大惯量伺服系统智能PID算法研究
|
摘要
随着计算机技术和交流电机调速技术的飞速发展,现代数字交流伺服系统的发展也是日新月异,各种新的控制方法和调速手段得以应用在实际控制系统中,使得现代伺服系统朝着小型化、智能化、高速高精度方向发展。本文结合一套实际交流伺服控制系统的研制,侧重研究了智能PID控制算法及其应用,以实现高速高精度的控制指标。
论文针对大转动惯量的控制对象和指标要求,确定了控制系统的总体结构,阐述了伺服控制器及采样控制电路、输出控制电路及外围接口电路设计及伺服控制卡的软件功能和总体流程,介绍了指令读取、架位信息采集等软件算法,并详细分析了分区变参数PID和复合控制相结合的智能PID控制算法。
在Matlab仿真环境下,构建了位置闭环伺服控制系统,进行了常规PID和智能PID控制算法的仿真研究。通过对比实验,体现智能PID控制算法的高效性和可行性。文中还针对前馈控制信号的数字化处理方法进行了分析和仿真研究。
在仿真环境和实际应用中,大惯量数字伺服系统跟踪阶跃、等速和正弦三种典型信号时,均达到预定的控制要求,取得令人满意的控制效果。实际应用的结果体现了本文研究的智能PID控制算法的正确性和有效性。
With the rapid development of computer technology and AC motor timing technology, modern digital servo system has been changed a lot. All kinds of new control algorithm and timing methods have been used in reality control systems, which make modern servo systems small, intelligent, high-speed and accurate. Combining with a suit of actual AC servo system, this paper emphasizes on studying the intelligent PID control algorithm, which can realize the target with high-speed and good-accuracy.
Considering the control object of servo system in this paper has great inertia, high accuracy and response speed, the global structure of control system is confirmed. Meanwhile the servo controller, sample control circuit, output control circuit and external interface circuits are designed according to main control chip TMS320F206 DSP.
The software function and whole flow chart of servo control card are analyzed in this paper. The software algorithms of reading command, sampling position information are introduced. Also the intelligent PID control algorithm combined with subarea variable parameter method and compound control method is detaily discussed.
In the simulation environment of matlab, the servo control system of position close-loop is construced. The simulation study of traditional PID and intelligent PID is carried out. Through the compare research, the high effect and feasibility of intelligent PID control algorithm are clearly shown. The digital processing method for forward-feedback control signals is analyzed and simulated.
In the simulation environment and actual application, the digital servo system with great inertia receives preconcerted control requests when following three typical signals of step, speed and sine wave. The results of actual application show the correctness and satisfied validity of the intelligent PID control algorithm studied in this paper.
论文针对大转动惯量的控制对象和指标要求,确定了控制系统的总体结构,阐述了伺服控制器及采样控制电路、输出控制电路及外围接口电路设计及伺服控制卡的软件功能和总体流程,介绍了指令读取、架位信息采集等软件算法,并详细分析了分区变参数PID和复合控制相结合的智能PID控制算法。
在Matlab仿真环境下,构建了位置闭环伺服控制系统,进行了常规PID和智能PID控制算法的仿真研究。通过对比实验,体现智能PID控制算法的高效性和可行性。文中还针对前馈控制信号的数字化处理方法进行了分析和仿真研究。
在仿真环境和实际应用中,大惯量数字伺服系统跟踪阶跃、等速和正弦三种典型信号时,均达到预定的控制要求,取得令人满意的控制效果。实际应用的结果体现了本文研究的智能PID控制算法的正确性和有效性。
With the rapid development of computer technology and AC motor timing technology, modern digital servo system has been changed a lot. All kinds of new control algorithm and timing methods have been used in reality control systems, which make modern servo systems small, intelligent, high-speed and accurate. Combining with a suit of actual AC servo system, this paper emphasizes on studying the intelligent PID control algorithm, which can realize the target with high-speed and good-accuracy.
Considering the control object of servo system in this paper has great inertia, high accuracy and response speed, the global structure of control system is confirmed. Meanwhile the servo controller, sample control circuit, output control circuit and external interface circuits are designed according to main control chip TMS320F206 DSP.
