Proportionality-derivative control method with first compensation phase

A differential control and proportional technology, applied to controllers with specific characteristics, electric controllers, etc., can solve problems such as difficult to obtain system step response without overshoot

Inactive Publication Date: 2009-04-01
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This control method takes into account the requirements of response speed and overshoot to a certain extent, but it is difficult to obtain the condition that the system step response has no overshoot
Therefore, control engineers cannot directly apply this nonlinear control idea to design a step response non-overshoot controller

Method used

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  • Proportionality-derivative control method with first compensation phase
  • Proportionality-derivative control method with first compensation phase
  • Proportionality-derivative control method with first compensation phase

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach ( 1

[0065] I Design the structure of the closed-loop control system

[0066] The output unit negative feedback control structure is adopted. Using the Simulink software package of the Matlab6.5 platform, the reference signal (unit step signal), the standard PD controller, the first-order compensation item and the double integral system are modeled, and their connections in the closed-loop control loop are shown in the appendix figure 1 shown.

[0067] The input signal of the standard PD controller is the error signal (obtained by subtracting the output signal from the reference signal); the first-order compensation item is between the standard PD controller and the controlled object, and the output signal of the standard PD controller is its input signal, its output signal is the input signal of the double integral system. The standard PD controller implemented by Simulink software has the input-output relationship described in formula (1) of this manual. Among them, the diffe...

Embodiment approach ( 2

[0072] I Design the structure of the closed-loop control system

[0073] This step is exactly the same as the corresponding step in Embodiment (1).

[0074] II Design of time constants for controller gain parameters and compensation terms

[0075] Design the time constant of the gain parameters of the PD controller and the first-order compensation item, and its specific value is k p =5,k d =0, T=0.01. This set of design parameters satisfies the second constraint given in the "second step" design step of the summary of the invention.

[0076] The simulation result of this embodiment is shown in the attached image 3 shown.

Embodiment approach ( 3

[0078] I Design the structure of the closed-loop control system

[0079] This step is exactly the same as the corresponding step in Embodiment (1).

[0080] II Design of time constants for controller gain parameters and compensation terms

[0081] Design the time constant of the gain parameters of the PD controller and the first-order compensation item, and its specific value is k p =40,k d =0.5, T=0.01. This set of design parameters satisfies the third constraint given in the "second step" design step of the summary of the invention.

[0082] The simulation result of this embodiment is shown in the attached Figure 4 shown.

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Abstract

The invention relates to a proportional-differential control method with a first-order compensation term. The method comprises the following steps: the first step: design of the structure of a closed-loop control system: the closed-loop control system is an error unit negative feedback structure, and a control element comprises a standard PD controller and a first-order compensation term, wherein, an input signal of the standard PD controller is an error signal, and the first-order compensation term is positioned between the PD controller and a controlled object, the output signal of the PD controller is an input signal of the first-order compensation term, and the output signal of the first-order compensation term is the input signal of a double integration system; and the second step: design of time constant of the gain parameter and the compensation term of the controller: the control scheme introduced by 'the first step' is adopted to obtain a step response without overshoot, and the time constant of the gain parameter and the compensation term of the controller meets any one of four constraints. Compared with other controllers, the method can realize no overshoot of the step response of the closed-loop control system while controlling the double integration system.

Description

(1) Technical field [0001] The invention relates to a proportional-derivative (Proportional-Derivative, PD) control method with a first-order compensation item, in particular to a step response non-overshoot control method for a double-integral system, and belongs to the technical field of control engineering. (2) Background technology [0002] Many control problems in practice, such as feed control of high-speed machine tools, precise tracking of robot trajectories, control of attitude angle and angle of attack during take-off and landing of fixed-wing aircraft, etc. do not allow the step response of the system to have overshoot or large Overshoot (mainly limited by the size of the grazing angle). The double-integral model is an equivalent model or a simplified model of many controlled objects (also a low-order simplified model of many high-order systems), and it exists in large quantities in the inverted pendulum control system and the attitude control system of the aircra...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
Inventor 朱波王新华蔡开元
Owner BEIHANG UNIV
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