CN105301957A - Novel anti-integral-saturation PID control method - Google Patents
Novel anti-integral-saturation PID control method Download PDFInfo
- Publication number
- CN105301957A CN105301957A CN201510825095.5A CN201510825095A CN105301957A CN 105301957 A CN105301957 A CN 105301957A CN 201510825095 A CN201510825095 A CN 201510825095A CN 105301957 A CN105301957 A CN 105301957A
- Authority
- CN
- China
- Prior art keywords
- saturated
- pid
- control amount
- quentity controlled
- controlled quentity
- 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.)
- Granted
Links
Landscapes
- Feedback Control In General (AREA)
Abstract
The invention discloses a novel anti-integral-saturation PID control method. An anti-integral-saturation link is added into a common PID control method. When PID control is saturated, the anti-integral-saturation link computes a current integration item in combination with a proportional item and differential item. The novel anti-integral-saturation PID control method is easy to implement, not provided with any extra parameter, and capable of effectively inhibiting integral saturation, accelerating de-saturation time, decreasing overshoot, and guaranteeing the robustness, the reliability, and the stability of a system, and can be used in PID control systems in various variational forms.
Description
Technical field
The invention belongs to control technology field, in particular to the PID control method that a kind of novel anti-windup is saturated.
Background technology
It is ratio (P) that PID controls, integration (I), differential (D) form PID controlled quentity controlled variable by linear combination, controlled device is controlled, because algorithm is simple, robustness is good, reliability is high, be widely used in process control and kinetic control system.And in the control system of reality, due to the limiting factor such as power, energy, controlled quentity controlled variable can not infinitely export, the and for example parameter such as maximum voltage, the maximum current restriction of controlled device, controlled quentity controlled variable must be limited within zone of reasonableness.Therefore, design must be carried out as to amplitude limit, increase anti-windup parameter of saturation etc., to ensure the normal work of system to PID controlled quentity controlled variable.
When systematic error item sustainable existence and symbol is constant time, integral parameter can make integration item occur saturated phenomenon, thus makes PID controlled quentity controlled variable reach amplitude limit, and when error term reindexing, integration item is slower again to move back saturated, again affects PID controlled quentity controlled variable, thus occurs overshoot or overshoot.
At present, prevent the most direct-vision method of saturation integral from starting with from integration item exactly, increase the parameter of integral saturation rejection, method is straightforward, is easy to realize.But its parameter is chosen for specific controlled device, affects by system architecture, parameter etc., adaptability, robustness are all poor, and even stability aspect also has problems.
In addition, saturated and the Intelligent Integration method of Reducing overshoot of similar patent CN201410529586-PID control system anti-windup, the antisaturation PID control method etc. of patent CN201210019001-motor speed regulation system mention methods such as increasing the saturated correction factor of anti-windup, model, penalty coefficient, add the complicacy that PID controls, reliability, stability also need to strengthen, and different controlled device still cannot reach adaptive requirement.
Therefore, be necessary to propose one intuitively, adaptable PID control method, and can to improve or the characteristic such as robustness, reliability, stability of not influential system.
Summary of the invention
In view of above prior art problem, the object of the present invention is to provide the saturated PID control method of a kind of novel anti-windup, it, while solution saturation integral problem, can ensure the robustness of system, reliability and stability.
To achieve these goals, the present invention adopts following technical scheme:
The saturated PID control method of novel anti-windup, comprises the following steps:
Step one: by the given input value of system and the error amount of output feedack value computing system;
Step 2: the error amount of system is carried out respectively P, I, D parameter and calculate, obtain ratio, integration, differential three controlled quentity controlled variables, and these three controlled quentity controlled variables additions are obtained PID controlled quentity controlled variable;
Step 3: judge that whether PID controlled quentity controlled variable exceeds the amplitude limit value of system, namely whether occurs saturated phenomenon, if do not occur that saturated phenomenon proceeds to step 4, proceeds to step 5 if there is saturated phenomenon;
Step 4: do not occur saturated phenomenon, using PID controlled quentity controlled variable as last system control amount;
Step 5: occur saturated phenomenon, using the amplitude limit value of system as last system control amount, and proceeds to step 6;
Step 6: anti-windup saturation element, deducts by the amplitude limit value of system the integration control amount that current ratio controlled quentity controlled variable and differential controlled quentity controlled variable obtain when there is saturated phenomenon, prevents integration control amount from continuing saturated, and exit saturated phenomenon fast.
