对于低阶时滞过程,提出一种鲁棒性和积分性能较为折中的优化准则,通过全空间搜索法获得PID参数设计.该方法首先将PID参数转化为关于极点a、频率ω(一阶)或阻尼比ξ、频率ω(二阶)的二元函数,然后将偏差积分性能指标和鲁棒性指标加权后的乘积构建为综合指标,并设定合适的鲁棒性指标加权系数.最后,利用二重循环搜索最优指标下的自变量,根据函数关系得到PID参数.仿真表明,该方法原理简单,且系统积分性能和鲁棒性更为折中.%For low-order time-delay process,the compromised optimization criterion between robustness and integral performance for obtaining PID parameters through the whole space searching method is proposed.With this method,firstly the PID parameters are transformod into binary function of pole a,frequency ω (first order) or damping factor ξ,frequency ω (second order) ; then the comprehensive index that the product of deviation integral performance index and the weighted robustness index is constructed and appropriate weighted coefficient of robustness index is set; finally by adopting doublet circulant,the independent variable under optimal index is searched,and the PID perameters are obtained in accordance with the functional relation.The simulation shows that the principle of this method is simple,and the system integral performance and the robustness are more compremise.
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