Optimization method for optimal robust fractional order PI<lambda>D controller of time delay system

Abstract

The invention belongs to the related technical field of automatic control, and discloses an optimization method of an optimal robust fractional order PI<lambda>D controller of a time delay system. Themethod comprises the following steps: (a) constructing a closed-loop transfer function of a to-be-optimized control system; (b) obtaining a characteristic equation of the closed-loop transfer function relative to unknown parameters in the PI<lambda>D controller; and (c) constructing constraint conditions required to be met by a to-be-optimized first-order inertia delay control system, and determining a value range of an unknown parameter in the PI<lambda>D controller by utilizing the characteristic equation, and solving and obtaining a value of the unknown parameter in the PI<lambda>D controller according to the constraint condition and the value range so as to determine the PI<lambda>D controller, thereby realizing an optimization process. According to the invention, optimization of thePI<lambda>D controller is realized, and thus the control system has strong robustness and optimal dynamic performance.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and more specifically, relates to an optimal robust fractional order PI for a time-delay system λ Optimization methods for D controllers. Background technique [0002] The time-delay system is the most common type of system in industrial systems. The design of fractional-order controllers for this system is extremely important. Fractional-order PI λ The transfer function of the D controller: [0003] [0004] Among them, K p 、K i and K d They are proportional, differential and integral gains respectively, and λ is the integral order, and its range is: 0<λ<2. Compared with the classic PID controller, there is one more adjustable parameter, which can achieve better control performance, but Due to the large number of adjustable parameters, parameter tuning has certain difficulties. [0005] At present, the tuning of fractional order controllers is mainly divided into frequen...

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Problems solved by technology

[0004] Among them, K p 、K i and K d They are proportional, differential and integral gains respectively, and λ is the integral order, and its range is: 0<λ<2. Compared with the classic PID controller, there is one more adjustable parameter, which can achieve better control performance, but Due to more adjustable parameters, parameter tuning is difficult

[0005] At present, the tunin

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