Further, optimize the anti-windup saturation element of described step 6, directly deduct current ratio controlled quentity controlled variable by system control amount and differential controlled quentity controlled variable obtains integration control amount, and described step 4 and described step 5 execute Chengdu and proceed to described step 6, when namely there is not saturated phenomenon, integration control amount remains unchanged, and when there is saturated phenomenon, integration control amount is then calculate through the system control amount of system amplitude limit.
Further, the energy-conservation saturated suppression controlling to carry out combining to realize integration with the PID of other types of the anti-windup saturated rings in described step 6 with move back saturated effect fast.
After adopting such scheme, beneficial effect of the present invention is:
1, anti-windup saturation element is by the calculating that system exports controlled quentity controlled variable, ratio controlled quentity controlled variable, differential controlled quentity controlled variable realize integration control amount, and method is simple.
2, the inventive method effectively inhibits the saturated of integration control amount, reduces the overshoot of output feedack, and adds rewind saturated velocity and reach quick response.
3, the inventive method due to structure simple, do not introduce extra controling parameters, the robustness, reliability, stability etc. of system can not have an impact.
Accompanying drawing explanation
Fig. 1 is the novel anti-windup saturated PID Control system architecture figure of discrete form in the embodiment of the present invention.
The systems by output feedback that Fig. 2 is traditional PID control under Step reference input and integration control amount variation diagram.
Fig. 3 be in the present invention the saturated PID of novel anti-windup control Step reference input under systems by output feedback and integration control amount variation diagram.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, also specifically implementing with the PID of discrete form below in conjunction with Figure of description, further describing.Should be appreciated that specific embodiment described herein only in order to explain the present invention, and be not used in restriction, person skilled in the art scholar the content disclosed by this instructions can understand other advantages of the present invention and effect easily.
The saturated PID control method of novel anti-windup, for the PID of discrete form, as shown in Figure 1, concrete implementation step is as follows:
Step one: in the discrete system kth moment, by the given input value Ref (k) of system and error amount e (k) of output feedack value Fdb (k) computing system;
Step 2: ratio controlled quentity controlled variable, integration control amount, differential controlled quentity controlled variable, PID controlled quentity controlled variable calculate:
U
P(k)＝K
P*e(k)
U
I(k)＝K
I*e(k)*T+U
I(k-1)
U
D(k)＝K
D*(e(k)-e(k-1))/T
U
PID(k)＝U
P(k)+U
I(k)+U
D(k)
Wherein, U
p(k), U
i(k), U
dk () is respectively ratio controlled quentity controlled variable, integration control amount, the differential controlled quentity controlled variable in discrete system kth moment, K
p, K
i, K
dbe respectively P, I, D parameter, T is control cycle, U
i(k-1) be the integration control amount in discrete system kth-1 moment, the error amount that e (k-1) is discrete system kth-1 moment, U
pIDk PID controlled quentity controlled variable that () is the discrete system kth moment;
Step 3: judge PID controlled quentity controlled variable U
pIDk whether () exceed the amplitude limit value U of system
mAXor U
mIN, namely whether there is saturated phenomenon, if do not occur that saturated phenomenon proceeds to step 4, proceed to step 5 if there is saturated phenomenon;
Step 4: do not occur saturated phenomenon, using PID controlled quentity controlled variable as last system control amount:
U
OUT(k)＝U
PID(k)
Step 5: occur saturated phenomenon, using the amplitude limit value of system as last system control amount, and proceeds to step 6 anti-windup saturation element:
U
oUT(k)=U
mAXor U
oUT(k)=U
mIN
Step 6: anti-windup saturation element, deducts by the amplitude limit value of system the integration control amount that current ratio controlled quentity controlled variable and differential controlled quentity controlled variable obtain when there is saturated phenomenon:
U
i(k)=U
mAX-U
p(k)-U
d(k) or U
i(k)=U
mIN-U
p(k)-U
d(k)
Further, can be write as: U
i(k)=U
oUT(k)-U
p(k)-U
d(k)
And discrete system kth-1 moment:
U
I(k-1)＝U
OUT(k-1)-U
P(k-1)-U
D(k-1)
Wherein, U
p(k-1), U
d(k-1) the ratio controlled quentity controlled variable in discrete system kth-1 moment, differential controlled quentity controlled variable is respectively.