The software function and whole flow chart of servo control card are analyzed in this paper. The software algorithms of reading command, sampling position information are introduced. Also the intelligent PID control algorithm combined with subarea variable parameter method and compound control method is detaily discussed.
In the simulation environment of matlab, the servo control system of position close-loop is construced. The simulation study of traditional PID and intelligent PID is carried out. Through the compare research, the high effect and feasibility of intelligent PID control algorithm are clearly shown. The digital processing method for forward-feedback control signals is analyzed and simulated.
In the simulation environment and actual application, the digital servo system with great inertia receives preconcerted control requests when following three typical signals of step, speed and sine wave. The results of actual application show the correctness and satisfied validity of the intelligent PID control algorithm studied in this paper.
引文
[1]陈伯时.电力拖动自动控制系统(第二版)[M]。北京:机械工业出版社,2000.
[2]徐承忠,王执铨,王海燕.数字伺服系统[M].北京:国防工业出版社,1994。
[3]刘辉.全数字伺服控制系统[J].光学精密工程,1995,3(5):60-64.
[4]宋俊,赵波.伺服控制系统跟踪性能优化设计[J].机械设计与制造,1995(6):23-26.
[5]曾森.高速高精度高炮数字伺服系统研制[D].南京:南京理工大学自动化系,2004.
[6]姜文刚.高速高精度数字伺服系统研制[D].南京:南京理工大学自动化系,2002.
[7]胡双武.基于DSP某型发射装置伺服系统研制[D].南京理工大学自动化学院,2004
[8]闫英敏,刘卫国,孙世宗,胡长义。基于DSP的双伺服驱动系统[J].火力与指挥控制,2006,31(3):50-57.
[9]王潞钢,陈林康,曾岳南,许贤昶.DSP C2000程序员高手教师进阶[M].北京:机械工业出版社,2004
[10]薜迎成,潘俊民,潘志扬.基于DSP永磁无刷直流电动机位置伺服系统[J].电力电子技术,2001,(2)18-20。
[11]刘学鹏,梅雪松,吴序堂.基于DSP对交流伺服系统控制的研究[J].中原工学院学报,2002,13(1):32-34。
[12]袁丽卿,陈永校,钟德刚.数字化永磁交流伺服系统[J]。微电机,2005,38(1):64-67
[13]武新伟,孔庆忠.交流伺服位置系统的数字PID控制[J].机械工程与自动化,2006,(4):118-120.
[14]赵岩,翟百臣,陈涛.基于DSP的数字化转台伺服系统数字测速的实现[J].测试技术学报,2006,20(5):429-434.
[15]唐红雨,陈迅.交流数字伺服系统的智能PID控制律研究[J].成都信息工程学院学报,2007,22(1):60-63.
[16]Peter J,Oawthrop.SELF-TUNING PID CONTROL STRUCTURES[J].IEE Colloquium,1966:4/1-4/4.
[17]Yongli Huang,Seiji Yasunobu.A General Practical Design Method for Fuzzy PID Control from Conventional PID Control[C].Proc.IEEE Int.Conf.Fuzzy Systems, 2000,2:969-972.
[18]M H Moradi.New techniques for PID Controller Design[J].IEEE,2003(03):903-908.
[19]Kiam Heong Ang,Gregory Chong.PID Control System Analysis,Design and Technology[J].IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,2005,13(4):559-576.
[20]Masanori Yukitomo,Takashi Shigemasa,Yasushi Baba,et al.A Two Degrees of Freedom PID Control System,its Features and Applications[C].Asian Control Conference,2004(5):456-459.
[21]lan Rusnak.The Generalized PID Controller for Stochastic Systems[J].IEEE,2000(00):145-148.
[22]Yasushi Baba,Takashi Shigemasa,Masanori Yukitomo,et al.Model-Driven PID Control System in Single-Loop Controller[C].SICE Annual Conference,2003:187-190.
[23]Dong Hwa Kim,Jae Hoon Cho.Design of Robust PID Controller With Disturbance Rejection For Motor Using Immune Algorithm[J].IEEE,2000(04):1-6.
[24]Seung-Min Baek,Tae-Yong Kuco An Adaptive PID Learning Control of DC Motors[C].IEEE Int.Conf.on SMC,1997,2(1):2877-2882.
[25]E.M.Jafarov,M.N.A.Parlak,Y.Istefanopulos.A New Variable Structure PID-Controller Design for Robot Manipulators[J].TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,2005,13(1):122-130.
[26]Ibrahim Kaya,Nusret Tan,Derek P.Atherton.A simple procedure for improving performance of PID controllers[C].IEEE Conference on Control Applications,2003(03):882-885.
[27]Toru Yamamoto,Kenzo Fujii,Masahiro Kaneda.A Self-Tuning PID Controller and Its Applicationfor an Ethylene Cracking Furnace[J].IEEE,1996(2):275-281
[28]李刚,林凌,叶文宇.TMS320F206DSP结构、原理及应用[M].北京:北京航空航天大学出版社,2002.
[29]张雄伟,陈亮,徐光辉.DSP集成开发与应用实例[M].北京:电子工业出版社,2002.
[30]尹勇,欧光军,关荣锋.DSP集成开发环境CCS开发指南[M].北京:北京航空航天大学出版社,2003.5.
[31]夏爽.通过JTAG口对DSP外部Flash存储器的在线编程[J].单片机与嵌入 式系统应用,2003(8):31-33.
[32]尹冬元,杨玉星.TMS320F206在高精度电能计量系统中的应用与分析[J].元器件与应用,2000(1):29-31。
[33]王金亮,程丽萍.基于TMS320F206的电网数据处理板设计[J].国外电子元器件,2004(8):14-17.
[34]张雄伟.DSP芯片的原理与开发应用[M].北京:电子工业出版社,1997。
[35]任志考.用C语言进行DSP软件设计的优化方法[J].青岛科技大学学报,2003,24:102-104.
[36]胡金波,陈慧剑.DSP环境下C语言编程的优化实现[J].现代电子技术,2002(12):82-84.
[37]丁刚.在DSP的C编程中常量数据段的存储器分配[J].电子产品世界,2002(A):63-64.
[38]叶文字,谌雅琴,李刚.TMS320F206使用中的一些问题[J].单片机与嵌入式系统应用,2002(1):76-78。
[39]刘高平,顾伟康.TMS320系列DSP芯片用户程序加载方法的探讨[J].微处理机,1996(4):52-54.
[40]郭滨.基于两片TMS320F206芯片在遥测数据采集中的应用[J].电讯技术,2001(1):34-38.
[41]彭启宗,李玉柏.DSP技术[M].北京:电子科技大学出版社,1997.
[42]TMS320F206 DIGITAL SIGNAL PROCESSOR.TEXAS INSTRUMENTS.
[43]龚云飞,富历新.基于Matlab的永磁同步电机矢量控制系统仿真研究[J].微电机,2007,36(2):33-36
[44]张纯明,郭庆鼎.基于反馈线性化的交流直线永磁同步伺服电动机速度跟踪控制[J].电工技术学报,2003,13(03):5-9
[45]翟小飞,张俊洪,赵镜红.永磁同步直线电机的MATLAB仿真及其定位实验[J].船电技术,2006,27(04):6-9
[46]马东升.数字前馈和交流前馈系统[J].电子技术应用,1995(5):32-34.
[47]谢显之,刘新跃,于永昌.轴角编码粗精组合纠错算法的研究与应用[J].计量与测试技术,2001(3):6-8.
[48]吴虎成,张俊科.轴角编码器中的粗精组合与纠错技术实现[J].计算机工程与科学,1996,18(2):82-85.
[49]陈雁章.双通道旋转变压器的零位偏差[J].微电机,1994,27(4):46-48.
[50]黄科元,董恒,黄守道.旋转变压器在高速永磁同步电动机中的应用[J].微特电机,2008,36(2):10-12
[51]李年裕,吕强,李光升,谢永成.旋转变压器—数字转换器AD2S83在伺服系统中的应用[J].电子技术应用,2000,26(02):66-68
[52]殷云华,郑宾,郑浩鑫.一种基于Matlab的无刷直流电机控制系统建模仿真方法[J].系统仿真学报,2008,20(2):293-298
[53]Miller T J E.Brushless Permanent-Magnet and Reluctance Motor Drives[M].Oxford,New York:Clarendon Press,1989
[54]纪志成,沈艳霞,姜建国.基于Matlab无刷直流电机系统仿真建模的新方法[J]系统仿真学报,2003,15(12):1745-1749
[55]张文海,娄泽乾.多极旋转变压器测试中的一些问题探讨[J].微特电机,2000(5):45-47.
[56]苏红涛.“可编程阵列逻辑”(GAL)器件编程规律的研究[J].哈尔滨工业大学学报,1998,28(4):92-95.
[57]孟贵胥,李亚伯.通用阵列逻辑(GAL)的5种工作模式[J].大连理工大学学报,1996,36(6):732-735.
[58]刘君华,路灿.可编程器件在测控电路中的应用与设计[J].微电子学与计算机,1994(5):9-12.
[59]EUNTAI KIM,HEEJIN LEE,MIGNON PARK.Limit-Cycle Pre-diction of a Fuzzy Control System Based on Describing Function Method[J].IEEE Transactions on Fuzzy Systems,2000,8(1):11-22
[60]Nishikawa Y,Sannomiya N,Ohta T,et al.A method for auto-tuning of PID control parameters.Automatica,1984,20(2):321-332
[61]M.T.Soylemeza,N.Munrob,H.Bakic.Fast calculation of stabilizing PID controllers.Automatica.2003,39:121-126
[62]Leva A.PID auto-tuning algorithm based on relay feedback.Proc.IEE,PID,1996,140(4):328-333
[63]Voda A A,Landau L D.A method for the auto-calibration of PID controllers.Automatica,1995,31(1):41-53
[64]Astrom K J,Hang C C,Persson P,Ho W K.Towards intelligent PID control.Automatica,1992,28(1):1-9
[65]Jones A H,Porter B.Design of adaptive digital set-point tracking PID controllers incorporating recursive step response matrix identifiers for multivariable plant.IEEE Trans.Autom.Control,1987,AC-32:459-463
[66]Schei T S.A method for closed loop automatic tuning of PID controllers.Automatica,1992,28:587-591
[67]Chirattananon S,Gao Z.A Model for the Performance Evaluation of the Operation of Electric Arc Furnace Energy Conversion and Management,1996,37(2):161-166
[68]Bhargavab,Wilhelmmr.Arc Furnace Flicker Measurements and Control.IEEE Transactions on Power Delivery,1993,8(1):400-410
[69]Jordan A,Schol R,Maier-Hauff K.Presentation of a new magnetic field therapy system for the treatment of human solid tumors with magnetic fluid hyperthermia.J.Magn.Magn.Mater,2001,225:118-126
[70]李小虎,杜彦亭.基于补偿原理的I-PD算法对气动位置伺服系统的控制[J].机床与液压,2004(1):58-59.
[71]赵金,万淑芸.交流伺服系统的模糊滑模PD型位置控制器[J].微电机,2004,37(1):37-40.
[72]赵金,万淑芸.交流伺服系统的一种新型位置控制器[J].电气传动,2004(1):11-14.
[73]田保峡,苏宏业,褚健。基于状态估计的PID控制器整定方法研究[J].仪器仪表学报,2000,21(5):477-480.
[74]綦艳丽,郭庆鼎.一种非线性PID在伺服电机同步传动中的运用[J].沈阳工业大学学报,2004,26(1):60-63.
[75]朱尚明,卢荣德.在PID算法中采用数字滤波和动态补偿技术[J].自动化仪表,1999,20(2):11-13。
[76]陈传硕,田丽华.PID控制参数的整定方法[J]。长春邮电学院学报,1994,12(1):9-16。
[77]王士杰.常规PID调节系统的研究进展[J].中国纺织大学学报,1994,20(4):104-112.
