CN100468235C - Method for determining integration primary value of PID controller - Google Patents
Method for determining integration primary value of PID controller Download PDFInfo
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- CN100468235C CN100468235C CNB2005101031953A CN200510103195A CN100468235C CN 100468235 C CN100468235 C CN 100468235C CN B2005101031953 A CNB2005101031953 A CN B2005101031953A CN 200510103195 A CN200510103195 A CN 200510103195A CN 100468235 C CN100468235 C CN 100468235C
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Abstract
The invention discloses a method that can decide the integral starter of PID control. The new method is to get the first control starter in the integral acting. The integral acting is among the amplitude of temperature error curve, the setting value of temperature and the minimal temperature which are come from the switchover of control export in the process of autoregulation. When the PID control which is with the new method is used to control temperature, it is not to integral act from zero so shortening the stabilization time and saving the temperature act time without the overshoot phenomenon.
Description
Technical field
The present invention relates to a kind of method of the PID of decision controller integration initial value, relate in particular to a kind of like this method of the PID of decision controller integration initial value, promptly, at the PID controller when integration (I) control temperature arrives setting value soon, to estimate the integration initial value and insert, stablize free from error control to reach fast.
Prior art
In the modern industry application controls, temperature controlled application is quite extensive.Traditional industry, for example food cold storage at for example weaving, dyestuff, baking finish for car is fresh-keeping, the grocery trade of cake production and as in discs is made, PCB makes electronics industry or the like, all need stable temperature to come guaranteed quality, so in temperature when control, is very important.
The temperature control of system is preferably and can arrives design temperature fast, and does not have overshoot (Overshoot) phenomenon.But, when the control temperature arrives design temperature fast usually, all can produce overshoot phenomenon (that is, temperature surpasses design temperature), and the temperature rising is fast more, overshoot phenomenon is serious more.But if overshoot phenomenon is not arranged, then the thermotonus time just slack-off, so both are difficult to take into account.
In the prior art, all use PID (proportional-integral-differential) controller to carry out temperature control at present mostly.PID is meant the control of ratio, differential and integration, and wherein, proportional control is that control output is proportional with the margin of error, and the operational ton output of the big more controller of deviation is big more; Integration control is to be used to eliminate steady-state error, and the output of the control of the big more controller of error just is big more; Differential control is that the output of controller is determined according to the error change amount, and can make the error of instantaneous variation get back to stability state fast.But known PID controller is carrying out temperature when control, the requirement that is difficult to reach quick arrival design temperature and does not have overshoot phenomenon.
Fig. 1 is to the control principle calcspar and the curve map of the PID controller that Figure 4 shows that prior art.Wherein, Kp (proportionality constant), Ti (integral time), P, I, the D parameter of Td (derivative time), error amount=set temperature value-actual temperature value for adjusting.Utilize aforementioned parameters and can calculate the control output quantity of PID controller according to formula (1):
The control output quantity=[(1+1/TiS+TdS) * Kp] * error amount formula (1)
Above-mentioned P parameter is called scale parameter or proportional control again, and it is the proportionate relationship between output quantity and the temperature error amount (setting value-actual value), and when the big more output quantity of the margin of error is just big more, the more little output quantity of the margin of error is more little.As shown in Figure 2, calculate its output quantity according to formula (2):
Y=100/PB * X+50 formula (2)
Wherein, Kp=100/PB, PB are proportional band, and Kp is a proportionality constant, and 50% is the control output under error free.
When the margin of error was 0, output quantity was 50%, and this moment, desired temperature equaled actual temperature value, and when this temperature, this system does not have steady-state error as if temperature stabilization.But in fact error is 0 o'clock, and output quantity differs and is decided to be 50%, also may be the arbitrary value between 0%～100%, and also fixed value not necessarily of the real-time output quantity of same system, and its can have different values along with the change of external environment temperature.Therefore, have only proportional control can't eliminate steady-state error.
One of parameter that the D parameter is meant adjustable (Kp proportionality constant).When Kp is big more, thermotonus is fast more, the also easy more design temperature that surpasses.Kp is more little, and thermotonus is slow more, and the possibility that exceeds design temperature certainly is just little.
The I parameter is called integral parameter or integration control again, is used for eliminating the departure amount.When temperature had the margin of error, integration control can be by formula (3)
y＝Ki×∫X?dt+y
0
Ki=Kp * 1/Ti; X is margin of error formula (3)
The margin of error of each second added up multiply by fixed value again and be converted into operational ton output y, to eliminate temperature error.Shown in Figure 3, when the margin of error is big more, owing to the relation of integrator among the PID makes operational ton also just big more, when the margin of error equaled 0, above-mentioned integrator is integration no longer just, just reaches and the error free state of design temperature value stabilization.
In addition, when the PID controller of prior art is applied to the I control of temperature, its integration is slowly to be integrated to the temperature value that reaches setting since 0, therefore, and according to above-mentioned PID controller principle and I parameter (integration control), reach stablize error free must the cost considerable time, especially when integral time, Ti was very big, shown in its temperature as shown in Figure 4 and the curve map of integral time (Ti), simultaneously, in the integration control process, the centre also can produce the state that temperature falls down.
Summary of the invention
Fundamental purpose of the present invention is to solve the disappearance that exists in above-mentioned prior art, and a kind of method of the PID of decision controller integration initial value is provided.The present invention utilizes in the hands-off tuning process, producing control output on-off (ON-OFF) between default temperature error setting value switches, and utilize the temperature error curve amplitude that is obtained to go out the Prediction Control initial value by integral action with parameters such as desired temperature, minimum temperature values, when reaching setting value soon, temperature directly inserts the stability product score value, to save the thermotonus time.Like this, when the PID controller is applied to temperature control, the slowly integration that need not to start from scratch, thus shorten stabilization time with the raising thermotonus time, and do not have overshoot phenomenon.
For reaching above-mentioned purpose, the method for decision PID controller integration initial value of the present invention can comprise:
Set step, preestablish desired temperature and temperature error setting value thereof;
The parameter generating step starts hands-off tuning, and the on-off that produces control output between described temperature error setting value switches, to obtain the amplitude of tuning curve;
Calculation step utilizes parameters such as the described amplitude and the temperature difference to carry out integral action, calculates the integration initial value of estimating;
The described integration initial value of estimating is inserted described PID controller in advance carrying out integration control, thereby save reaction time that temperature reaches setting value, error and overshoot phenomenon can't take place to reach steady state (SS) fast.
Description of drawings
Fig. 1 is the principle block schematic diagram of the PID controller of prior art;
Fig. 2 is the curve map that the P parameter of the PID controller of prior art is controlled;
Fig. 3 is the curve map that the I parameter of the PID controller of prior art is controlled;
Fig. 4 be prior art the PID controller temperature and integral time (Ti) curve synoptic diagram;
Fig. 5 is the steps flow chart synoptic diagram of embodiments of the invention;
Fig. 6 is the hands-off tuning waveform synoptic diagram of Application Example of the present invention;
Fig. 7 be the inventive method temperature and integral time (Ti) curve synoptic diagram.
Primary clustering symbol description: steps flow chart 100～104
Embodiment
With reference to the accompanying drawings the technology contents relevant with the present invention is elaborated.
Figure 5 shows that the process step synoptic diagram of PID controller integration initial value determining method of the present invention.As shown in the figure, PID controller integration initial value determining method of the present invention comprises:
Set step 100, preset temperature setting value E and temperature error setting value thereof, this temperature error setting value comprise with described desired temperature being positive and negative error setting value F, the G of benchmark;
Control initial value I=(B-G)/(A-G) (%) formula (4)
In integration (I) control procedure of PID controller, when temperature reaches setting value soon, the above-mentioned integration initial value of estimating is directly inserted with the stability product score value, thereby save the reaction time that temperature reaches setting value, the fast temperature reaction is stablized error free and is not had the phenomenon of overshoot to reach.
Be respectively PID controller integration initial value determining method of the present invention shown in Fig. 6,7 and be applied to the hands-off tuning waveform of a temperature controlled embodiment, and temperature and integral time (Ti) curve synoptic diagram.As shown in the figure, in the method for this present embodiment, at first carry out and set step setting said temperature setting value E and temperature error setting value thereof.Wherein, the positive error setting value F of described temperature error setting value is set at+and 0.5 ℃, negative error setting value G is set at-0.2 ℃.Then execution parameter produces step, to start hands-off tuning when carrying out hands-off tuning, temperature sets it at positive error setting value F+below 0.5 ℃, control is output as " ON " state so that temperature rises, up to when above above positive error setting value F setting value, can switch to " OFF " to control output, at this moment, temperature can rise and just can descend after a period of time, when temperature drop to that negative error setting value G sets below-0.2 ℃ the time, control output transfers " ON " state once again to, and when temperature surpassed design temperature, control output switched to " OFF " like this, so, can try to achieve amplitude A and temperature difference B (desired temperature E and minimum temperature value H's is poor), calculate the integration initial value that can obtain estimating again according to above-mentioned formula (4):
Control initial value I=(B-0.2)/(A-0.2) (%)
According to the above-mentioned integration initial value of estimating by method of the present invention obtained, estimate the integration initial value as long as in the PID controller, insert this in advance, the PID controller is in integration (I) control procedure, just do not need since 0 integration slowly, thereby saved temperature and reached setting value and error free stable reaction time, and the situation that medium temperature falls down can not take place, overshoot phenomenon can not take place, as shown in Figure 7 yet.
Above-mentioned is the preferred embodiments of the present invention only, is not to be used for limiting practical range of the present invention.That is, all equalizations of being done according to the present patent application claim change and modify, and are all claim of the present invention and contain.
Claims (4)
1, a kind of method that determines PID controller integration initial value comprises:
A) set step, preestablish desired temperature and temperature error setting value thereof;
B) parameter generating step starts hands-off tuning, and the on-off that produces control output between described temperature error setting value switches, to obtain the amplitude of tuning curve;
C) calculation step, the integration initial value that utilizes described amplitude and temperature difference parameters to calculate to estimate is (temperature difference-negative error setting value)/(amplitude-negative error setting value), the described temperature difference refers to the temperature gap between described desired temperature and the minimum temperature value;
E) the described integration initial value of estimating is inserted described PID controller in advance carrying out integration control, thereby save the reaction time that temperature reaches setting value;
Described temperature error setting value comprises at least with described desired temperature being the positive and negative error setting value of benchmark, and described positive and negative error setting value is transformable setting.
2, the method for claim 1, wherein, the on-off of described control output switches and comprises: starting hands-off tuning when carrying out hands-off tuning, temperature is when the positive error setting value is following, control is output as " opening " state so that temperature rises, when described temperature surpasses the positive error setting value, control output is switched to " pass ", when described temperature drops to the negative error setting value when following, control output transfers " opening " state once again to, and when temperature surpasses design temperature, control output switches to " pass ".
3, the method for claim 1, wherein, described tuning curve amplitude is the difference between the highest and the minimum temperature, described maximum temperature refers to when hands-off tuning begins, control is output as " ON " so that temperature rises, up to when surpassing the positive error setting value, control output is switched to the maximum temperature point that " OFF " back temperature can rise again and descend after a period of time; Minimum temperature accuses when system output is transferred to " ON " temperature is risen by " OFF ", the minimum temperature point that the temperature in the decline can descend again and rise after a period of time.
4, the method for claim 1, wherein, described method also comprises: directly insert the described integration initial value of estimating when temperature reaches setting value soon, with the stability product score value, and make the temperature rapid reaction reach steady state (SS), and the phenomenon of error and overshoot can not take place.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2005101031953A CN100468235C (en) | 2005-09-20 | 2005-09-20 | Method for determining integration primary value of PID controller |
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| CNB2005101031953A CN100468235C (en) | 2005-09-20 | 2005-09-20 | Method for determining integration primary value of PID controller |
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| JP6531605B2 (en) * | 2015-10-07 | 2019-06-19 | オムロン株式会社 | Temperature control device and auto tuning method |
| CN114859992B (en) * | 2021-03-16 | 2024-03-12 | 郑州思昆生物工程有限公司 | Temperature control method and related device |
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Non-Patent Citations (6)
| Title |
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| 一种可灵活使用的温度控制系统设计方法研究. 黄天戍，罗璠，徐长宝，任清珍.中国仪器仪表，第2003年卷第7期. 2003 |
| 一种可灵活使用的温度控制系统设计方法研究. 黄天戍，罗璠，徐长宝，任清珍.中国仪器仪表，第2003年卷第7期. 2003 * |
| 一种基于PLC的积分分离PID调节器. 吴亚军，赵琳.辽宁省交通高等专科学校学报，第Vol.7卷第No.2期. 2005 |
| 一种基于PLC的积分分离PID调节器. 吴亚军，赵琳.辽宁省交通高等专科学校学报，第Vol.7卷第No.2期. 2005 * |
| 注塑机温度控制系统设计. 张奇苗，张培仁，王康正.自动化与仪表，第2005年卷第2期. 2005 |
| 注塑机温度控制系统设计. 张奇苗，张培仁，王康正.自动化与仪表，第2005年卷第2期. 2005 * |
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