As shown in Figure 2, the Fdb of output feedack shown in traditional PID control to reach capacity value U in the t1 moment
mAX, and now integration control amount U
pexceed saturation value U
mAX, namely occur supersaturation, then output feedack needs the longer time to realize moving back saturated, as shown in Figure 2 in the t2 moment.
Be that the PID of application the inventive method controls shown in Fig. 3, t1 moment output feedack Fdb does not reach capacity value U as can be known from Fig. 3
mAX, its main cause is integration control amount U
psuppressed by anti-windup saturation element, as can be known from Fig. 3 integration control amount U
pbe less than saturation value U in control procedure always
mAX; In addition, it can also be seen that in Fig. 3 that output feedack value Fdb exits the t2 moment that the saturated t2 moment compares in Fig. 2 and is advanced by, system reaches steady state (SS) fast.
By adopting technical scheme of the present invention, its useful effect is:
1. anti-windup saturation element is by the calculating that system exports controlled quentity controlled variable, ratio controlled quentity controlled variable, differential controlled quentity controlled variable realize integration control amount, and method is simple.
2. the method effectively inhibits the saturated of integration control amount, reduces the overshoot of output feedack, and adds rewind saturated velocity and reach quick response.
3. the method structure is simple, and do not introduce extra controling parameters, the robustness, reliability, stability etc. of system can not have an impact.
Claims (3)
1. the saturated PID control method of novel anti-windup, is characterized in that, comprise the following steps:
Step one: by the given input value of system and the error amount of output feedack value computing system;
Step 2: the error amount of system is carried out respectively P, I, D parameter and calculate, obtain ratio, integration, differential three controlled quentity controlled variables, and these three controlled quentity controlled variables additions are obtained PID controlled quentity controlled variable;
Step 3: judge that whether PID controlled quentity controlled variable exceeds the amplitude limit value of system, namely whether occurs saturated phenomenon, if do not occur that saturated phenomenon proceeds to step 4, proceeds to step 5 if there is saturated phenomenon;
Step 4: do not occur saturated phenomenon, using PID controlled quentity controlled variable as last system control amount;
Step 5: occur saturated phenomenon, using the amplitude limit value of system as last system control amount, and proceeds to step 6;
Step 6: anti-windup saturation element, deducts by the amplitude limit value of system the integration control amount that current ratio controlled quentity controlled variable and differential controlled quentity controlled variable obtain when there is saturated phenomenon, prevents integration control amount from continuing saturated, and exit saturated phenomenon fast.
2. the saturated PID control method of a kind of novel anti-windup according to claim 1, it is characterized in that: the anti-windup saturation element optimizing described step 6, directly deduct current ratio controlled quentity controlled variable by system control amount and differential controlled quentity controlled variable obtains integration control amount, and described step 4 and described step 5 execute Chengdu and proceed to described step 6, when namely there is not saturated phenomenon, integration control amount remains unchanged, and when there is saturated phenomenon, integration control amount is then calculate through the system control amount of system amplitude limit.
