CN114488774B - PID control parameter acquisition method, device, equipment and medium - Google Patents
PID control parameter acquisition method, device, equipment and medium Download PDFInfo
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- CN114488774B CN114488774B CN202111541965.8A CN202111541965A CN114488774B CN 114488774 B CN114488774 B CN 114488774B CN 202111541965 A CN202111541965 A CN 202111541965A CN 114488774 B CN114488774 B CN 114488774B
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- 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
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- 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
According to the method, the device, the equipment and the medium for acquiring the PID control parameters, provided by the embodiment of the invention, in the automatic setting period of the PID controller, if a target measured value is greater than a measured value sent by a sensor, the PID controller controls the processing equipment to operate at 100% of rated power, and a first duration and a first measured value are acquired in the operation process; and if the target measured value is less than or equal to the measured value sent by the sensor, the PID controller controls the processing equipment to operate at 0% of rated power, and acquires a second time length and a second measured value in the operation process. And the PID controller calculates to obtain a PID control parameter according to the first time length, the first measured value, the second time length and the second measured value. According to the scheme, the PID control parameter is obtained through obtaining the first time length, the first measured value, the second time length and the second measured value and calculating, and the obtaining accuracy of the PID control parameter is effectively improved.
Description
Technical Field
The present invention relates to the field of automation, and in particular, to a method, an apparatus, a device, and a medium for acquiring a proportional-Integral-derivative (PID) control parameter.
Background
With the development of automation technology, because a proportional/Integral/Differential (PID) control method has the characteristics of simple algorithm and high stability, the PID control method is applied more and more in equipment control and automatic production, and the requirement on the accuracy of setting PID control parameters is higher and more. Before a user uses a PID controller, PID control parameters in the PID controller are usually set to achieve a better control state.
In the prior art, a worker is required to debug a PID controller to realize setting of PID control parameters, an integral term in the PID control parameters is set to be infinite, a differential term in the PID control parameters is set to be 0, and a proportional term is adjusted from large to small while observing the change of a process curve; after the proportional term is determined, the integral term is adjusted from large to small, and the change of the process curve is observed; after the integral term is determined, the differential term is adjusted from small to large, and the change of the process curve is observed to determine the differential term.
Therefore, in the prior art, a worker is required to manually debug the PID controller and manually acquire and set PID control parameters, which results in inaccurate obtained PID control parameters.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a medium for acquiring a PID control parameter, which are used for solving the problem of inaccurate PID control parameter acquired in the prior art.
In a first aspect, an embodiment of the present invention provides a method for obtaining a PID control parameter, including:
in an automatic tuning cycle of a PID controller, acquiring a first time duration, a first measured value, a second time duration and a second measured value, wherein the first time duration and the first measured value are acquired during the operation of a processing device controlled by the PID controller at 100% of rated power, the first time duration is a duration of an accumulated sampling period during the operation at 100% of rated power, the first measured value is a minimum measured value of measured values sent by a sensor during the operation at 100% of rated power, the second time duration and the second measured value are acquired during the operation of the processing device controlled by the PID controller at 0% of rated power, the second time duration is a duration of an accumulated sampling period during the operation at 0% of rated power, and the second measured value is a maximum measured value of measured values sent by a sensor during the operation at 0% of rated power, the sampling period is a period for the sensor to send a measured value, and the automatic setting period starts when the measured value is equal to a preset target measured value for the first time and ends when the measured value is equal to the target measured value for the third time;
and calculating to obtain a PID control parameter according to the first time length, the first measured value, the second time length and the second measured value.
In a specific embodiment, the obtaining a first duration, a first measured value, a second duration and a second measured value in an automatic tuning cycle of the PID controller includes:
after the PID controller enters an automatic setting period, judging whether the target measured value is larger than the received measured value sent by the sensor;
if the target measured value is greater than the measured value, controlling the processing equipment to operate at 100% of rated power;
accumulating the accumulated time length of the sampling period to obtain the first time length;
determining the minimum value of the first measurement value in the last sampling period and the measurement value sent by the sensor in the current sampling period as the first measurement value in the current sampling period;
if the target measurement value is less than or equal to the measurement value, controlling the processing equipment to operate at 0% of rated power;
accumulating the accumulated time length of the sampling period to obtain the second time length;
determining the maximum value of the second measurement value in the last sampling period and the measurement value sent by the sensor in the current sampling period as the second measurement value in the current sampling period;
acquiring a measured value sent by the sensor;
and repeating the steps until the automatic setting period is finished.
In a specific embodiment, before the PID controller enters the automatic tuning period, the method further comprises:
judging whether the target measurement value is larger than the measurement value sent by the sensor;
if the target measured value is greater than the measured value, controlling the processing equipment to operate at 100% of rated power;
if the target measured value is less than the measured value, controlling the processing equipment to operate at 0% of rated power;
acquiring a measured value sent by the sensor;
and repeating the steps until the measured value is equal to the target measured value for the first time, and enabling the PID controller to enter an automatic setting period.
In a specific embodiment, the calculating a PID control parameter according to the first duration, the first measured value, the second duration and the second measured value includes:
according to the first measured value N 1 The second measured value N 2 The first time length T 1 And the second duration T 2 The formula is adopted: p ═ K 1 *((T 1 +T 2 )*N big )/T big ，I＝K 2 *(T 1 +T 2 ) 2 /T big Calculating to obtain a proportional term P in the PID control parameter, an integral term I in the PID control parameter, and a differential term D in the PID control parameter; wherein N is big Is the first measured value N 1 And the second measured value N 2 Larger value of (1), T big Is the first duration T 1 And the second duration T 2 Larger value of, K 1 ，K 2 Is a constant related to the sampling period and is greater than 0.
In a specific embodiment, before determining whether the target measurement value is greater than the measurement value sent by the sensor, the method further includes:
and receiving a setting PID control parameter starting instruction, and acquiring the measured value sent by the sensor according to the setting PID control parameter starting instruction.
In a second aspect, an embodiment of the present invention provides an apparatus for obtaining PID control parameters, including:
an obtaining module, configured to obtain, in an automatic setting cycle of a PID controller, a first time duration, a first measured value, a second time duration and a second measured value, where the first time duration and the first measured value are obtained during a process of operating a processing device controlled by the PID controller at 100% of a rated power, the first time duration is a duration of an accumulated sampling period during the process of operating at 100% of the rated power, the first measured value is a minimum measured value among measured values sent by a sensor during the process of operating at 100% of the rated power, the second time duration and the second measured value are obtained during the process of operating the processing device controlled by the PID controller at 0% of the rated power, the second time duration is a duration of an accumulated sampling period during the process of operating at 0% of the rated power, and the second measured value is a maximum measured value among measured values sent by a sensor during the process of operating at 0% of the rated power, the sampling period is a period for the sensor to send a measured value, and the automatic setting period starts when the measured value is equal to a preset target measured value for the first time and ends when the measured value is equal to the target measured value for the third time;
and the first processing module is used for calculating to obtain a PID control parameter according to the first time length, the first measured value, the second time length and the second measured value.
In a specific embodiment, the apparatus further comprises:
the judging module is used for judging whether the target measured value is larger than the received measured value sent by the sensor or not after the PID controller enters an automatic setting period;
a second processing module for controlling the processing device to operate at 100% of rated power if the target measurement value is greater than the measurement value;
the first processing module is further configured to accumulate accumulated durations of the sampling period to obtain the first duration;
the first processing module is further configured to determine a minimum value between a first measurement value in a previous sampling period and a measurement value sent by the sensor in a current sampling period as a first measurement value in the current sampling period;
the second processing module is further used for controlling the processing equipment to operate at 0% of rated power if the target measured value is less than or equal to the measured value;
the first processing module is further configured to accumulate accumulated durations of the sampling periods to obtain the second duration;
the first processing module is further configured to determine a maximum value of a second measurement value in a previous sampling period and a measurement value sent by the sensor in a current sampling period as a second measurement value in the current sampling period;
the acquisition module is further used for acquiring the measurement value sent by the sensor.
In a specific embodiment, the determining module is further configured to determine whether the target measurement value is greater than the measurement value sent by the sensor;
the second processing module is further used for controlling the processing equipment to operate at 100% rated power if the target measured value is greater than the measured value;
the second processing module is further configured to control the processing device to operate at 0% of rated power if the target measured value is less than the measured value;
the acquisition module is further used for acquiring the measured value sent by the sensor.
In a specific implementation manner, the first processing module is specifically configured to:
according to the first measured value N 1 Said second measured value N 2 Said first time period T 1 And the second duration T 2 The formula is adopted: p ═ K 1 *((T 1 +T 2 )*N big )/T big ，I＝K 2 *(T 1 +T 2 ) 2 /T big Calculating to obtain a proportional term P in the PID control parameter, an integral term I in the PID control parameter, and a differential term D in the PID control parameter; wherein N is big Is the first measured value N 1 And the second measured value N 2 Of greater, T big Is the first duration T 1 And the second duration T 2 Larger value of, K 1 ，K 2 Is a constant related to the sampling period and is greater than 0.
In a specific embodiment, the obtaining module is further configured to receive a setting PID control parameter starting instruction, and obtain the measurement value sent by the sensor according to the setting PID control parameter starting instruction.
In a third aspect, an embodiment of the present invention provides a PID controller, including:
a processor, a memory, and a communication interface;
the memory is used for storing executable instructions of the processor;
wherein the processor is configured to execute the method for obtaining the PID control parameter according to any one of the first aspect via executing the executable instructions.
In a fourth aspect, an embodiment of the present invention provides a readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for obtaining PID control parameters according to any one of the first aspect.
In a fifth aspect, an embodiment of the present invention provides a computer program product, which includes a computer program, and the computer program is used for implementing the method for acquiring PID control parameters according to any one of the first aspect when executed by a processor.
According to the method, the device, the equipment and the medium for acquiring the PID control parameters, provided by the embodiment of the invention, in the automatic setting period of the PID controller, if the target measurement value is greater than the measurement value sent by the sensor, the PID controller controls the processing equipment to operate at 100% of rated power, and acquires the first duration and the first measurement value in the operation process; and if the target measured value is less than or equal to the measured value sent by the sensor, the PID controller controls the processing equipment to operate at 0% of rated power, and acquires a second time length and a second measured value in the operation process. And the PID controller calculates to obtain a PID control parameter according to the first time length, the first measured value, the second time length and the second measured value. According to the scheme, the PID control parameter is obtained through obtaining the first time length, the first measured value, the second time length and the second measured value and calculating, and the obtaining accuracy of the PID control parameter is effectively improved.
