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The analysis and synthesis of PID controller based on closed loop response characteristics
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
会议录名称Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics
出版者IEEE Computer Society
出版地Washington, DC, USA
2012
页码1930-1936
收录类别EI ; CPCI(ISTP)
EI收录号20131716244089
WOS记录号WOS:000321004000324
产权排序1
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
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10218
专题机器人学研究室
通讯作者Zhu ZQ(朱志强)
作者单位1.Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
推荐引用方式
GB/T 7714
Zhu ZQ,He YQ,Qi JT,et al. The analysis and synthesis of PID controller based on closed loop response characteristics[C]//IEEE Robotics and Automation Society. Washington, DC, USA:IEEE Computer Society,2012:1930-1936.
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