CN105301957B - A kind of new anti-windup saturation PID control method - Google Patents
A kind of new anti-windup saturation PID control method Download PDFInfo
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- CN105301957B CN105301957B CN201510825095.5A CN201510825095A CN105301957B CN 105301957 B CN105301957 B CN 105301957B CN 201510825095 A CN201510825095 A CN 201510825095A CN 105301957 B CN105301957 B CN 105301957B
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Abstract
The invention discloses a kind of PID control method of new anti-windup saturation, it adds anti-windup saturation element in conventional PID control method, and when saturation occurs for PID control, anti-windup saturation element combination proportional and differential term calculate current integral term.This method is realized simply, does not introduce any extra parameter, and can effectively suppress to integrate saturation, is accelerated to move back the time of saturation, is reduced overshoot, ensure robustness, the reliability and stability of system.The inventive method can be applied to the PID control system of various change form.
Description
Technical field
The invention belongs to control technology field, in particular to a kind of PID control method of new anti-windup saturation.
Background technology
PID control be ratio (P), integration (I), differential (D) by linear combination form PID control amount, to controlled device
It is controlled, because algorithm is simple, robustness is good, reliability is high, is widely used in process control and kinetic control system.
And in the control system of reality, due to limiting factors such as power, energy, controlled quentity controlled variable can not possibly be exported infinitely, and for example controlled pair
The limitation of the parameters such as the maximum voltage of elephant, maximum current, controlled quentity controlled variable must be limited within zone of reasonableness.Therefore, it is necessary to PID
Controlled quentity controlled variable is designed such as to amplitude limit, increase anti-windup parameter of saturation, to ensure the normal work of system.
When systematic error item is persistently present and symbol is constant, integral parameter can cause integral term saturation occur and show
As so that PID control amount reaches amplitude limit, and when error term reindexing, integral term is again slower to move back saturation, again shadow
PID control amount is rung, so as to occur overshooting or overshoot.
At present, it is exactly to start with from integral term to prevent the most direct-vision method for integrating saturation, and increase suppresses the parameter of integration saturation,
Method is straightforward, it is easy to accomplish.But its parameter is chosen for specific controlled device, influenceed by system architecture, parameter etc.,
Adaptability, robustness are all poor, or even there is also problem in terms of stability.
In addition, similar patent CN201410529586-PID control system anti-windup saturations and the Intelligent Integration of suppression overshoot
Method, anti-saturation PID control method of patent CN201210019001- motor speed regulation systems etc. are mentioned increase anti-windup saturation and repaiied
The methods of positive coefficient, model, penalty coefficient, the complexity of PID control being added, reliability, stability also need to strengthen, and not
Adaptive requirement is still unable to reach with controlled device.
Therefore, it is necessary to propose it is a kind of intuitively, adaptable PID control method, and can improve or not influence
The characteristics such as the robustness of system, reliability, stability.
The content of the invention
In view of above prior art problem, it is an object of the invention to provide a kind of new anti-windup saturation PID control
Method, it is while solving to integrate saturation problem, it is ensured that robustness, the reliability and stability of system.
To achieve these goals, the present invention adopts the following technical scheme that：
A kind of new anti-windup saturation PID control method, comprises the following steps：
Step 1：Pass through the given input value of system and the error amount of output value of feedback computing system；
Step 2：The error amount of system is carried out to the calculating of P, I, D parameter respectively, obtains three ratio, integration, differential controls
Amount, and these three controlled quentity controlled variables are added to obtain PID control amount；
Step 3：Judge whether PID control amount exceeds the amplitude limit value of system, i.e., whether saturated phenomenon occur, if do not gone out
Existing saturated phenomenon is transferred to step 4, and step 5 is transferred to if there is saturated phenomenon；
Step 4：Do not occur saturated phenomenon, using PID control amount as last system control amount；
Step 5：There is saturated phenomenon, using the amplitude limit value of system as last system control amount, and be transferred to step 6；
Step 6：Anti-windup saturation element, current ratio controlled quentity controlled variable and differential controlled quentity controlled variable are subtracted by the amplitude limit value of system
Obtain occurring integration control amount during saturated phenomenon, prevent integration control amount from continuing saturation, and quickly exit saturated phenomenon.
Further, optimize the anti-windup saturation element of the step 6, current ratio is directly subtracted by system control amount
Example controlled quentity controlled variable and differential controlled quentity controlled variable obtain integration control amount, and the step 4 and the step 5 perform and complete all to be transferred to institute
State step 6, i.e., do not occur during saturated phenomenon integration control amount and keep constant, when there is saturated phenomenon integration control amount be then through
What the system control amount of system amplitude limit was calculated.
Further, the anti-windup saturation element in the step 6 can be combined with other kinds of PID control with
Realize that the saturation of integration suppresses the effect with quickly moving back saturation.
After such scheme, the beneficial effects of the present invention are：
1st, anti-windup saturation element realizes integration control by system output control amount, ratio controlled quentity controlled variable, differential controlled quentity controlled variable
The calculating of amount, method are simple.
2nd, the inventive method effectively inhibits the saturation of integration control amount, the overshoot of reduction output feedback, and quickening to move back full
Reach quick response with speed.
3rd, the inventive method is due to simple in construction, does not introduce extra control parameter, the robustness of system, reliability, steady
It is qualitative etc. to have an impact.
Brief description of the drawings
Fig. 1 is the new anti-windup saturation PID control system structure chart of discrete form in the embodiment of the present invention.
Fig. 2 is systems by output feedback and integration control amount variation diagram of the traditional PID control under Step reference input.
Fig. 3 is systems by output feedback and product of the new anti-windup saturation PID control under Step reference input in the present invention
Sub-control amount variation diagram.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is used in combination below in conjunction with Figure of description
The PID of discrete form is embodied, and is further described.It should be appreciated that specific embodiment described herein only to
The present invention is explained, is not used to limit, those skilled in the art can be understood this easily as the content disclosed by this specification
Other advantages and effect of invention.
A kind of new anti-windup saturation PID control method, by taking the PID of discrete form as an example, as shown in figure 1, specific real
It is as follows to apply step：
Step 1：At the discrete system kth moment, given input value Ref (k) and output value of feedback Fdb (k) by system
The error amount e (k) of computing system；
Step 2：Ratio controlled quentity controlled variable, integration control amount, differential controlled quentity controlled variable, PID control amount calculate：
UP(k)=KP*e(k)
UI(k)=KI*e(k)*T+UI(k-1)
UD(k)=KD*(e(k)-e(k-1))/T
UPID(k)=UP(k)+UI(k)+UD(k)
Wherein, UP(k)、UI(k)、UD(k) it is respectively the ratio controlled quentity controlled variable at discrete system kth moment, integration control amount, micro-
Divide controlled quentity controlled variable, KP、KI、KDRespectively P, I, D parameter, T are controlling cycle, UI(k-1) it is the integration at the moment of discrete system kth -1
Controlled quentity controlled variable, e (k-1) be the moment of discrete system kth -1 error amount, UPID(k) it is the PID control amount at discrete system kth moment；
Step 3：Judge PID control amount UPID(k) the amplitude limit value U of system whether is exceededMAXOr UMIN, i.e., whether there is saturation
Phenomenon, if not occurring saturated phenomenon is transferred to step 4, step 5 is transferred to if there is saturated phenomenon；
Step 4：Do not occur saturated phenomenon, using PID control amount as last system control amount：
UOUT(k)=UPID(k)
Step 5：There is saturated phenomenon, using the amplitude limit value of system as last system control amount, and be transferred to step 6 and resist
Integrate saturation element：
UOUT(k)=UMAXOr UOUT(k)=UMIN
Step 6：Anti-windup saturation element, current ratio controlled quentity controlled variable and differential controlled quentity controlled variable are subtracted by the amplitude limit value of system
Obtain occurring integration control amount during saturated phenomenon：
UI(k)=UMAX-UP(k)-UDOr U (k)I(k)=UMIN-UP(k)-UD(k)
Further, it is possible to write as：UI(k)=UOUT(k)-UP(k)-UD(k)
And the moment of discrete system kth -1：
UI(k-1)=UOUT(k-1)-UP(k-1)-UD(k-1)
Wherein, UP(k-1)、UD(k-1) be respectively the moment of discrete system kth -1 ratio controlled quentity controlled variable, differential controlled quentity controlled variable.
As shown in Fig. 2 the Fdb of output feedback shown in traditional PID control reaches saturation value U at the t1 momentMAX, and now accumulate
Divide controlled quentity controlled variable UPExceed saturation value UMAX, that is, there is supersaturation, then export feedback take longer for realize move back it is full
With as shown in Figure 2 at the t2 moment.
The PID control using the inventive method shown in Fig. 3, as can be known from Fig. 3 the t1 moment export feedback Fdb and not up to satisfies
With value UMAX, its main cause is integration control amount UPSuppressed by anti-windup saturation element, integrated as can be known from Fig. 3
Controlled quentity controlled variable UPIt is less than saturation value U always in control processMAX；In addition, it is full to can also be seen that output value of feedback Fdb is exited in Fig. 3
With the t2 moment compare the t2 moment in Fig. 2 and be advanced by, system is rapidly achieved stable state.
By using technical scheme, its beneficial effect is：
1. anti-windup saturation element realizes integration control by system output control amount, ratio controlled quentity controlled variable, differential controlled quentity controlled variable
The calculating of amount, method are simple.
2. this method effectively inhibits the saturation of integration control amount, the overshoot of output feedback is reduced, and accelerates to move back saturation speed
Degree reaches quick response.
3. this method is simple in construction, extra control parameter is not introduced, the robustness of system, reliability, stability etc. are no
It can have an impact.
Claims (1)
1. a kind of new anti-windup saturation PID control method, it is characterised in that for the PID of discrete form, including following step
Suddenly：
Step 1：At the discrete system kth moment, calculated by the given input value Ref (k) and output value of feedback Fdb (k) of system
The error amount e (k) of system；
Step 2：Ratio controlled quentity controlled variable, integration control amount, differential controlled quentity controlled variable, PID control amount calculate：
UP(k)=KP*e(k)
UI(k)=KI*e(k)*T+UI(k-1)
UD(k)=KD*(e(k)-e(k-1))/T
UPID(k)=UP(k)+UI(k)+UD(k)
Wherein, UP(k)、UI(k)、UD(k) be respectively the discrete system kth moment ratio controlled quentity controlled variable, integration control amount, differential control
Amount processed, KP、KI、KDRespectively P, I, D parameter, T are controlling cycle, UI(k-1) it is the integration control at the moment of discrete system kth -1
Amount, e (k-1) be the moment of discrete system kth -1 error amount, UPID(k) it is the PID control amount at discrete system kth moment；
Step 3：Judge PID control amount UPID(k) the amplitude limit value U of system whether is exceededMAXOr UMIN, i.e., whether there is saturation and show
As if not occurring saturated phenomenon is transferred to step 4, step 5 is transferred to if there is saturated phenomenon；
Step 4：Do not occur saturated phenomenon, using PID control amount as last system control amount：
UOUT(k)=UPID(k)
Step 5：There is saturated phenomenon, using the amplitude limit value of system as last system control amount, and be transferred to step 6 anti-windup
Saturation element：
UOUT(k)=UMAXOr UOUT(k)=UMIN
Step 6：Anti-windup saturation element, current ratio controlled quentity controlled variable and differential controlled quentity controlled variable are subtracted by the amplitude limit value of system and obtained
There is integration control amount during saturated phenomenon：
UI(k)=UMAX-UP(k)-UDOr U (k)I(k)=UMIN-UP(k)-UD(k)
Further write as：UI(k)=UOUT(k)-UP(k)-UD(k)
And the moment of discrete system kth -1：
UI(k-1)=UOUT(k-1)-UP(k-1)-UD(k-1)
Wherein, UP(k-1)、UD(k-1) be respectively the moment of discrete system kth -1 ratio controlled quentity controlled variable, differential controlled quentity controlled variable.
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| CN107181440B (en) * | 2016-03-10 | 2019-06-14 | 宝沃汽车（中国）有限公司 | Dynamic integral compensation method, system and vehicle based on motor PI control |
| DE102016109411A1 (en) * | 2016-05-23 | 2017-11-23 | Borgward Trademark Holdings Gmbh | Method, system and vehicle with dynamic integral compensation based on PI motor control |
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| 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 |
| 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 |
| 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 |
| 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 |
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