CN102426431B - Anti-integral saturation control method and system of cascade control system - Google Patents
Anti-integral saturation control method and system of cascade control system Download PDFInfo
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- CN102426431B CN102426431B CN 201110386509 CN201110386509A CN102426431B CN 102426431 B CN102426431 B CN 102426431B CN 201110386509 CN201110386509 CN 201110386509 CN 201110386509 A CN201110386509 A CN 201110386509A CN 102426431 B CN102426431 B CN 102426431B
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Abstract
The invention provides an anti-integral saturation control method of a cascade control system. The method comprises the following steps of: judging an anti-integral saturation direction according to input quantity and outputting logic judging quantity; delaying the output of the logic judging quantity; sending one part of the logic judging quantity output in a delayed way into a tracking condition pin of the cascade control system; selecting preset tracking quantity according to the other part of the logic judging quantity output in a delayed way; obtaining leading quantity; and sending the leading quantity and the selected tracking quantity into a tracking quantity pin of the cascade control system. The invention also provides an anti-integral saturation control system of the cascade control system; and by using the system, the integral saturation phenomenon in the industrial control process can be reduced and the adjusting quality of the industrial process control can be improved.
Description
Technical field
The present invention relates to industrial control field, be specifically related to a kind of saturated control method and system of anti-integration of cascade control system.
Background technology
Many industrial process control objects have large inertia, the characteristics such as delay greatly, belong to one of object of difficult control.And tandem control is a kind of effective control strategy that puts forward for this class controlled device.For this reason, in industrial control field, adopt the loop of tandem control more.But, since lectotype selection, operating mode are comparatively extreme and the situation of extraneous significantly disturbance under, the tandem control loop often all can face the saturated phenomenon of integration.After the tandem control loop generation integration saturated phenomenon, the governing speed of control system will further reduce, and regulation quality will sharply descend.At present, particularly the integration saturated phenomenon of the external loop of tandem control all can't directly be solved in the pid function block of existing control configuration software.
Have a following problem for anti-integration is saturated in the current tandem control loop: 1) in whole loop in series design and configuration process, the saturated function of anti-integration is failed to be designed with in the loop.2) even the PID functional module has the saturated function of anti-integration, this only plays the generation of anti-integration saturated phenomenon to inner looping, but the tandem external loop still can't be broken away from the saturated puzzlement of integration.3) saturated the cutting manually by the loop of the anti-integration of loop in series implemented, and namely comes the saturated effect of link integration by manual tracking.The saturated phenomenon of tandem control loop integration is failed thoroughly, scientifically solved to this means on the one hand, coincidence circuit manually may cause in other flow process technology controlling and process to be cut manually, be unfavorable for the stable of whole production run, affect the regulation quality of industrial process control.
Summary of the invention
The object of the invention is to propose a kind of saturated control method of anti-integration of cascade control system, can reduce the integration saturated phenomenon in the industrial control process, improve the regulation quality of industrial process control.
For achieving the above object the technical scheme of employing:
A kind of saturated control method of anti-integration of cascade control system comprises step:
(1) judge the saturated direction of integration according to input quantity, and the output logic decision content;
(2) postpone the described logic decision content of output, and the described logic decision content part that will postpone to export is sent into the tracking condition pin of cascade control system;
(3) the described logic decision content that postpones to export according to another part is selected default tracking amount; Obtain the leading amount, and the tracking amount pin of the tracking amount of described leading amount and selection being sent into cascade control system.
The present invention judges that according to the input quantity in the industrial process (such as instruction or the feedback quantity of topworks) whether industrial process control the integration saturated phenomenon occurs, and exports corresponding logic decision content; Delay logic decision content, and the tracking condition pin that a part is postponed the logic decision content introducing industrial process cascade control system of output; The logic decision content that postpones output according to another part is selected default tracking amount, and obtain the leading amount of cascade control system, tracking amount pin with the tracking amount of selecting and the leading amount of obtaining introducing cascade control system, thereby can effectively realize the anti-integration saturated phenomenon in the industrial process, can improve the regulation quality of industrial process control.
