High-performance PID control method

Abstract

The invention provides a high-performance PID control method, which comprises the following steps: connecting a main PID controller and an auxiliary PID controller in series, introducing a first variable coefficient to the proportionality coefficient of the main PID controller, introducing a second variable coefficient to the differential coefficient of the main PID controller, and connecting a low-pass filter to the differential term of the auxiliary PID controller in series; calculating a current moment control deviation value, judging whether the current moment control deviation value is greater than a threshold of an adjusting target value, and if the current moment control deviation value is greater than the threshold of the adjusting target value, calculating the current control quantity by the main PID controller and the auxiliary PID controller which are connected in series; and outputting the current control quantity to a controlled object by the auxiliary PID controller. According to the invention, by series connection of the main PID controller and the auxiliary PID controller, a robot has a stronger adaptability and can be applicable to more complex road conditions.

Description

technical field [0001] The invention relates to the technical field of artificial intelligence control, in particular to a high-performance PID control method. Background technique [0002] With the development of science and technology, the continuous growth of information technology, and the continuous development of artificial intelligence technology, the application of robots as artificial intelligence can play an important role in many fields, such as the use of robots (smart cars) in the field of logistics and warehousing Cruising, fast and accurate cargo distribution; in the field of modern agriculture, robot cruising is used to precisely fertilize crops and prevent disasters. [0003] In terms of robot control technology, the traditional PID (Proportion Integration Differentiation, proportional integral differential) control method is controlled by the following methods: [0004] u(t)=K P e(t)+K D e(t)+K I e(t), where e(t) is the control deviation value at the pr...

AI Technical Summary

Problems solved by technology

However, the existing PID control technology for robot control has many defects. The existing traditional PID control improvement has a high sensitivity of the differential control link to input changes, and it is difficult to take into account the stable startup and subsequent stable control of the robot. The system as a whole causes interference, causing turbulence in the control system, resulting in instability in the control of the robot actuator

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