Optimization control method and system based on improved PID controller

Abstract

The invention relates to the technical field of control engineering, and discloses an optimization control method and system based on an improved PID (Proportion Integration Differentiation) controller, firstly, a power input signal is optimized through a preset optimization control model to obtain an optimized power control signal, and the change rate of the power input signal is remarkably increased through the preset optimization control model to obtain a control signal; the change of the power input signal can be responded more quickly, the effect of improving the dynamic response speed of the target power device is achieved, disturbance compensation is performed on the external disturbance signal through the preset disturbance model, a compensation result is generated, and the target power device is helped to identify and predict external disturbance through the preset disturbance model. And finally, according to a power control signal output by a preset optimization control model and a disturbance compensation result, generating a power optimization signal for performing optimization control on the target power device, and performing optimization control.

Description

Technical Field

[0001] The present invention relates to the technical field of control engineering, and in particular to an optimization control method and system based on an improved PID controller. Background Art

[0002] In the field of power control, proportional-integral-differential control has been widely used; however, in actual engineering, the ideal differentiator cannot be physically realized due to limitations such as frequency response and noise amplification. Therefore, simplified PID control such as PI control and PD control is usually used in PID control. However, the existing PID controller has limited response speed and is not suitable for high-order systems that contain multiple energy storage elements (such as capacitors, inductors, etc.) or have complex dynamic characteristics. When faced with complex and changeable working conditions, the system output may not be adjusted in time, resulting in a decrease in the stability of the power device. Therefore, a new type of PID controller is urgently needed to optimize the control of high-order power devices. Summary of the invention

[0003] The present invention provides an optimization control method and system based on an improved PID controller, which solves the technical problem of how to improve the stability of an electric power device.

[0004] The first aspect of the present invention provides an optimization control method based on an improved PID controller, comprising:

[0005] In response to an optimization control request for a target power device, a power input signal, a power feedback signal, and an external disturbance signal of the target power device are acquired;

[0006] The power input signal and the power feedback signal are input into a preset optimization control model for signal processing, and a power control signal is output;

[0007] Using the external disturbance signal to input a preset disturbance model to perform disturbance compensation, and using the compensation result and the power control signal to determine a power optimization signal;

[0008] The power optimization signal is used to optimize and control the target electric power device.

[0009] Optionally, it also includes:

[0010] The power optimization signal is used as a new power feedback signal, and the process jumps to the step of using the power input signal and the power feedback signal to input a preset optimization control model for signal processing, and outputting a power control signal.

[0011] Optionally, the preset optimization control model includes an input filter, a device feedback module, a combined controller and a proportional module, and the power input signal and the power feedback signal are input into the preset optimization control model for signal processing to output a power control signal, including:

[0012] The power input signal is input into the input filter for filtering, and a filtered power signal is output;

[0013] The filtered power signal and the power feedback signal are input into the device feedback module for difference calculation, and a first difference signal is output;

[0014] The first difference signal is input into the combination controller for optimization control to output a power combination signal;

[0015] The power combination signal is input into the proportional module for proportional control, and a power control signal is output.

[0016] Optionally, the combined controller includes a controller feedback module and a combined differentiator, and the first difference signal is input into the combined controller for optimization control to output a power combination signal, including:

[0017] The first difference signal and a pre-acquired controller feedback signal are input into the controller feedback module to perform a difference operation and output a second difference signal;

[0018] The second difference signal is input into the combined differentiator for differential operation to obtain a power combined signal.

[0019] Optionally, it also includes:

[0020] The power combination signal is used as a new controller feedback signal, and jumps to the controller feedback module that uses the first difference signal and the pre-acquired controller feedback signal to perform difference calculation and output a second difference signal.

[0021] Optionally, the combined differentiator includes a differential combination module, a proportional gain module, an integral control module and an adder, and the second difference signal is input into the combined differentiator for differential operation to obtain a power combination signal, including:

[0022] The second difference signal is input into the differential combination module for multiplication operation to obtain a first multiplication signal;

[0023] The second difference signal is input into the proportional gain module for multiplication operation to obtain a second multiplication signal;

[0024] The second difference signal is input into the integral control module for multiplication operation to obtain a third multiplication signal;

[0025] The first multiplication signal, the second multiplication signal and the third multiplication signal are input into the adder to perform a sum operation to obtain a power combination signal.

[0026] Optionally, the adopting the external disturbance signal to input a preset disturbance model to perform disturbance compensation, and using the compensation result and the power control signal to determine the power optimization signal includes:

[0027] Using the external disturbance signal to input a preset disturbance model to perform disturbance compensation to obtain a disturbance compensation signal;

[0028] The disturbance compensation signal and the power control signal are used to perform a sum operation to obtain a power optimization signal.