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 description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of an application scenario of the method for automatically tuning PID control parameters provided by the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of a method for obtaining PID control parameters according to the present invention;
FIG. 3a is a schematic flow chart of a second embodiment of a method for obtaining PID control parameters according to the present invention;
FIG. 3b is a schematic diagram of a process for obtaining a first duration, a second duration, a first measured value and a second measured value according to the present invention
FIG. 4 is a schematic structural diagram of a first embodiment of a PID control parameter obtaining apparatus according to the invention;
FIG. 5 is a schematic structural diagram of a second embodiment of a PID control parameter obtaining apparatus according to the invention;
fig. 6 is a schematic structural diagram of a PID controller according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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, but not all embodiments of the present invention. All other embodiments based on the embodiments in the present invention, which can be made by those skilled in the art in light of the present disclosure, are within the scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
With the development of automation technology, because a proportional/Integral/Differential (PID) control method has the characteristics of simple algorithm and high stability, the PID control method is applied more and more in equipment control and automatic production, and the requirement on the accuracy of setting PID control parameters is higher and more. The PID control parameters comprise a proportional term, an integral term and a differential term, and when the proportional term is larger, the control speed of the PID controller is higher when the PID controller controls the processing equipment, but the stability is poorer and the error is larger; when the differential term is large, the control speed is slow, but the stability is high; when the integral term is large, the control speed is slow, but the error is small.
Before a user uses a PID controller to control processing equipment, the PID controller is usually debugged to realize the setting of PID control parameters, an integral term in the PID control parameters is set to be infinite, a differential term is set to be 0, a proportional term is adjusted from large to small, and the change of a process curve is observed; after the proportional term is determined, the integral term is adjusted from large to small, and the change of a process curve is observed; after the integral term is determined, the differential term is adjusted from small to large, and the change of the process curve is observed to determine the differential term. In the prior art, a worker is required to debug the PID controller to set PID control parameters, so that the obtained PID control parameters are not accurate enough.
In view of the problems in the prior art, the inventors found in the course of research on a set of PID control parameters that a PID controller determines whether to control a processing device to operate at 100% of rated power or 0% of rated power by comparing the magnitude of a measured value transmitted from a sensor with a target measured value, controls the processing device to operate at 100% of rated power when the target measured value is greater than the measured value, and calculates an operating time period and the smallest measured value transmitted from the sensor during operation at 100% of rated power; when the target measurement value is less than or equal to the measurement value, the processing device is controlled to operate at 0% of the rated power, and the operating duration and the maximum measurement value transmitted by the sensor during operation at 0% of the rated power are calculated. And calculating the PID control parameter according to the time length of the process device in the 100% rated power operation process, the minimum measured value sent by the sensor in the 100% rated power operation process, the time length of the process in the 0% rated power operation process and the maximum measured value sent by the sensor in the 0% rated power operation process. Based on the inventive concept, the scheme for automatically setting the PID control parameter is designed.
Fig. 1 is a schematic view of an application scenario of the method for automatically tuning PID control parameters according to the present invention. As shown in fig. 1, the application scenario may include: a PID controller 11, a processing device 12, a sensor 13, and a control object 14.
For example, in the application scenario shown in fig. 1, the controller 11 may control the processing device 12, may control the power of the processing device 12 during operation, and may receive the measurement value from the sensor 13.
The processing device 12 may receive control from the PID controller and may also process the control object 14.
The sensor 13 can measure the control object 14, and the measured value is sent to the PID controller.
Note that the processing device is a device capable of receiving PID control and processing a control target. For example, the treatment device may be a heater, and the corresponding control object may be water in a water tank; the processing device may also be a humidifier, and the corresponding control object may be air in a particular environment; the treatment device may also be a water pump and the corresponding control object may be water in the water pump. The embodiment of the invention does not limit the processing equipment and the control object and can select according to the actual situation.
It should be noted that the sensor is a device capable of measuring a control object and transmitting the measured value to the PID controller. The sensor 13 may be any one of a temperature sensor, a humidity sensor, a pressure sensor, and the like.
For example, the sensor may be a temperature sensor, the corresponding control object may be water in the water tank, and the measured value is a temperature value; the sensor can also be a humidity sensor, the corresponding control object can be air in a specific environment, and the measured value is a humidity value; the sensor can also be a pressure sensor, the corresponding control object can be water in the water pump, and the measured value is a pressure value. The embodiment of the invention does not specifically limit the sensor and the control object, and can be selected according to the actual situation.
It should be noted that the PID controller is a device having a calculation capability, and capable of controlling the processing device and receiving the measurement value sent by the sensor, and may be a frequency converter having a calculation capability, a PID temperature controller, or a PID humidity controller.
It should be noted that fig. 1 is only a schematic diagram of an application scenario provided by an embodiment of the present invention, and the embodiment of the present invention does not limit actual forms of various devices included in fig. 1, nor limit a position relationship and an interaction manner between the devices in fig. 1, and in a specific application of a scheme, the setting may be performed according to actual requirements.
The technical solution of the present invention will be described in detail below with reference to specific examples. It should be noted that the following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.
Fig. 2 is a schematic flow chart of a first embodiment of a method for acquiring PID control parameters according to the present invention. As shown in fig. 2, the main execution subject of the scheme is a PID controller in the foregoing scenario, and the method for acquiring PID control parameters specifically includes the following steps:
s201: in an automatic setting period of the PID controller, a first time length, a first measured value, a second time length and a second measured value are obtained.
Before the PID controller is formally operated, a user needs to send a PID setting control parameter starting instruction to the PID controller, the PID controller is started to obtain PID control parameters, and the PID controller can formally operate according to the PID control parameters.
The PID controller receives a starting instruction for setting the PID control parameters, obtains a measured value sent by the sensor, determines whether the control processing equipment operates at 100% power or 0% power according to the target measured value and the measured value sent by the sensor, and repeats the steps of obtaining the measured value sent by the sensor, judging the size and controlling the processor to operate until entering an automatic setting period of the PID controller.