The object of the invention is to propose a kind of saturated control system of anti-integration of cascade control system, can reduce the integration saturated phenomenon in the industrial control process, improve the regulation quality of industrial process control.
For achieving the above object the technical scheme of employing:
A kind of saturated control system of anti-integration of cascade control system comprises:
The saturated decision logic of integration loop is used for judging the saturated direction of integration according to input quantity, and the output logic decision content;
The tracking condition pin of cascade control system be used for postponing the described logic decision content of output, and the described logic decision content part that will postpone to export is sent in anti-operation time sequence mistake loop;
Follow the tracks of the set logic loop, be used for postponing according to another part the default tracking amount of described logic decision content selection of output; Obtain the leading amount, and the tracking amount pin of the tracking amount of described leading amount and selection being sent into cascade control system.
The present invention judges that according to the input quantity in the industrial process (such as instruction or the feedback quantity of topworks) whether industrial process control the integration saturated phenomenon occurs, and exports corresponding logic decision content; Delay logic decision content, and the tracking condition pin that a part is postponed the logic decision content introducing industrial process cascade control system of output; The logic decision content that postpones output according to another part is selected default tracking amount, and obtain the leading amount of cascade control system, tracking amount pin with the tracking amount of selecting and the leading amount of obtaining introducing cascade control system, thereby can effectively realize the anti-integration saturated phenomenon in the industrial process, can improve the regulation quality of industrial process control.
Description of drawings
Fig. 1 is the block diagram of industrial process cascade control system;
Fig. 2 is an embodiment process flow diagram of the inventive method;
Fig. 3 is a structural representation of system of the present invention;
Fig. 4 is a preferred embodiment of the present invention synoptic diagram;
Fig. 5 is another preferred embodiment synoptic diagram of the present invention.
Embodiment
For ease of understanding the present invention, set forth below in conjunction with accompanying drawing.
Paper industrial process cascade control system, please refer to Fig. 1, cascade control system comprises: external loop PID (Proportional-Integral-Differential, the proportion integration differentiation control law), inner looping PID, actuator, leading district, inertia district and measurement mechanism, wherein, external loop PID comprises TR (Tracking, follow the tracks of) pin and TS (Tracking Switch, tracking condition) pin, inner looping PID comprise tracking amount pin TR and tracking condition pin TS.
Then introduce concretism of the present invention, please refer to Fig. 2, a kind of saturated control method of anti-integration of cascade control system comprises step:
201, the saturated judgement of integration, and output logic decision content;
Judge the direction that anti-integration is saturated according to input quantity, and the output logic decision content.
202, postpone the output logic decision content;
The tracking condition pin that 203, will partly postpone the logic decision content introducing of output;
A logic decision content part that postpones output is sent into the tracking condition pin of cascade control system.
204, select the tracking amount according to the delay output of another part;
The logic decision content that postpones output according to another part is selected default tracking amount.
205, obtain the leading amount;
206, the tracking amount of leading amount and selection is introduced tracking amount pin.
The tracking amount of leading amount and selection is sent into the tracking amount pin of cascade control system.
The present invention judges that according to the input quantity in the industrial process (such as instruction or the feedback quantity of topworks) whether industrial process control the integration saturated phenomenon occurs, and exports corresponding logic decision content; Delay logic decision content, and the tracking condition pin that a part is postponed the logic decision content introducing industrial process cascade control system of output; The logic decision content that postpones output according to another part is selected default tracking amount, and obtain the leading amount of cascade control system, tracking amount pin with the tracking amount of selecting and the leading amount of obtaining introducing cascade control system, thereby can effectively realize the anti-integration saturated phenomenon in the industrial process, can improve the regulation quality of industrial process control.
