CN106406284B - The method and device of the parameter calibration effect of detection ratio integral-derivative controller - Google Patents
The method and device of the parameter calibration effect of detection ratio integral-derivative controller Download PDFInfo
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- CN106406284B CN106406284B CN201610954234.9A CN201610954234A CN106406284B CN 106406284 B CN106406284 B CN 106406284B CN 201610954234 A CN201610954234 A CN 201610954234A CN 106406284 B CN106406284 B CN 106406284B
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Abstract
The present invention provides a kind of method and device of the parameter calibration effect of detection ratio integral-derivative controller, the method for the parameter calibration effect of the detection ratio integral-derivative controller includes：Obtain the target output voltage value of proportional plus integral plus derivative controller；Multiple actual output voltage values, multiple output voltage extreme value of the proportional plus integral plus derivative controller after inputting parameter preset are obtained, output voltage extreme value includes multiple output voltage maximum of proportional plus integral plus derivative controller and multiple output voltage minimums；Actual output voltage value, output voltage extreme value according to the target output voltage value of proportional plus integral plus derivative controller and after inputting parameter preset, judge whether actual output voltage value of the proportional plus integral plus derivative controller after inputting parameter preset reaches preset state.By means of the invention it is also possible to accurately be determined to whether the rising of the actual output voltage value after parameter calibration meets the requirements.
Description
Technical field
The present invention relates to the parameter calibration field of proportional plus integral plus derivative controller, specifically a kind of detection ratio integral differential
The method and device of the parameter calibration effect of controller.
Background technology
PID (proportional integral differential) controllers are made of proportional unit P, integral unit I and differentiation element D.By Kp,
The setting of tri- parameters of Ki and Kd.PID controller is primarily adapted for use in substantially linear and dynamic characteristic time invariant system.
PID controller is a common backfeed loop component in Industry Control Application.This controller handle is collected into
Data and a reference value be compared, then this difference for calculating new input value, this new input value
Purpose is that the data of system can be allowed to reach or be maintained at reference value.It is different with other simple control operations, PID controller
Input value can be adjusted according to the occurrence rate of historical data and difference, system can be made more accurate in this way, more stablized.It can
To be proved by the method for mathematics, other control methods cause system have steady state error or process repeatedly in the case of, one
PID feedback loop can but keep the stabilization of system.
In the prior art, it is by artificially sentencing for the calibrated effect of tri- parameters of Kp, Ki and the Kd of PID controller
It is disconnected, by visually comparing multiple curves, and then the result quality to above three parameter calibration is obtained, using the side manually read
The error of method is larger, and obtained result is not accurate enough.
Invention content
Technical problems to be solved of the embodiment of the present invention are to provide a kind of parameter mark of detection ratio integral-derivative controller
The method and device for determining effect, to realize that the actual output voltage value after being inputted to tri- parameters of Kp, Ki and Kd carries out
It is accurate to judge.
In order to solve the above technical problems, the parameter calibration of detection ratio integral-derivative controller provided in an embodiment of the present invention
The method of effect, including：
Obtain the target output voltage value of proportional plus integral plus derivative controller；
Obtain multiple actual output voltage values of the proportional plus integral plus derivative controller after inputting parameter preset, multiple defeated
Go out voltage extremity, the output voltage extreme value includes multiple output voltage maximum of the proportional plus integral plus derivative controller and more
A output voltage minimum, the output voltage maximum are the proportional plus integral plus derivative controller in adjacent three moment
Between moment corresponding output voltage values when being more than other two moment corresponding output voltage values the intermediate time it is corresponding defeated
Go out voltage value, the output voltage minimum is intermediate time pair of the proportional plus integral plus derivative controller at adjacent three moment
The output voltage values answered are less than the corresponding output voltage values of intermediate time when other two moment corresponding output voltage values；
Reality according to the target output voltage value of the proportional plus integral plus derivative controller and after inputting parameter preset is defeated
Go out voltage value, output voltage extreme value, judges that reality of the proportional plus integral plus derivative controller after inputting the parameter preset is defeated
Go out whether voltage value reaches preset state.
Preferably, described according to the target output voltage value of the proportional plus integral plus derivative controller and in input parameter preset
Actual output voltage value, output voltage extreme value afterwards determine that the proportional plus integral plus derivative controller is inputting the parameter preset
The step of whether actual output voltage value afterwards reaches preset state include：
When each actual output voltage value of the proportional plus integral plus derivative controller got is respectively less than and the reality
When output voltage values correspond to the target output voltage value at moment, determine the proportional plus integral plus derivative controller in input parameter preset
Actual output voltage value afterwards is not up to preset state.
