作者：林　静（1982-），女，广东茂名人，副教授，硕士，现就职于茂名职业技术学院，研究方向为信号处理与智能检测。

摘要：在伺服系统中，运用PID算法对系统进行参数的调节，使得系统能满足相应要求。将系统分为三部分进行分析，首先对系统进行分析方法的选择（满足最小相位系统条件），其次对伯德图以及相对裕量分析，最后进行相位裕量的分析，从而确定该系统的稳定性能情况。采用PID算法对原系统进行校正使系统的振荡次数(N)、最大超调量(σ)和调整时间(ts)减小，余差(ess)为零，性能达到最优。

关键词：PID算法；MATLAB；相对裕量；伯德图

Abstract: In the servo system, PID algorithm is used to adjust the parameters of the system, so that the system can meet the corresponding requirements required in the application. The system is divided into three parts for analysis. First, the analysis method of the system is selected to meet the minimum phase system condition. Secondly, the Bode diagram and relative margin analysis. Finally, the phase margin analysis is carried out to determine the stability of the system. PID algorithm is used to correct the original system to reduce the number of oscillations (N), the maximum overshoot (σ) and the adjustment time (ts) of the system, and the residual error (ess) is zero. The performance is optimal.

Key words: PID algorithm; MATLAB; Relative margin; Bode diagram

在线预览：PID控制算法在伺服系统性能优化的研究与实践

摘自《自动化博览》2020年10月刊