Abstract
Most of the existing PID parameters tuning methods are only effective with pre-known accurate system models, which often require some strict identification experiments and thus infeasible for many complicated systems. Actually, in most practical engineering applications, it is desirable for the PID tuning scheme to be directly based on the input-output response of the closed-loop system. Thus, a new parameter tuning scheme for PID controllers without explicit mathematical model is developed in this paper. The paper begins with a new frequency domain properties analysis of the PID controller. After that, the definition of characteristic frequency for the PID controller is given in order to study the mathematical relationship between the PID parameters and the open-loop frequency properties of the controlled system. Then, the concepts of M-field and θ-field are introduced, which are then used to explain how the PID control parameters influence the closed-loop frequency-magnitude property and its time responses. Subsequently, the new PID parameter tuning scheme, i.e., a group of tuning rules, is proposed based on the preceding analysis. Finally, both simulations and experiments are conducted, and the results verify the feasibility and validity of the proposed methods. This research proposes a PID parameter tuning method based on outputs of the closed loop system.
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Supported by National Natural Science Foundation of China (Grant Nos. 61473282, 61203340, 61305120)
HAN Jianda, born in 1968, is currently a professor at State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences. His research interests include intelligent systems and robotics.
ZHU Zhiqiang, born in 1986, is currently a PhD candidate at State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences. His research interests include mechatronic systems design and vibration attenuating control.
JIANG Ziya, born in 1988, is currently a PhD candidate at State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences. His research interests include nonlinear estimation and control of mobile robots.
HE Yuqing, born in 1980, is currently a professor at State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences. His research interests include nonlinear systems and advanced control strategies.
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Han, J., Zhu, Z., Jiang, Z. et al. Simple PID parameter tuning method based on outputs of the closed loop system. Chin. J. Mech. Eng. 29, 465–474 (2016). https://doi.org/10.3901/CJME.2016.0325.038
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DOI: https://doi.org/10.3901/CJME.2016.0325.038