p控制器类型s for Tuning

控制系统工具箱™ PID tuning tools can tune many PID and 2-DOF PID controller types. The term控制器类型refers to which terms are present in the controller action. For example, a PI controller has only a proportional and an integral term, while a PIDF controller contains proportional, integrator, and filtered derivative terms. This topic summarizes the types of PID controllers available for tuning in the following tools:

pTunerapp
Tune PID Controllertask in the Live Editor
PidTune.命令

Specifying PID Controller Type

这ptuning tools let you design numerous controller types. How you specify controller type depends on which tool you are using.

命令行调整

For command-line tuning, provide thetypeargument to thePidTune.命令。For example,C = pidtune(G,'PI')调整工厂的PI控制器G。

或者，如果您将现有的控制器对象提供为输入参数C0,PidTune.调整相同类型和形式的新控制器。例如，假设C0is apcontroller object that has proportional and derivative action only (PD controller). Then,PidTune（G，C0）generates a newp控制器对象也仅具有比例和衍生操作。看PidTune.。

For more about the specific controller types available with command-line tuning, see:

pTuner App

在里面pTunerapp, you can specify a controller type when you open the app or change controller type within the app.

Specify type when opening the app- 提供typeargument to thepTuner命令when you openpTuner。For example,Pidtuner（g，'pidf2'）openspTunerwith an initial design that is a 2-DOF PID controller with a filter on the derivative term.
使用现有控制器对象指定类型- 提供baseline-controllerCbaseargument to thepTuner命令when you openpTuner。pTunerdesigns a controller of the same type asCbase。例如，假设C0is apcontroller object that has proportional and derivative action only (PD controller). Then,pTuner(G,C0)openspTuner具有初始设计，即PD控制器。
Specify controller type within the app— InpTuner, use the类型菜单更改控制器类型。

有关可用的特定控制器类型的更多信息pTunerapp:

Tune PID控制器实时编辑器任务

在里面Tune PID Controllertask in the Live Editor, you specify controller type using the自由程度和控制器类型menus.

有关可用的特定控制器类型的更多信息Tune PID Controllertask, see:

1-DOF Controllers

这following table summarizes the 1-DOF PID controller types available with all tools and provides representative controller formulas for parallel form. The standard-form and discrete-time formulas are analogous.

类型	Controller Actions	Continuous-Time Controller Formula (parallel form)	离散时间控制器公式（并行形式，转发器集成方法）
`P`	Proportional only	K_p	K_p
`I`	Integral only	$\frac{K_{i}}{s}$	$K_{i} \frac{T_{s}}{z - 1}$
`pi`	Proportional and integral	$K_{p} + \frac{K_{i}}{s}$	$K_{p} + K_{i} \frac{T_{s}}{z - 1}$
`PD`	Proportional and derivative	$K_{p} + K_{d} s$	$K_{p} + K_{d} \frac{z - 1}{T_{s}}$
`PDF`	Proportional and derivative with first-order filter on derivative term	$K_{p} + \frac{K_{d} s}{T_{f} s + 1}$	$K_{p} + K_{d} \frac{1}{T_{f} + \frac{T_{s}}{z - 1}}$
`p`	Proportional, integral, and derivative	$K_{p} + \frac{K_{i}}{s} + K_{d} s$	$K_{p} + K_{i} \frac{T_{s}}{z - 1} + K_{d} \frac{z - 1}{T_{s}}$
`pF`	Proportional, integral, and derivative with first-order filter on derivative term	$K_{p} + \frac{K_{i}}{s} + \frac{K_{d} s}{T_{f} s + 1}$	$K_{p} + K_{i} \frac{T_{s}}{z - 1} + K_{d} \frac{1}{T_{f} + \frac{T_{s}}{z - 1}}$

2-DOF控制器

这tuning tools can automatically design 2-DOF PID controller types with free setpoint weights. The following table summarizes the 2-DOF controller types available in all tools and provides representative controller formulas for parallel form. The standard-form formulas are analogous. For more information about 2-DOF PID controllers generally, seeTwo-Degree-of-Freedom PID Controllers。

