PID (Proportion Integration Differentiation) controller with stable arbitrary waveform and control method

Abstract

The invention discloses a PID (Proportion Integration Differentiation) controller with a stable arbitrary waveform and a control method, and belongs to the technical field of PID control, the PID controller is added with an arbitrary waveform storage function on the basis of PID, and the PID controller comprises a storage chip and an operation chip; wherein the storage chip is used for storing any stable target waveform of a user; the operation chip comprises a waveform reading module and a PID (Proportion Integration Differentiation) controller; the waveform reading module is used for reading a waveform value of the stable target waveform according to a time sequence; and the PID controller is used for performing PID feedback control according to the read waveform value and a to-be-stabilized signal output by the controlled system, so that the state of the to-be-stabilized signal of the controlled system follows the waveform motion of the stable target. According to the invention, by changing the structure of the existing stabilization scheme, the actual waveform can be closer to the target waveform, and the tracking error is effectively reduced. The method can be applied to digital PID and analog PID.

Description

Technical Field

[0001] The present invention relates to the technical field of PID control, and more particularly to an arbitrary waveform stable PID controller and a control method. Background Art

[0002] In industrial production and scientific research, it's often necessary to ensure that a specific state variable (e.g., voltage, current, speed, temperature, laser intensity) of a controlled system behaves according to a target waveform. When the controlled state variable needs to change rapidly, over a wide range, and without a simple pattern, a control approach often employs a combination of an external signal source and a proportional-integral-differential (PID) controller. The external signal source provides a time-varying reference signal, which can be set by the user or generated by another system. A PID, or proportional-integral-differential controller, is a module or device with feedback control capabilities. The PID module generates an error signal by subtracting the value to be stabilized from the target value. The proportional, integral, and differential terms of the error signal are then weighted and fed back to the controller as feedback, achieving signal stability within a certain bandwidth. Specifically, existing techniques use an external signal source to provide the target waveform to be stabilized. This waveform is fed into the PID input port as a reference signal, allowing the PID to lock the state variable to this changing waveform.

[0003] Based on PID implementation, PID can be divided into digital PID and analog PID. Digital PID is implemented using digital circuits. The main principle is that an analog-to-digital converter (ADC) samples the signal. An operational chip such as an FPGA or CPU calculates the feedback signal based on the sampling results and outputs it to the controller via a digital-to-analog converter (DAC), thereby achieving signal stability. The advantages of digital PID are programmability, functional freedom, and fast development. Analog PID is a PID built using analog circuits. It mainly uses operational amplifiers and components such as capacitors and resistors to build proportional circuits, integral circuits, and differential circuits to achieve feedback control. The advantages of analog PID are large bandwidth and fast feedback.

[0004] The existing technology has the following main defects:

[0005] 1. The signal transmission between the signal source and the PID controller increases locking error. First, the signal source converts the signal into an analog signal via a digital-to-analog converter, which is then connected via a coaxial cable to the PID controller for reference. The PID controller then converts the signal back into a digital signal via an analog-to-digital converter for processing by the computing chip. These two digital-to-analog conversions increase quantization error. Furthermore, the analog signal transmitted via coaxial cable is susceptible to interference from electromagnetic pulses and attenuation, resulting in signal distortion and deviation from the desired stable waveform.

[0006] 2. PID cannot determine the entire waveform that needs to be stabilized; it can only receive a reference signal in real time, and the PID parameters remain unchanged throughout the process. Because different PID parameters are required to minimize tracking error when the waveform is stable and when it fluctuates dramatically, and this configuration allows only a single PID parameter, it can cause large signal overshoot or even self-oscillation (if the feedback parameter is set too high), or fail to track the input signal well (if the feedback parameter is set too low), making it impossible to perform global optimization based on the desired waveform.

