CN108628159A - A kind of PID control method, device, equipment and system - Google Patents
A kind of PID control method, device, equipment and system Download PDFInfo
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Abstract
This application discloses a kind of PID control methods, including：Input signal and output signal to controlled device make difference to obtain error signal；Whether error in judgement signal is more than default error threshold；If so, calculating the first PID control amount using the first pid control algorithm with integral adjustment so as to as total control amount；If it is not, then using cancel integral adjustment the second pid control algorithm calculate the second PID control amount, using predesigned compensation algorithm calculate compensation controlled quentity controlled variable, by the second PID control amount with compensation controlled quentity controlled variable and as total control amount；Total control amount is exported to controlled device, so that the output signal to controlled device is adjusted.PID control method governing speed provided herein is fast, control accuracy is high, has preferable control performance.Disclosed herein as well is a kind of PID control device, equipment, system and computer readable storage mediums, equally have above-mentioned advantageous effect.
Description
Technical field
This application involves automatic control technology field, more particularly to a kind of PID control method, device, equipment, system and meter
Calculation machine readable storage medium storing program for executing.
Background technology
PID control has many advantages, such as that simple in structure, stability is good, reliable operation, be still at present in industrial stokehold most
Common control method.
Proportion adjustment, integral adjustment and differential are contained in classical PID control method simultaneously to adjust.Since integral adjustment passes through
The problem of overshoot or oscillation can often be caused, so occurring integral separation type PID control method in the prior art.Its cardinal principle
It is that integral adjustment is not put into when error is larger, it is excessive because of error accumulation to avoid controlled quentity controlled variable；And it is put into when error is smaller
Integral adjustment, to realize zero steady state error control using the advantage of integral adjustment.But this method is due to adjusting early period, that is, error
The effect of integral adjustment is eliminated when larger, thus reduces the governing speed of system.
As it can be seen that using which kind of PID control method, so as to effective while reduction hyperharmonic is vibrated and realizes indifference control
Governing speed is improved, is those skilled in the art's technical problem urgently to be resolved hurrily.
Invention content
The application's is designed to provide a kind of PID control method, device, equipment, system and computer-readable storage medium
Matter, to effectively improve governing speed while reduction hyperharmonic is vibrated and realizes indifference control.
In order to solve the above technical problems, the application provides a kind of PID control method, including：
Input signal and output signal to controlled device make difference to obtain error signal；
Judge whether the error signal is more than default error threshold；
If so, calculating the first PID control amount using the first pid control algorithm with integral adjustment so as to as master control
Amount processed；
If it is not, then the second PID control amount is calculated using the second pid control algorithm for cancelling integral adjustment, using default benefit
Repay algorithm calculate compensation controlled quentity controlled variable, by second PID control amount with it is described compensation controlled quentity controlled variable and as the total control amount；
The total control amount is exported to the controlled device, to be carried out to the output signal of the controlled device
It adjusts.
Optionally, the default error threshold is ef=k1r(t)；
Wherein, efFor the default error threshold；k1To preset error threshold coefficient；R (t) is the input signal.
Optionally, the default error threshold coefficient k1∈[0,0.2]。
Optionally, described to include using predesigned compensation algorithm calculating compensation controlled quentity controlled variable：
According to ub=k2u0Calculate the compensation controlled quentity controlled variable；
Wherein, ubFor the compensation controlled quentity controlled variable；k2For predesigned compensation coefficient；u0For corresponding to the default of the controlled device
Basic compensation rate.
Optionally, the transmission function of the controlled device is
Wherein, b0For molecular constant item；B is denominator constant term；A is denominator Monomial coefficient；
The default basic compensation rate is u0=b/b0。
Optionally, first pid control algorithm and second pid control algorithm are parameter self-tuning PID control
Algorithm.
