CN109062033A - A kind of methods of self-tuning of PID system - Google Patents
A kind of methods of self-tuning of PID system Download PDFInfo
- Publication number
- CN109062033A CN109062033A CN201811222246.8A CN201811222246A CN109062033A CN 109062033 A CN109062033 A CN 109062033A CN 201811222246 A CN201811222246 A CN 201811222246A CN 109062033 A CN109062033 A CN 109062033A
- Authority
- CN
- China
- Prior art keywords
- value
- self
- tuning
- control
- pid
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
Abstract
The invention discloses a kind of methods of self-tuning of PID system.The methods of self-tuning of this PID system effectively prevents concussion of the system output wave in target value SV or deviation value (SV_n) nearby during Self-tuning System, and systematic sampling value PV reaches target value SV, just stop the excitation to control object to apply, the system output wave of ensure that can reach control target value SV always, the pid control parameter that controller calculates is more acurrate, the another automatic setting method, no matter system initial state, it is first to acquire working condition signal, further according to collection value PV compared with deviation value (SV_n), judgement, which determines whether to apply control object, to motivate, i.e. its operating condition judges to export prior to control, it effectively prevent the appearance of overshoot condition, avoid the generation of industrial accident；Complete waveform is not needed during Self-tuning System, i.e., in the corresponding period, shortens the time of Self-tuning System process, thus increases the detection speed of system Self-tuning System, avoids the generation of industrial accident.
Description
Technical field
The present invention relates to technical field of automatic control, in particular to a kind of methods of self-tuning of PID system.
Background technique
In industrial stokehold, by the error of information generation compared with given value of the real-time data acquisition of controlled device
The control system that is controlled of ratio, integral and differential, abbreviation PID control system.PID control has structure simple, stable
The advantages that property is good, reliable operation, is still most common control method in industrial stokehold at present.In classical PID control method
Proportion adjustment, integral adjustment and differential is contained simultaneously to adjust.The problem of overshoot or oscillation often will cause due to integral adjustment,
So occurring integral separation type PID control method in the prior art.Its cardinal principle is not put into integral when error is larger
It adjusts, it is excessive because of error accumulation to avoid control amount；And integral adjustment is put into when error is smaller, to utilize integral adjustment
Advantage realize zero steady state error control.But work of this method due to eliminating integral adjustment when adjusting early period, that is, error is larger
With, thus reduce the adjustment speed of system.
The parameter of PID controller must consider according to the specific requirement of engineering problem.In industrial stokehold, usually
Guarantee that closed-loop system is stablized, the variation of specified rate can be tracked rapidly, overshoot is small.Exporting under disturbance should be able to keep
Near given value, control amount is as small as possible, and when system and environmental parameter change, control should keep stable.It is general next
It says, to meet these requirements simultaneously and be difficult to accomplish, it is necessary to according to the concrete condition of system, meet main performance indicator,
Combine the requirement of other aspects.
The Self-tuning System of existing PID system needs several complete waveforms, needs the corresponding complete period thus, can make
The period of Self-tuning System process lengthens, thus reduces the detection speed of system Self-tuning System, and many operating conditions do not allow overshoot
It is more, industrial accident easily occurs.
Summary of the invention
The object of the present invention is to provide a kind of inertia and rate of change by detection goal systems to determine parameter to be measured
Group solves the problems, such as to obtain the methods of self-tuning of the PID system of optimum PID controller parameter group difficulty.
Above-mentioned technical purpose of the invention has the technical scheme that
A kind of methods of self-tuning of PID system, comprising the following steps:
Step A determines the output target value SV of system and the deviation value positioned at the target value SV along incentive action opposite direction
(SV_m) and along the deviation value (SV_m) extending direction deviation value (SV_n), Self-tuning System starts, by collection value PV and deviate
Value (SV_n) is compared judgement；
Step B closes control output signal if collection value PV is located off value (SV_n) along incentive action positive direction, not right
Control object applies excitation, and waiting system output wave returns, when collection value PV is located off value (SV_n) along incentive action negative side
Xiang Shi is retransmited and is opened control output signal, is applied to control object and is motivated, into the adjusting first step, waiting system output wave
It generates；
Step C starts timing when collection value PV reaches deviation value (SV_m), when collection value PV reaches target value SV, stops
Timing obtains time t, at the same send closing control output signal, not to control object apply motivate, into adjusting second step,
Waiting system output wave returns after reaching wave crest；
Step D obtains peak value PV_m when returning after collection value PV reaches wave crest, the parameter of PID system is calculated according to formula, from whole
Terminate calmly.
The methods of self-tuning of above-mentioned PID system further includes step B1, if collection value PV is located off value (SV_n)
Along incentive action opposite direction, then control output signal is opened, control object is applied and is motivated, into the adjusting first step, waits system
Output wave of uniting generates.
The methods of self-tuning of above-mentioned PID system, the deviation value (SV_m) are triggered for timing, the deviation value
(SV_n) for motivating control.
The methods of self-tuning of above-mentioned PID system, when calculating the control parameter of PID system in the step D institute according to
According to formula are as follows: P=(| PV_m-SV |) × A, I=(PV_m-SV) × t/(SV-SV_m)/B+1, D=I/4, wherein A, B are respectively
System fixed coefficient.
In conclusion the invention has the following advantages: the methods of self-tuning of this PID system is in control target
Value SV's is provided with deviation value (SV_n) and deviation value (SV_m) along incentive action opposite direction, and this effectively prevents Self-tuning System mistakes
Concussion of the system output wave in target value SV or deviation value (SV_n) nearby in journey, and systematic sampling value PV reaches target value SV,
Just stop the excitation to control object to apply, the system output wave of ensure that can reach control target value SV always, and controller calculates
Pid control parameter it is more acurrate, the another automatic setting method, no matter system initial state, be first acquire working condition signal, then
According to collection value PV compared with deviation value (SV_n), judgement, which determines whether to apply control object, to be motivated, i.e., its operating condition judges
It is exported prior to control, effectively prevent the appearance of overshoot condition, avoid the generation of industrial accident；It has not been needed in Self-tuning System engineering
Whole waveform in that is, corresponding period, shortens the time of Self-tuning System process, thus increases the detection speed of system Self-tuning System,
Avoid the generation of industrial accident.
Specific embodiment
Invention is further described in detail below.
A kind of methods of self-tuning of PID system, it is characterized in that: the following steps are included:
Step A determines the output target value SV of system and the deviation value positioned at the target value SV along incentive action opposite direction
(SV_m) and along the deviation value (SV_m) extending direction deviation value (SV_n), Self-tuning System starts, by collection value PV and deviate
Value (SV_n) is compared judgement；
Step B closes control output signal if collection value PV is located off value (SV_n) along incentive action positive direction, not right
Control object applies excitation, and waiting system output wave returns, when collection value PV is located off value (SV_n) along incentive action negative side
Xiang Shi is retransmited and is opened control output signal, is applied to control object and is motivated, into the adjusting first step, waiting system output wave
It generates；
Step C starts timing when collection value PV reaches deviation value (SV_m), when collection value PV reaches target value SV, stops
Timing obtains time t, at the same send closing control output signal, not to control object apply motivate, into adjusting second step,
Waiting system output wave returns after reaching wave crest；
Step D obtains peak value PV_m when returning after collection value PV reaches wave crest, the parameter of PID system is calculated according to formula, from whole
Terminate calmly.
It further, further include step in a kind of preferred embodiment of the methods of self-tuning of PID system of the present invention
B1 opens control output signal, applies to control object if collection value PV is located off value (SV_n) along incentive action opposite direction
Add excitation, into the adjusting first step, waiting system output wave is generated.
Further, in a kind of preferred embodiment of the methods of self-tuning of PID system of the present invention, the deviation value
(SV_m) it is triggered for timing, the deviation value (SV_n) is for motivating control.
Preferably, controller concludes that boundary's point whether excitation applies is respectively target value SV and deviation value (SV_n), and simultaneously
Non- is only target value SV or deviation value (SV_n), and this effectively prevents system output waves during Self-tuning System in target value SV
Or the concussion of deviation value (SV_n) nearby, and systematic sampling value PV reaches target value SV, just stops applying the excitation of control object
Add, the system output wave of ensure that can reach control target value SV always, and the pid control parameter that controller calculates is more acurrate, separately should
Automatic setting method is first to acquire working condition signal no matter system initial state, further according to collection value PV and deviation value (SV_
N) comparison, judgement, which determines whether to apply control object, to motivate, i.e., its operating condition judges to export prior to control, effectively prevent surpassing
The appearance for condition of flirting avoids the generation of industrial accident.
Further, in a kind of preferred embodiment of the methods of self-tuning of PID system of the present invention, the step D
Formula based on when the middle control parameter for calculating PID system are as follows: P=(| PV_m-SV |) × A, I=(PV_m-SV) × t/(SV-
SV_m)/B+1, D=I/4, wherein A, B are respectively system fixed coefficient.
Preferably, system fixed coefficient A=1.5, B=0.8.
