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题名: The analysis and synthesis of PID controller based on closed loop response characteristics
作者: Zhu ZQ(朱志强); He YQ(何玉庆); Qi JT(齐俊桐); Han JD(韩建达); Wang TR(王天然)
作者部门: 机器人学研究室
会议名称: 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012)
会议日期: December 11-14, 2012
会议地点: Guangzhou, China
会议主办者: IEEE Robotics and Automation Society
会议录: Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics
会议录出版者: IEEE
会议录出版地: New York, USA
出版日期: 2012
页码: 1930-1936
收录类别: EI
ISBN号: 978-1-4673-2125-9
摘要: In this paper, a new PID parameter tuning method is proposed. First, extensive analysis of the PID frequency properties is conducted. Based on the analysis results, the concept of characteristic frequency of the PID controller is proposed, which builds a relationship between the PID parameters and the oscillation characteristics of the closed loop response of the PID control system. This relationship makes it possible to adjust the PID parameters according to the oscillation characteristics of the closed loop response of the PID control system. Based on the characteristic frequency of the PID controller and the corresponding analysis results, three tuning rules of the PID parameters are proposed, which are based on the characteristics of the closed loop response. The merits of these tuning rules are: only the characteristics of the closed loop response of the control system are required in the tuning process, while the system model of the controlled object is not required. The effectiveness of these tuning rules is verified by the simulation results for several models of the controlled objects.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10218
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Zhu ZQ,He YQ,Qi JT,et al. The analysis and synthesis of PID controller based on closed loop response characteristics[C]. 见:2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012). Guangzhou, China. December 11-14, 2012.
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