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. ...

AI Technical Summary

Problems solved by technology

Although the traditional PID algorithm is relatively mature, the PID coefficient needs to be given different parameters according to different application scenarios, and the flexibility is relatively low; it needs to consume a lot of software resources; the three coefficient values ​​​​are fixed throughout the process, and different stages cannot be realized. PID coefficients to precisely control the motor

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