CN112904915B - PID parameter setting temperature control experiment teaching device and method - Google Patents
PID parameter setting temperature control experiment teaching device and method Download PDFInfo
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Abstract
The invention discloses a PID parameter setting temperature control experiment teaching device and a method, relating to the field of control engineering, wherein the device comprises a controller and an oil tank, wherein a position type PID control program is arranged in the controller; a hydraulic pump and a proportional pressure valve which are arranged between the outlet of the oil tank and the inlet of the oil tank in sequence along the flow direction of the oil; a temperature sensor is arranged in the oil tank; the controller is respectively connected with the temperature sensor and the proportional pressure valve; the controller is used for controlling the proportional pressure valve to work according to the oil temperature acquired by the temperature sensor and the position type PID control program so as to heat the oil passing through the proportional pressure valve. The invention has the advantages of simple structure, uniform heating and the like.
Description
Technical Field
The invention relates to the field of control engineering, in particular to a PID parameter setting temperature control experiment teaching device and method.
Background
PID control is a classical control method applied to a control system, and is a basic control method of a process control system, a motion control system, and the like. PID parameter tuning is the basis for PID control of a controlled object. The PID parameter setting experiment teaching is an important practical teaching link combining theory and practice, is an important teaching means for learning, understanding and mastering a PID control method, and is an important technical means for cultivating the practical ability, the design ability and the analysis ability of students. At present, in teaching experiments, computer simulation experiments are mainly carried out on basis of a Matlab platform in PID parameter setting control experiments, and the method has the advantages of simplicity and convenience, but students are difficult to feel the PID parameter setting control effect of a real control system. The experimental teaching of PID parameter setting is carried out on an actual temperature control system, and actual devices such as a controlled object, a control device, a sensor, a computer control system and the like are required to be involved.
Disclosure of Invention
The invention aims to provide a PID parameter setting temperature control experiment teaching device and method, which have the advantages of simple structure, uniform heating and the like.
In order to achieve the purpose, the invention provides the following scheme:
a PID parameter setting temperature control experiment teaching device comprises a controller with a built-in position type PID control program and an oil tank;
a hydraulic pump and a proportional pressure valve which are arranged between the outlet of the oil tank and the inlet of the oil tank in sequence along the flow direction of the oil;
a temperature sensor is arranged in the oil tank;
the controller is respectively connected with the temperature sensor and the proportional pressure valve; the controller is used for controlling the proportional pressure valve to work according to the oil temperature acquired by the temperature sensor and the position type PID control program so as to heat the oil passing through the proportional pressure valve.
Optionally, the system further comprises a cooler, a proportional flow valve and a hydraulic motor;
an outlet of the hydraulic pump is communicated with an inlet of the proportional pressure valve, an outlet of the proportional pressure valve is communicated with an inlet of the cooler, and an outlet of the cooler is communicated with an inlet of the oil tank;
and the outlet of the hydraulic pump is communicated with the inlet of the proportional pressure valve on a communication passage of the outlet of the hydraulic pump and the inlet of the proportional pressure valve, the outlet of the proportional flow valve is communicated with the inlet of the hydraulic motor, and the outlet of the hydraulic motor is communicated with the inlet of the oil tank.
Optionally, the device further comprises a fan device; the output shaft of the hydraulic motor is connected with the fan device, and the fan device is positioned on one side of the cooler so that the oil passing through the cooler can be cooled when the fan device works.
Optionally, a pressure sensor is further connected to a communication passage between the outlet of the hydraulic pump and the inlet of the proportional flow valve; the pressure sensor is used for detecting the working pressure of the outlet of the hydraulic pump.
Optionally, an A/D1 converter and an A/D2 converter are also included;
the first input end of the controller is connected with one end of the A/D1 converter, and the other end of the A/D1 converter is connected with the temperature sensor;
the second input end of the controller is connected with one end of the A/D2 converter, and the other end of the A/D2 converter is connected with the pressure sensor.
Optionally, the system also comprises a D/A1 converter and a proportional pressure valve amplifier;
the first output end of the controller is connected with one end of the D/A1 converter, the other end of the D/A1 converter is connected with one end of the proportional pressure valve amplifier, and the other end of the proportional pressure valve amplifier is connected with the proportional pressure valve.
Optionally, the system further comprises a D/A2 converter and a proportional flow valve amplifier;
the second output end of the controller is connected with one end of the D/A2 converter, the other end of the D/A2 converter is connected with one end of the proportional flow valve amplifier, and the other end of the proportional flow valve amplifier is connected with the proportional flow valve.
Optionally, the controller is an industrial control computer based on Labview software.
Optionally, the fixed-position PID control formula in the fixed-position PID control program is u (t) ═ kp e (t) + ki [ e (1) + e (2) +. + e (t)) + kd [ e (t)) - (t) -e (t-1) ]; wherein Kp is a set proportionality coefficient; ki is a set integral coefficient; kd is the differential coefficient to be adjusted; u (t) is a control signal output by the controller at the time t; and e (t) is the difference between the target oil temperature value and the actual oil temperature value at the moment t.
A PID parameter setting temperature control experiment teaching method comprises the following steps:
outputting a control command to a proportional pressure valve to control the proportional pressure valve to be in a fully open state;
outputting a control instruction to a proportional flow valve to control the proportional flow valve to be in a completely closed state;
starting a position type PID control program and a hydraulic pump; when the position type PID control program is initialized, the set integral coefficient and the set differential coefficient are set to be zero, and the set proportionality coefficient is set to be a numerical value larger than zero;
when the proportional pressure valve works, when a control signal output by a controller is a positive number, a first control instruction is output to the proportional pressure valve to control the proportional pressure valve to be in a set opening state, and then oil passing through the proportional pressure valve is heated; when the control signal output by the controller is a negative number, outputting a second control instruction to the proportional flow valve to control the proportional flow valve to be in a set opening state, and further cooling the oil passing through the cooler;
during working, drawing an oil temperature control process curve graph according to a control signal output by the controller and an oil temperature change value, adjusting the set proportionality coefficient to be small when curve fluctuation of the oil temperature control process curve graph is attenuation, and adjusting the set proportionality coefficient to be large when the curve fluctuation of the oil temperature control process curve graph is divergent until the curve fluctuation of the oil temperature control process curve graph is in constant amplitude oscillation, so as to obtain a critical proportionality and a critical constant amplitude oscillation period value;
and calculating a temperature control adjusting parameter value according to the critical proportion and the critical constant amplitude oscillation period value.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a PID parameter setting temperature control experiment teaching device and method, the experiment device adopts a hydraulic heating mode, can carry out PID parameter setting control experiment on the oil temperature of an oil tank, and has the advantages of simple system, convenient operation, uniform heating and cooling, good stability and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a flow chart of a PID parameter setting temperature control experiment teaching method of the invention;
FIG. 2 is a schematic diagram of a PID parameter setting temperature control experiment teaching device.
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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a PID parameter setting temperature control experiment teaching device and method, which have the advantages of simple structure, uniform heating and the like.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example one
The PID parameter setting temperature control experiment teaching device provided by the embodiment comprises a controller with a built-in position type PID control program and an oil tank.
A hydraulic pump and a proportional pressure valve which are arranged between the outlet of the oil tank and the inlet of the oil tank in sequence along the flow direction of the oil; a temperature sensor is arranged inside the oil tank; the controller is respectively connected with the temperature sensor and the proportional pressure valve; the controller is used for controlling the proportional pressure valve to work according to the oil temperature acquired by the temperature sensor and the position type PID control program so as to heat the oil passing through the proportional pressure valve.
Further, the device provided by the embodiment further comprises a cooler, a proportional flow valve, a hydraulic motor and a fan device; an outlet of the hydraulic pump is communicated with an inlet of the proportional pressure valve, an outlet of the proportional pressure valve is communicated with an inlet of the cooler, and an outlet of the cooler is communicated with an inlet of the oil tank; and the outlet of the hydraulic pump is communicated with the inlet of the proportional pressure valve on a communication passage of the outlet of the hydraulic pump and the inlet of the proportional pressure valve, the outlet of the proportional flow valve is communicated with the inlet of the hydraulic motor, and the outlet of the hydraulic motor is communicated with the inlet of the oil tank. The output shaft of the hydraulic motor is connected with the fan device, and the fan device is positioned on one side of the cooler so that the oil passing through the cooler can be cooled when the fan device works.
Preferably, a pressure sensor is further connected to a communication passage between the outlet of the hydraulic pump and the inlet of the proportional flow valve; the pressure sensor is used for detecting the working pressure of the outlet of the hydraulic pump.
As a preferred embodiment, the apparatus provided in this embodiment further comprises an A/D1 converter, an A/D2 converter, a D/A1 converter, a proportional pressure valve amplifier, a D/A2 converter, and a proportional flow valve amplifier
The first input end of the controller is connected with one end of the A/D1 converter, and the other end of the A/D1 converter is connected with the temperature sensor; the second input end of the controller is connected with one end of the A/D2 converter, and the other end of the A/D2 converter is connected with the pressure sensor. The first output end of the controller is connected with one end of the D/A1 converter, the other end of the D/A1 converter is connected with one end of the proportional pressure valve amplifier, and the other end of the proportional pressure valve amplifier is connected with the proportional pressure valve. The second output end of the controller is connected with one end of the D/A2 converter, the other end of the D/A2 converter is connected with one end of the proportional flow valve amplifier, and the other end of the proportional flow valve amplifier is connected with the proportional flow valve.
Preferably, the controller is an industrial control computer based on Labview software.
The positional PID control program has a positional PID control formula u (t) ═ kp e (t) + ki [ e (1) + e (2) +. -. + e (t) ] + kd [ e (t) — e (t-1) ]; wherein Kp is a set proportionality coefficient; ki is a set integral coefficient; kd is the differential coefficient to be adjusted; u (t) is a control signal output by the controller at the time t; and e (t) is the difference between the target oil temperature value and the actual oil temperature value at the time t.
The teaching method for the PID parameter setting temperature control experiment, as shown in FIG. 1, comprises the following steps:
step 101: outputting a control instruction to a proportional pressure valve to control the proportional pressure valve to be in a fully open state, outputting a control instruction to a proportional flow valve to control the proportional flow valve to be in a fully closed state, and starting a position type PID control program and a hydraulic pump; when the position type PID control program is initialized, the set integral coefficient and the set differential coefficient are set to be zero, and the set proportionality coefficient is set to be a numerical value larger than zero.
Step 102: when the proportional pressure valve works, when a control signal output by a controller is a positive number, a first control instruction is output to the proportional pressure valve to control the proportional pressure valve to be in a set opening state, and then oil passing through the proportional pressure valve is heated; and when the control signal output by the controller is a negative number, outputting a second control instruction to the proportional flow valve to control the proportional flow valve to be in a set opening state, and further cooling the oil passing through the cooler.
Step 103: during working, an oil temperature control process curve graph is drawn according to a control signal output by the controller and an oil temperature change value, the set proportionality coefficient is adjusted to be small when curve fluctuation of the oil temperature control process curve graph is attenuation, the set proportionality coefficient is adjusted to be large when the curve fluctuation of the oil temperature control process curve graph is divergent until the curve fluctuation of the oil temperature control process curve graph is in constant amplitude oscillation, and a critical proportionality and a critical constant amplitude oscillation period value are obtained.
Step 104: and calculating a temperature control adjusting parameter value according to the critical proportion and the critical constant amplitude oscillation period value.
Example two
In the embodiment, the temperature control of the oil in the oil tank is used as a controlled object, the PID parameter setting is used for carrying out an experiment, and the temperature control of the oil in the oil tank is realized by adopting a hydraulic pressure loss heating and fan cooling mode.
In the experimental teaching device shown in fig. 2, an inlet of the hydraulic pump 2 is connected with an outlet of the oil tank 1, an outlet of the hydraulic pump 2 is connected with an inlet of the proportional pressure valve 9, the proportional pressure valve 9 can heat oil passing through the proportional pressure valve 9, an outlet of the proportional pressure valve 9 is connected with an inlet of the cooler 8, the cooler 8 can cool the oil passing through the cooler 8, and an outlet of the cooler 8 is connected with an inlet of the oil tank 1.
An inlet of a proportional flow valve 5 is connected between an outlet of the hydraulic pump 2 and an inlet of the proportional pressure valve 9, an outlet of the proportional flow valve 5 is connected with an inlet of a hydraulic motor 6, the proportional flow valve 5 can adjust the rotating speed of the hydraulic motor 6, and an outlet of the hydraulic motor 6 is connected with an inlet of an oil tank 1.
An output shaft of the hydraulic motor 6 is connected with a fan device 7, the hydraulic motor 6 can drive the fan device 7, and the fan device 7 can perform cooling control on a cooler 8.
And a pressure sensor 4 is also connected between the outlet of the hydraulic pump 2 and the inlet of the proportional overflow valve 9, and the pressure sensor 4 can detect the working pressure of the outlet of the hydraulic pump 2. In the oil tank 1, a temperature sensor 3 is disposed, and the temperature sensor 3 can detect the temperature of the oil in the oil tank 1.
Position formula PID control formula: u (t) ═ kp e (t) + ki [ -e (1) + e (2) +. + e (t) ] + kd [ -e (t) ]
The parameters are as follows: kp: a scaled proportionality coefficient; ki: the adjusted integral coefficient; kd: a set differential coefficient; u (t): a control signal output by the controller at the time t; e (t): and setting the difference between the target temperature value and the actual value of the controlled object at the time t.
The specific PID parameter setting temperature control experiment teaching method of the embodiment has the following working flow:
in step one, the controller 16 outputs a control signal to the D/a1 converter 12, the D/a1 converter 12 transmits the control signal to the proportional pressure valve amplifier 10, and the proportional pressure valve amplifier 10 controls the proportional pressure valve 9 to be in a fully open state and starts the hydraulic pump 2.
And step two, the controller 16 outputs a control signal to the D/A2 converter 13, the D/A2 converter 13 transmits the control signal to the proportional flow valve amplifier 11, and the proportional flow valve amplifier 11 controls the proportional flow valve 5 to be in a completely closed state.
Step three, the controller 16 presets a short enough sampling period T, and sets the set integral coefficient Ki and the set differential coefficient Kd to be zero, and sets the set proportional coefficient Kp to be a large proper value, and the position type PID control program starts to work.
And step four, when the control signal u (t) output by the controller 16 is positive, the controller 16 transmits the output control signal to the D/A1 converter 12, the D/A1 converter 12 transmits the control signal to the proportional pressure valve amplifier 10, and the proportional pressure valve amplifier 10 controls the proportional pressure valve 9 to be in a certain opening state, so that the oil passing through the proportional pressure valve 9 is heated.
And step five, when the control signal u (t) output by the controller 16 is a negative number, the controller 16 transmits the output control signal to the D/A2 converter 13, the D/A2 converter 13 transmits the control signal to the proportional flow valve amplifier 11, the proportional flow valve amplifier 11 controls the proportional flow valve 5 to be in a certain opening state, the opening size of the proportional flow valve 5 controls the rotating speed of the hydraulic motor 6, the rotating speed of the hydraulic motor 6 controls the rotating speed of the fan 7, and the rotating speed of the fan 7 controls the cooling speed of the oil liquid passing through the cooler 8.
Step six, slowly reducing the set proportionality coefficient Kp, and observing the change condition of the control signal output by the controller 16 and the controlled oil temperature; if the curve fluctuation of the oil temperature control process is attenuated, the set proportionality coefficient Kp is adjusted to be smaller, and if the curve fluctuation of the oil temperature control process is divergent, the set proportionality coefficient Kp is adjusted to be larger; until the fluctuation of the oil temperature curve is in constant amplitude oscillation, so as to obtain a critical oscillation process, namely obtaining a critical proportionality degree delta k (the reciprocal of a set proportionality coefficient Kp at the moment) and a critical constant amplitude oscillation period Tk value.
And step seven, calculating various parameter values of the temperature control regulator according to the obtained delta k and Tk values and a critical proportionality method parameter calculation formula table of the table 1.
TABLE 1 Critical ratio parameter calculation formula Table
And step eight, sampling the period T by the controller, and performing an oil temperature control experiment according to the parameter calculation method determined in the table 1.
1) The controller adopts P control, then
2) The controller adopts PI control, then
3) The controller adopts PID control, then
Compared with the prior art, the invention has the following beneficial effects:
1. in the invention, an industrial control computer based on Labview software is used as a controller, the temperature of oil in an oil tank is used as a controlled object, and a temperature combination control device for heating by a proportional pressure valve and cooling by a fan is adopted.
2. In the invention, the temperature combination control device adopting the proportional pressure valve for heating and the fan for cooling is adopted, so that the temperature is uniform when the flowing liquid is heated or cooled, and the device has the advantages of good stability, good temperature control effect and the like.
3. The invention provides the PID parameter setting temperature control experiment teaching method based on the device, the PID parameter setting experiment and the oil temperature control experiment on the oil tank can be realized, and the method is simple, easy to operate and good in practicality and reliability.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (6)
1. A PID parameter setting temperature control experiment teaching device is characterized by comprising a controller, an oil tank, a cooler, a proportional flow valve, a hydraulic motor and a fan device, wherein a position PID control program is arranged in the controller;
a hydraulic pump and a proportional pressure valve which are arranged between the outlet of the oil tank and the inlet of the oil tank in sequence along the flow direction of the oil;
a temperature sensor is arranged inside the oil tank;
the controller is respectively connected with the temperature sensor and the proportional pressure valve; the controller is used for controlling the proportional pressure valve to work according to the oil temperature acquired by the temperature sensor and the position type PID control program so as to heat the oil passing through the proportional pressure valve;
an outlet of the hydraulic pump is communicated with an inlet of the proportional pressure valve, an outlet of the proportional pressure valve is communicated with an inlet of the cooler, and an outlet of the cooler is communicated with an inlet of the oil tank;
a pressure sensor is also connected to a communication passage between the outlet of the hydraulic pump and the inlet of the proportional flow valve; the pressure sensor is used for detecting the working pressure of the outlet of the hydraulic pump;
the communication passage between the outlet of the hydraulic pump and the inlet of the proportional pressure valve is also communicated with the inlet of the proportional flow valve, the outlet of the proportional flow valve is communicated with the inlet of the hydraulic motor, and the outlet of the hydraulic motor is communicated with the inlet of the oil tank;
an output shaft of the hydraulic motor is connected with the fan device, and the fan device is positioned on one side of the cooler so that the fan device can cool oil passing through the cooler when working;
when the proportional pressure control valve works, when a control signal output by the controller is a positive number, outputting a first control instruction to the proportional pressure valve to control the proportional pressure valve to be in a set opening state, and further heating oil passing through the proportional pressure valve; when the control signal output by the controller is a negative number, outputting a second control instruction to the proportional flow valve to control the proportional flow valve to be in a set opening state, and further cooling the oil passing through the cooler;
the position type PID control formula in the position type PID control program is u (t) ═ kp e (t) + ki [ e (1) + e (2) +. ·+ e (t) + kd [ e (t) -e (t-1) ]; kp is a set proportional coefficient; ki is a set integral coefficient; kd is the coefficient of differential to be adjusted; u (t) is a control signal output by the controller at the time t; e (t) is the difference between the target oil temperature value and the actual oil temperature value at the moment t;
during working, drawing an oil temperature control process curve graph according to a control signal output by the controller and an oil temperature change value, adjusting the set proportionality coefficient to be small when curve fluctuation of the oil temperature control process curve graph is attenuation, and adjusting the set proportionality coefficient to be large when the curve fluctuation of the oil temperature control process curve graph is divergent until the curve fluctuation of the oil temperature control process curve graph is in constant amplitude oscillation, so as to obtain a critical proportionality and a critical constant amplitude oscillation period value;
and calculating a temperature control adjusting parameter value according to the critical proportion and the critical constant amplitude oscillation period value.
2. The PID parameter setting temperature control experiment teaching device according to claim 1, further comprising an A/D1 converter and an A/D2 converter;
the first input end of the controller is connected with one end of the A/D1 converter, and the other end of the A/D1 converter is connected with the temperature sensor;
the second input end of the controller is connected with one end of the A/D2 converter, and the other end of the A/D2 converter is connected with the pressure sensor.
3. The PID parameter setting temperature control experiment teaching device according to claim 1, further comprising a D/A1 converter and a proportional pressure valve amplifier;
the first output end of the controller is connected with one end of the D/A1 converter, the other end of the D/A1 converter is connected with one end of the proportional pressure valve amplifier, and the other end of the proportional pressure valve amplifier is connected with the proportional pressure valve.
4. The PID parameter setting temperature control experiment teaching device according to claim 1, further comprising a D/A2 converter and a proportional flow valve amplifier;
the second output end of the controller is connected with one end of the D/A2 converter, the other end of the D/A2 converter is connected with one end of the proportional flow valve amplifier, and the other end of the proportional flow valve amplifier is connected with the proportional flow valve.
5. The PID parameter setting temperature control experiment teaching device of claim 1, wherein the controller is an industrial control computer based on Labview software.
6. The method applied to the PID parameter setting temperature control experiment teaching device of claim 1 is characterized by comprising the following steps:
outputting a control command to a proportional pressure valve to control the proportional pressure valve to be in a fully open state;
outputting a control instruction to the proportional flow valve to control the proportional flow valve to be in a completely closed state;
starting a position type PID control program and a hydraulic pump; when the position type PID control program is initialized, the set integral coefficient and the set differential coefficient are set to be zero, and the set proportionality coefficient is set to be a numerical value larger than zero;
when the proportional pressure valve works, when a control signal output by a controller is a positive number, a first control instruction is output to the proportional pressure valve to control the proportional pressure valve to be in a set opening state, and then oil passing through the proportional pressure valve is heated; when the control signal output by the controller is a negative number, outputting a second control instruction to the proportional flow valve to control the proportional flow valve to be in a set opening state, and further cooling the oil passing through the cooler;
during working, drawing an oil temperature control process curve graph according to a control signal output by the controller and an oil temperature change value, adjusting the set proportionality coefficient to be small when curve fluctuation of the oil temperature control process curve graph is attenuation, and adjusting the set proportionality coefficient to be large when the curve fluctuation of the oil temperature control process curve graph is divergent until the curve fluctuation of the oil temperature control process curve graph is in constant amplitude oscillation, so as to obtain a critical proportionality and a critical constant amplitude oscillation period value;
and calculating a temperature control adjusting parameter value according to the critical proportion and the critical constant amplitude oscillation period value.
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| CN107942648A (en) * | 2017-11-29 | 2018-04-20 | 中国飞机强度研究所 | A kind of extra space temperature field PID controller parameter setting method |
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| CN107037842A (en) * | 2017-05-15 | 2017-08-11 | 济南大学 | A kind of method of the enthalpy difference laboratory temperature switching control based on fuzzy control and PID control |
| CN108564869A (en) * | 2018-06-06 | 2018-09-21 | 北京理工大学 | A kind of temperature control experiments device, temperature-rising method and cooling means for teaching |
| CN210691795U (en) * | 2019-06-28 | 2020-06-05 | 北京建筑大学 | Thermodynamic process PID temperature control teaching experiment table |
| CN110345367A (en) * | 2019-07-09 | 2019-10-18 | 中国航发哈尔滨东安发动机有限公司 | A kind of lubricating oil pumping plant charge oil pressure and oil temperature supplying complex automatic control system |
| CN211207186U (en) * | 2019-12-25 | 2020-08-07 | 辽宁工业大学 | Water tank temperature control experimental device based on PID algorithm |
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