[0007] 3. PID and signal source need to be used at the same time. As two independent devices, PID and signal source require independent chassis, power supply, high-precision digital-to-analog converter, and filter chip respectively, which occupy a large volume and have redundancy of multiple devices. Summary of the Invention

[0008] In view of this, the present invention provides an arbitrary waveform stabilized PID controller and a control method, which are used to at least solve some of the technical problems in the background technology. The arbitrary waveform stabilized PID controller disclosed in the technical solution of the present invention can also be called AWPID (Arbitrary waveform stabilized Proportional-integral-derivative controller).

[0009] In order to achieve the above object, the present invention adopts the following technical solutions:

[0010] In one embodiment, the present invention discloses an arbitrary waveform stabilized PID controller, the AWPID controller comprising: a storage chip and a computing chip;

[0011] Wherein, the storage chip is used to store any stable target waveform of the user;

[0012] The computing chip includes a waveform reading module and a PID controller;

[0013] The waveform reading module is used to read the waveform value of the stable target waveform according to a time series;

[0014] The PID controller is used to perform PID feedback control according to the read waveform value and the signal to be stabilized output by the controlled system, so that the state of the signal to be stabilized of the controlled system follows the movement of the stable target waveform.

[0015] Preferably, the PID controller in the arbitrary waveform stable PID controller disclosed in the present invention is implemented using an enhanced PID algorithm. Specifically, the PID controller includes:

[0016] A feedforward optimization module is used to determine a feedforward compensation value based on a waveform change of a stable target waveform stored in a memory chip at a current moment relative to a previous moment;

[0017] A feedforward correction module is used to correct the feedforward compensation value output by the feedforward optimization module according to the input and output response values of the PID controller;

[0018] A parameter optimization module is used to update and optimize the PID parameters of the conventional PID operation module according to the error signal of the set time period, wherein the error signal is obtained by the output value of the controlled system and the stable target waveform stored in the memory chip;

[0019] Conventional PID operation module, used to perform PID control on the current error signal according to the updated and optimized PID parameters and obtain the initial PID control result;

[0020] The summing output module is used to sum the corrected feedforward compensation value obtained by the feedforward correction module and the initial PID control result obtained by the conventional PID operation module to obtain the final enhanced PID control result.

[0021] Preferably, in the parameter optimization module, the PID parameters of the conventional PID operation module are updated and optimized according to the error signal of the set time period, specifically including:

[0022] Calculate the spectrum intensity of the error signal and divide the spectrum intensity into three sections: low, medium, and high according to the set threshold;

[0023] If the maximum amplitude value of the waveform within the low-band spectrum intensity range is greater than the set first amplitude threshold, increase the integral parameter K p , to eliminate low-frequency noise;

[0024] If the maximum amplitude value of the waveform within the middle spectrum intensity range is greater than the set second amplitude threshold, the proportional parameter K is increased. i , to suppress low-frequency noise and increase the differential parameter K d , to suppress high-frequency noise;

[0025] The oscillation frequency range of the monitoring system is set. When the maximum value of the waveform amplitude of the spectrum intensity within the oscillation frequency range is greater than the set third amplitude threshold, the integral parameter K is reduced at the same time. p , scale parameter K i and the differential parameter K d .

[0026] Preferably, in the feedforward correction module, the feedforward compensation value output by the feedforward optimization module is corrected according to the input and output response values of the PID controller, specifically including the following expression:

[0027]

[0028] in, Represents the feedforward correction module The corrected feedforward compensation value output at each moment; represents the feedforward compensation value output by the feedforward optimization module, It represents the first-order derivative of the PID controller's input to output, i.e., the input-output response value; Represents the first-order derivative The interval size of the segmented storage; express The output voltage of PID at that moment.

[0029] Preferably, the PID controller further includes a response monitoring module for recording the input and output response values of the PID controller with arbitrary waveform stability.

[0030] Preferably, any of the above-mentioned arbitrary waveform-stabilized PID controllers disclosed in the present invention further includes a trigger module, which is used to receive a trigger signal, and the trigger signal is used to trigger a waveform reading module to read the waveform value of the stable target waveform in a time series.

[0031] Preferably, any of the above-mentioned arbitrary waveform-stabilized PID controllers disclosed in the present invention further includes a freezing module, wherein the freezing module is used to receive a freezing signal, and the freezing signal is used to freeze the waveform value of the target waveform and suspend PID feedback control.

[0032] In another embodiment, the present invention discloses another PID controller with arbitrary waveform stability, which is implemented using a digital circuit and includes:

[0033] Memory chips, analog-to-digital conversion chips, computing chips, and digital-to-analog conversion chips;

[0034] Wherein, the storage chip is used to store any stable target waveform of the user;

[0035] The analog-to-digital conversion chip is used to receive the analog signal to be stabilized output by the controlled system and convert it into a digital signal;

[0036] The computing chip includes a waveform reading module and a digital PID controller;

[0037] The waveform reading module is used to read the value of the stable target waveform according to the time series;

[0038] The digital PID controller is used to perform PID feedback control based on the read target waveform and the digital signal output by the analog-to-digital conversion chip, and output a feedback digital signal;

[0039] The digital-to-analog conversion chip is used to convert the feedback digital signal into an analog signal acting on the controlled system, so that the state of the analog signal to be stabilized of the controlled system follows the stable target waveform stored in the storage chip.

[0040] In a third embodiment, the present invention further discloses a PID controller with arbitrary waveform stability. In this embodiment, the PID controller is implemented using an analog circuit, including:

[0041] Memory chip, computing chip, analog PID controller, and digital-to-analog conversion chip;

[0042] Wherein, the storage chip is used to store any stable target waveform data of the user;

[0043] The computing chip includes a waveform reading module, and the waveform reading module is used to read the waveform value of the stable target waveform according to a time series;

[0044] The digital-to-analog conversion chip is used to convert the waveform value of the stable target waveform into an analog value;

[0045] The analog PID controller is used to perform PID feedback control based on the analog quantity converted from the waveform value and the analog signal to be stabilized output by the controlled system, so that the state of the analog signal to be stabilized of the controlled system follows the stable target waveform stored in the storage chip.

[0046] On the other hand, the present invention further discloses a PID control method with arbitrary waveform stability, which uses any one of the above-mentioned PID controllers with arbitrary waveform stability to control a controlled system.

[0047] It can be seen from the above technical solution that, compared with the prior art, the present invention discloses a PID control and control method with arbitrary waveform stability, which has the following beneficial effects:

[0048] 1. Because PID parameters must be adjusted based on the characteristics of the error signal (actual waveform minus target waveform), when the target waveform is a constant, the error signal is primarily contributed by ambient noise. When the target waveform is an arbitrary waveform, the error signal is primarily contributed by the arbitrary waveform. These two types of error signals differ significantly in their power and energy spectra. Therefore, the optimal PID parameters required to reduce these two types of error signals are inconsistent and likely conflicting. The PID controller (AWPID) disclosed in this invention captures information about the entire waveform during operation. It can incorporate an intelligent PID algorithm during operation, optimizing PID parameters in real time based on the characteristics of the subsequent waveform and the current ambient noise. This improves the tracking performance of the physical quantity relative to the input and further reduces the tracking error of the feedback system.

[0049] 2. Compared to existing solutions that combine a signal source with a PID controller, the digital AWPID controller disclosed in this paper eliminates the three steps of generating a reference signal from the signal source, transmitting the reference signal to the PID controller, and sampling the reference signal from the PID controller. This eliminates the noise and interference introduced in these three steps, allowing the actual waveform to more closely match the target waveform and reducing locking errors. Analog AWPID reduces the distance the reference signal must travel to the PID controller, minimizing interference and attenuation during the reference signal transmission process.

[0050] 3. Compared with the existing solution of using a signal source and PID together, the arbitrary waveform stabilized PID controller (AWPID) disclosed in the present invention reduces the chassis and power supply required by the signal source and PID, thereby improving the system integration and further reducing the volume. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0052] Figure 1 This is a schematic diagram of a control system architecture for achieving arbitrary waveform stabilization through an external signal source and ordinary PID in the prior art.

[0053] Figure 2 This is a hardware connection diagram of the arbitrary waveform stable PID controller provided by the present invention when feedback is stable.

[0054] Figure 3 This is a schematic diagram of the core principle of the AWPID controller provided by the present invention.

[0055] Figure 4 This is a schematic diagram of the AWPID structure principle implemented using digital circuits provided by the present invention.

[0056] Figure 5 This is a schematic diagram of the AWPID structure principle implemented using analog circuits provided by the present invention.

[0057] Figure 6 The present invention provides a digital AWPID with triggering, freezing functions and intelligent feedforward correction PID algorithm.

[0058] Figure 7 This is a schematic diagram of the PID intelligent algorithm framework principle provided by the present invention.

[0059] Figure 8A schematic diagram showing the connection between the signal source and the PID device is required to stabilize the PID state in the existing solution.

[0060] Figure 9 Schematic diagram of an enhanced digital AWPID device without a signal source provided by the present invention.

[0061] Figure 10 This is a schematic diagram of the stabilization effect of the existing PID algorithm.

[0062] Figure 11 This is a schematic diagram of the effect of the intelligent feedforward correction PID algorithm provided by the present invention. DETAILED DESCRIPTION

[0063] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments 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 making creative efforts are within the scope of protection of the present invention.

[0064] In the prior art, an external signal source is used in conjunction with PID to achieve arbitrary waveform stabilization. Figure 1 As shown in the figure, the PID output is connected to the controller of the controlled system, and the state of the controlled system is connected to the PID signal input. The PID compares the error between the signal input and the reference input and adjusts the PID output in real time, forming a closed-loop feedback system. This stabilizes the state of the controlled system at a preset waveform. The signal source provides the reference input, allowing the entire system to operate according to the preset waveform. If only an external signal source is used without the PID, the signal to be stabilized may not fully conform to the preset waveform due to environmental noise and system drift, resulting in large errors. If only the PID is used without an external signal source, the signal to be stabilized will be locked at a fixed point and will not change over time.

[0065] To address these issues, embodiments of the present invention disclose a novel device for achieving time-dependent state variables through feedback control. This device, called an arbitrary waveform stabilized proportional-integral-derivative controller (AWPID), allows users to directly set the PID's reference waveform, allowing it to stabilize state variables on an arbitrary waveform. This device simplifies the system architecture required to achieve arbitrary waveform stabilization and optimizes the stabilization effect, minimizing errors.

[0066] The hardware system connection diagram for the stable state quantity of the present invention is as follows Figure 2 As shown, compared with the existing solution of external signal source + PID, the technical solution of the present invention does not have a separate signal source to provide the reference signal, but directly stores the reference signal in the AWPID.

[0067] This invention realizes this function by designing a new device named AWPID, namely arbitrary waveform stable PID controller. The core scheme is as follows Figure 3 The AWPID is a functionally enhanced PID that can stabilize arbitrary waveforms without receiving an external analog reference signal. This is achieved by adding an internal memory chip to store the target waveform. When a conventional PID receives a signal to be stabilized, it also receives a reference input. The error signal is the difference between the signal to be stabilized and the reference input. Before operation, the AWPID stores the target waveform in the memory chip. The waveform reader module reads the target waveform from the memory chip. When the signal to be stabilized is received, the error signal is the difference between the signal to be stabilized and the target waveform.

[0068] In one embodiment, the present invention can be implemented using digital circuits, and its specific implementation is as follows: Figure 4 In digital implementation, the arbitrary waveform stable PID controller includes a storage chip, an analog-to-digital conversion chip, a computing chip, and a digital-to-analog conversion chip. Other accessories may also include a power module and a chassis. The following is a detailed introduction to the functions of the different components:

[0069] The computational chip includes a waveform reading module and a PID algorithm module. The waveform reading module reads waveforms from the memory chip at a set sampling rate. The PID algorithm module compares the digital signal obtained by the analog-to-digital conversion chip with the target value stored in the memory chip to generate an error signal. The PID algorithm then runs the error signal to generate a digital feedback output signal.

[0070] Analog-to-digital conversion chip: Receives the signal of the variable to be stabilized and converts the analog signal into a digital signal to facilitate subsequent processing by the computing chip.

[0071] Storage chip: Storage requires a stable target value. The target is a state quantity that changes over time. Compressed or uncompressed data can be directly stored or read by time.

[0072] Digital-to-analog conversion chip: converts the digital signal of the feedback output obtained by the PID algorithm into an analog signal, which then acts on the target system.

[0073] In another embodiment, the present invention can also be implemented using an analog circuit. The specific structure of the analog circuit implementation method can be referred to Figure 5As shown, the PID controller with arbitrary waveform stability at this time includes: a storage chip, a computing chip, an analog PID controller, and a digital-to-analog conversion chip; wherein the storage chip is used to store the user's arbitrary stable target waveform data; the computing chip includes a waveform reading module, which is used to read the waveform value of the stable target waveform in a time series; the digital-to-analog conversion chip is used to convert the waveform value of the stable target waveform into an analog quantity; the analog PID controller is used to perform PID feedback control based on the analog quantity after the waveform value conversion and the analog signal to be stabilized output by the controlled system, so that the state of the analog signal to be stabilized of the controlled system follows the movement of the stable target waveform stored in the storage chip. In this embodiment, the state of the controlled system is directly input to the analog PID, and the storage chip provides it to the analog PID as a reference signal through the digital-to-analog conversion chip. The output of the analog PID is directly connected to the controlled system, thereby realizing closed-loop feedback.

[0074] As an improvement of any of the above embodiments, Figure 6 As shown, the present invention can also add a trigger port and a freeze port and their corresponding trigger modules and freeze modules to achieve more functions. Among them, the trigger module is used to receive a trigger signal, and the trigger signal is used to trigger the waveform reading module to read the waveform value of the stable target waveform according to the time series; the freeze module is used to receive a freeze signal, and the freeze signal is used to freeze the waveform value of the target waveform and suspend the PID feedback control. In actual applications, the trigger port can receive a level signal. When the trigger signal is received, the computing chip starts timing and continuously takes out the target value of the current time from the memory as a reference for the PID. The freeze port can determine the freezing time according to the received level signal. When the freeze port receives the freeze signal, the PID is in a frozen state. At this time, the PID output state and internal state remain unchanged. When the freeze port is unfrozen, the PID is in a normal working state.

[0075] In order to further improve the performance, the PID controller in the system of the technical solution of the present invention adopts an intelligent feedforward correction PID algorithm to achieve a smaller tracking error. The intelligent feedforward correction PID algorithm module is described separately below.

[0076] Intelligent feedforward correction PID algorithm module: By modifying the PID algorithm, the performance advantage of the PID controller with arbitrary waveform stability is achieved, which exceeds the performance of the existing conventional PID algorithm module. Figure 7As shown, the improved PID controller disclosed in the present invention includes a feedforward optimization module, a feedforward correction module, a parameter optimization module, a conventional PID operation module and a summing output module. Specifically, the feedforward optimization module is used to determine a feedforward compensation value according to the waveform change of the stable target waveform stored in the storage chip at the current moment relative to the previous moment; the feedforward correction module is used to correct the feedforward compensation value output by the feedforward optimization module according to the input and output response values of the AWPID controller; the parameter optimization module is used to update and optimize the PID parameters of the conventional PID operation module according to the error signal of a set time period, wherein the error signal is obtained by the output value of the controlled system and the stable target waveform stored in the storage chip; the conventional PID operation module is used to perform PID control on the current error signal according to the updated and optimized PID parameters and obtain a first PID control result; the summing output module is used to sum the corrected feedforward compensation value obtained by the feedforward correction module and the first PID control result obtained by the conventional PID operation module to obtain a final enhanced PID control result.

[0077] The following is a further detailed description of the intelligent feedforward correction PID algorithm module (which replaces the PID controller) proposed in the present invention. The intelligent feedforward correction PID algorithm module performs the following steps:

[0078] Input: The waveform collected by AWPID that needs to be stabilized. This input is the output of the controlled system.

[0079] Reference: Target waveform stored inside AWPID.

[0080] Error: Input-reference, provides the error signal for the conventional PID algorithm.

[0081] Parameter optimization module: receive and record for a period of time The error signal is calculated based on the error signal to obtain the optimal PID parameter setting value, and the PID parameters are updated in real time or at regular intervals. This is a PID adaptive module, which is used to make PID always work in the best state. The specific algorithm is as follows: p 、k i 、k d , and parameter update amplitude U p 、U i 、U d , calculate the spectrum intensity of the error signal in real time, and according to f l 、f h Divide the spectrum into 0-f l , f l -f h , f h -∞ three segments. If in the spectrum 0-f lThe maximum amplitude value within the range is greater than the set value a l , which proves that the noise term has low-frequency components, so we increase k i Eliminate low frequency noise and make k i =k i +U i ; If in the spectrum f l -f h The maximum amplitude value within the range is greater than the set value a m , which proves that the noise term has intermediate frequency components, so we increase k p Suppress the intermediate frequency noise, so that k p =k p +U p ; If in the spectrum f h The maximum amplitude value within the -∞ range is greater than the set value a h , then increase k d Suppress high frequency noise and make k d =k d +U d . At the same time, the oscillation frequency range f of the system is monitored cl With f ch , when the spectrum is in the range f cl <f<f ch The maximum value of the internal amplitude is greater than the set value a c When k is reduced i 、k p and k d , so that k i =k i -U i , k p -U p , k d =k d -U d , to prevent PID self-oscillation. It should be noted that the parameters with the subscript l in this application indicate the minimum value, and the parameters with the subscript h indicate the maximum value.

[0082] Response monitoring module: records the output and input response of PID, that is, the first-order derivative D of each output point o o =d I / d O It should be noted that due to the drift of the environment, It is not a constant and will change over time. It is necessary to update the value in real time by using the time-weighted average method. Due to the interference of environmental noise, Contains noise, but the noise can be filtered out by averaging algorithm. The specific implementation method is to discretize the PID output into k segments, each segment length is δ o , the split points are recorded as P1, P2, ...P k, save the first-order derivative D1, D2, ...D of each output interval through k variables k At any time, PID can obtain the difference d between the current output and the last output o and the current input and the last input d I The time sliding average algorithm is used for updating. ,in Before the update , a is the parameter that needs to be adjusted. The time sliding average algorithm ensures that the latest data has a large weight. Historical data can keep the calculation of the first-order derivative stable and prevent drastic changes in parameters.

[0083] Conventional PID algorithm: The conventional PID algorithm consists of three parts: proportional, integral, and differential. It is the core component of the feedback system. In the AWPID system, the output of the conventional PID is added to the output of the feedforward optimization module to obtain the final output. This module receives the parameters k of P, I, and D set by the parameter optimization module. p 、k i 、k d , and receives the error signal as input. Its output update logic is: , where E t Represents the error signal at the current time t, E t-1 Represents the error signal at time t-1 (the previous moment).

[0084] Feedforward optimization module: The value of the feedforward compensation is determined based on the change of the reference waveform at the current moment relative to the previous moment and the current output of PID. The output value of the feedforward optimization module is the reference value at the current moment. The reference value of the previous moment The difference. ,For AWPID, the reference value can be obtained directly from the ,memory.

[0085] Feedforward correction module: According to the instructions of the feedforward optimization module and combined with the historical operating status of the system, the size of the PID feedforward is corrected. Its output expression is .

[0086] Output: The final output of the intelligent algorithm The output mainly consists of two parts: the output of the conventional PID algorithm with parameter optimization module And the output of the feedforward correction module .

[0087] The core principle of the PID enhanced intelligent feedforward correction algorithm disclosed in the present invention is to decompose the error into unpredictable errors of the environment and predictable errors of the objective function. The unpredictable errors are eliminated through conventional PID, and the errors introduced by the changes in the objective function are eliminated through the response monitoring module, the feedforward control module, and the feedforward correction module.

[0088] The beneficial effects and principles of this application are further explained below in conjunction with the prior art.

[0089] Figure 8 This is a schematic diagram of the separation of the signal source and PID in the prior art. The signal source and PID are two independent devices, where the power module, computing chip, digital-to-analog conversion chip and an analog-to-digital conversion chip are present in both devices.

[0090] Figure 9 The hardware structure diagram of the enhanced digital AWPID device without a signal source disclosed in the present invention shows that the AWPID disclosed in this application simplifies the redundancy of the signal source and PID devices, and realizes the same function through a single device. By modifying the PID to integrate a memory chip, it is upgraded to the AWPID, replacing the signal source and PID devices in the function of arbitrary waveform stabilization. Since the AWPID eliminates multiple analog-to-digital converters and avoids wiring between devices, it can effectively reduce tracking errors.

[0091] Another key aspect of the present invention's core solution is the real-time adaptation of PID parameters through an intelligent algorithm module, while feedforward optimization and correction modules are used to reduce error signals caused by changes in the target waveform. Because the AWPID internally stores the waveform to be stabilized, the optimal PID parameters for each moment can be calculated before the PID is run, or the optimal PID parameters for that waveform can be calculated in real time during operation. These real-time PID parameters can be optimized for the current and subsequent waveforms, minimizing the difference between the final waveform and the target waveform.

[0092] Since AWPID stores the target waveform and adds an intelligent algorithm module, it is possible for AWPID to intelligently adjust parameters according to real-time conditions.

[0093] In the process of using the existing technical solution to achieve arbitrary waveform stabilization using signal source and PID, the intelligent algorithm can optimize the PID parameters according to the historical environmental noise conditions. However, when the waveform suddenly changes, the PID will overshoot and cannot effectively follow. For specific stabilization effects, refer to Figure 10 As shown in the figure, the blue line is the target curve, and the yellow line is the PID stability effect diagram. The burrs on the yellow line are mainly contributed by environmental noise. Since the PID and the signal source are two separate devices, the PID control has a large error and cannot effectively follow.

[0094] In this simple example, a key factor is the rapid variation of the PID error signal. This error signal consists of two components: environmental noise and drift, and the error signal caused by target changes. Under normal circumstances, environmental noise and drift are unpredictable, characterized by low amplitude and slow drift. However, the target is user-defined and requires large and rapid changes. However, for the purpose of parameter stabilization, its waveform is completely known. This can be addressed by optimizing the PID algorithm.

[0095] The stabilization effect after using AWPID to store the target waveform and adding the intelligent algorithm module is as follows: Figure 11 As shown in the figure, AWPID uses the intelligent PID algorithm effect diagram. Under the same parameters, the feedforward optimization module of AWPID uses the future time information of the stored waveform to achieve better control effect, so that the PID control can follow the target well.

[0096] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0097] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A PID controller with arbitrary waveform stability, characterized in that: include: Memory chips and computing chips; Wherein, the storage chip is used to store any stable target waveform of the user; The computing chip includes a waveform reading module and a PID controller; The waveform reading module is used to read the waveform value of the stable target waveform according to a time series; The PID controller is used to perform PID feedback control according to the read waveform value and the signal to be stabilized output by the controlled system, so that the state of the signal to be stabilized of the controlled system follows the movement of the stable target waveform.

2. The arbitrary waveform stabilized PID controller according to claim 1, characterized in that: The PID controller comprises, A feedforward optimization module is used to determine a feedforward compensation value based on a waveform change of a stable target waveform stored in a memory chip at a current moment relative to a previous moment; A feedforward correction module is used to correct the feedforward compensation value output by the feedforward optimization module according to the input and output response values of the PID controller; A parameter optimization module is used to update and optimize the PID parameters of the conventional PID operation module according to the error signal of the set time period, wherein the error signal is obtained by the output value of the controlled system and the stable target waveform stored in the memory chip; Conventional PID operation module, used to perform PID control on the current error signal according to the updated and optimized PID parameters and obtain the initial PID control result; The summing output module is used to sum the corrected feedforward compensation value obtained by the feedforward correction module and the initial PID control result obtained by the conventional PID operation module to obtain the final enhanced PID control result.

3. The arbitrary waveform stabilized PID controller according to claim 2, characterized in that: In the parameter optimization module, the PID parameters of the conventional PID operation module are updated and optimized according to the error signal of the set time period, specifically including: Calculate the spectrum intensity of the error signal and divide the spectrum intensity into three sections: low, medium, and high according to the set threshold; If the maximum amplitude value of the waveform within the low-band spectrum intensity range is greater than the set first amplitude threshold, increase the integral parameter K p , to eliminate low-frequency noise; If the maximum amplitude value of the waveform within the middle spectrum intensity range is greater than the set second amplitude threshold, the proportional parameter K is increased. i , to suppress low-frequency noise and increase the differential parameter K d , to suppress high-frequency noise; The oscillation frequency range of the monitoring system is set. When the maximum value of the waveform amplitude value of the spectrum intensity within the oscillation frequency range is greater than the set third amplitude threshold, the integral parameter K is reduced at the same time. p , scale parameter K i and the differential parameter K d .

4. The arbitrary waveform stabilized PID controller according to claim 2, characterized in that: In the feedforward correction module, the feedforward compensation value output by the feedforward optimization module is corrected according to the input and output response values of the PID controller, specifically including the following expression: ； in, Represents the feedforward correction module The corrected feedforward compensation value output at each moment; represents the feedforward compensation value output by the feedforward optimization module, It represents the first-order derivative of the PID controller's input to output, i.e., the input-output response value; Represents the first-order derivative The interval size of the segmented storage; express The output voltage of PID at that moment.

5. The arbitrary waveform stabilized PID controller according to claim 2, characterized in that: It also includes a response monitoring module for recording the input and output response values of the PID controller.

6. The arbitrary waveform stabilized PID controller according to claim 1, characterized in that: It also includes a trigger module, which is used to receive a trigger signal, and the trigger signal is used to trigger the waveform reading module to read the waveform value of the stable target waveform according to a time series.

7. The arbitrary waveform stabilized PID controller according to claim 1, characterized in that: The system further includes a freezing module, which is used to receive a freezing signal, and the freezing signal is used to freeze the waveform value of the target waveform and suspend PID feedback control.

8. An arbitrary waveform stable PID controller, characterized in that: The PID controller is implemented using a digital circuit, including: Memory chips, analog-to-digital conversion chips, computing chips, and digital-to-analog conversion chips; Wherein, the storage chip is used to store any stable target waveform of the user; The analog-to-digital conversion chip is used to receive the analog signal to be stabilized output by the controlled system and convert it into a digital signal; The computing chip includes a waveform reading module and a digital PID controller; The waveform reading module is used to read the value of the stable target waveform according to the time series; The digital PID controller is used to perform PID feedback control based on the read target waveform and the digital signal output by the analog-to-digital conversion chip, and output a feedback digital signal; The digital-to-analog conversion chip is used to convert the feedback digital signal into an analog signal acting on the controlled system, so that the state of the analog signal to be stabilized of the controlled system follows the stable target waveform stored in the storage chip.

9. An arbitrary waveform stable PID controller, characterized in that: The PID controller is implemented using an analog circuit, including: Memory chip, computing chip, analog PID controller, and digital-to-analog conversion chip; Wherein, the storage chip is used to store any stable target waveform data of the user; The computing chip includes a waveform reading module, and the waveform reading module is used to read the waveform value of the stable target waveform according to a time series; The digital-to-analog conversion chip is used to convert the waveform value of the stable target waveform into an analog value; The analog PID controller is used to perform PID feedback control based on the analog quantity converted from the waveform value and the analog signal to be stabilized output by the controlled system, so that the state of the analog signal to be stabilized of the controlled system follows the stable target waveform stored in the storage chip.

10. A PID control method for arbitrary waveform stabilization, characterized in that: The controlled system is controlled by applying the arbitrary waveform stabilized PID controller described in any one of claims 1 to 9.

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