Wherein, step 201 is specially:
Receive input quantity, and carry out the judgement of the saturated direction of integration according to input quantity, default higher limit and default lower limit, when input quantity during greater than default higher limit, judge the saturated direction of integration for upwards, and export the first decision content; When input quantity during less than or equal to default higher limit, export the second decision content; When input quantity during less than default lower limit, judge that the saturated direction of integration be downward, and export the 3rd decision content; When input quantity during more than or equal to default lower limit, export the 4th decision content;
Export the first pulse output quantity according to the first logic decision content or the second logic decision content;
Export the second pulse output quantity according to the 3rd logic decision content or the 4th logic decision content;
Carry out exclusive disjunction, the output logic decision content according to the first pulse output quantity and the second pulse output quantity.
As a kind of embodiment, step 202 to 206 can for:
Postpone a part of logic decision content of output, when this partial logic decision content is high level, postpone to export high level after predetermined a period of time; When this partial logic decision content is low level, output low level immediately; And will postpone the high level of output or the tracking condition pin of the external loop PID that low level is sent into cascade control system;
Postpone output another part logic decision content, when this another part logic decision content is high level, export immediately high level, when this another part logic decision content is low level, output low level after a period of time that postpones to be scheduled to; And will postpone the high level of output or the tracking condition pin of the inner looping PID that low level is sent into cascade control system;
And postpone output the second pulse output quantity, when the second pulse output quantity is high level, export immediately high level; When the second pulse output quantity is low level, after a period of time that postpones to be scheduled to, output low level;
Obtain the leading amount, and the external loop PID tracking amount pin of the leading amount being introduced cascade control system;
Produce the first constant and the second constant; Wherein, the first constant is less than default higher limit, and the second constant is greater than default lower limit;
Select the first constant or the second constant according to the second pulse output quantity that postpones output, when this output quantity is high level, select the second constant; When this output quantity is low level, select the first constant; And will select the first constant or the second constant to send into the inner looping PID tracking amount pin of cascade control system.
As another embodiment, step 202 to 206 can also for:
Postpone a part of logic decision content of output, when this partial logic decision content is high level, postpone to export high level after predetermined a period of time; When this partial logic decision content is low level, output low level immediately; And will postpone the high level of output or the tracking condition pin of the external loop PID that low level is sent into cascade control system;
Postpone output another part logic decision content, when this another part logic decision content is high level, export immediately high level, when this another part logic decision content is low level, output low level after a period of time that postpones to be scheduled to; And will postpone the high level of output or the tracking condition pin of the inner looping PID that low level is sent into cascade control system;
And postpone output the first pulse output quantity, and when the first pulse output quantity is high level, after a period of time that postpones to be scheduled to, the output high level; When the first pulse output quantity is low level, output low level immediately;
Obtain the leading amount, and the external loop PID tracking amount pin of the leading amount being introduced cascade control system;
Produce the first constant and the second constant; Wherein, the first constant is less than default higher limit, and the second constant is greater than default lower limit;
Select the first constant or the second constant according to the first pulse output quantity that postpones output, when this output quantity is high level, select the first constant; When this output quantity is low level, select the second constant; And will select the first constant or the second constant to send into the inner looping PID tracking amount pin of cascade control system.
The below introduces system of the present invention, please refer to Fig. 3, and a kind of saturated control system of anti-integration of cascade control system comprises:
The saturated decision logic of integration loop T1 is used for judging the saturated direction of integration according to input quantity, and the output logic decision content;
Anti-operation time sequence mistake loop T2 be used for postponing the output logic decision content, and the logic decision content part that will postpone to export is sent into the tracking condition pin of cascade control system;
Follow the tracks of set logic loop T3, be used for postponing according to another part the default tracking amount of logic decision content selection of output; Obtain the leading amount, and the tracking amount pin of the tracking amount of leading amount and selection being sent into cascade control system.
The present invention judges that according to the input quantity in the industrial process (such as instruction or the feedback quantity of topworks) whether industrial process control the integration saturated phenomenon occurs, and exports corresponding logic decision content; Delay logic decision content, and the tracking condition pin that a part is postponed the logic decision content introducing industrial process cascade control system of output; The logic decision content that postpones output according to another part is selected default tracking amount, and obtain the leading amount of cascade control system, tracking amount pin with the tracking amount of selecting and the leading amount of obtaining introducing cascade control system, thereby can effectively realize the anti-integration saturated phenomenon in the industrial process, can improve the regulation quality of industrial process control.
As a kind of preferred implementation, please refer to Fig. 4, a kind of saturated control system of anti-integration of cascade control system, the saturated decision logic of integration loop T1 comprises:
Bound alarm module T11 receives input quantity, and carry out the judgement of the saturated direction of integration according to input quantity, default higher limit (being made as 99.9) and default lower limit (being made as 0.01), when input quantity greater than 99.9 the time, judge that the saturated direction of integration is upwards, and output high level " 1 "; When input quantity less than or equal to 99.9 the time, output low level " 0 "; When input quantity less than 0.01 the time, judge that the saturated direction of integration be downwards, and export high level " 1 "; When input quantity more than or equal to 0.01 the time, output low level " 0 ";
The output of bound alarm module T11 when the saturated direction of the first pulse generating module T12 introducing integration makes progress when bound alarm module T11 output high level " 1 ", just produces the logic high " 1 " of one fixed width, and general pulse can be taken as 2-3S; If bound alarm module T11 output low level " 0 " then produces logic low " 0 ";
The output of bound alarm module T11 when the saturated direction of the second pulse generating module T13 introducing integration is downward when bound alarm module T11 output high level " 1 ", just produces the logic high " 1 " of one fixed width, and general pulse can be taken as 2-3S; If bound alarm module T11 output low level " 0 " then produces logic low " 0 ";
Logical operation module T14 carries out exclusive disjunction according to the first pulse output quantity and the second pulse output quantity, the output logic decision content, as long as one of them of the first pulse generating module T12 and the second pulse generating module T13 is output as logic high " 1 ", logical operation module T14 is output logic high level " 1 "; As the first pulse generating module T12 and the second pulse generating module T13 all during output logic low level " 0 ", logical operation module T14 is output logic low level " 0 ";
Anti-operation time sequence mistake loop T2 comprises: the first rising edge time delay module T21 postpones the output quantity of output logic computing module T14, when the output quantity of logical operation module T14 is high level, postpones to export high level " 1 " after predetermined a period of time; When the output quantity of logical operation module T14 is low level " 0 ", output low level " 0 " immediately; And will postpone the high level " 1 " of output or the TS pin (tracking condition pin) that low level " 0 " is sent into the external loop PID of cascade control system;
The first negative edge time delay module T22 postpones the output quantity of output logic computing module T14, and when the output quantity of logical operation module T14 was high level " 1 ", the first negative edge time delay module T22 exported high level " 1 " immediately; When the output quantity of logical operation module T14 is low level " 0 ", output low level " 0 " after the first negative edge time delay module T22 postpones predetermined a period of time; And first negative edge time delay module T22 high level " 1 " or low level " 0 " the TS pin of sending into the inner looping PID of cascade control system that will postpone output;
The second negative edge time delay module T23 postpones the output quantity of output the second pulse generating module T13, when the second pulse output quantity is high level " 1 ", exports immediately high level " 1 "; When the second pulse output quantity is low level " 0 ", after a period of time that postpones to be scheduled to, output low level " 0 ";
Following the tracks of set logic loop T3 comprises: the leading amount is introduced module T31 and is obtained the leading amount, and the TR pin of the leading amount being introduced the external loop PID of cascade control system;
The first constant generation module T32 produces the first constant (being made as 98);
The second constant generation module T33 produces the second constant (being made as 1);
The first constant selects module T34 to select 98 or 1 according to the output quantity of the second negative edge time delay module T23, when this output quantity is high level " 1 ", selects 1; When this output quantity is low level " 0 ", select 98; And will select the 98 or 1 TR pin of sending into the inner looping PID of cascade control system.
As another kind of preferred implementation, please refer to Fig. 5, a kind of saturated control system of anti-integration of cascade control system, the saturated decision logic of integration loop T1 comprises:
Bound alarm module T11 receives input quantity, and carry out the judgement of the saturated direction of integration according to input quantity, default higher limit (being made as 99.9) and default lower limit (being made as 0.01), when input quantity greater than 99.9 the time, judge that the saturated direction of integration is upwards, and output high level " 1 "; When input quantity less than or equal to 99.9 the time, output low level " 0 "; When input quantity less than 0.01 the time, judge that the saturated direction of integration be downwards, and export high level " 1 "; When input quantity more than or equal to 0.01 the time, output low level " 0 ";
The output of bound alarm module T11 when the saturated direction of the first pulse generating module T12 introducing integration makes progress, when bound alarm module T11 output high level " 1 ", just produce the logic high " 1 " of one fixed width, general pulse length can be taken as 2-3S; If bound alarm module T11 output low level " 0 " then produces logic low " 0 ";
The output of bound alarm module T11 when the saturated direction of the second pulse generating module T13 introducing integration is downward when bound alarm module T11 output high level " 1 ", just produces the logic high " 1 " of one fixed width, and general pulse can be taken as 2-3S; If bound alarm module T11 output low level " 0 " then produces logic low " 0 ";
Logical operation module T14 carries out exclusive disjunction according to the first pulse output quantity and the second pulse output quantity, the output logic decision content, as long as one of them of the first pulse generating module T12 and the second pulse generating module T13 is output as logic high " 1 ", logical operation module T14 is output logic high level " 1 "; As the first pulse generating module T12 and the second pulse generating module T13 all during output logic low level " 0 ", logical operation module T14 is output logic low level " 0 ";
Anti-operation time sequence mistake loop T2 comprises: the first rising edge time delay module T21 postpones the output quantity of output logic computing module T14, when the output quantity of logical operation module T14 is high level, postpones to export after 1 second high level " 1 "; When the output quantity of logical operation module T14 is low level " 0 ", output low level " 0 " immediately; And will postpone the high level " 1 " of output or the TS pin that low level " 0 " is sent into the external loop PID of cascade control system;
The first negative edge time delay module T22 postpones the output quantity of output logic computing module T14, and when the output quantity of logical operation module T14 was high level " 1 ", the first negative edge time delay module T22 exported high level " 1 " immediately; When the output quantity of logical operation module T14 was low level " 0 ", the first negative edge time delay module T22 postponed output low level " 0 " after 1 second; And first negative edge time delay module T22 high level " 1 " or low level " 0 " the TS pin of sending into the inner looping PID of cascade control system that will postpone output;
The second rising edge time delay module T24 postpones the output quantity of output the first pulse generating module T12, when the output quantity of the first pulse generating module T12 is high level " 1 ", postpones after 1 second, and the second rising edge time delay module T24 exports high level " 1 "; When the output quantity of the first pulse generating module T12 was low level " 0 ", the second rising edge time delay module T24 is output low level " 0 " immediately;
Following the tracks of set logic loop T3 comprises: the leading amount is introduced module T31 and is obtained the leading amount, and the TR pin of the leading amount being introduced the external loop PID of cascade control system;
The first constant generation module T32 produces the first constant 98;
The second constant generation module T33 produces the second constant 1;
The second constant selects module T35 to select 98 or 1 according to the output quantity of the second rising edge time delay module T24, when this output quantity is high level " 1 ", selects 98 numbers; When this output quantity is low level " 0 ", select 1; And the 98 or 1 TR pin of sending into the inner looping PID of cascade control system that will select.
Above-described embodiment of the present invention does not consist of the restriction to protection domain of the present invention.Any modification of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., all should be included within the claim protection domain of the present invention.
Claims (12)
1. the saturated control method of anti-integration of a cascade control system is characterized in that, comprises step:
(1) judge the saturated direction of integration according to the input quantity in the industrial process, and the output logic decision content;
(2) postpone the described logic decision content of output, and the described logic decision content part that will postpone to export is sent into the tracking condition pin of cascade control system; Wherein, described cascade control system comprises: external loop PID, inner looping PID, actuator, leading district, inertia district and measurement mechanism, and wherein, external loop comprises TR pin and TS pin, inner looping comprises tracking amount pin and tracking condition pin TS;
(3) the described logic decision content that postpones to export according to another part is selected default tracking amount; Obtain the leading amount, and the tracking amount pin of the tracking amount of described leading amount and selection being sent into cascade control system.
2. the saturated control method of anti-integration of cascade control system according to claim 1 is characterized in that, described step (1) is specially:
Receive the input quantity in the industrial process, and carry out the judgement of the saturated direction of integration according to the input quantity in the industrial process, default higher limit and default lower limit, when the input quantity in the industrial process during greater than described default higher limit, judge that the saturated direction of integration is upwards, and export the first decision content; When the input quantity in the industrial process during less than or equal to described default higher limit, export the second decision content; When the input quantity in the industrial process during less than described default lower limit, judge that the saturated direction of integration be downward, and export the 3rd decision content; When the input quantity in the industrial process during more than or equal to described default lower limit, export the 4th decision content;
Export the first pulse output quantity according to described the first logic decision content or the second logic decision content;
Export the second pulse output quantity according to described the 3rd logic decision content or the 4th logic decision content;
Carry out exclusive disjunction, the output logic decision content according to described the first pulse output quantity and the second pulse output quantity.
3. the saturated control method of anti-integration of cascade control system according to claim 2 is characterized in that, described logic decision content comprises high level signal or low level signal; Described step (2) is specially:
Postpone a part of logic decision content of output, when this partial logic decision content is high level, postpone to export high level after predetermined a period of time; When this partial logic decision content is low level, output low level immediately; And will postpone the high level of output or the tracking condition pin of the external loop PID that low level is sent into cascade control system;
Postpone output another part logic decision content, when this another part logic decision content is high level, export immediately high level, when this another part logic decision content is low level, output low level after a period of time that postpones to be scheduled to; And will postpone the high level of output or the tracking condition pin of the inner looping PID that low level is sent into cascade control system;
And postpone described the second pulse output quantity of output, when described the second pulse output quantity is high level, export immediately high level; When described the second pulse output quantity is low level, after a period of time that postpones to be scheduled to, output low level.
4. the saturated control method of anti-integration of cascade control system according to claim 2 is characterized in that, described logic decision content comprises high level signal or low level signal; Described step (2) is specially:
Postpone a part of logic decision content of output, when this partial logic decision content is high level, postpone to export high level after predetermined a period of time; When this partial logic decision content is low level, output low level immediately; And will postpone the high level of output or the tracking condition pin of the external loop PID that low level is sent into cascade control system;
Postpone output another part logic decision content, when this another part logic decision content is high level, export immediately high level, when this another part logic decision content is low level, output low level after a period of time that postpones to be scheduled to; And will postpone the high level of output or the tracking condition pin of the inner looping PID that low level is sent into cascade control system;
And postpone described the first pulse output quantity of output, and when described the first pulse output quantity is high level, after a period of time that postpones to be scheduled to, the output high level; When described the first pulse output quantity is low level, output low level immediately.
5. the saturated control method of anti-integration of cascade control system according to claim 3 is characterized in that, described step (3) is specially:
Obtain the leading amount, and the external loop PID tracking amount pin of described leading amount being introduced cascade control system;
Produce the first constant and the second constant; Wherein, described the first constant is less than described default higher limit, and described the second constant is greater than described default lower limit;
Select described the first constant or described the second constant according to described the second pulse output quantity that postpones output, when this output quantity is high level, select described the second constant; When this output quantity is low level, select described the first constant; And will select described the first constant or described the second constant to send into the inner looping PID tracking amount pin of cascade control system.
