CN101893849A - Control method of PID controller - Google Patents
Control method of PID controller Download PDFInfo
- Publication number
- CN101893849A CN101893849A CN 201010223254 CN201010223254A CN101893849A CN 101893849 A CN101893849 A CN 101893849A CN 201010223254 CN201010223254 CN 201010223254 CN 201010223254 A CN201010223254 A CN 201010223254A CN 101893849 A CN101893849 A CN 101893849A
- Authority
- CN
- China
- Prior art keywords
- output
- pid
- output valve
- integral
- computing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Feedback Control In General (AREA)
Abstract
The invention discloses a control method of a PID controller by combining multiple control algorithms. The existing PID control method has the following defects: as for integral, integral accumulation, which causes PID operation, results in integral saturation, causing great over modulation of the system; and as for differential, differential is especially sensitive to interference, and frequent fluctuations of the given value can result in system oscillation. The invention is characterized by comprising the following steps: carrying out scale operation on the amount of deviation to obtain the output value of a proportional part; carrying out variable speed integral operation on the amount of deviation, and then carrying out trapezoidal integral operation to obtain the output value of an integral part; carrying out incomplete differential operation on the amount of deviation to obtain the output value of a differential part, thereby obtaining the output value of PID; carrying out output amplitude limiting operation; and finally, carrying out output rate limiting operation. On the premise of maintaining integral, eliminating static error of and enhancing precision, the invention reduces the over modulation amount; and the invention eliminates the external interference to some extent and eliminates oscillation caused by frequent motions.
Description
Technical field
The present invention relates to PID controller field, specifically a kind of control method of the PID controller in conjunction with multiple pid control algorithm.
Background technology
In analog control system, what controller was the most frequently used is the PID controller.The PID controller is a kind of linear controller, and it constitutes deviate according to set-point and real output value, and ratio, integration and the differential of deviate constituted controlled quentity controlled variable by linear combination, and controlled device is controlled.
Existing P ID control method has the following disadvantages: for integration, introducing the purpose of integral element in common pid number controller, mainly is in order to eliminate static difference, to improve precision; But in startup, the end of process or when significantly increasing and decreasing setting value, cause very big deviation in the short time, cause the integration accumulation of PID computing, cause integration saturated, cause the overshoot that system is bigger, even cause the vibration of system.For differential, differential is responsive especially to disturbing, and the frequent lifting of set-point causes system oscillation, and dynamic perfromance is relatively poor etc.
Summary of the invention
Technical matters to be solved by this invention is to overcome the defective that above-mentioned prior art exists, and a kind of PID control method that multiple pid control algorithm is effectively combined is provided.
For achieving the above object, the technical solution adopted in the present invention is: a kind of control method of PID controller, the PID controller constitutes deviate according to setting value and actual value, deviate is constituted output valve through ratio, integration with after differentiating by linear combination, controlled device is controlled, be it is characterized in that: described deviate obtains proportional parts output valve U through scale operation
PDeviate is carried out the speed change integral operation, and computing obtains integral part output valve U through trapezoidal integration again
IDeviate is carried out the incomplete differential computing, promptly increases a first order inertial loop in differentiating, and obtains differential part output valve U
DThereby, obtain the output valve U=U of PID
P+ U
I+ U
D
Output valve U to PID carries out the output violent change computing then, carries out output speed at last and limits computing, limits the amplitude of variation of the output valve of the PID in the unit interval.
During the speed change integral operation, the setting value of deviate and speed change integration compares, and main make it corresponding with the deviation size: deviation is big more by changing integral coefficient Ki, and integration is slow more; Deviation is more little, and integration is fast more.The effect of speed change integration mainly when keeping integral action, has reduced overshoot, avoids output valve to rest on the saturation region for a long time.
The trapezoidal integration rectangular integration that compares, the calculating of integral is more accurate, adopts the trapezoidal integration computing can reduce the error of integral.
