CN108958308A - Relay feedback Self-tuning System method controls the humidity control method combined with differential forward - Google Patents
Relay feedback Self-tuning System method controls the humidity control method combined with differential forward Download PDFInfo
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- CN108958308A CN108958308A CN201810845263.0A CN201810845263A CN108958308A CN 108958308 A CN108958308 A CN 108958308A CN 201810845263 A CN201810845263 A CN 201810845263A CN 108958308 A CN108958308 A CN 108958308A
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D22/00—Control of humidity
- G05D22/02—Control of humidity characterised by the use of electric means
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Abstract
The invention discloses a kind of relay feedback Self-tuning System methods to control the humid control algorithm combined with differential forward, for the wet equipment of control for one order inertia delay object, pid parameter Self-tuning System is carried out using relay feedback method, the pid parameter for meeting current device operating condition is provided for the wet equipment of the control, and the lag issues in equipment control process are compensated using derivative-precedence PID.The present invention efficiently solves the problems, such as the wet equipment of control in the process of running because equipment performance caused by parameter tuning is bad is not good enough, and it is effectively improved lag issues existing for the wet equipment of control, the anti-interference ability of wet equipment is controlled in enhancing, it solves the problems, such as that the wet equipment overshoot in control process of control is excessive, improves system control precision.
Description
Technical field
The present invention relates to humid control fields, especially a kind of to apply in the use relay feedback Self-tuning System controlled in wet equipment
Method controls the humidity control method combined with differential forward.
Background technique
Humidity is to consider one of the basic parameter of historical relic's protection environmental quality, and the influence due to humidity to historical relic's protection is especially
Obviously, ambient humidity is too high or too low can all cause historical relic is rotten in turn result in damage.It is wet required by the historical relic of differing texture
Degree preservation condition is also different, such as the humidity preservation condition that papery class historical relic requires is 50%RH to 55%RH, wood paint class historical relic
It is required that humidity preservation condition be 60%RH to 65%RH, etc..Therefore it is required that the wet equipment of control being applied in museum can
According to setting value, the humidity environment of suitable historical relic storage is built.
The wet equipment of numerical control takes traditional PID control method mostly at present, and this method cannot be in real time according to running environment
Variation is adjusted, and the pid parameter of actual motion is caused often to adjust bad, poor performance.Meanwhile wet equipment is controlled due to inside
, often there is biggish hysteresis property in the reason of structure or the wet strategy of control, cause unstable system performance, poor anti jamming capability,
The problems such as overshoot is excessive in control process.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of relay feedback Self-tuning System methods and differential forward control mutually to tie
The humidity control method of conjunction to realize the high-precision humid control of industrial environment, while realizing the wet equipment of control in control process
In carry out the function of pid parameter Self-tuning System according to the actual operation, and compensate the hysteresis property for controlling wet equipment, effectively reduce and set
Overshoot in standby control process, enhances system rejection to disturbance ability, lifting system performance and stability.
The present invention adopts the following technical scheme that in order to solve the technical problem
Relay feedback Self-tuning System method of the present invention controls the humidity control method combined, the humid control with differential forward
The wet equipment of control employed in method be one order inertia delay object, its main feature is that the humidity control method as follows into
Row:
Step 1, starting control wet equipment, and carry out humidity control using Differential Forward PID Controller according to initial p ID parameter
System, the runing time of recording equipment, real-time detection obtain the humidity output valve of the wet equipment of control, and defining e (t) is in t moment
The difference of the humidity output valve for the wet equipment of control that the humidity set point and real-time detection for controlling wet equipment obtain；
Step 2, equipment runing time reach setting reference time point t0When, judge current difference e (t0) it is absolute
Whether value is less than setting difference true, and will restart timing after the runing time of current device zero:
If so, show that the operation result of initial p ID parameter meets demand, does not need to carry out pid parameter Self-tuning System, keep
Current operating conditions work on, and repeat step 2；
If not, show that the operation result of initial p ID parameter does not meet demand, is then set using relay feedback method is wet to control
Standby model parameter is recognized, and results of model parameter identification is obtained, and into pid parameter Self-tuning System link, the pid parameter is certainly
Adjusting link is to determine PID Self-tuning System parameter using critical proportionality range parameter tuning method according to the results of model parameter identification,
Subsequently enter step 3；
The PID Self-tuning System parameter is substituted into Differential Forward PID Controller progress humid control by step 3, realizes that relay is anti-
The humid control that feedback Self-tuning System method is combined with derivative-precedence PID, is then returned to step 2.
Relay feedback Self-tuning System method of the present invention is lain also in the characteristics of differential forward controls the humidity control method combined:
The wet equipment of control has the transfer function model characterized by formula (1):
In formula (1): indicating the wet equipment transfer function model of control with G (s), s is complex frequency, and K is gain coefficient, and T is the time
Constant, L are system delay constant.
Relay feedback Self-tuning System method of the present invention is lain also in the characteristics of differential forward controls the humidity control method combined:
The initial p ID parameter is taken as controlling the factory pid parameter of wet equipment, or is taken as the PID Self-tuning System parameter in an adjusting stage.
Relay feedback Self-tuning System method of the present invention is lain also in the spy for the humidity control method that differential forward control combines: institute
Pid parameter Self-tuning System link is stated to carry out according to the following procedure:
4.1 recognize the model parameter for controlling wet equipment using relay feedback method, are to input by formula (2) to wet equipment is controlled
After electric excitation signal u (t), make to control wet equipment output pure oscillation signal；
Define e+For after the positive transition value of electric excitation signal u (t), e-For after the negative sense hop value of electric excitation signal u (t).
In formula (2), Δ is the amplitude after electric excitation signal u (t), u0For after a reference value of electric excitation signal u (t), t+For difference e (t) etc.
In e+Time point, t-It is equal to e for difference e (t)-Time point；
4.2, using the pure oscillation signal for controlling wet equipment output, are determined by formula (3), formula (4) and formula (5) and control wet equipment
Critical proportionality range KuWith aritical ratio cycle Tc:
Wherein: a is the amplitude of pure oscillation signal,It is the wave crest average value of pure oscillation signal,It is sinusoidal vibration
Swing the trough average value of signal；tnIt is the time point of pure oscillation signal n-th zero crossing, t1For the 1st mistake of sinusoidal oscillator signal
The time point of zero point；
4.3 determine PID Self-tuning System parameter using critical proportionality range parameter tuning method, are by formula (6), formula (7) and formula (8) point
The scale parameter K in pid parameter Ji Suan not obtainedp, integral parameter TiWith differential parameter Td:
Kp=0.6Ku(6),
Ti=0.5Tc(7),
Td=0.125Tc (8)。
Relay feedback Self-tuning System method of the present invention is lain also in the characteristics of differential forward controls the humid control algorithm combined:
Differential Forward PID Controller described in step 3 is to be obtained using increasable algorithm by formula (9), formula (10), formula (11) and formula (12)
Obtain the control amount u (k) for the wet equipment of control at the k moment:
U (k)=u (k-1)+Δ u (k) (12),
Wherein, Δ u (k) is controlling increment of the wet equipment of control at the k moment；e(tk) and e (tk-1) it is respectively k the and k-1 moment
The wet equipment of control humidity set point and the difference of the humidity output valve of the wet equipment of control that obtains of real-time detection；T0To control wet equipment
Sampling period；Δud(k) and Δ ud(k-1) be respectively k the and k-1 moment differential part increment；γ is time coefficient, and γ
< 1；KdFor differential coefficient；Δ y (k) and Δ y (k-1) are respectively the output valve increment for controlling wet equipment k the and k-1 moment；u(k-1)
To control wet equipment in the control amount at k-1 moment.
Compared with the prior art, the invention has the advantages that:
The present invention passes through the gas outlet humidity of the wet equipment of real-time monitoring control, realizes that the wet equipment of real-time monitoring control exports humidity
Value, and then judge whether current operating parameter meets current running environment.Pass through relay in time if current parameter is inappropriate
Feedback transmitter carries out pid parameter Self-tuning System, obtains the pid parameter for meeting current operating environment.In conjunction with the knot of pid parameter Self-tuning System
Fruit carries out humid control by derivative-precedence PID.The method of the present invention can effectively reduce the overshoot in control process,
Enhance system rejection to disturbance ability, and advanced optimizes the overall performance of equipment.
Detailed description of the invention
Fig. 1 is the flow diagram of the method for the present invention；
Fig. 2 is the functional block diagram of the method for the present invention；
Fig. 3 is Self-tuning System and control effect measured drawing in the method for the present invention；
Specific embodiment
Relay feedback Self-tuning System method is used by the humidity control method that differential forward control combines in the present embodiment
Controlling wet equipment is one order inertia delay object, and controlling wet equipment has the transfer function model characterized by formula (1):
In formula (1): indicating the wet equipment transfer function model of control with G (s), s is complex frequency, and K is gain coefficient, and T is the time
Constant, L are system delay constant.
The present embodiment uses step response method combination MATLAB for some wet equipment of centralization control for being applied to museum
Simulation software carries out model identification to it, obtains its transmission function such as formula (1.1):
The form of formula (1.1) meeting formula (1), showing that the centralization controls wet equipment is one order inertia delay object, meets this
The use condition of inventive method.
Referring to Fig. 1, the humidity control method in the present embodiment carries out as follows:
Step 1, starting control wet equipment, and carry out humidity control using Differential Forward PID Controller according to initial p ID parameter
System, the runing time of recording equipment, real-time detection obtain the humidity output valve for controlling wet equipment, and it is wet in t moment control for defining e (t)
The difference of the humidity output valve for the wet equipment of control that the humidity set point and real-time detection of equipment obtain；Initial p ID parameter is taken as controlling
The factory pid parameter of wet equipment, or it is taken as the PID Self-tuning System parameter in an adjusting stage.
Step 2, equipment runing time reach setting reference time point t0When, judge current difference e (t0) it is absolute
Whether value is less than setting difference true, and will restart timing after the runing time of current device zero.Reference time point t0
It is configured according to the actual situation with setting difference by technical staff, in the present embodiment t0It is set as 15 minutes, sets difference
It is set as ± 2%RH:
If so, show that the operation result of initial p ID parameter meets demand, does not need to carry out pid parameter Self-tuning System, keep
Current operating conditions work on, and repeat step 2；
If not, show that the operation result of initial p ID parameter does not meet demand, is then set using relay feedback method is wet to control
Standby model parameter is recognized, and results of model parameter identification is obtained, into pid parameter Self-tuning System link, pid parameter Self-tuning System
Link is to determine PID Self-tuning System parameter according to results of model parameter identification using critical proportionality range parameter tuning method, subsequently enter
Step 3；In the present embodiment, pid parameter Self-tuning System link carries out according to the following procedure:
Step 1.1 recognizes the model parameter for controlling wet equipment using relay feedback method, is to set by formula (2) to control is wet
Standby input makes to control wet equipment output pure oscillation signal after electric excitation signal u (t)；
Define e+For after the positive transition value of electric excitation signal u (t), e-For after the negative sense hop value of electric excitation signal u (t).
In formula (2), Δ is the amplitude after electric excitation signal u (t), u0For after a reference value of electric excitation signal u (t), t+For difference e (t) etc.
In e+Time point, t-It is equal to e for difference e (t)-Time point.Before carrying out pid parameter Self-tuning System using relay feedback method, need
It determines the input duration t after electric excitation signal u (t), and controls difference e (t) in the reasonable scope.Input duration t should take fully
It is enough big, to guarantee that two wave crests and two troughs at least occurs in the pure oscillation signal of system output, so that it is guaranteed that being counted by formula (3)
Calculate the accuracy of the amplitude a of resulting pure oscillation signal.E should be arranged in the zone of reasonableness of difference e (t)+And e-Between, this reality
It applies in example and zone of reasonableness is set as e (t)≤± 3%RH.In this example, 50 are set as after the amplitude Δ of electric excitation signal u (t)；
After a reference value u of electric excitation signal u (t)0It is set as 0；After the positive transition value e of electric excitation signal u (t)+It is set as pure oscillation signal
Crest value；After the negative sense hop value e of electric excitation signal u (t)-It is set as the valley value of pure oscillation signal.
Step 1.2, the pure oscillation signal exported using the wet equipment of control, are determined that control is wet by formula (3), formula (4) and formula (5) and set
Standby critical proportionality range KuWith aritical ratio cycle Tc:
Wherein: a is the amplitude of pure oscillation signal,It is the wave crest average value of pure oscillation signal,It is sinusoidal vibration
Swing the trough average value of signal；tnIt is the time point of pure oscillation signal n-th zero crossing, t1For the 1st mistake of sinusoidal oscillator signal
The time point of zero point.
Step 1.3 determines PID Self-tuning System parameter using critical proportionality range parameter tuning method, is by formula (6), formula (7) and formula
(8) the scale parameter K obtained in pid parameter is calculated separatelyp, integral parameter TiWith differential parameter Td:
Kp=0.6Ku(6),
Ti=0.5Tc(7),
Td=0.125Tc(8),
PID Self-tuning System parameter is substituted into Differential Forward PID Controller progress humid control by step 3, realizes relay feedback certainly
The humid control that Tuning is combined with derivative-precedence PID, is then returned to step 2.
Differential Forward PID Controller is to obtain needle by formula (9), formula (10), formula (11) and formula (12) using increasable algorithm
To controlling wet equipment in the control amount u (k) at k moment:
U (k)=u (k-1)+Δ u (k) (12),
Wherein, Δ u (k) is controlling increment of the wet equipment of control at the k moment；e(tk) and e (tk-1) it is respectively k the and k-1 moment
The wet equipment of control humidity set point and the difference of the humidity output valve of the wet equipment of control that obtains of real-time detection；T0To control wet equipment
Sampling period；Δud(k) and Δ ud(k-1) be respectively k the and k-1 moment differential part increment；γ is time coefficient, and γ
< 1, γ takes 0.6 in the present embodiment；KdFor differential coefficient；Δ y (k) and Δ y (k-1) are respectively to control wet equipment at k the and k-1 moment
Output valve increment；U (k-1) is control amount of the wet equipment of control at the k-1 moment.
Relay feedback Self-tuning System method controls the humid control experimentation combined with differential forward:
It is applied to the wet equipment of centralization control in museum for some, its PID for not meeting running environment is artificially set
Control parameter causes control effect that cannot meet the requirements during operation because pid control parameter does not meet running environment.The equipment is logical
The function of output constant humidity gas is realized in the co-ordination crossed between humidifier and dehumidification device built in it, wherein humidifying
The humidification power of device can be adjusted by solid-state relay.It applies the inventive method to the centralization and controls wet equipment, control
For principle processed as shown in Fig. 2, solid-state relay is the execution unit in Fig. 2, humidifier is the controlled device in Fig. 2.In this reality
During testing, judged whether that relay feedback method is selected to carry out pid parameter Self-tuning System according to difference e (t), or select differential first
Row PID control carries out humid control.When selecting relay feedback method to carry out pid parameter Self-tuning System, pass through solid-state relay foundation
After electric excitation signal u (t) control humidifier work, equipment is made to export pure oscillation signal, the pure oscillation letter according to output
Number, the identification of model parameter is completed for equipment, and PID Self-tuning System parameter is calculated according to identification result.In pid parameter Self-tuning System
After link, the control parameter in Differential Forward PID Controller is updated using the PID Self-tuning System parameter after adjusting, and switch
Control strategy is the humid control that equipment is completed using Differential Forward PID Controller, and then realizes more optimized control effect.
The humidity target value that centralization controls wet equipment in experimentation is set as 70%RH, initial p ID parameter setting are as follows: Kp
=80, Ti=0, Td=10.Because initial p ID parameter value does not meet current operating condition, the output of equipment humidity is stablized in 60%RH
Near, it is clear that it is not able to satisfy target requirement.Difference e (t) is about -10%RH at this time, is control difference e (t) in zone of reasonableness
It is interior, humidifier work is controlled to realize humidification function by solid-state relay, as difference e (t)≤± 3%RH, is adopted immediately
Pid parameter Self-tuning System, the PID Self-tuning System parameter of acquisition are as follows: K are carried out with relay feedback methodp=14.88, Ti=50, Td=12.5.
PID Self-tuning System parameter obtained is brought into Differential Forward PID Controller and carries out humid control, differential forward
PID control shifts to an earlier date the differential action, only carries out differential to the humidity output quantity of equipment.Include in the output signal of differentiation element
Equipment humidity output quantity and its pace of change value, are input in pi controller as measured value, the control algolithm
It can effectively solve the excessive problem of overshoot in control process, realize the effect of compensation process lag, enhance system rejection to disturbance energy
Power then improves the Control platform of system.
The method of the present invention is used for the wet equipment of centralization control in experiment, is set as the item of 70%RH in humidity target value
Under part, the control effect that finally obtains as shown in figure 3, equipment humidity output valve enters stable state after 400s is implemented in experiment,
Final to stablize near 70%RH, maximum overgauge is+1.3RH% in stable state, and maximum minus deviation is -0.6RH%.Fig. 3
Middle abscissa is time (unit is the second), and ordinate is control wet equipment gas outlet humidity value.
The experimental results showed that being had using the wet equipment of control of the method for the present invention, to carry out pid parameter automatically according to running environment whole
Fixed function, the PID Self-tuning System parameter adjusted out meet the current operation demand of equipment, while to the hysteresis property for controlling wet equipment
It compensates, enhances the anti-interference ability in equipment running process, and then maintain the output error of equipment in smaller range.
The method of the present invention can carry out pid parameter adjusting automatically on demand in control process, and in the reasonable scope by overshoot control,
The hysteresis property of equipment is compensated simultaneously, enhances the anti-interference ability of system, further increases the control precision of system, make
Equipment can reach preferably control performance.
Claims (5)
1. a kind of relay feedback Self-tuning System method controls the humidity control method combined, the humidity control method with differential forward
Employed in the wet equipment of control be one order inertia delay object, it is characterized in that the humidity control method carries out as follows:
Step 1, starting control wet equipment, and carry out humid control, note using Differential Forward PID Controller according to initial p ID parameter
The runing time of recording apparatus, real-time detection obtain the humidity output valve of the wet equipment of the control, and defining e (t) is to set t moment control is wet
The difference of the humidity output valve for the wet equipment of control that standby humidity set point and real-time detection obtains；
Step 2, equipment runing time reach setting reference time point t0When, judge current difference e (t0) absolute value it is small
It is whether true in setting difference, and timing will be restarted after the runing time of current device zero:
If so, show that the operation result of initial p ID parameter meets demand, do not need to carry out pid parameter Self-tuning System, keeps current
Operating status works on, and repeats step 2；
If not, show that the operation result of initial p ID parameter does not meet demand, then using relay feedback method to the wet equipment of control
Model parameter is recognized, and results of model parameter identification, into pid parameter Self-tuning System link, the pid parameter Self-tuning System are obtained
Link is to determine PID Self-tuning System parameter using critical proportionality range parameter tuning method, then according to the results of model parameter identification
Enter step 3；
The PID Self-tuning System parameter is substituted into Differential Forward PID Controller progress humid control by step 3, realizes relay feedback certainly
The humid control that Tuning is combined with derivative-precedence PID, is then returned to step 2.
2. relay feedback Self-tuning System method according to claim 1 controls the humidity control method combined with differential forward,
It is characterized in that: the wet equipment of control has the transfer function model characterized by formula (1):
In formula (1): the wet equipment transfer function model of control is indicated with G (s), s is complex frequency, and K is gain coefficient, and T is time constant,
L is system delay constant.
3. relay feedback Self-tuning System method according to claim 1 controls the humidity control method combined with differential forward,
It is characterized in that: the initial p ID parameter is taken as controlling the factory pid parameter of wet equipment, or the PID in an adjusting stage is taken as from whole
Determine parameter.
4. relay feedback Self-tuning System method according to claim 1 controls the humidity control method combined with differential forward,
It is characterized in that: the pid parameter Self-tuning System link carries out according to the following procedure:
4.1 recognize the model parameter for controlling wet equipment using relay feedback method, are to input relay to wet equipment is controlled by formula (2)
Pumping signal u (t) makes to control wet equipment output pure oscillation signal；
Define e+For after the positive transition value of electric excitation signal u (t), e-For after the negative sense hop value of electric excitation signal u (t).Formula
(2) in, Δ is the amplitude after electric excitation signal u (t), u0For after a reference value of electric excitation signal u (t), t+It is equal to for difference e (t)
e+Time point, t-It is equal to e for difference e (t)-Time point；
4.2, using the pure oscillation signal for controlling wet equipment output, are determined by formula (3), formula (4) and formula (5) and control the critical of wet equipment
Proportional band KuWith aritical ratio cycle Tc:
Wherein: a is the amplitude of pure oscillation signal,It is the wave crest average value of pure oscillation signal,It is pure oscillation letter
Number trough average value；tnIt is the time point of pure oscillation signal n-th zero crossing, t1For the 1st zero crossing of sinusoidal oscillator signal
Time point；
4.3 determine PID Self-tuning System parameter using critical proportionality range parameter tuning method, are counted respectively by formula (6), formula (7) and formula (8)
Calculate the scale parameter K obtained in pid parameterp, integral parameter TiWith differential parameter Td:
Kp=0.6Ku(6),
Ti=0.5Tc(7),
Td=0.125Tc (8)。
5. relay feedback Self-tuning System method according to claim 4 controls the humid control algorithm combined with differential forward,
It is characterized in that: Differential Forward PID Controller described in step 3 be using increasable algorithm, by formula (9), formula (10), formula (11) and
Formula (12) obtains the control amount u (k) for the wet equipment of control at the k moment:
U (k)=u (k-1)+Δ u (k) (12),
Wherein, Δ u (k) is controlling increment of the wet equipment of control at the k moment；e(tk) and e (tk-1) be respectively k the and k-1 moment control it is wet
The difference of the humidity output valve for the wet equipment of control that the humidity set point and real-time detection of equipment obtain；T0For the sampling for controlling wet equipment
Period；Δud(k) and Δ ud(k-1) be respectively k the and k-1 moment differential part increment；γ is time coefficient, and γ < 1；Kd
For differential coefficient；Δ y (k) and Δ y (k-1) are respectively the output valve increment for controlling wet equipment k the and k-1 moment；U (k-1) is that control is wet
Control amount of the equipment at the k-1 moment.
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Application publication date: 20181207 |