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针对PID控制系统固有的单自由度控制方式的弊病,讨论了其参数优化模式之间矛盾产生的机理,并结合水轮机调节系统参数寻优的仿真试验,提出了首先通过给定值跟随优化模式确定Kp参数,再通过扰动抑制优化模式确定Ki、Kd参数的二步参数寻优法。仿真结果证明该方法可以很好地缓解控制系统稳定性与抗负荷扰动能力的矛盾,对于兼顾给定值跟随和扰动抑制这两个控制目标,是可行和有效的。
Aiming at the shortcomings of PID control system inherent in single-degree-of-freedom control, this paper discusses the mechanism of its contradiction between parameter optimization modes. Combined with the optimization of turbine control system parameters simulation, Kp parameters, and then through the disturbance suppression optimization model to determine Ki, Kd parameters of the two-step parameter optimization method. The simulation results show that this method can effectively alleviate the contradiction between the stability of control system and anti-load disturbance ability, and it is feasible and effective to take into account the two control objectives: setpoint follow-up and disturbance rejection.