New PID Parameters Tuning Formulae for Relay Feedback Self-tuning

摘要

This paper presents the way to derive tuning formulae for PID parameters used to relay feedback self-tuning. The method is based on the parameter optimization technology of minimizing the IAE criteria and the technology of data fitting. A simulation example has demonstrated the validity of the new tuning formulae, and the comparison between the new tuning formulae and the ZN tuning formulae and the tuning formulae based on gain margin and phase margin illustrates the priority of the new tuning formulae.