Intelligent integration method for anti-integral windup and overshoot suppression of PID (Proportional, Integral and Derivative) control system

Abstract

The invention discloses an intelligent integration method for anti-integral windup and overshoot suppression of a PID (Proportional, Integral and Derivative) control system. The intelligent integration method comprises the following steps: according to a set input valve r(t) and an output value y(t) of the system, calculating an error signal value e(t); judging whether an actually input signal of a controlled object has a measured value v(t) or not: when the actually input signal of the controlled object has the measured value v(t), calculating an executor over-limit signal x(t) according to a control signal u(t) output by a controller and the measured value v(t), and when the actually input signal of the controlled object does not have the measured value v(t), setting an executor limit value; setting an anti-integral windup parameter alpha for an integral error signal to eliminate system oscillation caused by executor over-limit; setting an overshoot suppression parameter beta for the integral error signal to suppress system step response overshoot caused by an integral action. The intelligent integration method for anti-integral windup and overshoot suppression of the PID control system not only can resist windup and suppress overshoot, but also does not change the original system stability, and has the advantages that the parameters are simple to set and the real-time high-accuracy quick control of the control system is easy to realize.

Description

technical field [0001] The invention relates to the technical field of control, in particular to an intelligent integral method for resisting integral saturation and suppressing overshoot in a PID control system. Background technique [0002] The purpose of industrial controller design is to make the controlled object operate according to the required indicators, or to make the controlled object have the desired response. In the actual control system, there are often various restrictions, such as restrictions on temperature, pressure, flow and liquid level in process control, and restrictions on voltage, current, torque and speed in motor systems. In addition, the controlled object sometimes needs to switch from one control mode to another, such as switching from manual control to automatic control, time-varying load model control and variable structure control. As a result, the output of the controller is not equal to the actual input of the controlled object, and the resp...

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Problems solved by technology

[0008] Aiming at the complex parameter determination and even system stability problems in the anti-saturation and overshoot suppression methods in the prior art, a method is proposed that not only ensures the stability of the obtained control system, but also does not cause dynamic oscillation of the system due to actuator saturation

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