CN103616845A - PID controller, parameter self-tuning extension module and implementation method thereof - Google Patents
PID controller, parameter self-tuning extension module and implementation method thereof Download PDFInfo
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Abstract
The invention discloses a PID controller, a parameter self-tuning extension module and an implementation method thereof. The PID controller and the parameter self-tuning extension module thereof comprise a temperature signal acquisition unit and a PID control and parameter self-tuning unit. The temperature signal acquisition unit is used for collecting temperature data of a controlled object and sending the temperature data to the PID control and parameter self-tuning unit. The PID control and parameter self-tuning unit is used for conducting parameter self-tuning according to the temperature data and outputting a tuning result to a main controller through an extension bus so that the parameter of the PID controller can be examined and/or modified conveniently through the main controller. Temperature measurement and PID control can be achieved on a PLC extended function module, user PLC program resources are saved, the self-tuning function is further achieved, hence, user parameter setting time is saved, parameter setting accuracy is improved, and therefore the control quality and robustness of the controller are guaranteed.
Description
Technical field
The present invention relates to PLC control system and industrial temperature control field, relate in particular to a kind of PID controller and parameter self-tuning expansion module and implementation method.
Background technology
PLC(Programmable Logic Controller programmable logic controller (PLC)) be the electronic system of a kind of digital operation operation, aim in industrial environment application and design.It adopts a class programmable memory, for its internally stored program, and actuating logic computing, sequential control, regularly, the user oriented instructions such as counting and arithmetical operation, and control various types of machinery or production run by numeral or analog pattern input/output.It is the core of Industry Control.
PID(ratio (proportion), integration (integral), differential (derivative)) controller is as existing more than the 70 year history of practical the earliest controller, remains now most widely used industrial control unit (ICU).PID controller is easily understood, and does not need the condition precedents such as accurate system model in use, thereby becomes the controller being most widely used.
In Industry Control, usually needing to use PID controls, the industrial temperature PLC control system of take is example, it usually uses PID controller, and the key of PID controller is exactly the parameter tuning parameter of definite controller (adjusts and): the adjusting of controller three parameters (scale-up factor, integral time, derivative time).The parameter tuning of the PID controller of industrial temperature PLC control system of the prior art is normally by manually carrying out, it is inefficiency not only, and be difficult to the accuracy that assurance is adjusted, thus have influence on control quality, but also can have influence on the robustness of controller.
In view of this, prior art haves much room for improvement and improves.
Summary of the invention
In view of above-mentioned the deficiencies in the prior art, the object of the present invention is to provide a kind of PID controller and parameter self-tuning expansion module and implementation method, be intended to solve the parameter tuning of PID controller of existing industrial temperature PLC control system by manually carrying out the problems such as brought inefficiency, accuracy are not high.
Technical scheme of the present invention is as follows:
PID controller and a parameter self-tuning expansion module thereof, connect master controller by expansion bus and connect; Wherein, described PID controller and parameter self-tuning expansion module thereof comprise: temperature signal collection unit and PID control and parameter self-tuning unit;
Wherein, described temperature signal collection unit is used for gathering the temperature data of controlled device, and described temperature data is sent to PID control and parameter self-tuning unit thereof;
Described PID controls and parameter self-tuning unit is used for carrying out parameter self-tuning according to described temperature data, and exports the result of adjusting to master controller by expansion bus, is convenient to by master controller, the parameter of PID controller is checked and/or revised.
Preferably, described PID controller and parameter self-tuning expansion module thereof, wherein, described temperature signal collection unit further comprises: the multiplex electronics, signal conditioning circuit, analog to digital converter and the processor that connect successively;
Described multiplex electronics is selected the temperature sensor signal of controlled device, and described temperature sensor signal is carried out to data acquisition to analog to digital converter after signal conditioning circuit, the data that collect obtain corresponding sensor temperature data after processor is processed.
Preferably, described PID controller and parameter self-tuning expansion module thereof, wherein, described PID controls and parameter self-tuning unit further comprises:
From the subelement of adjusting, for carrying out parameter self-tuning according to described temperature data, and tuning process output valve is write to following output register subelement, the result of adjusting is write to following result register subelement simultaneously after having adjusted;
Output register subelement, for storing tuning process output valve;
Result register subelement, for storing the result of adjusting.
Above-mentioned PID controller and an implementation method for parameter self-tuning expansion module thereof, wherein, said method comprising the steps of:
S1, temperature signal collection unit gather the temperature data of controlled device, and described temperature data is sent to PID control and parameter self-tuning unit thereof;
S2, PID control and parameter self-tuning unit carries out parameter self-tuning according to described temperature data, and export the result of adjusting to master controller by expansion bus, are convenient to by master controller, the parameter of PID controller is checked and/or revised.
Preferably, described PID controller and the implementation method of parameter self-tuning expansion module thereof, wherein, described step S1 specifically comprises: multiplex electronics is selected the temperature sensor signal of controlled device, and described temperature sensor signal is carried out to data acquisition to analog to digital converter after signal conditioning circuit, the data that collect obtain corresponding sensor temperature data after processor is processed, and described temperature data is sent to PID control and parameter self-tuning unit thereof.
Preferably, described PID controller and the implementation method of parameter self-tuning expansion module thereof, wherein, also comprise before described step S1:
S0, master controller start the self-setting function of described PID controller and parameter self-tuning expansion module thereof according to user instruction, after being activated when certainly adjusting, the pid control function of PID controller and parameter self-tuning expansion module thereof is by disabled
Preferably, described PID controller and the implementation method of parameter self-tuning expansion module thereof, wherein, PID described in described step S2 controls and parameter self-tuning unit specifically comprises for carrying out parameter self-tuning according to described temperature data:
S21, PID control and parameter self-tuning unit is used for according to described temperature data by carrying out parameter self-tuning from setting algorithm;
Described in S22, judgement, from adjusting, whether complete, if the result of adjusting writes result register subelement, otherwise tuning process output valve is write to output register subelement.
Preferably, described PID controller and the implementation method of parameter self-tuning expansion module thereof, wherein, in described step S21 is the algorithm based on relay feedback from setting algorithm.
Preferably, described PID controller and the implementation method of parameter self-tuning expansion module thereof, wherein, add a lag parameter in the described algorithm based on relay feedback.
Beneficial effect: PID controller disclosed by the invention and parameter self-tuning expansion module and implementation method, by realizing temperature survey and PID controls on the extended function module of PLC, save user PLC program resource; Further, described extended function module also has self-setting function, thereby has saved the time that customer parameter is adjusted, and has improved the accuracy of parameter tuning, thereby has guaranteed control quality and the robustness of controller.
Accompanying drawing explanation
Fig. 1 is the theory diagram of simulation control of PID system conventional in prior art.
Fig. 2 is the structured flowchart of PID controller of the present invention and parameter self-tuning expansion module thereof.
Fig. 3 is the application schematic diagram of the embodiment of PID controller of the present invention and parameter self-tuning expansion module thereof.
Fig. 4 is the schematic diagram of temperature signal collection unit in the embodiment of PID controller of the present invention and parameter self-tuning expansion module thereof.
Fig. 5 is the process flow diagram of the implementation method of PID controller of the present invention and parameter self-tuning expansion module thereof.
Fig. 6 carries out the process flow diagram of parameter self-tuning in the implementation method of PID controller of the present invention and parameter self-tuning expansion module thereof.
Embodiment
The invention provides a kind of PID controller and parameter self-tuning expansion module and implementation method, for making object of the present invention, technical scheme and effect clearer, clear and definite, below the present invention is described in more detail.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
For the ease of understanding, paper is the principle of work of PID control system once, refers to Fig. 1, and it is the theory diagram of simulation control of PID system conventional in prior art.As shown in the figure, r (t) is set-point, and y (t) is the real output value of system, and set-point and real output value form control deviation e (t), and e (t) is as the input of PID controller, as shown in Equation 1:
U (t) is as the output of PID controller and the input of controlled device, as shown in Equation 2:
Wherein, the scale-up factor Ti-controller of Kp-controller integral time Td-controller proportional derivative time:
proportional was reacted to deviation moment.The power of control action depends on Proportional coefficient K p, and Kp is larger, and control action is stronger, and transient process is faster, and static deviation is also just less; But Kp is larger, more easily produce vibration, destroy system stability.Integration item:
the effect of integration item is to eliminate static error, but can reduce the response speed of system, increases the overshoot of system.Integral time, Ti was larger, and integration summation is more weak, and system can not produce vibration in transition like this; The elimination process of static error but increase Ti can slow down, but overshoot reduces, and system is more stable; Ti is less, and integral action is strong, likely produces like this vibration when system transition, and the time of eliminating static error is shorter.Differential term:
differential term can be made suitable correction in advance according to the variation tendency of deviation, contributes to reduce overshoot, overcomes vibration, and system is tended towards stability, and derivative time, Td was larger, and the effect that suppresses deviation e (t) variation is stronger; Td is less, and the effect that suppresses deviation e (t) variation is more weak.
Refer to Fig. 2, it is the structured flowchart of a kind of PID controller of the present invention and parameter self-tuning expansion module thereof, and as shown in the figure, described PID controller and parameter self-tuning expansion module 10 thereof connect master controller 30 by expansion bus 20 and connect; Wherein, described PID controller and parameter self-tuning expansion module 10 thereof comprise: temperature signal collection unit 100 and PID control and parameter self-tuning unit 200;
Specifically, described temperature signal collection unit is used for gathering the temperature data of controlled device, and described temperature data is sent to PID control and parameter self-tuning unit thereof; Described PID controls and parameter self-tuning unit is used for carrying out parameter self-tuning according to described temperature data, and exports the result of adjusting to master controller by expansion bus, is convenient to by master controller, the parameter of PID controller is checked and/or revised.
The PLC temperature extended function module of prior art, only has the temperature survey of realization and PID to control, and does not realize the parameter of PID controller is carried out to automatic adjusting.The present invention on the extended function module of PLC, has realized temperature survey and PID controls and parameter self-tuning: temperature survey, pid algorithm and parameter self-tuning algorithm set thereof are applied in PLC extended function module.Be temperature survey and the pid control function that PID controller of the present invention and parameter self-tuning expansion module thereof have except having PLC temperature extended function module of the prior art, also realize the parameter of PID controller is carried out to automatic adjusting simultaneously.
Please continue to refer to Fig. 3, it is the application schematic diagram of the embodiment of PID controller of the present invention and parameter self-tuning expansion module thereof.PID controller of the present invention and parameter self-tuning expansion module thereof connect master controller, output module and other modules by expansion bus, and described PID controller and parameter self-tuning expansion module thereof also connect controlled device.For its two kinds of functions, be introduced respectively below:
(1) temperature survey and pid control function
This function is identical with the PLC temperature extended function module of prior art: the control signal of master controller output, by described PID controller and parameter self-tuning expansion module thereof, to output module, output module is realized the pid control function to controlled device by well heater and refrigerator; Meanwhile, described PID controller and parameter self-tuning expansion module thereof are arranged on by reception the temperature signal that the temperature sensor in controlled device collects, and time-temperature is measured.Said temperature measurement is identical with the PLC temperature extended function module of pid control function and prior art, does not go into here.
(2) the parameter automatic adjusting function to PID controller
This function is key of the present invention, and described temperature signal collection unit gathers the temperature data of controlled device, and described temperature data is sent to PID control and parameter self-tuning unit thereof; Described PID controls and parameter self-tuning unit carries out parameter self-tuning according to described temperature data, and export the result of adjusting to master controller by expansion bus, be convenient to by master controller, the parameter of PID controller is checked and/or revised, thereby saved the time that customer parameter is adjusted.