[78]李皿,刘怀馨,胡宏霞,等.关于PID调节在自动控制时的参数整定[J].测控技术,1994,13(6):30-32.
[79]丁峰,屈明昌,林廷圻.交流位置伺服系统PID控制方法实现[J].电子机械工程,2003,19(1):52-54.
[80]何清华,曾益昆.基于模糊PID的液压同步控制[J].机械与电子,2001(1):13-15.
[2]徐承忠,王执铨,王海燕.数字伺服系统[M].北京:国防工业出版社,1994。
[3]刘辉.全数字伺服控制系统[J].光学精密工程,1995,3(5):60-64.
[4]宋俊,赵波.伺服控制系统跟踪性能优化设计[J].机械设计与制造,1995(6):23-26.
[5]曾森.高速高精度高炮数字伺服系统研制[D].南京:南京理工大学自动化系,2004.
[6]姜文刚.高速高精度数字伺服系统研制[D].南京:南京理工大学自动化系,2002.
[7]胡双武.基于DSP某型发射装置伺服系统研制[D].南京理工大学自动化学院,2004
[8]闫英敏,刘卫国,孙世宗,胡长义。基于DSP的双伺服驱动系统[J].火力与指挥控制,2006,31(3):50-57.
[9]王潞钢,陈林康,曾岳南,许贤昶.DSP C2000程序员高手教师进阶[M].北京:机械工业出版社,2004
[10]薜迎成,潘俊民,潘志扬.基于DSP永磁无刷直流电动机位置伺服系统[J].电力电子技术,2001,(2)18-20。
[11]刘学鹏,梅雪松,吴序堂.基于DSP对交流伺服系统控制的研究[J].中原工学院学报,2002,13(1):32-34。
[12]袁丽卿,陈永校,钟德刚.数字化永磁交流伺服系统[J]。微电机,2005,38(1):64-67
[13]武新伟,孔庆忠.交流伺服位置系统的数字PID控制[J].机械工程与自动化,2006,(4):118-120.
[14]赵岩,翟百臣,陈涛.基于DSP的数字化转台伺服系统数字测速的实现[J].测试技术学报,2006,20(5):429-434.
[15]唐红雨,陈迅.交流数字伺服系统的智能PID控制律研究[J].成都信息工程学院学报,2007,22(1):60-63.
[16]Peter J,Oawthrop.SELF-TUNING PID CONTROL STRUCTURES[J].IEE Colloquium,1966:4/1-4/4.
[17]Yongli Huang,Seiji Yasunobu.A General Practical Design Method for Fuzzy PID Control from Conventional PID Control[C].Proc.IEEE Int.Conf.Fuzzy Systems, 2000,2:969-972.
[18]M H Moradi.New techniques for PID Controller Design[J].IEEE,2003(03):903-908.
[19]Kiam Heong Ang,Gregory Chong.PID Control System Analysis,Design and Technology[J].IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,2005,13(4):559-576.
[20]Masanori Yukitomo,Takashi Shigemasa,Yasushi Baba,et al.A Two Degrees of Freedom PID Control System,its Features and Applications[C].Asian Control Conference,2004(5):456-459.
[21]lan Rusnak.The Generalized PID Controller for Stochastic Systems[J].IEEE,2000(00):145-148.
[22]Yasushi Baba,Takashi Shigemasa,Masanori Yukitomo,et al.Model-Driven PID Control System in Single-Loop Controller[C].SICE Annual Conference,2003:187-190.
[23]Dong Hwa Kim,Jae Hoon Cho.Design of Robust PID Controller With Disturbance Rejection For Motor Using Immune Algorithm[J].IEEE,2000(04):1-6.
[24]Seung-Min Baek,Tae-Yong Kuco An Adaptive PID Learning Control of DC Motors[C].IEEE Int.Conf.on SMC,1997,2(1):2877-2882.
[25]E.M.Jafarov,M.N.A.Parlak,Y.Istefanopulos.A New Variable Structure PID-Controller Design for Robot Manipulators[J].TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,2005,13(1):122-130.
[26]Ibrahim Kaya,Nusret Tan,Derek P.Atherton.A simple procedure for improving performance of PID controllers[C].IEEE Conference on Control Applications,2003(03):882-885.
[27]Toru Yamamoto,Kenzo Fujii,Masahiro Kaneda.A Self-Tuning PID Controller and Its Applicationfor an Ethylene Cracking Furnace[J].IEEE,1996(2):275-281
[28]李刚,林凌,叶文宇.TMS320F206DSP结构、原理及应用[M].北京:北京航空航天大学出版社,2002.
[29]张雄伟,陈亮,徐光辉.DSP集成开发与应用实例[M].北京:电子工业出版社,2002.
[30]尹勇,欧光军,关荣锋.DSP集成开发环境CCS开发指南[M].北京:北京航空航天大学出版社,2003.5.
[31]夏爽.通过JTAG口对DSP外部Flash存储器的在线编程[J].单片机与嵌入 式系统应用,2003(8):31-33.
[32]尹冬元,杨玉星.TMS320F206在高精度电能计量系统中的应用与分析[J].元器件与应用,2000(1):29-31。
[33]王金亮,程丽萍.基于TMS320F206的电网数据处理板设计[J].国外电子元器件,2004(8):14-17.
[34]张雄伟.DSP芯片的原理与开发应用[M].北京:电子工业出版社,1997。
[35]任志考.用C语言进行DSP软件设计的优化方法[J].青岛科技大学学报,2003,24:102-104.
[36]胡金波,陈慧剑.DSP环境下C语言编程的优化实现[J].现代电子技术,2002(12):82-84.
[37]丁刚.在DSP的C编程中常量数据段的存储器分配[J].电子产品世界,2002(A):63-64.
[38]叶文字,谌雅琴,李刚.TMS320F206使用中的一些问题[J].单片机与嵌入式系统应用,2002(1):76-78。
[39]刘高平,顾伟康.TMS320系列DSP芯片用户程序加载方法的探讨[J].微处理机,1996(4):52-54.
[40]郭滨.基于两片TMS320F206芯片在遥测数据采集中的应用[J].电讯技术,2001(1):34-38.
[41]彭启宗,李玉柏.DSP技术[M].北京:电子科技大学出版社,1997.
[42]TMS320F206 DIGITAL SIGNAL PROCESSOR.TEXAS INSTRUMENTS.
[43]龚云飞,富历新.基于Matlab的永磁同步电机矢量控制系统仿真研究[J].微电机,2007,36(2):33-36
[44]张纯明,郭庆鼎.基于反馈线性化的交流直线永磁同步伺服电动机速度跟踪控制[J].电工技术学报,2003,13(03):5-9
[45]翟小飞,张俊洪,赵镜红.永磁同步直线电机的MATLAB仿真及其定位实验[J].船电技术,2006,27(04):6-9
[46]马东升.数字前馈和交流前馈系统[J].电子技术应用,1995(5):32-34.
[47]谢显之,刘新跃,于永昌.轴角编码粗精组合纠错算法的研究与应用[J].计量与测试技术,2001(3):6-8.
[48]吴虎成,张俊科.轴角编码器中的粗精组合与纠错技术实现[J].计算机工程与科学,1996,18(2):82-85.
[49]陈雁章.双通道旋转变压器的零位偏差[J].微电机,1994,27(4):46-48.
[50]黄科元,董恒,黄守道.旋转变压器在高速永磁同步电动机中的应用[J].微特电机,2008,36(2):10-12
[51]李年裕,吕强,李光升,谢永成.旋转变压器—数字转换器AD2S83在伺服系统中的应用[J].电子技术应用,2000,26(02):66-68
[52]殷云华,郑宾,郑浩鑫.一种基于Matlab的无刷直流电机控制系统建模仿真方法[J].系统仿真学报,2008,20(2):293-298
[53]Miller T J E.Brushless Permanent-Magnet and Reluctance Motor Drives[M].Oxford,New York:Clarendon Press,1989
[54]纪志成,沈艳霞,姜建国.基于Matlab无刷直流电机系统仿真建模的新方法[J]系统仿真学报,2003,15(12):1745-1749
[55]张文海,娄泽乾.多极旋转变压器测试中的一些问题探讨[J].微特电机,2000(5):45-47.
