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Control method of PID controller

A control method and controller technology, which is applied in the field of PID controllers, can solve problems such as large overshoot, poor dynamic characteristics, integral saturation, etc., and achieve the effects of improving accuracy, improving dynamic response, and eliminating static errors

Inactive Publication Date: 2010-11-24
杭州志在材料科技有限公司
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Problems solved by technology

[0003] The existing PID control method has the following deficiencies: for the integral, the purpose of introducing the integral link in the ordinary PID digital controller is mainly to eliminate the static error and improve the accuracy; but when the process starts, ends, or When the set value is greatly increased or decreased, a large deviation will be caused in a short period of time, which will cause the integral accumulation of the PID calculation, lead to integral saturation, cause a large overshoot of the system, and even cause the system to oscillate
For the differential, the differential is particularly sensitive to interference, and the frequent rise and fall of the given value will cause system oscillation, poor dynamic characteristics, etc.

Method used

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Embodiment Construction

[0018] Assuming that the set value of the PID controller is r(t) and the actual value c(t), then the deviation value e(t) is r(t)-c(t), and the deviation value is proportional, integral and summed below differential operation.

[0019] 1) Proportional operation is performed on the deviation value e(t) to obtain the output value U of the proportional part P , the calculation formula is: U P =e(t)×K p , where K p Indicates the proportionality factor.

[0020] 2) Perform variable speed integral calculation on the deviation value e(t), compare the deviation value e(t) with the set value of the variable speed integral, the larger the deviation, the slower the integration, the larger the integral coefficient Ki, the smaller the deviation, the smaller the integral coefficient The smaller the Ki, the faster the integration; see image 3 , Wl and Wh are integral windows. When the absolute value of the deviation is less than Wl, the integral coefficient Ki is 1. When the absolute v...

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Abstract

The invention discloses a control method of a PID controller by combining multiple control algorithms. The existing PID control method has the following defects: as for integral, integral accumulation, which causes PID operation, results in integral saturation, causing great over modulation of the system; and as for differential, differential is especially sensitive to interference, and frequent fluctuations of the given value can result in system oscillation. The invention is characterized by comprising the following steps: carrying out scale operation on the amount of deviation to obtain the output value of a proportional part; carrying out variable speed integral operation on the amount of deviation, and then carrying out trapezoidal integral operation to obtain the output value of an integral part; carrying out incomplete differential operation on the amount of deviation to obtain the output value of a differential part, thereby obtaining the output value of PID; carrying out output amplitude limiting operation; and finally, carrying out output rate limiting operation. On the premise of maintaining integral, eliminating static error of and enhancing precision, the invention reduces the over modulation amount; and the invention eliminates the external interference to some extent and eliminates oscillation caused by frequent motions.

Description

technical field [0001] The invention relates to the field of PID controllers, in particular to a control method of a PID controller combined with multiple PID control algorithms. Background technique [0002] In the analog control system, the most commonly used controller is the PID controller. The PID controller is a linear controller, which forms a deviation value based on the given value and the actual output value, and uses the proportional, integral and differential of the deviation value to form a control quantity through linear combination to control the controlled object. [0003] The existing PID control method has the following deficiencies: for the integral, the purpose of introducing the integral link in the ordinary PID digital controller is mainly to eliminate the static error and improve the accuracy; but when the process starts, ends, or When the set value is greatly increased or decreased, a large deviation will be caused in a short period of time, which wi...

Claims

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Application Information

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IPC IPC(8): G05B11/42
Inventor 王锋茅旭凌赵波徐芳华
Owner 杭州志在材料科技有限公司
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