Present invention also provides a kind of PID control devices, including：
Acquisition module：For to controlled device input signal and output signal make difference to obtain error signal；
Judgment module：For judging whether the error signal is more than default error threshold；
Computing module：For when the error signal be more than the default error threshold when, using with integration control
First pid control algorithm calculates the first PID control amount so as to as total control amount；When the error signal is default no more than described
When error threshold, the second PID control amount is calculated using the second pid control algorithm for cancelling integration control, is calculated using predesigned compensation
Method calculate compensation controlled quentity controlled variable, and by second PID control amount with it is described compensation controlled quentity controlled variable and as the total control amount；
Output module：For exporting the total control amount to the controlled device, so as to the institute to the controlled device
Output signal is stated to be adjusted.
Present invention also provides a kind of PID control equipment, including：
Memory：For storing computer program；
Processor：For the step of executing the computer program to realize any PID control method as described above.
Present invention also provides a kind of computer readable storage medium, meter is stored in the computer readable storage medium
Calculation machine program, realizing the step of any PID control method as described above when the computer program is executed by processor
Suddenly.
Present invention also provides a kind of PID control systems, including controlled device and PID control equipment as described above.
PID control method provided herein includes：Input signal and output signal to controlled device make difference to obtain
Take error signal；Judge whether the error signal is more than default error threshold；If so, using first with integral adjustment
Pid control algorithm calculates the first PID control amount so as to as total control amount；If it is not, then using the 2nd PID for cancelling integral adjustment
Control algolithm calculates the second PID control amount, compensation controlled quentity controlled variable is calculated using predesigned compensation algorithm, by second PID control amount
With it is described compensation controlled quentity controlled variable and as the total control amount；The total control amount is exported to the controlled device, so as to right
The output signal of the controlled device is adjusted.
As it can be seen that compared with the prior art, PID control method provided herein is put into when error signal is larger
Integral adjustment effectively accelerates the response speed of system；And when error signal is smaller, to eliminating the PID after integral adjustment
Control is compensated, and static error is also effectively eliminated while reducing hyperharmonic oscillation.It can be seen that the application is carried
The PID control method governing speed of confession is fast, control accuracy is high, has preferable control performance.PID control provided herein
Above-mentioned PID control method may be implemented in device, equipment, system and computer readable storage medium, equally has above-mentioned beneficial to effect
Fruit.
Description of the drawings
In order to illustrate more clearly of the technical solution in the prior art and the embodiment of the present application, below will to the prior art and
Attached drawing to be used is needed to make brief introduction in the embodiment of the present application description.Certainly, the attached drawing in relation to the embodiment of the present application below
A part of the embodiment in only the application of description is not paying creativeness to those skilled in the art
Under the premise of labour, other attached drawings can also be obtained according to the attached drawing of offer, the other accompanying drawings obtained also belong to the application
Protection domain.
Fig. 1 is a kind of flow chart of PID control method provided herein；
Fig. 2 is a kind of control block diagram of PID control method provided herein；
Fig. 3 is the control effect oscillogram of PID control method provided herein under first group of pid control parameter；
Fig. 4 is the control effect oscillogram of PID control method provided herein under second group of pid control parameter；
Fig. 5 is the control effect oscillogram of PID control method provided herein under third group pid control parameter；
Fig. 6 is the control effect oscillogram of PID control method provided herein under the 4th group of pid control parameter；
Fig. 7 is the control effect of PID control method provided herein under the transmission function misalignments of controlled device
Fruit oscillogram；
Fig. 8 is the control effect of PID control method provided herein after having adjusted predesigned compensation coefficient for Fig. 8
Fruit oscillogram；
Fig. 9 is a kind of structure diagram of PID control device provided herein.
Specific implementation mode
The core of the application is to provide a kind of PID control method, device, equipment, system and computer-readable storage medium
Matter, to effectively improve governing speed while reduction hyperharmonic is vibrated and realizes indifference control.
