关键词: PID控制器, 自整定, 积分过程, 鲁棒性

Abstract: Abstract: A PID auto-tuning method based robust specification for integrating processes with time delay was proposed using two feedback loop design technique. A robust specification was proposed in this paper. An internal feedback loop was added and the integrating process was converted into a generalized stable process for the proportional controller in the feedback loop. So the common PID autotuning method can be used to tune the integrating process. With the proposed PID tuning method and the defined robust specification, the controller can overcome the structural limitation of a typical PID controller for integrating processes, and guarantee both robustness and performance. Simulation examples were given to show the superior performance of the proposed tuning method against other methods.

Key words: PID controller, auto-tuning, integrating processes, robustness