During the output violent change computing, the setting value of the output valve U of PID and output violent change computing compares, if output valve U surpasses the setting value of output violent change computing, output valve U is the setting value of output violent change computing so, if do not exceed the setting value of output violent change computing, output valve U need not change so.Amplitude limit output is the output valve of control PID, and its effect mainly is excessive for fear of control action.
It is the qualification to the changing value of PID output valve in the unit interval that output speed limits (being speed limit), eliminates because the caused vibration of frequent movement.
The incomplete differential computing is to add a first order inertial loop on differentiation element, promptly add low-pass filter, its effect mainly is to overcome the shortcoming of generally differentiating, the general following shortcoming of differentiating: the output of (1) differential term only plays incentive action in first cycle, for the bigger system of time constant, its regulating action is very little, can not reach the purpose of leading departure; (2) U
DAmplitude K
DGeneral bigger, cause in the computing machine data to overflow easily; U in addition
DExcessive, too fast variation also can cause adverse influence to topworks.
The present invention combines pid control algorithms such as trapezoidal integration, speed change integration, output violent change, output speed qualification, incomplete differential effectively, have the following advantages: when keeping integration to eliminate static error and improving the precision effect, reduced overshoot; Avoid output valve to rest on the saturation region for a long time, improved the dynamic response of system, eliminated external disturbance to a certain extent, and eliminate because the caused vibration of frequent movement.
The invention will be further described below in conjunction with description of drawings and embodiment.
Description of drawings
Fig. 1 is the control principle figure of present PID controller.
Fig. 2 is control principle figure of the present invention.
Fig. 3 is the graph of a relation of speed change integral coefficient of the present invention and absolute value of the bias.
Among the figure, r (t) represents setting value, and c (t) represents actual value, and e (t) represents deviate, and u (t) represents output valve.
Embodiment
The setting value of supposing the PID controller is r (t), actual value c (t), and deviate e (t) is r (t)-c (t) so, below deviate is carried out ratio, integration and differentiates.
1) deviate e (t) is carried out scale operation and obtain proportional parts output valve U
P, computing formula is: U
P=e (t) * K
p, K in the formula
pThe expression scale-up factor.
2) deviate e (t) is carried out the speed change integral operation, deviate e (t) is compared with speed change integration setting value, deviation is big more, and integration is slow more, and integral coefficient Ki is big more, and deviation is more little, and Ki is more little for integral coefficient, and integration is fast more; See Fig. 3 for details, Wl, Wh are integration window, and when absolute value of the bias during less than Wl, integral coefficient Ki is 1, when absolute value of the bias greater than Wl during less than Wh, integral coefficient Ki is 1 to 0, when absolute value of the bias during greater than Wh, integral coefficient Ki is 0, integration is inoperative;
Obtain integral part output valve UI through the trapezoidal integration computing again, computing formula be (deviation of last time+this deviation) * sampling period/2.
3) deviate e (t) is differentiated, in general differentiating, has added a low-pass filter, differential part output valve U
DThereby, obtain output valve u (t)=U of PID
P+ U
I+ U
D
4) setting value of comparison PID output valve u (t) and output violent change computing, if u (t) surpasses setting value, PID output valve u (t) is the setting value of output violent change computing so; If do not exceed setting value, PID output valve u (t) need not change so.
5) limit computing by output speed at last, compare this calculating output and the amplitude of variation of the actual output of last time, if greater than variance values, then this output valve adds variance values for the actual output of last time.Be limited to the amplitude of variation of the PID output valve in the unit interval, avoid changing the too fast vibration that causes.
Claims (5)
1. the control method of a PID controller, the PID controller constitutes deviate according to setting value and actual value, deviate is constituted output valve through ratio, integration with after differentiating by linear combination, controlled device is controlled, be it is characterized in that: described deviate obtains proportional parts output valve U through scale operation
PDeviate is carried out the speed change integral operation, and computing obtains integral part output valve U through trapezoidal integration again
IDeviate is carried out the incomplete differential computing, promptly increases a first order inertial loop in differentiating, and obtains differential part output valve U
DThereby, obtain the output valve U=U of PID
P+ U
I+ U
D
Output valve U to PID carries out the output violent change computing then, carries out output speed at last and limits computing, is limited to the output valve amplitude of variation of the PID in the unit interval.
2. the control method of PID controller according to claim 1, when it is characterized in that the speed change integral operation, the setting value of deviate and speed change integration compares, and by changing integral coefficient ki, make it corresponding with the deviation size: deviation is big more, and integration is slow more; Deviation is more little, and integration is fast more.
3. the control method of PID controller according to claim 1 and 2 is characterized in that described first order inertial loop is a low-pass filter.
4. the control method of PID controller according to claim 3, when it is characterized in that the output violent change computing, the setting value of the output valve U of PID and output violent change computing compares, if output valve U surpasses the setting value of output violent change computing, output valve U is the setting value of output violent change computing so, if do not exceed the setting value of output violent change computing, output valve U need not change so.
5. the control method of PID controller according to claim 4, when it is characterized in that output speed limits computing, compare this calculating output and the amplitude of variation of the actual output of last time, if greater than variance values, then this output valve adds variance values for last actual output.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010223254 CN101893849A (en) | 2010-07-12 | 2010-07-12 | Control method of PID controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010223254 CN101893849A (en) | 2010-07-12 | 2010-07-12 | Control method of PID controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101893849A true CN101893849A (en) | 2010-11-24 |
Family
ID=43103073
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010223254 Pending CN101893849A (en) | 2010-07-12 | 2010-07-12 | Control method of PID controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101893849A (en) |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102167020A (en) * | 2011-03-29 | 2011-08-31 | 奇瑞汽车股份有限公司 | Method for adjusting braking force based on linear control braking system |
| CN102490704A (en) * | 2011-12-13 | 2012-06-13 | 奇瑞汽车股份有限公司 | Braking force real-time regulating method |
| CN103269195A (en) * | 2013-05-24 | 2013-08-28 | 电子科技大学 | Speed change integral PID controller for asynchronous motor vector control of electromobile |
| CN103946754A (en) * | 2011-11-22 | 2014-07-23 | 丰田自动车株式会社 | Feedback control system |
| CN104597927A (en) * | 2014-12-08 | 2015-05-06 | 中国航空工业集团公司第六三一研究所 | PID based rotation speed control method |
| CN105301957A (en) * | 2015-11-24 | 2016-02-03 | 泉州装备制造研究所 | Novel anti-integral-saturation PID control method |
| CN105422681A (en) * | 2015-12-30 | 2016-03-23 | 中国船舶重工集团公司第七一一研究所 | Dynamic PID (proportional integral derivative) control based hydroviscous variable speed clutch control method |
| CN105527838A (en) * | 2016-01-18 | 2016-04-27 | 浙江亚龙教育装备股份有限公司 | PID automatic control system |
| CN106125546A (en) * | 2016-07-29 | 2016-11-16 | 重庆钢铁集团电子有限责任公司 | A kind of PID control method of the variation tendency applying controlled volume |
| CN106169897A (en) * | 2016-08-02 | 2016-11-30 | 中车株洲电力机车研究所有限公司 | A kind of motor speed real-time anti-saturation PID control method and device |
| CN106227265A (en) * | 2016-08-31 | 2016-12-14 | 电子科技大学 | A kind of adjustable terahertz detector temperature control system separated based on integration |
| CN106527121A (en) * | 2016-12-20 | 2017-03-22 | 上海华林工业气体有限公司 | PID control device with amplitude limiter and control method |
| CN108153145A (en) * | 2017-12-22 | 2018-06-12 | 合肥工大高科信息科技股份有限公司 | A kind of train speed autocontrol method based on PID and filtering algorithm |
| CN109254529A (en) * | 2018-11-29 | 2019-01-22 | 曾喆昭 | A kind of adaptive proportional-plus-derivative control method of double speed |
| CN109254528A (en) * | 2018-11-29 | 2019-01-22 | 曾喆昭 | The fast wisdom PID control method of one kind three |
| CN111176112A (en) * | 2020-01-07 | 2020-05-19 | 深圳市康灿新能源科技有限公司 | Improved PID control algorithm for dynamically adjusting upper limit value of integral |
| CN111352341A (en) * | 2020-03-18 | 2020-06-30 | 上海海事大学 | Ship navigation control online self-adaptive adjustment system and method |
| CN111490711A (en) * | 2020-04-09 | 2020-08-04 | 北京理工大学 | Method for controlling motor rotation speed of fire-fighting robot based on PID and electronic equipment |
| CN111752143A (en) * | 2020-03-21 | 2020-10-09 | 哈尔滨工程大学 | Adjustable inertia integral control method |
| CN112051725A (en) * | 2020-07-27 | 2020-12-08 | 河北汉光重工有限责任公司 | High-precision indirect transmission servo stability control method |
| CN112827908A (en) * | 2020-12-30 | 2021-05-25 | 佛山市谱德电子科技有限公司 | Control method and system based on steam cleaning machine |
| CN113359410A (en) * | 2021-04-29 | 2021-09-07 | 武汉华海通用电气有限公司 | Digital PI controller |
| CN114675681A (en) * | 2020-12-24 | 2022-06-28 | 浙江苏泊尔家电制造有限公司 | Temperature control method of cooking appliance and cooking appliance |
| CN116211453A (en) * | 2023-05-09 | 2023-06-06 | 浙江伽奈维医疗科技有限公司 | Temperature control method and system for varicose vein radio frequency ablation catheter |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2074472U (en) * | 1990-05-05 | 1991-04-03 | 阮洁 | Deviation-controlled anti-integral-saturation pid regulator |
| US5229699A (en) * | 1991-10-15 | 1993-07-20 | Industrial Technology Research Institute | Method and an apparatus for PID controller tuning |
| JP3336520B2 (en) * | 1996-09-25 | 2002-10-21 | 理化工業株式会社 | PID controller |
| CN101392939A (en) * | 2008-11-18 | 2009-03-25 | 天津大学 | Nonlinear prediction and control method for independence energy supply temperature of buildings |
-
2010
- 2010-07-12 CN CN 201010223254 patent/CN101893849A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2074472U (en) * | 1990-05-05 | 1991-04-03 | 阮洁 | Deviation-controlled anti-integral-saturation pid regulator |
| US5229699A (en) * | 1991-10-15 | 1993-07-20 | Industrial Technology Research Institute | Method and an apparatus for PID controller tuning |
| JP3336520B2 (en) * | 1996-09-25 | 2002-10-21 | 理化工業株式会社 | PID controller |
| CN101392939A (en) * | 2008-11-18 | 2009-03-25 | 天津大学 | Nonlinear prediction and control method for independence energy supply temperature of buildings |
Non-Patent Citations (2)
| Title |
|---|
| 《制造业自动化》 20100115 彭昕昀 一种基于PID控制的锅炉动态水温单回路控制系统 说明书第88页第2.2节 2 第32卷, 第1期 2 * |
| 《科技创新导报》 20090920 陆俊等 基于数字PID控制器的伺服控制系统 说明书第82页第2.2节-第84页第4节，附图3-1 1-5 , 第26期 2 * |
Cited By (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102167020A (en) * | 2011-03-29 | 2011-08-31 | 奇瑞汽车股份有限公司 | Method for adjusting braking force based on linear control braking system |
| CN102167020B (en) * | 2011-03-29 | 2016-08-03 | 奇瑞汽车股份有限公司 | A kind of control method of brake force based on line control brake system |
| CN103946754B (en) * | 2011-11-22 | 2016-07-06 | 丰田自动车株式会社 | Feedback control system |
| CN103946754A (en) * | 2011-11-22 | 2014-07-23 | 丰田自动车株式会社 | Feedback control system |
| CN102490704A (en) * | 2011-12-13 | 2012-06-13 | 奇瑞汽车股份有限公司 | Braking force real-time regulating method |
| CN103269195A (en) * | 2013-05-24 | 2013-08-28 | 电子科技大学 | Speed change integral PID controller for asynchronous motor vector control of electromobile |
| CN103269195B (en) * | 2013-05-24 | 2015-04-08 | 电子科技大学 | Speed change integral PID controller for asynchronous motor vector control of electromobile |
| CN104597927A (en) * | 2014-12-08 | 2015-05-06 | 中国航空工业集团公司第六三一研究所 | PID based rotation speed control method |
| CN104597927B (en) * | 2014-12-08 | 2017-05-17 | 中国航空工业集团公司第六三一研究所 | PID based rotation speed control method |
| CN105301957A (en) * | 2015-11-24 | 2016-02-03 | 泉州装备制造研究所 | Novel anti-integral-saturation PID control method |
| CN105301957B (en) * | 2015-11-24 | 2018-03-06 | 泉州装备制造研究所 | A kind of new anti-windup saturation PID control method |
| CN105422681A (en) * | 2015-12-30 | 2016-03-23 | 中国船舶重工集团公司第七一一研究所 | Dynamic PID (proportional integral derivative) control based hydroviscous variable speed clutch control method |
| CN105422681B (en) * | 2015-12-30 | 2018-02-16 | 中国船舶重工集团公司第七一一研究所 | Hydro-viscous speed governing clutch control method based on dynamic PID control |
| CN105527838A (en) * | 2016-01-18 | 2016-04-27 | 浙江亚龙教育装备股份有限公司 | PID automatic control system |
| CN106125546A (en) * | 2016-07-29 | 2016-11-16 | 重庆钢铁集团电子有限责任公司 | A kind of PID control method of the variation tendency applying controlled volume |
| CN106125546B (en) * | 2016-07-29 | 2019-01-18 | 重庆钢铁集团电子有限责任公司 | A kind of PID control method of the variation tendency using controlled volume |
| CN106169897A (en) * | 2016-08-02 | 2016-11-30 | 中车株洲电力机车研究所有限公司 | A kind of motor speed real-time anti-saturation PID control method and device |
| CN106169897B (en) * | 2016-08-02 | 2019-01-08 | 中车株洲电力机车研究所有限公司 | A kind of real-time anti-saturation PID control method of motor speed and device |
| CN106227265A (en) * | 2016-08-31 | 2016-12-14 | 电子科技大学 | A kind of adjustable terahertz detector temperature control system separated based on integration |
| CN106527121A (en) * | 2016-12-20 | 2017-03-22 | 上海华林工业气体有限公司 | PID control device with amplitude limiter and control method |
| CN108153145A (en) * | 2017-12-22 | 2018-06-12 | 合肥工大高科信息科技股份有限公司 | A kind of train speed autocontrol method based on PID and filtering algorithm |
| CN108153145B (en) * | 2017-12-22 | 2020-10-16 | 合肥工大高科信息科技股份有限公司 | PID and filtering algorithm based train speed automatic control method |
| CN109254528A (en) * | 2018-11-29 | 2019-01-22 | 曾喆昭 | The fast wisdom PID control method of one kind three |
| CN109254529A (en) * | 2018-11-29 | 2019-01-22 | 曾喆昭 | A kind of adaptive proportional-plus-derivative control method of double speed |
| CN111176112A (en) * | 2020-01-07 | 2020-05-19 | 深圳市康灿新能源科技有限公司 | Improved PID control algorithm for dynamically adjusting upper limit value of integral |
| CN111352341A (en) * | 2020-03-18 | 2020-06-30 | 上海海事大学 | Ship navigation control online self-adaptive adjustment system and method |
| CN111752143A (en) * | 2020-03-21 | 2020-10-09 | 哈尔滨工程大学 | Adjustable inertia integral control method |
| CN111752143B (en) * | 2020-03-21 | 2022-10-25 | 哈尔滨工程大学 | Adjustable inertia integral control method |
| CN111490711A (en) * | 2020-04-09 | 2020-08-04 | 北京理工大学 | Method for controlling motor rotation speed of fire-fighting robot based on PID and electronic equipment |
| CN112051725A (en) * | 2020-07-27 | 2020-12-08 | 河北汉光重工有限责任公司 | High-precision indirect transmission servo stability control method |
| CN112051725B (en) * | 2020-07-27 | 2024-04-02 | 河北汉光重工有限责任公司 | High-precision indirect transmission servo stable control method |
| CN114675681A (en) * | 2020-12-24 | 2022-06-28 | 浙江苏泊尔家电制造有限公司 | Temperature control method of cooking appliance and cooking appliance |
| CN114675681B (en) * | 2020-12-24 | 2023-11-03 | 浙江苏泊尔家电制造有限公司 | Temperature control method of cooking appliance and cooking appliance |
| CN112827908A (en) * | 2020-12-30 | 2021-05-25 | 佛山市谱德电子科技有限公司 | Control method and system based on steam cleaning machine |
| CN113359410A (en) * | 2021-04-29 | 2021-09-07 | 武汉华海通用电气有限公司 | Digital PI controller |
| CN116211453A (en) * | 2023-05-09 | 2023-06-06 | 浙江伽奈维医疗科技有限公司 | Temperature control method and system for varicose vein radio frequency ablation catheter |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101893849A (en) | Control method of PID controller | |
| CN104122531B (en) | The method of self-adaptive processing radar antenna position oscillation | |
| CN103092135B (en) | Motor control apparatus equipped with dead-zone processing unit | |
| CN104753439B (en) | A kind of PID intelligent speed-regulating methods of motor | |
| CN103941583A (en) | Parametrization design method of anti-disturbance composite servo controller | |
| CN103998999B (en) | For adjusting the method and system of multivariable PID controller | |
| CN105305913A (en) | Novel disturbance-rejection following controller for ball screw feeding system | |
| CN103226327A (en) | Automatic compensation method for static drift of sight line of stabilized photoelectric sight system | |
| Wang et al. | No‐Tension Sensor Closed‐Loop Control Method with Adaptive PI Parameters for Two‐Motor Winding System | |
| CN105048922A (en) | Stable adaptive robust position control method for permanent magnet synchronous linear motor | |
| CN104950666A (en) | Method capable of increasing PID (proportion integration differentiation) control speed and precision | |
| JP2009282609A (en) | Servo adjustment method and device | |
| CN108983598B (en) | PID (proportion integration differentiation) adjusting method, system and storage device | |
| Kodgirwar et al. | Design of control system for quadcopter using Complementary Filter and PID controller | |
| CN108762085A (en) | A kind of quick point-to-point motion control method of robust | |
| CN101458521B (en) | Misoperation prevention method by DCS | |
| CN1736535A (en) | Fuzzy-self adjusting PID control method of extraction pot in Chinese medicine production process | |
| US3701889A (en) | Variable-structure automatic control system | |
| Seki et al. | Retuning oscillatory PID control loops based on plant operation data | |
| CN109139623A (en) | A kind of analogue type closed loop servo actuator controller | |
| CN108880366B (en) | Control method of torque loading controller of reduction gearbox test bed | |
| CN103021489A (en) | Controlling device and method of letdown flow temperature of chemical and volume control system in nuclear power station | |
| Chen et al. | Research of liquid level control system based on internal model control | |
| Tian et al. | Research and application of digital PID in NDT equipment | |
| CN118558748A (en) | Method and device for adjusting proportion coefficient of loop PID regulator, electronic equipment and readable and writable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20101124 |