pid control method with integral saturation preprocessing function

Abstract

The invention provides a PID control method with the integral saturation and pretreatment functions. The PID control method analyzes the transient process of step response of a system and is provided according to an error between the set valve and the feedback quantity and a change rate of the controlled quantity; score accumulation values are treated differently according to the different conditions so that the integral saturation phenomenon can be thoroughly eliminated, and the good control effects of the steady-state characteristic and the dynamic characteristic of the system can be achieved; moreover, the good capacity of resisting disturbance is achieved.

Description

technical field [0001] The invention relates to the field of PID control of industrial control, more specifically, to a PID control method with integral saturation preprocessing function. Background technique [0002] The PID control method is the most widely used control law in process control. There are three coefficients in the PID control law: proportional coefficient k p , Integral coefficient K i and differential coefficient K d . The proportionality factor k p The function is to speed up the response speed of the system and improve the adjustment accuracy of the system: the proportional coefficient k p If it is too large, it is easy to produce overshoot; the proportional coefficient k p If it is too small, the adjustment accuracy will be reduced, and the response speed will be slowed down, thereby prolonging the adjustment time. Integral coefficient K i The function is to eliminate the static error of the system: the integral coefficient K i If it is too large...

AI Technical Summary

Problems solved by technology

This conditional integration method is simple to implement, but the limit value of the integral action is not easy to grasp

[0011] The invention patent application number is 201210019001.1 and the name is "anti-saturation PID control method for motor speed control system". In view of the lack of robustness of the existing anti-saturation PID controller for different control input conditions, a method based on integral state prediction is proposed. The anti-saturation PID control method accumulates the results of proportional operation, integral operation and differential operation on the control error as the controller output, but it lacks robustness to different system conditions

[0012] Although the above methods can reduce the degree of integral saturation to a certain extent, they cannot be eliminated fundamentally, and at the same time, they have no obvious effect on improving the contradiction between the steady-state performance index and the dynamic performance index.

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