School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore.
ISA Trans. 2011 Apr;50(2):268-76. doi: 10.1016/j.isatra.2011.01.001. Epub 2011 Feb 1.
In this paper, an analytical method is proposed for proportional-integral/proportional-derivative/proportional-integral-derivative (PI/PD/PID) controller tuning with specified gain and phase margins (GPMs) for integral plus time delay (IPTD) processes. Explicit formulas are also obtained for estimating the GPMs resulting from given PI/PD/PID controllers. The proposed method indicates a general form of the PID parameters and unifies a large number of existing rules as PI/PD/PID controller tuning with various GPM specifications. The GPMs realized by existing PID tuning rules are computed and documented as a reference for control engineers to tune the PID controllers.
本文提出了一种用于带有指定增益和相位裕度（GPM）的积分加时滞（IPTD）过程的比例-积分-微分（PI/PD/PID）控制器整定的解析方法。还获得了用于估计给定 PI/PD/PID 控制器产生的 GPM 的显式公式。所提出的方法表示 PID 参数的一般形式，并统一了大量现有的规则，作为具有各种 GPM 规格的 PI/PD/PID 控制器整定。计算并记录了现有 PID 整定规则实现的 GPM，作为控制工程师整定 PID 控制器的参考。
