Adaptive hardware PID controller for controlling motor and control method of adaptive hardware PID controller

Abstract

The invention discloses an adaptive hardware PID controller for controlling a motor and a control method of the adaptive hardware PID controller. The adaptive hardware PID controller comprises a first adder, a PID coefficient adjustment step length determining circuit, an adder group, a multiplier group and a second adder. The method comprises the following steps of subtracting a measured value from a target value; determining three coefficient adjustment step lengths according to the error magnitude and three coefficient adjustment step lengths of the previous period; adding the determined three coefficient step lengths to three coefficients of the previous period separately to obtain three coefficients of the period; multiplying the obtained three coefficients of the period with the error, error and differential of the error; and carrying out integral operation on the product of an integral coefficient and the error and then adding the product of a proportion coefficient and the error and the product of the integral coefficient and the differential of the error to obtain a control value. The adaptive hardware PID controller is widely applicable to various motor control scenes; and the motor is more accurately controlled by adopting different coefficients at different stages, control on the motor is completed through a pure hardware algorithm and the calculation speed is very high.

Description

technical field

[0001] The invention relates to an automatic control technology, in particular to a PID controller for controlling a motor and a control method thereof. Background technique

[0002] In the control system, the most commonly used control law of the controller is proportional-integral-derivative (PID) control, that is, proportional (Proportion), integral (Integral) and differential (Differential) control the motor through a linear combination. The formula is as follows:

[0003] u(n)=K p e(n)+∑K i e(j)+K d (e(n)-e(n-1))

[0004] Among them, K p It is a proportional coefficient, which can respond to the deviation in time, and the reaction speed is moderate;

[0005] K i is the integral coefficient, which can eliminate the static error, but the response speed will be slower;

[0006] K d is a differential coefficient, which can give appropriate corrections in advance according to the variation trend of the deviation, but is very sensitive to input noise. ...

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