PID error correction device and method thereof

Abstract

The present invention relates to a PID error correction device and a method thereof. The method according to one aspect of the present invention includes the steps of: converting a proportional term, an integral term, and a differential term into integers; converting a preset sampling time into a 1 / T format; applying a binary extension that includes a sensing input range, and converting into a constant term by using the sampling time to which the binary extension has been applied; and calculating the plant input signal on the basis of the constant term.

Description

PID error compensation device and method thereof

[0001] The present invention relates to a PID error compensation device and method thereof.

[0002] Proportional-Integral-Derivative (hereinafter referred to as "PID") controllers are widely used in various control industries, and the control industries require maximum throughput and maximum accuracy.

[0003] Figure 1 is a conventional closed-loop control system. As shown in Figure 1, a closed-loop control system using the PID formula is a typical example of a dynamic control system, and the plant block is an actual system, and the plant output ( ) can change continuously over time and state in physical units (e.g., m, g, Pa, cd, ℃, rad), and the sensor block detects the physical change of the plant block and outputs an analog signal ( ) can be created.

[0004] Here, the output ( ) is the detection input range ( ), configuration and output raw data of the analog-to-digital converter (ADC) ( ) can be generated by scaling calculations.

[0005] The Subtractor block , and the PID controller block uses the discrete-time classic standard PID formula to calculate the plant input signal ( ) can be calculated.

[0006] However, as shown in Fig. 1, if values ​​are transmitted sequentially, there is a problem that a floating point error occurs.

[0007] These floating point errors affect the performance of precision control, and PID control has a problem in that the error continuously increases over time.

[0008] The present invention , and The present invention provides a PID error compensation device and method for converting a plant input signal into an integer and calculating a plant input signal using a constant term according to a sampling time.

[0009] A PID error compensation method according to one embodiment of the present invention may include a step of converting a proportional term, an integral term, and a differential term into integers, a step of converting a preset sampling time into a 1 / T form, a step of applying a binomial expansion including a sensing input range and converting into a constant term using the sampling time to which the binomial expansion is applied, and a step of calculating the plant input signal based on the constant term.

[0010] The step of converting the proportional term, integral term and differential term of the PID error compensation method according to one embodiment of the present invention into integers is and It may include a step of converting the proportional term, integral term and differential term into integers using .

[0011] The step of converting the proportional term, integral term, and differential term into integers in the PID error compensation method according to one embodiment of the present invention may include the step of converting the proportional term, integral term, and differential term into integers using the following mathematical formula. Here, is the plant input signal, is a proportional term, is the integral term, can represent the differential term.

[0012]

[0013] The step of converting the preset sampling time in the PID error compensation method according to one embodiment of the present invention into the form of 1 / T is as follows: (k is an integer) may be characterized by including a step of converting to the form of 1 / T. Here, is the proportional term converted to an integer, is the integral term converted to an integer, can represent the differential term converted to an integer.

[0014]

[0015] The step of converting into the constant term of the PID error compensation method according to one embodiment of the present invention is as follows: It may be characterized by including a step of applying a binomial expansion of . Here, is the sampling time, is the sensing input range, , , Is It can represent the error value to which the binomial expansion of is applied.

[0016]

[0017] The step of converting into the constant term of the PID error compensation method according to one embodiment of the present invention is to convert the sampling time ( ) and is a constant term ( ) may include a step of converting it into a .

[0018] The step of converting into the constant term of the PID error compensation method according to one embodiment of the present invention is as follows: the sampling time ( ) and The above constant term ( ) may be characterized by including a step of converting into. Here, can represent a constant term.

[0019]

[0020] The step of calculating the plant input signal based on the constant term of the PID error compensation method according to one embodiment of the present invention comprises: ) and the converted integer part ( ) may be characterized by including a step of calculating the plant input signal.

[0021] The step of calculating the plant input signal based on the constant term of the PID error compensation method according to one embodiment of the present invention uses the following mathematical formula to calculate the constant term ( ) and the converted integer part ( ) may be characterized by including a step of calculating the plant input signal based on the above. Here, represents the integer part and can include integer variables and constants.

[0022]

[0023] The step of receiving a reference value of a PID error correction method according to one embodiment of the present invention may further include a step of outputting raw data from an ADC unit and a step of calculating an error value based on the reference value and the output raw data.

