In this article, we investigate the tuning problem of digital proportional-integral-derivative (PID) parameters for a dc motor controlled via the controller area network (CAN). First, the model of the dc motor is presented with its parameters being identified with experimental data. By studying the CAN network characteristics, we obtain the CAN-induced delays related to the load rate and the priorities. Then, considering the system model, the network properties, and the digital PID controller, the tuning problem of PID parameters for the CAN-based dc motor is transformed into a design problem of a static-output-feedback controller for a time-delayed system. To solve this problem, particle swarm optimization algorithm and linear-quadratic-regulator method are adopted by incorporating the sufficient condition of time-varying delay system. Finally, the effectiveness of the proposed PID tuning strategy is validated by experimental results.

中文翻译：

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使用粒子群优化算法对基于 CAN 的直流电机进行随机延迟调整的数字 PID 控制器


在本文中，我们研究了通过控制器局域网 (CAN) 控制的直流电机的数字比例积分微分 (PID) 参数的整定问题。首先建立了直流电机的模型，并根据实验数据确定了其参数。通过研究CAN网络特性，我们获得了与负​​载率和优先级相关的CAN引起的延迟。然后，考虑系统模型、网络特性和数字PID控制器，将基于CAN的直流电机PID参数整定问题转化为时滞系统静态输出反馈控制器的设计问题。为了解决这一问题，结合时变延迟系统的充分条件，采用粒子群优化算法和线性二次调节器方法。最后，通过实验结果验证了所提出的PID整定策略的有效性。