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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)
Department机器人学研究室
Conference Name2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012)
Conference DateDecember 11-14, 2012
Conference PlaceGuangzhou, China
Author of SourceIEEE Robotics and Automation Society
Source PublicationProceedings of the 2012 IEEE International Conference on Robotics and Biomimetics
PublisherIEEE Computer Society
Publication PlaceWashington, DC, USA
2012
Pages1930-1936
Indexed ByEI ; CPCI(ISTP)
EI Accession number20131716244089
WOS IDWOS:000321004000324
Contribution Rank1
ISBN978-1-4673-2125-9
AbstractIn 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10218
Collection机器人学研究室
Corresponding AuthorZhu ZQ(朱志强)
Affiliation1.Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
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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