CN110501899A - A kind of PID follow-up control method based on genetic algorithm parameter Self-tuning System - Google Patents
A kind of PID follow-up control method based on genetic algorithm parameter Self-tuning System Download PDFInfo
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- G—PHYSICS
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- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
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- 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.
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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
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
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Abstract
The present invention relates to automatic control technology fields, especially a kind of PID following control system based on genetic algorithm parameter Self-tuning System, including controller module, the controller module realizes the connection with weapon station console module by sensor module, pitch angle and azimuth are passed through sensor passes into controller module by weapon station console module simultaneously, the controller module signal is internally provided with genetic algorithm module, data received in controller module are calculated, pass through genetic algorithm module simultaneously, processor module identifies data information and generates corresponding instruction and is transmitted in actuator module, actuator module realizes pitch angle and the azimuthal adjusting to weapon station console module according to instruction cooperative mechanical console module.The present invention realizes quick and precisely tracking of the weapon platform to echo signal, it is desirable that response regulation time is within 0.3s, and steady-state error is within 0.1%.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a PID (proportion integration differentiation) follow-up control method based on genetic algorithm parameter self-tuning.
Background
The servo control technology is widely applied to tracking control of mechanical quantity of a physical system in industry, and the servo control belongs to dynamic control based on error feedback. The following system generally receives physical system information such as displacement and angle measured by a sensor, then controls the physical system information through deviation amount with target information, and transmits the control amount to an execution unit to complete the tracking of the physical system on target signals.
When the unmanned weapon station is required to realize work tasks such as efficient striking, accurate damage and the like, the weapon station needs to be guided to work by a follow-up stable platform controlled by a fire control system. The follow-up stable platform can isolate various disturbances generated when the weapon station carrying platform normally moves, meanwhile, continuously feeds back data such as the attitude, the position and the like of the platform, finally, accurately adjusts and maintains the attitude of the weapon station in real time according to the combat purpose and the system requirements, and because the battlefield situation in modern war changes rapidly, the follow-up stable platform puts high requirements on the response speed and the control accuracy of a weapon station control system.
At present, classical PID control algorithm and fuzzy control algorithm are mostly adopted in the follow-up control technology. The classical PID control algorithm is simple to debug and high in applicability, overshoot is easy to occur, the optimal parameters of the PID are not determined, and a large steady-state error is generated by fuzzy control.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a PID (proportion integration differentiation) follow-up control method based on genetic algorithm parameter self-tuning.
In order to achieve the purpose, the invention adopts the following technical scheme:
a designed PID (proportion integration differentiation) follow-up control system based on genetic algorithm parameter self-tuning comprises a controller module, wherein the controller module is connected with a weapon station platform module through a sensor module, meanwhile, a pitch angle and an azimuth angle are transmitted to the controller module through a sensor by the weapon station platform module, a genetic algorithm module is arranged in a signal of the controller module, data received by the controller module are calculated, a pitch control quantity, an intermediate state variable and an azimuth control quantity are obtained through the genetic algorithm module, calculated data information is transmitted to a processor module, the processor module identifies the data information, generates a corresponding command and transmits the command to an execution mechanism module, and the execution mechanism module is matched with a mechanical platform module according to the command to adjust the pitch angle and the azimuth angle of the weapon station platform module.
Preferably, the intermediate state variables include the position of the target and the weapon station platform as measured by the sensors, and the pitch and azimuth angles of the weapon station platform itself.
The invention also provides a PID follow-up control method based on genetic algorithm parameter self-tuning, which specifically comprises the following steps:
s1, measuring the positions of the weapon station platform and the target and the pitch angle and azimuth angle of the platform by the sensor, calculating the pitch angle and azimuth angle of the target relative to the weapon station platform according to a formula, wherein the calculation formula of the pitch angle and azimuth angle of the target relative to the weapon station platform is as follows:
wherein x isw、yw、zw、xt、yt、ztX-axis, y-axis, z-axis components representing the position of the stage and x-axis, y-axis, z-axis components of the target, respectively;
and S2, calculating the deviation of the pitch angle and the azimuth angle according to the following two formulas:
eφ＝φd-φ
wherein,respectively measuring the current pitch angle and azimuth angle of the weapon station platform by a sensor;
s3, independently controlling the pitch channel and the azimuth channel by a PID algorithm based on parameter setting of the genetic algorithm, taking a follow-up control algorithm as an example, and adjusting PID parameters by using the genetic algorithm;
s4, setting weight proportion of each index of the output quantity in the fitness, and respectively assigning weight values to delay time, rise time, peak time, adjusting time, maximum overshoot and steady-state error according to control design;
and S5, finally obtaining optimal PID control parameters of kp, ki and kd, and giving different input signals to the control system according to the result to control the control system to perform follow-up tracking.