Preferably, described according to the target output voltage value of the proportional plus integral plus derivative controller and in input parameter preset
Actual output voltage value, output voltage extreme value afterwards judge that the proportional plus integral plus derivative controller is inputting the parameter preset
The step of whether actual output voltage value afterwards reaches preset state include：
When first output voltage maximum of the proportional plus integral plus derivative controller got is less than the institute got
When stating other output voltage maximum after the first output voltage maximum of proportional plus integral plus derivative controller,
Determine that actual output voltage value of the proportional plus integral plus derivative controller after inputting parameter preset is not up to preset state.
Preferably, the target output voltage value according to the proportional plus integral plus derivative controller and input parameter preset after
Actual output voltage value, output voltage extreme value, judge the proportional plus integral plus derivative controller after inputting the parameter preset
Actual output voltage value the step of whether reaching preset state include：
When in multiple output voltage maximum of the proportional plus integral plus derivative controller output voltage maximum value with it is described
The ratio that output voltage maximum value corresponds to the difference of the target output voltage value at moment and the target output voltage value is more than the
When one default ratio, determine that actual output voltage value of the proportional plus integral plus derivative controller after inputting parameter preset is not up to
Preset state.
Preferably, described according to the target output voltage value of the proportional plus integral plus derivative controller and in input parameter preset
Actual output voltage value, output voltage extreme value afterwards judge that the proportional plus integral plus derivative controller is inputting the parameter preset
The step of whether actual output voltage value afterwards reaches preset state include：
When the n-th output voltage maximum of the proportional plus integral plus derivative controller got is exported with the n-th
Voltage maxima corresponds to the difference of the target output voltage value at moment and is more than second in advance with the ratio of the target output voltage value
If when ratio, determining that actual output voltage value of the proportional plus integral plus derivative controller after inputting parameter preset is not up to default
State, N are default positive integer.
Preferably, the target output voltage value according to the proportional plus integral plus derivative controller and input parameter preset after
Actual output voltage value, output voltage extreme value, judge the proportional plus integral plus derivative controller after inputting the parameter preset
Actual output voltage value the step of whether reaching preset state include：
When the n-th output voltage minimum of the proportional plus integral plus derivative controller got is exported with the n-th
Voltage minimum correspond to the target output voltage value at moment difference and the target output voltage value ratio be more than third it is pre-
If when ratio, determining that actual output voltage value of the proportional plus integral plus derivative controller after inputting parameter preset is not up to default
State, N are default positive integer.
Preferably, described according to the target output voltage value of the proportional plus integral plus derivative controller and in input parameter preset
Actual output voltage value, output voltage extreme value afterwards judge that the proportional plus integral plus derivative controller is inputting the parameter preset
The step of whether actual output voltage value afterwards reaches preset state include：
When the output voltage in multiple output voltage maximum of the proportional plus integral plus derivative controller got is maximum
The ratio of the difference and the target output voltage value of the target output voltage value at value moment corresponding with the output voltage maximum value
Value is less than the first default ratio, and
The n-th output voltage maximum of the proportional plus integral plus derivative controller got and n-th output electricity
Pressure maximum corresponds to the difference of the target output voltage value at moment and is preset less than second with the ratio of the target output voltage value
Ratio, N are default positive integer, and
The n-th output voltage minimum of the proportional plus integral plus derivative controller got and n-th output electricity
Pressure minimum corresponds to the difference of the target output voltage value at moment and is preset less than third with the ratio of the target output voltage value
Ratio, N are default positive integer, and
First output voltage maximum of the proportional plus integral plus derivative controller got and n-th output voltage pole
When being worth corresponding moment numerical value minimum, determine that reality of the proportional plus integral plus derivative controller after inputting parameter preset is defeated
Go out voltage value and reaches preset state.
According to another aspect of the present invention, the embodiment of the present invention additionally provides a kind of detection ratio integral-derivative controller
The device of parameter calibration effect, including：
First acquisition module, the target output voltage value for obtaining proportional plus integral plus derivative controller；
Second acquisition module, for obtaining multiple reality of the proportional plus integral plus derivative controller after inputting parameter preset
Output voltage values, multiple output voltage extreme values, the output voltage extreme value include the multiple of the proportional plus integral plus derivative controller
Output voltage maximum and multiple output voltage minimums, the output voltage maximum are the proportional plus integral plus derivative controller
It is more than other two moment corresponding output voltage values when institute in the corresponding output voltage values of intermediate time at adjacent three moment
The corresponding output voltage values of intermediate time are stated, the output voltage minimum is the proportional plus integral plus derivative controller adjacent three
When the corresponding output voltage values of intermediate time at a moment are less than described intermediate when other two moment corresponding output voltage values
Carve corresponding output voltage values；
Determining module is used for according to the target output voltage value of the proportional plus integral plus derivative controller and in the default ginseng of input
Actual output voltage value, output voltage extreme value after number determine that the proportional plus integral plus derivative controller is inputting the default ginseng
Whether the actual output voltage value after number reaches preset state.
Preferably, the determining module includes：
First determination unit, for each actual output voltage value when the proportional plus integral plus derivative controller got
When the target output voltage value at moment respectively less than corresponding with the actual output voltage value, the PID control parameter is determined
Actual output voltage value of the device after inputting parameter preset is not up to preset state.
