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PID control system and parameter setting method

A control system and parameter tuning technology, applied in electric controllers, controllers with specific characteristics, etc., can solve problems such as time-consuming and labor-intensive

Active Publication Date: 2021-09-10
GUODIAN SCI & TECH RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, a lot of work is required to tune the PID control parameters. Usually, based on experience, the proportional unit P, the integral unit I and the differential unit D are compared, and the K p , K i and K d It is time-consuming and labor-intensive to try and make up three parameters. How to find a simple and efficient parameter setting method has always been a difficulty

Method used

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  • PID control system and parameter setting method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0063] A PID control system in this example, such as figure 1 with figure 2 As shown, it includes the controlled object and the PID controller. The PID controller includes a proportional unit P, an integral unit I, a differential unit D and a controller gain coefficient k. The transfer function of the PID controller is:

[0064]

[0065] The PID controller is inspired by the linear active disturbance rejection controller, and the transfer function inspired by the PID controller is:

[0066]

[0067] The relationship between the parameters of the PID controller and the parameters inspired by the linear active disturbance rejection controller LADRC is as follows:

[0068]

[0069] Among them, k p is the proportional coefficient; T i is the integration time; k d is the differential coefficient; T d is the differential time; k is the controller gain coefficient; ω 0 is the bandwidth of the extended state observer LESO in the linear active disturbance rejection cont...

Embodiment 2

[0108] This example provides the parameter tuning method of the above PID control system, such as Figure 14 shown, including the following specific steps:

[0109] 1) Perform control algorithm configuration on the control system of the controlled object based on the PID controller; in step 1), the control system of the controlled object includes a DCS control system and a PLC control system.

[0110] 2) Obtain the soaring curve of the controlled object on site, and obtain the steady-state gain K of the controlled object, the time parameter T and the delay time τ of the approximate first-order or second-order inertia plus pure delay system, and the open-loop adjustment time t s1 ;

[0111] 3) Let the PID controller bandwidth ω c The filter parameter ω of the PID controller with the desired closed-loop 0 The ratio of is λ, then k p =2ξλ-λ 2 , k d =(1-2ξλ+λ 2 ); based on the lift curve, set λ, ξ, ω c , the initial value of k, according to the set initial value, calcu...

Embodiment 3

[0126] This embodiment adopts the control system and parameter setting method of the present invention to automatically control the main steam temperature control system of a 330MW circulating fluidized bed unit. The main steam temperature system model of the unit is as follows

[0127]

[0128] Among them, P 1 (s) is the leading region model (°C / %), P 2 (s) is the inert zone model (°C / °C), and the unit step response curve after the two are connected in series is as follows Figure 4 shown.

[0129] The system approximates the FOPTD model as follows:

[0130]

[0131] Parameter tuning methods include:

[0132] Step 1, based on the PID controller of the present invention, the control algorithm configuration is carried out on the control system of the controlled object, such as image 3 shown;

[0133] Step 2: Use the soaring curve method on site to obtain the steady-state gain K of the controlled object, the time parameters T and τ of the approximate first-order iner...

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Abstract

The invention discloses a PID (Proportion Integration Differentiation) control system and a parameter setting method, the parameter setting method has the characteristics of few adjustable parameters, clear setting direction, and clear debugging rule and physical significance, can better meet the debugging habit of field control engineers, and avoids the problem that the parameter significance and the debugging process are not clear due to an empirical setting formula. The method is widely applied to the industrial process automation control field, especially to the process control fields of thermal power plants, petrochemical engineering, metallurgical steel and the like.

Description

Technical field: [0001] The invention belongs to the technical field of automatic control, and in particular relates to a PID control system and a parameter setting method. Background technique: [0002] Active Disturbance Rejection Control (ADRC) is a new type of control technology proposed by researcher Han Jingqing through continuous exploration of classical cybernetics and modern cybernetics, using special nonlinear effects. It has a good control effect on nonlinear systems (time-varying parameters, strong coupling, and uncertain disturbances). However, due to the complex structure of the active disturbance rejection controller, and the need to tune many parameters, it is difficult and other problems. Professor Gao Zhiqiang proposed a linear The Active Disturbance Rejection Controller (LADRC) simplifies the structure of the controller, reduces the parameters that need to be adjusted, and links the adjustment parameters with the bandwidth of the controller and the observe...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 万晖杜岩范国朝卢刚左亮杰孙明王亮王海宁史西银谢云辰张文亮
Owner GUODIAN SCI & TECH RES INST
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