基于内模控制器的PID参数整定

摘要

参考单输入单输出（SISO）系统内模控制器的设计方法，设计针对一阶时滞和二阶时滞过程的内部控制器。时滞部分采用一阶Pade近似方法，按麦克劳林展开和同次项系数相等的方法分别整定PID控制器的参数。选取模型进行仿真，结果证明：两种方法都能取得良好控制效果，但是同次项系数相等的方法稍微优于麦克劳林展开法。%Reference to the method of designing internal mode controller in the single-input-single-output (SISO) system,a internal controller was designed for ifrst-order and second-order Delay Process. The ifrst order Pade approximation replaces the delay part,taking vantage of the method of expansion by McLaughlin and same coefifcient equaling to determine the parameters of PID controller respectively. Select the model to simulate and it turns out that both methods achieve good control effect,but McLaughlin expansion method is slightly better than the same coefifcient method.