Method for tuning a proportional-integral controller with filter

Abstract

The application relates to a method for setting a proportional-integral controller with a filter, wherein the method comprises: using a response curve method to identify parameters of a transfer function of a controlled object to obtain an identification result, and obtaining a transfer function of the controlled object and a proportional-integral controller with a first-order filter based on the identification result; using a delay time and an inertia time constant to calculate a type parameter, dividing the proportional-integral control system into multiple types of time delay systems based on the type parameter, matching a corresponding transfer function based on the type of the time delay system, and setting controller parameters of the transfer function. The embodiments of the application can be applied to a first-order inertia system with a lag link and a high-order system that can be simplified into the system, aiming to improve the control performance of the controller on the time delay system through accurate parameter setting, suppress high-frequency oscillation, reduce energy loss, and guarantee the stability and economy of the control system.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and in particular to a method for tuning a proportional-integral controller with a filter. Background Technology

[0002] In the field of industrial automatic control, proportional-integral controllers (PICs) are widely used for regulating key process parameters such as temperature, pressure, level, and flow rate due to their simple structure, ease of implementation, and good steady-state control performance for most deterministic systems. However, real-world industrial systems often exhibit varying degrees of lag (such as transmission lag and reaction lag) and inertial characteristics, typically a first-order inertial system with lag, or can be simplified to a higher-order complex system of this type through model reduction.

[0003] For first-order inertial systems with time lag, the proportional-integral controller (PIC) parameter decoupling method achieves parameter decoupling—that is, the parameters are only related to the steady-state gain of the controlled object and only to the time scale (time constant T and delay time). However, it has the following limitations: First, for small time-delay systems (i.e., small values), the initial impact of the control variable (u) is too large, and high-frequency oscillations occur, easily causing frequent operation of actuators (such as valves and motors), accelerating equipment wear and increasing energy loss. Second, for large time-delay systems (i.e., excessively large values), the closed-loop response curve of the system exhibits a broken line characteristic, specifically, the signal rises rapidly followed by fluctuations or brief adjustments. This makes the response process unstable and can also cause oscillations, making it difficult to meet the control accuracy and stability requirements of large time-delay systems.

[0004] To address the aforementioned issues, this application proposes an improved scheme that adds a filter (such as a first-order low-pass filter) to the proportional-integral controller. This filter suppresses high-frequency components and reduces fluctuations in control quantity and step response. Summary of the Invention

[0005] This application provides a proportional-integral controller tuning method with a filter, targeting first-order inertial elements with hysteresis. It is applicable to first-order inertial systems with hysteresis and higher-order systems that can be simplified to this type of system (such as temperature control and pressure control in industrial processes). The aim is to improve the controller's control performance for time-delay systems through precise parameter tuning, suppress high-frequency oscillations, reduce energy loss, and ensure the stability and economy of the control system.

[0006] The first aspect of this application provides a method for tuning a proportional-integral controller with a filter, applied to a proportional-integral control system, wherein the proportional-integral control system includes a controlled object and a proportional-integral controller with a first-order filter, characterized by comprising the following steps:

[0007] S1: The parameters of the transfer function of the controlled object are identified by using the response curve method, and the identification results are obtained. The parameters include at least one of steady-state gain, inertial time constant and delay time.

[0008] S2: Based on the identification results, obtain the transfer function of the controlled object;

[0009] The expression for the controlled object transfer function is as follows:

[0010] ,

[0011] in, K The steady-state gain of the controlled object. T The inertial time constant, The delay time s For the complex variables of the Laplace transform, The transfer function is a pure delay element;

[0012] The expression for the transfer function of the proportional-integral controller with the first-order filter is:

[0013] ,

[0014] in, The transfer function of the proportional-integral controller is... Let be the transfer function of a first-order filter. K c The proportional gain of the proportional-integral controller. T c The integral time constant of the proportional-integral controller is... T m This is the controller's filtering time constant;

[0015] The expression for the open-loop transfer function of the proportional-integral control system is as follows:

[0016] ;

[0017] S3: Calculate the type parameter using the delay time and the inertial time constant. Based on the type parameter The proportional-integral control system is divided into various types of time-delay systems, and the corresponding transfer function is matched based on the type of the time-delay system, and the controller parameters of the transfer function are tuned.

