The Probability Distribution Of PID Parameter Tuning Based On ITAE

The PID controller is by setting the PID parameter Kp, Ti and Td to adjust the whole control system. Based on the simple algorithm, high reliability, good robustness and other characteristics, PID controller is widely used in industrial control field, and the PID control technology is used in most of the control loop. To get satisfactory control effect,the key is to set the PID optimal controller parameters, many domestic and foreign scholars on how to find the optimal parameters of PID controller proposed many methods.but it is some limitations with just get a set of PID parameters, so people began to research how to get the parameters of PID controller stability domain, namely in the limited scope to adjust PID parameters, system control effect is satisfactory.In the process of teaching and training on the field of automatic control, in order to make learning more objective and more comprehensive, only the best control effect is often not enough, sometimes need to get a different control effects were observed and analyzed. In order to improve learning efficiency, shorten the time of trial and error,this paper is based on the ITAE performance index as the objective function, the optimal function to the values obtained for reference, on the effect of control system of the classification of grades, the level of division with the fuzziness of the "best", "good", "bad" and "worst" four concepts are distinguished. In addition, this paper will get several sets of PID parameters in the divided value level, realizes its portfolio can equal probability distribution in different control effects of grade.Continuous system transfer function and application in continuous system PID control algorithm can not meet the work requirements of digital control system, so it has been discretized. In addition, the classification is based on the optimal objective function value as the benchmark, then, using the genetic algorithm, with the ITAE performance index as the objective function for the optimization of PID controller parameters, and obtains the optimal PID parameters and the optimal value of the objective function. Then, determine the grade classification rules, set the PID parameters Kp, Ti, Td of the enumeration range, the objective function values obtained in J(ITAE) were classified according to the rules of formula. Overlapping area in the region of the level of PID parameters, the choice after combination can averagedistribution of PID parameters.Using the experimental device of DIP switchs to control the selection of PID parameters, in order to observe the selection of parameters can realize the equal probability distribution, using Matlab GUI toolkit to make the user interface for control the visualization of the result. This paper of PID parameter setting method and the division of work is helpful to the teaching and training work.