类型	Controller Actions	Continuous-Time Controller Formula (parallel form)	离散时间控制器公式（并行形式，转发器集成方法）
`pi2`	2-DOF proportional and integral	$u = K_{p} (b r - y) + \frac{K_{i}}{s} (r - y)$	$u = K_{p} (b r - y) + K_{i} \frac{T_{s}}{z - 1} (r - y)$
`PD2`	2-DOF proportional and derivative	$u = K_{p} (b r - y) + K_{d} s (c r - y)$	$u = K_{p} (b r - y) + K_{d} \frac{z - 1}{T_{s}} (c r - y)$
`PDF2`	2-DOF proportional and derivative with first-order filter on derivative term	$u = K_{p} (b r - y) + K_{d} \frac{s}{T_{f} s + 1} (c r - y)$	$u = K_{p} (b r - y) + K_{d} \frac{1}{T_{f} + \frac{T_{s}}{z - 1}} (c r - y)$
`PID2`	2-DOF比例，积分和衍生物	$u = K_{p} (b r - y) + \frac{K_{i}}{s} (r - y) + K_{d} s (c r - y)$	$u = K_{p} (b r - y) + K_{i} \frac{T_{s}}{z - 1} (r - y) + K_{d} \frac{z - 1}{T_{s}} (c r - y)$
`PIDF2`	2-DOF比例，积分和衍生物，衍生项上的一阶滤波器	$u = K_{p} (b r - y) + \frac{K_{i}}{s} (r - y) + K_{d} \frac{s}{T_{f} s + 1} (c r - y)$	$u = K_{p} (b r - y) + K_{i} \frac{T_{s}}{z - 1} (r - y) + K_{d} \frac{1}{T_{f} + \frac{T_{s}}{z - 1}} (c r - y)$

2-DOF控制器with Fixed Setpoint Weights

利用PID控制，参考信号的步骤变化可能导致由比例和衍生术语所贡献的控制信号中的尖峰。通过修复2-DOF控制器的设定值，可以减轻对参考信号变化施加的控制信号的影响。例如，考虑输入之间的关系r(setpoint) andy（反馈）和输出u(control signal) of a continuous-time 2-DOF PID controller.

$u = K_{p} (b r - y) + \frac{K_{i}}{s} (r - y) + K_{d} s (c r - y)$

如果您设置b= 0 andc= 0, then changes in the setpointr不要直接以比例或衍生术语直接喂食u。这b= 0,c= 0控制器称为I-PD型控制器。I-PD控制器也可用于改善干扰抑制。

pTuner和PidTune.可以设计在下表中汇总的固定设定值控制类型。标准形式和离散时间公式是类似的。

类型	Controller Actions	Continuous-Time Controller Formula (parallel form)	离散时间控制器公式（并行形式，转发器集成方法）
`I-Pd.`	2-DOF PIDb= 0,c= 0	$u = - K_{p} y + \frac{K_{i}}{s} (r - y) - K_{d} s y$	$u = - K_{p} y + K_{i} \frac{T_{s}}{z - 1} (r - y) - K_{d} \frac{z - 1}{T_{s}} y$
`I-Pd.F`	2-DOF PIDF withb= 0,c= 0	$u = - K_{p} y + \frac{K_{i}}{s} (r - y) - K_{d} \frac{s}{T_{f} s + 1} y$	$u = - K_{p} y + K_{i} \frac{T_{s}}{z - 1} (r - y) - K_{d} \frac{1}{T_{f} + \frac{T_{s}}{z - 1}} y$
`ID-P`	2-DOF PIDb= 0,c= 1	$u = - K_{p} y + \frac{K_{i}}{s} (r - y) + K_{d} s (r - y)$	$u = - K_{p} y + K_{i} \frac{T_{s}}{z - 1} (r - y) + K_{d} \frac{z - 1}{T_{s}} (r - y)$
`IDF-P.`	2-DOF PIDF withb= 0,c= 1	$u = - K_{p} y + \frac{K_{i}}{s} (r - y) + K_{d} \frac{s}{T_{f} s + 1} (r - y)$	$u = - K_{p} y + K_{i} \frac{T_{s}}{z - 1} (r - y) + K_{d} \frac{1}{T_{f} + \frac{T_{s}}{z - 1}} (r - y)$
`pi-D`	2-DOF PIDb= 1,c= 0	$u = K_{p} (r - y) + \frac{K_{i}}{s} (r - y) - K_{d} s y$	$u = K_{p} (r - y) + K_{i} \frac{T_{s}}{z - 1} (r - y) - K_{d} \frac{z - 1}{T_{s}} y$
`pi-DF`	2-DOF PIDF withb= 1,c= 0	$u = K_{p} (r - y) + \frac{K_{i}}{s} (r - y) - K_{d} \frac{s}{T_{f} s + 1} y$	$u = K_{p} (r - y) + K_{i} \frac{T_{s}}{z - 1} (r - y) - K_{d} \frac{1}{T_{f} + \frac{T_{s}}{z - 1}} y$