[0018] Optionally, in one embodiment of this application, the calculation of type parameters using the delay time and the inertial time constant is... Based on the type parameter The proportional-integral control system is classified into several types of time-delay systems, including:

[0019] The type parameter The calculation expression is:

[0020] ,

[0021] Based on the type parameter The numerical range determines the type of the proportional-integral control system; if Then the proportional-integral control system is determined to be a time-delay system of the first time-delay type; if Then the proportional-integral control system is determined to be a time-delay system of the second time-delay type; if Then, the proportional-integral control system is determined to be a time-delay system of the third time-delay type; wherein, ,and .

[0022] Optionally, in one embodiment of this application, the step of matching the transfer function corresponding to the type of the time-delay system and tuning the controller parameters of the transfer function includes: when the proportional-integral control system is a time-delay system of the first time-delay type, determining the controller parameters as follows:

[0023] ,

[0024] in, These are system parameters.

[0025] Optionally, in one embodiment of this application, when the proportional-integral control system is a time-delay system of the first time-delay type, the system parameters... The range of values ​​is .

[0026] Optionally, in one embodiment of this application, when the proportional-integral control system is a time-delay system of the first time-delay type, the parameters The range of values ​​is .

[0027] Optionally, in one embodiment of this application, the step of matching the transfer function corresponding to the type of the time-delay system and tuning the controller parameters of the transfer function includes: when the proportional-integral control system is a time-delay system of the second time-delay type, determining the controller parameters of the open-loop transfer function of the proportional-integral control system as follows:

[0028] .

[0029] Optionally, in one embodiment of this application, when the proportional-integral control system is a time-delay system of the second time-delay type, .

[0030] Optionally, in one embodiment of this application, the step of matching the transfer function corresponding to the type of the time-delay system and tuning the controller parameters of the transfer function includes: when the proportional-integral control system is a time-delay system of the third time-delay type, the controller parameters of the controlled object's transfer function are:

[0031] .

[0032] Optionally, in one embodiment of this application, when the proportional-integral control system is a time-delay system of the third time-delay type, the first-order filter parameters... , .

[0033] A second aspect of this application provides a proportional-integral controller tuning device with a filter, applied to a proportional-integral control system, wherein the proportional-integral control system includes a controlled object and a proportional-integral controller with a first-order filter, characterized in that it includes:

[0034] The identification module is used to identify the parameters of the transfer function of the controlled object using the response curve method and obtain the identification result. The parameters include at least one of steady-state gain, inertial time constant and delay time.

[0035] The calculation module is used to obtain the transfer function of the controlled object based on the identification result;

[0036] The expression for the controlled object transfer function is as follows:

[0037] ,

[0038] in, K The steady-state gain of the controlled object. T The inertial time constant, The delay time is... s For the complex variables of the Laplace transform, The transfer function is a pure delay element;

[0039] The transfer function expression of the proportional-integral controller with a first-order filter is:

[0040] ,

[0041] in, The transfer function of the proportional-integral controller is... Let be the transfer function of a first-order filter. K c The proportional gain of the proportional-integral controller. T c The integral time constant of the proportional-integral controller is... T m This is the controller's filtering time constant;

[0042] The expression for the open-loop transfer function of the proportional-integral control system is as follows:

[0043] ;

[0044] The parameter tuning module is used to calculate type parameters using the delay time and the inertial time constant. Based on the type parameter The proportional-integral control system is divided into various types of time-delay systems, and the corresponding transfer function is matched based on the type of the time-delay system, and the controller parameters of the transfer function are tuned.

[0045] Optionally, in one embodiment of this application, the type parameter The calculation expression is: The parameter tuning module includes: a first determining unit, configured to determine the type parameter based on the type parameter. The numerical range within which the proportional-integral control system is located determines the type of the system; the second determining unit is used to determine the range within which the proportional-integral control system is located. In the case of determining that the proportional-integral control system is a time-delay system of the first time-delay type; the third determining unit is used to determine that... In the case of determining that the proportional-integral control system is a time-delay system of the second time-delay type; the fourth determining unit is used to determine that... In the case of this, the proportional-integral control system is determined to be a time-delay system of the third time-delay type; wherein, ,and .

[0046] Optionally, in one embodiment of this application, the parameter tuning module includes: a first matching unit, configured to determine the controller parameters of the transfer function of the proportional-integral controller with a first-order filter as follows when the proportional-integral control system is a time-delay system of the first time-delay type:

[0047] ,

[0048] in, These are system parameters.