3. the saturated PID control method of a kind of novel anti-windup according to claim 1, is characterized in that: the energy-conservation saturated suppression controlling to carry out combining to realize integration with the PID of other types of the anti-windup saturated rings in described step 6 with move back saturated effect fast.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510825095.5A CN105301957B (en) | 2015-11-24 | 2015-11-24 | A kind of new anti-windup saturation PID control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510825095.5A CN105301957B (en) | 2015-11-24 | 2015-11-24 | A kind of new anti-windup saturation PID control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105301957A true CN105301957A (en) | 2016-02-03 |
| CN105301957B CN105301957B (en) | 2018-03-06 |
Family
ID=55199355
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510825095.5A Active CN105301957B (en) | 2015-11-24 | 2015-11-24 | A kind of new anti-windup saturation PID control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105301957B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106842960A (en) * | 2017-03-29 | 2017-06-13 | 南京埃斯顿自动控制技术有限公司 | A kind of anti-windup saturation control method for motor control |
| CN106842905A (en) * | 2017-03-31 | 2017-06-13 | 上海拓攻机器人有限公司 | PID control method and device |
| CN107181440A (en) * | 2016-03-10 | 2017-09-19 | 宝沃汽车（中国）有限公司 | Dynamic integral compensation method, system and the vehicle controlled based on motor PI |
| CN109150005A (en) * | 2018-10-08 | 2019-01-04 | 河南科技大学 | A kind of supersonic motor method for controlling number of revolution and device based on iterative learning |
| CN109695607A (en) * | 2019-01-30 | 2019-04-30 | 台州职业技术学院 | A kind of pump valve cooperative control method for prestressing force intelligent tensioning equipment |
| RU2689068C2 (en) * | 2016-05-23 | 2019-05-23 | Боргвард Трейдмарк Холдингс ГмбХ | Method and system of dynamic integral compensation based on proportional-integral control of electric motor and vehicle |
| CN109856958A (en) * | 2017-11-30 | 2019-06-07 | 中国大唐集团科学技术研究院有限公司华中分公司 | A kind of control method for preventing integral to be saturated |
| CN110161837A (en) * | 2018-05-16 | 2019-08-23 | 北京机电工程研究所 | Triple redundance integrated signal equalization methods |
| 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 |
| CN111624870A (en) * | 2020-06-30 | 2020-09-04 | 中国科学院微电子研究所 | Inversion anti-integral saturation method for precise motion control |
| CN111624871A (en) * | 2020-06-30 | 2020-09-04 | 中国科学院微电子研究所 | Variable structure integral saturation resisting method for precise motion control |
| CN112230541A (en) * | 2020-10-28 | 2021-01-15 | 东风汽车集团有限公司 | Anti-saturation variable speed integration method and system based on PID control |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6055459A (en) * | 1997-08-22 | 2000-04-25 | Honeywell Inc. | Method for preventing windup in PID controllers employing nonlinear gain |
| CN101893849A (en) * | 2010-07-12 | 2010-11-24 | 绍兴县精功机电研究所有限公司 | Control method of PID controller |
| CN101968628A (en) * | 2010-09-08 | 2011-02-09 | 华北电力大学 | Saturated self-adjusting controller for time-varying delay uncertain system |
| CN103838139A (en) * | 2014-02-28 | 2014-06-04 | 北京联合大学 | PID control method with integral saturation and pretreatment functions |
| CN104252135A (en) * | 2014-10-10 | 2014-12-31 | 四川理工学院 | Intelligent integration method for anti-integral windup and overshoot suppression of PID (Proportional, Integral and Derivative) control system |
-
2015
- 2015-11-24 CN CN201510825095.5A patent/CN105301957B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6055459A (en) * | 1997-08-22 | 2000-04-25 | Honeywell Inc. | Method for preventing windup in PID controllers employing nonlinear gain |
| CN101893849A (en) * | 2010-07-12 | 2010-11-24 | 绍兴县精功机电研究所有限公司 | Control method of PID controller |
| CN101968628A (en) * | 2010-09-08 | 2011-02-09 | 华北电力大学 | Saturated self-adjusting controller for time-varying delay uncertain system |
| CN103838139A (en) * | 2014-02-28 | 2014-06-04 | 北京联合大学 | PID control method with integral saturation and pretreatment functions |
| CN104252135A (en) * | 2014-10-10 | 2014-12-31 | 四川理工学院 | Intelligent integration method for anti-integral windup and overshoot suppression of PID (Proportional, Integral and Derivative) control system |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107181440A (en) * | 2016-03-10 | 2017-09-19 | 宝沃汽车（中国）有限公司 | Dynamic integral compensation method, system and the vehicle controlled based on motor PI |
| RU2689068C2 (en) * | 2016-05-23 | 2019-05-23 | Боргвард Трейдмарк Холдингс ГмбХ | Method and system of dynamic integral compensation based on proportional-integral control of electric motor and vehicle |
| CN106842960B (en) * | 2017-03-29 | 2020-06-12 | 南京埃斯顿自动化股份有限公司 | Integral saturation resistant control method for motor control |
| CN106842960A (en) * | 2017-03-29 | 2017-06-13 | 南京埃斯顿自动控制技术有限公司 | A kind of anti-windup saturation control method for motor control |
| CN106842905A (en) * | 2017-03-31 | 2017-06-13 | 上海拓攻机器人有限公司 | PID control method and device |
| CN106842905B (en) * | 2017-03-31 | 2018-11-09 | 上海拓攻机器人有限公司 | PID control method and device |
| 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 |
| CN109856958A (en) * | 2017-11-30 | 2019-06-07 | 中国大唐集团科学技术研究院有限公司华中分公司 | A kind of control method for preventing integral to be saturated |
| CN110161837A (en) * | 2018-05-16 | 2019-08-23 | 北京机电工程研究所 | Triple redundance integrated signal equalization methods |
| CN110161837B (en) * | 2018-05-16 | 2021-12-10 | 北京机电工程研究所 | Triple redundant integral signal equalization method |
| CN109150005A (en) * | 2018-10-08 | 2019-01-04 | 河南科技大学 | A kind of supersonic motor method for controlling number of revolution and device based on iterative learning |
| CN109695607A (en) * | 2019-01-30 | 2019-04-30 | 台州职业技术学院 | A kind of pump valve cooperative control method for prestressing force intelligent tensioning equipment |
| 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 |
| CN111624870A (en) * | 2020-06-30 | 2020-09-04 | 中国科学院微电子研究所 | Inversion anti-integral saturation method for precise motion control |
| CN111624871A (en) * | 2020-06-30 | 2020-09-04 | 中国科学院微电子研究所 | Variable structure integral saturation resisting method for precise motion control |
| CN111624871B (en) * | 2020-06-30 | 2023-08-08 | 中国科学院微电子研究所 | Variable structure anti-integral saturation method for precise motion control |
| CN111624870B (en) * | 2020-06-30 | 2023-10-03 | 中国科学院微电子研究所 | Inversion anti-integral saturation method for precise motion control |
| CN112230541A (en) * | 2020-10-28 | 2021-01-15 | 东风汽车集团有限公司 | Anti-saturation variable speed integration method and system based on PID control |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105301957B (en) | 2018-03-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105301957A (en) | Novel anti-integral-saturation PID control method | |
| US9728974B2 (en) | Renewable energy site reactive power control | |
| Wang et al. | Maximum power point tracking control for a doubly fed induction generator wind energy conversion system based on multivariable adaptive super-twisting approach | |
| CN105180135A (en) | Unit plant coordination control method and system | |
| CN103466100B (en) | Lander soft landing posture control method | |
| CN105356783B (en) | A kind of enhanced Current limited Control method for droop control inverter | |
| CN106208031B (en) | It can inhibit the improvement droop control method and system of circulation in direct-current micro-grid | |
| CN106249589A (en) | The load dynamic Feedforward method of thermal power unit plant | |
| EP2897019A1 (en) | Power control device and power control method | |
| CN103777556A (en) | Priority adjusting method and system for primary frequency modulation of unit plant | |
| CN105974983A (en) | Method for controlling mutual following of digital voltage loop and current loop | |
| EP2889178A1 (en) | Synchronous generator control based on flux optimizer | |
| CN105467842B (en) | A kind of overcritical or Boiler of Ultra-supercritical Unit main vapour pressure intelligent control method | |
| CN102769420A (en) | Motor starting control method and device | |
| CN107370173B (en) | Additional frequency rate-voltage damping control method | |
| CN107896076B (en) | Torque ripple cancellation algorithm including supply voltage limit constraints | |
| CN103248251A (en) | Automatic variable coefficient control method for inverter | |
| CN202444458U (en) | Motor start control device | |
| Du et al. | Linear auto disturbance rejection controller for vector-controlled PMSM drive system | |
| CN111049123B (en) | Autonomous current-sharing control method for parallel connection of a large number of direct-current voltage source power modules | |
| Yang et al. | A novel piecewise Anti-Windup design for speed loop PI controller of PMSM servo system | |
| Zhuang et al. | Electric motor soft-start control based on fuzzy theory | |
| CN203705848U (en) | Composite control type electric power system stabilizer | |
| CN103713515B (en) | A kind of determine compensation points method, device and realize the method for Repetitive controller | |
| Li et al. | Robust flatness based control with disturbance observers of non-ideal boost converter for electric vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |