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| 摘要: |
| 在实际系统中大量存在的常见非线性对系统的性能会造成很坏的影响。主要研究不带常见非线性和带有常见非线性被控对象，在比例、积分、微分PID(Proportional Integration Differential)控制系统的参数变化规律。选取4种最常见的非线性(饱和、死区、间隙、摩擦)采用经验公式法加手动调节进行Matlab仿真。仿真说明，PID的控制效果好；在加有非线性与未加非线性的PID控制器中，PID参数起主要作用的是比例积分调节，微分控制只改善了系统的响应速度。 |
| 关键词: PID调节器 参数整定 常见非线性 |
| DOI： |
| 分类号:TM743 |
| 基金项目: |
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| Tuning of PID controller parameters for system with common nonlinearity |
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XING Qing-qing HAO Ji-fei BAI Wen-bao
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| Abstract: |
| Common nonlinearities existed in real systems usually bad effect on system performances. The tuning rules of PID ( Proportional Integration Differential) controller parameters are studied for the controlled object with and without common nonlinearity. Four common nonlinearities are considered:saturation ,dead zone, backlash and friction. Experiential formula together with manual tuning is applied in Mat-lab simulation. Results show the effectiveness of PID control. The comparison of PID parameters for systems with and without common nonlinearities show that, the proportional and integral coefficients make main contribution, while the differential coefficient just improves the system response speed. |
| Key words: PID controller,parameter tuning,common nonlinearity |