In order to which technical solutions in the embodiments of the present application is more clearly and completely described, below in conjunction with this Shen
Attached drawing that please be in embodiment, technical solutions in the embodiments of the present application are introduced.Obviously, described embodiment is only
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
The every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
PID control method provided herein is specially a kind of PID control using integral separation and compensation control
Method.Difference is detached in the prior art, the application does not cancel when error is larger has put into integral adjustment instead,
In order to make system has faster response speed, accelerate adjusting process.On the contrary, the application is specifically to cancel when error is smaller
Integral adjustment, the PID to reduce the generation of overshoot or oscillatory occurences, and after being detached to integral in combination with compensation control
Controlled quentity controlled variable compensates, and achievees the purpose that eliminate steady-state error.
Referring to FIG. 1, Fig. 1 is a kind of flow chart of PID control method provided herein, include mainly following step
Suddenly：
Step 1：Input signal and output signal to controlled device make difference to obtain error signal.
Specifically, if input signal, that is, desired output of control system is r (t), output signal is y (t), then can be missed
Difference signal is e (t)=r (t)-y (t).
Step 2：Whether error in judgement signal is more than default error threshold；If so, entering step 3；If it is not, then entering step
Rapid 4.
Specifically, specific to be provided with default error threshold e in PID control method provided hereinfCarry out decision errors
The relative size of signal e (t).When error signal e (t) is more than default error threshold efWhen, illustrate current error signal e (t) compared with
Greatly, it needs to put into autocatalytic reset action, thus can enter step 3.When error signal e (t) is not more than default error threshold efWhen,
Illustrate that current error signal e (t) is smaller, need to cancel autocatalytic reset action and compensation control is added, thus can enter step 4.
Certainly, default error threshold e mentioned herefSpecific value can be by those skilled in the art according to practical application
Situation voluntarily selects and is arranged, and this embodiment of the present application is not limited thereto.Such as, so it is easy to understand that the default error
Threshold value efBe specifically as follows with the relevant amounts of input signal r (t), i.e., when the input signal r (t) of setting increases, as input
Or cancel the default error threshold e of the boundary value of autocatalytic reset actionfCan also suitably it increase.
Step 3：First PID control amount is calculated so as to as master control using the first pid control algorithm with integral adjustment
Amount processed, enters step 5.
Specifically, when putting into integral adjustment when decision errors signal e (t) is larger, the first described pid control algorithm
Expression is
Wherein, upid_1As the first described PID control amount；kp、kiAnd kdRespectively proportionality coefficient, integral coefficient and micro-
Divide coefficient.
Since the input of integral adjustment can eliminate static error, it at this time can be directly by the first PID control amount
upid_1As total control amount u, i.e. u=upid_1。
Step 4：Second PID control amount is calculated using the second pid control algorithm for cancelling integral adjustment, using predesigned compensation
Algorithm calculate compensation controlled quentity controlled variable, by the second PID control amount with compensation controlled quentity controlled variable and as total control amount, enter step 5.
Specifically, when cancelling integral adjustment when decision errors signal e (t) is smaller, the second described pid control algorithm
Expression is
Wherein, upid_2As the second described PID control amount.
When error signal e (t) is smaller, that is, illustrate the output signal y (t) and input signal r (t) of control system at this time compared with
It is close, difference is smaller, is also relatively easy to generate overshoot or oscillation.Cancel autocatalytic reset action at this time, can effectively reduce
The generation of overshoot or oscillation.
In addition, in order to equally realize that indifference control, the application also introduce compensation control in the case where cancelling integral adjustment
Amount u processedb, controlled quentity controlled variable u will be compensatedbWith the second PID control amount upid_2And as total control amount u：
U=upid_2+ub。
Certainly, as compensation controlled quentity controlled variable ubCircular and value size, those skilled in the art can voluntarily select
It selects and is arranged, this embodiment of the present application is not limited thereto.
Step 5：Total control amount is exported to controlled device, so that the output signal to controlled device is adjusted.
After total control amount u is determined, controlled device can be output this to so that output signal y (t) is in its control
Effect is lower gradually to stablize near input signal r (t).
