CN109932892A - A kind of pid parameter Self-tuning System device - Google Patents
A kind of pid parameter Self-tuning System device Download PDFInfo
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- CN109932892A CN109932892A CN201711358112.4A CN201711358112A CN109932892A CN 109932892 A CN109932892 A CN 109932892A CN 201711358112 A CN201711358112 A CN 201711358112A CN 109932892 A CN109932892 A CN 109932892A
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Abstract
The present invention provides a kind of pid parameter Self-tuning System devices, the present invention obtains module, parameter tuning module by parameter acquisition module, variant determination module, conventional parameter, first acquisition system deviation, change of error amount, the proportionality coefficient of current PID model, integral coefficient and differential coefficient；Determine proportionality coefficient variable quantity, integral coefficient variable quantity and differential coefficient variable quantity；Conventional ratio coefficient, regular integral coefficient and the conventional differential coefficient of PID model are obtained using conventional method later；Target proportion coefficient, target integral coefficient and target differential coefficient are determined by conventional ratio coefficient, regular integral coefficient, conventional differential coefficient, proportionality coefficient variable quantity, integral coefficient variable quantity and differential coefficient variable quantity, the technical issues of PID controller that target proportion coefficient that the present invention obtains, target integral coefficient and target differential coefficient are constituted can overcome the big complexity of controlled process, non-linear, large time delay, parameter time varying.
Description
Technical field
The present invention relates to automation field more particularly to a kind of pid parameter Self-tuning System devices.
Background technique
PID controller is one of the control strategy to grow up earliest.Since it is simple with structure, easy to accomplish, former
Manage transparent, robustness preferably, be able to satisfy the requirements of most of industrial stokeholds, always by vast control technology personnel blueness
It looks at, is widely used among industrial stokehold.
But with the development of production and technology, on the one hand, to Process Control System, more stringent requirements are proposed；It is another
Aspect, controlled process become increasingly complex, and non-linear, large time delay, parameter time varying etc. make control more and more difficult.At this point, passing
The PID control of system just tends not to competent.
Summary of the invention
(1) technical problems to be solved
The technical problem to be solved by the present invention is to so that PID controller is overcome the big complexity, non-thread of controlled process
The technical issues of property, large time delay, parameter time varying.
(2) technical solution
In order to solve the above technical problems, the present invention provides a kind of pid parameter Self-tuning System device, described device includes:
Parameter acquisition module, for obtaining system deviation, change of error amount, the proportionality coefficient of current PID model, integration system
Several and differential coefficient；
Variant determination module, for according to the system deviation, change of error amount, proportionality coefficient, integral coefficient and micro-
Divide coefficient, determines proportionality coefficient variable quantity, integral coefficient variable quantity and differential coefficient variable quantity；
Conventional parameter obtains module, for obtaining conventional ratio coefficient, the regular integral system of PID model using conventional method
Several and conventional differential coefficient；
Parameter tuning module, for utilizing the conventional ratio coefficient, regular integral coefficient, conventional differential coefficient, ratio
Example index variation amount, integral coefficient variable quantity and differential coefficient variable quantity determine target proportion coefficient, target integral coefficient with
And target differential coefficient.
Further, described device further include:
Model construction module, for utilizing the target proportion coefficient, target integral coefficient and target differential coefficient, structure
Build target PID model.
Further, the parameter acquisition module is also used to, every to pass through a predetermined time interval, and it is inclined to obtain the system
Difference, change of error amount, the proportionality coefficient of current PID model, integral coefficient and differential coefficient, obtain several groups setting parameter；
Wherein, every group of setting parameter include synchronization obtain the system deviation, change of error amount, current PID model ratio
Example coefficient, integral coefficient and differential coefficient；
The variant determination module is also used to determine proportionality coefficient variable quantity, integral coefficient according to several groups setting parameter
Variable quantity and differential coefficient variable quantity.
