Integral separated PID control method

Abstract

The invention belongs to the technical field of automatic control, and particularly relates to an integral separated PID control method, which comprises a tracking differentiator TD1 for arranging a transition process of an input error, a PID controller using an integral separation algorithm and a feedback loop filter TD2, wherein an error tracking signal and an error differential signal of the input error signal are obtained through the tracking differentiator TD1; the integral link adopts a new integral separation algorithm, which can reasonably change the integral gain coefficient accordingto the error and the separation threshold value; the integral link constitutes an integral separated PID controller together with a proportional link and a differential link; the integral separated PID controller outputs a controlled quantity signal acting on a controlled object; the tracking differentiator TD2 is added to the feedback loop as a feedback loop filter for filtering the measurementnoise of the output signal. The integral separated PID control method in the invention can improve the response speed of the control system, reduce the overshoot amount, and reduce the adverse effectsof integral feedback.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and in particular relates to an integral separation type PID control method. Background technique [0002] Because the controlled mathematical model of the actual industrial system is difficult to establish accurately, the method given by modern design theory is not practical, and PID is still the most widely used control technology in industrial control. The classic PID principle adopts the control strategy of "eliminating errors based on errors". By weighting and summing the present (P), past (I) and future (D) of errors, the control quantity acts on the controlled object. The algorithm is simple and the parameters Easy to tune, and good robustness. [0003] However, the classic PID technology also has some unreasonable places, such as: (1) the initial error is too large to cause the initial control amount to be too large, which easily causes the system behavior to overshoot; (2) it ...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the shortcomings of the current integral separation algorithm, the present invention proposes a new integral separation algorithm to ensure that the integral coefficient can be changed reasonably according to the size of the error, and further reduce the adverse effects of the integral feedback on the system; at the same time, the measurement of the output signal To deal with the noise problem, a filter is added to the feedback loop, and a transition process is arranged for the error between the input signal and the feedback signal to obtain a smooth transition signal and a high-quality differential signal, which improves the problem of excessive initial control and reduces Overshoot of the control system

Images