[0029] The second aspect of the present invention provides an optimization control system based on an improved PID controller, comprising:

[0030] A response module, used for responding to an optimization control request for a target power device, and obtaining a power input signal, a power feedback signal, and an external disturbance signal of the target power device;

[0031] A signal processing module, used to input the power input signal and the power feedback signal into a preset optimization control model for signal processing, and output a power control signal;

[0032] A disturbance compensation module, used to use the external disturbance signal to input a preset disturbance model to perform disturbance compensation, and use the compensation result and the power control signal to determine a power optimization signal;

[0033] The optimization control module is used to optimize the control of the target power device using the power optimization signal.

[0034] A third aspect of the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the optimization control method based on the improved PID controller as described in any one of the above items.

[0035] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed, implements the optimization control method based on the improved PID controller as described in any one of the above items.

[0036] It can be seen from the above technical solutions that the present invention has the following advantages:

[0037] The present invention first optimizes the power input signal through a preset optimization control model to obtain an optimized power control signal. The preset optimization control model significantly amplifies the change rate of the power input signal, and can respond to changes in the power input signal more quickly, thereby achieving the effect of improving the dynamic response speed of the target power device. Then, the preset disturbance model is used to perform disturbance compensation on the external disturbance signal to generate a compensation result. The preset disturbance model is used to help the target power device identify and predict external disturbances, thereby achieving the effect of improving the stability of the target power device. Finally, according to the power control signal output by the preset optimization control model and the disturbance compensation result, a power optimization signal for optimizing the control of the target power device is generated and optimized control is performed. The technical problem of how to improve the stability of the power device is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0039] Figure 1 A flowchart of the steps of an optimization control method based on an improved PID controller provided in Embodiment 1 of the present invention;

[0040] Figure 2 A flowchart of the steps of an optimization control method based on an improved PID controller provided in the second embodiment of the present invention;

[0041] Figure 3 A control flow diagram for a preset optimization control model and a preset disturbance model;

[0042] Figure 4 It is the control flow diagram of the combined controller;

[0043] Figure 5 To improve the T of PID controller compared with conventional PID controller I Follow K P Schematic diagram of the changing curve;

[0044] Figure 6 Schematic diagram of simulation comparison results between improved PID controller and conventional PID controller;

[0045] Figure 7 A structural block diagram of an optimization control system based on an improved PID controller provided in Embodiment 3 of the present invention;

[0046] Figure 8This is a structural block diagram of a computer device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0047] The embodiment of the present invention provides an optimization control method and system based on an improved PID controller, which are used to solve the technical problem of how to improve the stability of an electric power device.

[0048] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] In the field of power control, proportional-integral-derivative control is widely used; however, in practical engineering, the ideal differentiator cannot be realized at the physical level due to the following limitations:

[0050] Frequency response limitation: Differentiators in actual engineering have limited response to high-frequency signals. High-frequency signals are easily affected by capacitance and inductance in the circuit, resulting in inaccurate differentiation.

[0051] Noise amplification: Real differentiators amplify high-frequency noise in the input signal, which is inconsistent with the behavior of an ideal differentiator.

[0052] Phase distortion: A real differentiator will cause phase distortion when amplifying high-frequency signals, while an ideal differentiator will not.

[0053] Implementation complexity: An ideal differentiator requires infinitely high gain and infinitely fast response time, which is impossible to achieve in reality.

[0054] Physical limitations: Actual circuit elements such as resistors, capacitors, and inductors have their physical limits and cannot meet the requirements of an ideal differentiator. It is physically impossible to achieve this, so the differentiator in the PID controller is a real differentiator, which is an engineering reconstruction of the ideal differentiator. How to further improve PID control performance has always been one of the goals pursued by engineers.

[0055] In addition, PID controllers are not convenient for beginners to use in engineering because they require many parameters to be adjusted, so a new controller is urgently needed. In addition, the control effect of PID controllers for high-order systems still needs to be improved.

[0056] Since the ideal differentiator cannot be realized physically, simplified PID control such as PI control and PD control is usually used in PID control. However, the PID controller has defects such as limited response speed and unsuitability for high-order systems, while the PID controller has shortcomings such as steady-state error and amplification of disturbances, noise, etc. Therefore, the present invention provides an optimization control method and system based on an improved PID controller, and specifically provides an improved PID controller, which significantly improves the PID control performance compared with the existing conventional PID controller.

[0057] See also Figure 1 , Figure 1 A flowchart of the steps of an optimization control method based on an improved PID controller provided in Example 1 of the present invention.

[0058] The present invention provides an optimization control method based on an improved PID controller, comprising:

[0059] Step 101 : In response to an optimization control request for a target power device, a power input signal, a power feedback signal, and an external disturbance signal of the target power device are acquired.

[0060] The target power device refers to the power device to be optimized and controlled, including but not limited to power generation equipment, industrial production equipment, new energy equipment and other power equipment.

[0061] The optimization control request refers to a request instruction for optimizing control of a target power device.

[0062] The power input signal refers to the set power initially input into the control system for controlling the target power device;

[0063] The power feedback signal refers to the control power ultimately used to control the target power device. It is worth mentioning that the initial value of the power feedback signal is 0.

[0064] External disturbance signals refer to various external disturbance signals in the working environment. These disturbance signals will cause the output power of the power device to be unstable, and need to be adjusted and compensated by the control system inside the power device to ensure the stable operation and efficient power generation of the power device.

[0065] In an embodiment of the present invention, in response to a received request instruction for optimizing control of a target power device, request instruction information is read to obtain a power input signal, a power feedback signal and an external disturbance signal of the target power device.

[0066] Step 102: Use the power input signal and the power feedback signal to input a preset optimization control model for signal processing, and output a power control signal.

[0067] The preset optimization control model refers to a model used to optimize the power input signal. The input of the model is the power input signal and the power feedback signal, and the output is the optimized power control signal.

[0068] In the embodiment of the present invention, a power input signal and a power feedback signal are input into a preset optimization control model for signal processing, and an optimized power control signal is output.

[0069] Step 103: Use the external disturbance signal to input the preset disturbance model to perform disturbance compensation, and use the compensation result and the power control signal to determine the power optimization signal.

[0070] The preset disturbance model refers to a preset model used to analyze the response of the target power device to external disturbances.

[0071] In an embodiment of the present invention, an external disturbance signal is input into a preset disturbance model for disturbance compensation, and a power optimization signal for optimizing control of a target power device is determined based on the compensation result of the preset disturbance model in combination with a power control signal.

[0072] Step 104: Use the power optimization signal to optimize the control of the target power device.

[0073] In the embodiment of the present invention, the target power device is optimized and controlled according to the obtained power optimization signal.

[0074] In the present invention, in response to an optimization control request for a target power device, a power input signal, a power feedback signal and an external disturbance signal of the target power device are obtained, the power input signal and the power feedback signal are input into a preset optimization control model for signal processing, a power control signal is output, an external disturbance signal is input into a preset disturbance model for disturbance compensation, and the compensation result and the power control signal are used to determine the power optimization signal, and the target power device is optimized and controlled by the power optimization signal; the present invention first optimizes the power input signal through a preset optimization control model to obtain an optimized power control signal, significantly amplifies the change rate of the power input signal through the preset optimization control model, can respond to changes in the power input signal more quickly, and thus achieves the effect of improving the dynamic response speed of the target power device, then performs disturbance compensation on the external disturbance signal through a preset disturbance model to generate a compensation result, and helps the target power device identify and predict external disturbances through the preset disturbance model, thereby achieving the effect of improving the stability of the target power device, and finally generates a power optimization signal for optimizing the control of the target power device according to the power control signal and the disturbance compensation result output by the preset optimization control model and performs optimization control; the technical problem of how to improve the stability of the power device is solved.

[0075] See also Figure 2 , Figure 2A flowchart of the steps of an optimization control method based on an improved PID controller provided in Embodiment 2 of the present invention.

[0076] The present invention provides an optimization control method based on an improved PID controller, comprising:

[0077] Step 201 : In response to an optimization control request for a target power device, a power input signal, a power feedback signal, and an external disturbance signal of the target power device are acquired.

[0078] In the embodiment of the present invention, the specific implementation process of step 201 is similar to step 101 and will not be repeated here.

[0079] See also Figure 3 , Figure 3 It is a control flow block diagram of a preset optimization control model and a preset disturbance model; the specific control flow is as follows: step 202 to step 203.

[0080] Step 202: Use the power input signal and the power feedback signal to input a preset optimization control model for signal processing, and output a power control signal.

[0081] Further, the preset optimization control model includes an input filter, a device feedback module, a combination controller and a proportional module connected in sequence, and step 202 may include the following sub-steps:

[0082] S11, inputting the power input signal into an input filter for filtering, and outputting a filtered power signal.

[0083] It should be noted that when the controller in the target power device contains a differentiator, the output of the input step change is high, and the problem of process overshoot is prone to occur. Therefore, in the present invention, an input filter is provided to filter the power input signal to suppress process overshoot.

[0084] In the embodiment of the present invention, a power input signal is input into an input filter for filtering, and a filtered power signal is output.

[0085] The specific implementation process of S11 is as follows:

[0086] Before inputting the power input signal into the input filter for filtering, Laplace transform is performed on the power input signal to obtain a transformed power input signal;

[0087] The transformed power input signal is multiplied by the Laplace transfer function of the input filter to obtain a filtered power signal;

[0088] The Laplace transfer function of the input filter is specifically:

[0089]

[0090] In the formula, represents the Laplace transfer function of the input filter, represents the Laplace operator.

[0091] S12, performing difference calculation on the filtered power signal and the power feedback signal input device feedback module, and outputting a first difference signal.

[0092] It is worth mentioning that the filtered power signal is a Laplace transformed signal, so the power feedback signal also needs to be Laplace transformed.

[0093] In the embodiment of the present invention, the filtered power signal and the power feedback signal are input into a feedback module to perform a difference operation, and a first difference signal is output.

[0094] S13, using the first difference signal to input a combination controller for optimization control, and outputting a power combination signal.

[0095] Further, the combined controller includes a controller feedback module and a combined differentiator connected in sequence, and S13 may include the following sub-steps:

[0096] See also Figure 4 , Figure 4 It is a control flow block diagram of the combined controller; the specific control flow is as follows S131-S133.

[0097] S131 . Input a first difference signal and a pre-acquired controller feedback signal into a controller feedback module to perform a difference operation and output a second difference signal.

[0098] The controller feedback signal acquired in advance refers to the control power output by the combined controller. It is worth mentioning that the initial value of the power feedback signal is 0.

[0099] It is worth mentioning that the pre-acquired controller feedback signal is the controller feedback signal after Laplace transformation.

[0100] In the embodiment of the present invention, the first difference signal and the pre-acquired controller feedback signal are input into the controller feedback module to perform difference calculation, and the second difference signal is output.

[0101] S132: input the second difference signal into a combined differentiator for differential operation to obtain a power combined signal.

[0102] Further, the combined differentiator includes a differential combination module, a proportional gain module, an integral control module and an adder, and S132 may include the following sub-steps:

[0103] The differential combination module, the proportional gain module and the integral control module are all connected to the adder;

[0104] S1321. Input the second difference signal into a differential combination module for multiplication operation to obtain a first multiplication signal.

[0105] The specific implementation process of S1321 is as follows:

[0106] Using the second difference signal, preset gain constant Laplace transfer function with differential combination module A multiplication operation is performed to obtain a first multiplication signal.

[0107] It should be noted that the order of the combined differentiator of the present invention is preferably 16, which is not limited here, and the specific order can be set according to actual needs.

[0108] The Laplace transfer function of the differential combination module is specifically:

[0109]

[0110] In the formula, represents the Laplace transfer function of the differential combination module, represents the order of the combined differentiator, where Range: 1 <n≤16, Represents the time constant of the combined differentiator, in seconds.

[0111] In the embodiment of the present invention, the second difference signal is multiplied by the Laplace transfer function of the differential combination module to obtain the first multiplied signal.

[0112] S1322: Input the second difference signal into a proportional gain module for multiplication operation to obtain a second multiplication signal.

[0113] The specific implementation process of S1322 is as follows:

[0114] The Laplace transfer function K of the second difference signal and the proportional gain module is used. p Performing a multiplication operation to obtain a second multiplication signal;

[0115] It should be noted that the Laplace transfer function of the proportional gain module is specifically the preset gain constant in S1321 Therefore, it is only necessary to multiply the second difference signal by the preset gain constant to obtain the second multiplied signal.

[0116] In the embodiment of the present invention, the second difference signal is multiplied by the Laplace transfer function of the proportional gain module to obtain the second multiplied signal.

[0117] S1323: input the second difference signal into an integral control module for multiplication operation to obtain a third multiplication signal.

[0118] The specific implementation process of S1323 is as follows:

[0119] The Laplace transfer function f of the second difference signal, the preset gain constant and the integral control module is used. I A multiplication operation is performed to obtain a third multiplication signal.

[0120] It should be noted that the Laplace transfer function of the integral control module is specifically the reciprocal of the integral constant. Therefore, it is necessary to multiply the second difference signal, the reciprocal of the integral constant and the preset gain constant to obtain the third multiplied signal.

