摘要
针对电液位置伺服系统存在的参数不确定性的特性,提出了一种利用灵敏度函数来确定鲁棒PID控制器参数的整定方法。这种方法通过对系统开环传递函数奈奎斯特曲线与临界稳定点(-1,j0)点之间距离最大化,来确定各个PID参数。与基于幅值与相角裕度确定的PID控制器进行比较,仿真结果显示,使用灵敏度函数整定出的鲁棒PID控制器,在输入阶跃响应时,控制系统有良好的动态响应性能和鲁棒稳定性能。
The method to adjust robust PID controller was discussed, which was based on the sensitivity function about the electro-hydraulic position servo system with the features of the uncertainties of the parameters. This method determined the parameters of the PID controller through maximizing the distance between the Nyquist curve of the open-looped transfer function and the critical stability point （ -1 ,j0） , and then compared with the PID controller based on the amplitude margin and phase margin. Simulation results showed that the robust-PID controller based on the sensitivity function had a good dynamic response performance and a robust steady-state performance when inputting into the step response.
出处
《太原科技大学学报》
2011年第2期81-84,共4页
Journal of Taiyuan University of Science and Technology
基金
山西省教育厅研究生优秀创新项目(20093104)
关键词
电液位置伺服系统
PID控制器
灵敏度
鲁棒性
electro-hydraulic position servo system, PID controller, sensitivity, robustness