Preferably, the determining module includes：
Second determination unit, first output voltage for working as the proportional plus integral plus derivative controller got are very big
Value is less than other being located at after the first output voltage maximum of the proportional plus integral plus derivative controller got
When output voltage maximum, actual output voltage value of the proportional plus integral plus derivative controller after inputting parameter preset is determined not
Reach preset state.
Preferably, the determining module includes：
Third determination unit, for when the output in multiple output voltage maximum of the proportional plus integral plus derivative controller
The difference of the target output voltage value at voltage max moment corresponding with the output voltage maximum value and target output electricity
When the ratio of pressure value is more than the first default ratio, reality of the proportional plus integral plus derivative controller after inputting parameter preset is determined
Output voltage values are not up to preset state.
Preferably, the determining module includes：
4th determination unit, the n-th output voltage for working as the proportional plus integral plus derivative controller got are very big
The difference of the target output voltage value at value moment corresponding with the n-th output voltage maximum and the target output voltage value
Ratio be more than the second default ratio when, determine reality output of the proportional plus integral plus derivative controller after inputting differential parameter
Voltage value is not up to preset state, and N is default positive integer.
Preferably, the determining module includes：
5th determination unit, the n-th output voltage for working as the proportional plus integral plus derivative controller got are minimum
The difference of the target output voltage value at value moment corresponding with the n-th output voltage minimum and the target output voltage value
Ratio be more than third preset ratio when, determine reality output of the proportional plus integral plus derivative controller after inputting parameter preset
Voltage value is not up to preset state, and N is default positive integer.
Preferably, the determining module includes：
6th determination unit, for multiple output voltage maximum when the proportional plus integral plus derivative controller got
In the output voltage maximum value moment corresponding with the output voltage maximum value target output voltage value difference and the mesh
The ratio for marking output voltage values is less than the first default ratio, and
The n-th output voltage maximum of the proportional plus integral plus derivative controller got and n-th output electricity
Pressure maximum corresponds to the difference of the target output voltage value at moment and is preset less than second with the ratio of the target output voltage value
Ratio, N are default positive integer, and
The n-th output voltage minimum of the proportional plus integral plus derivative controller got and n-th output electricity
Pressure minimum corresponds to the difference of the target output voltage value at moment and is preset less than third with the ratio of the target output voltage value
Ratio, N are default positive integer, and
First output voltage maximum of the proportional plus integral plus derivative controller got and n-th output voltage pole
When being worth corresponding moment numerical value minimum, determine that reality of the proportional plus integral plus derivative controller after inputting parameter preset is defeated
Go out voltage value and reaches preset state.
Compared with prior art, the parameter calibration effect of detection ratio integral-derivative controller provided in an embodiment of the present invention
Method, at least have the advantages that：
It is defeated by actual output voltage value after being inputted according to the numerical value of parameter and output voltage extreme value and target
Go out the comparison of voltage value, can accurately determine that output voltage values of the proportional plus integral plus derivative controller under a certain design parameter are
It is no to have reached dbjective state.
Description of the drawings
Fig. 1 is the knot of the method for the parameter calibration effect of the detection ratio integral-derivative controller described in the embodiment of the present invention
Structure schematic diagram；
Fig. 2 is the one of the method for the parameter calibration effect of the detection ratio integral-derivative controller described in the embodiment of the present invention
Idiographic flow schematic diagram；
Fig. 3 is the knot of the device of the parameter calibration effect of the detection ratio integral-derivative controller described in the embodiment of the present invention
Structure schematic diagram；
Fig. 4 is the one of the device of the parameter calibration effect of the detection ratio integral-derivative controller described in the embodiment of the present invention
Concrete structure schematic diagram.
Specific implementation mode
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.In the following description, such as specific configuration is provided and the specific detail of component is only
In order to help comprehensive understanding the embodiment of the present invention.It therefore, it will be apparent to those skilled in the art that can be to reality described herein
Example is applied to make various changes and modifications without departing from scope and spirit of the present invention.In addition, for clarity and brevity, it is omitted pair
The description of known function and construction.
Referring to Fig.1, an embodiment of the present invention provides a kind of parameter calibration effects of detection ratio integral-derivative controller
Method, including：
Step 1, the target output voltage value of proportional plus integral plus derivative controller is obtained；
Step 2, obtain multiple actual output voltage values of the proportional plus integral plus derivative controller after inputting parameter preset,
Multiple output voltage extreme values, the output voltage extreme value include that multiple output voltages of the proportional plus integral plus derivative controller are very big
Value and multiple output voltage minimums, the output voltage maximum are the proportional plus integral plus derivative controller at adjacent three
The corresponding output voltage values of intermediate time at quarter are more than the intermediate time pair when other two moment corresponding output voltage values
The output voltage values answered, the output voltage minimum are the proportional plus integral plus derivative controller in the centre at adjacent three moment
Moment corresponding output voltage values are less than the corresponding output of intermediate time when other two moment corresponding output voltage values
Voltage value；
Step 3, according to the target output voltage value of the proportional plus integral plus derivative controller and after inputting parameter preset
Actual output voltage value, output voltage extreme value judge the proportional plus integral plus derivative controller after inputting the parameter preset
Whether actual output voltage value reaches preset state.