In this step, after the PID controller enters the automatic setting period, it is determined whether the control processing device is operated at 100% power or 0% power according to the target measurement value and the measurement value transmitted from the sensor. If the target measured value is greater than the measured value, the processing device is controlled to operate at 100% of the rated power, and the first duration and the first measured value are obtained during operation at 100% of the rated power. If the target measured value is less than or equal to the measured value, the processing device is controlled to operate at 0% of the rated power, and the second duration and the second measured value are obtained during operation at 0% of the rated power. And then PID control parameters can be calculated.
It should be noted that the first time duration and the first measured value are obtained during the operation of the processing device controlled by the PID controller at 100% of the rated power, the first time duration is the duration of the accumulated sampling period during the operation at 100% of the rated power, the first measured value is the smallest measured value among the measured values sent by the sensor during the operation at 100% of the rated power, the second time duration and the second measured value are obtained during the operation of the processing device controlled by the PID controller at 0% of the rated power, the second time duration is the duration of the accumulated sampling period during the operation at 0% of the rated power, the second measured value is the largest measured value among the measured values sent by the sensor during the operation at 0% of the rated power, the sampling period is the period during which the sensor sends the measured values, the automatic setting period starts when the measured values are first equal to the preset target measured values, and ending by a third equalisation to the target measurement.
S202: and calculating to obtain the PID control parameter according to the first time length, the first measured value, the second time length and the second measured value.
In this step, after the PID controller obtains the first duration, the first measured value, the second duration and the second measured value, the PID control parameter can be calculated according to the formula. After the PID controller acquires the PID control parameters, the PID parameters required by the operation can be set as the acquired PID control parameters, and then the operation is carried out formally.
In particular, based on a first measured value N 1 Second measured value N 2 First duration T 1 And a second duration T 2 The formula is adopted: p ═ K 1 *((T 1 +T 2 )*N big )/T big ，I＝K 2 *(T 1 +T 2 ) 2 /T big Calculating to obtain a proportional term P in the PID control parameter, an integral term I in the PID control parameter and a differential term D in the PID control parameter; wherein N is big Is a first measured value N 1 And a second measured value N 2 Larger value of (1), T big Is a first time length T 1 And a second duration T 2 Larger value of, K 1 ，K 2 Is constant with respect to the sampling period and is greater than 0.
In addition, K is 1 ，K 2 Is constant in relation to the sampling period and is greater than 0, embodiments of the present invention do not address K 1 ，K 2 The selection of (2) is specifically limited, and can be selected according to actual requirements.
According to the method for acquiring the PID control parameter provided by the embodiment of the invention, the PID controller determines whether the processing equipment operates at 100% power or 0% power according to the size relation between the target measurement value and the measurement value sent by the sensor, acquires the first time length and the first measurement value in the process that the processing equipment operates at 100% power, and acquires the second time length and the second measurement value in the process that the processing equipment operates at 0% power. And the PID controller calculates a PID control parameter by using a formula according to the first time length, the first measured value, the second time length and the second measured value. Compared with the prior art that a worker needs to manually debug the PID controller and manually acquire the PID control parameters for setting, the scheme automatically acquires the first time length, the first measured value, the second time length and the second measured value and calculates the PID control parameters by combining a formula, and the acquisition accuracy of the PID control parameters is effectively improved.
Fig. 3a is a schematic flow chart of a second embodiment of the method for acquiring PID control parameters according to the present invention. As shown in fig. 3a, in this embodiment, before step S201 in the first embodiment, the method for obtaining PID control parameters further includes the following steps:
s301: and receiving a setting PID control parameter starting instruction, and acquiring a measured value sent by the sensor according to the setting PID control parameter starting instruction.
In this step, before the PID controller performs formal operation, the user needs to send a start instruction for setting the PID control parameter to the PID controller, and start the PID controller to obtain the PID control parameter. And the PID controller acquires the measured value sent by the sensor according to the PID setting control parameter starting instruction, and then the PID controller can compare the target measured value with the measured value sent by the sensor.
It should be noted that the setting PID control parameter start instruction may be sent to the PID controller by a user using other electronic equipment, or may be directly input on the PID controller.
S302: and judging whether the target measurement value is larger than the measurement value sent by the sensor.
In this step, after the PID controller obtains the measurement value sent by the sensor, it may compare the measurement value with a target measurement value, determine whether the target measurement value is greater than the measurement value sent by the sensor, and then determine whether to control the processing device to operate at 100% of rated power or 0% of rated power according to the comparison result.
It should be noted that the target measurement value is set in the PID controller by the user before the PID controller receives the start command for setting the PID control parameter, and is used for size comparison with the measurement value sent by the sensor.
S303: if the target measurement value is greater than the measurement value, the processing device is controlled to operate at 100% of the rated power.
In this step, after comparing the target measurement value with the measurement value sent by the sensor, the PID controller controls the processing device to operate at 100% of the rated power if the target measurement value is greater than the measurement value. After the processing equipment operates, the control object is processed, so that the measured value sent by the sensor acquired by the PID controller next time changes.
Illustratively, the processing device is a heater, the control object is water in a water tank, the sensor is a temperature sensor, the target measurement value is 50 degrees centigrade, the measurement value sent by the sensor is 30 degrees centigrade, and at the moment, the PID controller controls the heater to operate at 100% of rated power to heat the water in the water tank.
It should be noted that the above example is only an example of the device and the process during which the processing device is controlled to operate at 100% of the rated power when the target measured value is greater than the measured value, and the device and the process are not limited and may be selected according to actual situations.
S304: if the target measured value is less than the measured value, the processing device is controlled to operate at 0% of the rated power.
In this step, after comparing the target measurement value with the measurement value sent by the sensor, the PID controller controls the processing device to operate at 0% of the rated power if the target measurement value is smaller than the measurement value. The processing equipment stops running, so that the measured value sent by the sensor acquired by the PID controller next time changes.
