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基于模型的 PID 控制器调节

Simulink® 中 PID 增益的交互式调节

Simulink Control Design™ PID 调节工具可用于调节包含连续或离散 PID ControllerPID Controller (2DOF) Simulink 模块的单回路控制系统。要决定哪个 PID 调节工具适合您的应用,请参阅Choose a Control Design Approach

图形化工具

PID 调节器Tune PID controllers

模块

PID Controller连续时间或离散时间 PID 控制器
PID Controller (2DOF)连续时间或离散时间二自由度 PID 控制器
Discrete PID Controller离散时间或连续时间 PID 控制器
Discrete PID Controller (2DOF)离散时间或连续时间二自由度 PID 控制器

工具

Simulink 控制设计入门之旅免费、自定进度的交互式 Simulink Control Design 课程 (自 R2020b 起)

主题

PID 调节基础知识

备选被控对象模型

增益调度 PID 控制

二自由度 PID 控制器

疑难解答

Plant Cannot Be Linearized or Linearizes to Zero

Some Simulink blocks, such as those with sharp discontinuities, can produce poor linearization results. For example, when your model operates in a region away from the point of discontinuity, the linearization of the block is zero.

Cannot Find a Good Design in PID Tuner

If you cannot find a good design using PID Tuner, try a different PID controller type. If no PID controller is satisfactory, consider designing a more complex controller.

Simulated Response Does Not Match PID Tuner Response

When you run your Simulink model using the PID gains computed by PID Tuner, the simulation output can differ from the PID Tuner response plot.

Cannot Find Acceptable PID Design in Simulated Model

When you run your Simulink model using the PID gains computed by PID Tuner, the simulation output may not meet your design requirements.

Controller Performance Deteriorates When Switching Time Domains

If controller performance deteriorates when you discretize a tuned continuous-time PID controller, consider tuning a discrete-time controller directly.

When Tuning the PID Controller, the D Gain Has a Different Sign from the I Gain

When you use PID Tuner to design a controller, the resulting derivative gain can have a different sign from the integral gain. PID Tuner always returns a stable controller, even if one or more gains are negative.