Further, the variant determination module is also used to according to several groups setting parameter, determines ratio using Fuzzy reasoning
Example index variation amount, integral coefficient variable quantity and differential coefficient variable quantity.
(3) beneficial effect
Above-mentioned technical proposal of the invention has the advantages that
The present invention obtain first system deviation, change of error amount, the proportionality coefficient of current PID model, integral coefficient and
Differential coefficient；Later according to system deviation, change of error amount, proportionality coefficient, integral coefficient and differential coefficient, ratio system is determined
Number variable quantity, integral coefficient variable quantity and differential coefficient variable quantity；The conventional ratio of PID model is obtained using conventional method later
Example coefficient, regular integral coefficient and conventional differential coefficient；It is finally micro- using conventional ratio coefficient, regular integral coefficient, routine
Coefficient, proportionality coefficient variable quantity, integral coefficient variable quantity and differential coefficient variable quantity is divided to determine target proportion coefficient, target product
Divide coefficient and target differential coefficient, target proportion coefficient, target integral coefficient and the target differential coefficient that the present invention obtains
The PID controller of composition can overcome the technology of the big complexity of controlled process, non-linear, large time delay, parameter time varying to ask
Topic.
Detailed description of the invention
Fig. 1 is the flow chart of the pid parameter automatic setting method of one embodiment of the present of invention.
Fig. 2 is the flow chart of the pid parameter automatic setting method of yet another embodiment of the present invention.
Fig. 3 is the block diagram of the pid parameter Self-tuning System device of one embodiment of the present of invention.
Fig. 4 is the block diagram of the pid parameter Self-tuning System device of yet another embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
In description of the invention, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower", " preceding ",
The orientation or positional relationship of the instructions such as " rear ", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached
Orientation or positional relationship shown in figure, is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion is signified
Device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to the present invention
Limitation.In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
A kind of pid parameter automatic setting method, as shown in Figure 1, described method includes following steps:
110, system deviation, change of error amount, the proportionality coefficient of current PID model, integral coefficient and differential system are obtained
Number；
120, according to the system deviation, change of error amount, proportionality coefficient, integral coefficient and differential coefficient, ratio is determined
Example index variation amount, integral coefficient variable quantity and differential coefficient variable quantity；
130, conventional ratio coefficient, regular integral coefficient and the conventional differential system of PID model are obtained using conventional method
Number；
140, using the conventional ratio coefficient, regular integral coefficient, conventional differential coefficient, proportionality coefficient variable quantity,
Integral coefficient variable quantity and differential coefficient variable quantity determine target proportion coefficient, target integral coefficient and target differential system
Number.
The PID controller that target proportion coefficient, target integral coefficient and the target differential coefficient that the present invention obtains are constituted
The technical issues of big complexity, the non-linear, large time delay, parameter time varying of controlled process can be overcome.
In one embodiment, as shown in Fig. 2, pid parameter automatic setting method further includes following steps:
150, using the target proportion coefficient, target integral coefficient and target differential coefficient, target PID mould is constructed
Type.
In one embodiment, pid parameter automatic setting method determines proportionality coefficient variable quantity, integration system using following steps
Number variable quantity and differential coefficient variable quantity:
It is every to pass through a predetermined time interval, obtain the system deviation, change of error amount, the ratio of current PID model
Coefficient, integral coefficient and differential coefficient obtain several groups setting parameter；Wherein, every group of setting parameter is included in synchronization
The system deviation, change of error amount, the proportionality coefficient of current PID model, integral coefficient and the differential coefficient obtained；
According to several groups setting parameter, proportionality coefficient variable quantity, integral coefficient variable quantity and differential coefficient variation are determined
Amount.
Specifically, pid parameter automatic setting method further includes following steps:
According to several groups setting parameter, using Fuzzy reasoning determine proportionality coefficient variable quantity, integral coefficient variable quantity and
Differential coefficient variable quantity.
Technical solution of the present invention is described in detail below by a specific method.
The present embodiment combines fuzzy control with PID controller.Fuzzy control does not require the accurate mould of controlled device
Type, adaptable, it has been applied successfully to Industry Control, and achieve good control as a kind of novel control theory
Effect processed becomes automatic control and draws a very promising branch in art field.Fuzzy controller is to utilize artificial intelligence
Method be stored in computer for the adjustment experience of operator as knowledge, according to on-site actual situations, computer passes through fuzzy
The adjust automaticallies pid parameter such as reasoning and Fuzzy Calculation.
The principle conventional PID controller of conventional PID controller can be described as:
U (k)=Kpe (k)+Ki ∑ kj=0e (j)+Kdec (k)
In formula, e (k), ec (k) are respectively system deviation, change of error amount, and Kp is proportionality coefficient, accelerate the response of system
Speed improves the degree of regulation of system, and Ki is integral coefficient, eliminates the steady-state error of system, and Kd is differential coefficient, improves system
Dynamic characteristic.PID controller is the system control performance that has obtained by the adjusting to 3 control parameters.
Fuzzy control system structure conventional PID controller cannot achieve the on-line tuning of parameter, thus in the base of Traditional PID
Fuzzy parameters self-turning controller is added on plinth, is made it according to features such as the size of system deviation, direction and variation tendencies, is passed through
Corresponding decision is made in Fuzzy reasoning, and automatically the 3 of on-line tuning PID parameter, Δ Kp, Δ Ki, Δ Kd, are more filled it up with to reach
The control effect of meaning.Fuzzy system structure selects the input quantity of fuzzy inference system it is expected that temperature value is obtained with sampling
The deviation e and deviation variation rate ec that actual temperature is calculated, output quantity are correction amount Kp, Δ Ki, the Δ Kd of pid parameter.
First find out the fuzzy relation between 3 parameters of PID and deviation e and deviation variation rate ec, in operation by constantly detection e and
Ec carries out on-line tuning to 3 parameters further according to fuzzy control principle, new Kp, Ki, Kd is obtained by conventional PID controller
Afterwards, corresponding control is exported to control object.Make controlled device that there are good dynamic characteristics and static characteristics.The PID controller of use
Control formula are as follows:
U (t)=Kpe (t)+Ki ∫ 0te (t) dt+Kdded (tt)
In formula
Kp=Kpo+ Δ Kp；Ki=Kio+ Δ Ki；Kd=Kdo+ Δ Kd.
Pid parameter fuzzy control principle pid parameter fuzzy control principle is as follows: 1. when deviation is larger, to accelerate system
Response speed, biggish Kp should be taken, while to avoid the differential satiety being likely to occur that instantaneously becomes larger due to deviation when starting
With and make control action that should take lesser Kd beyond the range of license, there is biggish overshoot for the response of anti-locking system, generate product
Divide saturation, reply integral action limits, usually takes Ki=0, remove integral action；2. when deviation and deviation variation rate are in
When median size, to make system response have lesser overshoot, Kp should take smaller, and the value of Ki is appropriate, such case Kd
Value be affected to system response, value will be of moderate size, to guarantee system response time；3. being connect when deviation is smaller
It to make system have good steady-state performance, the value of Ying Zengjia Kp and Ki, while being that system is avoided to set when being bordering on setting value
Value nearby vibrates, and considers the interference free performance of system, and Kd value is considerable.Usually when deviation variation rate compared with
Hour, Kd can use larger；When deviation variation rate is larger, Kd should take smaller；4. the size of deviation variation rate shows deviation
The rate of variation, deviation variation rate value is bigger, then the value of Kp is smaller, and Ki value is bigger.
The invention also discloses a kind of pid parameter Self-tuning System devices, as shown in figure 3, described device includes:
Parameter acquisition module, for obtaining system deviation, change of error amount, the proportionality coefficient of current PID model, integration system
Several and differential coefficient；
Variant determination module, for according to the system deviation, change of error amount, proportionality coefficient, integral coefficient and micro-
Divide coefficient, determines proportionality coefficient variable quantity, integral coefficient variable quantity and differential coefficient variable quantity；
Conventional parameter obtains module, for obtaining conventional ratio coefficient, the regular integral system of PID model using conventional method
Several and conventional differential coefficient；
Parameter tuning module, for utilizing the conventional ratio coefficient, regular integral coefficient, conventional differential coefficient, ratio
Example index variation amount, integral coefficient variable quantity and differential coefficient variable quantity determine target proportion coefficient, target integral coefficient with
And target differential coefficient.
In one embodiment, as shown in figure 4, pid parameter Self-tuning System device further include:
Model construction module, for utilizing the target proportion coefficient, target integral coefficient and target differential coefficient, structure
Build target PID model.
In one embodiment, the parameter acquisition module is also used to, one predetermined time interval of every process, described in acquisition
System deviation, change of error amount, the proportionality coefficient of current PID model, integral coefficient and differential coefficient obtain several groups adjusting
Parameter；Wherein, every group of setting parameter includes the system deviation, the change of error amount, current PID model obtained in synchronization
Proportionality coefficient, integral coefficient and differential coefficient；
The variant determination module is also used to determine proportionality coefficient variable quantity, integral coefficient according to several groups setting parameter
Variable quantity and differential coefficient variable quantity.
The variant determination module is also used to according to several groups setting parameter, determines that proportionality coefficient becomes using Fuzzy reasoning
Change amount, integral coefficient variable quantity and differential coefficient variable quantity.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvements and modifications, these improvements and modifications can also be made
Also it should be regarded as protection scope of the present invention.
Claims (5)
1. a kind of pid parameter Self-tuning System device, which is characterized in that described device includes:
Parameter acquisition module, for obtain system deviation, change of error amount, the proportionality coefficient of current PID model, integral coefficient with
And differential coefficient；
Variant determination module, for according to the system deviation, change of error amount, proportionality coefficient, integral coefficient and differential system
Number, determines proportionality coefficient variable quantity, integral coefficient variable quantity and differential coefficient variable quantity；
Conventional parameter obtains module, for using conventional method obtain the conventional ratio coefficient of PID model, regular integral coefficient with
And conventional differential coefficient；
Parameter tuning module, for utilizing the conventional ratio coefficient, regular integral coefficient, conventional differential coefficient, ratio system
Number variable quantity, integral coefficient variable quantity and differential coefficient variable quantity determine target proportion coefficient, target integral coefficient and mesh
Mark differential coefficient.
2. the apparatus according to claim 1, which is characterized in that described device further include:
Model construction module, for constructing mesh using the target proportion coefficient, target integral coefficient and target differential coefficient
Mark PID model.
3. the apparatus of claim 2, which is characterized in that the parameter acquisition module is also used to, every pre- by one
It fixes time interval, obtains the system deviation, change of error amount, the proportionality coefficient of current PID model, integral coefficient and differential
Coefficient obtains several groups setting parameter；Wherein, every group of setting parameter include synchronization obtain the system deviation, partially
Poor variable quantity, the proportionality coefficient of current PID model, integral coefficient and differential coefficient.
4. according to device as claimed in claim 3, which is characterized in that the variant determination module, which is also used to be adjusted according to several groups, joins
Number, determines proportionality coefficient variable quantity, integral coefficient variable quantity and differential coefficient variable quantity.
5. according to device as claimed in claim 4, which is characterized in that the variant determination module, which is also used to be adjusted according to several groups, joins
Number, determines proportionality coefficient variable quantity, integral coefficient variable quantity and differential coefficient variable quantity using Fuzzy reasoning.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113625542A (en) * | 2020-05-06 | 2021-11-09 | 北京新能源汽车股份有限公司 | Proportional-integral-derivative control method, control device and dynamometer model |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113625542A (en) * | 2020-05-06 | 2021-11-09 | 北京新能源汽车股份有限公司 | Proportional-integral-derivative control method, control device and dynamometer model |
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