Model-Based PID Controller Tuning
万博1manbetxSimulink Control Design™PID调整工具可让您调整包含连续或离散的单环控制系统PID Controller或者PID Controller (2DOF)Simulink blocks. To decide which PID tuning tool is right for your application, seeChoose a Control Design Approach.
Graphical Tools
| PID调谐器 | Tune PID controllers |
块
| PID Controller | 连续时间或离散时间PID控制器 |
| PID Controller (2DOF) | Continuous-time or discrete-time two-degree-of-freedom PID controller |
| Discrete PID Controller | 离散时间或连续时间PID控制器 |
| 离散PID控制器（2DOF） | 离散时间或连续时间两度自由度PID控制器 |
工具
| 控制设计Onramp with Simulink | Self-paced, interactive tutorial included with万博1manbetx控制设计执照 |
Topics
PID Tuning Basics
- Choose a Control Design Approach
万博1manbetxSimulink控制设计provides several approaches to tuning Simulink blocks, such asTransfer Fcn和PID Controller块。 - Simulink中基于模型的PID调整简介万博1manbetx
Use PID Tuner for interactive tuning of PID gains in a Simulink model containing aPID Controller或者PID Controller (2DOF)block.
- 调整PID控制器，偏爱参考跟踪或扰动拒绝
Tune a PID controller to reduce overshoot in reference tracking or to improve rejection of a disturbance at the plant input. - 模型参考中的调音PID控制器
When you open a PID Tuner from a controller block in a model that is referenced in one or more open models, specify the top-level model for linearization and tuning.
替代植物模型
- Tune at a Different Operating Point
By default, PID Tuner linearizes your plant and designs a controller at the operating point specified by the initial conditions in your Simulink model. Sometimes, this operating point differs from the operating point for which you want to design a controller. - 植物频率响应数据的设计PID控制器
When your plant model does not linearize, one option is to design a PID controller based on simulated frequency-response data.万博1manbetxSimulink控制设计gives you several ways to do so.
- 从测量或模拟响应数据中进行交互式估算工厂
对于不线性化的植物，如果您具有系统识别Toolbox™软件，则PID调谐器可让您估算基于时间域响应数据的线性植物模型的参数。然后，您可以为最终的估计模型调整PID控制器。
Gain-Scheduled PID Control
- 设计家族的PID控制器家族，用于多个操作点
If your nonlinear Simulink model operates over a wide range of operating conditions, you can design an array of PID controllers for multiple model operating points. - 实施增益制定的PID控制器
实现增益,scheduled control using a family of PID controllers, create a lookup table that associates each plant operating point with the corresponding PID gains.
Two-Degree-of-Freedom PID Controllers
- 设计两级PID控制器
TunePID Controller (2DOF)blocks to achieve both good setpoint tracking and good disturbance rejection. - 指定PI-D和I-PD控制器
PI-D和I-PD控制器用于减轻参考信号对控制信号的变化的影响。这些控制器是2DOF PID控制器的变体。
Troubleshooting
一些Sim万博1manbetxulink块，例如那些不连续的块，可能会产生差的线性化结果。例如，当您的模型在远离不连续点的区域中运行时，块的线性化为零。
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
当您使用PID调谐器计算的PID收益万博1manbetx运行Simulink模型时，模拟输出可能与PID调谐器响应图不同。
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 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.
Featured Examples