Specifically, the target output voltage value of the proportional plus integral plus derivative controller is the numerical value determined, in different moments
Actual output voltage value be to be obtained by following equation：
Above-mentioned u (t) is output voltage, and e (t) is input, KpRefer to the ratio enlargement multiple of proportional controller, TiIt is integral
Time, TdIt is derivative time.
The K that above-mentioned parameter preset refers toP、Ti、TdThree parameters, by the numerical value to above three parameter according to first right
Kp, T againiFinally to TdDetermining flow is successively determined three parameters.
Preset state of the proportional plus integral plus derivative controller after parameter calibration refers to that actual output voltage value can be
Reach target output voltage value in the very fast time, the overshoot of appearance cannot be too big, and after reaching target output voltage value
It does not vibrate.
For example, to parameter KpNumerical value when being determined, enable TdIt is 0, TiConfirmed for infinity, by Kp's
Numerical value is specified, and is obtained proportional plus integral plus derivative controller actual output voltage value in this case and is changed with time song
Line is accurately judged by the comparison between actual output voltage value, target output voltage value and output voltage extreme value in Kp
Whether the variation of the actual output voltage value under a certain concrete numerical value state meets the requirements.
With reference to Fig. 2, one an embodiment of the present invention provides the parameter calibration effect of above-mentioned detection ratio integral differential is specific
Flow and method, including：
Step 101, the target output voltage value of proportional plus integral plus derivative controller is obtained；
Step 102, multiple actual output voltages of the proportional plus integral plus derivative controller after inputting parameter preset are obtained
Value, multiple output voltage extreme values, the output voltage extreme value includes multiple output voltages of the proportional plus integral plus derivative controller
Maximum and multiple output voltage minimums, the output voltage maximum are the proportional plus integral plus derivative controller adjacent three
When the corresponding output voltage values of intermediate time at a moment are more than described intermediate when other two moment corresponding output voltage values
Corresponding output voltage values are carved, the output voltage minimum is the proportional plus integral plus derivative controller at adjacent three moment
The intermediate time is corresponding when the corresponding output voltage values of intermediate time are less than other two moment corresponding output voltage values
Output voltage values；
Step 103, when each actual output voltage value of the proportional plus integral plus derivative controller got be respectively less than with
When the actual output voltage value corresponds to the target output voltage value at moment, determine that the proportional plus integral plus derivative controller is inputting
Actual output voltage value after parameter preset is not up to preset state；
Step 104, it is obtained when first output voltage maximum of the proportional plus integral plus derivative controller got is less than
Other output voltages of the proportional plus integral plus derivative controller got being located at after the first output voltage maximum
When maximum, determine that actual output voltage value of the proportional plus integral plus derivative controller after inputting parameter preset is not up to default
State；
Step 105, when the output voltage in multiple output voltage maximum of the proportional plus integral plus derivative controller is maximum
The ratio of the difference and the target output voltage value of the target output voltage value at value moment corresponding with the output voltage maximum value
When value is more than the first default ratio, actual output voltage of the proportional plus integral plus derivative controller after inputting parameter preset is determined
Value is not up to preset state；
Step 106, when the n-th output voltage maximum of the proportional plus integral plus derivative controller got and described the
N number of output voltage maximum corresponds to the difference of the target output voltage value at moment and the ratio of the target output voltage value is more than
When the second default ratio, determine that actual output voltage value of the proportional plus integral plus derivative controller after inputting parameter preset does not reach
To preset state, N is default positive integer；
Step 107, when the n-th output voltage minimum of the proportional plus integral plus derivative controller got and described the
N number of output voltage minimum corresponds to the ratio of the difference and the nth object output voltage values of the target output voltage value at moment
When value presets ratio more than third, actual output voltage of the proportional plus integral plus derivative controller after inputting parameter preset is determined
Value is not up to preset state, and N is default positive integer；
Step 108, when the output in multiple output voltage maximum of the proportional plus integral plus derivative controller got
The difference of the target output voltage value at voltage max moment corresponding with the output voltage maximum value and target output electricity
The ratio of pressure value is less than the first default ratio, and
The n-th output voltage maximum of the proportional plus integral plus derivative controller got and n-th output electricity
Pressure maximum corresponds to the difference of the target output voltage value at moment and is preset less than second with the ratio of the target output voltage value
Ratio, N are default positive integer, and
The n-th output voltage minimum of the proportional plus integral plus derivative controller got and n-th output electricity
Pressure minimum corresponds to the difference of the target output voltage value at moment and is preset less than third with the ratio of the target output voltage value
Ratio, N are default positive integer, and
First output voltage maximum of the proportional plus integral plus derivative controller got and n-th output voltage pole
When being worth corresponding moment numerical value minimum, determine that reality of the proportional plus integral plus derivative controller after inputting parameter preset is defeated
Go out voltage value and reaches preset state.
In the content that step 103 is recorded, when the actual output voltage value of proportional plus integral plus derivative controller is continuously less than mesh
When marking output voltage values, that is, the controller response represented under this state is too slow, and such state is that system is undesirable, thus
When this occurs, it is determined as actual output voltage value of the proportional plus integral plus derivative controller after inputting parameter preset and does not reach
To preset state.
In step 104, in normal state, first output voltage maximum of actual output voltage value appears in overshoot
State illustrates when other output voltage maximum of the first output voltage maximum less than appearance after which in the shape
In diverging, such case is also system not to be allowed to occur the curve of actual output voltage value under state, is illustrated at this
Actual output voltage value under one design parameter numerical value is unsatisfactory for requiring.
When occurring the case where step 105 record in actual output voltage value, show that shaking occurs in actual output voltage value
It swings, thus is unsatisfactory for requiring.
Content described in step 106 and step 107 show actual output voltage value occur overshoot it is too big, because without
It meets the requirements.
Content described in step 108 is shape of the parameter calibration of the proportional plus integral plus derivative controller when meeting the requirements
State.The corresponding numerical value minimum and the at the time of the appearance of first output voltage maximum of the proportional plus integral plus derivative controller
When N number of output voltage extreme value goes out when current moment corresponding numerical value minimum under no longer same set of parameter, pass through formula T=t1*k1+t2*
k2Determine the optimized parameter of proportional plus integral plus derivative controller, wherein k1With k2And be 1, k1For first under first set parameter
Output voltage maximum goes out the corresponding weight of first output voltage maximum when the numerical value minimum of current moment, k2It is second set
N-th output voltage extreme value under parameter goes out the corresponding power of first output voltage maximum when the numerical value minimum of current moment
Weight, t1Corresponding numerical value, t when going out the numerical value minimum of current moment for first output voltage maximum under first set parameter2It is
First output voltage maximum goes out current moment pair when n-th output voltage extreme value goes out the numerical value minimum of current moment under two sets of parameters
The numerical value answered.For example, under first set parameter, first output voltage maximum goes out current moment in 3ms, n-th output voltage
It is 10ms at the time of extreme value occurs；Under second set of parameter, first output voltage maximum is 5ms, n-th output voltage pole
It is 8ms at the time of value occurs, it is assumed that k1It is 0.7, k2It is 0.3, at this point, calculated t is 3.6ms, that is, being 3.6ms in the time
When corresponding this set of parameter be optimized parameter.
The method of the parameter calibration effect of the detection ratio integral-derivative controller provided through the invention, can be accurate
Judge to Kp、Ti、TdThe change of the actual output voltage value of proportional plus integral plus derivative controller after the numerical value input of three parameters
Change whether effect meets the requirements, relative to the method for artificial judgment, accuracy has obtained larger raising.
With reference to Fig. 3, according to another aspect of the present invention, the embodiment of the present invention additionally provides a kind of detection ratio integral differential
The device of the parameter calibration effect of controller, including：
First acquisition module 11, the target output voltage value for obtaining proportional plus integral plus derivative controller；
Second acquisition module 12, for obtaining multiple realities of the proportional plus integral plus derivative controller after inputting parameter preset
Border output voltage values, multiple output voltage extreme values, the output voltage extreme value include the more of the proportional plus integral plus derivative controller
A output voltage maximum and multiple output voltage minimums, the output voltage maximum are the PID control parameter
Device is when the corresponding output voltage values of intermediate time at adjacent three moment are more than other two moment corresponding output voltage values
The corresponding output voltage values of the intermediate time, the output voltage minimum are the proportional plus integral plus derivative controller adjacent
The corresponding output voltage values of intermediate time at three moment are less than centre when other two moment corresponding output voltage values
Moment corresponding output voltage values；
Determining module 13 is used to preset according to the target output voltage value of the proportional plus integral plus derivative controller and in input
Actual output voltage value, output voltage extreme value after parameter determine that the proportional plus integral plus derivative controller is inputting described preset
Whether the actual output voltage value after parameter reaches preset state.
With reference to Fig. 4, in the embodiment of the present invention, the determining module 13 includes：
First determination unit 131, for each reality output electricity when the proportional plus integral plus derivative controller got
When pressure value is respectively less than the target output voltage value at moment corresponding with the actual output voltage value, the proportional integral differential is determined
Actual output voltage value of the controller after inputting parameter preset is not up to preset state.
With reference to Fig. 4, in the embodiment of the present invention, the determining module 13 includes：
Second determination unit 132, for first output voltage when the proportional plus integral plus derivative controller got
Maximum is located at less than the proportional plus integral plus derivative controller got after the first output voltage maximum
When other output voltage maximum, actual output voltage of the proportional plus integral plus derivative controller after inputting parameter preset is determined
Value is not up to preset state.
With reference to Fig. 4, in the embodiment of the present invention, the determining module 13 includes：
Third determination unit 133, for when in multiple output voltage maximum of the proportional plus integral plus derivative controller
The difference and the target of the target output voltage value at output voltage maximum value moment corresponding with the output voltage maximum value are defeated
When going out the ratio of voltage value more than the first default ratio, determine the proportional plus integral plus derivative controller after inputting parameter preset
Actual output voltage value is not up to preset state.
With reference to Fig. 4, in the embodiment of the present invention, the determining module 13 includes：
4th determination unit 134, for when the n-th output voltage pole of the proportional plus integral plus derivative controller got
The difference of the target output voltage value at big value moment corresponding with the n-th output voltage maximum and the target output voltage
When the ratio of value is more than the second default ratio, determine that reality of the proportional plus integral plus derivative controller after inputting parameter preset is defeated
Go out voltage value and be not up to preset state, N is default positive integer.
With reference to Fig. 4, in the embodiment of the present invention, the determining module 13 includes：
5th determination unit 135, for when the n-th output voltage pole of the proportional plus integral plus derivative controller got
The difference of the target output voltage value at small value moment corresponding with the n-th output voltage minimum and the target output voltage
When the ratio of value presets ratio more than third, determine that reality of the proportional plus integral plus derivative controller after inputting parameter preset is defeated
Go out voltage value and be not up to preset state, N is default positive integer.
With reference to Fig. 4, in the embodiment of the present invention, the determining module 13 includes：
6th determination unit 136, for when multiple output voltage poles of the proportional plus integral plus derivative controller got
The difference of the target output voltage value at the output voltage maximum value moment corresponding with the output voltage maximum value in big value and institute
The ratio for stating target output voltage value is less than the first default ratio, and
The n-th output voltage maximum of the proportional plus integral plus derivative controller got and n-th output electricity
Pressure maximum corresponds to the difference of the target output voltage value at moment and is preset less than second with the ratio of the target output voltage value
Ratio, N are default positive integer, and
The n-th output voltage minimum of the proportional plus integral plus derivative controller got and n-th output electricity
Pressure minimum corresponds to the difference of the target output voltage value at moment and is preset less than third with the ratio of the target output voltage value
Ratio, N are default positive integer, and
First output voltage maximum of the proportional plus integral plus derivative controller got and n-th output voltage pole
When being worth corresponding moment numerical value minimum, determine that reality of the proportional plus integral plus derivative controller after inputting parameter preset is defeated
Go out voltage value and reaches preset state.
The device of the parameter calibration effect of the detection ratio integral-derivative controller provided through the invention, can be accurate
Judge to Kp、Ti、TdThe change of the actual output voltage value of proportional plus integral plus derivative controller after the numerical value input of three parameters
Change whether effect meets the requirements, relative to the method for artificial judgment, accuracy has obtained larger raising.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (14)
1. a kind of method of the parameter calibration effect of detection ratio integral-derivative controller, which is characterized in that including：
Obtain the target output voltage value of proportional plus integral plus derivative controller；
Obtain multiple actual output voltage values of the proportional plus integral plus derivative controller after inputting parameter preset, multiple outputs electricity
Press extreme value, the output voltage extreme value includes multiple output voltage maximum of the proportional plus integral plus derivative controller and multiple defeated
Go out voltage minimum, the output voltage maximum is the proportional plus integral plus derivative controller at the centre at adjacent three moment
The corresponding output of the intermediate time is electric when carving corresponding output voltage values more than other two moment corresponding output voltage values
Pressure value, the output voltage minimum are that the proportional plus integral plus derivative controller is corresponding in the intermediate time at adjacent three moment
Output voltage values are less than the corresponding output voltage values of intermediate time when other two moment corresponding output voltage values；
Reality output electricity according to the target output voltage value of the proportional plus integral plus derivative controller and after inputting parameter preset
Pressure value, output voltage extreme value determine reality output electricity of the proportional plus integral plus derivative controller after inputting the parameter preset
Whether pressure value reaches preset state.
2. the method for the parameter calibration effect of detection ratio integral-derivative controller according to claim 1, feature exist
In the target output voltage value according to the proportional plus integral plus derivative controller and the reality output after inputting parameter preset
Voltage value, output voltage extreme value judge reality output of the proportional plus integral plus derivative controller after inputting the parameter preset
The step of whether voltage value reaches preset state include：
When each actual output voltage value of the proportional plus integral plus derivative controller got is respectively less than and the reality output
When voltage value corresponds to the target output voltage value at moment, determine the proportional plus integral plus derivative controller after inputting parameter preset
Actual output voltage value is not up to preset state.
3. the method for the parameter calibration effect of detection ratio integral-derivative controller according to claim 1, feature exist
In the target output voltage value according to the proportional plus integral plus derivative controller and the reality output after inputting parameter preset
Voltage value, output voltage extreme value judge reality output of the proportional plus integral plus derivative controller after inputting the parameter preset
The step of whether voltage value reaches preset state include：
When first output voltage maximum of the proportional plus integral plus derivative controller got is less than the ratio got
When other output voltage maximum after the first output voltage maximum of example integral-derivative controller, determine
Actual output voltage value of the proportional plus integral plus derivative controller after inputting parameter preset is not up to preset state.
4. the method for the parameter calibration effect of detection ratio integral-derivative controller according to claim 1, feature exist
In the target output voltage value according to the proportional plus integral plus derivative controller and the reality output after inputting parameter preset
Voltage value, output voltage extreme value judge reality output of the proportional plus integral plus derivative controller after inputting the parameter preset
The step of whether voltage value reaches preset state include：
When output voltage maximum value and the output in multiple output voltage maximum of the proportional plus integral plus derivative controller
Voltage max corresponds to the difference of the target output voltage value at moment and is more than first in advance with the ratio of the target output voltage value
If when ratio, determining that actual output voltage value of the proportional plus integral plus derivative controller after inputting parameter preset is not up to default
State.
5. the method for the parameter calibration effect of detection ratio integral-derivative controller according to claim 1, feature exist
In the target output voltage value according to the proportional plus integral plus derivative controller and the reality output after inputting parameter preset
Voltage value, output voltage extreme value judge reality output of the proportional plus integral plus derivative controller after inputting the parameter preset
The step of whether voltage value reaches preset state include：
N-th output voltage maximum when the proportional plus integral plus derivative controller got and the n-th output voltage
Maximum corresponds to the difference of the target output voltage value at moment and is more than the second default ratio with the ratio of the target output voltage value
When value, the not up to default shape of actual output voltage value of the proportional plus integral plus derivative controller after inputting parameter preset is determined
State, N are default positive integer.
6. the method for the parameter calibration effect of detection ratio integral-derivative controller according to claim 1, feature exist
In the target output voltage value according to the proportional plus integral plus derivative controller and the reality output after inputting parameter preset
Voltage value, output voltage extreme value judge reality output of the proportional plus integral plus derivative controller after inputting the parameter preset
The step of whether voltage value reaches preset state include：
N-th output voltage minimum when the proportional plus integral plus derivative controller got and the n-th output voltage
Minimum corresponds to the difference of the target output voltage value at moment and is more than the default ratio of third with the ratio of the target output voltage value
When value, the not up to default shape of actual output voltage value of the proportional plus integral plus derivative controller after inputting parameter preset is determined
State, N are default positive integer.
7. the method for the parameter calibration effect of detection ratio integral-derivative controller according to claim 1, feature exist
In the target output voltage value according to the proportional plus integral plus derivative controller and the reality output after inputting parameter preset
Voltage value, output voltage extreme value judge reality output of the proportional plus integral plus derivative controller after inputting the parameter preset
The step of whether voltage value reaches preset state include：
When in multiple output voltage maximum of the proportional plus integral plus derivative controller got output voltage maximum value with
The output voltage maximum value correspond to the target output voltage value at moment difference and the ratio of the target output voltage value it is small
In the first default ratio, and
The n-th output voltage maximum of the proportional plus integral plus derivative controller got and n-th output voltage pole
The difference of target output voltage value at big value corresponding moment is less than the second default ratio with the ratio of the target output voltage value,
N is default positive integer, and
The n-th output voltage minimum of the proportional plus integral plus derivative controller got and n-th output voltage pole
The difference of target output voltage value at small value corresponding moment is less than third with the ratio of the target output voltage value and presets ratio,
N is default positive integer, and
The first output voltage maximum and n-th output voltage extreme value of the proportional plus integral plus derivative controller got point
At the time of not corresponding to when numerical value minimum, reality output electricity of the proportional plus integral plus derivative controller after inputting parameter preset is determined
Pressure value reaches preset state.
8. a kind of device of the parameter calibration effect of detection ratio integral-derivative controller, which is characterized in that including：
First acquisition module, the target output voltage value for obtaining proportional plus integral plus derivative controller；
Second acquisition module, for obtaining multiple reality outputs of the proportional plus integral plus derivative controller after inputting parameter preset
Voltage value, multiple output voltage extreme values, the output voltage extreme value include multiple outputs of the proportional plus integral plus derivative controller
Voltage maxima and multiple output voltage minimums, the output voltage maximum are the proportional plus integral plus derivative controller in phase
The corresponding output voltage values of intermediate time at adjacent three moment be more than it is described when other two moment corresponding output voltage values in
Between moment corresponding output voltage values, the output voltage minimum be the proportional plus integral plus derivative controller at adjacent three
The corresponding output voltage values of intermediate time at quarter are less than the intermediate time pair when other two moment corresponding output voltage values
The output voltage values answered；
Determining module, for according to the target output voltage value of the proportional plus integral plus derivative controller and after inputting parameter preset
Actual output voltage value, output voltage extreme value, determine the proportional plus integral plus derivative controller after inputting the parameter preset
Actual output voltage value whether reach preset state.
9. the device of the parameter calibration effect of detection ratio integral-derivative controller according to claim 8, feature exist
In the determining module includes：
First determination unit, each actual output voltage value for working as the proportional plus integral plus derivative controller got are small
When the target output voltage value at moment corresponding with the actual output voltage value, determine that the proportional plus integral plus derivative controller exists
Actual output voltage value after input parameter preset is not up to preset state.
10. the device of the parameter calibration effect of detection ratio integral-derivative controller according to claim 8, feature exist
In the determining module includes：
Second determination unit, the first output voltage maximum for working as the proportional plus integral plus derivative controller got are small
In other outputs after the first output voltage maximum of the proportional plus integral plus derivative controller got
When voltage maxima, determine that actual output voltage value of the proportional plus integral plus derivative controller after inputting parameter preset is not up to
Preset state.
11. the device of the parameter calibration effect of detection ratio integral-derivative controller according to claim 8, feature exist
In the determining module includes：
Third determination unit, for when the output voltage in multiple output voltage maximum of the proportional plus integral plus derivative controller
The difference of the target output voltage value at maximum value moment corresponding with the output voltage maximum value and the target output voltage value
Ratio be more than the first default ratio when, determine reality output of the proportional plus integral plus derivative controller after inputting parameter preset
Voltage value is not up to preset state.
12. the device of the parameter calibration effect of detection ratio integral-derivative controller according to claim 8, feature exist
In the determining module includes：
4th determination unit, for when the n-th output voltage maximum of the proportional plus integral plus derivative controller that get with
The n-th output voltage maximum corresponds to the difference of the target output voltage value at moment and the ratio of the target output voltage value
When value is more than the second default ratio, actual output voltage of the proportional plus integral plus derivative controller after inputting parameter preset is determined
Value is not up to preset state, and N is default positive integer.
13. the device of the parameter calibration effect of detection ratio integral-derivative controller according to claim 8, feature exist
In the determining module includes：
5th determination unit, for when the n-th output voltage minimum of the proportional plus integral plus derivative controller that get with
The n-th output voltage minimum corresponds to the difference of the target output voltage value at moment and the ratio of the target output voltage value
When value presets ratio more than third, actual output voltage of the proportional plus integral plus derivative controller after inputting parameter preset is determined
Value is not up to preset state, and N is default positive integer.
14. the device of the parameter calibration effect of detection ratio integral-derivative controller according to claim 8, feature exist
In the determining module includes：
6th determination unit, for when in multiple output voltage maximum of the proportional plus integral plus derivative controller got
The difference and the target of the target output voltage value at output voltage maximum value moment corresponding with the output voltage maximum value are defeated
The ratio for going out voltage value is less than the first default ratio, and
The n-th output voltage maximum of the proportional plus integral plus derivative controller got and n-th output voltage pole
The difference of target output voltage value at big value corresponding moment is less than the second default ratio with the ratio of the target output voltage value,
N is default positive integer, and
The n-th output voltage minimum of the proportional plus integral plus derivative controller got and n-th output voltage pole
The difference of target output voltage value at small value corresponding moment is less than third with the ratio of the target output voltage value and presets ratio,
N is default positive integer, and
The first output voltage maximum and n-th output voltage extreme value of the proportional plus integral plus derivative controller got point
At the time of not corresponding to when numerical value minimum, reality output electricity of the proportional plus integral plus derivative controller after inputting parameter preset is determined
Pressure value reaches preset state.
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| US5170673A (en) * | 1990-09-28 | 1992-12-15 | Landis & Gyr Powers, Inc. | Method and apparatus for determining the uncovered size of an opening adapted to be covered by multiple moveable doors |
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|---|---|---|---|---|
| US5170673A (en) * | 1990-09-28 | 1992-12-15 | Landis & Gyr Powers, Inc. | Method and apparatus for determining the uncovered size of an opening adapted to be covered by multiple moveable doors |
| US6182636B1 (en) * | 1999-10-18 | 2001-02-06 | Ford Global Technologies, Inc. | Lean burn engine speed control |
| CN1919579A (en) * | 2005-08-25 | 2007-02-28 | 中国科学院自动化研究所 | Self-adapting temperature controlling method for injection moulding forming machine and circuit thereof |
| CN105278329A (en) * | 2014-07-07 | 2016-01-27 | 阿自倍尔株式会社 | Pid controller and data collecting method |
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