Simple PID Parameter Tuning Method Based on Outputs of the Closed Loop System

作     者：HAN Jianda ZHU Zhiqiang JIANG Ziya HE Yuqing 

作者机构：State Key Laboratory of RoboticsShenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China University of Chinese Academy of SciencesBeijing 100049China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2016年第29卷第3期

页      面：465-474页

核心收录：

学科分类：01[哲学] 0101[哲学-哲学] 010104[哲学-逻辑学] 07[理学] 08[工学] 070104[理学-应用数学] 0835[工学-软件工程] 0802[工学-机械工程] 0701[理学-数学] 080201[工学-机械制造及其自动化] 

基　　金：Supported by National Natural Science Foundation of China(Grant Nos.61473282 61203340 61305120) 

主　　题：PID control characteristic frequency step response frequency property 

摘      要：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.