A Method for Establishing Optimal Proportional Model of pid Controller Parameters
A proportional model and establishment method technology, applied in the field of PID controllers, can solve the problems of cumbersome setting process of proportional coefficient a and proportional coefficient b, poor estimation model effect, etc., and achieve simplified parameter setting process and optimal robustness Effect
Active Publication Date: 2021-06-29
FOSHAN UNIVERSITY
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However, the estimation model of the proportional coefficient a and the proportional coefficient b in the prior art is not effective, which leads to a cumbersome setting process of the proportional coefficient a and the proportional coefficient b
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[0094] The concept, specific structure and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, features and effects of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative efforts belong to The protection scope of the present invention.
[0095] refer to figure 1 , the present invention discloses a method for establishing an optimal proportional model of a PID controller parameter, and the control model of the PID controller is shown in formula 3:
[0096]
[0097] Where a and b are proportional coefficients;
[0098] It is characterized in that the method comprises the following steps:
[0099] Step 1, this model building...
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The invention discloses a method for establishing an optimal proportional model of a PID controller parameter. The control model of the PID controller is that a and b are proportional coefficients; the method includes: setting the controlled object of the controlled object in the control system; dividing the object model range of parameters; set and divide the cutoff frequency ω of the control system c And the phase margin sets and divides the value range of the proportional coefficient a and the proportional coefficient b; calculates the optimal value of the proportional coefficient a and the proportional coefficient b; establishes the estimation model of the proportional coefficient a; establishes the estimation model of the proportional coefficient b. The fractional-order PID controller proposed by the present invention uses the optimal proportional coefficient estimation model to ensure that the control system obtains good robustness and at the same time enables the system to achieve optimal dynamic response performance, and as long as the characteristic parameters and system performance of the controlled object If the index is within the specified range of the model, the optimal proportional coefficients a and b can be directly calculated according to the model, thus greatly simplifying the parameter tuning process of the fractional-order PID controller.
Description
technical field [0001] The invention relates to the technical field of PID controllers. Background technique [0002] At present, the traditional feedback control method based on output error is widely used in the servo system, and this control method is mainly realized by the PID controller. The control model of the traditional PID controller is shown in formula 1: [0003] [0004] where K P is the proportional gain, K I is the integral gain, K D is the differential gain, and S is the Laplacian operator. [0005] The traditional PID controller has the advantages of simple structure and easy implementation. However, the control model of the traditional PID controller is prone to problems such as excessive overshoot and long adjustment time, which cannot meet the performance index requirements of high-performance motion control systems. [0006] Based on the above problems, those skilled in the art improve the control model of the PID controller, and the control mode...
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IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 郑伟佳罗映
Owner FOSHAN UNIVERSITY