Optimal Design and Tuning Method of Adaptive PID Controller Based on Binary Ant Colony Algorithm

Abstract

The invention discloses an adaptive PID controller optimization design and setting method based on binary ant colony algorithm. The method can automatically optimize the design of the PID controller structure according to the set performance index in the open-loop and closed-loop states and optimize the corresponding control parameters online. In the present invention, a maximum-minimum binary ant colony optimization algorithm is proposed to realize object system identification, control structure design and parameter optimization. In the specific implementation, parameters such as the encoding length of the binary ant colony algorithm are adaptively set according to the parameter accuracy and range. The proposed method of judging re-initialization based on the maximum and minimum limit probability of pheromone can further improve the global optimization performance of the algorithm and improve the optimal control quality of the controller. The PID controller optimization design and parameter tuning method has universal applicability and flexibility, simple application, and can be widely used in the optimization design tuning of PID controllers in industrial control.

Description

technical field [0001] The invention relates to two major fields of automatic control and intelligent calculation, in particular to an adaptive PID controller optimization design and setting method based on binary ant colony algorithm. Background technique [0002] PID control strategy is widely used in industrial process control because of its simple algorithm, good robust performance, and high reliability, and is well known to engineers and technicians. PID control system structure as attached figure 1 As shown, it is mainly composed of PID controller and controlled object. The PID controller is composed of three links: proportional, integral, and differential. The mathematical description of a PID controller is: [0003] [0004] where K p is the proportionality factor, T i is the integral time constant, T d is the differential time constant, the output corresponding to the given controller input r(t) is u(t), and e(t)=r(t)-u(t) is the control deviation. [0005...

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Problems solved by technology

PID controller parameters need to be adjusted in practical applications, but for complex industrial objects, due to their characteristics such as large time lag and nonlinearity, and different objects have different expectations for control performance, it is often difficult to achieve the ideal control effect through PID controller adjustment. , there is no guarantee that the control performance will be optimal or nearly optimal

In response to the above problems, people have been seeking for the self-tuning technology of PID controller parameters for a long time. Although some achievements have been achieved, there are often restrictions on the state of parameter tuning (that is, system open-loop or closed-loop), and cannot The shortcomings of flexible adjustment of performance indicators and controller structure, complex practical application operations, etc.

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