[0121] In the embodiment of the present invention, the second difference signal is input into the integral control module for multiplication operation to obtain a third multiplication signal.

[0122] S1324: input the first multiplication signal, the second multiplication signal and the third multiplication signal into an adder to perform a sum operation to obtain a power combination signal.

[0123] In the embodiment of the present invention, the first multiplication signal, the second multiplication signal and the third multiplication signal are input into an adder to perform a sum operation to obtain a power combination signal.

[0124] For ease of understanding, the Laplace transfer function in S1321-S1323 is encapsulated into a formula to obtain the Laplace transfer function expression of the combined differentiator:

[0125]

[0126] In the formula, represents the Laplace transfer function of the combined differentiator, Indicates the preset gain constant, represents the integration constant, Represents the Laplace transfer function of the derivative combination block.

[0127] Therefore, the second difference signal is multiplied by the Laplace transfer function of the combined differentiator to obtain the power combined signal f NF .

[0128] Furthermore, S13 may also include the following sub-steps:

[0129] S133, the power combination signal f NF As a new controller feedback signal, the process jumps to the step of using the first difference signal and the pre-acquired controller feedback signal to input into the controller feedback module for difference calculation, and outputting a second difference signal.

[0130] In an embodiment of the present invention, the power combination signal output by the combination differentiator is used to input the proportional module for proportional control. At the same time, the current power combination signal can also be used as a new controller feedback signal, and jump to the step of using the first difference signal and the pre-acquired controller feedback signal to input the controller feedback module for difference calculation, outputting the second difference signal, and re-optimizing the control.

[0131] S14, using the power combination signal to input the proportional module for proportional control and outputting a power control signal.

[0132] The specific implementation process of S14 is as follows:

[0133] The power combination signal is multiplied by the Laplace transfer function of the proportional module to obtain a power control signal.

[0134] The Laplace transfer function of the proportional module is specifically:

[0135]

[0136] In the formula, Represents the Laplace transfer function of the proportional block.

[0137] In the embodiment of the present invention, the power combination signal is input into the proportional module for proportional control, and a power control signal is output.

[0138] Step 203: Use the external disturbance signal to input the preset disturbance model to perform disturbance compensation, and use the compensation result and the power control signal to determine the power optimization signal.

[0139] Further, step 203 may include the following sub-steps:

[0140] S21, using an external disturbance signal to input a preset disturbance model to perform disturbance compensation to obtain a disturbance compensation signal.

[0141] It should be noted that the external disturbance signal needs to be Laplace transformed.

[0142] The specific implementation process of S21 is as follows:

[0143] The disturbance compensation signal is obtained by performing multiplication operation on the external disturbance signal after Laplace transformation, the preset disturbance gain and the Laplace transfer function of the preset disturbance model.

[0144] The Laplace transfer function of the preset disturbance model (Disturbance model, DM) is specifically:

[0145]

[0146] In the formula, Represents the Laplace transfer function of the preset disturbance model.

[0147] S22, performing a sum operation on the disturbance compensation signal and the power control signal to obtain a power optimization signal.

[0148] It should be noted that the preset optimization control model and the preset disturbance model are both connected to the model sum module, which is used to perform sum operation on the output of the preset optimization control model and the output of the preset disturbance model.

[0149] In the embodiment of the present invention, a sum operation is performed on the disturbance compensation signal and the power control signal to obtain a power optimization signal.

[0150] It should be noted that the external disturbance adopts the ramp function (RF). The use of the ramp function to measure the external disturbance suppression performance of the control system has good intuitiveness. After the disturbance of the ramp function to the process is stable, the maximum deviation between the process output and the set value can be used to measure the external disturbance suppression performance. The ramp function length is 2000 s and the ramp function rate is 10 -3 s -1 .

[0151] Step 204: Use the power optimization signal to optimize the control of the target power device.

[0152] In the embodiment of the present invention, a power optimization signal is used to optimize and control the target power device.

[0153] Step 205: Use the power optimization signal as a new power feedback signal, and jump to using the power input signal and the power feedback signal to input a preset optimization control model for signal processing, and output a power control signal.

[0154] In order to demonstrate the advantages of the improved PID controller in this solution over the conventional PID controller, a verification example is provided below:

[0155] In this verification example, the performance of the improved PID controller in this solution and the conventional PID controller in key performance indicators will be compared. Through a series of experiments and data analysis, the improved PID controller in this solution will be shown to have significant improvements in response speed and external disturbance suppression.

[0156] The Laplace transfer function of the actual differentiator in a conventional PID controller is specifically:

[0157]

[0158] In the formula, represents the Laplace transfer function of the actual differentiator, Represents the time constant of the actual differentiator, in seconds.

