A proportional-integral-derivative control method, control system, and unmanned transport vehicle
A technology of proportional-integral-differential and unmanned guided vehicles, which is applied in the direction of electric controllers and controllers with specific characteristics, can solve cumbersome problems and achieve simple proportional-integral-differential control of unmanned guided vehicles without recalibration Effect
Active Publication Date: 2020-07-21
INVENTECSHANGHAI TECH +3
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Therefore, in the process of applying PID control, it is more cumbersome,
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[0021] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments, however, can be embodied in various forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their repeated descriptions will be omitted.
[0022] The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided in order to give a thorough understanding of the embodiments of the present invention. However, those skilled in the art will appreciate that the technical solutions of the present invention may also be practiced without one or ...
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The invention discloses a proportional-integral-derivative control method and system and an automated guided vehicle; the proportional-integral-derivative control method comprises the steps of acquiring a value range of a first control element; selecting a plurality of sampled values within the value range of the first control element; acquiring proportional-integral-derivative parameter values corresponding to the selected sampled values; using the sampled values and the corresponding proportional-integral-derivative parameter values to generate a relational curve between the first control element and the proportional-integral-derivative parameter values by means of triple spline interpolation; measuring current value of the first control element, substituting the current value of the first control element to the relational curve so as to obtain the proportional-integral-derivative parameter values corresponding to the current value of the first control element; adjusting according to the obtained proportional-integral-derivative parameter values, and automatically controlling a control target. The proportional-integral-derivative control method allows greater convenience for control.
Description
technical field [0001] The invention relates to the technical field of automatic control, in particular to a proportional-integral-derivative control method, a proportional-integral-derivative control system and an unmanned truck with the proportional-integral-derivative control system. Background technique [0002] PID (Proportional Integral Derivative) control technology has been gradually applied to various fields of vehicles, robots, etc., as a control method of these devices and equipment. PID control technology mainly includes the control of three parameters: proportional (Kp), integral (Ki), and differential (Kd). Among them, the control of proportional parameters is the basis of PID control, the control of integral parameters can eliminate steady-state errors, but may increase overshoot; the control of differential parameters can speed up the response speed of large inertia systems and weaken the tendency of overshoot. [0003] In practical applications, the PID par...
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IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 罗莲英许晓龙伍致荣
Owner INVENTECSHANGHAI TECH