CN109828456A - A kind of Adaptive PID Control method - Google Patents
A kind of Adaptive PID Control method Download PDFInfo
- Publication number
- CN109828456A CN109828456A CN201910159223.5A CN201910159223A CN109828456A CN 109828456 A CN109828456 A CN 109828456A CN 201910159223 A CN201910159223 A CN 201910159223A CN 109828456 A CN109828456 A CN 109828456A
- Authority
- CN
- China
- Prior art keywords
- value
- indicate
- pid
- timer
- parameter
- 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
Abstract
A kind of Adaptive PID Control method of the invention, whether can be occurred to vibrate or eliminate according to controlled process remaining poor excessively slow, recalculate pid parameter, and automatic assignment is to PID controller, improve PID controller performance, the bad problem of PID control performance, keeps PID controller adaptable caused by effective solution Single Controller parameter.
Description
Technical field
The invention belongs to technical field of automatic control, are related to a kind of Adaptive PID Control method.
Background technique
PID control is mainly by ratio (Proportion, P), integral (Integral, I), differential (Derivative, D) three
A part composition, the parameter for needing to set includes proportional band (or proportionality coefficient), the time of integration and derivative time.Due to its original
The advantages that reason is simple, adjusting is simple, strong robustness, is the most widely used control technology of industrial circle.
Traditional PID control method is not being changed once controller parameter is set later, is only arrived next time
It is just reset when adjusting.However, many processes are non-linear or time-varying in actual industrial process control practice,
Single PID controller parameter is difficult to meet the requirement of control performance, this will lead to controlled process will appear oscillation or it is remaining
The difference bad performance such as bigger than normal.In such cases, traditional PID control method is difficult to meet the requirement of engineering practice.
Summary of the invention
In order to solve the above technical problems, the object of the present invention is to provide a kind of Adaptive PID Control method, it can be according to quilt
Control variable oscillation size or remaining poor size recalculate pid parameter, and it is special to adapt to controlled device to PID controller for automatic assignment
The variation of property, thereby may be ensured that the control performance of PID controller.
The present invention provides a kind of Adaptive PID Control method, includes the following steps:
Step 1: being calculated under different working conditions according to the historical data of controlled device using Internal Model PID setting method
Pid parameter determines the upper and lower bound of pid parameter according to the result of calculating:
Step 2: according to calculating as a result, current PID controller parameter is arranged, and PID being put into automatic；
Step 3: obtain current process value, it is excessively slow whether deterministic process occurs to vibrate or eliminate remaining difference, if occur oscillation or
It is excessively slow to eliminate remaining difference, thens follow the steps 4；It is no to then follow the steps 5；
Step 4: if vibrating, calculating oscillation size, and according to oscillation size and parameter section, recalculate PID
Parameter, automatic assignment is to PID controller；
If occurring to eliminate remaining poor excessively slow, the remaining poor size of calculating, and according to remaining poor size and parameter section, recalculate
Pid parameter, automatic assignment is to PID controller；
Step 5: after being delayed N seconds or divide according to the actual situation, into judgement next time.
In Adaptive PID Control method of the invention, whether deterministic process vibrates in the step 3, if continuously
The difference of four current process values and setting value is greater than the first predetermined deviation value, then judges that controlled device vibrates, specific to judge
Process is as follows:
S201: acquisition process value PV, setting value SV and the first predetermined deviation value DV1 are carried out if PV-SV >=DV1
Otherwise S202 carries out S205；
S202: judging whether the first timer TM1 and the second timer TM2 start, if being both actuated for S204,
Otherwise S203 is carried out；
S203: the first timer TM1 of starting；
S204: starting third timer TM3；
S205: acquisition process value PV, setting value SV and the first predetermined deviation value DV1 are carried out if PV-SV≤- DV1
Otherwise S206 returns to S201；
S206: judging whether the first timer TM1 starts, if being actuated for S207, otherwise returns to S201；
S207: judging whether third timer TM3 starts, if being actuated for S209, otherwise carries out S208；
S208: the second timer TM2 of starting；
S209: it currently vibrates.