[0049] Optionally, in one embodiment of this application, when the proportional-integral control system is a time-delay system of the first time-delay type, the system parameters... The range of values ​​is .

[0050] Optionally, in one embodiment of this application, when the proportional-integral control system is a time-delay system of the first time-delay type, the parameters The range of values ​​is .

[0051] Optionally, in one embodiment of this application, the parameter tuning module includes: a second matching unit, configured to determine the controller parameters of the open-loop transfer function of the proportional-integral control system as follows, when the proportional-integral control system is a time-delay system of the second time-delay type:

[0052] .

[0053] Optionally, in one embodiment of this application, when the proportional-integral control system is a time-delay system of the second time-delay type, .

[0054] Optionally, in one embodiment of this application, the parameter tuning module includes: a third matching unit, used to determine the controller parameters of the controlled object transfer function as follows when the proportional-integral control system is a time-delay system of the third time-delay type:

[0055] .

[0056] Optionally, in one embodiment of this application, when the proportional-integral control system is a time-delay system of the third time-delay type, the first-order filter parameters... , .

[0057] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the proportional-integral controller tuning method with filter as described in the above embodiments.

[0058] A fourth aspect of this application provides a computer-readable storage medium storing computer instructions for causing the computer to perform the proportional-integral controller tuning method with filter as described in the above embodiments.

[0059] A fifth aspect of this application provides a computer program product, including a computer program that, when executed, implements the above-described proportional-integral controller tuning method with a filter.

[0060] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0061] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0062] Figure 1 This is a flowchart of a proportional-integral controller tuning method with a filter according to an embodiment of this application;

[0063] Figure 2 This is a schematic diagram of the variation curve of the control quantity u of a hourly delay system according to an embodiment of this application;

[0064] Figure 3 This is a partially enlarged schematic diagram of the variation curve of the control quantity u of a small time delay system according to an embodiment of this application;

[0065] Figure 4 This is a schematic diagram of the step response curve of a small time delay system according to an embodiment of this application;

[0066] Figure 5 This is a schematic diagram of the step response curve of a large time-delay system according to an embodiment of this application;

[0067] Figure 6 This is a schematic diagram of a proportional-integral controller tuning device with a filter according to an embodiment of this application;

[0068] Figure 7 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application. Detailed Implementation

[0069] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0070] Understandably, while the proportional-integral controller (PIC) parameter decoupling method in related technologies achieves parameter decoupling—that is, the parameters are only related to the steady-state gain of the controlled object and only to the time scale (time constant T and delay time)—it has significant drawbacks in large time-delay scenarios (i.e., excessively large values): when performing step response tests on the system, the closed-loop response curve exhibits a broken line characteristic, specifically manifested as a rapid rise in the signal followed by fluctuations or brief adjustments. This makes the response process unstable and can induce oscillations, thus failing to meet the control accuracy and stability requirements of large time-delay systems. Furthermore, in small time-delay scenarios (i.e., small values), the control variable u will generate high-frequency oscillations.

[0071] To address the aforementioned issues, the proportional-integral controller tuning method with a filter provided in this application is applicable to first-order inertial systems with hysteresis. Building upon existing separate parameter tuning techniques, it innovatively introduces a filter to precisely optimize the piecewise linear characteristics of the step response curve through filtering, effectively suppressing fluctuations and adjustments in the response curve during large time delays. This solves the oscillation problem that easily occurs when using traditional separate parameter tuning methods for proportional-integral controllers in large time delay systems, significantly improving the controller's system adaptability in large time delay scenarios. Furthermore, adding a filter makes the control quantity u more stable in small time delay scenarios. The proportional-integral controller parameter tuning method with a filter in this application is not only applicable to first-order inertial systems with hysteresis but also to higher-order systems that can be simplified into first-order inertial systems with hysteresis.

[0072] Specifically, Figure 1 This is a flowchart illustrating a proportional-integral controller tuning method with a filter, provided in an embodiment of this application.

[0073] like Figure 1 As shown, the proportional-integral controller tuning method with filter is applied to a proportional-integral control system, wherein the proportional-integral control system includes a controlled object and a proportional-integral controller with a first-order filter, characterized by comprising the following steps:

[0074] S1: The parameters of the transfer function of the controlled object are identified using the response curve method, and the identification results are obtained. The parameters include at least one of steady-state gain, inertial time constant and delay time.

[0075] The embodiments of this application can be applied to a proportional-integral control system with a filter, including a controlled object and a proportional-integral controller with a first-order filter. The proportional-integral controller, i.e., a PI controller, includes a proportional unit P and an integral unit I.

[0076] S2: Based on the identification results, obtain the transfer function of the controlled object;

[0077] The controlled object is a first-order inertial element with a delay, and the expression for the transfer function of the controlled object is:

[0078] ,

[0079] in, K The steady-state gain of the controlled object. T For inertial time constant, To delay time, s For the complex variables of the Laplace transform, The transfer function is a pure delay element;

[0080] The transfer function expression of the proportional-integral controller with a first-order filter is:

[0081] ,

[0082] in, The transfer function of the proportional-integral controller is... Let be the transfer function of a first-order filter. K c For the proportional gain of the proportional-integral controller, T c The integral time constant of the proportional-integral controller. T m This is the controller's filtering time constant;

[0083] The expression for the open-loop transfer function of the proportional-integral control system is:

[0084] ;

[0085] The closed loop of a single feedback control loop is ,in If we treat the proportional-integral converter as the controller, then... Can be used as a controlled object to be modified. At this point, the first-order inertial object with delay, together with the inertial element, forms a new controlled object. .

[0086] S3: Calculate type parameters using delay time and inertial time constant. Based on type parameter The proportional-integral control system is divided into various types of time-delay systems, and the corresponding transfer function is matched based on the type of time-delay system, and the controller parameters of the transfer function are tuned.

[0087] make , At the same time, The embodiments of this application are given in sections. , and The parameter tuning method for the proportional-integral control of a time-band filter, wherein... and All of these are system parameters.

[0088] Optionally, in one embodiment of this application, the type parameter is calculated using the delay time and the inertial time constant. Based on type parameter Proportional-integral control systems are classified into several types of time-delay systems, including:

[0089] Type parameters The calculation expression is:

[0090] ,

[0091] Based on type parameter The numerical range determines the type of proportional-integral control system; if Then the proportional-integral control system is determined to be a time-delay system of the first time-delay type; if Then the proportional-integral control system is determined to be a time-delay system of the second time-delay type; if Therefore, the proportional-integral control system is determined to be a time-delay system of the third time-delay type; where, ,and .

[0092] Optionally, in one embodiment of this application, matching the transfer function based on the type of the time-delay system and tuning the controller parameters of the transfer function includes: in the case that the proportional-integral control system is a time-delay system of the first time-delay type, determining the controller parameters of the transfer function of the proportional-integral controller with a first-order filter as follows:

[0093] ,

[0094] in, These are system parameters. Among them, system parameters... The range of values ​​is ,For example ,parameter The range of values ​​is ,For example .

[0095] when When selecting parameters The characteristic equation of a proportional-integral control system with a filter is: .choose At this point, the difference between the controller poles and the object poles is 5 times, so it can be approximated that... Therefore, the characteristic equation can be written as

[0096] .

[0097] Omega is tuned according to the proportional-integral controller parameters. ) method, parameters .when When selecting parameters , .

[0098] Optionally, in one embodiment of this application, matching the transfer function based on the type of the time-delay system and tuning the controller parameters of the transfer function includes: in the case that the proportional-integral control system is a time-delay system of the second time-delay type, determining the controller parameters of the open-loop transfer function of the proportional-integral control system as follows:

[0099] .

[0100] in, ,For example .

[0101] when At that time, the system open-loop transfer function Cutoff frequency satisfy

[0102]

[0103] The product of the integral time constant and the cutoff frequency is calculated. for

[0104]

[0105] when hour, , It can be obtained

[0106]

[0107] System phase margin for

[0108]

[0109]

[0110] make , ,have , ,in .For example So there are And again. .

[0111] when ,and ,have ,

[0112] .

[0113] Optionally, in one embodiment of this application, matching the transfer function based on the type of the time-delay system and tuning the controller parameters of the transfer function includes: in the case that the proportional-integral control system is a time-delay system of the third time-delay type, the controller parameters of the controlled object's transfer function are:

[0114] .

[0115] Among them, the first-order filter parameters , .

[0116] when Then, the proportional-integral parameter tuning formula for the added filter is obtained. ,at this time The range of values ​​is Therefore, there is It can be known that ,For example or .

[0117] The embodiments of this application are described below using two specific examples.

