CN105404141B - Fuzzy-adaptation PID control instrument and control method - Google Patents
Fuzzy-adaptation PID control instrument and control method Download PDFInfo
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Abstract
The present invention provides fuzzy-adaptation PID control instrument and control method, method include：Obtain real-time sampling value；Actual deviation EPC is obtained according to real-time sampling value and preset value calculation, is calculated according to preset proportional gain P and obtains deviation range EP；Actual deviation EPC then corrects preset pid parameter outside deviation range EP with FUZZY ALGORITHMS FOR CONTROL, until actual deviation EPC is in deviation range EP；Actual deviation EPC is then calculated with pid algorithm in deviation range EP and is obtained control output valve.The present invention is controlled by fuzzy dynamic and is combined with pid algorithm, not only increases the response speed of automation control, while can ensure that measured rapid increase process does not occur the situation of overshoot or less stress again；Further, and the stable period of automatic control process is shortened, can be preferably applicable in and be measured changeable complex working condition environment, significantly improve the efficiency and control effect automatically controlled.
Description
Technical field
The present invention relates to automation control area, the fuzzy of a kind of combination fuzzy algorithmic approach and pid algorithm is particularly related to
PID control instrument and control method.
Background technology
PID control instrument is widely used in field of industrial automation control, is mainly used for completing under industrial environment to acquisition
Physical quantity signal such as temperature, pressure, liquid level, flow etc. realize position control, judge instead of traditional artificial experience value and adjust
The problems such as production technology solves artificial experience value and judges inaccuracy, and control effect is undesirable.General PID control instrument mainly wraps
It includes：Acquisition module, ADC, MCU, display module, output control module are completed by acquisition module and ADC to industrial signal
Acquisition and analog-to-digital conversion complete PID mathematical operations by the programmed algorithm in MCU, and MCU again controls operation result by exporting
Module is output to each servo mechanism of industry spot and completes control output.Although the PID control instrument of the prior art can realize fixed point
Control, but it is undesirable for control accuracy requirement height or its control effect of complex working condition environment, easily there are the feelings such as overshoot, less stress
Condition.
It is entitled application No. is 201410454977.0《A kind of capsule glue pot control method of fuzzy-adaptation PID control》's
Patent application is disclosed after obtaining liquid level instantaneous value, and level set value compares the derivative value for calculating level imbalance e and deviation
Using e and ec as the input of fuzzy controller, repairing for pid parameter is obtained by blurring, fuzzy reasoning, de-fuzzy by ec
Positive value.
The PID control technology of said program only obtains the correction value of pid parameter, this utilization with fuzzy algorithmic approach
Although the control methods of fuzzy algorithmic approach can quickly make controlled device reach expected setting value, fast response time, it is super
It tunes up, control that error is big, precision is low；And existing another PID control technology only obtains pid parameter with pid algorithm
Correction value, although precision improves, error is smaller, and overshoot is smaller, its response speed is slow, influences the effect of automation control
Rate；Further, above two pid control mode is all only applicable to relatively stable work condition environment, changeable for some parameters,
The complex working condition environment for such as causing temperature, pressure, liquid level parameter that will constantly change due to frequent switchgear, manipulation effect
Rate is low, and stable period is long, and control effect is undesirable.
Therefore, it is necessary to provide a kind of fuzzy-adaptation PID control instrument that can be solved the above problems simultaneously and control method.
Invention content
The technical problems to be solved by the invention are：A kind of fuzzy-adaptation PID control instrument and control method are provided, not only in response to speed
Degree is fast, is not easy overshoot, less stress, and control accuracy is high, stable period is short, can more preferably be suitable for complex working condition environment.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
Fuzzy PID control method, including：
Obtain real-time sampling value；Actual deviation EPC is obtained according to real-time sampling value and preset value calculation, according to preset ratio
Example gain P, which is calculated, obtains deviation range EP；
Actual deviation EPC then corrects preset pid parameter outside deviation range EP with FUZZY ALGORITHMS FOR CONTROL, until real
Border deviation EPC is in deviation range EP；
Actual deviation EPC is then calculated with pid algorithm in deviation range EP and is obtained control output valve.
Another technical solution provided by the invention is：
Fuzzy-adaptation PID control instrument, including：
Acquisition module, for obtaining real-time sampling value；
First computing module, for obtaining actual deviation EPC according to real-time sampling value and preset value calculation；
Second computing module obtains deviation range EP for being calculated according to preset proportional gain P；
Fuzzy control correcting module, for actual deviation EPC outside deviation range EP, then with FUZZY ALGORITHMS FOR CONTROL amendment
Preset pid parameter, until actual deviation EPC is in deviation range EP；
PID control output module for actual deviation EPC in deviation range EP, then calculates with pid algorithm and obtains control
Output valve processed.
The beneficial effects of the present invention are：The present invention will determine that actual deviation EPC whether in deviation range EP, if so,
Control output valve needed for then directly being obtained using pid algorithm；If it is not, PID is dynamically then corrected using FUZZY ALGORITHMS FOR CONTROL
Parameter, and then progressive change real-time sampling value and actual deviation EPC；Actual deviation EPC is fallen into the process of dynamic corrections
In deviation range EP and then combination pid algorithm stablizes output control output valve.The present invention realizes fuzzy algorithmic approach dynamic regulation
Pid parameter and actual deviation EPC, significantly improve response speed；It meanwhile and can be by caused by pid algorithm reduction quick response
Overshoot problem, it is ensured that the precision of control；Further, due to having incorporated FUZZY ALGORITHMS FOR CONTROL, stable period, energy are shortened
It is enough to be preferably applicable in the changeable complex working condition environment of real-time sampling value, significantly improve the efficiency and control effect automatically controlled.
Description of the drawings
Fig. 1 is the flow diagram of fuzzy PID control method of the present invention；
Fig. 2 is the flow diagram of fuzzy PID control method embodiment three of the present invention；
Fig. 3 is the flow diagram of fuzzy PID control method example IV of the present invention；
Label declaration：
1st, acquisition module；2nd, the first computing module；3rd, the second computing module；
4th, fuzzy control correcting module；5th, PID control output module；6th, presetting module；7th, judgment module；
8th, sampled value processing module；9th, data acquisition module；10th, button display module；
11、MCU；12、ADC；13rd, output module is controlled；14th, data memory module.
Specific embodiment
For the technology contents that the present invention will be described in detail, the objects and the effects, below in conjunction with embodiment and coordinate attached
Figure is explained.
The design of most critical of the present invention is：If actual deviation is outside deviation range, with FUZZY ALGORITHMS FOR CONTROL dynamic
Pid parameter is corrected, control actual deviation exports control output valve in deviation range, in conjunction with pid algorithm；Realization is quickly being rung
Under the premise of should automatically controlling, hyperharmonic stable period is reduced, while ensures the precision of control.
Explanation of technical terms of the present invention：
Referring to Fig.1 and 2, the present invention provides fuzzy PID control method, including：
Obtain real-time sampling value；Actual deviation EPC is obtained according to real-time sampling value and preset value calculation, according to preset ratio
Example gain P, which is calculated, obtains deviation range EP；
Actual deviation EPC then corrects preset pid parameter outside deviation range EP with FUZZY ALGORITHMS FOR CONTROL, until real
Border deviation EPC is in deviation range EP；
Actual deviation EPC is then calculated with pid algorithm in deviation range EP and is obtained control output valve.
As can be seen from the above description, the beneficial effects of the present invention are：By the FUZZY ALGORITHMS FOR CONTROL of dynamic regulation process and
Stablize the mode that the pid algorithm of regulation process is combined, solve existing single regulation process fast response time then easy overshoot, control
Error is big, and then easy less stress, stable period are long slowly for response speed, and is all difficult to be applicable in the changeable complex working condition environment of real-time sampling value
The problem of；It realizes automation position control, not only accelerates to be measured the speed of rising and produce after the measured rapid increase of reduction simultaneously again
Raw overshoot solves previous be measured and rises that fast but overshoot is also bigger or overshoot is small but the measured rate of climb is slow lacks
Point；It while significantly improving response speed, and can ensure that control effect reaches optimum state, have higher control accuracy.
Further, described calculate obtains inclined actual deviation EPC and calculates before obtaining deviation range EP, further wraps
It includes：
It presets the setting value and includes the pid parameter of proportional gain P, time of integration I and derivative time D.
Further, it calculates after obtaining actual deviation EPC and calculating acquisition deviation range EP, further comprises：
Judge whether actual deviation EPC is fallen outside deviation range EP, obtain judging result；
If the determination result is YES, then perform it is described correct preset pid parameter with FUZZY ALGORITHMS FOR CONTROL, be then back to after
Continue the judgment step；
If judging result is no, performs described calculated with pid algorithm and obtain the step of controlling output valve.
Seen from the above description, the present invention is realized is stablized using FUZZY ALGORITHMS FOR CONTROL dynamic control actual deviation EPC
In deviation range and then combination pid algorithm passes through stable operation output control signal；Sound has been implemented in combination with by the two
Answer the balance of speed, control accuracy and control effect three.
Further, it is described to correct preset pid parameter with FUZZY ALGORITHMS FOR CONTROL, until actual deviation EPC is in deviation
It is specially in range EP：
The actual deviation EPC0 of actual deviation EPC1, sampling for the first time according to sampling period interior last time sampling, with
And average actual deviation EPC3 is calculated and is obtained actual deviation change rate EC.
According to the fuzzy relation between actual deviation EPC, actual deviation change rate EC and preset pid parameter, PID is adjusted
Parameter；
Actual deviation EPC and deviation range EP is detected, until actual deviation EPC is in deviation range EP.
Seen from the above description, the present invention will influence the variation of real-time sampling value according to the variation of pid parameter, and adopt in real time
The rule that the variation of sample value will influence actual deviation EPC variations, pid parameter is dynamically corrected by FUZZY ALGORITHMS FOR CONTROL, is realized
Control to actual deviation EPC is made it stable in deviation range EP, then obtains control output with the PID formulas of stable
Value.The raising of response speed is not only realized in this way, while can ensure that the precision of control again, reduces stable period, so as to more preferable
The complex working condition environment changeable suitable for real-time sampling value, realization automatically controls.
Further, after the acquisition real-time sampling value, further comprise：
Real-time sampling value is gated successively, filter and amplifier processing, be then converted into real-time sampling value digital signal；
To the real-time sampling value digital signal according to multiple time sharing sampling in a sampling period, average sample is obtained
Then value carries out the calculating of actual deviation EPC using the average sample value as effective real-time sampling value.
Seen from the above description, after the present invention has carried out the processing such as filtering, analog-to-digital conversion, time sharing sampling to real-time sampling value
Sampled value carry out subsequent operation as efficiently sampling value, it is ensured that the precision of real-time sampling value is read, and improves the essence automatically controlled
Degree.
Another technical solution provided by the invention is：
Fuzzy-adaptation PID control instrument, including：
Acquisition module 1, for obtaining real-time sampling value；
First computing module 2, for obtaining actual deviation EPC according to real-time sampling value and preset value calculation；
Second computing module 3 obtains deviation range EP for being calculated according to preset proportional gain P；
Fuzzy control correcting module 4 for actual deviation EPC outside deviation range EP, is then repaiied with FUZZY ALGORITHMS FOR CONTROL
Just preset pid parameter, until actual deviation EPC is in deviation range EP；
PID control output module 5 for actual deviation EPC in deviation range EP, is then calculated with pid algorithm and is obtained
Control output valve.
Further, it further includes：
Presetting module 6, for presetting the setting value and including proportional gain P, time of integration I and derivative time D
Pid parameter.
Further, it further includes：
Judgment module 7 for judging whether actual deviation EPC is fallen outside deviation range EP, obtains judging result；If judge
As a result it is yes, then triggers fuzzy control correcting module 4；If judging result is no, PID control output module 5 is triggered.
Further, the fuzzy control correcting module 4, including：
Acquiring unit, for the reality according to the actual deviation EPC1 sampled for the last time in the sampling period, sampling for the first time
Border deviation EPC0 and average actual deviation EPC3, which is calculated, obtains actual deviation change rate EC；
Adjustment unit, for according to the mould between actual deviation EPC, actual deviation change rate EC and preset pid parameter
Paste relationship adjusts pid parameter；
Detection unit, for detecting actual deviation EPC and deviation range EP, until actual deviation EPC is in deviation range EP
It is interior.
Further, it further includes：
Sampled value processing module 8, for real-time sampling value is gated successively, is filtered and amplifier processing, then convert
For real-time sampling value digital signal；
Time sharing sampling module, for being adopted to the real-time sampling value digital signal according to timesharing multiple in a sampling period
Sample obtains average sample value, and the meter of actual deviation EPC is then carried out using the average sample value as effective real-time sampling value
It calculates.
Embodiment one
Fig. 1 is please referred to, the present embodiment provides a kind of fuzzy PID control methods, can include：
S1：Preset setting values SV and the pid parameter for including proportional gain P, time of integration I and derivative time D；
S2：The industrial signal of industry spot controlled device is acquired in real time by sensor, obtains real-time sampling value；
S3：It is calculated according to real-time sampling value and setting value SV and obtains actual deviation EPC, counted according to preset proportional gain P
It calculates and obtains deviation range EP；
S4：Judge whether actual deviation EPC is fallen outside deviation range EP；Obtain judging result；
If judging result for actual deviation EPC outside deviation range EP, perform S41；
If judging result actual deviation EPC performs S42 in deviation range EP；
S41：Preset pid parameter is corrected with FUZZY ALGORITHMS FOR CONTROL first, until actual deviation EPC is in deviation range EP
It is interior；Then S42 is performed；
S42：It transfers in the MCU11 modules in automatic control system and uses pid algorithm, directly calculate and obtain control output
Value OUT.
Specifically, S41 can include：
S411：The real-time sampling value obtained according to the real-time sampling value that last time obtains in the sampling period, for the first time, with
And average actual deviation EPC calculates acquisition actual deviation change rate EC in the period；Specifically, by a collection period
Interior, the actual deviation EPC1 of last time sampling and the difference of the actual deviation EPC0 of sampling for the first time are removed in this sampling period
The average value of actual deviation obtain actual deviation change rate EC, the sampling period by fuzzy-adaptation PID control instrument MCU11
Crystal oscillator frequency of oscillation determines.
S412：According to the fuzzy relation between actual deviation EPC, actual deviation change rate EC and preset pid parameter, move
State adjusts pid parameter；
S413：The value of continuous detection actual deviation EPC and actual deviation change rate EC, passes through fuzzy rule determining first
Then, using the method for fuzzy reasoning, pid parameter is constantly corrected, realizes that dynamic adjusts the real-time output size of controlled device, from
And change real-time sampling value, and then realize the control to actual deviation EPC, until actual deviation EPC falls within deviation range EP
It is interior；Eventually by S42 is continued to execute, adopt with stable actual deviation EPC, pid parameter, actual deviation change rate EC and in real time
Sample value, which calculates, obtains control output value signal, realizes the control to device parameter；Such as to temperature, pressure, liquid level or flow quilt
The control signal of measured value.Specifically, while constantly correcting pid parameter, the output of controlled device is also constantly adjusting, output
Size adjust, controlled device also just correspondence is changing, if the aperture of valve is becoming larger or is becoming smaller, liquid level also just become larger accordingly or
Become smaller, then the signal for measuring the sensor output of liquid level is also once becoming larger or becoming smaller, the liquid level that PID control instrument receives
The signal of sensor, real-time sampled value also just become larger or become smaller dynamically.
Embodiment two
The present embodiment is the extension of one scheme of embodiment, and identical content is no longer repeated, and distinctive points are, further include in S2
The process that the real-time sampling value acquired in real time is pre-processed, specifically includes：
S21：Real-time sampling value is gated successively, filter and amplifier processing, be then conducted to D/A converter module, will
The real-time sampling value of simulation is converted to real-time sampling value digital signal, then is conducted to microprocessor MCU11；
S22：Microprocessor MCU11 is to the real-time sampling value digital signal according to repeatedly dividing in a sampling period
When sample, obtain average filter after sampled value, using average sample value as effective real-time sampling value be stored in data storage
In device, for carrying out the calculating of follow-up actual deviation EPC.
Preset parameter is the key-press input by scan operation person in the S1, and key-press input is obtained in a manner of interruption
Code, be then passed to microprocessor MCU11；Setting parameter preset is completed after MCU11 key range codes, is stored simultaneously
In data storage.Preferably, moreover it is possible to transfer the display program inside MCU11, parameter preset and the real-time of acquisition are adopted
Sample value etc. shows that content is sent in button display screen and is shown, realize human-computer interaction complete the setting of preset control parameters with
And display parameters function.
After the S42 obtains control output valve OUT, pass it through output module and conduct to external industrial scene to be controlled and set
It is standby, complete adjusting control.
Embodiment three
Referring to Fig. 2, a kind of fuzzy-adaptation PID control instrument is provided, including：
Acquisition module 1, for obtaining real-time sampling value；
Sampled value processing module 8, for real-time sampling value is gated successively, is filtered and amplifier processing, then convert
For real-time sampling value digital signal；
Time sharing sampling module, for being adopted to the real-time sampling value digital signal according to timesharing multiple in a sampling period
Sample obtains average sample value, and the meter of actual deviation EPC is then carried out using the average sample value as effective real-time sampling value
It calculates.
Presetting module 6, for presetting the setting value and including proportional gain P, time of integration I and derivative time D
Pid parameter；
First computing module 2, for obtaining actual deviation EPC according to real-time sampling value and preset value calculation；
Second computing module 3 obtains deviation range EP for being calculated according to preset proportional gain P；
Judgment module 7 for judging whether actual deviation EPC is fallen outside deviation range EP, obtains judging result；If judge
As a result it is yes, then triggers fuzzy control correcting module 4；If judging result is no, PID control output module 5 is triggered.
Fuzzy control correcting module 4 for actual deviation EPC outside deviation range EP, is then repaiied with FUZZY ALGORITHMS FOR CONTROL
Just preset pid parameter, until actual deviation EPC is in deviation range EP；
The fuzzy control correcting module 4, including：
Acquiring unit, for the reality according to the actual deviation EPC1 sampled for the last time in the sampling period, sampling for the first time
Border deviation EPC0 and average actual deviation EPC3, which is calculated, obtains actual deviation change rate EC；
Adjustment unit, for according to the mould between actual deviation EPC, actual deviation change rate EC and preset pid parameter
Paste relationship adjusts pid parameter；
Detection unit, for detecting actual deviation EPC and deviation range EP, until actual deviation EPC is in deviation range EP
It is interior.
PID control output module 5 for actual deviation EPC in deviation range EP, is then calculated with pid algorithm and is obtained
Control output valve.
Example IV
Referring to Fig. 3, the present embodiment provides a kind of fuzzy-adaptation PID control instrument, acquired including button Display processing module, data
Module 9, control output module 13, MCU11, ADC12 and data memory module 14；Data acquisition module 9 is connected with ADC12,
ADC12 is connected with MCU11, button Display processing module, control output module 13 and data memory module 14 respectively with MCU11 phases
Even；Program storage is configured with inside MCU11, is stored with PID formulas and FUZZY ALGORITHMS FOR CONTROL.
Operation principle is：After industry spot collecting sensor signal by the gating of 9 complete pair signals of data acquisition module,
Filtering, amplifier processing, are conducted to ADC12 and complete the conversion of analog/digital signal, then transformed digital signal is conducted to
MCU11, MCU11 are averaged filtered sampled value as efficiently sampling value by the multiple time sharing sampling in a sampling period
It is stored in data storage, button Display processing module is responsible for the key-press input of scan operation person, will be by a manner of interruption
Key input code passes to MCU11, and MCU11 key range codes are completed setting control parameter and are stored in data storage, and adjust
The display program inside MCU11 is taken to obtain and shows that content send button display module 10 to show, realizes that control ginseng is completed in human-computer interaction
Number sets and send display function, and MCU11 passes through collection value in called data memory and control parameter substitutes into PID formulas and Fuzzy Control
Algorithm processed carries out control output valve being calculated, and control output valve is conducted to control output module 13, controls output module
Control output signal is conducted to external industrial scene controlled device by 13 completes adjusting control.
Embodiment five
Installment work process of the present embodiment for the fuzzy-adaptation PID control instrument of example IV.Specifically, fuzzy-adaptation PID control instrument
For panel mounted instrument, after slotting on control cabinet panel, fuzzy-adaptation PID control instrument is packed into, by using mating buckle
Fuzzy-adaptation PID control instrument is fixed on switch board out of switch board, the installation exercise of fuzzy-adaptation PID control instrument is realized, by sensor
Signal accesses fuzzy-adaptation PID control instrument, and the output terminal of fuzzy-adaptation PID control instrument is accessed executing agency, is led to fuzzy-adaptation PID control instrument
Electricity, fuzzy-adaptation PID control instrument self-check program perform successively：Electrification reset-event initialization-parameter initialization-startup ADC12
Conversion-opens interrupters, when operating personnel have carried out key-press input, fuzzy-adaptation PID control instrument carries out button by key scan program
Decoding then feeds back the variation of corresponding menu or parameter to operating personnel, realization man-machine interactive operation in display portion；By passing
Sensor inputs to the signal of fuzzy-adaptation PID control instrument after ADC12 conversions are opened, and is sent into MCU11 calculation process, MCU11 be responsible for by
It acquires signal and carries out software filtering, linear compensation operation, while MCU11 constantly by collection value substitution PID formula progress operations
Output, the signal constantly regulate executing agency of output, the continuous adjustment of executing agency change operating mode, the signal of sensor again
Synchronous is changing, and entire control forms closed loop adjusting.
In conclusion fuzzy-adaptation PID control instrument provided by the invention and control method, are calculated by fuzzy dynamic control with PID
Method is combined, and not only increases the response speed of automation control, while can ensure that measured rapid increase process does not occur again
Overshoot or the situation of less stress；Further, and the stable period of automatic control process is shortened, can be preferably applicable in and be measured
Changeable complex working condition environment significantly improves the efficiency and control effect automatically controlled.
The foregoing is merely the embodiment of the present invention, are not intended to limit the scope of the invention, every to utilize this hair
The equivalents that bright specification and accompanying drawing content are made directly or indirectly are used in relevant technical field, similarly include
In the scope of patent protection of the present invention.
Claims (4)
1. fuzzy PID control method, which is characterized in that including：
Obtain real-time sampling value；Actual deviation EPC is obtained according to real-time sampling value and preset value calculation, is increased according to preset ratio
Beneficial P, which is calculated, obtains deviation range EP；
Actual deviation EPC then corrects preset pid parameter outside deviation range EP with FUZZY ALGORITHMS FOR CONTROL, until practical inclined
Poor EPC is in deviation range EP；
Actual deviation EPC is then calculated with pid algorithm in deviation range EP and is obtained control output valve；
It calculates after obtaining actual deviation EPC and calculating acquisition deviation range EP, further comprises：
Judge whether actual deviation EPC is fallen outside deviation range EP, obtain judging result；
If the determination result is YES, then it performs the utilization FUZZY ALGORITHMS FOR CONTROL and corrects preset pid parameter, be then back to and continue institute
State judgment step；
If judging result is no, performs described calculated with pid algorithm and obtain the step of controlling output valve；
It is described to correct preset pid parameter with FUZZY ALGORITHMS FOR CONTROL, until actual deviation EPC is specific in deviation range EP
For：
According to the actual deviation EPC1 that last time samples in the sampling period, the actual deviation EPC0, Yi Jiping of sampling for the first time
Equal actual deviation EPC3, which is calculated, obtains actual deviation change rate EC；
According to the fuzzy relation between actual deviation EPC, actual deviation change rate EC and preset pid parameter, adjustment PID ginsengs
Number；
Actual deviation EPC and deviation range EP is detected, until actual deviation EPC is in deviation range EP；
Described calculate obtains inclined actual deviation EPC and calculates before obtaining deviation range EP, further comprises：
It presets the setting value and includes the pid parameter of proportional gain P, time of integration I and derivative time D.
2. fuzzy PID control method as described in claim 1, which is characterized in that after the acquisition real-time sampling value, into one
Step includes：
Real-time sampling value is gated successively, filter and amplifier processing, be then converted into real-time sampling value digital signal；
To the real-time sampling value digital signal according to multiple time sharing sampling in a sampling period, average sample value is obtained, so
The calculating of actual deviation EPC is carried out using the average sample value as effective real-time sampling value afterwards.
3. fuzzy-adaptation PID control instrument, which is characterized in that including：
Acquisition module, for obtaining real-time sampling value；
First computing module, for obtaining actual deviation EPC according to real-time sampling value and preset value calculation；
Second computing module obtains deviation range EP for being calculated according to preset proportional gain P；
Fuzzy control correcting module for actual deviation EPC outside deviation range EP, is then preset with FUZZY ALGORITHMS FOR CONTROL amendment
Pid parameter, until actual deviation EPC is in deviation range EP；
PID control output module for actual deviation EPC in deviation range EP, then it is defeated to calculate acquisition control with pid algorithm
Go out value；
It further includes：
Judgment module for judging whether actual deviation EPC is fallen outside deviation range EP, obtains judging result；If judging result
It is yes, then triggers fuzzy control correcting module；If judging result is no, PID control output module is triggered；
It further includes：
Presetting module, for preset the setting value and including proportional gain P, time of integration I and derivative time D PID ginseng
Number；
The fuzzy control correcting module, including：
Acquiring unit, it is practical inclined for what is sampled according to the actual deviation EPC1 sampled for the last time in the sampling period, for the first time
Poor EPC0 and average actual deviation EPC3, which is calculated, obtains actual deviation change rate EC；
Adjustment unit, for according to the fuzzy pass between actual deviation EPC, actual deviation change rate EC and preset pid parameter
System adjusts pid parameter；
Detection unit, for detecting actual deviation EPC and deviation range EP, until actual deviation EPC is in deviation range EP.
4. fuzzy-adaptation PID control instrument as claimed in claim 3, which is characterized in that further include：
Sampled value processing module, for real-time sampling value is gated successively, is filtered and amplifier processing, be then converted into real time
Sampled value digital signal；
Time sharing sampling module, for the real-time sampling value digital signal according to multiple time sharing sampling in a sampling period,
Average sample value is obtained, the calculating of actual deviation EPC is then carried out using the average sample value as effective real-time sampling value.
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| CN113485478A (en) * | 2021-07-07 | 2021-10-08 | 维柯基科技(上海)有限公司 | Temperature control method, device and system of PCR amplification instrument, computer equipment and computer readable storage medium |
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