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An Anticipatory Dynamic Tuning Method for Generalized Two Degrees of Freedom PID Controller

A controller and degree-of-freedom technology, applied in electric controllers, controllers with specific characteristics, and comprehensive factory control, etc., can solve problems such as the stability of uncontrolled objects, and achieve the effect of simplifying selection and expanding the scope of use.

Active Publication Date: 2022-07-05
TSINGHUA UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, the two-degree-of-freedom PID controller based on this tuning method cannot make some controlled objects stable, such as the controlled object whose transfer function is a high-order integral

Method used

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  • An Anticipatory Dynamic Tuning Method for Generalized Two Degrees of Freedom PID Controller
  • An Anticipatory Dynamic Tuning Method for Generalized Two Degrees of Freedom PID Controller
  • An Anticipatory Dynamic Tuning Method for Generalized Two Degrees of Freedom PID Controller

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Embodiment Construction

[0040] The expected dynamic tuning method of a generalized two-degree-of-freedom PID controller proposed by the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] figure 1 is the block diagram of the two-degree-of-freedom PID control system, where PID represents the PID controller, b is the feedforward coefficient of the two-degree-of-freedom PID controller, y represents the closed-loop system output, r represents the set value, u represents the controller output, and d represents the external perturbation.

[0042] figure 2 is a block diagram of a generalized two-degree-of-freedom PID control system, where PID...D n-1 Represents the n-order generalized PID controller when the relative order of the controlled object is n, b is the feedforward coefficient of the generalized two-degree-of-freedom PID controller, y represents the closed-loop system output, r represents the set value, and u ...

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Abstract

An expected dynamic tuning method of a generalized two-degree-of-freedom PID controller belongs to the technical field of automatic control. According to the transfer function of the controlled object, the relative order of the controlled object is determined; according to the relative order of the controlled object, the expected dynamic transfer function and expected closed-loop bandwidth of the closed-loop system are selected; according to the relative order of the controlled object, a generalized two-degree-of-freedom PID control is designed The control law of the controller is obtained, and the approximate differentiator is used to obtain the derivatives of the deviation between the set value and the system output; using the coefficients of the expected dynamic transfer function, the parameter expressions of the generalized two-degree-of-freedom PID controller are calculated, And adjust the adjustable parameters to make the output of the closed-loop system track the expected dynamic response. This tuning method does not require precise mathematical description of the controlled object. Compared with the traditional 2-DOF PID controller expected dynamic tuning method, the expected dynamic tuning method is extended to the generalized 2-DOF PID controller, which expands the application range of the expected dynamic method.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and in particular relates to an expected dynamic tuning method of a generalized two-degree-of-freedom PID controller. Background technique [0002] At present, proportional-integral-derivative (PID) control is still the main control strategy in the control of large-scale industrial production processes such as chemical process and thermal process, because the PID controller is simple and easy to implement, and Has high reliability. However, with the increasing control requirements in the industrial process, it is difficult for the traditional PID controller to obtain satisfactory control effects. The main reason is that the traditional PID controller is subject to many constraints in the parameter adjustment process. The two-degree-of-freedom (TDOF) PID controller is proposed to improve the shortcomings of the traditional PID controller, so that the debugging of the tracking performanc...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B11/42
CPCG05B11/42Y02P90/02
Inventor 史耕金李东海丁艳军
Owner TSINGHUA UNIV