迭代学习方法在PID控制器参数自动调节中的应用及收敛性分析

Application and Convergence Analysis of Iterative Learning Method for Parameters Auto-Tuning of PID Controllers

摘要:

针对PID控制器参数在具有不确定项或输出干扰项的非线性时变系统中的调节困难,提出了应用迭代学习方法整定PID控制器参数的方法,利用系统的跟踪误差信息自动整定控制器参数,通过理论分析得到此设计方法收敛的充分条件。此方法设计简单且具有普遍性,仿真结果验证了此设计方法的有效性。

Abstract:

For the automatic tuning of PID controllers, a new method based on iterative learning algorithm was proposed for a class of nonlinear time-varying systems with uncertainty and disturbance. The method used the tracking error to auto-tune the parameters of PID controllers. The sufficient condition for the convergence of the proposed method was given. Moreover, the method is simple and universal. Simulation results show at the validity of the proposed method.