Digital PID control method

Abstract

The invention provides a numeral PID controlling method. After scaling, differentiation, and integration are applied to signals collected, the signals are superposed, wherein, the differentiated signals are low-pass filtered and then superposed, one part of the integrated signals are directly extracted and the other part are super low-pass filtered at first and then extracted, and the integrated signals extracted are superposed. Concerning about the requirements of servo system on long time stable working, by reconstructing conventional sections of integration and differentiation, the method can assure the sections of integration and differentiation of validity only within a system working frequency band, meanwhile, by a proper discrete processing, the adoption of Butterworth algorithm designs a low-pass filter and further provides a new numeral PID controller, thus effectively solving the zero drifting problem of PID controller and guaranteeing the long time stable working of the system.

Description

(1) Technical field [0001] The invention relates to a servo system PID control method. (2) Background technology [0002] In engineering practice, in order to improve the control performance of the system, the PID control law is a common control method for general servo systems and regulation systems. However, the ideal integral and differential links are not achievable. In addition, the integral link often has zero drift and saturation during the application process, which directly limits the practical application effect of PID. [0003] In the technical solution disclosed in the Japanese patent document of JP63006601, the differential signal is detected and compared through the channel factor filter in the PID controller, so as to dynamically adjust the differential form of the PID to achieve the purpose of control. In this controller, when the control signal exceeds the set threshold, the second-order differential link is started instead of the first-order differential l...

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Problems solved by technology

[0016] The purpose of the present invention is to provide a long-term work problem that can solve the PID controller, eliminate the high-frequency noise of the differential link and the zero drift problem of the integral link in the PID controller, and solve the digitization problem of the PID at the same time, so that the PID can meet some requirements. A digital PID controller method for long-term stable digital control requirements of servo system

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