| 摘要 |
PURPOSE: A gain determining apparatus and method thereof of a PID controller is provided to suitably set a gain value of a PID controller and apply to a system requiring a response characteristics by quickly searching a target solution. CONSTITUTION: A process(S101) determines a population comprised of a plurality of parents(X11,...X1m) corresponding to random PID gain value. The process(S102) calculates a suitability function9((X11,...X1m)) of each parent. The process(S103) grants a ranking and regional temperature(T11,...T1mo) different each other according to the calculated suitability function(f(X11,...X1m)). The process(S104) creates a posterity(X11o,...X1mo) of each parent by using random numbers generated from a random numbers generators. The process(S105) calculates a suitability function of the created posterity(f(X11o,...X1mo)). The process(S106) determines parents of next generation(X21,...X2m) by comparing the suitability function of the parents to the suitability function of the posterity. The process(S107) repeats the S101 and S106 and searches a target solution corresponding to a PID gain value.
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