In fact, in practical applications, those skilled in the art can be freely above-mentioned to realize using various flexible modes
Method.For example, referring to FIG. 2, Fig. 2 is a kind of control block diagram of PID control method provided herein.As shown in Fig. 2, its
Whether middle integral adjustment switching controller is more than default error threshold e for error in judgement signal e (t)f, and specifically generate one
Integral adjustment switching signal x (t)：
When then integral adjustment switching signal x (t) is 1, that is, indicate to need to put into integral adjustment；Integral adjustment switching signal x
(t) be 0 when, that is, indicate need cancel integral adjustment.Correspondingly, described the first pid control algorithm and the second pid control algorithm
It can be realized by the PID controller in Fig. 2, then its expression is
Meanwhile integral adjustment switching signal x (t) is similarly the switching signal of compensation control, when integral adjustment switching is believed
Number x (t) is 0 when cancelling integral adjustment, needs input compensation control.Control- action compensation device in Fig. 2 is used for according to integral adjustment
Switching signal x (t) decides whether output compensation controlled quentity controlled variable ub.Therefore, the total control amount u for being input to controlled device can be indicated
For：
As it can be seen that the PID control method that the embodiment of the present application is provided, integral adjustment has been put into when error signal is larger,
Effectively accelerate the response speed of system；And when error signal is smaller, carried out to eliminating the PID control after integral adjustment
Compensation also effectively eliminates static error while reducing hyperharmonic oscillation.It can be seen that PID controls provided herein
Method governing speed processed is fast, control accuracy is high, has preferable control performance.
PID control method provided herein, on the basis of the above embodiments：
As a kind of preferred embodiment, it is e to preset error thresholdf=k1r(t)；
Wherein, efTo preset error threshold；k1To preset error threshold coefficient；R (t) is input signal.
Specifically, as previously mentioned, default error threshold efIt can be amount associated with input signal r (t), and specifically may be used
To be proportional relationship.Those skilled in the art can preset error threshold coefficient k by adjusting1Size and find and more close
Suitable default error threshold ef。
As a kind of preferred embodiment, error threshold coefficient k is preset1∈[0,0.2]。
Specifically, on the basis of Multi simulation running and experiment, the embodiment of the present application provides a default error threshold system
Number k1Value term of reference：k1∈[0,0.2].Certainly, those skilled in the art can also carry out value within the scope of other,
The application is not defined.
As a kind of preferred embodiment, calculating compensation controlled quentity controlled variable using predesigned compensation algorithm includes：
According to ub=k2u0Calculate compensation controlled quentity controlled variable；
Wherein, ubTo compensate controlled quentity controlled variable；k2For predesigned compensation coefficient；u0It is compensated for the default basis corresponding to controlled device
Amount.
Specifically, compensation controlled quentity controlled variable u is being calculatedbWhen, recommend but be not limited to setting one it is corresponding with controlled device pre-
If basic compensation rate u0, and by with predesigned compensation coefficient k2It is linearly calculated and is compensated controlled quentity controlled variable ub.Art technology
Personnel should both know about, the controlled device of different type transmission function, even and control parameter identical in input signal r (t)
In the case of identical, final steady-state error is also different.Therefore, it can be directed to different controlled devices, setting is corresponding
Default basis compensation rate u0, on this basis by adjusting predesigned compensation coefficient k2To determine more suitable compensation controlled quentity controlled variable ub
Realize indifference control.
As a kind of preferred embodiment, the transmission function of controlled device is
Wherein, b0For molecular constant item；B is denominator constant term；A is denominator Monomial coefficient；
Default basis compensation rate is u0=b/b0。
Specifically, when controlled device is second-order system, the form for corresponding to transmission function is
It at this time preferably, can be by default basic compensation rate u0It is taken as u0=b/b0。
As a kind of preferred embodiment, the first pid control algorithm and the second pid control algorithm are parameter self-tuning PID
Control algolithm.
Specifically, for PID control, pid control parameter (proportionality coefficient kp, integral coefficient kiWith differential coefficient kd)
Value to control performance have important decision meaning.Therefore, for the ease of obtaining more suitable pid control parameter,
In PID control method provided herein, the first described pid control algorithm and the second pid control algorithm can be into one
Step is parameter self-tuning pid control algorithm, and control accuracy and control performance are effectively improved will pass through parameter tuning.
It is respectively that PID control method provided herein is not being sympathized with to please refer to Fig.3 to Fig. 8, Fig. 3 to Fig. 8
Control effect oscillogram under condition, the controlled device corresponding to them are second-order system, and transmission function is speciallyInput signal r (t) is unit step signal, some relevant parameter settings are：Default error
Threshold coefficient is k1=0.2, it is u to preset basis compensation rate0=4.In addition, the corresponding predesigned compensation coefficients of Fig. 3 to Fig. 7 are k2=
1, and the corresponding predesigned compensation coefficients of Fig. 8 are k2=1.25.
In Fig. 3 to Fig. 8 other than showing PID control method provided herein, also show including classics
Other control methods including PID and existing integral-separated PID, are compared and analyzed with facilitating.
Specifically, control effect oscillogram when Fig. 3 is using first group of pid control parameter, pid control parameter are specific
For：kp=20, ki=20, kd=3.From figure 3, it can be seen that provided herein detaches with integral and compensates control
PID control method (hereinafter referred to as integrating separation+compensation PID) can realize quick response and non-overshoot；And classical PID exists
Overshoot, while there is only larger overshoot by existing integral-separated PID, and respond slow.
Control effect oscillogram when Fig. 4 is using second group of pid control parameter, pid control parameter are specially：kp=
20、ki=10, kd=0.01.Figure 4, it is seen that classical PID and existing integral-separated PID are without decree system output
Desired locations are reached, that is, there is static error；And integral provided herein detaches+compensates PID and although there is over control,
But overshoot is smaller, and without static error.
Control effect oscillogram when Fig. 5 is using third group pid control parameter, pid control parameter are specially：kp=
10、ki=20, kd=0.01.From figure 5 it can be seen that integral provided herein, which detaches+compensate PID, is compared to classics
PID has smaller overshoot；And existing integral-separated PID is then due to the unreasonable (k of parameter settingpIt is smaller) and integral is enabled to adjust
It saves entirely ineffective, that is, is equivalent to PD control.
Control effect oscillogram when Fig. 6 is using the 4th group of pid control parameter, pid control parameter are specially：kp=
5、ki=50, kd=1.From fig. 6 it can be seen that at this time since larger, the integral adjustment pair in classical PID is arranged in integral coefficient
System stability, which produces, to be seriously affected, and existing integral-separated PID then enables integral adjustment complete since parameter setting is unreasonable
Full failure；And integral provided herein detaches+compensates PID and then achieves preferable control effect.
Complex chart 3 can be seen that under the control action of same group of pid control parameter to Fig. 6, product provided herein
Divide separation+compensation PID that can obtain the excellent control performance for being substantially better than classical PID and existing integral-separated PID.
Fig. 7 is PID control method provided herein under the transmission function misalignments of controlled device
Control effect oscillogram.Assuming that actual transfer function isControlled device be mistaken asAnd it is adjusted using the corresponding first group of control parameter of Fig. 3, obtained control effect such as Fig. 7 institutes
Show.It can be seen from figure 7 that provided herein at this time uses k2=1 integral detaches+compensate PID approach, and there are larger
Static error, therefore can be by adjusting control- action compensation coefficient k2To eliminate static error.
Fig. 8 is the control effect of PID control method provided herein after having adjusted predesigned compensation coefficient for Fig. 7
Fruit oscillogram.It is k that it, which is specifically by predesigned compensation coefficient adjustment,2=1.25.As can be seen from Figure 8, by predesigned compensation
Coefficient k2It is adjusted, and then improves the function and effect of compensation control, can successfully eliminate static error, realize indifference control
System.
The PID control device provided below the embodiment of the present application is introduced.
Referring to Fig. 9, Fig. 9 is a kind of structure diagram of PID control device provided herein；Including acquisition module 1,
Judgment module 2, computing module 3 and output module 4；
Acquisition module 1 is used to make difference to the input signal and output signal of controlled device to obtain error signal；
Whether judgment module 2 is more than default error threshold for error in judgement signal；
Computing module 3 is used to, when error signal is more than default error threshold, control using the first PID with integration control
Algorithm processed calculates the first PID control amount so as to as total control amount；When error signal is not more than default error threshold, using taking
Second pid control algorithm of the integration control that disappears calculates the second PID control amount, and compensation controlled quentity controlled variable is calculated using predesigned compensation algorithm,
And by the second PID control amount with compensation controlled quentity controlled variable and as total control amount；
Output module 4 is for exporting total control amount to controlled device, so that the output signal to controlled device is adjusted
Section.
As it can be seen that PID control device provided herein, integral adjustment has been put into when error signal is larger, effectively add
The fast response speed of system；And when error signal is smaller, compensated eliminating the PID control after integral adjustment,
Static error is also effectively eliminated while reducing hyperharmonic oscillation.It can be seen that PID control device provided herein
Governing speed is fast, control accuracy is high, has preferable control performance.
Present invention also provides a kind of PID control equipment, including：
Memory：For storing computer program；
Processor：For the step of executing the computer program to realize any PID control method as described above.
Present invention also provides a kind of computer readable storage medium, meter is stored in the computer readable storage medium
Calculation machine program, realizing the step of any PID control method as described above when the computer program is executed by processor
Suddenly.
Present invention also provides a kind of PID control systems, including controlled device and PID control equipment as described above.
The specific implementation mode of PID control device, equipment, system and computer readable storage medium provided herein
Reference can be corresponded with PID control method as described above, is just repeated no more here.
Each embodiment is described by the way of progressive in the application, the highlights of each of the examples are with other realities
Apply the difference of example, just to refer each other for identical similar portion between each embodiment.For device disclosed in embodiment
Speech, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related place is referring to method part illustration
.
It should be noted that in present specification, the relational terms of such as " first " and " second " etc are used merely to
One entity is either operated and is distinguished with another entity or operation, without necessarily requiring or implying these entities or
There are any actual relationship or orders between person's operation.In addition, the terms "include", "comprise" or its any other
Variant is intended to non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only
Including those elements, but also include other elements that are not explicitly listed, or further includes for this process, method, object
Product or the intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...",
It is not precluded in the process, method, article or apparatus that includes the element that there is also other identical elements.
Technical solution provided herein is described in detail above.Specific case used herein is to this Shen
Principle and embodiment please is expounded, the explanation of above example is only intended to help understand the present processes and its
Core concept.It should be pointed out that for those skilled in the art, in the premise for not departing from the application principle
Under, can also to the application, some improvement and modification can also be carried out, these improvement and modification also fall into the protection of the application claim
In range.
Claims (10)
1. a kind of PID control method, which is characterized in that including：
Input signal and output signal to controlled device make difference to obtain error signal；
Judge whether the error signal is more than default error threshold；
If so, calculating the first PID control amount using the first pid control algorithm with integral adjustment so as to as master control
Amount；
If it is not, then calculating the second PID control amount using the second pid control algorithm for cancelling integral adjustment, calculated using predesigned compensation
Method calculate compensation controlled quentity controlled variable, by second PID control amount with it is described compensation controlled quentity controlled variable and as the total control amount；
The total control amount is exported to the controlled device, so that the output signal to the controlled device is adjusted
Section.
2. PID control method according to claim 1, which is characterized in that the default error threshold is ef=k1r(t)；
Wherein, efFor the default error threshold；k1To preset error threshold coefficient；R (t) is the input signal.
3. PID control method according to claim 2, which is characterized in that the default error threshold coefficient k1∈[0,
0.2]。
4. PID control method according to claim 1, which is characterized in that described to calculate compensation using predesigned compensation algorithm
Controlled quentity controlled variable includes：
According to ub=k2u0Calculate the compensation controlled quentity controlled variable；
Wherein, ubFor the compensation controlled quentity controlled variable；k2For predesigned compensation coefficient；u0For the default basis corresponding to the controlled device
Compensation rate.
5. PID control method according to claim 4, which is characterized in that the transmission function of the controlled device is
Wherein, b0For molecular constant item；B is denominator constant term；A is denominator Monomial coefficient；
The default basic compensation rate is u0=b/b0。
6. PID control method according to any one of claims 1 to 5, which is characterized in that first pid control algorithm
It is parameter self-tuning pid control algorithm with second pid control algorithm.
7. a kind of PID control device, which is characterized in that including：
Acquisition module：For to controlled device input signal and output signal make difference to obtain error signal；
Judgment module：For judging whether the error signal is more than default error threshold；
Computing module：For when the error signal be more than the default error threshold when, using first with integration control
Pid control algorithm calculates the first PID control amount so as to as total control amount；When the error signal is not more than the default error
When threshold value, the second PID control amount is calculated using the second pid control algorithm for cancelling integration control, using predesigned compensation algorithm meter
Calculate compensation controlled quentity controlled variable, and by second PID control amount with it is described compensation controlled quentity controlled variable and as the total control amount；
Output module：For exporting the total control amount to the controlled device, so as to the described defeated of the controlled device
Go out signal to be adjusted.
8. a kind of PID control equipment, which is characterized in that including：
Memory：For storing computer program；
Processor：For executing the computer program to realize such as claim 1 to 6 any one of them PID control method
The step of.
9. a kind of computer readable storage medium, which is characterized in that be stored with computer in the computer readable storage medium
Program, realizing such as claim 1 to 6 any one of them PID control side when the computer program is executed by processor
The step of method.
10. a kind of PID control system, which is characterized in that set including controlled device and PID control as claimed in claim 8
It is standby.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109270972A (en) * | 2018-10-11 | 2019-01-25 | 中国船舶重工集团公司第七〇九研究所 | A kind of thermostatically-controlled equipment |
| CN109634099A (en) * | 2018-12-29 | 2019-04-16 | 百度在线网络技术（北京）有限公司 | Method for controlling a vehicle and device |
| CN109634102A (en) * | 2019-01-22 | 2019-04-16 | 广东工业大学 | A kind of Two-stage control method, apparatus, equipment and storage medium |
| CN111600521A (en) * | 2020-06-15 | 2020-08-28 | 湖北师范大学 | Excitation controller control method and system |
| CN111752143A (en) * | 2020-03-21 | 2020-10-09 | 哈尔滨工程大学 | Adjustable inertia integral control method |
| CN111799557A (en) * | 2020-06-28 | 2020-10-20 | 北京爱科迪通信技术股份有限公司 | Satellite antenna drive control method for inhibiting PID control oscillation |
| CN117991827A (en) * | 2024-02-18 | 2024-05-07 | 江南阀门有限公司 | Steam flow control method and system based on double-group valve |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109270972A (en) * | 2018-10-11 | 2019-01-25 | 中国船舶重工集团公司第七〇九研究所 | A kind of thermostatically-controlled equipment |
| CN109634099A (en) * | 2018-12-29 | 2019-04-16 | 百度在线网络技术（北京）有限公司 | Method for controlling a vehicle and device |
| CN109634102A (en) * | 2019-01-22 | 2019-04-16 | 广东工业大学 | A kind of Two-stage control method, apparatus, equipment and storage medium |
| CN111752143A (en) * | 2020-03-21 | 2020-10-09 | 哈尔滨工程大学 | Adjustable inertia integral control method |
| CN111600521A (en) * | 2020-06-15 | 2020-08-28 | 湖北师范大学 | Excitation controller control method and system |
| CN111600521B (en) * | 2020-06-15 | 2021-02-02 | 湖北师范大学 | Excitation controller control method and system |
| CN111799557A (en) * | 2020-06-28 | 2020-10-20 | 北京爱科迪通信技术股份有限公司 | Satellite antenna drive control method for inhibiting PID control oscillation |
| CN117991827A (en) * | 2024-02-18 | 2024-05-07 | 江南阀门有限公司 | Steam flow control method and system based on double-group valve |
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