CN113110029B - PID control method and device based on hybrid filtering and PID control equipment - Google Patents
PID control method and device based on hybrid filtering and PID control equipment Download PDFInfo
- Publication number
- CN113110029B CN113110029B CN202110411531.XA CN202110411531A CN113110029B CN 113110029 B CN113110029 B CN 113110029B CN 202110411531 A CN202110411531 A CN 202110411531A CN 113110029 B CN113110029 B CN 113110029B
- Authority
- CN
- China
- Prior art keywords
- value
- parameter
- deviation amount
- deviation
- pid control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- 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.
Abstract
The invention relates to a PID control method and a device based on hybrid filtering, which comprises the steps of passing acquired semaphore through a first-order filter to obtain a first deviation value; the acquired semaphore is passed through a mean value filter to obtain a second deviation value; and obtaining a current regulation value according to the current first deviation amount, the current second deviation amount and the parameter combination of the PID controller. The invention realizes the reasonable introduction of differential quantity in the closed-loop control of the motor, thereby enhancing the transient response capability of the motor servo system. The invention also relates to a PID control device.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a PID control method and device based on hybrid filtering and PID control equipment.
Background
The PID algorithm is a popular control algorithm, and the strong function of the PID algorithm ensures that the PID algorithm obtains good and stable control effect in various fields of control. In the field of motor speed control, a PID control algorithm makes a contribution of non-wear-out. However, since the anti-interference capability of the motor is reduced due to the addition of the differential coefficient parameter, the differential coefficient term is generally removed in the practical application of the general PID in the field of motor speed regulation, so that the PID regulation is degraded to PI regulation. However, the elimination of the differential coefficient also has the disadvantage of reducing the response speed of the motor, and when the motor is frequently changed in speed (such as a differential robot driving motor), the response speed of the motor is reduced, so that the final robot path tracking effect is influenced.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides a PID control method and device based on hybrid filtering and PID control equipment.
The technical scheme for solving the technical problems is as follows:
a hybrid filtering based PID control method, the method comprising:
the method comprises the steps that a first deviation value is obtained after collected signal quantity passes through a first-order filter;
the acquired semaphore is passed through a mean value filter to obtain a second deviation value;
and obtaining a current regulation and control value according to the current first deviation, the current second deviation and the parameter combination of the PID controller.
On the basis of the technical scheme, the invention can be improved as follows.
Further, the obtaining a current second deviation amount after passing the acquired semaphore through a mean filter specifically includes:
and inputting the semaphore to the mean filter for integration to obtain the second deviation value.
Further, the obtaining a current regulation value according to the first deviation amount, the second deviation amount and a parameter combination of the PID controller specifically includes:
the parameter combination of the PID controller comprises a proportional parameter, an integral parameter and a differential parameter;
calculating the difference value of the first deviation amount and the second deviation amount to obtain a deviation amount deviation value;
and calculating the product of the first deviation amount and the proportional parameter, the product of the second deviation amount and the integral parameter and the sum of the products of the deviation amount deviation value and the differential parameter to obtain the current regulation and control value.
Further, the method further comprises:
and determining the differential parameter according to the second deviation amount and the first deviation amount.
Further, the determining the differential parameter according to the second deviation amount and the first deviation amount specifically includes:
calculating a preset number of historical first deviation values and a mean value of the first deviation values to obtain a first temporary value;
obtaining a second temporary value according to the first temporary value and the first deviation amount;
and calculating the average value of the first temporary value and the second temporary value to obtain the differential parameter.
Further, the method further comprises:
and the integral parameter in the PID parameter is a preset integral parameter initial value.
Further, the method further comprises:
the integral parameter is a preset integral parameter initial value;
the proportion parameter is a preset proportion parameter initial value.
The invention has the beneficial effects that: the PID control method based on the hybrid filtering comprises the following steps: the method comprises the steps that a first deviation value is obtained after collected signal quantity passes through a first-order filter; the acquired semaphore is filtered through an averaging filter to obtain a second deviation value; and obtaining a current regulation value according to the current first deviation amount, the current second deviation amount and the parameter combination of the PID controller. The invention realizes the reasonable introduction of differential quantity in the closed-loop control of the motor, thereby enhancing the transient response capability of the motor servo system.
Another technical solution of the present invention for solving the above technical problems is as follows:
a hybrid filtering based PID control apparatus, the apparatus comprising:
the first-order filter is used for processing the acquired semaphore to obtain a first deviation value;
the mean filter is used for obtaining a second deviation value after the acquired semaphore passes through;
and the PID control device is used for obtaining a current regulation value according to the current first deviation amount, the current second deviation amount and the parameter combination of the PID controller.
Further, the mean filter is specifically configured to integrate the semaphore to obtain the second deviation amount.
In addition, the present invention also provides a PID control device including a memory: for storing a computer program; a processor: for executing the computer program to implement the steps of the hybrid filtering based PID control method according to any of the previous claims.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention or in the description of the prior art will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, 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 schematic flow chart of a PID control method based on hybrid filtering according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a PID control apparatus based on hybrid filtering according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
As shown in fig. 1, a flow diagram of a PID control method based on hybrid filtering according to an embodiment of the present invention is shown, and a PID control method based on hybrid filtering includes the following steps:
110. and (3) passing the acquired semaphore through a first-order filter to obtain a first deviation value.
120. And passing the acquired semaphore through a mean filter to obtain a second deviation value.
130. And obtaining a current regulation and control value according to the current first deviation, the current second deviation and the parameter combination of the PID controller.
Further, step 120 specifically includes:
and inputting the semaphore to the mean filter for integration to obtain the second deviation value.
Further, the obtaining a current regulation value according to the first deviation amount, the second deviation amount and a parameter combination of the PID controller specifically includes:
the parameter combination of the PID controller comprises a proportional parameter, an integral parameter and a differential parameter;
calculating the difference value of the first deviation amount and the second deviation amount to obtain a deviation amount deviation value;
and calculating the product of the first deviation amount and the proportional parameter, the product of the second deviation amount and the integral parameter and the sum of the products of the deviation amount deviation value and the differential parameter to obtain the current regulation and control value.
Further, the method further comprises:
and determining the differential parameter according to the second deviation amount and the first deviation amount.
Further, the determining the differential parameter according to the second deviation amount and the first deviation amount specifically includes:
calculating a preset number of historical first deviation values and a mean value of the first deviation values to obtain a first temporary value;
obtaining a second temporary value according to the first temporary value and the first deviation amount;
and calculating the average value of the first temporary value and the second temporary value to obtain the differential parameter.
It is to be understood that a is the first temporary value, b is the second temporary value, errNow is the first deviation amount, and b = (errBuf a) + ((1-a) × errNow) is obtained by the following equation, and the differential parameter kd = (a + b)/2 is obtained;
further, the method further comprises:
and the integral parameter in the PID parameter is a preset integral parameter initial value.
Further, the method further comprises:
the integral parameter is a preset integral parameter initial value;
the proportion parameter is a preset proportion parameter initial value.
It should be appreciated that the present embodiment proposes a way to improve the general PID adjustment algorithm by introducing differential coefficients in such a way that they are automatically adjusted according to the input quantity using filtering techniques. The differential coefficient tends to a small value due to the filter when the execution amount vibrates up and down near the target amount, and tends to a large value when the execution amount vibrates up and down away from the target amount. Therefore, the differential coefficient is gradually reduced in the process that the execution amount approaches to the target amount, and the response capability of the speed regulating motor is improved.
On the basis, through further research and application, the method that a discrete mean filter based on a statistical rule is connected in parallel at the end of a first-order filter and finally the value obtained by the two filters is subjected to first weighted averaging to be used as a differential parameter after differentiation is found to have better anti-interference capability than the parameter obtained by directly using the first-order filter.
Based on the PID control method based on the hybrid filtering provided by the embodiment, the first deviation value is obtained after the acquired semaphore is passed through a first-order filter; the acquired semaphore is filtered through an averaging filter to obtain a second deviation value; and obtaining a current regulation value according to the current first deviation amount, the current second deviation amount and the parameter combination of the PID controller. The invention realizes the reasonable introduction of differential quantity in the closed-loop control of the motor, thereby enhancing the transient response capability of the motor servo system.
Fig. 2 is a schematic structural diagram of a PID control apparatus based on hybrid filtering according to an embodiment of the present invention, wherein the PID control apparatus based on hybrid filtering includes:
the first-order filter is used for processing the acquired semaphore to obtain a first deviation value;
the mean filter is used for obtaining a second deviation value after the acquired semaphore passes through;
and the PID control device is used for obtaining a current regulation value according to the current first deviation amount, the current second deviation amount and the parameter combination of the PID controller.
Further, the average filter is specifically configured to integrate the semaphore to obtain the second deviation amount.
In addition, the present invention also provides a PID control device including a memory: for storing a computer program; a processor: for executing the computer program to implement the steps of the hybrid filtering based PID control method according to any of the previous claims.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one type of logical function division, and other division manners may be available in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium.
Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A PID control method based on hybrid filtering is applied to motor closed-loop control, and the method comprises the following steps:
the method comprises the steps that a first deviation value is obtained after collected signal quantity passes through a first-order filter;
the acquired semaphore is passed through a mean value filter to obtain a second deviation value;
obtaining a current regulation value according to the first deviation amount, the second deviation amount and the parameter combination of the PID controller;
the parameter combination of the PID controller comprises a proportional parameter, an integral parameter and a differential parameter;
determining the differential parameter according to the second deviation amount and the first deviation amount;
the determining the differential parameter according to the second deviation amount and the first deviation amount specifically includes:
calculating a preset number of historical first deviation values and a mean value of the first deviation values to obtain a first temporary value;
obtaining a second temporary value according to the first temporary value and the first deviation amount;
and calculating the average value of the first temporary value and the second temporary value to obtain the differential parameter.
2. The hybrid filtering-based PID control method according to claim 1, wherein the obtaining of the current second deviation amount after passing the acquired semaphore through a mean filter specifically comprises:
and inputting the semaphore to the mean filter for integration to obtain the second deviation value.
3. The hybrid filtering-based PID control method according to claim 2, wherein the obtaining of the current regulation value according to the first deviation amount, the second deviation amount and the parameter combination of the PID controller specifically comprises:
calculating the difference value of the first deviation amount and the second deviation amount to obtain a deviation amount deviation value;
and calculating the product of the first deviation amount and the proportional parameter, the product of the second deviation amount and the integral parameter and the sum of the products of the deviation amount deviation value and the differential parameter to obtain the current regulation and control value.
4. The hybrid filtering based PID control method according to claim 1, characterized in that the method further comprises:
and the integral parameter in the PID controller parameter combination is a preset integral parameter initial value.
5. The hybrid filtering based PID control method according to claim 1, characterized in that the method further comprises:
the integral parameter is a preset integral parameter initial value;
the proportion parameter is a preset proportion parameter initial value.
6. A hybrid filtering based PID control apparatus, characterized in that the apparatus comprises:
the first-order filter is used for processing the acquired semaphore to obtain a first deviation value;
the mean filter is used for obtaining a second deviation value after the acquired semaphore passes through;
the PID control device is used for obtaining a current regulation value according to the first deviation amount, the second deviation amount and the parameter combination of the PID controller;
the parameter combination of the PID controller comprises a proportional parameter, an integral parameter and a differential parameter;
the PID control device is further used for determining the differential parameter according to the second deviation amount and the first deviation amount;
the PID control device is specifically used for calculating a preset number of historical first deviation values and the average value of the first deviation values to obtain a first temporary value;
obtaining a second temporary value according to the first temporary value and the first deviation amount;
and calculating the average value of the first temporary value and the second temporary value to obtain the differential parameter.
7. Hybrid filtering based PID control device according to claim 6,
the mean filter is specifically configured to obtain the second deviation amount after integrating the semaphore.
8. A PID control apparatus characterized by comprising:
a memory: for storing a computer program;
a processor: steps for executing the computer program for implementing a hybrid filtering based PID control method as claimed in any of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110411531.XA CN113110029B (en) | 2021-04-16 | 2021-04-16 | PID control method and device based on hybrid filtering and PID control equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110411531.XA CN113110029B (en) | 2021-04-16 | 2021-04-16 | PID control method and device based on hybrid filtering and PID control equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113110029A CN113110029A (en) | 2021-07-13 |
| CN113110029B true CN113110029B (en) | 2022-11-18 |
Family
ID=76717829
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110411531.XA Active CN113110029B (en) | 2021-04-16 | 2021-04-16 | PID control method and device based on hybrid filtering and PID control equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113110029B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114488780B (en) * | 2022-03-21 | 2022-07-26 | 浙江中控技术股份有限公司 | PID control method and PID controller |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008234326A (en) * | 2007-03-20 | 2008-10-02 | Masami Saeki | Method and device for adjusting control parameter of pid controller |
| CN106100086A (en) * | 2016-08-04 | 2016-11-09 | 广东欧珀移动通信有限公司 | A kind of charging current control method, device and terminal |
| CN107092192A (en) * | 2017-06-26 | 2017-08-25 | 广东电网有限责任公司电力科学研究院 | A kind of method and apparatus for obtaining pseudo- second-order inertia link |
| CN108803310A (en) * | 2018-07-23 | 2018-11-13 | 广东工业大学 | A kind of PID control method, device and equipment |
| WO2021068748A1 (en) * | 2019-10-09 | 2021-04-15 | Oppo广东移动通信有限公司 | Pid control method and apparatus, and video encoding and decoding system |
-
2021
- 2021-04-16 CN CN202110411531.XA patent/CN113110029B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008234326A (en) * | 2007-03-20 | 2008-10-02 | Masami Saeki | Method and device for adjusting control parameter of pid controller |
| CN106100086A (en) * | 2016-08-04 | 2016-11-09 | 广东欧珀移动通信有限公司 | A kind of charging current control method, device and terminal |
| CN107092192A (en) * | 2017-06-26 | 2017-08-25 | 广东电网有限责任公司电力科学研究院 | A kind of method and apparatus for obtaining pseudo- second-order inertia link |
| CN108803310A (en) * | 2018-07-23 | 2018-11-13 | 广东工业大学 | A kind of PID control method, device and equipment |
| WO2021068748A1 (en) * | 2019-10-09 | 2021-04-15 | Oppo广东移动通信有限公司 | Pid control method and apparatus, and video encoding and decoding system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113110029A (en) | 2021-07-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113110029B (en) | PID control method and device based on hybrid filtering and PID control equipment | |
| CN104883158B (en) | The filtering method and filter of acceleration pedal of electric automobile signal | |
| CN112445259B (en) | Power supply voltage stabilization output adjusting device, method and system | |
| CN110875599A (en) | Control method and system for power grid frequency oscillation | |
| CN111376243B (en) | Steering engine position control method and device and terminal equipment | |
| CN112947674A (en) | Digital filtering-based rocker control method, device, equipment and storage medium | |
| DE102011075577B4 (en) | Signal processing method, signal processing apparatus and balance with signal processing apparatus | |
| CN111984047B (en) | Multi-module system current sharing control method and device and terminal equipment | |
| CN111985771B (en) | Power grid frequency regulation and control method and system based on power grid frequency overshoot and undershoot analysis | |
| CN109901384A (en) | Tobacco scrap prodn charging precision control method and system | |
| Wang et al. | Robust H/sub/spl infin//filtering for LPV discrete-time state-delayed systems | |
| CN110962686B (en) | Vehicle energy flow control method and device and vehicle | |
| CN111711401B (en) | Current correction method without sensor in motor control system | |
| US7949198B2 (en) | Fast response discrete time infinite impulse response (IIR) filter | |
| CN108880346B (en) | A kind of single-phase sine wave direct current brushless motor speed curve controlled circuit | |
| CN116118525B (en) | Motor torque zero crossing control method and device, electronic equipment and new energy automobile | |
| DE102008011111A1 (en) | Method and device for adjusting a control device | |
| CN114810364B (en) | Control method and control device for throttle opening and throttle system | |
| Srikanth et al. | A magnitude optimum approach for tuning Reduced-order ADRC with FOPDT models | |
| CN110994972B (en) | Power supply system and electronic equipment | |
| CN115045769B (en) | Engine load control system and method, electronic terminal and storage medium | |
| CN112859587B (en) | PID target tracking control method based on additional integrated module | |
| CN115095970A (en) | Automatic control method and system for air conditioner air outlet mode | |
| CN114301263A (en) | Control method and device for improving dynamic response of switching power supply circuit and terminal | |
| CN116365833A (en) | LLC-based control method, device, terminal and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |