【源码】应用于各类工业控制的通用PID调谐器仿真设计

本软件包旨在支持论文IEEE Access（De Keyser, Muresan and Ionescu）中的工作，介绍了一种用于工业应用中基本回路控制的直接通用（自动）调谐器。

This software package is meant as support for the work presented in paper IEEE Access (De Keyser, Muresan and Ionescu) and introduces a direct universal (automatic) tuner for basic loop control in industry applications. 

直接特征是指不需要第一手模型，如一阶阶跃响应、死区时间近似。

The direct feature refers to the fact that a first-hand model such as a step response first order plus dead time approximation is not required. 

相反，通过适用于工业应用的单次试验来识别频域中的一个点和相应的环路频率响应斜率。

Instead, a point in the frequency-domain and the corresponding slope of the loop frequency response is identified by single test suitable for industrial applications. 

该方法已被证明可以克服其他（自动）调谐方法中的缺陷，并已在模拟和实验条件下的各种常见和奇异过程中得到验证。

The proposed method has been shown to overcome pitfalls found in other (automatic) tuning methods and has been validated in a wide range of common and exotic processes in simulation and experimental conditions. 

该方法对噪声具有很强的鲁棒性，是实际工业应用的一个重要特点。

The method is very robust to noise, an important feature for real life industrial applications. 

控制结构是工业上最常用的结构，即比例积分微分（PID）型。

The control structure is the most commonly used in industry, i.e. proportional-integral-derivative (PID) type. 

由于微分作用的选择困难，在工业上往往不被采用，因此在该方法中，积分与微分增益之间存在直接关系。

As the derivative action is often not used in industry due to its difficult choice, in the proposed method we use a direct relation between the integral and derivative gains. 

这使得用户在调谐结构中具有微分作用的优点，因此大大提高了在实际控制应用中良好性能的潜力。

This enables the user to have in the tuning structure the advantages of the derivative action, therefore much improving the potential of good performance in real life control applications.

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