Illustratively, the processing device is a heater, the control object is water in a water tank, the sensor is a temperature sensor, the target measurement value is 50 degrees centigrade, the measurement value sent by the sensor is 80 degrees centigrade, and at the moment, the PID controller controls the heater to operate at 0% of rated power, namely, the heating is stopped.
It should be noted that the above example is only an example of the device and the process during which the processing device is controlled to operate at 0% of the rated power when the target measured value is smaller than the measured value, and the device and the process are not limited and may be selected according to actual situations.
S305: and acquiring the measured value sent by the sensor.
In this step, after the PID controller controls the processing device, the measurement value sent by the sensor needs to be obtained again so as to compare with the target measurement value, so as to determine whether the PID controller enters into the automatic setting period, and when the PID controller does not enter into the automatic setting period, the PID controller controls the processing device to operate at 100% of rated power or 0% of rated power.
S306: and repeating the steps S302 to S305 until the measured value is equal to the target measured value for the first time, and enabling the PID controller to enter an automatic setting period.
In this step, after acquiring the measured value sent by the sensor, the PID controller determines whether the measured value is equal to the target measured value, if not, the steps S302 to S305 are repeated, and if the measured value is equal to the target measured value, the PID controller enters an automatic setting period. The first time duration, the second time duration, the first measured value and the second measured value can then be obtained. As shown in fig. 3a, in the present embodiment, the step S201 in the first embodiment can be implemented by the following steps:
s307: and judging whether the target measurement value is larger than the measurement value sent by the sensor.
In this step, after the PID controller acquires the measurement value sent by the sensor, it may compare the measurement value with a target measurement value, determine whether the target measurement value is greater than the measurement value sent by the sensor, and then determine whether to control the processing device to operate at 100% of rated power or 0% of rated power according to the result of the comparison.
S308: if the target measurement value is greater than the measurement value, the processing device is controlled to operate at 100% of the rated power.
In this step, after comparing the target measurement value with the measurement value sent by the sensor, the PID controller controls the processing device to operate at 100% of the rated power if the target measurement value is greater than the measurement value. After the processing equipment operates, the control object is processed, so that the measured value sent by the sensor acquired by the PID controller next time changes.
S309: and accumulating the accumulated time length of the sampling period to obtain a first time length.
In this step, after the PID controller controls the processing device to operate at 100% of the rated power, the first duration needs to be calculated. The first duration is calculated by accumulating the accumulated durations of the sampling periods.
Illustratively, in the first sampling period during the operation of the processing device at 100% of the rated power, the first duration is the duration of one sampling period, in the second sampling period, the first duration is the duration of two sampling periods, and so on, and the first duration in the last sampling period is the sum of the durations of all sampling periods during the operation of the processing device at 100% of the rated power, that is, the first duration finally determined by the PID controller.
It should be noted that the sampling period is set in the sensor by the user before the PID controller receives a start command for setting the PID control parameter, and the sensor sends the measurement value according to the sampling period.
S310: and determining the minimum value of the first measurement value in the last sampling period and the measurement value sent by the sensor in the current sampling period as the first measurement value in the current sampling period.
In this step, after the PID controller controls the processing device to operate at 100% of the rated power, the first measurement value is calculated. The calculation mode of the first measurement value is to determine the minimum value of the first measurement value in the last sampling period and the measurement value sent by the sensor in the current sampling period as the first measurement value in the current sampling period, and the first measurement value in the first sampling period is the measurement value sent by the sensor in the current sampling period.
Illustratively, in the first sampling period during the operation of the processing device at 100% of the rated power, the first measurement value is the measurement value sent by the sensor in the current sampling period, in the second sampling period, the first measurement value is the minimum value between the first measurement value in the first sampling period and the measurement value sent by the sensor in the current sampling period, and so on, and the first measurement value in the last sampling period is the minimum value among the measurement values sent by the sensors in all sampling periods during the operation of the processing device at 100% of the rated power, that is, the first measurement value finally determined by the PID controller.
S311: if the target measured value is less than or equal to the measured value, the processing device is controlled to operate at 0% of the rated power.
In this step, after comparing the target measurement value with the measurement value sent by the sensor, the PID controller controls the processing device to operate at 0% of the rated power if the target measurement value is less than or equal to the measurement value. The processing equipment stops running, so that the measured value sent by the sensor acquired by the PID controller next time changes.
S312: and accumulating the accumulated time length of the sampling period to obtain a second time length.
In this step, after the PID controller controls the processing device to operate at 0% of the rated power, the second time period needs to be calculated. The second duration is calculated by accumulating the accumulated durations of the sampling periods.
Illustratively, in the first sampling period during the operation of the processing device at 0% of the rated power, the second duration is the duration of one sampling period, in the second sampling period, the second duration is the duration of two sampling periods, and so on, and the second duration in the last sampling period is the sum of the durations of all sampling periods during the operation of the processing device at 0% of the rated power, that is, the second duration finally determined by the PID controller.
S313: and determining the maximum value of the second measurement value in the last sampling period and the measurement value sent by the sensor in the current sampling period as the second measurement value in the current sampling period.
In this step, after the PID controller controls the processing device to operate at 0% of the rated power, a second measurement value needs to be calculated. The second measurement value is calculated by determining the maximum value of the second measurement value in the previous sampling period and the measurement value sent by the sensor in the current sampling period as the second measurement value in the current sampling period, and the second measurement value in the first sampling period is the measurement value sent by the sensor in the current sampling period.
Illustratively, in the first sampling period during the operation of the processing device at 0% of the rated power, the second measurement value is the measurement value sent by the sensor in the current sampling period, in the second sampling period, the second measurement value is the maximum value between the second measurement value in the first sampling period and the measurement value sent by the sensor in the current sampling period, and so on, and the second measurement value in the last sampling period is the maximum value among the measurement values sent by the sensors in all sampling periods during the operation of the processing device at 0% of the rated power, that is, the second measurement value finally determined by the PID controller.
S314: and acquiring the measured value sent by the sensor.
In this step, after the PID controller controls the processing equipment, the measurement value sent by the sensor needs to be obtained again so as to be compared with the target measurement value in order to determine whether the automatic setting period is finished, and when the automatic setting period is not finished, the PID controller controls the processing equipment to operate at 100% of rated power or 0% of rated power
S315: and repeating the steps S307 to S314 until the automatic setting period is finished.
In this step, after the PID controller obtains the measurement value sent by the sensor, it determines whether the measurement value is equal to the target measurement value for the third time, if not, the steps S307 to S314 are repeated, and if the measurement value is equal to the target measurement value for the third time, it indicates that the automatic setting cycle is finished. And then, the PID control parameter can be calculated according to the acquired first time length, the acquired second time length, the acquired first measured value and the acquired second measured value.
Illustratively, FIG. 3b shows the first duration of the acquisition,The second time length, the first measurement value and the second measurement value. As shown in fig. 3b, the automatic setting cycle starts when the measured value is equal to the target measured value for the first time and ends when the measured value is equal to the target measured value for the third time, and in the automatic setting cycle, the control processing device is operated at 100% of the rated power when the target measured value is greater than the measured value, and the control processing device is operated at 0% of the rated power when the target measured value is less than or equal to the measured value. The first time period T is the time period of the cumulative sampling period during which the processing device is operating at 100% of the rated power, and the first measured value N 1 Is the smallest of the measurements sent by the sensors during operation at 100% of the rated power. A second period of time T 2 The duration of the cumulative sampling period during operation at 0% of the nominal power is the second measured value N 2 Is the largest of the measurements sent by the sensors during operation at 0% of the rated power.
According to the method for acquiring the PID control parameters provided by the embodiment of the invention, after receiving a PID control parameter setting starting instruction, a PID controller starts to acquire the PID control parameters, and after entering an automatic setting period, whether a target measurement value is greater than a measurement value sent by a sensor is judged, if the target measurement value is greater than the measurement value sent by the sensor, the PID controller controls a processing device to operate at 100% rated power, the accumulated duration of a sampling period is accumulated to obtain a first duration, and the minimum value of the first measurement value of the last sampling period and the measurement value sent by the sensor in the current sampling period is determined as the first measurement value of the current sampling period; and if the target measurement value is less than or equal to the measurement value sent by the sensor, the PID controller controls the processing equipment to operate at 0% of rated power, accumulates the accumulated time of the sampling period to obtain a second time, and determines the maximum value of the second measurement value of the last sampling period and the measurement value sent by the sensor in the current sampling period as the second measurement value of the current sampling period. The first time length, the second time length, the first measured value and the second measured value can be obtained until the automatic setting period is finished, and further the PID control parameters can be calculated. Compared with the prior art that a worker is required to manually debug the PID controller and manually acquire the PID control parameters for setting, the PID controller can finish acquiring the first time length, the second time length, the first measured value and the second measured value in an automatic setting period, and then the PID control parameters are calculated, so that the acquisition accuracy of the PID control parameters is effectively improved.
The following are embodiments of the apparatus of the present invention that may be used to perform embodiments of the method of the present invention. For details which are not disclosed in the embodiments of the apparatus of the present invention, reference is made to the embodiments of the method of the present invention.
FIG. 4 is a schematic structural diagram of a first embodiment of a PID control parameter obtaining apparatus according to the invention; as shown in fig. 4, the PID control parameter acquiring device 40 includes:
an obtaining module 41, configured to obtain, during an automatic tuning cycle of a PID controller, a first time duration, a first measured value, a second time duration and a second measured value, where the first time duration and the first measured value are obtained during a process of operating a processing device controlled by the PID controller at 100% of a rated power, the first time duration is a duration of an accumulated sampling period during the process of operating at 100% of the rated power, the first measured value is a minimum measured value of measured values sent by a sensor during the process of operating at 100% of the rated power, the second time duration and the second measured value are obtained during the process of operating the processing device controlled by the PID controller at 0% of the rated power, the second time duration is a duration of an accumulated sampling period during the process of operating at 0% of the rated power, and the second measured value is a maximum measured value of measured values sent by a sensor during the process of operating at 0% of the rated power, the sampling period is a period for the sensor to send a measured value, and the automatic setting period starts when the measured value is equal to a preset target measured value for the first time and ends when the measured value is equal to the target measured value for the third time;
and the first processing module 42 is configured to calculate a PID control parameter according to the first duration, the first measured value, the second duration and the second measured value.
The PID control parameter obtaining apparatus provided in this embodiment is configured to execute the technical solution in any one of the foregoing method embodiments, and the implementation principle and technical effect are similar, where the PID controller controls the processing device to obtain the first time duration and the first measured value during the operation with 100% power, and the PID controller controls the processing device to obtain the second time duration and the second measured value during the operation with 0% power. The PID controller obtains the PID control parameter by using a formula according to the first time length, the first measured value, the second time length and the second measured value, and the acquisition accuracy of the PID control parameter is effectively improved.
Fig. 5 is a schematic structural diagram of a second embodiment of the apparatus for acquiring PID control parameters provided by the present invention, as shown in fig. 5, in another possible design of the embodiment of the present invention, the apparatus 40 for acquiring PID control parameters further includes:
the judging module 43 is configured to judge whether the target measurement value is greater than the received measurement value sent by the sensor after the PID controller enters the automatic tuning period;
a second processing module 44 for controlling the processing device to operate at 100% of rated power if the target measurement value is greater than the measurement value;
further, the first processing module 42 is further configured to accumulate the accumulated time length of the sampling period to obtain the first time length;
further, the first processing module 42 is further configured to determine a minimum value between the first measurement value in the last sampling period and the measurement value sent by the sensor in the current sampling period as the first measurement value in the current sampling period;
further, the second processing module 44 is further configured to control the processing device to operate at 0% of the rated power if the target measured value is less than or equal to the measured value;
further, the first processing module 42 is further configured to accumulate the accumulated time duration of the sampling period to obtain the second time duration;
further, the first processing module 42 is further configured to determine a maximum value between the second measurement value in the last sampling period and the measurement value sent by the sensor in the current sampling period as the second measurement value in the current sampling period;
further, the obtaining module 41 is further configured to obtain the measurement value sent by the sensor.
Further, the determining module 43 is further configured to determine whether the target measurement value is greater than the measurement value sent by the sensor;
further, the second processing module 44 is further configured to control the processing device to operate at 100% of the rated power if the target measured value is greater than the measured value;
further, the second processing module 44 is further configured to control the processing device to operate at 0% of the rated power if the target measurement value is smaller than the measurement value;
further, the obtaining module 41 is further configured to obtain the measurement value sent by the sensor.
Further, the first processing module 42 is specifically configured to:
according to the first measured value N 1 Said second measured value N 2 The first time length T 1 And the second duration T 2 The formula is adopted: p ═ K 1 *((T 1 +T 2 )*N big )/T big ，I＝K 2 *(T 1 +T 2 ) 2 /T big Calculating to obtain a proportional term P in the PID control parameter, an integral term I in the PID control parameter, and a differential term D in the PID control parameter; wherein, N big Is the first measured value N 1 And the second measured value N 2 Larger value of (1), T big Is the first duration T 1 And the second duration T 2 Larger value of, K 1 ，K 2 Is a constant related to the sampling period and is greater than 0.
Further, the receiving module 41 is further configured to receive a setting PID control parameter starting instruction, and obtain the measured value sent by the sensor according to the setting PID control parameter starting instruction.
The apparatus for acquiring PID control parameters provided in this embodiment is used to implement the technical solution in any of the foregoing method embodiments, and the implementation principle and technical effect are similar, which are not described herein again.
Fig. 6 is a schematic structural diagram of a PID controller according to the present invention. As shown in fig. 6, the PID controller 60 includes:
a processor 61, a memory 62, and a communication interface 63;
the memory 62 is used for storing executable instructions of the processor 61;
wherein the processor 61 is configured to execute the technical solution of the PID controller in any of the method embodiments described above via executing the executable instructions.
Alternatively, the memory 62 may be separate or integrated with the processor 61.
Optionally, when the memory 62 is a device independent from the processor 61, the PID controller 60 may further include:
and the bus is used for connecting the devices.
The embodiment of the present invention further provides a readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the technical solutions provided by any of the foregoing method embodiments.
An embodiment of the present invention further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the computer program is used to implement the technical solution provided by any of the foregoing method embodiments.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (13)
1. A method for acquiring PID control parameters is characterized by comprising the following steps:
in an automatic setting cycle of a PID controller, obtaining a first time duration, a first measured value, a second time duration and a second measured value, wherein the first time duration and the first measured value are obtained during the operation of a processing device controlled by the PID controller at 100% of rated power, the first time duration is a duration of an accumulated sampling period during the operation at 100% of rated power, the first measured value is a minimum measured value of measured values sent by a sensor during the operation at 100% of rated power, the second time duration and the second measured value are obtained during the operation of the processing device controlled by the PID controller at 0% of rated power, the second time duration is a duration of an accumulated sampling period during the operation at 0% of rated power, and the second measured value is a maximum measured value of measured values sent by a sensor during the operation at 0% of rated power, the sampling period is a period for the sensor to send a measured value, and the automatic setting period starts when the measured value is equal to a preset target measured value for the first time and ends when the measured value is equal to the target measured value for the third time;
and calculating to obtain a PID control parameter according to the first time length, the first measured value, the second time length and the second measured value.
2. The method of claim 1, wherein obtaining the first duration, the first measured value, the second duration, and the second measured value during an automatic tuning cycle of the PID controller comprises:
after the PID controller enters an automatic setting period, judging whether the target measured value is larger than the received measured value sent by the sensor;
if the target measured value is greater than the measured value, controlling the processing equipment to operate at 100% of rated power;
accumulating the accumulated time length of the sampling period to obtain the first time length;
determining the minimum value of the first measurement value in the last sampling period and the measurement value sent by the sensor in the current sampling period as the first measurement value in the current sampling period;
if the target measurement value is less than or equal to the measurement value, controlling the processing equipment to operate at 0% of rated power;
accumulating the accumulated time length of the sampling period to obtain the second time length;
determining the maximum value of the second measurement value in the last sampling period and the measurement value sent by the sensor in the current sampling period as the second measurement value in the current sampling period;
acquiring a measured value sent by the sensor;
and repeating the steps until the automatic setting period is finished.
3. The method of claim 2, wherein before the PID controller enters an auto-tuning cycle, the method further comprises:
judging whether the target measurement value is larger than the measurement value sent by the sensor;
if the target measured value is greater than the measured value, controlling the processing equipment to operate at 100% of rated power;
if the target measured value is less than the measured value, controlling the processing equipment to operate at 0% of rated power;
acquiring a measured value sent by the sensor;
and repeating the steps until the measured value is equal to the target measured value for the first time, and enabling the PID controller to enter an automatic setting period.
4. The method according to any one of claims 1 to 3, wherein said calculating a PID control parameter according to the first duration, the first measured value, the second duration and the second measured value comprises:
according to the first measured value N 1 Said second measured value N 2 The first time length T 1 And the second duration T 2 And the formula is adopted: p ═ K 1 *((T 1 +T 2 )*N big )/T big ，I＝K 2 *(T 1 +T 2 ) 2 /T big Calculating to obtain a proportional term P in the PID control parameter, an integral term I in the PID control parameter, and a differential term D in the PID control parameter; wherein N is big Is the first measured value N 1 And the second measured value N 2 Larger value of (1), T big Is the first duration T 1 And the second duration T 2 Larger value of, K 1 ，K 2 Is constant with respect to the sampling period and is greater than 0.
5. The method of claim 3, wherein prior to determining whether the target measurement value is greater than the measurement value sent by the sensor, the method further comprises:
and receiving a setting PID control parameter starting instruction, and acquiring the measured value sent by the sensor according to the setting PID control parameter starting instruction.
6. An apparatus for acquiring PID control parameters, comprising:
an obtaining module, configured to obtain, in an automatic setting cycle of a PID controller, a first time duration, a first measured value, a second time duration and a second measured value, where the first time duration and the first measured value are obtained during a process of operating a processing device controlled by the PID controller at 100% of a rated power, the first time duration is a duration of an accumulated sampling period during the process of operating at 100% of the rated power, the first measured value is a minimum measured value among measured values sent by a sensor during the process of operating at 100% of the rated power, the second time duration and the second measured value are obtained during the process of operating the processing device controlled by the PID controller at 0% of the rated power, the second time duration is a duration of an accumulated sampling period during the process of operating at 0% of the rated power, and the second measured value is a maximum measured value among measured values sent by a sensor during the process of operating at 0% of the rated power, the sampling period is a period for the sensor to send a measured value, and the automatic setting period starts when the measured value is equal to a preset target measured value for the first time and ends when the measured value is equal to the target measured value for the third time;
and the first processing module is used for calculating to obtain a PID control parameter according to the first time length, the first measured value, the second time length and the second measured value.
7. The apparatus of claim 6, further comprising:
the judging module is used for judging whether the target measured value is larger than the received measured value sent by the sensor or not after the PID controller enters an automatic setting period;
a second processing module for controlling the processing device to operate at 100% of rated power if the target measurement value is greater than the measurement value;
the first processing module is further configured to accumulate accumulated durations of the sampling periods to obtain the first duration;
the first processing module is further configured to determine a minimum value between a first measurement value in a previous sampling period and a measurement value sent by the sensor in a current sampling period as a first measurement value in the current sampling period;
the second processing module is further used for controlling the processing equipment to operate at 0% of rated power if the target measured value is less than or equal to the measured value;
the first processing module is further configured to accumulate accumulated durations of the sampling period to obtain the second duration;
the first processing module is further configured to determine a maximum value of a second measurement value in a previous sampling period and a measurement value sent by the sensor in a current sampling period as a second measurement value in the current sampling period;
the acquisition module is further used for acquiring the measurement value sent by the sensor.
8. The apparatus of claim 7, wherein the determining module is further configured to determine whether the target measurement value is greater than the measurement value sent by the sensor;
the second processing module is further used for controlling the processing equipment to operate at 100% rated power if the target measured value is greater than the measured value;
the second processing module is further configured to control the processing device to operate at 0% of rated power if the target measured value is less than the measured value;
the acquisition module is further used for acquiring the measured value sent by the sensor.
9. The apparatus according to any one of claims 6 to 8, wherein the first processing module is specifically configured to:
according to the first measured value N 1 Said second measured value N 2 The first time length T 1 And the second duration T 2 The formula is adopted: p ═ K 1 *((T 1 +T 2 )*N big )/T big ，I＝K 2 *(T 1 +T 2 ) 2 /T big Calculating to obtain a proportional term P in the PID control parameter, an integral term I in the PID control parameter and a differential term D in the PID control parameter; wherein N is big Is the first measured value N 1 And the second measured value N 2 Larger value of (1), T big Is the first duration T 1 And the second duration T 2 Larger value of, K 1 ，K 2 Is a constant related to the sampling period and is greater than 0.
10. The apparatus of claim 8, wherein the obtaining module is further configured to receive a tuning PID control parameter start instruction, and obtain the measurement value sent by the sensor according to the tuning PID control parameter start instruction.
11. A PID controller, comprising:
a processor, a memory, and a communication interface;
the memory is used for storing executable instructions of the processor;
wherein the processor is configured to execute the method of acquiring the PID control parameter according to any one of claims 1 to 5 via execution of the executable instructions.
12. A readable storage medium on which a computer program is stored, the computer program, when being executed by a processor, implementing the method for acquiring PID control parameters according to any one of claims 1 to 5.
13. A computer program product comprising a computer program which, when executed by a processor, is configured to implement the method for obtaining PID control parameters according to any one of claims 1 to 5.
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Denomination of invention: Method, device, equipment, and medium for obtaining PID control parameters Effective date of registration: 20230613 Granted publication date: 20220927 Pledgee: Shanghai Rural Commercial Bank Co.,Ltd. Qingpu sub branch Pledgor: CHINA AND KOREA DOOCH PUMP MANUFACTURING (SHANGHAI) CO.,LTD. Registration number: Y2023310000246 |