CN111338205B - Self-adaptive PID controller based on control deviation change partition and control method - Google Patents
Self-adaptive PID controller based on control deviation change partition and control method Download PDFInfo
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Abstract
The invention discloses a self-adaptive PID controller based on control deviation change subarea and a control method, wherein the controller comprises: an ADD module for controlling the calculation of the deviation; the H/L module is used for controlling the amplitude limit of the deviation and keeping the control deviation within a certain control range; the CMP module is used for controlling the classified comparison and calculation of the deviation; the PID module is used for regulating PID control output; and the T1 module, the T2 module and the T3 module are used for switching numerical values to complete the dynamic adjustment and setting of the control parameters of the PID module. The technical scheme of the embodiment of the invention realizes different stages according to the control deviation partition and adopts different control strategies, overcomes the defects of fixed control parameters and fixed regulation rules in the conventional PID, automatically adjusts the control strategies according to the characteristics of the different stages of the control deviation, can greatly shorten the regulation time of an automatic control system in engineering application, and improves the automatic control level.
Description
Technical Field
The invention relates to a self-adaptive PID controller based on control deviation change subareas and a control method, belonging to the technical field of PID control.
Background
In the industrial production process, because the PID control system has the technical characteristics of simple structure, convenient debugging, strong adaptability and the like, the PID control becomes one of the most common control modes in the automatic control system. The conventional PID controller works on the principle that the output of the controller is dynamically adjusted according to the control deviation (the control deviation is equal to the deviation between the controlled quantity PV and the set value SP), the control state of the system is changed, the controlled deviation is reduced, and finally the controlled quantity of the system approaches to the set value, namely the control deviation of the system is zero or approaches to zero, and the control system is kept stable. When a stable control system is disturbed by external factors, the control deviation of the system is shown in fig. 1. For a conventional PID control system, as long as the control deviation of the system is not equal to 0, or the absolute value of the control deviation of the system is larger than the set control dead zone delta (i.e., e > delta), the system can continuously perform control adjustment, and the adjustment mode is generally long in adjustment time and quite poor in control effect.
The conventional PID control is widely applied in the field of automatic control, but the conventional PID adjusting system does not classify the control deviation and adjusts the control deviation as long as the deviation exists, so that the control precision is not fine enough and the stabilization time is long.
Disclosure of Invention
In order to solve the problems, the invention provides a self-adaptive PID controller based on control deviation change partition and a control method, which can greatly shorten the stabilization time of a control system and improve the stability of the system.
The technical scheme adopted for solving the technical problem is as follows:
in one aspect, an adaptive PID controller based on control deviation change partition provided in an embodiment of the present invention includes:
an ADD module for controlling the calculation of the deviation;
the H/L module is used for controlling the amplitude limit of the deviation and keeping the control deviation within a certain control range;
the CMP module is used for controlling the classified comparison and calculation of the deviation;
the PID module is used for regulating PID control output;
and the T1 module, the T2 module and the T3 module are used for switching numerical values to complete the dynamic adjustment and setting of the control parameters of the PID module.
As a possible implementation manner of this embodiment, when the control deviation is in the control deviation increase deviation region, the output of the CMP module Y1 is 0, and the output of the CMP module Y2 is 1; when the control deviation is in the control deviation reduction adjusting region, the output of the CMP module Y1 is 0, and the output of the Y2 is 0; when the control deviation is in the control deviation reduction autoregressive region, the CMP module Y1 output is 1 and the Y2 output is 0.
As a possible implementation manner of this embodiment, the control deviation increase deviation area refers to a section in which the absolute value of the control deviation deviates from the target value and changes in the increasing direction; the control deviation reduction adjustment area is an interval in which the absolute value of the control deviation changes towards the reduction direction, namely the controlled quantity approaches to the target value, but the absolute value of the control deviation is larger than the set value; the control deviation autoregressive area is an area in which the absolute value of the control deviation changes towards the direction of reduction and is not greater than a set value.
As a possible implementation manner of this embodiment, when the PID module is in the tracking manner, the output remains unchanged;
and when the PID module is in a control regulation mode, the output is dynamically regulated according to the control deviation and the control parameter.
On the other hand, an embodiment of the present invention provides an adaptive PID control method based on control deviation change partition, including the following steps:
dividing the control deviation into a control deviation increasing deviation area, a control deviation reducing adjustment area and a control deviation autoregressive area;
and dynamically adjusting the control state of the PID controller.
As a possible implementation manner of this embodiment, the process of partitioning the control deviation is as follows: aiming at different stages of the control deviation, namely according to the magnitude and the direction of the deviation of the control deviation from the target value, the control deviation is divided into a control deviation increasing deviation area, a control deviation reducing adjustment area and a control deviation autoregressive area.
As a possible implementation manner of this embodiment, the control deviation increase deviation area refers to a section in which the absolute value of the control deviation deviates from the target value and changes in the increasing direction; the control deviation reduction adjustment area is an interval in which the absolute value of the control deviation changes towards the reduction direction, namely the controlled quantity approaches to the target value, but the absolute value of the control deviation is larger than the set value; the control deviation autoregressive area refers to an area where the absolute value of the control deviation changes in a decreasing direction and is not greater than a set value.
As a possible implementation manner of this embodiment, the process of dynamically adjusting the control state of the PID controller includes the following steps:
when the control deviation is in the control deviation increasing deviation area, the PID controller dynamically adjusts the output value according to the control deviation and the control parameter;
when the control deviation is in the control deviation reduction adjustment area, the PID controller dynamically adjusts the output value according to the control deviation and the control parameter, but when the control action of the PID controller is weaker than that of the control deviation increase deviation area, the control parameter is automatically adjusted.
When the control deviation is in the control deviation reduction autoregressive area, the PID controller is in a tracking mode, and the output value is kept unchanged.
As one possible implementation manner of this embodiment, when the control deviation is in the control deviation decreasing adjustment region, if the PID controller control action is weaker than the control action of the control deviation increasing deviation region, the control parameter is automatically adjusted.
The technical scheme of the embodiment of the invention has the following beneficial effects:
the technical scheme of the embodiment of the invention realizes different stages according to the control deviation partition and adopts different control strategies, overcomes the defects of fixed control parameters and fixed regulation rules in the conventional PID, automatically adjusts the control strategies according to the characteristics of the different stages of the control deviation, can greatly shorten the regulation time of an automatic control system in engineering application, and improves the automatic control level.
The invention dynamically adjusts the control state of the PID controller according to the different stages of the control deviation, thereby greatly shortening the stabilization time of the control system and improving the stability of the system.
Description of the drawings:
FIG. 1 is a schematic diagram of the control deviation of a conventional PID control system;
FIG. 2 is a block diagram illustrating an adaptive PID controller partitioning based on control deviation variation according to an exemplary embodiment.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
in order to clearly explain the technical features of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings. The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. To simplify the disclosure of the present invention, specific example components and arrangements are described below. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. It should be noted that the components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and processes are omitted so as to not unnecessarily limit the invention.
FIG. 2 is a block diagram illustrating an adaptive PID controller based on control deviation variation partitioning according to an example embodiment. As shown in fig. 2, an adaptive PID controller based on control deviation variation partitioning according to an embodiment of the present invention includes:
an ADD module used for calculating a control deviation e, wherein e = PV-SP, PV is a controlled quantity, and SP is a target value;
the H/L module is used for controlling the amplitude limit of the deviation and keeping the control deviation within a certain control range;
the CMP module is used for controlling the classified comparison and calculation of the deviation, when the control deviation is in the control deviation increasing deviation area, the output of the CMP module Y1 is 0, and the output of the Y2 is 1; when the control deviation is in the control deviation reduction adjusting region, the output of the CMP module Y1 is 0, and the output of the Y2 is 0; when the control deviation is in the control deviation reduction autoregressive region, the output of the CMP module Y1 is 1, and the output of the Y2 is 0;
the PID module is used for adjusting PID control output; and the PID module is a PID control regulator, wherein E is a control deviation input end, TR is a tracking value input end of the PID controller, OUT is an output end of the PID controller, yout is an output value of the controller, and K, ti and Td are proportional coefficients, integral time and differential time input ends of the controller. TS is a tracking/control function switch of the PID controller, when TS =1, the PID controller is in a tracking mode, namely OUT = TR, and the output of the controller is kept unchanged; when TS =0, the PID controller is in a control regulation mode, and the controller outputs OUT to be dynamically regulated according to the control deviation and the control parameter;
and the T1 module, the T2 module and the T3 module are used for switching numerical values to complete the dynamic adjustment and setting of the control parameters of the PID module.
As a possible implementation manner of this embodiment, the control deviation increase deviation area is an interval in which an absolute value of the control deviation deviates from a target value and changes in an increase direction; the control deviation reduction adjustment area is an interval in which the absolute value of the control deviation changes towards the reduction direction, namely the controlled quantity approaches to the target value, but the absolute value of the control deviation is larger than the set value; the control deviation autoregressive area is an area in which the absolute value of the control deviation changes towards the direction of reduction and is not greater than a set value.
