Firstly two characteristic points of the open-loop frequency are identified based on relay feedback experiments: the ultimate point and the bandwidth point. Used the identification of bandwidth point ,a first-order-plus-dead-time model can be available .Meanwhile a 4-parameter model can be obtained with the two points . With the model available,the two-degree-of-freedom PID controller is designed based on the IAE specification and a robustness specification . It is a quasi-optimization of both the response to setpoint and the response to load disturbance changes simultaneously. The simulation shows that this method is effective to most of the process models: the resulting PID settings have good performance of disturbance attenuation and robustness ,and the use of setpoint weighting make good improve to setpoint response.
引文
[1] Ziegler J G, Nichds N B .Optimum settings for automaic contrdlers[J].TransASME, 1942,64: 759—768
[2] 万起光，徐用恩．模式识别法PID参数自整定[M]．见：俞金寿，华向明主编．工业过程模型化及控制．上海：华东化工学院出版社，1998，305—310
[3] 谢新民，徐博文，范全义．PID参数自整定系统[M]．见：徐用恩，王诗心主编．工业过程模型化及控制．北京：清华大学出版社，1989，237—241
[4] 汪洋，褚键．基于递推参数估计的PID自整定方法[J]．信息与控制，1996，25(3)：182—186
[5] K raus T W, Myron T J. Self-tuning PID controller uses pattern recognition approach. Control Engineering, 1984(June): 106～111
[6] Bristol E H. Pattern recognition: An alternative to parameter identification in adaptive control. Automatica, 1977,13:197～202
[7] Astrom K J, Hagglund J T. AutomaticTuning of PID Controllers. Research Triangle Park, North Carolina: Instrument Society of America, 1988
[8] Hang C C, Astrom K J, Ho W K. Relay auto-tuning in the presence of static load disturbance. Automatica, 1993,29(2):563～564
[9] Schei T S. Automatic tuning of PID controllers based on transfer function estimation. Automatica, 1994,30(12): 1983～1989
[10] Nishikaw a Y, Sannom iya N,Ohta T, Tanaka H. A method for auto-tuning of PID control parameters. Automatica, 1984,20:321～332
[11] Schei T S. A method for closed loop automatic tuning of PID controllers. Automatica, 1992,28:587～591
[12] Leva A. PID auto tuning algorithm based on relayfeedback. In:Proc. IEE, Pt D, 1993, 140(5):328-338
[13] Ho W K, Hang C C, CaoL S. Tuning of PID ontrollers based on gain and phase margin specifications. In:Proceedings 12th IFAC World Congress, Sydney, Australia, 1993,5:267～270
[14] 柴天佑，张贵军．基于给定的相角裕度和幅值裕度PID参数自整定新方法．自动化学
报，1997,23(2)：167～172
[15] Ho W K, Hang C C, Cao L S. Tuning of PID controllers based on gain and phase margin specification. Automatica, 1995,31:497～502
[16] Francisco Javier Perez castelo, Ramon Ferreiro Garcia. a control frequency selection procedure for frequency domain autotuning methods on PID controllers. 2002 IEEE international Symposium on Computer Aided Control System Design Proceedings September. Pag 139-144
[17] Hang C C, Loh A P, Vasnani V U. Relay feedback auto-tuning of cascade controllers. IEEE T rans. On Control Syst. Tech.,1994,2(1):42～45
[18] McCormack A S, Godfrey K R. Rule-based auto-tuning based on frequency domain ident-ification. IEEE Trans. On Control Syst Tech., 1998,6(1):43～61
[19] 陈福祥．PID调节器自整定的PM法及其公式推导．自动化学报，1993，6：736～740
[20] Astrom, K J, Hang C C, Persson P, Ho W K, Towards intelligent PID control, Automatic, 1992,28,(1): 1-9
[21] 王学雷，邵惠鹤．一种基于改进双通道继电反馈测试系统频率特性的新方法．测控技术，2002，21：18～20
[22] C.C.Hang, A comparative performance study of PID auto-tuners. IEEE trans. Control Systems, 1991,4:41～47
[23] Astrom,K. J.(1995). PID Control-theory, Design and tuning,Instrument Society of America, Research Triangle Park, North Carolina,USA,second edition.
[24] 符曦，系统最优化及控制，北京，机械工业出版社，1995
[25] Astrom K J,Hagglund T. Automatic tuning of simple regulators with specifications on phase and amplitude mar-gins. Automatica. 1984,20 (5):645—651.
[26] 史忠科，吴方向等，鲁棒控制理论，北京，国防工业出版社，2003。
[2] 万起光，徐用恩．模式识别法PID参数自整定[M]．见：俞金寿，华向明主编．工业过程模型化及控制．上海：华东化工学院出版社，1998，305—310
[3] 谢新民，徐博文，范全义．PID参数自整定系统[M]．见：徐用恩，王诗心主编．工业过程模型化及控制．北京：清华大学出版社，1989，237—241
[4] 汪洋，褚键．基于递推参数估计的PID自整定方法[J]．信息与控制，1996，25(3)：182—186
[5] K raus T W, Myron T J. Self-tuning PID controller uses pattern recognition approach. Control Engineering, 1984(June): 106～111
[6] Bristol E H. Pattern recognition: An alternative to parameter identification in adaptive control. Automatica, 1977,13:197～202
[7] Astrom K J, Hagglund J T. AutomaticTuning of PID Controllers. Research Triangle Park, North Carolina: Instrument Society of America, 1988
[8] Hang C C, Astrom K J, Ho W K. Relay auto-tuning in the presence of static load disturbance. Automatica, 1993,29(2):563～564
[9] Schei T S. Automatic tuning of PID controllers based on transfer function estimation. Automatica, 1994,30(12): 1983～1989
[10] Nishikaw a Y, Sannom iya N,Ohta T, Tanaka H. A method for auto-tuning of PID control parameters. Automatica, 1984,20:321～332
[11] Schei T S. A method for closed loop automatic tuning of PID controllers. Automatica, 1992,28:587～591
[12] Leva A. PID auto tuning algorithm based on relayfeedback. In:Proc. IEE, Pt D, 1993, 140(5):328-338
[13] Ho W K, Hang C C, CaoL S. Tuning of PID ontrollers based on gain and phase margin specifications. In:Proceedings 12th IFAC World Congress, Sydney, Australia, 1993,5:267～270
[14] 柴天佑，张贵军．基于给定的相角裕度和幅值裕度PID参数自整定新方法．自动化学
报，1997,23(2)：167～172
[15] Ho W K, Hang C C, Cao L S. Tuning of PID controllers based on gain and phase margin specification. Automatica, 1995,31:497～502
[16] Francisco Javier Perez castelo, Ramon Ferreiro Garcia. a control frequency selection procedure for frequency domain autotuning methods on PID controllers. 2002 IEEE international Symposium on Computer Aided Control System Design Proceedings September. Pag 139-144
[17] Hang C C, Loh A P, Vasnani V U. Relay feedback auto-tuning of cascade controllers. IEEE T rans. On Control Syst. Tech.,1994,2(1):42～45
[18] McCormack A S, Godfrey K R. Rule-based auto-tuning based on frequency domain ident-ification. IEEE Trans. On Control Syst Tech., 1998,6(1):43～61
[19] 陈福祥．PID调节器自整定的PM法及其公式推导．自动化学报，1993，6：736～740
[20] Astrom, K J, Hang C C, Persson P, Ho W K, Towards intelligent PID control, Automatic, 1992,28,(1): 1-9
[21] 王学雷，邵惠鹤．一种基于改进双通道继电反馈测试系统频率特性的新方法．测控技术，2002，21：18～20
[22] C.C.Hang, A comparative performance study of PID auto-tuners. IEEE trans. Control Systems, 1991,4:41～47
[23] Astrom,K. J.(1995). PID Control-theory, Design and tuning,Instrument Society of America, Research Triangle Park, North Carolina,USA,second edition.
[24] 符曦，系统最优化及控制，北京，机械工业出版社，1995
[25] Astrom K J,Hagglund T. Automatic tuning of simple regulators with specifications on phase and amplitude mar-gins. Automatica. 1984,20 (5):645—651.
[26] 史忠科，吴方向等，鲁棒控制理论，北京，国防工业出版社，2003。