6. the saturated control method of anti-integration of cascade control system according to claim 4 is characterized in that, described step (3) is specially:
Obtain the leading amount, and the external loop PID tracking amount pin of described leading amount being introduced cascade control system;
Produce the first constant and the second constant; Wherein, described the first constant is less than described default higher limit, and described the second constant is greater than described default lower limit;
Select described the first constant or described the second constant according to described the first pulse output quantity that postpones output, when this output quantity is high level, select described the first constant; When this output quantity is low level, select described the second constant; And will select described the first constant or described the second constant to send into the inner looping PID tracking amount pin of cascade control system.
7. the saturated control system of anti-integration of a cascade control system is characterized in that, comprising:
The saturated decision logic of integration loop is used for judging the saturated direction of integration according to the input quantity of industrial process, and the output logic decision content;
The tracking condition pin of cascade control system be used for postponing the described logic decision content of output, and the described logic decision content part that will postpone to export is sent in anti-operation time sequence mistake loop; Wherein, described cascade control system comprises: external loop PID, inner looping PID, actuator, leading district, inertia district and measurement mechanism, and wherein, external loop comprises TR pin and TS pin, inner looping comprises tracking amount pin and tracking condition pin TS;
Follow the tracks of the set logic loop, be used for postponing according to another part the default tracking amount of described logic decision content selection of output; Obtain the leading amount, and the tracking amount pin of the tracking amount of described leading amount and selection being sent into cascade control system.
8. the saturated control system of anti-integration of cascade control system according to claim 7 is characterized in that, the saturated decision logic of described integration loop comprises:
The bound alarm module, be used for receiving the input quantity of industrial process, and carry out the judgement of the saturated direction of integration according to the input quantity in the industrial process, default higher limit and default lower limit, when the input quantity in the industrial process during greater than default higher limit, judge that the saturated direction of integration is upwards, and export the first decision content; When the input quantity in the industrial process during less than or equal to default higher limit, export the second decision content; When the input quantity in the industrial process during less than default lower limit, judge that the saturated direction of integration be downward, and export the 3rd decision content; When the input quantity in the industrial process during more than or equal to default lower limit, export the 4th decision content;
The first pulse generating module is used for exporting the first pulse output quantity according to described the first logic decision content or the second logic decision content;
The second pulse generating module is used for exporting the second pulse output quantity according to described the 3rd logic decision content or the 4th logic decision content;
Logical operation module is used for carrying out exclusive disjunction, the output logic decision content according to described the first pulse output quantity and the second pulse output quantity.
9. the saturated control system of anti-integration of cascade control system according to claim 8 is characterized in that,
The logic decision content of described logical operation module output comprises high level signal or low level signal;
Described anti-operation time sequence mistake loop comprises:
The first rising edge time delay module is used for postponing the output logic decision content, when the logic decision content is high level, postpones to export high level after predetermined a period of time; When the logic decision content is low level, output low level immediately; And will postpone the high level of output or the tracking condition pin of the external loop PID that low level is sent into cascade control system;
The first negative edge time delay module is used for postponing the output logic decision content, when the logic decision content is high level, exports immediately high level; When the logic decision content is low level, output low level after a period of time that postpones to be scheduled to; And will postpone the high level of output or the tracking condition pin of the inner looping PID that low level is sent into cascade control system;
The second negative edge time delay module is used for postponing described the second pulse output quantity of output, when described the second pulse output quantity is high level, exports immediately high level; When described the second pulse output quantity is low level, after a period of time that postpones to be scheduled to, output low level.
10. the saturated control system of anti-integration of cascade control system according to claim 8 is characterized in that,
The logic decision content of described logical operation module output comprises high level signal or low level signal;
Described anti-operation time sequence mistake loop comprises:
The first rising edge time delay module is used for postponing the output logic decision content, when the logic decision content is high level, postpones to export high level after predetermined a period of time; When the logic decision content is low level, output low level immediately;
The first negative edge time delay module is used for postponing the output logic decision content, when the logic decision content is high level, exports immediately high level, when the logic decision content is low level, and output low level after a period of time that postpones to be scheduled to;
The second rising edge time delay module is used for postponing described the first pulse output quantity of output, when described the first pulse output quantity is high level, and after a period of time that postpones to be scheduled to, the output high level; When described the first pulse output quantity is low level, output low level immediately.
11. the saturated control system of anti-integration of cascade control system according to claim 9 is characterized in that, described tracking set logic loop comprises:
The leading amount is introduced module, is used for obtaining the leading amount, and the external loop PID tracking amount pin of described leading amount being introduced cascade control system;
The first constant generation module, for generation of the first constant, described the first constant is less than described default higher limit;
The second constant generation module, for generation of the second constant, described the second constant is greater than described default lower limit;
The first constant is selected module, is used for selecting described the first constant or described the second constant according to the output quantity of described the second negative edge time delay module, when this output quantity is high level, selects described the second constant; When this output quantity is low level, select described the first constant; And will select described the first constant or described the second constant to send into the inner looping PID tracking amount pin of cascade control system.
12. the saturated control system of anti-integration of cascade control system according to claim 10 is characterized in that, described tracking set logic loop comprises:
The leading amount is introduced module, is used for obtaining the leading amount, and the external loop PID tracking amount pin of described leading amount being introduced cascade control system;
The first constant generation module, for generation of the first constant, described the first constant is less than described default higher limit;
The second constant generation module, for generation of the second constant, described the second constant is greater than described default lower limit;
The second constant is selected module, is used for selecting described the first constant or described the second constant according to the output quantity of described the second rising edge time delay module, when this output quantity is high level, selects described the first constant; When this output quantity is low level, select described the second constant; And will select described the first constant or described the second constant to send into the inner looping PID tracking amount pin of cascade control system.
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| CN109856958B (en) * | 2017-11-30 | 2022-03-18 | 中国大唐集团科学技术研究院有限公司中南电力试验研究院 | Control method for preventing integral saturation |
| CN111928232A (en) * | 2020-06-24 | 2020-11-13 | 中国大唐集团科学技术研究院有限公司火力发电技术研究院 | Integral saturation resisting method for PID controller in steam temperature control system |
| CN112230541B (en) * | 2020-10-28 | 2021-10-26 | 东风汽车集团有限公司 | Anti-saturation variable speed integration method and system based on PID control |
| CN113110026A (en) * | 2021-04-09 | 2021-07-13 | 西安热工研究院有限公司 | Anti-integral saturation control method for cascade control system |
| CN114035426B (en) * | 2021-11-17 | 2023-06-30 | 华电电力科学研究院有限公司 | Control method, device, equipment and storage medium of cascade control system |
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| CN2074472U (en) * | 1990-05-05 | 1991-04-03 | 阮洁 | Deviation-controlled anti-integral-saturation pid regulator |
| CN101299590A (en) * | 2007-03-13 | 2008-11-05 | 通用汽车环球科技运作公司 | Anti-windup control for a current regulator of a pulse width modulation inverter |
| CN101968628A (en) * | 2010-09-08 | 2011-02-09 | 华北电力大学 | Saturated self-adjusting controller for time-varying delay uncertain system |
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| CN2074472U (en) * | 1990-05-05 | 1991-04-03 | 阮洁 | Deviation-controlled anti-integral-saturation pid regulator |
| CN101299590A (en) * | 2007-03-13 | 2008-11-05 | 通用汽车环球科技运作公司 | Anti-windup control for a current regulator of a pulse width modulation inverter |
| CN101968628A (en) * | 2010-09-08 | 2011-02-09 | 华北电力大学 | Saturated self-adjusting controller for time-varying delay uncertain system |
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