Relay feedback tuning of robust PID controllers with iso-damping property

被引:118
作者
Chen, YQ [1 ]
Moore, KL [1 ]
机构
[1] Utah State Univ, Coll Engn, CSOIS, Dept Elect & Comp Engn, Logan, UT 84322 USA
来源
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS | 2005年 / 35卷 / 01期
关键词
Bode's integral; flat phase condition; iso-damping property; proportional-integral-derivative (PID) controller; PID tuning; relay feedback test;
D O I
10.1109/TSMCB.2004.837950
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
A new tuning method for proportional-integral-derivative (PID) controller design is proposed for a class of unknown, stable, and minimum phase plants. We are able to design a PID controller to ensure that the phase Bode plot is flat, i.e., the phase derivative w.r.t. the frequency is zero, at a given frequency called the "tangent frequency" so that the closed-loop system is robust to gain variations and the step responses exhibit an iso-damping property. At the "tangent frequency," the Nyquist curve tangentially touches the sensitivity circle. Several relay feedback tests are used to identify the plant gain and phase at the tangent frequency in an iterative way. The identified plant gain and phase at the desired tangent frequency are used to estimate the derivatives of amplitude and phase of the plant with respect to frequency at the same frequency point by Bode's integral relationship. Then these derivatives are used to design a PID controller for slope adjustment of the Nyquist plot to achieve the robustness of the system to gain variations. No plant model is assumed during the PID controller design. Only several relay tests are needed. Simulation examples illustrate the effectiveness and the simplicity of the proposed method for robust PID controller design with an iso-damping property.
引用
收藏
页码:23 / 31
页数:9
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