[0159] Furthermore, the Laplace transfer function of the conventional PID controller is specifically:

[0160]

[0161] In the formula, represents the Laplace transfer function of a conventional PID controller, represents the conventional PID controller gain, in dimensionless units, Represents the integral constant of a conventional PID controller.

[0162] The order of the combined differentiator in the improved PID controller of the present invention is set to n=8, and the parameters of the improved PID controller of the present invention and the conventional PID controller are obtained by mathematical methods; the parameter search conditions are set as follows: the open-loop system phase is -135°, and the open-loop system gain is 0.5; according to the set parameter search conditions, the parameters of the improved PID controller of the present invention and the conventional PID controller are searched; for the improved PID controller of the present invention, T is obtained by searching I / K P Follow K P With T CD Multiple sets of relationship curves of changes, only T is given I / K P The minimum value of a group T I Follow K P The curve of the change; for the conventional PID controller, search and get T I / K P Follow K P With T AD Multiple sets of relationship curves of changes, only T is given I / K P The minimum value of a group T I Follow K P The curve of the change; for the improved PID controller of the present invention, at T CD = 33s, and we get T I / K P The minimum value is 128.93s, and T I Follow K P The changing curve, Figure 5 As shown; for conventional PID controller, at T AD = 67s, and we get T I / K P The minimum value is 159.78s, and T I Follow K P The changing curve, Figure 5 shown.

[0163] according to Figure 5, for the improved PID controller of the present invention, at T I / K P The minimum value is 128.93s, and the obtained parameters are: K P =0.7601, T I =98s, T CD =31s; for conventional PID controller, at T I / K P The minimum value is 159.78s, and the obtained parameters are: K P =0.5758, T I =92s, T AD =67s; get the simulation comparison results, Figure 6 shown.

[0164] It can be seen that the K of the improved PID controller P Higher K than conventional PID controller P , K P The higher the K, the stronger the controller's response to the error, and the power device can approach the set value faster. When the power device is disturbed or the set value changes, high K P It can reduce dynamic errors more quickly and restore the power device to a stable state quickly, thereby achieving a faster response speed.

[0165] Figure 6 As shown, PV IPID(t) The proportional control output of the PID controller is improved by the present invention, PV PID(t) This is the proportional control output of a conventional PID controller.

[0166] according to Figure 5 As a result, for the conventional PID controller, the adjustment time is 695s, and the maximum deviation during the ramp function is 0.173; for the improved PID controller of the present invention, the adjustment time is 590s, and the maximum deviation during the ramp function is 0.147; the maximum deviation during the ramp function is used to measure the external disturbance suppression performance. Compared with the conventional PID controller, the external disturbance suppression performance of the improved PID controller of the present invention is improved by 19.7%.

[0167] In an embodiment of the present invention, the power optimization signal currently used for optimizing the control of the target power device is reused as a new power feedback signal, and the process jumps to the step of using the power input signal and the power feedback signal to input a preset optimization control model for signal processing and outputting a power control signal, and the signal processing is performed again.

[0168] In the present invention, in response to an optimization control request for a target power device, a power input signal, a power feedback signal and an external disturbance signal of the target power device are obtained, the power input signal and the power feedback signal are input into a preset optimization control model for signal processing, a power control signal is output, an external disturbance signal is input into a preset disturbance model for disturbance compensation, and the compensation result and the power control signal are used to determine the power optimization signal, and the target power device is optimized and controlled by the power optimization signal; the present invention first optimizes the power input signal through a preset optimization control model to obtain an optimized power control signal, significantly amplifies the change rate of the power input signal through the preset optimization control model, can respond to changes in the power input signal more quickly, and thus achieves the effect of improving the dynamic response speed of the target power device, then performs disturbance compensation on the external disturbance signal through a preset disturbance model to generate a compensation result, and helps the target power device identify and predict external disturbances through the preset disturbance model, thereby achieving the effect of improving the stability of the target power device, and finally generates a power optimization signal for optimizing the control of the target power device according to the power control signal and the disturbance compensation result output by the preset optimization control model and performs optimization control; the technical problem of how to improve the stability of the power device is solved.

[0169] See also Figure 7 , Figure 7 This is a structural block diagram of an optimization control system based on an improved PID controller provided in Example 3 of the present invention.

[0170] The present invention provides an optimization control system based on an improved PID controller, comprising:

[0171] A response module 301 is used to respond to an optimization control request for a target power device and obtain a power input signal, a power feedback signal and an external disturbance signal of the target power device;

[0172] The signal processing module 302 is used to input a power input signal and a power feedback signal into a preset optimization control model for signal processing and output a power control signal;

[0173] The disturbance compensation module 303 is used to use the external disturbance signal to input the preset disturbance model to perform disturbance compensation, and use the compensation result and the power control signal to determine the power optimization signal;

[0174] The optimization control module 304 is used to optimize and control the target power device using the power optimization signal.

[0175] Furthermore, it also includes:

[0176] The feedback control module is used to use the power optimization signal as a new power feedback signal, jump to the preset optimization control model using the power input signal and the power feedback signal to perform signal processing, and output a power control signal.

[0177] Further, the preset optimization control model includes an input filter, a device feedback module, a combined controller and a proportional module, and the signal processing module 302 includes:

[0178] A filtering power signal submodule, for filtering an input power signal input into an input filter and outputting a filtered power signal;

[0179] A first difference signal submodule, configured to perform a difference operation using the filtered power signal and the power feedback signal input device feedback module, and output a first difference signal;

[0180] A power combination signal submodule, used for using the first difference signal to input a combination controller for optimization control and outputting a power combination signal;

[0181] The power control signal submodule is used to use the power combination signal to input the proportional module for proportional control and output a power control signal.

[0182] Furthermore, the combined controller includes a controller feedback module and a combined differentiator, and the power combined signal submodule includes:

[0183] A second difference signal unit, used to input the first difference signal and the pre-acquired controller feedback signal into the controller feedback module for difference calculation, and output a second difference signal;

[0184] The differential operation unit is used to input the second difference signal into the combination differentiator for differential operation to obtain a power combination signal.

[0185] Furthermore, the power combination signal submodule also includes:

[0186] The updating unit is used to use the power combination signal as a new controller feedback signal, jump to the controller feedback module using the first difference signal and the pre-acquired controller feedback signal to perform difference calculation, and output a second difference signal.

[0187] Furthermore, the combined differentiator includes a differential combination module, a proportional gain module, an integral control module and an adder, and the differential operation unit includes:

[0188] A first multiplication signal subunit is used to input the second difference signal into the differential combination module for multiplication operation to obtain a first multiplication signal;

[0189] A second multiplication signal subunit is used to input the second difference signal into the proportional gain module for multiplication operation to obtain a second multiplication signal;

[0190] A third multiplication signal subunit is used to input the second difference signal into the integral control module for multiplication operation to obtain a third multiplication signal;

[0191] The sum operation subunit is used to input the first multiplication signal, the second multiplication signal and the third multiplication signal into the adder to perform a sum operation to obtain a power combination signal.

[0192] Further, the disturbance compensation module 303 includes:

[0193] The first processing submodule is used to use an external disturbance signal to input a preset disturbance model to perform disturbance compensation to obtain a disturbance compensation signal;

[0194] The second processing submodule is used to perform a sum operation on the disturbance compensation signal and the power control signal to obtain a power optimization signal.

[0195] In the present invention, in response to an optimization control request for a target power device, a power input signal, a power feedback signal and an external disturbance signal of the target power device are obtained, the power input signal and the power feedback signal are input into a preset optimization control model for signal processing, a power control signal is output, an external disturbance signal is input into a preset disturbance model for disturbance compensation, and the compensation result and the power control signal are used to determine the power optimization signal, and the target power device is optimized and controlled by the power optimization signal; the present invention first optimizes the power input signal through a preset optimization control model to obtain an optimized power control signal, significantly amplifies the change rate of the power input signal through the preset optimization control model, can respond to changes in the power input signal more quickly, and thus achieves the effect of improving the dynamic response speed of the target power device, then performs disturbance compensation on the external disturbance signal through a preset disturbance model to generate a compensation result, and helps the target power device identify and predict external disturbances through the preset disturbance model, thereby achieving the effect of improving the stability of the target power device, and finally generates a power optimization signal for optimizing the control of the target power device according to the power control signal and the disturbance compensation result output by the preset optimization control model and performs optimization control; the technical problem of how to improve the stability of the power device is solved.

[0196] See also Figure 8 , Figure 8 This is a structural block diagram of a computer device provided in Embodiment 4 of the present invention.

[0197] An electronic device according to an embodiment of the present invention comprises: a memory 401 and a processor 402, wherein the memory 401 stores a computer program; when the computer program is executed by the processor 402, the processor 402 executes an optimization control method based on an improved PID controller according to any of the above embodiments.