[0024] A PID error compensation method according to this embodiment of the present invention may include a step of converting a proportional term, an integral term, and a differential term into integers, a step of converting a preset sampling time into a 1 / T form, a step of converting into a pre-calculated error value including a sensor input range by applying a binomial expansion, a step of converting a sampling time including the sensor input range into a constant term, and a step of calculating the plant input signal based on the constant term.

[0025] The step of converting the proportional term, integral term and differential term of the PID error compensation method according to this embodiment of the present invention into integers is: and It may be characterized by including a step of converting the proportional term, integral term and differential term into integers using .

[0026] The step of converting the proportional term, integral term, and differential term into integers in the PID error compensation method according to this embodiment of the present invention may be characterized by including the step of converting the proportional term, integral term, and differential term into integers using the following mathematical formula. Here, is the plant input signal, is a proportional term, is the integral term, can represent the differential term.

[0027]

[0028]

[0029]

[0030]

[0031] The step of converting the above-described sampling time in the form of 1 / T of the PID error compensation method according to this embodiment of the present invention is as follows: (k is an integer) may be characterized by including a step of converting to the form of 1 / T. Here, is the plant input signal, is the proportional term converted to an integer, is the integral term converted to an integer, can represent the differential term converted to an integer.

[0032]

[0033]

[0034]

[0035]

[0036] The step of converting the sensor input range into an error value according to the PID error compensation method of this embodiment of the present invention is as follows: By applying the binomial expansion of the above error value, It may be characterized by including a step of converting into. Here, is the plant input signal, is the sensor input range, is an error value, is the sampling time, is the proportional term converted to an integer, is the integral term converted to an integer, can represent the differential term converted to an integer.

[0037]

[0038]

[0039]

[0040]

[0041] The step of converting into the constant term of the PID error compensation method according to this embodiment of the present invention is to convert the sampling time ( ) is the constant term ( ) may be characterized by including a step of converting into.

[0042] The step of converting into the constant term of the PID error compensation method according to this embodiment of the present invention is as follows: the sampling time ( ) is the constant term ( ) may be characterized by including a step of converting into. Here, is the plant input signal, is the proportional term converted to an integer, is the integral term converted to an integer, is the differential term converted to an integer, is a constant term, can be expressed.

[0043]

[0044]

[0045]

[0046]

[0047] The step of calculating the plant input signal based on the constant term of the PID error compensation method according to this embodiment of the present invention comprises: ) and the converted integer part ( ) may be characterized by including a step of calculating the plant input signal.

[0048] The step of calculating the plant input signal based on the constant term of the PID error compensation method according to this embodiment of the present invention uses the following mathematical formula to calculate the constant term ( ) and the converted integer part ( ) may be characterized by including a step of calculating the plant input signal based on the above. Here, is the plant input signal, is a constant term, can represent the integer part.

[0049]

[0050] The present invention may be characterized by further including a step of receiving a reference value of a PID error correction method according to this embodiment, a step of outputting raw data from an ADC unit, and a step of calculating the error value based on the reference value and the output raw data.

[0051] According to one embodiment of the present invention, a plant input signal with reduced floating point error can be calculated through a modified PID formula by modifying data preprocessing to be incorporated into a conventional PID formula and optimizing integer operations using the commutation law and the association law.

[0052] According to one embodiment of the present invention, a plant input signal with reduced floating point error can be computed through a modified discrete-time classical difference PID formula by modifying data preprocessing to be incorporated into a conventional PID formula and optimizing integer operations using the commutation law and the association law.

[0053] Figure 1 is a drawing for explaining a closed loop control system of the prior art.

[0054] FIG. 2 is a drawing for explaining one embodiment of the present invention and a PID error correction device according to this embodiment.

[0055] FIG. 3 is a block diagram illustrating an embodiment of the present invention and a configuration of a PID error compensation device according to this embodiment.

[0056] Figure 4 is a flowchart for explaining a PID error compensation method according to one embodiment of the present invention.

[0057] FIG. 5 and FIG. 6 are drawings for explaining the precision of a PID error compensation device according to one embodiment of the present invention.

[0058] Figure 7 is a flowchart for explaining a PID error compensation method according to this embodiment of the present invention.

[0059] FIG. 8 and FIG. 9 are drawings for explaining the precision of the PID error compensation device according to this embodiment of the present invention.

[0060] The advantages and features of the present invention, and the methods for achieving them, will become clearer with reference to the embodiments described below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. These embodiments are provided solely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention. The present invention is defined solely by the scope of the claims.

[0061] The terms used in this specification will be briefly explained, and the present invention will be described in detail.

[0062] The terms used in this invention have been selected from widely used, current terms, taking into account the functions of the invention. However, these terms may vary depending on the intentions of those skilled in the art, precedents, the emergence of new technologies, etc. Furthermore, in certain cases, terms may be arbitrarily selected by the applicant, in which case their meanings will be described in detail in the relevant description of the invention. Therefore, the terms used in this invention should not be defined simply as names, but rather based on their inherent meanings and the overall content of the invention.

[0063] When a part of the specification is said to "include" a component, this does not mean that other components are excluded, but rather that other components may be included, unless otherwise specifically stated. Furthermore, terms such as "part," "module," and "unit" used in the specification mean a unit that processes at least one function or operation, and may be implemented by software, a hardware component such as an FPGA or ASIC, or a combination of software and hardware. However, terms such as "part," "module," and "unit" are not limited to software or hardware. A "part," "module," and "unit" may be configured to reside on an addressable storage medium, or may be configured to execute one or more processors. Thus, as an example, terms such as "part," "module," "unit," etc., include components such as software components, object-oriented software components, class components, and task components, as well as processes, functions, attributes, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, and variables.

[0064] Below, with reference to the attached drawings, embodiments of the present invention are described in detail so that those skilled in the art can easily practice them. Furthermore, in order to clearly explain the present invention, portions irrelevant to the description are omitted in the drawings.

[0065] Terms including ordinal numbers, such as "first," "second," etc., may be used to describe various components, but the components are not limited by the terms. The terms are used solely to distinguish one component from another. For example, without departing from the scope of the present invention, the first component could be referred to as the second component, and similarly, the second component could also be referred to as the first component. The term "and / or" includes any combination of multiple related items or any one of multiple related items.

[0066]

[0067] Hereinafter, an embodiment of the present invention and a PID error compensation device according to this embodiment will be described with reference to the drawings.

[0068] FIG. 2 is a drawing for explaining one embodiment of the present invention and a PID error compensation device according to this embodiment, and FIG. 3 is a block diagram for explaining one embodiment of the present invention and the configuration of a PID error compensation device according to this embodiment. First, a PID error compensation device according to one embodiment will be described.

[0069] As illustrated in FIGS. 2 and 3, the PID error compensation device (1) may include an input unit (100), an error control unit (200), a plant unit (300), a sensor unit (400), and an ADC unit (500).

[0070] The plant unit (300) calculates the plant input signal ( ) from the plant output value ( ) can be created.

[0071] The sensor unit (400) measures the plant output value ( ) based on analog signal output ( ) can be created.

[0072] The ADC section (500) outputs analog signals ( ) based on the output raw data ( ) can be printed.

[0073] The plant section (300), sensor section (400), and ADC section (500) are the same as those of the prior art, and detailed descriptions are omitted.

[0074] The input section (100) is a reference value (Reference data) ( ) is entered.

[0075] Here, the reference value ( ) can be reference data set by the user or raw data.

[0076] The error control unit (200) is a reference value ( ) and output raw data ( ) can be used to calculate the error value.

[0077] In one embodiment of the present invention, for convenience of explanation, the error value is described as being calculated in the error control unit (200), but it may also be performed in the subtractor.

[0078] Specifically, the error control unit (200) determines the reference value ( ) and output raw data ( ) using the following mathematical expression 1 to obtain the error value ( ) can be calculated.

[0079]

[0080] Here, is an error value, is the reference value, represents the output raw data output from the ADC unit (500), and the reference value ( ) can be a bitwise integer.

[0081] The error control unit (200) calculates the calculated error value ( ) can be used to calculate plant input signals.

[0082] Here, the error control unit (200) may be a PID controller, and the value calculated from the PID controller may be a plant input signal.

[0083] The error control unit (200) uses the following mathematical expression 2 to calculate the error value ( ) based on the plant input signal ( ) can be calculated.

