非線性PID控制器研究——比例分量的非線性方法

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4、D05Vh>VZ(Dlnh>ABNPID-PCA7/:z(<“4&l”032PID>V6ZYl3!?TP273AStudyonNonlinearPIDControllers—ProportionalComponentApproachHUBao-Gang1,21(

5、InstituteofAutomation,ChineseAcademyofSciences,Beijing100080)2(BeijingGraduateSchool,ChineseAcademyofSciences,Beijing100039)(E-mail:hubg@nlpr.ia.ac.cn)AbstractInthispaper,anonlinearPIDcontrollerisstudiedbasedon“proportionalcomponentapproach”(called“NPID-PCA”).Wh

6、ilecompatiblewiththeconventionalPIDtechnique,thistypeofcontrollersimposesthreeindependentnonlinearfunctionsbetweentheproportionalforcesontheerrorsignalstosynthesizenonlinearPIDcontrollers.Duetoitssimplestcharacteristicsinnonlinearproportionalforces,theproposedco

7、ntrollerprovides′abettermeansfordesigningandtuningofcontrollersnonlinearity.Aspline-basedfunctionisadoptedtorealizethenonlinearfunctionswithagraphicalinterface.SeveralexamplesaregivenincomparisonwiththeotherexistingnonlinearPIDcontrollers.Simulationresultscon?rm

8、thesuperiorperformancesoftheproposedcontrollersforplantswithtimedelayordeadzone.ThetoolboxofNPID-PCAhasappearedtothepublicas“opensource”software.KeywordsPIDcontrol,nonlinearity,proportionalcomponentapproach,timedelay,deadzone1)o"8p">z(60275025)Ru

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10、gSupportedbyNationalNaturalScienceFoundationofP.R.China(60275025,60121302)T.(2004-8-16T(.(2005-12-1ReceivedAugust16,2004;inrevisedformDecember1,2005Copyrightc2006byEditorialO?ceofActaAutomaticaSinica.Allrightsreserved.220q

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