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Improved PID controller parameter setting method of model-free system

A parameter setting and controller technology, which is applied to controllers with specific characteristics, electric controllers, etc., can solve problems such as inaccurate mathematical models, and achieve the effect of fast and convenient response.

Pending Publication Date: 2021-10-19
CHENGDU AERONAUTIC POLYTECHNIC
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  • Application Information

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Problems solved by technology

[0003] Aiming at the above-mentioned deficiencies in the prior art, the present invention provides an improved model-free system PID controller parameter tuning method to solve the problem of controller parameters under the condition that the mathematical model of the controlled object is inaccurate or there is strong nonlinearity. tuning problem

Method used

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  • Improved PID controller parameter setting method of model-free system
  • Improved PID controller parameter setting method of model-free system
  • Improved PID controller parameter setting method of model-free system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0034] Taking the controlled object as a second-order system and being disturbed as an example, the controlled object can be described by the following mathematical model:

[0035]

[0036] Among them, f 0 is a known modeling part of the system, when using a PID controller, its control law model is as follows:

[0037]

[0038] Among them, the parameter K p ,K i ,K d The relationship is the key to design the PID control law. Therefore, there are two problems when using a PID controller. 1) It is not easy to achieve system stability by tuning parameters; 2) To obtain the desired transient control performance and steady-state error requires a lot of time for parameter trial and error. In view of the above problems, the present invention proposes a fast PID parameter tuning method whose control object is a second-order system, which is not only suitable for PID controller parameter tuning of known / unknown linear systems, but also suitable for PID controller parameters o...

example 1

[0064] The second-order system mathematical model of a control object is as follows:

[0065]

[0066] Among them, the unknown interference term is w 2 (t) = 1.5 sin(0.5t). Use 5 groups of PID parameters as shown in Table 1 for tuning, the results are shown in figure 2 , figure 2 is the PID control simulation result graph, where, figure 2 (b) Partial enlarged view of PID control simulation results.

[0067] Table 1

[0068]

example 2

[0070] The second-order system mathematical model of a control object (UAV height control considering ground effect) is as follows:

[0071]

[0072] Among them, r=0.20 is the propeller diameter; z r =0.32+x 1 is the height of the propeller from the ground; ρ=8.4 is an undetermined parameter related to the structure of the UAV. Use 6 groups of PID parameters as shown in Table 2 for tuning, the results are shown in image 3 ,in, image 3 (b) is a partial enlarged view of the PID control simulation results.

[0073] Table 2

[0074]

[0075]

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Abstract

The invention provides an improved PID controller parameter setting method of a model-free system, and belongs to the technical field of industrial control. The method comprises the following steps: giving a preliminary differential gain of a PID controller, and taking a value of a preliminary proportional gain of the PID controller; giving a global scaling coefficient and an integral gain scaling coefficient of the PID controller to determine values of PID controller parameters of the model-free system; and initially operating a controlled system of a step input signal, and correspondingly adjusting an integral gain scaling coefficient, a preliminary differential gain and / or a global scaling parameter of the PID controller according to the response error curve and transient response overshoot, steady-state error and response time expected by the system, so as to complete parameter setting of the PID controller. The PID controller parameter setting method is not only suitable for PID controller parameter setting of a known / unknown linear system, but also suitable for PID controller parameter setting of an unknown nonlinear system.

Description

technical field [0001] The invention belongs to the technical field of industrial control, and in particular relates to an improved PID controller parameter setting method of a model-free system. Background technique [0002] For mechanical systems, their dynamic equations generally follow Newton's laws of motion and can be described by second-order systems—for example, control systems such as drones / unmanned vehicles. However, the mathematical model of the controlled object is generally simplified and linearized, and there may be a large difference from the actual product. Moreover, it may also be affected by unknown unmodeled disturbances from outside or inside the system. In actual PID controller parameter tuning and controller design, it is necessary to consider the impact of unmodeled parts missing due to simplification and linearization on the control system. At the same time, the impact of external unknown interference on the controlled object also needs to be consi...

Claims

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Application Information

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IPC IPC(8): G05B11/42
CPCG05B11/42Y02P90/02
Inventor 尹子栋唐斌
Owner CHENGDU AERONAUTIC POLYTECHNIC
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