基于遗传算法的PID参数寻优

摘要

An optimal tuning method of PID controller based on specified gain margin and phase margin is proposed in this paper. The stability domain of controller parameters that satisfy the specified gain margin and phase margin is solved by applying a modified D-partition algorithm. The optimal PID parameter was searched by applying a modified genetic algorithm in the stability domain. The optimization objective function is defined as the reciprocal of the integration of system absolute error. Individuals that can＇t meet the specified gain margin and phase margin was replaced compulsorily by other immigrant individuals, which improved the processing speed of the genetic algorithm. Simulation results demonstrate that, the proposed tuning method ensures that the closed-loop system has strong robustness performance.%采用基于幅值裕度和相位裕度的PID参数最优整定方法。通过改进的D分割法计算满足给定幅值裕度和相位裕度的控制器参数稳定域。在该区域中,通过改进的遗传算法搜索最优的PID参数值。定义寻优目标函数为系统误差绝对值积分的倒数,遗传算法中用强迫迁徙来的个体取代不满足稳定裕度条件的个体,提高了遗传算法的处理速度。仿真结果显示,该整定方法能保证闭环系统具有良好的鲁棒性。