CN112051727A - Variable structure control algorithm - Google Patents
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- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- 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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Abstract
The embodiment of the disclosure provides a variable structure control algorithm, which adopts an incremental PID control mode, and the incremental PID control mode changes control structure parameters in real time through real-time changed system deviation and deviation change rate. The incremental PID control mode includes a proportional gain portion, an integral gain portion, and a micro-integral gain portion. The calculation formula of the incremental PID control mode of the variable structure control algorithm is as follows:
the variable structure algorithm has the advantage that the algorithm model can smooth the whole system control and adjustment process.
Description
Technical Field
The disclosure relates to the technical field of industrial control, in particular to a variable structure control algorithm.
Background
In industrial control, electronic hydraulic control is a typical time-lag control system, and has high requirements on control performances such as control accuracy, adaptability and robustness of a hydraulic control algorithm. The working principle of the hydraulic control system is that the flow of hydraulic oil is regulated through the electronic control system, so that the current hydraulic pressure is changed, the related execution structures are driven to respond, the current position of the execution mechanism is acquired, and whether the current regulation control process meets the requirements or not is judged.
Analyzing functionally, the hydraulic control system needs to adjust the hydraulic flow in real time to realize the real-time adjustment of the hydraulic pressure; from the performance analysis, the hydraulic control system needs to meet the corresponding restriction factors such as adjusting time, overshoot, smoothness of the adjusting process and the like on the basis of function realization. However, the existing hydraulic control system has the following disadvantages:
1. the control system has uncertainty and cannot adjust the adjusting parameters of the internal controller in real time;
2. for a complex hydraulic control system, a complex control object model needs to be established to realize the accurate control of the hydraulic control system;
in a word, the existing hydraulic control system has the problems of low robustness and low control precision.
Disclosure of Invention
In view of the above, the disclosed embodiments provide a variable structure control algorithm, which can be applied to at least a trailing edge flap hydraulic control system, and can partially solve the problems in the prior art. The variable structure control algorithm provided by the invention can overcome the uncertainty of a hydraulic control system and adjust the adjusting parameters of the internal controller in real time. Meanwhile, the hydraulic control system has certain self-adaptability and robustness, so that the problem that the complex control system does not need to establish a complex control object model to realize accurate control is solved.
The design idea of the algorithm is as follows: an incremental PID control mode is adopted, a conventional PID control structure is broken through, and parameters of the control structure are changed in real time through real-time changed system deviation and deviation change rate, so that the response rate of a control system is improved, the overshoot of the system is reduced, and the stability of the system is improved.
The technical scheme for realizing the purpose of the invention is as follows: the variable structure control algorithm adopts an incremental PID control mode, and the incremental PID control mode changes control structure parameters in real time through real-time changing system deviation and deviation change rate.
The incremental PID control mode includes a proportional gain portion, an integral gain portion, and a micro-integral gain portion. The principle of the variable structure control algorithm of the invention is as follows: when the deviation of the hydraulic system is large, the proportional gain part takes a large value, the integral gain part takes a small value, and the differential gain part takes a small value, so that the hydraulic control system can quickly respond to shorten the adjustment time; when the error of the hydraulic system is small, the value of the proportional gain part is small, the value of the integral gain part is large, the value of the differential gain part is small, the static error of the hydraulic control system is eliminated, and the robustness of the hydraulic control system is enhanced; when the deviation of the hydraulic control system is changed from large to small, the value of the differential gain part is changed from small to large and then is changed to small, so that the hydraulic control system is prevented from generating large overshoot.
The proportional gain part is Kp, and the calculation formula of the Kp is as follows:
apsetting a minimum value for the proportional gain range; bpA proportional gain range adjustment factor; c. CpIs the rate of change of the proportional gain. When the deviation of the hydraulic control system is small, the parameter value of the proportional gain part is small; when the deviation of the hydraulic control system is large, the parameter value of the proportional gain part is large. The variation trend of the parameters of the proportional gain part is the same with the variation trend of the system deviation, so that the quick response of the control system can be improved, the system can be prevented from generating excessive overshoot, and the c in the formula ispThe rate of change of the proportional gain part is determined.
Wherein, the integral gain part is Ki, and the calculation formula of Ki is as follows:
aiadjusting the coefficient for the integral gain range; c. CiIs the rate of change of the integral gain. When the deviation of the hydraulic control system is small, the value of the parameter of the integral gain part is large, so that the static error of the hydraulic control system can be eliminated, and the phenomena of oscillation and integral saturation of the hydraulic control system are prevented; when the deviation of the hydraulic control system is large, the parameter value of the integral gain part is small, the quick response of the hydraulic control system is accelerated, and the c in the formulaiThe rate of change of the integral gain part is determined.
Wherein the differential gain part is KdThe calculation of Kd is:
adadjusting coefficients for the differential gain range; c. CdIs the rate of change of the differential gain; and controlling a system deviation coefficient. When the deviation of the hydraulic control system is large, the parameter value of the integral gain part is very small, and the quick response of the hydraulic control system is accelerated; when the deviation of the hydraulic control system is small, the parameter value of the integral gain part is small; when the deviation of the hydraulic control system changes from large to small, the change trend of the differential gain part changes according to the change trend of normal distribution, so that the overshoot of the hydraulic control system can be reduced, the oscillation of the hydraulic control system is overcome, the stability of the hydraulic control system is enhanced, and the dynamic response rate of the control system is accelerated. And c in the formuladThe rate of change of the integral gain portion is determined and the deviation of the hydraulic control system is in the vicinity to initiate an enhanced derivative gain action.
The calculation formula of the incremental PID control mode of the variable structure control algorithm is as follows:
and outputting the value for the controller in real time.
Furthermore, the value range of the proportional gain part Kp is more than or equal to 0 and less than or equal to ap≤Kp≤(ap+bp)。
Furthermore, the value range of the integral gain part Ki is more than or equal to 0 and less than or equal to ai。
Furthermore, the value range of Kd of the differential gain part is more than or equal to 0 and less than or equal to ad。
Compared with the prior art, the beneficial effects of the invention are as follows: by adopting a variable structure control algorithm, when the deviation of the hydraulic control system is larger in the initial adjustment stage of the hydraulic control system, the parameters of a larger proportional gain part, a smaller integral gain part and a smaller differential gain part are selected, so that the output value of the hydraulic control system is larger, and for the hydraulic system, the pressure storage time of the hydraulic system can be shortened, and the response speed of an actuating mechanism is accelerated; when the deviation of the hydraulic control system is small, the parameters of a small proportional gain part, a large integral gain part and a small differential gain part are selected, so that the hydraulic control system enhances the integral link action, avoids the phenomena of oscillation and integral saturation and is beneficial to reducing overshoot; when the deviation of the hydraulic control system is changed from big to small, the proportional gain part and the integral gain part are adjusted along with a set formula, and the differential gain part is increased and then reduced. Because the hydraulic control system has larger inertia characteristic, in order to overcome the defect that the hydraulic control system needs to be braked in advance when being close to a control target, the hydraulic control system is realized to reduce the output quantity of the control quantity in advance through the parameters of the differential gain part, the overshoot of the hydraulic control system can be reduced, the system problem is enhanced, and the corresponding control performance is met.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of a variable structure control algorithm according to the present invention;
FIG. 2 is a graph of the variation of the parameters of the proportional gain portion with system deviations according to the present invention;
FIG. 3 is a graph of the variation trend of the parameters of the integral gain part with the system deviation according to the present invention;
FIG. 4 is a graph of the variation of the parameters of the differential gain section with system offset according to the present invention;
FIG. 5 is a control flow diagram of a variable structure control algorithm of the present invention;
FIG. 6 is a simulation trend variation diagram of the target value and the collected value of the variable structure control algorithm of the present invention;
FIG. 7 is a variation diagram of the variation trend of PID control parameters along with the system deviation in the variable structure control algorithm.
Detailed Description
The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
The embodiments of the present disclosure are described below with specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure in the specification. It is to be understood that the described embodiments are merely illustrative of some, and not restrictive, of the embodiments of the disclosure. The disclosure may be embodied or carried out in various other specific embodiments, and various modifications and changes may be made in the details within the description without departing from the spirit of the disclosure. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present disclosure, and the drawings only show the components related to the present disclosure rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
The embodiment of the disclosure provides a variable structure control algorithm, which adopts an incremental PID control mode, and the incremental PID control mode changes control structure parameters in real time through real-time changed system deviation and deviation change rate.
The incremental PID control mode includes a proportional gain portion, an integral gain portion, and a micro-integral gain portion. The principle of the variable structure control algorithm of the present embodiment is: when the deviation of the hydraulic system is large, the proportional gain part takes a large value, the integral gain part takes a small value, and the differential gain part takes a small value, so that the hydraulic control system can quickly respond to shorten the adjustment time; when the error of the hydraulic system is small, the value of the proportional gain part is small, the value of the integral gain part is large, the value of the differential gain part is small, the static error of the hydraulic control system is eliminated, and the robustness of the hydraulic control system is enhanced; when the deviation of the hydraulic control system is changed from large to small, the value of the differential gain part is changed from small to large and then is changed to small, so that the hydraulic control system is prevented from generating large overshoot.
The proportional gain part is Kp, and the calculation formula of the Kp is as follows:
apsetting a minimum value for the proportional gain range; bpA proportional gain range adjustment factor; c. CpIs the rate of change of the proportional gain. When the deviation of the hydraulic control system is small, the parameter value of the proportional gain part is small; when the deviation of the hydraulic control system is large, the parameter value of the proportional gain part is large. The variation trend of the parameters of the proportional gain part is the same with the variation trend of the system deviation, so that the quick response of the control system can be improved, the system can be prevented from generating excessive overshoot, and the c in the formula ispThe rate of change of the proportional gain part is determined. Further, the method comprisesThe value range of the proportional gain part Kp is more than or equal to 0 and less than or equal to ap≤Kp≤(ap+bp). The rate of change of Kp of the proportional gain section is shown in fig. 2.
Wherein, the integral gain part is Ki, and the calculation formula of Ki is as follows:
aiadjusting the coefficient for the integral gain range; c. CiIs the rate of change of the integral gain. When the deviation of the hydraulic control system is small, the value of the parameter of the integral gain part is large, so that the static error of the hydraulic control system can be eliminated, and the phenomena of oscillation and integral saturation of the hydraulic control system are prevented; when the deviation of the hydraulic control system is large, the parameter value of the integral gain part is small, the quick response of the hydraulic control system is accelerated, and the c in the formulaiThe rate of change of the integral gain part is determined. Furthermore, the value range of the integral gain part Ki is more than or equal to 0 and less than or equal to ai. The rate of change of the integral gain part Ki is shown in fig. 3.
Wherein, the differential gain part is Kd, and the calculation formula of Kd is as follows:
adadjusting coefficients for the differential gain range; c. CdIs the rate of change of the differential gain; and controlling a system deviation coefficient. When the deviation of the hydraulic control system is large, the parameter value of the integral gain part is very small, and the quick response of the hydraulic control system is accelerated; when the deviation of the hydraulic control system is small, the parameter value of the integral gain part is small; when the deviation of the hydraulic control system changes from large to small, the change trend of the differential gain part changes according to the change trend of normal distribution, so that the overshoot of the hydraulic control system can be reduced, the oscillation of the hydraulic control system is overcome, the stability of the hydraulic control system is enhanced, and the dynamic response rate of the control system is accelerated. And c in the formuladThe rate of change of the integral gain portion is determined and the deviation of the hydraulic control system is in the vicinity to initiate an enhanced derivative gain action. Furthermore, the value range of Kd of the differential gain part is more than or equal to 0 and less than or equal to ad. Differential gain sectionThe rate of change in Kd is shown in fig. 4.
The calculation formula of the incremental PID control mode of the variable structure control algorithm is as follows:
the structural block diagram of the variable structure control algorithm is shown in figure 1 for the real-time output value of the controller.
The simulation of the variable structure control algorithm of the above embodiment is described in further detail with reference to fig. 5, 6, and 7.
The simulation system takes the target value of 68, single step adjustment not more than 1.5 degrees, steady-state error of 0.25 degrees and adjustment time not more than 7s as requirements, and respectively controls the parameter a of the variable structure control systemp、bp、cp、ai、ci、ad、cdThe values are 0.30, 0.5, 8.00, 1.00, 0.05, 0.50, 0.08 and 10.00 in sequence. Through simulation test, the variable structure control algorithm meets the control performance requirement of a hydraulic control system. As shown in fig. 6, the whole adjusting process is relatively smooth, and the phenomenon that the adjusting speed is too large or too small does not occur. As shown in fig. 7, in the initial stage of system adjustment, due to the existence of a hydraulic energy storage link, the control algorithm model takes the control output of the proportional gain part as the main part to accelerate the response of the control system, in the adjustment process, the action of the integral gain part is gradually enhanced to inhibit the control system from oscillation and overshoot, and the action of the differential gain part is reduced once and then, mainly to overcome the inertia link existing in the hydraulic system and reduce the overshoot of the system; the control algorithm model at the end of system regulation mainly takes the control output of an integral gain part as the main part, and the stability and the anti-interference capability of the control system are enhanced.
In general, the algorithm model of the variable structure control algorithm of the present invention is able to smooth the overall system control tuning process.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present disclosure should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (4)
1. A variable structure control algorithm, characterized by: the variable structure control algorithm adopts an incremental PID control mode, and the incremental PID control mode changes control structure parameters in real time through real-time changed system deviation and deviation change rate;
the incremental PID control mode comprises a proportional gain part, an integral gain part and a micro integral gain part;
the proportional gain part is Kp, and the calculation formula of the Kp is as follows:
apsetting a minimum value for the proportional gain range; bpA proportional gain range adjustment factor; c. CpIs the rate of change of the proportional gain;
wherein, the integral gain part is Ki, and the calculation formula of Ki is as follows:
aiadjusting the coefficient for the integral gain range; c. CiIs the rate of change of the integral gain;
wherein, the differential gain part is Kd, and the calculation formula of Kd is as follows:
adadjusting coefficients for the differential gain range; c. CdIs the rate of change of the differential gain; controlling the system deviation coefficient;
the calculation formula of the incremental PID control mode of the variable structure control algorithm is as follows:
and outputting the value for the controller in real time.
2. The variable structure control algorithm according to claim 1, wherein: the value range of the proportional gain part Kp is more than or equal to 0 and less than or equal to ap≤Kp≤(ap+bp)。
3. The variable structure control algorithm according to claim 1, wherein: the value range of the integral gain part Ki is more than or equal to 0 and less than or equal to ai。
4. The variable structure control algorithm according to claim 1, wherein: the value range of the differential gain part Kd is more than or equal to 0 and less than or equal to ad。
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113359410A (en) * | 2021-04-29 | 2021-09-07 | 武汉华海通用电气有限公司 | Digital PI controller |
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