The present invention includes controller circuitry and its power supply, the controller circuitry include control processing module and
Respectively with control processing module be electrically connected key module, acquisition module, display module, memory, control output module, timing
Device and counter, the acquisition module acquire industrial signal and the industry signal are sent to control processing module, control processing
Collection value PV is sent to display module and shown by module, and collection value PV and the system that is inputted by key module is defeated
Enter target value SV and deviation value (SV_n) into comparing, according to comparison result, controls processing module and send dependent instruction to control
Output module, in tuning process, counter records adjust step number, and the control processing module is according to the adjusting of counter records step
Number sends control instruction, time t used in the timer record adjusting phase to timer, and control processing module will acquire
When module is used in the PV_m of collected system output wave in adjacent two step of above-mentioned adjusting phase and the corresponding adjusting phase
Between t be stored in memory, control processing module by reading collected peak value PV_m and the adjusting in adjacent two step in memory
Time t used in phase, computing system pid control parameter.
In conclusion the methods of self-tuning of this PID system is in control target value SV along incentive action opposite direction
Provided with deviation value (SV_n) and deviation value (SV_m), this effectively prevents system output waves during Self-tuning System in target value
The concussion of SV or deviation value (SV_n) nearby, and systematic sampling value PV reaches target value SV, just stops the excitation to control object
Apply, the system output wave of ensure that can reach control target value SV always, and the pid control parameter that controller calculates is more acurrate, separately
The automatic setting method is first to acquire working condition signal no matter system initial state, further according to collection value PV and deviation value
(SV_n) comparison, judgement, which determines whether to apply control object, to motivate, i.e., its operating condition judges to export prior to control, effectively anti-
The only appearance of overshoot condition avoids the generation of industrial accident；Complete waveform is not needed in Self-tuning System engineering, i.e., corresponding week
Phase, the period of Self-tuning System process is shortened, thus increase the detection speed of system Self-tuning System, avoids the hair of industrial accident
It is raw.
The present embodiment is only explanation of the invention, is not limitation of the present invention, and those skilled in the art exist
It can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but as long as in the present invention
Scope of the claims in all by the protection of Patent Law.
Claims (4)
1. a kind of methods of self-tuning of PID system, it is characterized in that: the following steps are included:
Step A determines the output target value SV of system and the deviation value positioned at the target value SV along incentive action opposite direction
(SV_m) and along the deviation value (SV_m) extending direction deviation value (SV_n), Self-tuning System starts, by collection value PV and deviate
Value (SV_n) is compared judgement；
Step B closes control output signal if collection value PV is located off value (SV_n) along incentive action positive direction, not right
Control object applies excitation, and waiting system output wave returns, when collection value PV is located off value (SV_n) along incentive action negative side
Xiang Shi is retransmited and is opened control output signal, is applied to control object and is motivated, into the adjusting first step, waiting system output wave
It generates；
Step C starts timing when collection value PV reaches deviation value (SV_m), when collection value PV reaches target value SV, stops
Timing obtains time t, at the same send closing control output signal, not to control object apply motivate, into adjusting second step,
Waiting system output wave returns after reaching wave crest；
Step D obtains peak value PV_m when returning after collection value PV reaches wave crest, the parameter of PID system is calculated according to formula, from whole
Terminate calmly.
2. a kind of methods of self-tuning of PID system according to claim 1, it is characterized in that: further include step B1, if
Collection value PV is located off value (SV_n) along incentive action opposite direction, then opens control output signal, applies to control object and swashs
It encourages, into the adjusting first step, waiting system output wave is generated.
3. the methods of self-tuning of a kind of PID system according to claim 1 the, it is characterized in that: deviation value (SV_
M) it is triggered for timing, the deviation value (SV_n) is for motivating control.
4. the methods of self-tuning of a kind of PID system according to claim 1, it is characterized in that: being calculated in the step D
Formula based on when the control parameter of PID system are as follows: P=(| PV_m-SV |) × A, I=(PV_m-SV) × t/(SV-SV_m)/B
+ 1, D=I/4, wherein A, B are respectively system fixed coefficient.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811222246.8A CN109062033B (en) | 2018-10-19 | 2018-10-19 | Parameter self-tuning method of PID system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811222246.8A CN109062033B (en) | 2018-10-19 | 2018-10-19 | Parameter self-tuning method of PID system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109062033A true CN109062033A (en) | 2018-12-21 |
| CN109062033B CN109062033B (en) | 2021-08-24 |
Family
ID=64765274
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811222246.8A Active CN109062033B (en) | 2018-10-19 | 2018-10-19 | Parameter self-tuning method of PID system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109062033B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109828456A (en) * | 2019-03-04 | 2019-05-31 | 沈阳华控科技发展有限公司 | A kind of Adaptive PID Control method |
| CN113009939A (en) * | 2019-12-18 | 2021-06-22 | 合肥通用制冷设备有限公司 | Temperature control method, system and computer readable storage medium |
| CN114488774A (en) * | 2021-12-16 | 2022-05-13 | 上海中韩杜科泵业制造有限公司 | PID control parameter acquisition method, device, equipment and medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040153173A1 (en) * | 2003-02-03 | 2004-08-05 | Chang Pyung Hun | Method for tuning PID controllers applicable to nonlinear systems |
| CN1564091A (en) * | 2004-04-08 | 2005-01-12 | 上海理工大学 | Fast parameter self-setting method |
| CN101859097A (en) * | 2010-06-02 | 2010-10-13 | 西安科技大学 | System control method based on maintenance type human-simulating PID |
| CN105588179A (en) * | 2016-02-15 | 2016-05-18 | 中国石化集团胜利石油管理局热电联供中心 | Heat supply network control loop based on fuzzy PID algorithm |
| CN105892322A (en) * | 2016-05-13 | 2016-08-24 | 福建顺昌虹润精密仪器有限公司 | Intelligent controller and self-tuning method |
| CN106557023A (en) * | 2017-01-18 | 2017-04-05 | 武汉拓优测控科技有限公司 | Based on one key automatic setting method of nozzle flapper technology |
-
2018
- 2018-10-19 CN CN201811222246.8A patent/CN109062033B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040153173A1 (en) * | 2003-02-03 | 2004-08-05 | Chang Pyung Hun | Method for tuning PID controllers applicable to nonlinear systems |
| CN1564091A (en) * | 2004-04-08 | 2005-01-12 | 上海理工大学 | Fast parameter self-setting method |
| CN101859097A (en) * | 2010-06-02 | 2010-10-13 | 西安科技大学 | System control method based on maintenance type human-simulating PID |
| CN105588179A (en) * | 2016-02-15 | 2016-05-18 | 中国石化集团胜利石油管理局热电联供中心 | Heat supply network control loop based on fuzzy PID algorithm |
| CN105892322A (en) * | 2016-05-13 | 2016-08-24 | 福建顺昌虹润精密仪器有限公司 | Intelligent controller and self-tuning method |
| CN106557023A (en) * | 2017-01-18 | 2017-04-05 | 武汉拓优测控科技有限公司 | Based on one key automatic setting method of nozzle flapper technology |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109828456A (en) * | 2019-03-04 | 2019-05-31 | 沈阳华控科技发展有限公司 | A kind of Adaptive PID Control method |
| CN109828456B (en) * | 2019-03-04 | 2022-02-01 | 沈阳华控科技发展有限公司 | Self-adaptive PID control method |
| CN113009939A (en) * | 2019-12-18 | 2021-06-22 | 合肥通用制冷设备有限公司 | Temperature control method, system and computer readable storage medium |
| CN113009939B (en) * | 2019-12-18 | 2022-09-09 | 合肥通用制冷设备有限公司 | Temperature control method, system and computer readable storage medium |
| CN114488774A (en) * | 2021-12-16 | 2022-05-13 | 上海中韩杜科泵业制造有限公司 | PID control parameter acquisition method, device, equipment and medium |
| CN114488774B (en) * | 2021-12-16 | 2022-09-27 | 上海中韩杜科泵业制造有限公司 | PID control parameter acquisition method, device, equipment and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109062033B (en) | 2021-08-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109062033A (en) | A kind of methods of self-tuning of PID system | |
| KR880002680B1 (en) | Control system for synchronizing multiple presses in a line | |
| CN102411344B (en) | Clock synchronization method for distributed control system | |
| CN102047195B (en) | Acceleration/deceleration control device | |
| CN106773802B (en) | More laser radar synchronous scanning control systems and method | |
| CN102890456B (en) | The system and method merged for actuator sensor | |
| US5969499A (en) | Controller for AC motor | |
| CN105427631A (en) | System and method for optimizing multilevel self-adapted disturbance attenuation traffic signal | |
| CN114240243A (en) | Rectifying tower product quality prediction method and device based on dynamic system identification | |
| CN105892322B (en) | A kind of intelligent controller and automatic setting method | |
| JPH07302121A (en) | Positioning controller | |
| SU1674058A1 (en) | Relay-pulsed controller | |
| CN115934814A (en) | Hardware parameter analysis monitoring system and method applying data analysis technology | |
| CN100476965C (en) | Method and device for generating CD driver double frequency motor frequency pulse generator signal | |
| US10860003B2 (en) | Servo controller | |
| CN115609343A (en) | Movement magnification adjusting method and device, computer equipment and storage medium | |
| RU1815478C (en) | Method of liquid level control in steam turbine condenser | |
| SU1133605A1 (en) | Device for checking operation of equipment | |
| JPS63181617A (en) | Automatic demand controller | |
| SU1120298A1 (en) | Digital controller | |
| JPH03195335A (en) | Demand monitor/controller | |
| JPS5948607A (en) | Position detecting circuit for mobile machine | |
| RU2128357C1 (en) | Power-saving automatic general-purpose control system | |
| SU930230A1 (en) | Digital control | |
| SU1368858A1 (en) | Self-monitoring device for programmed control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |