CAJ | 학술논문

为了提高前置预滤波器的滤波性能，同时降低前置预滤波器的设计难度，提出了一种应用于搭建2自由度PID（proportional-integral-derivative）控制系统的前置预滤波器设计方法。首先提出了系统响应信号的分量信号的概念，然后基于最小二乘法，推导出一种改善系统响应输出特性的前置预滤波器的设计方法。所设计的前置预滤波器具有PID的简单形式，能够方便地应用于搭建2自由度PID控制系统。所述设计方法的主要优点在于：无需系统辨识，整个设计过程只需要系统的响应输出信号；所设计出的前置预滤波器能有效减小2自由度PID控制系统在阶跃响应中的震荡，且能使系统的响应速度与给定的参考模型的响应速度一致。通过针对典型PID控制系统的前置预滤波器的仿真设计，给出了基于响应输出信号前置预滤波器的设计过程。对所设计的前置预滤波器的滤波效果进行了仿真验证，仿真结果证明了上述优良特性。
위료제고전치예려파기적려파성능，동시강저전치예려파기적설계난도，제출료일충응용우탑건2자유도PID（proportional-integral-derivative）공제계통적전치예려파기설계방법。수선제출료계통향응신호적분량신호적개념，연후기우최소이승법，추도출일충개선계통향응수출특성적전치예려파기적설계방법。소설계적전치예려파기구유PID적간단형식，능구방편지응용우탑건2자유도PID공제계통。소술설계방법적주요우점재우：무수계통변식，정개설계과정지수요계통적향응수출신호；소설계출적전치예려파기능유효감소2자유도PID공제계통재계약향응중적진탕，차능사계통적향응속도여급정적삼고모형적향응속도일치。통과침대전형PID공제계통적전치예려파기적방진설계，급출료기우향응수출신호전치예려파기적설계과정。대소설계적전치예려파기적려파효과진행료방진험증，방진결과증명료상술우량특성。
To enhance filtering effectiveness and to reduce design complexity,we propose a pre-filter design that can be incorporated into 2-DOF PID control systems.During the design process,the component system re-sponse output is analyzed and then,based on the least squares method,a pre-filter method for enhancing the system response property is devised.The resultant pre-filter has a simple PID form and is convenient for use in 2-DOF PID control system construction.There are several significant advantages to the proposed design:system identification is not needed,the whole design process only requires system output signals,the designed pre-filter can effectively eliminate the vibration of the system output of 2-DOF PID control system in step re-sponse,and the response speed of the designed system is consistent with that of the pre-set reference model. Through simulation of the design of the pre-filter for a typical PID control system,we obtain the response out-put signal based on the pre-filter design process.The filtering effectiveness is then tested by simulation and the results prove the pre-filter′s effectiveness.