[56]苏红涛.“可编程阵列逻辑”(GAL)器件编程规律的研究[J].哈尔滨工业大学学报,1998,28(4):92-95.
[57]孟贵胥,李亚伯.通用阵列逻辑(GAL)的5种工作模式[J].大连理工大学学报,1996,36(6):732-735.
[58]刘君华,路灿.可编程器件在测控电路中的应用与设计[J].微电子学与计算机,1994(5):9-12.
[59]EUNTAI KIM,HEEJIN LEE,MIGNON PARK.Limit-Cycle Pre-diction of a Fuzzy Control System Based on Describing Function Method[J].IEEE Transactions on Fuzzy Systems,2000,8(1):11-22
[60]Nishikawa Y,Sannomiya N,Ohta T,et al.A method for auto-tuning of PID control parameters.Automatica,1984,20(2):321-332
[61]M.T.Soylemeza,N.Munrob,H.Bakic.Fast calculation of stabilizing PID controllers.Automatica.2003,39:121-126
[62]Leva A.PID auto-tuning algorithm based on relay feedback.Proc.IEE,PID,1996,140(4):328-333
[63]Voda A A,Landau L D.A method for the auto-calibration of PID controllers.Automatica,1995,31(1):41-53
[64]Astrom K J,Hang C C,Persson P,Ho W K.Towards intelligent PID control.Automatica,1992,28(1):1-9
[65]Jones A H,Porter B.Design of adaptive digital set-point tracking PID controllers incorporating recursive step response matrix identifiers for multivariable plant.IEEE Trans.Autom.Control,1987,AC-32:459-463
[66]Schei T S.A method for closed loop automatic tuning of PID controllers.Automatica,1992,28:587-591
[67]Chirattananon S,Gao Z.A Model for the Performance Evaluation of the Operation of Electric Arc Furnace Energy Conversion and Management,1996,37(2):161-166
[68]Bhargavab,Wilhelmmr.Arc Furnace Flicker Measurements and Control.IEEE Transactions on Power Delivery,1993,8(1):400-410
[69]Jordan A,Schol R,Maier-Hauff K.Presentation of a new magnetic field therapy system for the treatment of human solid tumors with magnetic fluid hyperthermia.J.Magn.Magn.Mater,2001,225:118-126
[70]李小虎,杜彦亭.基于补偿原理的I-PD算法对气动位置伺服系统的控制[J].机床与液压,2004(1):58-59.
[71]赵金,万淑芸.交流伺服系统的模糊滑模PD型位置控制器[J].微电机,2004,37(1):37-40.
[72]赵金,万淑芸.交流伺服系统的一种新型位置控制器[J].电气传动,2004(1):11-14.
[73]田保峡,苏宏业,褚健。基于状态估计的PID控制器整定方法研究[J].仪器仪表学报,2000,21(5):477-480.
[74]綦艳丽,郭庆鼎.一种非线性PID在伺服电机同步传动中的运用[J].沈阳工业大学学报,2004,26(1):60-63.
[75]朱尚明,卢荣德.在PID算法中采用数字滤波和动态补偿技术[J].自动化仪表,1999,20(2):11-13。
[76]陈传硕,田丽华.PID控制参数的整定方法[J]。长春邮电学院学报,1994,12(1):9-16。
[77]王士杰.常规PID调节系统的研究进展[J].中国纺织大学学报,1994,20(4):104-112.
[78]李皿,刘怀馨,胡宏霞,等.关于PID调节在自动控制时的参数整定[J].测控技术,1994,13(6):30-32.
[79]丁峰,屈明昌,林廷圻.交流位置伺服系统PID控制方法实现[J].电子机械工程,2003,19(1):52-54.
[80]何清华,曾益昆.基于模糊PID的液压同步控制[J].机械与电子,2001(1):13-15.