Design of Digital PID Controllers for Continuous-Time Plants with Integral Performance Criteria

以積分性能準則設計連續時間程序之數位PID控制器

張芳丕(Fang-Pi Chang) ； 黃奇(Chyi Hwang)

《Journal of the Chinese Institute of Chemical Engineers》 35卷6期 (2004/11) Pp. 683-696

https://doi.org/10.6967/JCICE.200411.0683

摘要

本文提出一個新的方法以設計最適數位PID控制器，此方法考慮了閉環路和在取樣間的行為。它是基於將受到單位步階擾動輸入的數位控制系統，使其誤差平方積分(ISE)的只分最小化。爲確保所設計數位控制器的全域最適性，使用微分演化演算法和一個計算ISE價值函數的可解析方法來做控制器參數的搜尋，而且，爲了獲得較好的參考點追蹤性能，我們導得最適設定點輸入加槿因子，並以兩個例子來說明所提出的數位控制器設計方法。

並列摘要

A new technique is presented in this paper for the optimal design of digital PID controllers with closed-loop and intersample behaviors taken into account. This method is based on minimizing the integral of the squared error (ISE) of the digital controlled system subject to a unitstep disturbance input. To ensure global optimality of the designed digital controller, a differential evolution algorithm is applied along with an analytic approach to evaluating the ISE cost functional in order to search for the controller parameters. Also, a formula is derived for obtaining the optimal set-point input weighting factors in order to achieve better reference tracking performance. To illustrate the proposed digital PID controller design technique, examples are provided.

並列關鍵字

Sampled-data control system ； Integral of squared error ； Digital PID controller