Li Yiming, Bi Jianyu, Han Wenjie, Tan Wen
School of Control & Computer Engineering, North China Electric Power University, Beijing, 102206, China.
ISA Trans. 2023 Sep;140:224-236. doi: 10.1016/j.isatra.2023.05.015. Epub 2023 May 27.
Tuning of PID/PIDD controllers are proposed in the paper for integrating processes with time delay via the state space pole placement method. The tuning formulas give the controller parameters in terms of a given maximum sensitivity. An observer-based PID structure is proposed to implement the ideal PID or PIDD controllers. The structure utilizes a model-independent observer to estimate the various order of the derivatives of the plant output, thus the sensitivity of the derivatives on the measurement noise can be reduced. Simulation results show that the tuning formulas can achieve good compromise among robustness, disturbance rejection, and noise attenuation for the integrating processes.
本文提出了通过状态空间极点配置方法对具有时滞的积分过程进行PID/PIDD控制器整定。整定公式根据给定的最大灵敏度给出控制器参数。提出了一种基于观测器的PID结构来实现理想的PID或PIDD控制器。该结构利用一个与模型无关的观测器来估计被控对象输出的各阶导数，从而可以降低导数对测量噪声的灵敏度。仿真结果表明，整定公式能够在积分过程的鲁棒性、干扰抑制和噪声衰减之间取得良好的折衷。