Preferably, when the tracking in step S5 is implemented, the step signal, the triangle signal, the pulse signal, and the sawtooth signal need to be input, respectively, to obtain the follow-up result.
Preferably, in the step S4, the maximum overshoot is only a few thousandths of the result, and the difference from other index numerical values is large, so the weighting value is large.
Preferably, in S5, kp is 11.6365, ki is 0.5986, and kd is 0.
Preferably, in step S4, the delay time, the rise time, the peak time, the adjustment time, the maximum overshoot, and the steady-state error are weighted values respectively as follows: 1. 2, 1, 70 and 2.
The PID follow-up control method based on genetic algorithm parameter self-tuning provided by the invention has the beneficial effects that: the PID follow-up control method based on the genetic algorithm parameter self-tuning adopts two channels of pitch and azimuth to carry out independent control, adopts the genetic algorithm to carry out PID control parameter tuning, enables the PID control effect to achieve the optimum, utilizes the genetic algorithm to adjust the control parameters according to the requirements on various control performance indexes, is the effect which is difficult to achieve by a common algorithm, realizes the rapid and accurate tracking of a weapon station platform on a target signal, requires the response regulation time to be within 0.3s, and has the steady-state error to be within 0.1%.
Drawings
FIG. 1 is a system block diagram of a PID (proportion integration differentiation) follow-up control method based on genetic algorithm parameter self-tuning, which is provided by the invention.
FIG. 2 is a control flow chart of the PID follow-up control method based on genetic algorithm parameter self-tuning provided by the invention.
FIG. 3 is a system parameter fitness chart of the PID follow-up control method based on genetic algorithm parameter self-tuning provided by the invention.
FIG. 4 is a controlled object result output diagram of the PID follow-up control method based on genetic algorithm parameter self-tuning provided by the invention.
FIG. 5 is a graph of the change of the attitude angle error of the PID servo control method based on the genetic algorithm parameter self-tuning provided by the invention.
FIG. 6 is a step signal follow-up result diagram of the PID follow-up control method based on genetic algorithm parameter self-tuning provided by the invention.
FIG. 7 is a triangular signal follow-up result diagram of the PID follow-up control method based on genetic algorithm parameter self-tuning provided by the invention.
FIG. 8 is a pulse signal follow-up result diagram of the PID follow-up control method based on genetic algorithm parameter self-tuning provided by the invention.
FIG. 9 is a sawtooth wave signal follow-up result diagram of the PID follow-up control method based on genetic algorithm parameter self-tuning provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-9, a PID follow-up control system based on genetic algorithm parameter self-tuning includes a controller module, the controller module is connected with a weapon station platform module through a sensor module, meanwhile, the weapon station platform module transmits a pitch angle and an azimuth angle to the controller module through a sensor, a genetic algorithm module is arranged in a signal of the controller module, calculates data received in the controller module, obtains a pitch control quantity, an intermediate state variable and an azimuth control quantity through the genetic algorithm module, transmits the calculated data information to a processor module, the processor module identifies the data information and generates a corresponding instruction to transmit the instruction to an execution mechanism module, and the execution mechanism module cooperates with a mechanical platform module to adjust the pitch angle and the azimuth angle of the weapon station platform module according to the instruction, the intermediate state variables include the position of the target and the weapon station platform as measured by the sensors, and the pitch and azimuth angles of the weapon station platform itself.
The invention also provides a PID follow-up control method based on genetic algorithm parameter self-tuning, which specifically comprises the following steps:
s1, measuring the positions of the weapon station platform and the target and the pitch angle and azimuth angle of the platform by the sensor, calculating the pitch angle and azimuth angle of the target relative to the weapon station platform according to a formula, wherein the calculation formula of the pitch angle and azimuth angle of the target relative to the weapon station platform is as follows:
wherein x isw、yw、zw、xt、yt、ztX-axis, y-axis, z-axis components representing the position of the stage and x-axis, y-axis, z-axis components of the target, respectively;
and S2, calculating the deviation of the pitch angle and the azimuth angle according to the following two formulas:
eφ＝φd-φ
wherein,phi is the current pitch angle and azimuth angle of the weapon station platform measured by the sensor respectively;
s3, independently controlling the pitch channel and the azimuth channel by a PID algorithm based on parameter setting of the genetic algorithm, taking a follow-up control algorithm as an example, and adjusting PID parameters by using the genetic algorithm;
s4, setting weight proportion of each index of the output quantity in the fitness, and respectively assigning the weight values of delay time, rise time, peak time, adjusting time, maximum overshoot and steady-state error to the delay time, the rise time, the peak time, the adjusting time, the maximum overshoot and the steady-state error according to control design: 1. 2, 1, 70 and 2, because the maximum overshoot result is only a few thousandths, and the difference between the maximum overshoot result and other index numerical values is large, the weight value is large;
and S5, finally obtaining the optimal PID control parameters of kp 11.6365, ki 0.5986 and kd 0, giving different input signals to the control system according to the result, controlling the control system to perform follow-up tracking, and respectively inputting a step signal, a triangular signal, a pulse signal and a sawtooth wave signal during tracking to obtain a follow-up result.
The method adopts two channels of pitching and azimuth to control independently, adopts a genetic algorithm to set PID control parameters, enables the PID control effect to reach the optimum, and utilizes the genetic algorithm to adjust the control parameters according to the requirements on various control performance indexes, which is an effect which is difficult to achieve by a common algorithm, realizes the rapid and accurate tracking of a weapon station platform on target signals, requires the response adjustment time to be within 0.3s, and has the steady-state error to be within 0.1%.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. A PID follow-up control system based on genetic algorithm parameter self-tuning comprises a controller module, characterized in that the controller module is connected with the weapon station platform module through the sensor module, meanwhile, the weapon station platform module transmits the pitch angle and the azimuth angle to the controller module through the sensor, a genetic algorithm module is arranged in the signal of the controller module, the data received in the controller module is calculated, and the pitching control quantity, the intermediate state variable and the azimuth control quantity are obtained through the genetic algorithm module, and the calculated data information is transmitted to the processor module, the processor module identifies the data information, generates a corresponding instruction and transmits the instruction to the execution mechanism module, and the execution mechanism module is matched with the mechanical platform module according to the instruction to realize the adjustment of the pitch angle and the azimuth angle of the weapon station platform module.
2. The PID servo control system based on genetic algorithm parameter self-tuning according to claim 1, wherein the intermediate state variables comprise the positions of the target and weapon station platform measured by sensors, and the pitch angle and azimuth angle of the weapon station platform itself.
3. The PID follow-up control method based on genetic algorithm parameter self-tuning according to the claims 1-2, characterized by comprising the following steps:
s1, measuring the positions of the weapon station platform and the target and the pitch angle and azimuth angle of the platform by the sensor, calculating the pitch angle and azimuth angle of the target relative to the weapon station platform according to a formula, wherein the calculation formula of the pitch angle and azimuth angle of the target relative to the weapon station platform is as follows:
wherein x isw、yw、zw、xt、yt、ztX-axis, y-axis, z-axis components representing the position of the stage and x-axis, y-axis, z-axis components of the target, respectively;
and S2, calculating the deviation of the pitch angle and the azimuth angle according to the following two formulas:
eφ＝φd-φ
wherein,respectively measuring the current pitch angle and azimuth angle of the weapon station platform by a sensor;
s3, independently controlling the pitch channel and the azimuth channel by a PID algorithm based on parameter setting of the genetic algorithm, taking a follow-up control algorithm as an example, and adjusting PID parameters by using the genetic algorithm;
s4, setting weight proportion of each index of the output quantity in the fitness, and respectively assigning weight values to delay time, rise time, peak time, adjusting time, maximum overshoot and steady-state error according to control design;
and S5, finally obtaining optimal PID control parameters of kp, ki and kd, and giving different input signals to the control system according to the result to control the control system to perform follow-up tracking.
4. The PID follow-up control method based on genetic algorithm parameter self-tuning according to claim 3, wherein a step signal, a triangular signal, a pulse signal and a sawtooth wave signal are respectively input to obtain a follow-up result when the tracking in the step S5 is realized.
5. The PID follow-up control method based on genetic algorithm parameter self-tuning according to claim 3, wherein in the step S4, the maximum overshoot result is only a few thousandths, and the difference from other index numerical values is large, so the weight value is large.
6. The PID follow-up control method based on genetic algorithm parameter self-tuning of claim 3, wherein kp is 11.6365, ki is 0.5986, and kd is 0 in S5.
7. The PID follow-up control method based on genetic algorithm parameter self-tuning according to claim 3, wherein the weight values of the delay time, the rise time, the peak time, the regulation time, the maximum overshoot, and the steady state error in the step S4 are respectively: 1. 2, 1, 70 and 2.
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Application publication date: 20191126 |