PID control performance comprehensive evaluation method considering uncertainty

Abstract

The invention discloses a PID control performance comprehensive evaluation method considering uncertainty. The method is used for comprehensively evaluating the control performance of an engineering machinery movement mechanism system by considering multivariate uncertainty parameters existing in the engineering machinery movement mechanism system, and optimizing the evaluation method to improve an evaluation result according to the confidence of the comprehensive evaluation result. The method comprises the following steps: obtaining an effective PID control system through optimization according to a deterministic Lagrangian dynamical model of an engineering machinery movement mechanism system, and then determining various uncertainties such as manufacturing errors and control errors to establish a Lagrangian dynamical model considering the uncertainties; and calculating a response interval of an engineering machinery movement mechanism system by using a point collocation method to obtain a comprehensive evaluation result of the control performance, calculating the confidence coefficient of the evaluation result by using a Monte Carlo method, and optimizing the comprehensive evaluation method according to the confidence level of the comprehensive evaluation result to obtain a mechanism control performance comprehensive evaluation result meeting the confidence coefficient. And the credibility of the comprehensive evaluation result is effectively improved.

Description

technical field [0001] The invention relates to the technical field of mechanism motion control performance evaluation, in particular to a PID control performance comprehensive evaluation method considering uncertainty. Background technique [0002] In the field of construction machinery kinematic mechanism design, in order to grasp the kinematic performance level of construction machinery kinematic mechanism, visual evaluation of it is often one of the keys to the design work. Various uncertain factors appear scattered in the parameters such as the structure or material of the construction machinery movement mechanism, and there are inevitably inconsistencies with the design plan. Therefore, how to comprehensively evaluate the performance level of the construction machinery movement mechanism while ensuring the confidence of the evaluation results is an urgent problem in the field of construction machinery movement mechanism design. It is of great significance to guide the...

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Problems solved by technology

[0004] The inherent uncertainty in the motion mechanism of construction machinery is a part that cannot be ignored in evaluating the performance of the mechanism. The previous deterministic evaluation methods ignored the influence of uncertainty.

At the same time, the control performance of construction machinery motion mechanisms is usually comprehensively expressed by a variety of different indicators. A single indicator is difficult to reflect the control performance level of the mechanism. At the same time, each control performance index has different weights. To evaluate the construction machinery movement The performance level of the mechanism, or the comparison of the performance of the construction machinery movement mechanism, has to be comprehensively evaluated from many aspects, and it is necessary to ensure a certain degree of confidence in the performance evaluation of the construction machinery movement mechanism

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