On the other hand, an adaptive PID control method based on control deviation change partition provided by the embodiment of the present invention includes the following steps:
dividing the control deviation into a control deviation increasing deviation area, a control deviation reducing adjustment area and a control deviation autoregressive area;
and dynamically adjusting the control state of the PID controller.
As a possible implementation manner of this embodiment, the process of partitioning the control deviation is as follows: aiming at different stages of the control deviation, namely according to the magnitude and the direction of the deviation of the control deviation from the target value, the control deviation is divided into a control deviation increasing deviation area, a control deviation reducing adjustment area and a control deviation autoregressive area.
As a possible implementation manner of this embodiment, the control deviation increase deviation area is an interval in which an absolute value of the control deviation deviates from a target value and changes in an increase direction; the control deviation reduction adjustment area is an interval in which the absolute value of the control deviation changes towards the reduction direction, namely the controlled quantity approaches to the target value, but the absolute value of the control deviation is larger than the set value; the control deviation autoregressive area is an area in which the absolute value of the control deviation changes towards the direction of reduction and is not greater than a set value.
As a possible implementation manner of this embodiment, the process of dynamically adjusting the control state of the PID controller includes the following steps:
when the control deviation is in the control deviation increasing deviation area, the PID controller dynamically adjusts an output value according to the control deviation and the control parameter;
when the control deviation is in the control deviation reduction adjustment area, the PID controller dynamically adjusts the output value according to the control deviation and the control parameter, but when the control action of the PID controller is weaker than that of the control deviation increase deviation area, the control parameter is automatically adjusted.
When the control deviation is in the control deviation reduction autoregressive area, the PID controller is in a tracking mode, and the output value is kept unchanged.
As one possible implementation manner of this embodiment, when the control deviation is in the control deviation decreasing adjustment region, if the PID controller control action is weaker than the control action of the control deviation increasing deviation region, the control parameter is automatically adjusted.
The solution of the invention is particularly as follows for the control deviation situation shown in fig. 1.
As shown in fig. 1, for a conventional PID control system, as long as the control deviation of the system is not equal to 0, or the absolute value e of the control deviation of the system is greater than the set control dead zone (target value) δ (i.e., | e | > δ), the system will continuously perform control adjustment, and this adjustment method generally has a long adjustment time and a relatively poor control effect.
The invention classifies different stages of the control deviation, dynamically adjusts the control state of the PID controller according to the different stages of the control deviation, can greatly shorten the stabilization time of the control system and improve the stability of the system.
1. And controlling deviation classification.
According to the magnitude and direction of the deviation of the control deviation from the target value, the control deviation in fig. 1 is divided into a control deviation increasing deviation area, a control deviation decreasing adjustment area and a control deviation autoregressive area.
The control deviation increase deviation area refers to a change interval of the absolute value of the control deviation towards the increase direction, namely, the controlled variable deviates from a target value, such as stages 0-t1, t3-t4 and t6-t7 in the figure 1;
the control deviation reduction adjustment area refers to a change interval of the absolute value of the control deviation towards the reduction direction, namely, the controlled quantity is close to the target value, but the absolute value of the control deviation is larger than a certain set value C, such as stages t1-t2, t4-t5 and t7-t8 in the figure 1;
the control deviation autoregressive region refers to a region where the absolute value of the control deviation changes in a decreasing direction and the absolute value of the control deviation is not greater than a certain set value C, such as stages t2-t3, t5-t6, and t8-t9 in FIG. 1.
2. Adaptive PID control process based on control deviation variation partitioning
When the control deviation is in the control deviation increase deviation area, such as the stages 0-t1, t3-t4 and t6-t7 in fig. 1, and | e | > δ, the PID controller is in a control regulation mode, the controller output OUT is dynamically adjusted according to the control deviation and the control parameter, and at this time, the proportional coefficient of the controller is recorded as K1, the integral time is recorded as Ti1, and the differential time is recorded as Td1.
When the control deviation is in the control deviation reduction adjustment area, namely, in the stages of t1-t2, t4-t5 and t7-t8 in fig. 1, and | e | > C, the controller outputs OUT to be dynamically adjusted according to the control deviation and the control parameter, but the control action of the PID controller is weaker than that of the control deviation increase deviation area, the control parameter is automatically adjusted, and at this time, the proportionality coefficient K2= (0.4-0.6) K1 of the controller is obtained; the integration time is represented as Ti2= (1.4-1.8) Ti1, and the differentiation time is represented as Td2= (0.3-0.5) Td1, which can be specifically adjusted according to the actual situation of the control system.
