CN109375499A - PID closed-loop control system and its control method - Google Patents
PID closed-loop control system and its control method Download PDFInfo
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- CN109375499A CN109375499A CN201810997096.1A CN201810997096A CN109375499A CN 109375499 A CN109375499 A CN 109375499A CN 201810997096 A CN201810997096 A CN 201810997096A CN 109375499 A CN109375499 A CN 109375499A
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- 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 present invention discloses a kind of PID closed-loop control system, it is provided with PID controller, the PID controller is connected with input/output module and feedback detection system, feedback detection system is provided with data processor, the data processor connects PID controller, and data processor acquires the controlled volume data of controlled device by feedback transducer.Optimal weights data splitting is stored in data processor, data processor combination optimal weights data splitting and controlled volume data calculate Optimal Feedback value, and Optimal Feedback value is fed back into PID controller, PID controller controls executing agency according to Optimal Feedback value and target value.The utility model has the advantages that more accurate value of feedback can be obtained using PID closed-loop control system of the invention and its control method, deviation error is reduced, the control precision of control system is improved, system structure is simple, and easy to accomplish, control algolithm is simple, convenient for design.
Description
Technical field
The present invention relates to general control system or regulating system, more particularly to a kind of PID closed-loop control system and its
Control method.
Background technique
Current Closed loop Control is all based on the concept of feedback, reduces probabilistic purpose to reach.PID control
Device controls executing agency's driving controlled device work, and PID controller detects the controlled volume of controlled device by single sensor,
The controlled volume of controlled device calculates deviation as value of feedback, in conjunction with target value initially set, and PID controller is according to deviation
Value adjustment executing agency.
Theoretically, PID control method can play elimination error, reach very high control precision, but in practical applications,
Since there are certain inertia for controlled device, it is impossible to jump, so the output quantity and quilt of the controlled device of sensor acquisition
The reality output amount for controlling object exists compared with large time delay.
It is larger that this will lead to the calculated deviation error of PID controller, and PID controller is according to such deviation tune
Whole executing agency will cause PID controller and excessively adjust, and make to exist always between the output valve of whole system and target value larger
Error, reduce the control precision of control system.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of PID closed-loop control system and its control method, PID control
Device acquires the controlled volume data of controlled device by multiple feedback transducers, to calculate more accurate value of feedback, reduces inclined
Difference error improves the control precision of control system.
Technical solution is as follows:
A kind of PID closed-loop control system, is provided with the PID controller for controlling executing agency, PID controller connection
There are input/output module and feedback detection system, which obtains target value S by input/output module, and key exists
In: the feedback detection system is provided with data processor, which connects PID controller, the data processor
It also is connected with N number of feedback transducer through signal processing module, the data processor acquires controlled device by feedback transducer
Controlled volume data an(t)。
Optimal weights data splitting W is stored in the data processormax, optimal weights data WmaxIncluding each anti-
The optimal weights coefficient w of infeed sensor devicen, the data processor combination optimal weights data splitting WmaxWith controlled volume data an
(t) Optimal Feedback value X is calculatedmax(t), and by Optimal Feedback value Xmax(t) PID controller, the PID control are fed back to
Device is according to Optimal Feedback value Xmax(t) and target value S controls executing agency.
PID controller can acquire multiple same type of controlled volume data by multiple feedback transducers, to make last
Enumeration data it is more accurate.
Further, the data processor is also connected with memory, and the optimal weights are stored in the memory
Data splitting Wmax
A kind of control method of PID closed-loop control system, it is critical that the following steps are included:
Step 1, PID controller obtain input/output module send set information, the set information include target value S,
Scale parameter kρ, integral parameter βiAnd differential parameter βd；
Step 2, PID controller control executing agency according to target value S and control controlled device；
Step 3, PID controller obtain the Optimal Feedback value X that feedback detection system is sentmax(t)；
Step 4, PID controller are according to Optimal Feedback value Xmax(t) and target value S calculates deviation e (t)；
Step 5, PID controller are calculated using the following equation out output quantity u (t)
Step 6, PID controller control executing agency according to output quantity u (t) and controlled device are adjusted.
Further, feedback detection system uses following methods to calculate Optimal Feedback value X in the step 3max(t):
Step 3-1, data processor obtains the output quantity information A and controlled volume information B of signal processing module transmission in real time；
Step 3-2, data processor transfers optimal weights data splitting W from memorymax。
Step 3-3, data processor is calculated using the following equation out Optimal Feedback value Xmax(t)；
Further, data processor generates the optimal weights data splitting W using analytic hierarchy process (AHP)max。
The utility model has the advantages that can more accurately be fed back using PID closed-loop control system of the invention and its control method
Value reduces deviation error, improves the control precision of control system, and system structure is simple, and easy to accomplish, control algolithm is simple,
Convenient for design.
Detailed description of the invention
Fig. 1 is system structure diagram of the invention；
Fig. 2 is control method flow chart of the invention；
Fig. 3 is the calculation method flow chart of Optimal Feedback value of the invention；
Fig. 4 is the engine coolant circuit system diagram of the invention controlled using existing PID closed-loop control system；
Fig. 5 is that the present invention is the engine coolant circuit system figure controlled using the PID closed-loop control system of the application.
Specific embodiment
Below with reference to embodiment and attached drawing, the invention will be further described.
Embodiment one, as shown in Figure 1, a kind of PID closed-loop control system, using existing PID controller, the PID control
Device is connect through output interface with executing agency, and PID controller passes through actuating mechanism controls controlled device.PID controller connection
Have input/output module and data processor, wherein input/output module be touch screen, the touch screen by data line with
PID controller connection.
Operator can input the parameters of PID controller, such as target value S, scale parameter k by touch screenρ、
Integral parameter βiAnd differential parameter βd, these parameters are stored in the register of PID controller.
PID controller connects data processor by data line, which is connected with N number of through signal processing module
For acquiring the controlled volume data a of controlled devicen(t) feedback transducer.All feedback transducers are evenly distributed on controlled pair
The feedback sense lines road of elephant.The analog signal that feedback transducer acquires is converted into digital signal by signal processor, and will be counted
Word signal is sent to data processor.
The data processor is connected with memory, and optimal weights data splitting W is stored in the memorymax, this is optimal
Weight data splitting WmaxIncluding N number of optimal weights coefficient wn, by optimal weights coefficient wnIt is corresponded with feedback transducer.Wherein
N=1,2,3......N, N are positive integer.
Data processor transfers optimal weights data splitting W from memorymax, and combine controlled volume data an(t) it calculates
Optimal Feedback value X outmax(t), reduce the error of feedback quantity.
Data processor is by Optimal Feedback value Xmax(t) PID controller is fed back to.PID controller combination Optimal Feedback value
Xmax(t) and target value S calculates accurate deviation e (t), to mention high control precision.
As shown in Figure 2 and Figure 3, a kind of control method of PID closed-loop control system, comprising the following steps:
Step 1, PID controller obtain input/output module send set information, the set information include target value S,
Scale parameter kρ, integral parameter βiAnd differential parameter βd；
Step 2, PID controller control executing agency according to target value S and control controlled device；
Step 3, PID controller obtain the Optimal Feedback value X that feedback detection system is sentmax(t)；
Feedback detection system calculates Optimal Feedback value X using following methodsmax(t):
Step 3-1, data processor obtains the output quantity information A and controlled volume information B of signal processing module transmission in real time；
Step 3-2, data processor transfers optimal weights data splitting W from memorymax；
Step 3-3, data processor is calculated using the following equation out Optimal Feedback value Xmax(t)；
Step 4, PID controller are according to Optimal Feedback value Xmax(t) and target value S calculates deviation e (t)；
Step 5, PID controller are calculated using the following equation out output quantity u (t)
Step 6, PID controller control executing agency according to output quantity u (t) and controlled device are adjusted.
Wherein, the optimal weights data splitting W stored in memorymaxIt can be operator rule of thumb directly to pass through
Touch screen is directly set, and PID controller obtains the optimal weights data splitting W of setting by touch screenmax, PID controller will most
Excellent weight data splitting WmaxIt is sent to data processor, data processor is by optimal weights data splitting WmaxIt is transmitted to memory
Storage.
Embodiment two, embodiment two is roughly the same with embodiment one, and the main distinction is: what is stored in memory is optimal
Weight data splitting WmaxIt is obtained by data processor using analytic hierarchy process (AHP).Operator rule of thumb passes through input and output
Module inputs the weighted data of each detection sensorWith the weighted data of each feedback transducerPID controller by this
A little weighted datas are transmitted to data processor, and data processor passes through the ownership tuple that analytic hierarchy process (AHP) inputs operator
According to data processing is carried out, optimal weights data splitting W is obtainedmax, and by optimal weights data splitting WmaxIt stores in memory.
When carrying out PID control, data processor transfers optimal weights data splitting W from memorymax。
Fig. 4 and Fig. 5 is a kind of engine coolant circuit and use controlled using existing PID closed-loop control system respectively
The engine coolant circuit system of the PID closed-loop control system control of the application.
Wherein, engine coolant circuit includes heat exchanger 1 (i.e. controlled device), which passes through coolant liquid
Circuit is connect with heat generating components 2, and is connected to by chilled(cooling) water return (CWR) with cooling water tank 3.The heat that heat generating components 2 distributes is cooled
Coolant liquid in liquid circuit absorbs, and coolant liquid is sent into heat exchanger 1 by the pump 4 in coolant liquid circuit.In chilled(cooling) water return (CWR)
Cooling water is sent into heat exchanger 1 by water pump 5.Coolant liquid and cooling water realize cold exchange in heat exchanger 1, to make coolant liquid
Temperature reduce, the coolant liquid after cooling returns again to heat generating components 2.
The PID closed-loop control system of available engine coolant circuit is in coolant circuit (the i.e. feedback inspection of controlled device
Survey line road) on be only provided with a temperature sensor 6, flow control valve 7 (i.e. executing agency) is provided on chilled(cooling) water return (CWR).
PID controller acquires the temperature for the coolant liquid that heat exchanger 1 is discharged by temperature sensor 6, and passes through flow control according to temperature
Valve 7 processed controls the flow of the cooling water in heat exchanger, to control the coolant temperature in coolant circuit.Its control effect
As shown in table 1.
Table 1
By the feedback data in table 1, calculates and returned using the engine coolant of existing PID closed-loop control system control
The control temperature-averaging on road is 78.58 DEG C, 5.5 DEG C is differed between maximum temperature and minimum temperature, variance yields 2.2836.
2 temperature sensors 7 are separately positioned on cooling circuit close to heating part by the PID closed-loop control system of the application
At part 2 and at the leakage fluid dram of heat exchanger 1, two temperature sensors 7 are as feedback transducer through signal processing module
It is connect with data processor.
The PID controller obtains the value of feedback that feedback detection system is sent, and according to target value and value of feedback control cooling
Flow control valve in water loop.Target value is arranged at 85 DEG C, feedback data is as shown in table 2.
Table 2
By the feedback data in table 2, calculates and returned using the engine coolant of the PID closed-loop control system of the application
The control temperature-averaging of road system is 84.95 DEG C, 0.1190 DEG C is differed between maximum temperature and minimum temperature, variance yields is
0.0018。
Finally, it should be noted that foregoing description is only the preferred embodiment of the present invention, the ordinary skill people of this field
Member under the inspiration of the present invention, without prejudice to the purpose of the present invention and the claims, can make multiple similar tables
Show, such transformation is fallen within the scope of protection of the present invention.
Claims (5)
1. a kind of PID closed-loop control system, is provided with the PID controller for controlling executing agency, which is connected with
Input/output module and feedback detection system, the PID controller obtain target value S by input/output module, it is characterised in that:
The feedback detection system is provided with data processor, which connects PID controller, and the data processor also passes through
Signal processing module is connected with N number of feedback transducer, and the data processor acquires controlled device by N number of feedback transducer
Controlled volume data a of the same racen(t)；
Optimal weights data splitting W is stored in the data processormax, optimal weights data WmaxIt is passed including each feedback
The optimal weights coefficient w of sensorn, the data processor combination optimal weights data splitting WmaxWith controlled volume data an(t) it counts
Calculate Optimal Feedback value Xmax(t), and by Optimal Feedback value Xmax(t) PID controller, the PID controller root are fed back to
According to Optimal Feedback value Xmax(t) and target value S controls executing agency.
2. PID closed-loop control system according to claim 1, it is characterised in that: the data processor, which is also connected with, to be deposited
Reservoir is stored with the optimal weights data splitting W in the memorymax。
3. a kind of control method of PID closed-loop control system, which comprises the following steps:
Step 1, PID controller obtain the set information that input/output module is sent, which includes target value S, ratio
Parameter kρ, integral parameter βiAnd differential parameter βd；
Step 2, PID controller control executing agency according to target value S and are adjusted；
Step 3, PID controller obtain the Optimal Feedback value X that feedback detection system is sentmax(t)；
Step 4, PID controller are according to Optimal Feedback value Xmax(t) and target value S calculates deviation e (t)；
Step 5, PID controller are calculated using the following equation out output quantity u (t)
Step 6, PID controller are according to output quantity u (t) adjustment actuating mechanism.
4. the control method of PID closed-loop control system according to claim 3, it is characterised in that: feed back inspection in the step 3
Examining system calculates Optimal Feedback value X using following methodsmax(t):
Step 3-1, data processor acquires the controlled volume data a of controlled device by all feedback transducers in real timen(t)；
Step 3-2, data processor transfers optimal weights data splitting W from memorymax；
Step 3-3, data processor is calculated using the following equation out Optimal Feedback value Xmax(t)；
5. the control method of PID closed-loop control system according to claim 4, it is characterised in that: data processor uses layer
Fractional analysis generates the optimal weights data splitting Wmax。
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