As shown in Figure 4, in the present embodiment, described temperature signal collection unit further comprises: the multiplex electronics, signal conditioning circuit, analog to digital converter (representing with ADC in figure) and the processor (representing with MCU in figure) that connect successively; Described multiplex electronics is selected the temperature sensor signal (temperature sensor 1 as shown in FIG., temperature sensor 2 etc.) of controlled device, and described temperature sensor signal is carried out to data acquisition to analog to digital converter after signal conditioning circuit, the data that collect obtain corresponding sensor temperature data after processor is processed.For example: by thermopair (TC) sensor, detect the temperature of controlled plant, PID controller and parameter self-tuning expansion module thereof detect thermocouple signal, convert the numerical value of certain limit to, use to follow-up PID control and parameter self-tuning algorithm.
In the present embodiment, described PID control and parameter self-tuning unit thereof further comprise: the subelement of certainly adjusting, output register subelement and result register subelement; Described from adjusting subelement for carrying out parameter self-tuning according to described temperature data, and tuning process output valve is write to following output register subelement, the result of adjusting is write to following result register subelement simultaneously after having adjusted; Output register subelement is used for storing tuning process output valve; Result register subelement is for storing the result of adjusting.
Specifically, user can adjust certainly by the pid parameter of PLC master controller start/stop module.After being activated when certainly adjusting, it will be automatically disabled that PID controls, thereby module starts from adjusting, and tuning process, constantly changes from setting algorithm driver output, monitor the variation of sample temperature simultaneously, from setting algorithm, by according to the change calculations pid parameter of temperature, after having calculated, result store is to result register, finish from adjusting simultaneously, get back to PID and control.
In the present embodiment, certainly adjust and adopt the algorithm based on relay feedback.The core of relay feedback is to utilize relay feedback effect to make system enter oscillatory regime.Based on this period of oscillation and amplitude, determine critical gain Ku and the critical period Tu of system.Then according to tuning rule, calculate proportional gain Kp, integral time Ti, derivative time Td.
Further, can also in setting algorithm, add a lag parameter, lag parameter is the permission drift (can just can bear) with respect to setting value; This drift can not make relay controller change output.When exporting change, that PV is pushed away to setting value is enough far away to such an extent as to while exceeding hysteresis border, PID controller and the module of certainly adjusting thereof can detect one and cross null event.In tuning process, when PV (process variable) exceeds hysteresis coboundary, relay output 1.0 (100% power heatings).When PV exceeds hysteresis lower boundary, relay output 0.0 (100% power refrigeration), makes system enter oscillatory regime.System oscillation is stable or reach the upper limit oscillation period when (7 cycles), utilizes peak-to-peak value Vpp and period T that last cycle records, calculating K u and Tu.According to tuning rule table, obtain proportional gain Kp, integral time Ti, derivative time Td;
。
The present invention also provides the implementation method of a kind of above-mentioned PID controller and parameter self-tuning expansion module thereof, as shown in Figure 5, said method comprising the steps of:
S100, temperature signal collection unit gather the temperature data of controlled device, and described temperature data is sent to PID control and parameter self-tuning unit thereof;
S200, PID control and parameter self-tuning unit carries out parameter self-tuning according to described temperature data, and export the result of adjusting to master controller by expansion bus, are convenient to by master controller, the parameter of PID controller is checked and/or revised.
Further, in described PID controller and the implementation method of parameter self-tuning expansion module thereof, described step S1 specifically comprises: multiplex electronics is selected the temperature sensor signal of controlled device, and described temperature sensor signal is carried out to data acquisition to analog to digital converter after signal conditioning circuit, the data that collect obtain corresponding sensor temperature data after processor is processed, and described temperature data is sent to PID control and parameter self-tuning unit thereof.
