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本文介绍一种基于极点配置自校正 PID调节器,这种调节器的控制算法结构是采用不完全微分型 PID 算法,其设计的基本思想是通过系统辩识来估计被控过程对象的模型参数,然后将闭环系统校正为期望特性。一、调节器和过程的模型PI 调节器的 Z 传递函数为D_1(z~(-1))=g_0+g_1z~(-1)/1-z~(-1) (1)其中 g_0和 g_1是 PI 调节器参数。不完全微分型 PID 调节器的 Z 传递函数为
This paper presents a pole based on the self-tuning PID regulator configuration, the regulator control algorithm structure is the use of incomplete differential PID algorithm, the basic idea of its design is to identify the system through the process of object-controlled model parameters, The closed-loop system is then corrected for the desired characteristics. First, the regulator and process model PI regulator Z transfer function for the D_1 (z ~ -1) = g_0 + g_1z ~ (-1) / 1-z ~ (-1) where g_0 and g_1 Is the PI regulator parameter. The Z differential transfer function of the derivative PID controller is