[0198] The memory 401 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk or a ROM. The memory 401 has a storage space 403 for a program code 413 for executing any method step in the above method. For example, the storage space 403 for the program code may include individual program codes 413 for implementing the various steps in the above method, respectively. These program codes may be read from or written to one or more computer program products. These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. The program code may be compressed, for example, in an appropriate form. When these codes are run by a computing and processing device, the computing and processing device performs the various steps in the method described above. These program codes may be read from or written to one or more computer program products. These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. The program code may be compressed, for example, in an appropriate form. When these codes are executed by a computing and processing device, they cause the computing and processing device to execute the various steps in the above-described optimization control method based on the improved PID controller.

[0199] Embodiment 5 of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, an optimization control method based on an improved PID controller as in any of the above embodiments is implemented.

[0200] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0201] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0202] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0203] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0204] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0205] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An optimization control method based on an improved PID controller, characterized in that: include: In response to an optimization control request for a target power device, a power input signal, a power feedback signal, and an external disturbance signal of the target power device are acquired; The power input signal and the power feedback signal are input into a preset optimization control model for signal processing, and a power control signal is output; Using the external disturbance signal to input a preset disturbance model to perform disturbance compensation, and using the compensation result and the power control signal to determine a power optimization signal; The power optimization signal is used to optimize the control of the target power device.

2. The optimization control method based on the improved PID controller according to claim 1, characterized in that: Also includes: The power optimization signal is used as a new power feedback signal, and the process jumps to the step of using the power input signal and the power feedback signal to input a preset optimization control model for signal processing, and outputting a power control signal.

3. The optimization control method based on the improved PID controller according to claim 1 is characterized in that: The preset optimization control model includes an input filter, a device feedback module, a combined controller and a proportional module. The power input signal and the power feedback signal are input into the preset optimization control model for signal processing, and the power control signal is output, including: The power input signal is input into the input filter for filtering, and a filtered power signal is output; The filtered power signal and the power feedback signal are input into the device feedback module for difference calculation, and a first difference signal is output; The first difference signal is input into the combination controller for optimization control to output a power combination signal; The power combination signal is input into the proportional module for proportional control, and a power control signal is output.

4. The optimization control method based on the improved PID controller according to claim 3 is characterized in that: The combined controller includes a controller feedback module and a combined differentiator. The first difference signal is input into the combined controller for optimization control to output a power combination signal, including: The first difference signal and a pre-acquired controller feedback signal are input into the controller feedback module to perform a difference operation and output a second difference signal; The second difference signal is input into the combined differentiator for differential operation to obtain a power combined signal.

5. The optimization control method based on the improved PID controller according to claim 4 is characterized in that: Also includes: The power combination signal is used as a new controller feedback signal, and jumps to the controller feedback module that uses the first difference signal and the pre-acquired controller feedback signal to perform difference calculation and output a second difference signal.

6. The optimization control method based on the improved PID controller according to any one of claims 4 or 5, characterized in that: The combined differentiator includes a differential combination module, a proportional gain module, an integral control module and an adder. The second difference signal is input into the combined differentiator for differential operation to obtain a power combination signal, including: The second difference signal is input into the differential combination module for multiplication operation to obtain a first multiplication signal; The second difference signal is input into the proportional gain module for multiplication operation to obtain a second multiplication signal; The second difference signal is input into the integral control module for multiplication operation to obtain a third multiplication signal; The first multiplication signal, the second multiplication signal and the third multiplication signal are input into the adder to perform a sum operation to obtain a power combination signal.

7. The optimization control method based on the improved PID controller according to any one of claims 1 to 5, characterized in that: The adopting the external disturbance signal to input a preset disturbance model to perform disturbance compensation, and using the compensation result and the power control signal to determine the power optimization signal, includes: Using the external disturbance signal to input a preset disturbance model to perform disturbance compensation to obtain a disturbance compensation signal; The disturbance compensation signal and the power control signal are used to perform a sum operation to obtain a power optimization signal.

8. An optimization control system based on an improved PID controller, characterized in that: include: A response module, used for responding to an optimization control request for a target power device, and obtaining a power input signal, a power feedback signal, and an external disturbance signal of the target power device; A signal processing module, used to input the power input signal and the power feedback signal into a preset optimization control model for signal processing, and output a power control signal; A disturbance compensation module, used to use the external disturbance signal to input a preset disturbance model to perform disturbance compensation, and use the compensation result and the power control signal to determine a power optimization signal; The optimization control module is used to optimize the control of the target power device using the power optimization signal.

9. An electronic device, characterized in that: It comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the optimization control method based on the improved PID controller as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the optimization control method based on the improved PID controller as described in any one of claims 1 to 7 is implemented.

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