[0084]

[0085] Here, is the plant input signal, is a proportional term, and Manipulate Variable( to reduce the current error deviation) ) is the gain constant, is an integral term, which reduces the error deviation caused by external disturbance. is the gain constant, is the time interval between k and k-1 ( ), and k is the sampling order, , , is an error value, is a differential term, and is used to reduce the future error deviation with the current acceleration. Indicates the gain constant.

[0086] Manipulate Variable( ) can represent a control value that adds three terms.

[0087] In one embodiment of the present invention, a plant input signal is calculated based on mathematical expression 2.

[0088] Specifically, the error control unit (200) is a proportional term ( ), integral term () and differential term ( ) can be converted to operate on integers.

[0089] The error control unit (200) uses the following mathematical expression 3 to calculate the proportional term ( ), integral term ( ) and differential terms ( ) can be converted to an integer.

[0090]

[0091] Here, is the plant input signal, is a proportional term, is the integral term, represents the differential term.

[0092] That is, the error control unit (200) and The plant input signal can be calculated by converting the proportional, integral, and differential terms into integers using .

[0093] The error control unit (200) second as, second as, second can be replaced with

[0094] In other words, the error control unit (200) , , Each of them , , It can be expressed as the following mathematical equation 4 by replacing it with .

[0095]

[0096] Here, , , , and m represents , and It may be the decimal point position of the parameter with the largest decimal point, is the plant input signal, is the proportional term converted to an integer, is the integral term converted to an integer, represents the differential term converted to an integer.

[0097] Also, the sampling time ( , k is an integer), the sampling time is , the error control unit (200) sets the preset sampling time. By converting it into a form, the plant input signal can be calculated as in the following mathematical expression 5.

[0098] Here, the sampling time can be preset by the user.

[0099]

[0100] Here, is the plant input signal, is the proportional term converted to an integer, is the integral term converted to an integer, represents the differential term converted to an integer.

[0101] The error control unit (200) Binomial expansion can be applied.

[0102] The error control unit (200) In the case where the binomial expansion of is given, it can be expressed as the following mathematical expression 6.

[0103]

[0104] Here, is the plant input signal, is the proportional term converted to an integer, is the integral term converted to an integer, is the differential term converted to an integer, is the sampling time, , , Is It represents the error value with the binomial expansion applied, and the sampling time ( ) may be the sampling time to which the binomial expansion is applied and can be set by the user.

[0105] The error control unit (200) is a constant term ( )second can be defined as

[0106] According to another embodiment, when performing scaling with a DC-DC converter without a separate scaler during data processing, the error control unit (200) is a constant term ( )second can be defined as

[0107] The error control unit (200) is a binomial extended sampling time ( ) and is a constant term ( ) can be converted to the following mathematical expression 7.

[0108]

[0109] Here, represents a constant term as a floating-point type, can be expressed as

[0110] In another embodiment, when scaling is performed with a DC-DC converter without a separate scaler during data processing, can be expressed as

[0111] Referring to FIG. 2, the present invention can calculate a plant input signal using mathematical expression 7, which is a modified PID formula.

[0112] The error control unit (200) to the integer part ( ) can be expressed as.

[0113] The error control unit (200) is a constant term ( ) and integer part( ) can be used to calculate the plant input signal using the following mathematical expression 8.

[0114]

[0115] Here, Is , represents the integer part, and can include integer variables and constants.

[0116] That is, the error control unit (200) sets a constant term ( ) and the constant term ( ) based on the plant input signal ( ) can be calculated.

[0117] In this way, while the conventional technology of FIG. 1 uses the classic PID formula of data preprocessing and PID controller, the error control unit (200) according to an embodiment of the present invention can derive the above mathematical expression 7, which is a modified-standard PID formula that integrates data preprocessing into the classic PID formula and can optimize integer operations using the commutative and associative laws, and since the modified-standard PID formula according to an embodiment of the present invention has one floating-point operation, floating point errors can be reduced.

[0118]

[0119]

[0120] Hereinafter, a PID error compensation method according to one embodiment of the present invention will be described with reference to the drawings.

[0121] Figure 4 is a flowchart for explaining a PID error compensation method according to one embodiment of the present invention.

[0122] The error control unit (200) is a proportional term ( ), integral term ( ) and differential terms ( ) is converted to an integer (S110).

[0123] The error control unit (200) and We can use it to convert proportional, integral, and differential terms into integers.

[0124] Here, the error control unit (200) second as, second as, second can be replaced with

[0125] Sampling time ( , k is an integer), the sampling time is , the error control unit (200) sets the preset sampling time. Convert to form (S120).

[0126] Here, the sampling time can be preset by the user.

[0127] The error control unit (200) Apply the binomial expansion of (S130).

[0128] Constant term ( )second If defined as , the error control unit (200) is a binomial extended sampling time ( ) and is a constant term ( ) is converted to (S140).

[0129] The error control unit (200) to the integer part ( ) can be expressed as.

[0130] The error control unit (200) is a constant term ( ) and integer part( ) is used to calculate the plant input signal (S150).

[0131] Steps S110 to S150 have already been explained using mathematical expressions 3 to 8, so redundant explanations are omitted.

[0132]

[0133] Hereinafter, the performance of a PID error compensation device according to one embodiment of the present invention will be described with reference to the drawings.

[0134] FIG. 5 and FIG. 6 are drawings for explaining the precision of a PID error compensation device according to one embodiment of the present invention.

[0135] Double precision of the classic standard PID formula is defined as, and single precision is can be defined as , and using the following mathematical formula 9 can be calculated.

[0136]

[0137] As shown in Figure 5, is by mathematical formula 9 and can be calculated using, is by mathematical formula 9 and can be calculated using .

[0138] As shown in Figure 6, the results of analyzing 42 datasets are as follows: It was confirmed that this average decreased by approximately 96.45%.

[0139]

[0140] As described above, according to the present invention, data preprocessing is modified to be incorporated into the conventional PID formula, and integer operations are optimized using the commutation law and the association law, so that a plant input signal with reduced floating point errors can be calculated through the modified PID formula.

[0141]

[0142] Referring again to FIGS. 2 and 3, a PID error compensation device according to this embodiment will be described.

[0143] As illustrated in FIGS. 2 and 3, the PID error compensation device (1) may include an input unit (100), an error control unit (200), a plant unit (300), a sensor unit (400), and an ADC unit (500).

[0144] The plant unit (300) calculates the plant input signal ( ) from the plant output value ( ) can be created.

[0145] The sensor unit (400) measures the plant output value ( ) based on analog signal output ( ) can be created.

[0146] The ADC section (500) outputs analog signals ( ) based on the output raw data ( ) can be printed.

[0147] The plant section (300), sensor section (400), and ADC section (500) are the same as those of the prior art, and detailed descriptions are omitted.

[0148] The input section (100) is a reference value (Reference data) ( ) is entered.

[0149] Here, the reference value ( ) can be reference data set by the user or raw data.

[0150] The error control unit (200) is a reference value ( ) and output raw data ( ) can be used to calculate the error value.

[0151] In this embodiment of the present invention, for convenience of explanation, it is described that the error value is calculated in the error control unit (200), but it may also be performed in the subtractor.

[0152] Specifically, the error control unit (200) determines the reference value ( ) and output raw data ( ) using the following mathematical expression 10 to obtain the error value ( ) can be calculated.

[0153]

[0154] Here, is an error value, is the reference value, represents the output raw data output from the ADC unit (500), and the reference value ( ) can be a bitwise integer.

[0155] The error control unit (200) can calculate the plant input signal based on the calculated error value.

[0156] Here, the error control unit (200) may be a PID controller, and the value calculated from the PID controller may be a plant input signal.

[0157] Specifically, the error control unit (200) uses the following mathematical expression 11 to calculate the conventional error value ( ) can be used to compute plant input signals.

[0158]

[0159]

[0160]

[0161]

[0162] Here, is the plant input signal, is the conventional error value, is a proportional term, and Manipulate Variable( to reduce the current error deviation) ) is the gain constant, is an integral term, which reduces the error deviation caused by external disturbance. is the gain constant, is a differential term, and is used to reduce the future error deviation with the current acceleration. is the gain constant, is the time interval between k and k-1 ( ), and k represents the sampling order.

[0163] Manipulate Variable( ) can represent a control value that adds three terms.

[0164] In this embodiment of the present invention, a plant input signal is calculated using an error value calculated based on mathematical expression 11.