When the control deviation is in the autoregressive area for reducing the control deviation, such as the stages t2-t3, t5-t6 and t8-t9 in fig. 1, and | e | = < C, the PID controller is in the tracking mode, OUT = TR, and the controller output is kept unchanged.
The foregoing is only a preferred embodiment of the present invention, and it will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements are also considered to be within the scope of the present invention.
Claims (7)
1. An adaptive PID controller based on control deviation change partition, comprising:
an ADD module for calculating a control deviation;
the H/L module is used for controlling the amplitude limit of the deviation and keeping the control deviation within a certain control range;
the CMP module is used for controlling the classified comparison and calculation of the deviation;
the PID module is used for regulating PID control output;
the T1 module, the T2 module and the T3 module are used for switching numerical values to complete dynamic adjustment and setting of control parameters of the PID module;
the specific process of dynamically adjusting the control parameters by the adaptive PID controller is as follows:
when the control deviation is in the control deviation increasing deviation area, the PID controller dynamically adjusts the output value according to the control deviation and the control parameter;
when the control deviation is in the control deviation reduction adjustment area, the PID controller dynamically adjusts the output value according to the control deviation and the control parameter, but when the control action of the PID controller is weaker than that of the control deviation increase deviation area, the control parameter is automatically adjusted;
when the control deviation is in the control deviation reduction autoregressive area, the PID controller is in a tracking mode, and the output value is kept unchanged.
2. The adaptive PID controller based on control deviation variation partition according to claim 1,
when the control deviation is in the control deviation increase deviation area, the output of the CMP module Y1 is 0, and the output of the Y2 is 1; when the control deviation is in the control deviation reduction adjusting region, the output of the CMP module Y1 is 0, and the output of the Y2 is 0; when the control deviation is in the control deviation reduction autoregressive region, the CMP module Y1 output is 1 and the Y2 output is 0.
3. The adaptive PID controller based on the control deviation variation zone according to claim 2, wherein the control deviation increase deviation zone is a zone in which an absolute value of the control deviation deviates from a target value and changes in an increasing direction; the control deviation reduction adjustment area is a change interval of the absolute value of the control deviation towards the reduction direction, namely the controlled quantity is close to the target value, but the absolute value of the control deviation is larger than the set value; the control deviation autoregressive area is an area in which the absolute value of the control deviation changes towards the direction of reduction and is not greater than a set value.
4. A self-adaptive PID control method based on control deviation change partition is characterized by comprising the following steps:
dividing the control deviation into a control deviation increasing deviation area, a control deviation reducing adjustment area and a control deviation autoregressive area;
dynamically adjusting the control state of the PID controller;
the process of dynamically adjusting the control state of the PID controller comprises the steps of:
when the control deviation is in the control deviation increasing deviation area, the PID controller dynamically adjusts the output value according to the control deviation and the control parameter;
when the control deviation is in the control deviation reduction adjustment area, the PID controller dynamically adjusts the output value according to the control deviation and the control parameter, but when the control action of the PID controller is weaker than that of the control deviation increase deviation area, the control parameter is automatically adjusted;
when the control deviation is in the control deviation reduction autoregressive area, the PID controller is in a tracking mode, and the output value is kept unchanged.
5. The method as claimed in claim 4, wherein the partitioning of the control deviation comprises: aiming at different stages of the control deviation, namely according to the magnitude and the direction of the deviation of the control deviation from the target value, the control deviation is divided into a control deviation increasing deviation area, a control deviation reducing adjustment area and a control deviation autoregressive area.
6. The method according to claim 4, wherein the control deviation increase deviation zone is a zone in which the absolute value of the control deviation deviates from a target value and changes in the increasing direction; the control deviation reduction adjustment area is an interval in which the absolute value of the control deviation changes towards the reduction direction, namely the controlled quantity approaches to the target value, but the absolute value of the control deviation is larger than the set value; the control deviation autoregressive area is an area in which the absolute value of the control deviation changes towards the direction of reduction and is not greater than a set value.
7. The adaptive PID control method based on the control deviation change zone of claim 4, wherein when the control deviation is in the control deviation decrease adjustment zone, if the PID controller control action is weaker than the control action of the control deviation increase deviation zone, the control parameter is automatically adjusted.
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