论文标题
参数空间中的多目标数字PID控制器设计
Multi-Objective Digital PID Controller Design in Parameter Space
论文作者
论文摘要
本文使用可靠控制的参数空间方法提出了一种多目标数字PID控制器设计方法。首先通过找到与单位圆内的闭环电线相对应的数字PID控制器增益参数空间来治疗绝对稳定性。相位边缘，增益边缘和混合灵敏度结合被视为频域约束。提出了满足这些约束的数字PID控制器参数空间区域的确定。所有这些区域都叠加以获得多目标数字PID控制器增益参数空间解决方案区域。自动驾驶车辆的跟随控制器设计的路径被用作说明该方法的示例。
This paper presents a multi-objective digital PID controller design method using the parameter space approach of robust control. Absolute stability is treated first by finding the digital PID controller gain parameter space corresponding to closed loop poles being inside the unit circle. Phase margin, gain margin and a mixed sensitivity bound are treated as frequency domain constraints. Determination of digital PID controller parameter space regions satisfying these constraints is presented. All of these regions are superimposed to obtain a multi-objective digital PID controller gain parameter space solution region. The path following controller design of an automated driving vehicle is used as an example to illustrate the method.