[0165] In more detail, the error control unit (200) is a proportional term ( ), integral term ( ) and differential terms ( ) can be converted to operate on integers.

[0166] The error control unit (200) uses the following mathematical expression 12 to calculate the proportional term ( ), integral term ( ) and differential terms ( ) can be converted to an integer.

[0167]

[0168]

[0169]

[0170]

[0171] Here, is the plant input signal, is a proportional term, is the integral term, represents the differential term.

[0172] That is, the error control unit (200) and The plant input signal can be calculated by converting the proportional, integral, and differential terms into integers using .

[0173] The error control unit (200) second as, second as, second can be replaced with

[0174] In other words, the error control unit (200) , , Each of them , , By substituting it, it can be expressed as the following mathematical expression 13.

[0175]

[0176]

[0177]

[0178]

[0179] Here, is the plant input signal, is the proportional term converted to an integer, is the integral term converted to an integer, represents the differential term converted to an integer.

[0180] In other words, , , , and m represents , and It may be the decimal point position of the parameter with the largest decimal point.

[0181] That is, the error control unit (200) , , can be converted to operate on integers.

[0182] In addition, the error control unit (200) sets the preset sampling time. By converting it into a form, the plant input signal can be calculated as in the following mathematical expression 14.

[0183] Here, the sampling time can be preset by the user.

[0184]

[0185]

[0186]

[0187]

[0188] Here, is the plant input signal, is the proportional term converted to an integer, is the integral term converted to an integer, represents the differential term converted to an integer.

[0189] The error control unit (200) second It can be converted to the following mathematical expression 15.

[0190] Here, the error control unit (200) Binomial expansion can be applied.

[0191] The error control unit (200) calculates the error value calculated through the above mathematical expression 10. ) to include the conventional error value ( )second Convert the plant input signal ( ) can be calculated.

[0192]

[0193]

[0194]

[0195]

[0196] Here, is the plant input signal, is the sensor input range, is an error value, is the sampling time, is the proportional term converted to an integer, is the integral term converted to an integer, represents the differential term converted to an integer.

[0197] Sensor input range ( ) may be a preset range.

[0198] For example, if the sensor input range is set from -10 to 10, the output value through absolute value is 20. can be set to the value of .

[0199] That is, the error control unit (200) can convert a conventional error value into a calculated error value that includes the sensing input range.

[0200] The error control unit (200) is a constant term ( ) can be defined as the following mathematical expression 16.

[0201] Here, may be a sampling time to which binomial expansion is applied, and the error control unit (200) may be a constant term ( ) can be replaced with .

[0202] In other words, the error control unit (200) The constant term ( ) can be converted to operate the plant input signal.

[0203]

[0204]

[0205]

[0206]

[0207] Here, is the plant input signal, is the proportional term converted to an integer, is the integral term converted to an integer, is the differential term converted to an integer, is a constant term, It represents.

[0208] Additionally, according to another embodiment, when scaling is performed with a DC-DC converter without a separate scaler during data processing, can be expressed.

[0209] The error control unit (200) is a constant term as shown in the following mathematical expression 17. ) as a floating point number, can be expressed as an integer.

[0210] Here, the integer part ( )Is , and the error control unit (200) The integer part ( ) can be expressed as.

[0211]

[0212] Here, is the plant input signal, is a constant term, represents the integer part.

[0213] The integer part ( ) can contain integer variables and constants.

[0214] That is, the error control unit (200) sets a constant term ( ) and the constant term ( ) and the converted integer part ( ) based on the plant input signal ( ) can be calculated.

[0215] In this way, while the prior art of FIG. 1 uses the Classic difference PID formula of data preprocessing and the PID controller, the error control unit (200) according to this embodiment of the present invention can derive the above mathematical expression 16, which is a modified Classic difference PID formula that integrates data preprocessing into the Classic PID formula and can optimize integer operations using the commutative and associative laws, and since the modified Classic difference PID formula according to this embodiment of the present invention has one floating point operation, floating point errors can be reduced.

[0216]

[0217] Hereinafter, a PID error compensation method according to this embodiment of the present invention will be described with reference to the drawings.

[0218] Figure 7 is a flowchart for explaining a PID error compensation method according to this embodiment of the present invention.

