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本文采用衰减频率特性法,整定串级控制系统的主、副调节器参数.整定准则是:在副回路单独工作时,在阶跃干扰作用下,副参数的响应在满足规定衰减比的同时,其误差积分为极小;同理,在主、副回路均投入工作后,则在主回路阶跃干扰作用下,主参数的响应亦应在满足规定衰减比的同时,其误差积分达最小.这里我们简单地采用误差积分(∫_(t2)~(t2)edt),而不是其它诸如ISE、IAE、ITAE等准则,是为了这个准则能根据调节器参数PI/100达极小值来直接计算.在保持衰减比一定的条件下,使误差积分最小,其效果与IAE准则基本相同.
In this paper, the method of decay frequency is used to set the parameters of the main and auxiliary regulators of the cascaded control system.The setting criteria are as follows: When the secondary circuit is working alone, under the step disturbance, the response of the secondary parameter satisfies the specified attenuation ratio, Similarly, after the main circuit and the secondary circuit are all put into operation, the main parameter response should meet the specified attenuation ratio at the same time with the step-by-step interference of the main circuit. At the same time, the error integral is minimized. Here we simply use the error integral (∫_ (t2) ~ (t2) edt) instead of other criteria such as ISE, IAE, ITAE, so that this criterion can be directly adjusted to the minimum according to the regulator parameter PI / 100 The result is that the error integral is the minimum under the condition of keeping the attenuation ratio constant, and its effect is basically the same as IAE criterion.