Further, described PID controller and the implementation method of parameter self-tuning expansion module thereof, wherein, also comprise before described step S1:
S0, master controller start the self-setting function of described PID controller and parameter self-tuning expansion module thereof according to user instruction, after being activated when certainly adjusting, the pid control function of PID controller and parameter self-tuning expansion module thereof is by disabled
In an embodiment of the present invention, as shown in Figure 6, in described PID controller and the implementation method of parameter self-tuning expansion module thereof, PID described in described step S2 controls and parameter self-tuning unit specifically comprises for carrying out parameter self-tuning according to described temperature data:
S210, PID control and parameter self-tuning unit is used for according to described temperature data by carrying out parameter self-tuning from setting algorithm;
If do not carry out parameter self-tuning, enter PID and control, according to pid algorithm, to calculate, the corresponding value of output is to master controller.
Described in S220, judgement, from adjusting, whether complete, if the result of adjusting writes result register subelement, otherwise tuning process output valve is write to output register subelement.
Then, the corresponding value in master controller reading result register subelement and output register subelement, user just can be checked, revise the parameter of module by master controller like this.After finishing from adjusting, automatically get back to PID control model.
Further, in described PID controller and the implementation method of parameter self-tuning expansion module thereof, in described step S21 is the algorithm based on relay feedback from setting algorithm.The core of relay feedback is to utilize relay feedback effect to make system enter oscillatory regime.Based on this period of oscillation and amplitude, determine critical gain Ku and the critical period Tu of system.Then according to tuning rule, calculate proportional gain Kp, integral time Ti, derivative time Td.
Preferably, described PID controller and the implementation method of parameter self-tuning expansion module thereof, wherein, add a lag parameter in the described algorithm based on relay feedback.Lag parameter is the permission drift (can just can bear) with respect to setting value; This drift can not make relay controller change output.When exporting change, that PV is pushed away to setting value is enough far away to such an extent as to while exceeding hysteresis border, PID controller and the module of certainly adjusting thereof can detect one and cross null event.
Above-mentioned implementation method all have been described in detail in the principle of work of PID controller and parameter self-tuning expansion module thereof, has repeated no more here.
In sum, PID controller of the present invention and parameter self-tuning expansion module and implementation method, wherein, described PID controller and parameter self-tuning expansion module thereof comprise: temperature signal collection unit and PID control and parameter self-tuning unit; Described temperature signal collection unit is used for gathering the temperature data of controlled device, and described temperature data is sent to PID control and parameter self-tuning unit thereof; Described PID controls and parameter self-tuning unit is used for carrying out parameter self-tuning according to described temperature data, and exports the result of adjusting to master controller by expansion bus, is convenient to by master controller, the parameter of PID controller is checked and/or revised.。Thereby realize temperature survey and PID on the extended function module of PLC, control, save user PLC program resource; Further, described extended function module also has self-setting function, thereby has saved the time that customer parameter is adjusted, and has improved the accuracy of parameter tuning, thereby has guaranteed control quality and the robustness of controller.
Should be understood that, application of the present invention is not limited to above-mentioned giving an example, and for those of ordinary skills, can be improved according to the above description or convert, and all these improvement and conversion all should belong to the protection domain of claims of the present invention.
Claims (9)
1. PID controller and a parameter self-tuning expansion module thereof, connect master controller by expansion bus and connect; It is characterized in that, described PID controller and parameter self-tuning expansion module thereof comprise: temperature signal collection unit and PID control and parameter self-tuning unit;
Wherein, described temperature signal collection unit is used for gathering the temperature data of controlled device, and described temperature data is sent to PID control and parameter self-tuning unit thereof;
Described PID controls and parameter self-tuning unit is used for carrying out parameter self-tuning according to described temperature data, and exports the result of adjusting to master controller by expansion bus, is convenient to by master controller, the parameter of PID controller is checked and/or revised.
2. PID controller according to claim 1 and parameter self-tuning expansion module thereof, is characterized in that, described temperature signal collection unit further comprises: the multiplex electronics, signal conditioning circuit, analog to digital converter and the processor that connect successively;
Described multiplex electronics is selected the temperature sensor signal of controlled device, and described temperature sensor signal is carried out to data acquisition to analog to digital converter after signal conditioning circuit, the data that collect obtain corresponding sensor temperature data after processor is processed.
3. PID controller according to claim 1 and 2 and parameter self-tuning expansion module thereof, is characterized in that, described PID controls and parameter self-tuning unit further comprises:
From the subelement of adjusting, for carrying out parameter self-tuning according to described temperature data, and tuning process output valve is write to following output register subelement, the result of adjusting is write to following result register subelement simultaneously after having adjusted;
Output register subelement, for storing tuning process output valve;
Result register subelement, for storing the result of adjusting.
4. an implementation method for PID controller claimed in claim 1 and parameter self-tuning expansion module thereof, is characterized in that, said method comprising the steps of:
S1, temperature signal collection unit gather the temperature data of controlled device, and described temperature data is sent to PID control and parameter self-tuning unit thereof;
S2, PID control and parameter self-tuning unit carries out parameter self-tuning according to described temperature data, and export the result of adjusting to master controller by expansion bus, are convenient to by master controller, the parameter of PID controller is checked and/or revised.
5. the implementation method of PID controller according to claim 4 and parameter self-tuning expansion module thereof, it is characterized in that, described step S1 specifically comprises: multiplex electronics is selected the temperature sensor signal of controlled device, and described temperature sensor signal is carried out to data acquisition to analog to digital converter after signal conditioning circuit, the data that collect obtain corresponding sensor temperature data after processor is processed, and described temperature data is sent to PID control and parameter self-tuning unit thereof.
6. the implementation method of PID controller according to claim 4 and parameter self-tuning expansion module thereof, is characterized in that, before described step S1, also comprises:
S0, master controller start the self-setting function of described PID controller and parameter self-tuning expansion module thereof according to user instruction, after being activated when certainly adjusting, the pid control function of PID controller and parameter self-tuning expansion module thereof is by disabled.
7. the implementation method of PID controller according to claim 4 and parameter self-tuning expansion module thereof, is characterized in that, PID described in described step S2 controls and parameter self-tuning unit specifically comprises for carrying out parameter self-tuning according to described temperature data:
S21, PID control and parameter self-tuning unit is used for according to described temperature data by carrying out parameter self-tuning from setting algorithm;
Described in S22, judgement, from adjusting, whether complete, if the result of adjusting writes result register subelement, otherwise tuning process output valve is write to output register subelement.
8. the implementation method of PID controller according to claim 7 and parameter self-tuning expansion module thereof, is characterized in that, in described step S21 is the algorithm based on relay feedback from setting algorithm.
9. the implementation method of PID controller according to claim 8 and parameter self-tuning expansion module thereof, is characterized in that, in the described algorithm based on relay feedback, adds a lag parameter.
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| CN111152433B (en) * | 2020-01-16 | 2021-08-06 | 宁波伊士通控制技术有限公司 | Temperature control method for charging barrel of precision injection molding machine |
| CN111152433A (en) * | 2020-01-16 | 2020-05-15 | 宁波伊士通控制技术有限公司 | Temperature control method for charging barrel of precision injection molding machine |
| CN113946172A (en) * | 2020-07-17 | 2022-01-18 | 电子科技大学中山学院 | Parameter self-tuning PID temperature control method |
| CN114138029A (en) * | 2021-10-27 | 2022-03-04 | 北京北方华创微电子装备有限公司 | Pipeline temperature control method and equipment for semiconductor process equipment |
| CN114138029B (en) * | 2021-10-27 | 2023-04-14 | 北京北方华创微电子装备有限公司 | Method and apparatus for controlling temperature of piping used in semiconductor processing equipment |
| CN117687293A (en) * | 2023-11-17 | 2024-03-12 | 深圳市顾美科技有限公司 | PID control method, device, equipment and storage medium |
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