CN111459212A - Constant-temperature water bath control method based on feedforward feedback fuzzy self-tuning PID control algorithm - Google Patents
Constant-temperature water bath control method based on feedforward feedback fuzzy self-tuning PID control algorithm Download PDFInfo
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Abstract
The invention provides a constant-temperature water bath control method based on a feedforward feedback fuzzy self-tuning PID control algorithm, which comprises the following specific steps: 1) measuring a temperature step curve of the constant-temperature water bath; 2) establishing a temperature mathematical model of the constant-temperature water bath; 3) controlling by a fuzzy PID control algorithm; the fuzzy PID control system is applied to the constant-temperature water bath monitoring system, and has great significance for improving the stability of the system, improving the dynamic performance of the system, enhancing the adjustment level of the system, improving the control efficiency, ensuring the measurement quality and saving energy.
Description
Technical Field
The invention belongs to the technical field of electronics, and particularly relates to a constant-temperature water bath control method based on a feedforward feedback fuzzy self-tuning PID control algorithm.
Background
At present, many temperature sensors are used in daily life and industrial production of people, different types of temperature sensors have different application ranges and measurement accuracy, and the measurement and calibration of the accuracy of the temperature sensors are also an important development direction. At present, the application of the constant temperature water bath is most extensive for the calibration of the temperature sensor with the temperature range of 0-100 ℃. The common constant-temperature water bath is mostly controlled in a PID control mode, the constant-temperature water bath monitoring system used for calibration is a difficult control system with hysteresis and inertia characteristics, and the common PID control mode is difficult to meet the control requirement of the system without linear description and complex models. The fuzzy PID control system combines the advantages of PID control and fuzzy control, and has the advantages of small overshoot, short regulation time, strong anti-interference capability, high adaptability and the like, so the applicant provides a constant temperature water bath control method based on a feedforward feedback fuzzy self-tuning PID control algorithm.
Disclosure of Invention
In order to solve the problems, the invention provides a constant-temperature water bath control method based on a feedforward feedback fuzzy self-tuning PID control algorithm, and a fuzzy PID control system is applied to a constant-temperature water bath monitoring system, so that the method has great significance for improving the stability of the system, improving the dynamic performance of the system, enhancing the regulation level of the system, improving the control efficiency, ensuring the measurement quality and saving energy.
In order to achieve the purpose, the invention provides a constant temperature water bath control method based on a feedforward feedback fuzzy self-tuning PID control algorithm, which is characterized in that;
the constant-temperature water bath monitoring system of the constant-temperature water bath control method based on the feedforward feedback fuzzy self-tuning PID control algorithm is a single-input and single-output system, the system has a pure hysteresis link and self-balancing, the mathematical model representation of the system can be described by using a first-order system plus the pure hysteresis link, and the transfer function is as follows:
in the above formula: k-represents the static gain, T-represents the time constant, τ -represents the pure lag time;
the constant-temperature water bath control method based on the feedforward feedback fuzzy self-tuning PID control algorithm comprises the following specific steps;
1) measuring a temperature step curve of the constant-temperature water bath;
when the controlled object or the tested system is in the process of going from one stable state to another stable state, the dynamic characteristic of the controlled object or the tested system can be shown, so that the system is required to be in a changed state to be measured by adopting an analysis method of time domain measurement in order to measure the dynamic characteristic of the system;
firstly, inputting a step signal to a controlled object, measuring a response change curve output by the controlled object, and analyzing the response curve to obtain a transfer function for determining the measured object;
2) establishing a temperature mathematical model of the constant-temperature water bath;
when the transfer function of the constant-temperature water bath tank system is solved, the time constant T of a first-order system with pure lag is determined through experiments, when T is tau + T, the output reaches 63 percent of the final value of the system, when T is tau +1/2T, the output reaches 39 percent of the final value of the system,
the method comprises the following specific steps:
(1) drawing a response curve through an experimental data table;
(2) two points h (t) are taken on the response curve1) And h (t)2) These two points satisfy formula 2;
where h (∞) is the steady state value of the response curve;
(3) calculated from formula 2, with h (∞) of the experimental data being 11.9;
(4) from step 2, t can be found in the chart1928 and t2＝1760；
From equation 4, K, T, τ values can be obtained;
calculated K-14.7, T-1664, τ -96;
the transfer function of the constant-temperature water bath control system is obtained as follows:
3) controlling by a fuzzy PID control algorithm;
the system realizes accurate temperature control, controls the temperature precision in the water bath at 0.1 ℃, adopts two control algorithms of PID and fuzzy PID, adds a feedforward feedback control technology, eliminates errors through the algorithm and improves the control precision;
in order to control the temperature at a high precision, firstly, when the temperature is controlled, according to the physical model of the system, the system adopts an incremental PID control algorithm, the algorithm has the advantages of not occupying more storage units and being convenient for writing programs, but its output decreases as the error value decreases, so the PID algorithm output is zero when the detected temperature reaches the target temperature, thus, a steady-state error which cannot be eliminated exists, and the error fluctuates all the time under the interference of system heat dissipation under different temperature conditions, therefore, the system adopts a feedforward-feedback control technology, firstly, the feedforward control is an open-loop control form, and as long as under the condition that other conditions of the system are not changed, according to the current disturbance of the system, a proper temperature compensation value is selected to directly correct the disturbance quantity, so that high temperature control precision can be achieved;
the list summarizes the selection of compensation values in different target temperature areas through a plurality of experiments under the condition that other conditions are unchanged and the normal environment temperature is 25 ℃;
according to the relation table of the target temperature and the temperature compensation value, as the arithmetic difference of the temperature compensation value increases, the increasing rate of the target temperature gradually becomes slower, and the changing condition is close to the exponential function, the function relation is set as:
y＝a·xn+b (6)
substitution value calculated as a 2.15 × 10-6，n＝3.2,b-0.0876965, the functional relationship is:
y＝2.15×10-6·x3.2-0.0876965 (7)
the MAT L AB is used for comparing the function curve of the function relation with the data change curve in the temperature compensation relation table, so that the two curves are basically overlapped in a certain target temperature range, and therefore, a closed-loop feedforward-feedback control structure can be established by using the function relation, the compensation effect of feedforward control on disturbance can be played, and the control effect of feedback control on deviation can be kept.
As a further improvement of the invention, the communication aspect of the constant temperature water bath control method commonly uses two communication modes of RS-232 and RS-485.
As a further improvement of the invention, the measurement experiment process of the transfer function of the constant-temperature water bath monitoring system in the first step is as follows:
(1) adjusting the water temperature of the constant-temperature water bath tank to a stable value, and keeping the water temperature at the stable value for a period of time;
(2) after the temperature of the system is stabilized for a period of time, applying a 10% PWM pulse signal to the constant-temperature water bath monitoring system;
(3) after a pulse signal is applied to the system, the water temperature in the constant-temperature water bath changes relatively, the temperature response change is recorded every 1s through upper computer software, and partial data after temperature change processing are listed.
As a further improvement of the invention, the constant-temperature water bath monitoring system adopts an L abVIEW virtual instrument as an upper computer, a PT1000 as a temperature sensor and a single chip microcomputer STM32 as a controller.
The invention relates to a constant-temperature water bath control method based on a feedforward feedback fuzzy self-setting PID control algorithm, the temperature control range of the constant temperature of a water bath of the system is 0-100 ℃, the control precision requirement is within 0.1 ℃, a control module of the system has higher data operation processing capacity, an L abVIEW virtual instrument is used as an upper computer, a PT1000 is used as a temperature sensor, a single chip microcomputer STM32 is used as a controller, when the system operates, a thermal resistor PT1000 firstly carries out real-time temperature acquisition, transmits the acquired temperature data to a data converter for storage, and transmits the temperature data to the single chip microcomputer STM32 every second, after the single chip microcomputer receives signals, the single chip microcomputer outputs adjustable duty ratio PWM (pulse width modulation) waves to control the on-off of an IGBT (insulated gate bipolar translator) by compiling a control algorithm, further controls the voltage in a power circuit of a heating rod, so that the heating power of the heating rod can be controlled, a DC motor drives a propeller to stir to enable the temperature in the water bath to be uniform, and then determines the heating.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a temperature measurement response curve of the present invention;
FIG. 3 is a comparison of simulation curves of the present invention;
FIG. 4 is a fuzzy PID simulation model of the constant temperature water bath monitoring system of the invention;
FIG. 5 is a fuzzy PID and PID simulation results of the constant temperature water bath monitoring system of the present invention;
FIG. 6 is a fuzzy PID and PID simulation results of the present invention to an enlarged constant temperature water bath monitoring system.
Detailed Description
The invention is described in further detail below with reference to the following detailed description and accompanying drawings:
the invention provides a constant-temperature water bath control method based on a feedforward feedback fuzzy self-tuning PID control algorithm, and the fuzzy PID control system is applied to a constant-temperature water bath monitoring system, so that the method has great significance for improving the stability of the system, improving the dynamic performance of the system, enhancing the regulation level of the system, improving the control efficiency, ensuring the measurement quality and saving energy.
As a specific embodiment of the present invention, as shown in FIG. 1, the communication aspect of the system of the present invention uses two communication modes, RS-232 and RS-485.
The mathematical model of the constant temperature water bath monitoring system can accurately reflect the actual characteristics of the temperature of the constant temperature water bath monitoring system, can provide sufficient theoretical basis for the design of the constant temperature water bath temperature control and the setting of parameters, the constant temperature water bath monitoring system is a single-input and single-output system, the system has a pure hysteresis link and self-balance, the mathematical model representation can be described by using a first-order system plus the pure hysteresis link, and the transfer function is as follows:
in the above formula: k-represents the static gain, T-represents the time constant, and τ -represents the pure lag time.
1) Measuring a temperature step curve of the constant-temperature water bath;
when the controlled object or the tested system is in a process from one stable state to another stable state, the dynamic characteristic of the controlled object or the tested system is shown, so that the system is required to be in a changed state when the dynamic characteristic of the system is required to be measured. The experimental process for measuring the transfer function of the constant-temperature water bath monitoring system is as follows:
(1) adjusting the water temperature of the constant-temperature water bath tank to a stable value, and keeping the water temperature at the stable value for a period of time;
(2) after the temperature of the system is stabilized for a period of time, applying a 10% PWM pulse signal to the constant-temperature water bath monitoring system;
(3) after a pulse signal is applied to the system, the water temperature in the constant-temperature water bath changes relatively, the temperature response change is recorded every 1s through upper computer software, and a data list after partial temperature change processing is shown in a table 1.
TABLE 1 constant temp. water bath temp. change table
| Time of day | Temperature of | Time of day | Temperature of | Time of day | Temperature of | Time of day | Temperature of | Time of day | Temperature of | Time of day | Temperature of |
| 0 | 0.0 | 1020 | 6.2 | 2040 | 10.1 | 3060 | 12.6 | 4080 | 13.9 | 5100 | 14.6 |
| 60 | 0.4 | 1080 | 6.4 | 2100 | 10.3 | 3120 | 12.7 | 4140 | 14.0 | 5160 | 14.6 |
| 120 | 0.8 | 1140 | 6.7 | 2160 | 10.5 | 3180 | 12.8 | 4200 | 14.0 | 5220 | 14.6 |
| 180 | 1.3 | 1200 | 7.0 | 2220 | 10.6 | 3240 | 12.9 | 4260 | 14.1 | 5280 | 14.6 |
| 240 | 1.7 | 1260 | 7.3 | 2280 | 10.8 | 3300 | 13.0 | 4320 | 14.1 | 5340 | 14.6 |
| 300 | 2.0 | 1320 | 7.5 | 2340 | 11.0 | 3360 | 13.1 | 4380 | 14.1 | 5400 | 14.7 |
| 360 | 2.5 | 1380 | 7.8 | 2400 | 11.2 | 3420 | 13.2 | 4440 | 14.2 | 5460 | 14.7 |
| 420 | 2.8 | 1440 | 8.0 | 2460 | 11.3 | 3480 | 13.3 | 4500 | 14.3 | 5520 | 14.7 |
| 480 | 3.2 | 1500 | 8.2 | 2520 | 11.5 | 3540 | 13.3 | 4560 | 14.3 | 5580 | 14.7 |
| 540 | 3.5 | 1560 | 8.5 | 2580 | 11.6 | 3600 | 13.4 | 4620 | 14.4 | 5640 | 14.7 |
| 600 | 3.9 | 1620 | 8.7 | 2640 | 11.7 | 3660 | 13.5 | 4680 | 14.4 | 928 | 5.7 |
| 660 | 4.2 | 1680 | 8.9 | 2700 | 11.9 | 3720 | 13.5 | 4740 | 14.4 | 1760 | 9.2 |
| 720 | 4.6 | 1740 | 9.1 | 2760 | 12.0 | 3780 | 13.6 | 4800 | 14.4 | xxx | xxx |
| 780 | 4.9 | 1800 | 9.2 | 2820 | 12.2 | 3840 | 13.7 | 4860 | 14.5 | xxx | |
| 840 | 5.2 | 1860 | 9.5 | 2880 | 12.3 | 3900 | 13.8 | 4920 | 14.5 | xxx | xxx |
| 900 | 5.5 | 1920 | 9.7 | 2940 | 12.4 | 3960 | 13.8 | 4980 | 14.5 | xxx | xxx |
| 960 | 5.9 | 1980 | 9.9 | 3000 | 12.5 | 4020 | 13.9 | 5040 | 14.5 | xxx | xxx |
2) Establishing a temperature mathematical model of the constant-temperature water bath;
when solving the transfer function of the constant-temperature water bath system, the time constant T of the first-order system with pure lag is determined through experiments. When T τ + T, the output reaches 63% of the system end value, and when T τ +1/2T, the output reaches 39% of the system end value.
The method comprises the following specific steps:
(1) the response curve as shown in fig. 2 is plotted by experimental data table 1.
(2) Two points h (t) are taken on the response curve1) And h (t)2) As shown in fig. 2, these two points satisfy equation 2.
Where h (∞) is the steady state value of the response curve.
(3) Calculated from formula 2, with h (∞) of the experimental data being 11.9;
(4) from step 2, t can be found in the chart1928 and t2＝1760；
From equation 4, K, T, τ values can be obtained;
calculated K-14.7, T-1664, τ -96.
The transfer function of the constant-temperature water bath control system is obtained as follows:
3) controlling by a fuzzy PID control algorithm;
the system realizes the purpose of accurate temperature control, and the temperature in the water bath is controlled to be 0.1 ℃. The system adopts two control algorithms of PID and fuzzy PID respectively, and adds a feedforward feedback control technology, eliminates errors through the algorithms and improves the control precision.
In order to control the temperature at a high precision, firstly, when the temperature is controlled, according to the physical model of the system, the system adopts an incremental PID control algorithm, the algorithm has the advantages of not occupying more storage units and being convenient for writing programs, but its output decreases as the error value decreases, so the PID algorithm output is zero when the detected temperature reaches the target temperature, thus, a steady-state error which cannot be eliminated exists, and the error fluctuates all the time under the interference of system heat dissipation under different temperature conditions, therefore, the system adopts a feedforward-feedback control technology, firstly, the feedforward control is an open-loop control form, and as long as under the condition that other conditions of the system are not changed, according to the current disturbance of the system, a proper temperature compensation value is selected to directly correct the disturbance quantity, so that high temperature control precision can be achieved. Table 2 shows that the system summarizes the selection of the compensation values in different target temperature regions through a plurality of experiments under the condition that other conditions are not changed and the normal ambient temperature is 25 ℃.
TABLE 2 temperature Compensation relationship Table
| Target temperature: x DEG C | Temperature compensation value: |
| 30≤X＜35 | Y＝0.1 |
| 35≤X＜40 | Y＝0.2 |
| 40≤X＜42.5 | Y＝0.3 |
| 42.5≤X＜47.5 | Y＝0.4 |
| 47.5≤X＜50 | Y＝0.5 |
| 50≤X＜52.5 | Y＝0.6 |
| 52.5≤X＜55 | Y＝0.7 |
| 55≤X＜57 | Y＝0.8 |
| 57≤X＜58.5 | Y＝0.9 |
According to the relation table of the target temperature and the temperature compensation value, it can be seen that the increase rate of the target temperature gradually becomes slower along with the increase of the equal difference of the temperature compensation value, and the change situation is close to the exponential function, so that the functional relation is set as:
y＝a·xn+b (6)
substitution value calculated as a 2.15 × 10-6Where n is 3.2 and b is-0.0876965, the functional relationship is:
y＝2.15×10-6·x3.2-0.0876965 (7)
the MAT L AB is used for comparing the function curve of the function relation with the data change curve in the temperature compensation relation table, as shown in FIG. 3, wherein the solid line represents the function curve, the dotted line represents the data change curve, and it can be seen from FIG. 3 that the two curves are basically overlapped in a certain target temperature range, so that a closed-loop feedforward-feedback control structure can be established by using the function relation, thus not only playing the compensation role of feedforward control on disturbance, but also keeping the control role of feedback control on deviation.
From the above, the transfer function of the constant temperature water bath monitoring system is:
the simulation situation of the invention is as follows;
by a Z-N adjustment method, setting PID initial parameters as follows: p ═ 1, I ═ 0.0005; d ═ 30. And (3) under the condition of setting a 50 ℃ signal, simulating the monitoring system of the constant-temperature water bath controlled by the fuzzy PID, and comparing the traditional PID control. The simulation model is shown in FIG. 4 below.
The simulation results of the constant temperature water bath monitoring system are shown in fig. 5 and 6, wherein the dotted line is the response variation curve of the output of the fuzzy PID controller, and the chain line is the response variation curve of the output of the comparative PID controller.
Maximum offset h (t) of response curve from initial statep) The percentage of the ratio of the difference from the final value h (∞) to the final value h (∞) is called overshoot σ%, i.e.:
overshoot σ of fuzzy PID1％：
Overshoot σ of PID2％：
The fuzzy PID is reduced by 12% compared with the traditional PID in terms of overshoot.
As can be seen from FIG. 5, the rise time t of the fuzzy PIDr1Approximately 260s, rise time t of PIDr2≈200s，Δt＝tr1-tr260s from the rise time, the fuzzy PID is slower by 60s than the conventional PID.
And amplifying the fuzzy PID simulation result figure 6 of the constant-temperature water bath monitoring system so as to facilitate observation.
As can be seen from FIG. 6, the adjustment time t of the fuzzy PIDs1Approximately equal to 430s, PID regulation time ts2≈500s，Δt＝ts2-ts170s from the rise time, the fuzzy PID is 70s slower than the conventional PID.
As shown in fig. 5 and 6, when the output response variation curve of the fuzzy PID control system under the same condition is compared with the output response variation curve of the conventional PID control system under the same unit step signal, it can be seen that, for the constant temperature water bath monitoring system, although the rise time of the system is slow, the overshoot, the regulation time and the stability after entering the steady state of the system are all obviously improved and enhanced.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, but any modifications or equivalent variations made according to the technical spirit of the present invention are within the scope of the present invention as claimed.
Claims (4)
1. The constant-temperature water bath control method based on the feedforward feedback fuzzy self-tuning PID control algorithm is characterized by comprising the following steps of (1) carrying out constant-temperature water bath control on the basis of a feedforward feedback fuzzy self-tuning PID control algorithm;
the constant-temperature water bath monitoring system of the constant-temperature water bath control method based on the feedforward feedback fuzzy self-tuning PID control algorithm is a single-input and single-output system, the system has a pure hysteresis link and self-balancing, the mathematical model representation of the system can be described by using a first-order system plus the pure hysteresis link, and the transfer function is as follows:
in the above formula: k-represents the static gain, T-represents the time constant, τ -represents the pure lag time;
the constant-temperature water bath control method based on the feedforward feedback fuzzy self-tuning PID control algorithm comprises the following specific steps;
1) measuring a temperature step curve of the constant-temperature water bath;
when the controlled object or the tested system is in the process of going from one stable state to another stable state, the dynamic characteristic of the controlled object or the tested system can be shown, so that the system is required to be in a changed state to be measured by adopting an analysis method of time domain measurement in order to measure the dynamic characteristic of the system;
firstly, inputting a step signal to a controlled object, measuring a response change curve output by the controlled object, and analyzing the response curve to obtain a transfer function for determining the measured object;
2) establishing a temperature mathematical model of the constant-temperature water bath;
when the transfer function of the constant-temperature water bath tank system is solved, the time constant T of a first-order system with pure lag is determined through experiments, when T is tau + T, the output reaches 63 percent of the final value of the system, when T is tau +1/2T, the output reaches 39 percent of the final value of the system,
the method comprises the following specific steps:
(1) drawing a response curve through an experimental data table;
(2) two points h (t) are taken on the response curve1) And h (t)2) These two points satisfy formula 2;
where h (∞) is the steady state value of the response curve;
(3) calculated from formula 2, with h (∞) of the experimental data being 11.9;
(4) from step 2, t can be found in the chart1928 and t2＝1760；
From equation 4, K, T, τ values can be obtained;
calculated K-14.7, T-1664, τ -96;
the transfer function of the constant-temperature water bath control system is obtained as follows:
3) controlling by a fuzzy PID control algorithm;
the system realizes accurate temperature control, controls the temperature precision in the water bath at 0.1 ℃, adopts two control algorithms of PID and fuzzy PID, adds a feedforward feedback control technology, eliminates errors through the algorithm and improves the control precision;
in order to control the temperature at a high precision, firstly, when the temperature is controlled, according to the physical model of the system, the system adopts an incremental PID control algorithm, the algorithm has the advantages of not occupying more storage units and being convenient for writing programs, but its output decreases as the error value decreases, so the PID algorithm output is zero when the detected temperature reaches the target temperature, thus, a steady-state error which cannot be eliminated exists, and the error fluctuates all the time under the interference of system heat dissipation under different temperature conditions, therefore, the system adopts a feedforward-feedback control technology, firstly, the feedforward control is an open-loop control form, and as long as under the condition that other conditions of the system are not changed, according to the current disturbance of the system, a proper temperature compensation value is selected to directly correct the disturbance quantity, so that high temperature control precision can be achieved;
the list summarizes the selection of compensation values in different target temperature areas through a plurality of experiments under the condition that other conditions are unchanged and the normal environment temperature is 25 ℃;
according to the relation table of the target temperature and the temperature compensation value, as the arithmetic difference of the temperature compensation value increases, the increasing rate of the target temperature gradually becomes slower, and the changing condition is close to the exponential function, the function relation is set as:
y＝a·xn+b (6)
substitution value calculated as a 2.15 × 10-6Where n is 3.2 and b is-0.0876965, the functional relationship is:
y＝2.15×10-6·x3.2-0.0876965 (7)
the MAT L AB is used for comparing the function curve of the function relation with the data change curve in the temperature compensation relation table, so that the two curves are basically overlapped in a certain target temperature range, and therefore, a closed-loop feedforward-feedback control structure can be established by using the function relation, the compensation effect of feedforward control on disturbance can be played, and the control effect of feedback control on deviation can be kept.
2. The thermostatic waterbath control method based on the feedforward feedback fuzzy self-tuning PID control algorithm according to claim 1, characterized in that: the communication aspect of the constant-temperature water bath control method commonly uses two communication modes of RS-232 and RS-485.
3. The thermostatic waterbath control method based on the feedforward feedback fuzzy self-tuning PID control algorithm according to claim 1, characterized in that: the measurement experiment process of the transfer function of the constant-temperature water bath monitoring system in the first step is as follows:
(1) adjusting the water temperature of the constant-temperature water bath tank to a stable value, and keeping the water temperature at the stable value for a period of time;
(2) after the temperature of the system is stabilized for a period of time, applying a 10% PWM pulse signal to the constant-temperature water bath monitoring system;
(3) after a pulse signal is applied to the system, the water temperature in the constant-temperature water bath changes relatively, the temperature response change is recorded every 1s through the software of the upper computer, and the data after partial temperature change processing is tabulated.
4. The thermostatic waterbath control method based on the feedforward feedback fuzzy self-tuning PID control algorithm as claimed in claim 1, characterized in that the thermostatic waterbath monitoring system adopts L abVIEW virtual instrument as an upper computer, PT1000 as a temperature sensor, and a singlechip STM32 as a controller.
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