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    • 9. 发明申请
    • Method For Designing PID Controller (as amended)
    • US20210124315A1
    • 2021-04-29
    • US16760341
    • 2018-12-28
    • Foshan University
    • Ying LUOWeijia ZHENG
    • G05B13/04G05B11/42G05B21/02G06F17/14
    • Disclosed is a method for designing a PID controller, having a control model C ⁡ ( s ) = K P ⁡ ( 1 + K I S λ + K D ⁢ S u ) , wherein KD=aKI, and u=bλ, a and b are proportional coefficients, the control model is reset as C ⁡ ( s ) = K P ⁡ ( 1 + K I S λ + aK I ⁢ S b ⁢ ⁢ λ ) , a transfer function of a controlled object in a control system is set as G ⁡ ( s ) = K s 3 + τ 1 ⁢ s 2 + τ 2 ⁢ s . The method comprises selecting a cut-off frequency ωc and a phase margin φm of the control system; obtaining values of the proportional coefficients a and b, according to an optimal proportion model of control model parameters of the fractional order PID controller, and according to the cut-off frequency ωc and the phase margin φm; calculating amplitude information and phase information of the transfer function at the cut-off frequency ωc; obtaining two equations related to an integral gain KI and a fractional order λ; solving the integral gain KI and the fractional order λ; solving a differential gain KD and a fractional order u; and calculating a proportional gain KP. According to the invention, by establishing a proportional relationship between the integral gain KI and the differential gain KD of the fractional order PID controller as well as a proportional relationship between the integral order λ and the differential order u, the freedom degree of parameters of the fractional order PID controller and consequently the difficulty in parameter setting are reduced.