전자공학회논문지S (Journal of the Korean Institute of Telematics and Electronics S)
- 제34S권7호
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- Pages.66-77
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- 1997
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- 1226-5837(pISSN)
다변수 자기동조 PID 제어기의 설계
Design of multivariable self tuning PID controllers
초록
This paper presents an automatic tuning method for parameters of a multivaiable self-tuning velocity-type PID controller which adapts to changes in the system parameters with time delays and noises. The velocity-type PID control structure is determined in the process of minimizing the variance of the auxiliarly output, and self-tuning effect is achieved through the recursive least square algorithm at the parameter estimation stage and also through the Robbins-Monro algorithm at the stage of optiminzing the design parameters of the controller. The proposed PID type multivariable self-tuning method is simple andeffective compared with other esisting multivariable self-tuning methods. Computer simulation has shown that the proposed algorithm is beter than the trial-and-error method in the tracking performance.
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