摘要
根据 L QR指标 ,结合最小最大原理 ,使用改进遗传算法作为优化搜索算法 ,提出一种新的鲁棒 PID参数整定方法 .该方法有三个优点 :首先能通过选取衰减系数和自然频率来获取期望的闭环特性 ,并获取近似的 L QR权矩阵 ;其次为 PID控制器增加了一定程度的预测性能 ,最后用本方法设计的控制器对模型误差和外部干扰都表现出一定的鲁棒性 .仿真实例证实了该方法的有效性 .
A new method for tuning Robust PID parameters, was developed based on the LQR criterion. Combining the Mini max theory and applying a meliorated genetic algorithm in optimal search, this method has three benefits. Firstly, it can help to achieve the expected closed loop performance characteristics and create a proximate LQR weight matrix, via choosing proper damping ratio and natural frequency. Secondly, it improves to certain extent the predictability of a PID controller. Finally, controllers utilizing this method have shown good robustness in its performance against introduced model errors and outside disturbances.The validity of this method is verified with simulation examples.
出处
《浙江大学学报（工学版）》
EI
CAS
CSCD
北大核心
2002年第5期486-489,共4页
Journal of Zhejiang University：Engineering Science
