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Novel PI controller structure and parameter setting method thereof

A controller and a new type of technology, applied in the field of control, can solve problems such as unclear relationships and difficult controller parameter tuning, and achieve the effects of improving tracking performance, simplifying relationships, and facilitating tuning

Inactive Publication Date: 2015-09-23
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0003] Traditional PI controller parameter tuning is mostly based on the frequency domain parameters of the control system, that is, the PI parameters are set according to the amplitude margin and phase margin of the system, so the relationship between the controller parameters and system performance is not clear enough, and the controller parameters difficult to set

Method used

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  • Novel PI controller structure and parameter setting method thereof
  • Novel PI controller structure and parameter setting method thereof
  • Novel PI controller structure and parameter setting method thereof

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Embodiment 1

[0034] The moment of inertia of the permanent magnet synchronous motor J=2.68g·m 2 , requiring the overshoot not to exceed 13.5%.

[0035] For the new structure PI controller adopted in the present invention, take the undamped natural frequency ω n =60, damping ratio ζ=1.0, then the proportional coefficient k of the controller p = 2ζω n =120, integral coefficient k i = ω n 2 =3600, control gain b=1 / J=373. When the motor parameters change, if you want the dynamic performance to remain unchanged, you only need to modify the control gain, and the proportional coefficient and integral coefficient remain unchanged. The block diagram of the traditional PI controller is as follows: image 3 As shown, because the viscous friction coefficient B is unknown, the parameters of the traditional PI controller cannot be calculated, so it needs to be manually adjusted according to the response curve. Assuming that the final control parameters of the traditional PI controller are the sa...

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Abstract

The invention provides a novel PI controller structure. Based on a traditional PI controller, the novel PI controller structure is provided with a differentiator link which is called as a given differential feedforward link and a control gain link. The given differential feedforward link is used for compensating modeling errors, and the control gain link is used for allowing independence between the proportionality coefficient and integral coefficient of an PI controller and motor parameters, and facilitating setting. The invention also provides a parameter setting method of a novel PI controller, comprising: calculating control gains; calculating a damping ratio in dependence on overshoot; adjusting an undamped natural frequency in dependence on noise; and calculating the proportionality coefficient and integral coefficient of the PI controller. Control parameters of the novel PI controller structure are easy to set, and given data continuously changing can be well tracked.

Description

technical field [0001] The invention relates to a novel PI controller structure and a parameter setting method thereof, belonging to the technical field of control. Background technique [0002] In general applications, the tracking performance of the system is often evaluated through the step response. When it is given as a step signal, the given differential is a pulse signal, so it is often ignored when designing traditional PI controllers. However, when given a continuously varying signal, ignoring the given differential will result in modeling errors, resulting in poor tracking performance of the system. Although the method of traditional PI control combined with internal model control can improve the tracking performance of the system to a given continuous change, it depends on the parameters of the controlled object. [0003] Traditional PI controller parameter tuning is mostly based on the frequency domain parameters of the control system, that is, the PI parameter...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
Inventor 左月飞符慧刘闯张涛胡烨
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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