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Simple PID Parameter Tuning Method Based on Outputs of the Closed Loop System
Han JD(韩建达); Zhu ZQ(朱志强); Jiang ZY(江紫亚); He YQ(何玉庆)
Department机器人学研究室
Source PublicationCHINESE JOURNAL OF MECHANICAL ENGINEERING
ISSN1000-9345
2016
Volume29Issue:3Pages:465-474
Indexed BySCI ; EI ; CSCD
EI Accession number20162202452629
WOS IDWOS:000375513300003
CSCD IDCSCD:5702162
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China [61473282, 61203340, 61305120]
KeywordPid Control Characteristic Frequency Step Response Frequency Property
AbstractMost of the existing PID parameters tuning methods are only effective with pre-known accurate system models, which often require some strict identification experiments and thus infeasible for many complicated systems. Actually, in most practical engineering applications, it is desirable for the PID tuning scheme to be directly based on the input-output response of the closed-loop system. Thus, a new parameter tuning scheme for PID controllers without explicit mathematical model is developed in this paper. The paper begins with a new frequency domain properties analysis of the PID controller. After that, the definition of characteristic frequency for the PID controller is given in order to study the mathematical relationship between the PID parameters and the open-loop frequency properties of the controlled system. Then, the concepts of M-field and theta-field are introduced, which are then used to explain how the PID control parameters influence the closed-loop frequency-magnitude property and its time responses. Subsequently, the new PID parameter tuning scheme, i.e., a group of tuning rules, is proposed based on the preceding analysis. Finally, both simulations and experiments are conducted, and the results verify the feasibility and validity of the proposed methods. This research proposes a PID parameter tuning method based on outputs of the closed loop system.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectEngineering, Mechanical
WOS KeywordSTEP RESPONSE ; CONTROLLERS
WOS Research AreaEngineering
Citation statistics
Cited Times:6[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/18658
Collection机器人学研究室
Corresponding AuthorHe YQ(何玉庆)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Han JD,Zhu ZQ,Jiang ZY,et al. Simple PID Parameter Tuning Method Based on Outputs of the Closed Loop System[J]. CHINESE JOURNAL OF MECHANICAL ENGINEERING,2016,29(3):465-474.
APA Han JD,Zhu ZQ,Jiang ZY,&He YQ.(2016).Simple PID Parameter Tuning Method Based on Outputs of the Closed Loop System.CHINESE JOURNAL OF MECHANICAL ENGINEERING,29(3),465-474.
MLA Han JD,et al."Simple PID Parameter Tuning Method Based on Outputs of the Closed Loop System".CHINESE JOURNAL OF MECHANICAL ENGINEERING 29.3(2016):465-474.
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