In Adaptive PID Control method of the invention, oscillation size is calculated in the step 4 according to the following formula:
Wherein, f1Indicate oscillation size, PViIndicate i-th of process values PV value.
In Adaptive PID Control method of the invention, according to oscillation size and parameter section in the step 4, again
Calculate pid parameter specifically:
(1) proportional band PB is calculated using following methods；
PBn=(1+a × f1)×PBn-1,(PBn<=PBmax)
Wherein, PBnIndicate current PB value, PBn-1Indicate upper period PB value, PBmaxIndicate the upper limit of PB value, a (0 < a <
2) constant, the bigger PB of a are indicatednEach changing value bigger (2) calculates time of integration TI using following methods；
TIn=(1+b × f1)×TIn-1,(TIn<=TImax)
Wherein, TInIndicate current TI value, TIn-1Indicate upper cycle T I value, TImaxIndicate the upper limit of TI, b (0 < b < 2)
Indicate constant, the bigger TI of bnEach changing value is bigger.
In Adaptive PID Control method of the invention, whether deterministic process eliminates remaining poor mistake in the step 3
Slowly, the difference of current process value and setting value is greater than the second predetermined deviation value and the duration is greater than preset time, then judgement is controlled
The remaining difference of object elimination is excessively slow, and specific deterministic process is as follows:
S401: acquisition process value PV, setting value SV and the second predetermined deviation value DV2 are carried out if PV-SV >=DV2
Otherwise S402 stops the 4th timer TM4, and returns to S401；
S402: the 4th timer TM4 of starting；
S403: judging whether timing terminates the 4th timer TM4, if timing terminates to enter S405, otherwise enters S404；
S404: acquisition process value PV, setting value SV and the second predetermined deviation value DV2 are carried out if PV-SV >=DV2
Otherwise S403 stops the 4th timer TM4, and returns to S401；
S405: it is excessively slow that remaining difference is eliminated in current generation.
Calculate remaining poor size according to the following formula in Adaptive PID Control method of the invention, in the step 4:
Wherein, f2Indicate remaining poor size, T indicates preset time, and DV2 indicates the second predetermined deviation value.
In Adaptive PID Control method of the invention, according to remaining poor size and parameter section in the step 4, again
Calculate pid parameter specifically:
(1) proportional band PB is calculated using following methods
PBn=(1-c × f2)×PBn-1,(PBn>=PBmin)
Wherein, PBnIndicate current PB value, PBn-1Indicate upper period PB value, PBminIndicate the lower limit of PB value, c (0 < c <
2) constant, the bigger PB of c are indicatednEach changing value is bigger；
(2) time of integration TI is calculated using following methods
TIn=(1-d × f2)×TIn-1,(TIn>=TImin)
Wherein, TInIndicate current TI value, TIn-1Indicate upper cycle T I value, TIminIndicate the lower limit of TI, d (0 < d < 2)
Indicate constant, the bigger TI of dnEach changing value is bigger.
The present invention provides a kind of Adaptive PID Control methods, and size or remaining poor size can be vibrated according to controlled variable
Pid parameter being recalculated, and automatic assignment adapts to the variation of controlled device characteristic to PID controller, dynamic changes pid parameter,
Make PID controller specifically good adaptive ability, thereby may be ensured that the control performance of PID controller.
Detailed description of the invention
Fig. 1 is a kind of flow chart of Adaptive PID Control method of the invention；
Fig. 2 is the schematic diagram that controlled device vibrates；
Fig. 3 is that oscillation judges schematic diagram；
Fig. 4 is that controlled device eliminates the excessively slow schematic diagram of remaining difference；
Fig. 5 is that remaining difference judges schematic diagram；
Fig. 6 is simulation result diagram one of the present invention；
Fig. 7 is simulation result diagram two of the present invention.
Specific embodiment
With reference to the accompanying drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that is retouched
The embodiment stated is only a part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiments of the present invention, ability
Without making creative work, every other embodiment obtained belongs to the present invention to domain those of ordinary skill
Protection scope.
Core of the invention is when oscillation or excessive remaining difference occurring for PID controller, by using corresponding method, into
Row judgement and calculating.
As shown in Figure 1, a kind of Adaptive PID Control method of the invention, includes the following steps:
Step 1: the database on DCS or PLC platform carries out the inquiry of controlled device historical data, according to controlled pair
The historical data of elephant calculates the pid parameter under different working conditions using Internal Model PID setting method, true according to the result of calculating
Determine the upper and lower bound of pid parameter:
Step 2: according to calculating as a result, current PID controller parameter is arranged, and PID being put into automatic；
Step 3: obtain current process value, it is excessively slow whether deterministic process occurs to vibrate or eliminate remaining difference, if occur oscillation or
It is excessively slow to eliminate remaining difference, thens follow the steps 4；It is no to then follow the steps 5；
Step 4: if vibrating, calculating oscillation size, and according to oscillation size and parameter section, recalculate PID
Parameter, automatic assignment is to PID controller；
If occurring to eliminate remaining poor excessively slow, the remaining poor size of calculating, and according to remaining poor size and parameter section, recalculate
Pid parameter, automatic assignment is to PID controller；
Step 5: after being delayed N seconds or divide according to the actual situation, into judgement next time.
Whether deterministic process vibrates in the step 3, if the difference of continuous four current process values and setting value is greater than
First predetermined deviation value then judges that controlled device vibrates.Fig. 2 is the schematic diagram that controlled device vibrates, and Fig. 3 is oscillation
Judge schematic diagram, be programmed according to Fig. 3 method provided, while needing to be arranged corresponding parameter, SV, DV1, TM1, TM2,
TM3 parameter is configured according to field device situation, technic index and controlled device characteristic.The specific deterministic process vibrated
It is as follows:
S201: acquisition process value PV (Process Value, PV), setting value SV (Setpoint Value, SV) and first
Predetermined deviation value DV1 (Deviation Value, DV1), if PV-SV >=DV1, carries out S202, otherwise carries out S205；
S202: judging whether the first timer TM1 and the second timer TM2 start, if being both actuated for S204,
Otherwise S203 is carried out；
S203: the first timer TM1 of starting；
S204: starting third timer TM3；
S205: acquisition process value PV, setting value SV and the first predetermined deviation value DV1 are carried out if PV-SV≤- DV1
Otherwise S206 returns to S201；
S206: judging whether the first timer TM1 starts, if being actuated for S207, otherwise returns to S201；
S207: judging whether third timer TM3 starts, if being actuated for S209, otherwise carries out S208；
S208: the second timer TM2 of starting；
S209: it currently vibrates.
If currently vibrated, oscillation size is calculated in the step 4 according to the following formula:
Wherein, f1Indicate oscillation size, PViIndicate i-th of process values PV value.
According to oscillation size and parameter section in the step 4, pid parameter is recalculated specifically:
(1) proportional band PB is calculated using following methods；
PBn=(1+a × f1)×PBn-1,(PBn<=PBmax)
Wherein, PBnIndicate current PB value, PBn-1Indicate upper period PB value, PBmaxIndicate the upper limit of PB value, a (0 < a <
2) constant, the bigger PB of a are indicatednEach changing value is bigger.
(2) time of integration TI is calculated using following methods；
TIn=(1+b × f1)×TIn-1,(TIn<=TImax)
Wherein, TInIndicate current TI value, TIn-1Indicate upper cycle T I value, TImaxIndicate the upper limit of TI, b (0 < b < 2)
Indicate constant, the bigger TI of bnEach changing value is bigger.
According to the pid parameter of above-mentioned calculating, automatic assignment is to PID controller, after being delayed N seconds or dividing according to the actual situation,
Into judgement next time
Whether deterministic process eliminates that remaining difference is excessively slow in the step 3, and the difference of current process value and setting value is greater than the
Two predetermined deviation values and duration are greater than preset time, then it is excessively slow to judge that controlled device eliminates remaining difference.Fig. 4 is that controlled device disappears
Except the schematic diagram that remaining difference is excessively slow, Fig. 5 is that remaining difference judges schematic diagram.It is programmed according to Fig. 5 method provided, while needing to be arranged
Corresponding parameter, SV, DV2, TM4 parameter are configured according to field device situation, technic index and controlled device characteristic.Occur
It is as follows to eliminate the excessively slow specific deterministic process of remaining difference:
S401: acquisition process value PV, setting value SV and the second predetermined deviation value DV2 are carried out if PV-SV >=DV2
Otherwise S402 stops the 4th timer TM4, and returns to S401；
S402: the 4th timer TM4 of starting；
S403: judging whether timing terminates the 4th timer TM4, if timing terminates to enter S405, otherwise enters S404；
S404: acquisition process value PV, setting value SV and the second predetermined deviation value DV2 are carried out if PV-SV >=DV2
Otherwise S403 stops the 4th timer TM4, and returns to S401；
S405: it is excessively slow that remaining difference is eliminated in current generation.
Remaining poor size is calculated in the step 4 according to the following formula:
Wherein, f2Indicate remaining poor size, T indicates preset time, and DV2 indicates the second predetermined deviation value.
According to remaining poor size and parameter section in the step 4, pid parameter is recalculated specifically:
(1) proportional band PB is calculated using following methods；
PBn=(1-c × f2)×PBn-1,(PBn>=PBmin)
Wherein, PBnIndicate current PB value, PBn-1Indicate upper period PB value, PBminIndicate the lower limit of PB value, c (0 < c <
2) constant, the bigger PB of c are indicatednEach changing value is bigger.
(2) time of integration TI is calculated using following methods；
TIn=(1-d × f2)×TIn-1,(TIn>=TImin)
Wherein, TInIndicate current TI value, TIn-1Indicate upper cycle T I value, TIminIndicate the lower limit of TI, d (0 < d < 2)
Indicate constant, the bigger TI of dnEach changing value is bigger.
According to the pid parameter of above-mentioned calculating, automatic assignment is to PID controller, after being delayed N seconds or dividing according to the actual situation,
Into judgement next time.
Emulation explanation one: oscillatory process
Known models (1) are the input/output model of process, and due to operating condition reason of changes, model (1) gradually becomes model
(2).Using interior modelling computing controller parameter PB=24, TI=48, PBmax=64, TImax=60, the first predetermined deviation DV1
=0.03, a=1.5, b=0.5.Emulated using MATLAB software, simulation time be 3000 seconds, since 1 second emulation and
Setting value becomes SV=1 by SV=0, the SV=2 at 200 seconds, the SV=1 at 500 seconds, the SV=2 at 800 seconds, at 1200 seconds
When SV=1, the SV=2 at 1500 seconds, the SV=1 at 1800 seconds, the SV=2 at 2100 seconds, the SV=1 at 2400 seconds, from 300
Second starting process model gradually starts to change, and model variation terminates when by 800 seconds.Shown in simulation result Fig. 6, it compared using solid
Determine controller parameter and use adaptive controller parameter control effect of the present invention, using Adaptive PID Control side of the invention
After method, the overshoot of measured value PV is reduced to 1.5% from 27.5%, and the number of oscillation and amplitude are substantially reduced.
Model (1)
Model (2)
Emulation explanation two: it is excessively slow to eliminate remaining difference
Known models (1) are the input/output model of process, and due to operating condition reason of changes, model (1) gradually becomes model
(2).Using interior modelling computing controller parameter PB=64, TI=60, PBmin=24, TImin=48, the second predetermined deviation DV2
=0.03, c=0.8, d=0.5.Emulated using MATLAB software, simulation time be 3000 seconds, since 1 second emulation and
Setting value becomes SV=1 by SV=0, the SV=2 at 200 seconds, the SV=1 at 500 seconds, the SV=2 at 800 seconds, at 1200 seconds
When SV=1, the SV=2 at 1500 seconds, the SV=1 at 1800 seconds, the SV=2 at 2100 seconds, the SV=1 at 2400 seconds, from 300
Second starting process model gradually starts to change, and model variation terminates when by 800 seconds.Shown in simulation result Fig. 7, it compared using solid
Determine controller parameter and use adaptive controller parameter control effect of the present invention, using Adaptive PID Control side of the invention
After method, the remaining difference elimination time of measured value PV was reduced to 60 seconds from 280 seconds.