[0219] The error control unit (200) is a proportional term ( ), integral term ( ) and differential terms ( ) is converted to an integer (S110).

[0220] The error control unit (200) and We can use it to convert proportional, integral, and differential terms into integers.

[0221] Here, the error control unit (200) second as, second as, second can be replaced with

[0222] The error control unit (200) sets the preset sampling time. Convert to form (S120).

[0223] Here, the sampling time can be preset by the user.

[0224] The error control unit (200) By applying the binomial expansion, the sensor input range is converted into a calculated error value (S130).

[0225] The error control unit (200) calculates the calculated error value ( ) to include the conventional error value ( )second can be converted to

[0226] The error control unit (200) controls the sampling time ( ) is the constant term ( ) is converted to (S140).

[0227] In addition, according to another embodiment, when performing scaling with a DC-DC converter without a separate scaler during data processing, the error control unit (200) may control the sampling time ( ) is the constant term ( ) can be converted to .

[0228] The error control unit (200) The integer part ( ) can be expressed as.

[0229] The error control unit (200) is a constant term ( ) and integer part( ) is used to calculate the plant input signal (S150).

[0230] Steps S110 to S150 have already been explained using mathematical expressions 12 to 17, so redundant explanations are omitted.

[0231]

[0232] Hereinafter, the performance of the PID error compensation device according to this embodiment of the present invention will be described with reference to the drawings.

[0233] FIG. 8 and FIG. 9 are drawings for explaining the precision of the PID error compensation device according to this embodiment of the present invention.

[0234] Double precision of the classic difference PID formula is defined as, and single precision is can be defined as , and using the following mathematical formula 9 can be calculated.

[0235]

[0236] As shown in Fig. 8, is by mathematical formula 18 and can be calculated using, is by mathematical formula 18 and can be calculated using .

[0237] As shown in Figure 9, the results of analyzing 42 datasets are as follows: It was confirmed that this average decreased by approximately 98.32%.

[0238]

[0239] As described above, according to the present invention, by modifying the data preprocessing to be incorporated into the conventional PID formula and optimizing integer operations using the commutation law and the association law, it is possible to compute a plant input signal with reduced floating point errors through the modified discrete-time classical difference PID formula.

[0240]

[0241] Those skilled in the art will appreciate that the embodiments of the present invention can be implemented in modified forms without departing from the essential characteristics of the above description. Therefore, the disclosed methods should be considered illustrative rather than restrictive. The scope of the present invention is determined by the claims, not the detailed description, and all differences within the scope equivalent thereto should be construed as being included within the scope of the present invention.

[0242]

[0243] The present invention has industrial applicability because nonlinear control methods are widely used in many industrial fields, such as aviation and robotics, due to the development of embedded systems.

[0244] The present invention is widely used in the field of PID for electric drives and power applications, where motor control is important, and among them, particle swarm optimization, self-tuning PID controller, PID controller using genetic algorithm, etc. are widely used in automatic voltage regulator (AVR) systems, so there is potential for industrial application.

[0245] The present invention proposes a PID-based control approach in the medical field, and thus has potential for industrial use in the field of PID for biomedical applications.

[0246]

[0247] Grant Funding: This research was supported by the Institute of Information & Communications Technology Planning & Evaluation (IITP) grant funded by the Korea government (MSIT) (No. RS-2018-II180532, Development of High-Assurance (≥EAL6) Secure Microkernel).

Claims

1. Step of converting proportional terms, integral terms, and differential terms into integers; A step of converting the preset sampling time into the form of 1 / T; A step of applying a binomial expansion including the sensing input range and converting it into a constant term using the sampling time to which the binomial expansion is applied; and A step of calculating the plant input signal based on the above constant term; PID error compensation method including.

2. In paragraph 1, The step of converting the above proportional term, integral term and differential term into integers is: and A step of converting the proportional term, integral term and differential term into integers using; A PID error compensation method characterized by including:

3. In paragraph 2, The step of converting the above proportional term, integral term and differential term into integers is: A step of converting the proportional term, integral term, and differential term into integers using the following mathematical formula; A PID error compensation method characterized by including; Here, is the plant input signal, is a proportional term, is the integral term, represents the differential term.

4. In paragraph 1, The step of converting the above-mentioned preset sampling time into the form of 1 / T is as follows: The above sampling time is as shown in the following mathematical formula: Step of converting to 1 / T form when (k is an integer); A PID error compensation method characterized by including; Here, is the proportional term converted to an integer, is the integral term converted to an integer, represents the differential term converted to an integer.

5. In paragraph 1, The step of converting to the above constant term is: As shown in the following mathematical formula: A PID error compensation method characterized by comprising a step of applying binomial expansion; Here, is the sampling time, is the sensing input range, , , Is Indicates the error value to which the binomial expansion of is applied.

6. In paragraph 5, The step of converting to the above constant term is: The above sampling time ( ) and is a constant term ( ) to convert to; A PID error compensation method characterized by including:

7. In paragraph 6, The step of converting to the above constant term is: The sampling time is as follows: ) and The above constant term ( ) to convert to; A PID error compensation method characterized by including; Here, represents a constant term.

8. In paragraph 1, The step of calculating the plant input signal based on the above constant term is: The above constant term ( ) and the converted integer part ( ) and calculating the plant input signal. A PID error compensation method characterized by including:

9. In paragraph 8, The step of calculating the plant input signal based on the above constant term is: Using the following mathematical formula, the constant term ( ) and the converted integer part ( ) and calculating the plant input signal based on the same; A PID error compensation method; Here, represents the integer part and can include integer variables and constants.

10. In paragraph 1, Step of entering a reference value; A step of outputting raw data from the ADC unit; and A step of calculating an error value based on the above reference value and the above output raw data; A PID error compensation method characterized by further including:

11. Step of converting proportional terms, integral terms, and differential terms into integers; A step of converting the preset sampling time into the form of 1 / T; A step of converting into a pre-calculated error value that includes the sensor input range by applying binomial expansion; A step of converting a sampling time including the above sensor input range into a constant term; and A step of calculating the plant input signal based on the above constant term; PID error compensation method including.

12. In paragraph 11, The step of converting the above proportional term, integral term and differential term into integers is: and A step of converting the proportional term, integral term and differential term into integers using; A PID error compensation method characterized by including:

13. In paragraph 12, The step of converting the above proportional term, integral term and differential term into integers is: A step of converting the proportional term, integral term, and differential term into integers using the following mathematical formula; A PID error compensation method characterized by including; Here, is the plant input signal, is a proportional term, is the integral term, represents the differential term.

14. In paragraph 11, The step of converting the above-mentioned preset sampling time into the form of 1 / T is as follows: The above sampling time is as shown in the following mathematical formula: Step of converting to 1 / T form when (k is an integer); A PID error compensation method characterized by including; Here, is the plant input signal, is the proportional term converted to an integer, is the integral term converted to an integer, represents the differential term converted to an integer.

15. In paragraph 11, The step of converting the above sensor input range into an error value includes: As shown in the following mathematical formula: By applying the binomial expansion of the above error value, A PID error compensation method characterized by including a step of converting into; Here, is the plant input signal, is the sensor input range, is an error value, is the sampling time, is the proportional term converted to an integer, is the integral term converted to an integer, represents the differential term converted to an integer.

16. In paragraph 15, The step of converting to the above constant term is: The above sampling time ( ) is the constant term ( ) to convert to; A PID error compensation method characterized by including:

17. In paragraph 16, The step of converting to the above constant term is: The sampling time is as follows: ) is the constant term ( ) and a step of converting into a PID error compensation method; Here, is the plant input signal, is the proportional term converted to an integer, is the integral term converted to an integer, is the differential term converted to an integer, is a constant term, It represents.

18. In paragraph 11, The step of calculating the plant input signal based on the above constant term is: The above constant term ( ) and the converted integer part ( ) is used to calculate the plant input signal. A PID error compensation method.

19. In paragraph 18, The step of calculating the plant input signal based on the above constant term is: Using the following mathematical formula, the constant term ( ) and the converted integer part ( ) and calculating the plant input signal based on the same; A PID error compensation method; Here, is the plant input signal, is a constant term, represents the integer part.

20. In paragraph 11, Step of entering a reference value; A step of outputting raw data from the ADC unit; and A PID error correction method, characterized in that it further includes a step of calculating the error value based on the reference value and the output raw data.

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