[0118] Example 1:

[0119] The transfer function of the controlled object is When K=1 and T=0.5, When the transfer function is used, it can be written as ,at this time, Therefore, the system can be determined to be a short-delay system. It is controlled using a proportional-integral controller and a proportional-integral controller with a filter as described in this embodiment: Proportional-integral controller parameters. , Parameters of a proportional-integral controller with a filter , , ,when hour, . Figure 2 This is the curve showing the change of the control variable u in the control system; Figure 3 for Figure 2 Local method diagram; Figure 4 This is the step response curve of the control system.

[0120] from Figure 2 It can be seen that in the initial stage of control, the initial control quantity u of the system using a proportional-integral controller is close to 1, while the initial control quantity u of the system using a proportional-integral controller with a filter is close to 0. Comparatively, the former increases energy loss. Figure 4 It can be seen that the system control quantity *u* of the proportional-integral controller exhibits high-frequency oscillations. In practical systems, *u* typically drives actuators such as motors and valves. These high-frequency oscillations increase friction between mechanical components, leading to faster mechanical wear and reduced equipment lifespan. Figure 4 As can be seen, the step response curves of the two almost overlap. In summary, in a low-delay system, compared with a proportional-integral controller, the proportional-integral controller with a filter will slow down the response speed of the control quantity u, but it can effectively reduce energy loss, suppress high-frequency oscillations, and its impact on the system's step response is negligible.

[0121] Example 2:

[0122] The transfer function of the controlled object is When K=1, T=1, When the transfer function is used, it can be written as ,at this time, Therefore, the system can be determined to be a large time-delay system. It is controlled using a proportional-integral controller and a proportional-integral controller with a filter in this embodiment: Proportional-integral controller parameters. , Parameters of a proportional-integral controller with a filter , , ,when hour, , . Figure 5 The figure shows the step response curve of the control system. As can be seen from the figure, when using a proportional-integral (PI) controller, the settling time is 118.1 s, the overshoot is 6.3%, and the step response curve exhibits a broken line characteristic, specifically, a rapid signal rise followed by fluctuations or brief adjustments. This makes the response process unstable and induces oscillations, making it difficult to meet the control accuracy and stability requirements of systems with large time delays. When using a PI controller with a filter, the settling time is 125.3 s, the overshoot is 6.2%, and the fluctuations and adjustments in the response curve are effectively suppressed. In summary, in systems with large time delays, although the PI controller with a filter slightly slows down the system response time compared to the PI controller, it effectively suppresses the oscillations in the response curve.

[0123] Next, referring to the accompanying drawings, a proportional-integral controller tuning device with a filter is described according to an embodiment of this application.

[0124] Figure 6 This is a block diagram of a proportional-integral controller tuning device with a filter according to an embodiment of this application.

[0125] like Figure 6 As shown, the proportional-integral controller tuning device 10 with filter is applied to a proportional-integral control system, wherein the proportional-integral control system includes a controlled object and a proportional-integral controller with a first-order filter, including: an identification module 100, a calculation module 200 and a parameter tuning module 300.

[0126] Specifically, the identification module 100 is used to identify the parameters of the transfer function of the controlled object using the response curve method, and obtain the identification result. The parameters include at least one of steady-state gain, inertial time constant and delay time.

[0127] The calculation module 200 is used to obtain the transfer function of the controlled object based on the identification results;

[0128] The expression for the controlled object's transfer function is:

[0129] ,

[0130] in, K The steady-state gain of the controlled object. T For inertial time constant, To delay time, s For the complex variables of the Laplace transform, The transfer function is a pure delay element;

[0131] The transfer function expression of the proportional-integral controller with a first-order filter is:

[0132] ,

[0133] in, G pi Let be the transfer function of the proportional-integral controller. G fi Let be the transfer function of a first-order filter. K c For the proportional gain of the proportional-integral controller, T c The integral time constant of the proportional-integral controller. T m This is the controller's filtering time constant;

[0134] The expression for the open-loop transfer function of the proportional-integral control system is:

[0135] .

[0136] The parameter tuning module 300 is used to calculate type parameters using delay time and inertial time constant. Based on type parameter The proportional-integral control system is divided into various types of time-delay systems, and the corresponding transfer function is matched based on the type of time-delay system, and the controller parameters of the transfer function are tuned.

[0137] Optionally, in one embodiment of this application, the type parameter The calculation expression is: The parameter tuning module 300 includes a first determining unit, a second determining unit, and a third determining unit.

[0138] The first determining unit is used to determine based on the type parameter. The numerical range determines the type of proportional-integral control system.

[0139] The second determining unit is used to determine the second determining unit, which ... Under these circumstances, the proportional-integral control system is determined to be a time-delay system of the first time-delay type.

[0140] The third determining unit is used to determine the... In the case of determining that the proportional-integral control system is a time-delay system of the second time-delay type; the fourth determining unit is used to determine that... In this case, the proportional-integral control system is determined to be a time-delay system of the third time-delay type; whereby, ,and .

[0141] Optionally, in one embodiment of this application, the parameter tuning module 300 includes: a first matching unit.

[0142] The first matching unit is used to determine the controller parameters of the transfer function of the proportional-integral controller with a first-order filter when the proportional-integral control system is a time-delay system of the first time-delay type.

[0143] ,

[0144] in, These are system parameters.

[0145] Optionally, in one embodiment of this application, when the proportional-integral control system is a time-delay system of the first time-delay type, the system parameters... The range of values ​​is .

[0146] Optionally, in one embodiment of this application, when the proportional-integral control system is a time-delay system of the first time-delay type, the parameters... The range of values ​​is .

[0147] Optionally, in one embodiment of this application, the parameter tuning module 300 includes a second matching unit.

[0148] The second matching unit is used to determine the controller parameters of the open-loop transfer function of the proportional-integral control system when the proportional-integral control system is a time-delay system of the second time-delay type.

[0149] .

[0150] Optionally, in one embodiment of this application, when the proportional-integral control system is a time-delay system of the second time-delay type, .

[0151] Optionally, in one embodiment of this application, the parameter tuning module 300 includes a third matching unit.

[0152] The third matching unit is used to determine the controller parameters of the controlled object's transfer function when the proportional-integral control system is a time-delay system of the third time-delay type:

[0153] .

[0154] Optionally, in one embodiment of this application, when the proportional-integral control system is a time-delay system of the third time-delay type, the first-order filter parameters... , .

[0155] It should be noted that the foregoing explanation of the embodiment of the proportional-integral controller tuning method with filter also applies to the proportional-integral controller tuning device with filter in this embodiment, and will not be repeated here.

[0156] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include:

[0157] The memory 701, the processor 702, and the computer program stored on the memory 701 and executable on the processor 702.

[0158] When the processor 702 executes the program, it implements the proportional-integral controller tuning method with filter provided in the above embodiments.

[0159] Furthermore, electronic devices also include:

[0160] Communication interface 703 is used for communication between memory 701 and processor 702.

[0161] The memory 701 is used to store computer programs that can run on the processor 702.

[0162] The memory 701 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0163] If the memory 701, processor 702, and communication interface 703 are implemented independently, then the communication interface 703, memory 701, and processor 702 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 7 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0164] Optionally, in a specific implementation, if the memory 701, processor 702, and communication interface 703 are integrated on a single chip, then the memory 701, processor 702, and communication interface 703 can communicate with each other through an internal interface.

[0165] The processor 702 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0166] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described proportional-integral controller tuning method with filter.

[0167] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the proportional-integral controller tuning method with filter provided in the embodiments of this application.

[0168] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0169] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0170] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0171] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0172] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0173] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0174] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0175] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A parameter tuning method for a proportional-integral controller with a filter, applied to a proportional-integral control system, wherein, The proportional-integral control system includes a controlled object and a proportional-integral controller with a first-order filter, characterized by the following steps: S1: The parameters of the transfer function of the controlled object are identified by using the response curve method, and the identification results are obtained. The parameters include at least one of steady-state gain, inertial time constant and delay time. S2: Based on the identification results, obtain the transfer function of the controlled object; The expression for the controlled object transfer function is as follows: ， in, K The steady-state gain of the controlled object. T The inertial time constant, The delay time is... s For the complex variables of the Laplace transform, The transfer function is a pure delay element; The expression for the transfer function of the proportional-integral controller with the first-order filter is: ， in, The transfer function of the proportional-integral controller is... Let be the transfer function of a first-order filter. K c The proportional gain of the proportional-integral controller. T c The integral time constant of the proportional-integral controller is... T m This is the controller's filtering time constant; The expression for the open-loop transfer function of the proportional-integral control system is as follows: ； S3: Calculate the type parameter using the delay time and the inertial time constant. Based on the type parameter The proportional-integral control system is divided into various types of time-delay systems, and the corresponding transfer function is matched based on the type of the time-delay system, and the controller parameters of the transfer function are tuned. The calculation of type parameters using the delay time and the inertial time constant. Based on the type parameter The proportional-integral control system is classified into several types of time-delay systems, including: The type parameter The calculation expression is: ， Based on the type parameter The range of values ​​determines the type of the proportional-integral control system; if Then the proportional-integral control system is determined to be a time-delay system of the first time-delay type; if Then the proportional-integral control system is determined to be a time-delay system of the second time-delay type; if Then the proportional-integral control system is determined to be a time-delay system of the third time-delay type; in, ,and ; The step of matching the transfer function corresponding to the type of the time-delay system and tuning the controller parameters of the transfer function includes: When the proportional-integral control system is a time-delay system of the first time-delay type, the controller parameters for determining the transfer function of the proportional-integral controller with a first-order filter are as follows: ， in, These are system parameters.

2. The method according to claim 1, characterized in that, In the case that the proportional-integral control system is a time-delay system of the first time-delay type, the system parameters The range of values ​​is .

3. The method according to claim 1, characterized in that, In the case that the proportional-integral control system is a time-delay system of the first time-delay type, the parameters The range of values ​​is .

4. The method according to claim 1, characterized in that, The step of matching the transfer function corresponding to the type of the time-delay system and tuning the controller parameters of the transfer function includes: When the proportional-integral control system is a time-delay system of the second time-delay type, the controller parameters for the open-loop transfer function of the proportional-integral control system are determined as follows: 。 5. The method according to claim 4, characterized in that, In the case where the proportional-integral control system is a time-delay system of the second time-delay type... .

6. The method according to claim 1, characterized in that, The step of matching the transfer function corresponding to the type of the time-delay system and tuning the controller parameters of the transfer function includes: When the proportional-integral control system is a time-delay system of the third time-delay type, the controller parameters of the controlled object transfer function are: 。 7. The method according to claim 6, characterized in that, In the case where the proportional-integral control system is a time-delay system of the third time-delay type, the first-order filter parameters... , .

8. A parameter tuning device for a proportional-integral controller with a filter, applied to a proportional-integral control system, wherein, The proportional-integral control system includes a controlled object and a proportional-integral controller with a first-order filter, characterized in that it includes: The identification module is used to identify the parameters of the transfer function of the controlled object using the response curve method and obtain the identification result. The parameters include at least one of steady-state gain, inertial time constant and delay time. The calculation module is used to obtain the transfer function of the controlled object based on the identification result; The expression for the controlled object transfer function is as follows: ， in, K The steady-state gain of the controlled object. T The inertial time constant, The delay time is... s For the complex variables of the Laplace transform, The transfer function is a pure delay element; The transfer function expression of the proportional-integral controller with a first-order filter is: ， in, The transfer function of the proportional-integral controller is... Let be the transfer function of a first-order filter. K c The proportional gain of the proportional-integral controller. T c The integral time constant of the proportional-integral controller is... T m This is the controller's filtering time constant; The expression for the open-loop transfer function of the proportional-integral control system is as follows: ； The parameter tuning module is used to calculate type parameters using the delay time and the inertial time constant. Based on the type parameter The proportional-integral control system is divided into various types of time-delay systems, and the corresponding transfer function is matched based on the type of the time-delay system, and the controller parameters of the transfer function are tuned. Wherein, the type parameter The calculation expression is: The parameter tuning module includes: a first determining unit, configured to determine the type parameter based on the type parameter. The numerical range within which the proportional-integral control system is located determines the type of the system; the second determining unit is used to determine the range within which the proportional-integral control system is located. In the case of determining that the proportional-integral control system is a time-delay system of the first time-delay type; the third determining unit is used to determine that... In the case of determining that the proportional-integral control system is a time-delay system of the second time-delay type; the fourth determining unit is used to determine that... In the case of this, the proportional-integral control system is determined to be a time-delay system of the third time-delay type; wherein, ,and ; The parameter tuning module includes a first matching unit, used to determine the controller parameters of the transfer function of the proportional-integral controller with a first-order filter when the proportional-integral control system is a time-delay system of the first time-delay type. ， in, These are system parameters.

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