Model (1)
Model (2)
The foregoing is merely presently preferred embodiments of the present invention, the thought being not intended to limit the invention, all of the invention
Within spirit and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of Adaptive PID Control method, which comprises the steps of:
Step 1: the PID under different working conditions is calculated using Internal Model PID setting method according to the historical data of controlled device
Parameter determines the upper and lower bound of pid parameter according to the result of calculating:
Step 2: according to calculating as a result, current PID controller parameter is arranged, and PID being put into automatic；
Step 3: obtaining current process value, it is remaining poor excessively slow whether deterministic process occurs to vibrate or eliminate, if oscillation occurs or eliminates
Remaining difference is excessively slow, thens follow the steps 4；It is no to then follow the steps 5；
Step 4: if vibrating, oscillation size is calculated, and according to oscillation size and parameter section, recalculates pid parameter,
Automatic assignment is to PID controller；
If occurring to eliminate remaining poor excessively slow, the remaining poor size of calculating, and according to remaining poor size and parameter section, recalculates PID and join
Number, automatic assignment is to PID controller；
Step 5: after being delayed N seconds or divide according to the actual situation, into judgement next time.
2. Adaptive PID Control method as described in claim 1, which is characterized in that whether deterministic process is sent out in the step 3
Raw oscillation judges controlled device if the difference of continuous four current process values and setting value is greater than the first predetermined deviation value
Oscillation, specific deterministic process are as follows:
S201: acquisition process value PV, setting value SV and the first predetermined deviation value DV1 carry out S202 if PV-SV >=DV1,
Otherwise S205 is carried out；
S202: judging whether the first timer TM1 and the second timer TM2 start, if being both actuated for S204, otherwise
Carry out S203；
S203: the first timer TM1 of starting；
S204: starting third timer TM3；
S205: acquisition process value PV, setting value SV and the first predetermined deviation value DV1 carry out S206 if PV-SV≤- DV1,
Otherwise S201 is returned；
S206: judging whether the first timer TM1 starts, if being actuated for S207, otherwise returns to S201；
S207: judging whether third timer TM3 starts, if being actuated for S209, otherwise carries out S208；
S208: the second timer TM2 of starting；
S209: it currently vibrates.
3. Adaptive PID Control method as described in claim 1, which is characterized in that calculate vibration in the step 4 according to the following formula
Swing size:
Wherein, f1Indicate oscillation size, PViIndicate i-th of process values PV value.
4. Adaptive PID Control method as claimed in claim 3, which is characterized in that in the step 4 according to oscillation size and
Parameter section, recalculates pid parameter specifically:
(1) proportional band PB is calculated using following methods；
PBn=(1+a × f1)×PBn-1,(PBn<=PBmax)
Wherein, PBnIndicate current PB value, PBn-1Indicate upper period PB value, PBmaxIndicate the upper limit of PB value, a (0 < a < 2) table
Show constant, the bigger PB of anEach changing value is bigger
(2) time of integration TI is calculated using following methods；
TIn=(1+b × f1)×TIn-1,(TIn<=TImax)
Wherein, TInIndicate current TI value, TIn-1Indicate upper cycle T I value, TImaxIndicate the upper limit of TI, b (0 < b < 2) is indicated
Constant, the bigger TI of bnEach changing value is bigger.
5. Adaptive PID Control method as described in claim 1, which is characterized in that whether deterministic process is sent out in the step 3
The remaining difference of life elimination is excessively slow, and the difference of current process value and setting value is greater than the second predetermined deviation value and when the duration is greater than presetting
Between, then judge that controlled device is poor excessively slow more than eliminating, specific deterministic process is as follows:
S401: acquisition process value PV, setting value SV and the second predetermined deviation value DV2 carry out S402 if PV-SV >=DV2,
Otherwise stop the 4th timer TM4, and return to S401；
S402: the 4th timer TM4 of starting；
S403: judging whether timing terminates the 4th timer TM4, if timing terminates to enter S405, otherwise enters S404；
S404: acquisition process value PV, setting value SV and the second predetermined deviation value DV2 carry out S403 if PV-SV >=DV2,
Otherwise stop the 4th timer TM4, and return to S401；
S405: it is excessively slow that remaining difference is eliminated in current generation.
6. Adaptive PID Control method as described in claim 1, which is characterized in that more than being calculated according to the following formula in the step 4
Poor size:
Wherein, f2Indicate remaining poor size, T indicates preset time, and DV2 indicates the second predetermined deviation value.
7. Adaptive PID Control method as claimed in claim 6, which is characterized in that in the step 4 according to remaining poor size and
Parameter section, recalculates pid parameter specifically:
(1) proportional band PB is calculated using following methods
PBn=(1-c × f2)×PBn-1,(PBn>=PBmin)
Wherein, PBnIndicate current PB value, PBn-1Indicate upper period PB value, PBminIndicate the lower limit of PB value, c (0 < c < 2) table
Show constant, the bigger PB of cnEach changing value is bigger；
(2) time of integration TI is calculated using following methods
TIn=(1-d × f2)×TIn-1,(TIn>=TImin)
Wherein, TInIndicate current TI value, TIn-1Indicate upper cycle T I value, TIminIndicate that the lower limit of TI, d (0 < d < 2) indicate
Constant, the bigger TI of dnEach changing value is bigger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910159223.5A CN109828456B (en) | 2019-03-04 | 2019-03-04 | Self-adaptive PID control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910159223.5A CN109828456B (en) | 2019-03-04 | 2019-03-04 | Self-adaptive PID control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109828456A true CN109828456A (en) | 2019-05-31 |
| CN109828456B CN109828456B (en) | 2022-02-01 |
Family
ID=66865186
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910159223.5A Active CN109828456B (en) | 2019-03-04 | 2019-03-04 | Self-adaptive PID control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109828456B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110703592A (en) * | 2019-11-26 | 2020-01-17 | 广东沃泰环保有限公司 | PID (proportion integration differentiation) regulation algorithm and PID regulator |
| CN112000149A (en) * | 2020-08-31 | 2020-11-27 | 万华化学集团股份有限公司 | Method, storage medium and system for automatically controlling temperature of batch reactor |
Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0535304A (en) * | 1991-07-31 | 1993-02-12 | Toshiba Corp | Two-degree of freedom control device |
| CN1536456A (en) * | 2003-04-10 | 2004-10-13 | 哈尔滨工业大学 | Fuzzy self-regulation PID control method of linear motor |
| CN101071300A (en) * | 2007-05-25 | 2007-11-14 | 太平洋水处理工程有限公司 | Chlorine-feeding intelligent PID control method |
| CN101908287A (en) * | 2010-07-23 | 2010-12-08 | 重庆大学 | Experimental facility for demonstrating dynamic characteristics of integration variable process |
| CN102393627A (en) * | 2011-10-21 | 2012-03-28 | 靳其兵 | System and method for optimizing and adjusting controller parameters in distributed control system |
| CN102621883A (en) * | 2012-04-01 | 2012-08-01 | 广东电网公司电力科学研究院 | PID (proportion integration differentiation) parameter turning method and PID parameter turning system |
| CN104808494A (en) * | 2015-04-23 | 2015-07-29 | 西安外事学院 | PID parameter setting method based on self-adaptation ant colony genetic hybrid algorithm |
| CN104839880A (en) * | 2015-06-01 | 2015-08-19 | 河南中烟工业有限责任公司 | Perfuming instantaneous precision control device and method |
| KR101575524B1 (en) * | 2014-09-02 | 2015-12-07 | 현대자동차주식회사 | P i d target value footstep stability method using multi dimensional gain map and p i d controller therefor |
| 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 |
| EP3073334A1 (en) * | 2015-03-23 | 2016-09-28 | Siemens Aktiengesellschaft | Method and arrangement for automatic tuning of a controller |
| CN106499537A (en) * | 2016-12-31 | 2017-03-15 | 南岳电控（衡阳）工业技术股份有限公司 | A kind of pid parameter self-adjusting control of common rail for diesel engine pressure and device |
| CN106597838A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Device and method for controlling steering engine |
| CN106706708A (en) * | 2015-11-16 | 2017-05-24 | 杨斌 | Control method of rapid high-precision cold mirror type dew-point instrument |
| CN106773652A (en) * | 2017-01-25 | 2017-05-31 | 北京鸿智电通科技有限公司 | A kind of PID systems and its parameter automatic adjusting method |
| CN106842905A (en) * | 2017-03-31 | 2017-06-13 | 上海拓攻机器人有限公司 | PID control method and device |
| CN108482168A (en) * | 2018-04-28 | 2018-09-04 | 北京新能源汽车股份有限公司 | A kind of adjusting method, device and the automobile of battery pack internal temperature |
| CN109031943A (en) * | 2018-09-17 | 2018-12-18 | 余正环 | Analog control loop control unit parameter tuning method and device |
| CN109062033A (en) * | 2018-10-19 | 2018-12-21 | 宁波市机电工业研究设计院有限公司 | A kind of methods of self-tuning of PID system |
-
2019
- 2019-03-04 CN CN201910159223.5A patent/CN109828456B/en active Active
Patent Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0535304A (en) * | 1991-07-31 | 1993-02-12 | Toshiba Corp | Two-degree of freedom control device |
| CN1536456A (en) * | 2003-04-10 | 2004-10-13 | 哈尔滨工业大学 | Fuzzy self-regulation PID control method of linear motor |
| CN101071300A (en) * | 2007-05-25 | 2007-11-14 | 太平洋水处理工程有限公司 | Chlorine-feeding intelligent PID control method |
| CN101908287A (en) * | 2010-07-23 | 2010-12-08 | 重庆大学 | Experimental facility for demonstrating dynamic characteristics of integration variable process |
| CN102393627A (en) * | 2011-10-21 | 2012-03-28 | 靳其兵 | System and method for optimizing and adjusting controller parameters in distributed control system |
| CN102621883A (en) * | 2012-04-01 | 2012-08-01 | 广东电网公司电力科学研究院 | PID (proportion integration differentiation) parameter turning method and PID parameter turning system |
| KR101575524B1 (en) * | 2014-09-02 | 2015-12-07 | 현대자동차주식회사 | P i d target value footstep stability method using multi dimensional gain map and p i d controller therefor |
| EP3073334A1 (en) * | 2015-03-23 | 2016-09-28 | Siemens Aktiengesellschaft | Method and arrangement for automatic tuning of a controller |
| CN104808494A (en) * | 2015-04-23 | 2015-07-29 | 西安外事学院 | PID parameter setting method based on self-adaptation ant colony genetic hybrid algorithm |
| CN104839880A (en) * | 2015-06-01 | 2015-08-19 | 河南中烟工业有限责任公司 | Perfuming instantaneous precision control device and method |
| CN106597838A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Device and method for controlling steering engine |
| CN106706708A (en) * | 2015-11-16 | 2017-05-24 | 杨斌 | Control method of rapid high-precision cold mirror type dew-point instrument |
| 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 |
| CN106499537A (en) * | 2016-12-31 | 2017-03-15 | 南岳电控（衡阳）工业技术股份有限公司 | A kind of pid parameter self-adjusting control of common rail for diesel engine pressure and device |
| CN106773652A (en) * | 2017-01-25 | 2017-05-31 | 北京鸿智电通科技有限公司 | A kind of PID systems and its parameter automatic adjusting method |
| CN106842905A (en) * | 2017-03-31 | 2017-06-13 | 上海拓攻机器人有限公司 | PID control method and device |
| CN108482168A (en) * | 2018-04-28 | 2018-09-04 | 北京新能源汽车股份有限公司 | A kind of adjusting method, device and the automobile of battery pack internal temperature |
| CN109031943A (en) * | 2018-09-17 | 2018-12-18 | 余正环 | Analog control loop control unit parameter tuning method and device |
| CN109062033A (en) * | 2018-10-19 | 2018-12-21 | 宁波市机电工业研究设计院有限公司 | A kind of methods of self-tuning of PID system |
Non-Patent Citations (5)
| Title |
|---|
| 张俊平: "YR-GFD模糊PID调节器在化工生产中的应用", 《中国氯碱》 * |
| 张旭: "可编程序控制器中PID调节功能的实现", 《滁州师专学报》 * |
| 潘文斌 等: "基于模式识别的自整定PID算法的改进", 《工业控制计算机》 * |
| 王建龙 等: "一种PID参数闭环整定的新方法研究", 《沈阳化工大学学报》 * |
| 王文庆 等: "基于改进遗传算法的PID参数整定研究", 《计算机与数字工程》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110703592A (en) * | 2019-11-26 | 2020-01-17 | 广东沃泰环保有限公司 | PID (proportion integration differentiation) regulation algorithm and PID regulator |
| CN110703592B (en) * | 2019-11-26 | 2022-05-10 | 广东沃泰环保有限公司 | PID (proportion integration differentiation) adjusting method and PID adjuster |
| CN112000149A (en) * | 2020-08-31 | 2020-11-27 | 万华化学集团股份有限公司 | Method, storage medium and system for automatically controlling temperature of batch reactor |
| CN112000149B (en) * | 2020-08-31 | 2021-07-23 | 万华化学集团股份有限公司 | Method, storage medium and system for automatically controlling temperature of batch reactor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109828456B (en) | 2022-02-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109828456A (en) | A kind of Adaptive PID Control method | |
| Wang et al. | New frequency-domain design method for PID controllers | |
| CN106444363B (en) | A kind of pid parameter setting method and adjusting system | |
| CN103106307B (en) | The transverse beam design method of laser cutting machine | |
| CN106896716A (en) | Micro-capacitance sensor alternating current-direct current section transverter pid parameter optimization method based on grey wolf algorithm | |
| CN112967760B (en) | Limestone slurry amount estimation method based on sulfur dioxide content at inlet of desulfurization system | |
| CN104734588A (en) | Biomass gas internal combustion generator set rotation speed control method | |
| CN108939890A (en) | A kind of SCR denitrating flue gas control method based on Human Simulating Intelligent Control | |
| CN106773652A (en) | A kind of PID systems and its parameter automatic adjusting method | |
| CN105955030A (en) | Turbine and boiler coordination control method based on improved input weighted prediction controller | |
| CN106026183B (en) | Hydrogovernor isolated power grid control method and system | |
| CN110850709A (en) | Progressive setting method for PID (proportion integration differentiation) parameters | |
| WO2024041305A1 (en) | Coating control method and apparatus, control device, and storage medium | |
| CN107807526A (en) | A kind of method for intelligently suppressing processing flutter based on Simulation of stability | |
| CN110426957B (en) | Water plant dosing system self-adaptive sliding mode control method based on time delay observer | |
| CN110347038B (en) | Two-degree-of-freedom Smith estimation control method in cement clinker cooling process | |
| CN107728481A (en) | A kind of closed loop modeling method and device based on Model Predictive Control | |
| CN108333935A (en) | A kind of accurate adjustment method and system of notch filter | |
| CN109760053B (en) | Dynamic planning speed control method of truss manipulator | |
| CN105785760A (en) | Annealing furnace clean circulation water hardness automatic control system and method thereof | |
| CN104714569A (en) | Vehicle body vibration control system and method based on fuzzy PID control | |
| Yucelen et al. | Self-tuning PID controller using Ziegler-Nichols method for programmable logic controllers | |
| EP0330125A2 (en) | Self-propagating control apparatus and method, propagating-type controller used by said apparatus, method of operating and controlling same, and supervisor | |
| CN106950835A (en) | Succinct Robust Two-Degree-of-Freedom proportional plus integral control method | |
| CN102736514B (en) | A kind of PIDT control technology and method thereof with optional Control architecture |
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 |