期刊名称：Vojnotehnicki glasnik / Military Technical Courier
印刷版ISSN：0042-8469
电子版ISSN：2217-4753
出版年度：2013
卷号：61
期号：1
页码：7-20
语种：
出版社：Ministry of defence of the Republic of Serbia: University of defence in Belgrade
摘要：A new model Gm(s), defined by four measurable parameters (ultimate gain, ultimate frequency, amplitude of ultimate oscillation and dead time,) is obtained from the tangent to the Nyquist curve at the critical point. This model represents the generalization of the Ziegler-Nichols process dynamics characterization method for a large class of stable, integrating and unstable processes Gp(s). In the present paper, by applying the time and amplitude scaling technique to the model Gm(s), new tuning formulae are developed for the PI controller. These tuning formulae guarantee almost optimal performance/robustness tradeoff for a large class of processes with integral action.
