METHOD OF ADJUSTING PROPORTIONAL-INTEGRAL-DIFFERENTIAL CONTROLLER OF CLOSED DYNAMIC SYSTEM Russian patent published in 2020 - IPC G05B11/36 G05B19/408 

FIELD: ways of adjustment.

SUBSTANCE: in the method of adjusting the proportional-integral-differential controller of a closed dynamic system, the controller is connected in series with the control object, closing the system along the target coordinate, setting the controller coefficients equal to zero. Differential and proportional coefficients are adjusted and discontinuous test signals are set to the system. Transient function of the system is monitored and stable non-swelling oscillations are formed in it. Value of the proportional coefficient equal to the boundary value is fixed. Period of undamped oscillations is measured. Value of proportional and integral coefficient is determined. Their coefficients are defined. Transient function is controlled in the form of change in time of target coordinate of motion at action on system of intermittent test signal. Weight multipliers at proportional and integral coefficients are set in accordance with controller tuning for maximum speed.

EFFECT: higher stability of the system if the control object doubles integrating.

1 cl, 4 dwg