모델 기반 PID 제어기 조정

Simulink^®에서 PID 이득을 대화형 방식으로 조정

Simulink Control Design™의 PID 조정 툴을 사용하면 연속 또는 이산 PID Controller 블록 또는 PID Controller (2DOF) Simulink 블록을 포함하는 단일 루프 제어 시스템을 조정할 수 있습니다. 응용 분야에 가장 적합한 PID 조정 툴을 결정하려면 Choose a Control Design Approach 항목을 참조하십시오.

그래픽 툴

PID 조정기

PID 제어기 조정

블록

PID Controller	Continuous-time or discrete-time PID controller
PID Controller (2DOF)	Continuous-time or discrete-time two-degree-of-freedom PID controller
Discrete PID Controller	Discrete-time or continuous-time PID controller
Discrete PID Controller (2DOF)	Discrete-time or continuous-time two-degree-of-freedom PID controller

툴

Control Design Onramp with Simulink

대화형 방식의 무료 자기 주도형 Simulink Control Design 교육과정

도움말 항목

PID 조정 기본 사항

Choose a Control Design Approach
Simulink Control Design provides several approaches to tuning Simulink blocks, such as Transfer Fcn and PID Controller blocks.
Simulink의 모델 기반 PID 조정 소개

PID 조정기를 사용하여 PID Controller 블록 또는 PID Controller (2DOF) 블록이 포함된 Simulink 모델에서 PID 이득을 대화형 방식으로 조정할 수 있습니다.
Tune PID Controller to Favor Reference Tracking or Disturbance Rejection
Tune a PID controller to reduce overshoot in reference tracking or to improve rejection of a disturbance at the plant input.
Tune PID Controller Within Model Reference
When you open 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.

대체 플랜트 모델

다른 동작점에서 조정하기
기본적으로 PID 조정기는 Simulink 모델의 초기 조건에 의해 지정된 동작점에서 플랜트를 선형화하고 제어기를 설계합니다. 이 동작점은 제어기를 설계하려는 동작점과 다를 수도 있습니다.
Design PID Controller from Plant Frequency-Response Data

When your plant model does not linearize, one option is to design a PID controller based on simulated frequency-response data. Simulink Control Design gives you several ways to do so.
Interactively Estimate Plant from Measured or Simulated Response Data

For plants that do not linearize, if you have System Identification Toolbox™ software, PID Tuner lets you estimate the parameters of a linear plant model based on time-domain response data. You can then tune a PID controller for the resulting estimated model.

이득 스케줄링이 적용된 PID 제어

Design Family of PID Controllers for Multiple Operating Points
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.
Implement Gain-Scheduled PID Controllers
To implement gain-scheduled control using a family of PID controllers, create a lookup table that associates each plant operating point with the corresponding PID gains.

2자유도 PID 제어기

Design Two-Degree-of-Freedom PID Controllers
Tune PID Controller (2DOF) blocks to achieve both good setpoint tracking and good disturbance rejection.
Specify PI-D and I-PD Controllers
PI-D and I-PD controllers are used to mitigate the influence of changes in the reference signal on the control signal. These controllers are variants of the 2DOF PID controller.

문제 해결

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.