PID parameter adjusting method based on interference compensator

A parameter adjustment and interference compensation technology, applied in the field of PID control, can solve the problems of cumbersome and complicated PID parameter adjustment work, and achieve the effect of saving parameter adjustment time and improving the effect

Active Publication Date: 2016-11-09
UNIV OF ELECTRONICS SCI & TECH OF CHINA
View PDF7 Cites 19 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] In view of the tediousness, complexity and uncertainty of the above-mentioned PID parameter adjustmen

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • PID parameter adjusting method based on interference compensator
  • PID parameter adjusting method based on interference compensator
  • PID parameter adjusting method based on interference compensator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0052] The first step is to build a closed-loop regulation loop

[0053] Build a tracking error adjustment loop based on PID control. The closed-loop regulation loop of the system includes: control input, controlled object, and control output; the control input includes: reference control signal, PID feedback controller, and the control output indicates the actual state of the controlled object, and the PID feedback controller controls according to the reference control signal The actual state of the controlled object, the disturbed controlled object is a second-order model.

[0054] In the simulation of Matlab\Simulink 2014a, the kinematic model of the quadrotor at the height of the aircraft is divided into: Simplifies to a double differential model: where z and r are heights, and is the quadratic differential in altitude, u and μ are the control input, m is the mass of the aircraft, g is the acceleration of gravity, θ and φ are the pitch angle and roll angle of the a...

Embodiment approach 2

[0070] The first step is to build a closed-loop regulation loop

[0071] Build a tracking error adjustment loop based on PID control. In quadrotor fixed height, the regulation loop of the system includes: control input, controlled object, and control output; the control input includes: remote control control signal, PID feedback controller, the disturbed controlled object is a quadrotor aircraft, and the control The output represents the actual state of the quadrotor height, and the PID feedback controller controls the actual state of the quadrotor according to the control signal of the remote controller.

[0072] The second step is to choose an appropriate positive number k p and k d

[0073] Theoretically, k p and k d It only needs to be a positive number, i.e. k p >0,k d >0, the stability of the closed-loop error system can be guaranteed. In the height control experiment of the quadrotor, in order to make the quadrotor remain stable at a height of 5 meters, the sele...

Embodiment approach 3

[0085] The implementation process of the first step to the fifth step of this embodiment is the same as that of the first step to the fifth step of embodiment 2, and the same parameter k is selected p 、k d and T.

[0086] The difference is that in the fourth step, the height of the quadrotor aircraft is maintained at 5 meters instead of the height maintained at 10 meters. The parameters selected in the height control test of the quadrotor aircraft are shown in Table 3.

[0087] Table 3 Parameters and results of quadrotor aircraft 10-meter height control experiment

[0088]

[0089] The effect of the 10-meter height control experiment of the quadrotor aircraft is as follows: Figure 4 . Although the steady-state peak value of individual signals does not conform to the law, the steady-state error generally increases with the increase of T, and the floating range of the steady-state error will increase accordingly.

[0090] Through Matlab\Simulink 2014a simulation experimen...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a PID parameter adjusting method based on an interference compensator, and belongs to the PID control field, especially to a parameter adjusting method of PID control. According to the method, a system closed-loop adjusting loop which comprises control input, a controlled object and control output is established, control input comprises a reference control signal and a PID feedback controller, control output represents a practical state of the controlled object, and the PID feedback controller controls the practical state of the controlled object according to the reference control signal. Under certain conditions of virtual proportion gain kp and virtual differential gain kd, the output state of the PID controller is linearly correlated to change of a virtual filter constant T. According to the invention, the parameter adjusting time is reduced substantially, and the control effect is improved greatly.

Description

technical field [0001] The invention belongs to the field of PID (proportional-integral-differential) control, in particular to a parameter adjustment method of PID control. Background technique [0002] Proportional-integral-derivative (PID) controllers are widely used in the fields of motion control and process control. A typical form of PID controller is as follows: [0003] u ( t ) = K P e ( t ) + K I ∫ 0 t e ( τ ) d τ + K D d e ( t ) d t ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 朱波薛白王强
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap