Ajuste de controle PID: o diabo é tão assustador quanto é pintado? Parte 1. Sistema de circuito único



Este artigo abre uma série de artigos dedicados a maneiras automatizadas de ajustar controladores PID no ambiente Simulink. Hoje vamos descobrir como trabalhar com o aplicativo PID Tuner.



Introdução



-. , , .. , . , (, [1, 2]), (, [3, 4]), .



- Simulink, :



  • PID Tuner,
  • Response Optimizer,
  • Control System Tuner,
  • Frequency Response Based PID Tuner,
  • Closed-Loop PID Autotuner.


, , :



  • , U=24;
  • , R=4.8;
  • , L=0.0016;
  • , ce=0.066·/;
  • , J=2.5·1052.


:



  • , J=0.012;
  • , q=5.


, , , Simulink .





, .





Simulink .





( Electric actuator) ( Load) Simscape:



  • ,




  • .




:



  • , ( ),




  • ( V),




  • ( Ω).




- , W(s)=1. 150 / .









, :



  • , .. .
  • 150 , (24 ).


:



  • (Overshoot) 10%,
  • (Rise time) 0.8 ,
  • (Settling time) 2 .


, , , .





PID Tuner, PID Controller.





Tune…, Automated tuning. , (, , .), ( ).



( ), . :



  1. Output Saturation.
  2. Limit output, (Upper limit) (Lower limit) .
  3. .


, . : back-calculation clamping. . Anti-windup.



24 -24 Upper limit Lower limit , clamping .





, : .



, Apply, Main Tune…, PIDTuner.





: , .. , , . , Show Parameters, . : (Controller Parameters) (Performance and Robustness).



, .





, Show Parameters, PID Controller.



. ( ) .









, PID Tuner , . Response Optimizer.





  1. Handbook of PI and PID Controller Tuning Rules. Aidan O'Dwyer
  2. PID Control System Design and Automatic Tuning using MATLAB, Simulink. Wang L.
  3. - . ..
  4. -. . 1, 2. .



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