CN114815588A - PICS compensator and PID controller design method and device - Google Patents
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Abstract
The invention belongs to the technical field of controllers, and discloses a PICS compensator and PID controller design method and device, which comprises the following steps: determining a VRFT-based reference model according to the dynamic characteristics of the PICS compensator, the PID controller and the oscillation attenuation object; obtaining an optimization problem expression equation capable of solving the target PICS compensator and the PID controller based on the target function of the VRFT method and the reference model, wherein the optimization problem expression equation contains three adjustable parameters; testing the attenuation oscillation object to obtain input and output data of the test; substituting input and output data into the optimization problem expression equation and solving the optimization problem expression equation by changing the adjustable parameters to obtain an optimal adjustable parameter array; and calculating to obtain parameters of the PICS compensator and the PID controller through the optimal adjustable parameter array. The model identification of the oscillation object is not required to be attenuated, and the PICS compensator and the PID controller with stable set value tracking effect can be designed only through data acquisition and solving calculation.
Description
Technical Field
The application relates to the technical field of controllers, in particular to a PICS compensator and PID controller design method and device.
Background
The oscillation attenuation object is an important object of process control, and a large number of circuit systems have inherent oscillation attenuation response. However, the oscillation damping characteristic greatly increases the difficulty of controlling the oscillation damping object. Therefore, the dynamic characteristic research of the oscillation attenuation object is carried out, the oscillation attenuation characteristic is eliminated in a targeted manner, and the controller with excellent control performance is designed, so that the dynamic characteristic research device has great research value, can be applied to the control of the current and the voltage of a circuit system with the oscillation attenuation characteristic, and the control of the controlled objects such as the temperature, the pressure, the flow, the liquid level and the like of the chemical process with the characteristics.
In recent years, some experts propose a model-driven method for an oscillation-damping object, and design a PID controller of the object by using methods such as internal model control or direct synthesis according to specific parameters of a transfer function of the oscillation-damping object. And other experts propose to eliminate the characteristic through a compensator aiming at the damping oscillation characteristic of the object, and apply a general PID controller design method on the basis. On the other hand, data-driven methods such as VRFT have been widely studied, but have not yet been expanded to be applied to the oscillation damping object.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art:
the existing model driving technology requires model identification on the oscillation attenuation object, and the direct PID controller design usually cannot eliminate the oscillation attenuation characteristic of the object, so that the control effect is not ideal. Model-driven compensator and controller designs rely on high-precision model identification, and inaccurate models seriously impair control performance. On the other hand, the conventional data driving methods such as VRFT do not design a controller with good control effect for the oscillation attenuation object.
Disclosure of Invention
The embodiment of the application aims to provide a PICS compensator and a PID controller design method and device, so as to solve the technical problems that in the related art, accurate modeling of an attenuation oscillation object is difficult, the control effect of a controller is poor and the like.
According to a first aspect of an embodiment of the present application, a PICS compensator and PID controller design method is provided, including:
determining a VRFT-based reference model according to the dynamic characteristics of the PICS compensator, the PID controller and the oscillation attenuation object;
obtaining an optimization problem expression equation capable of solving a target PICS compensator and a PID controller based on a target function of a VRFT method and the reference model, wherein the optimization problem expression equation contains three adjustable parameters;
testing the attenuation oscillation object to obtain input and output data of the test;
substituting the tested input and output data into the expression equation of the optimization problem and solving the expression equation of the optimization problem by changing the adjustable parameters to obtain an optimal adjustable parameter array;
and calculating to obtain parameters of the PICS compensator and the PID controller through the optimal adjustable parameter array.
Optionally, the reference model based on the VRFT is designed and obtained according to the dynamic characteristics of the PICS compensator, the PID controller, and the oscillation damping object, and includes:
determining an ideal control loop transfer function according to the dynamic characteristics of the PICS compensator, the PID controller and the oscillation attenuation object;
and obtaining a VRFT-based reference model based on the structural relation between the VRFT reference model and the simplified ideal loop transfer function.
The simplified ideal loop transfer function
Comprises the following steps:
the VRFT-based reference model
Comprises the following steps:
optionally, the expression equation of the optimization problem of the solvable target PICS compensator and the PID controller is as follows:
in the formula (I), the compound is shown in the specification,
the value of the objective function is,
the three adjustable parameters in the overall objective function, the time lag of the ideal loop transfer function, the gain of the ideal compensator and the time lag of the ideal compensator,
the PID control parameters are designed for the target,
，
is the frequency domain input of the oscillation attenuating object,
ideal PICS compensator and PIDAttenuating the frequency domain input of the oscillation object under the control of the controller;
in the formula (I), the compound is shown in the specification,
for corresponding to the damped oscillation object
Is output in the frequency domain of (a),
in order to control the compensator in an ideal manner,
for the gain of an ideal compensator
Is the time lag of an ideal compensator.
Optionally, the testing the oscillation-attenuating object to obtain input and output data of the test includes:
if closed-loop test is carried out on the oscillation attenuation object, pulse excitation signals are given to the whole control system unit to obtain input and output data of the oscillation attenuation object in the closed-loop test;
and if the attenuated oscillation object is subjected to the open loop test, giving a unit pulse excitation signal to the attenuated oscillation object to obtain input and output data of the attenuated oscillation object in the open loop test.
Optionally, substituting the tested input and output data into the optimization problem expression equation and solving the optimization problem expression equation by changing the adjustable parameters to obtain an optimal adjustable parameter array, including:
giving the range of each adjustable parameter, substituting the tested input and output data into the expression equation of the optimization problem, and solving the corresponding optimal value under each group of adjustable parameters
And its objective function value;
obtaining an optimal adjustable parameter array by comparing the objective function values, and obtaining the optimal adjustable parameter array corresponding to the optimal adjustable parameter array
I.e. the optimal PICS compensator, optimal
I.e. the optimal PID controller parameters.
According to a second aspect of the embodiments of the present application, there is provided a PICS compensator and PID controller designing apparatus, including:
the design module is used for determining a VRFT-based reference model according to the dynamic characteristics of the PICS compensator, the PID controller and the oscillation attenuation object;
the problem expression module is used for obtaining an optimization problem expression equation capable of solving the target PICS compensator and the PID controller based on the target function of the VRFT method and the reference model, and the optimization problem expression equation contains three adjustable parameters;
the data acquisition module is used for testing the attenuation oscillation object to obtain input and output data of the test;
the solving module is used for substituting the tested input and output data into the optimization problem expression equation and solving the optimization problem expression equation by changing the adjustable parameters to obtain an optimal adjustable parameter array;
and the calculation module is used for calculating to obtain parameters of the PICS compensator and the PID controller through the optimal adjustable parameter array.
According to a third aspect of embodiments of the present application, there is provided an electronic apparatus, including:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a method as described in the first aspect.
According to a third aspect of embodiments herein, there is provided a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the steps of the method according to the first aspect.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
according to the embodiment, the reference model of the oscillation damping object based on the VRFT is determined by researching the dynamic characteristics of the PICS compensator, the PID controller and the oscillation damping object, the VRFT method is extended to the design of the PICS compensator and the PID controller of the oscillation damping object, the model identification of the oscillation damping object is avoided by the VRFT method, and the PICS compensator is introduced to improve the control performance; based on a target function of a VRFT method and the reference model, obtaining an optimization problem expression equation containing three adjustable parameters, and accordingly obtaining a design method of a PICS compensator and a PID controller; the method supports the open-loop and closed-loop tests of the oscillation attenuation object, and provides a method for obtaining the input and output data of the open-loop/closed-loop tests respectively; and substituting the tested input and output data into the expression equation of the optimization problem and solving an optimal adjustable parameter array, and calculating parameters of the ideal PICS compensator and the PID controller according to the optimal adjustable parameter array, thereby achieving the technical effect of completing the design of the ideal PICS compensator and the PID controller without identifying an attenuation oscillation object model.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a flow chart illustrating a PICS compensator and PID controller design method according to an exemplary embodiment.
Fig. 2 is a flowchart illustrating S11 according to an exemplary embodiment.
Fig. 3 is a flowchart illustrating S13 according to an exemplary embodiment.
Fig. 4 is a closed loop data diagram of S141 shown according to an exemplary embodiment.
Fig. 5 is an open-loop data diagram of S142 shown in accordance with an example embodiment.
Fig. 6 is a flowchart illustrating S14 according to an exemplary embodiment.
FIG. 7 is a graph illustrating an embodiment compensation effect verification comparison, according to an example embodiment.
FIG. 8 is a control effect verification comparison diagram according to an illustrative embodiment.
Fig. 9 is a block diagram illustrating a PICS compensator and PID controller design apparatus in accordance with an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
Fig. 1 is a flowchart illustrating a PICS compensator and PID controller design method according to an exemplary embodiment, as shown in fig. 1, which may include the following steps:
s11: determining a VRFT-based reference model according to the dynamic characteristics of the PICS compensator, the PID controller and the oscillation attenuation object;
s12: obtaining an optimization problem expression equation capable of solving a target PICS compensator and a PID controller based on a target function of a VRFT method and the reference model, wherein the optimization problem expression equation contains three adjustable parameters;
s13: testing the attenuation oscillation object to obtain input and output data of the test;
s14: substituting the tested input and output data into the expression equation of the optimization problem and solving the expression equation of the optimization problem by changing each adjustable parameter to obtain an optimal adjustable parameter array;
s15: and calculating to obtain parameters of the PICS compensator and the PID controller through the optimal adjustable parameter array.
According to the embodiments, the dynamic characteristics of the PICS compensator, the PID controller and the oscillation attenuation object are researched, the VRFT-based reference model of the oscillation attenuation object is determined, and the VRFT method is extended to the design of the PICS compensator and the PID controller of the oscillation attenuation object; based on a target function of a VRFT method and the reference model, an optimization problem expression equation containing three adjustable parameters is obtained, and accordingly, the design methods of a PICS compensator and a PID controller are obtained and simplified; the method supports the open-loop and closed-loop tests of the oscillation attenuation object, and provides a method for obtaining the input and output data of the open-loop/closed-loop tests respectively; and substituting the tested input and output data into the optimization problem expression equation and solving an optimal adjustable parameter array, and calculating parameters of the ideal PICS compensator and the PID controller according to the optimal adjustable parameter array, thereby achieving the technical effect of completing the design of the ideal PICS compensator and the PID controller without identifying an attenuation oscillation object model.
In a specific implementation of S11: obtaining a VRFT-based reference model according to the dynamic characteristics of the PICS compensator, the PID controller and the oscillation attenuation object; referring to fig. 2, this step may include the following sub-steps:
s111: obtaining an ideal control loop transfer function according to the dynamic characteristics of the PICS compensator, the PID controller and the oscillation attenuation object;
in particular, the ideal control loop transfer function
The expression is as follows:
in the formula (I), the compound is shown in the specification,
is an ideal PID controller of an ideal control loop,
is an ideal PICS compensator for an ideal control loop,
to attenuate oscillating objects.
The method is based on the general transfer function of the attenuation oscillation object and the transfer functions of the PICS compensator and the PID controller, and the design ensures that the series fusion of the PID controller, the PICS compensator and the attenuation oscillation object is fully considered in the whole ideal control loop transfer function, so that the ideal control loop transfer function has strong universality and is suitable for both low-order and high-order attenuation oscillation objects.
S112: simplifying the transfer function of the ideal control loop by taking the minimum integral absolute error IAE as a target function and applying a genetic algorithm to obtain the adjustable parameters
Simplified ideal loop transfer function of (1);
in particular, the ideal loop transfer function
Comprises the following steps:
through simplification by taking IAE as an objective function, the ideal loop transfer function is simplified into a form only containing one adjustable parameter, so that the calculation amount of the whole method is greatly reduced, and the use is more convenient. On the other hand, the IAE is a main evaluation means for measuring the tracking control of the set value, and the simplification by taking the IAE as an objective function can ensure that the designed parameters have good control effect.
S113: and obtaining a VRFT-based reference model based on the structural relation between the VRFT reference model and the simplified ideal loop transfer function.
In particular, the VRFT-based reference model
Comprises the following steps:
thus, the input-output relation of the whole control system can be directly used by the reference model
And (4) showing.
In a specific implementation of S12: obtaining an optimization problem expression equation capable of solving a target PICS compensator and a PID controller based on a target function of a VRFT method and the reference model, wherein the optimization problem expression equation contains three adjustable parameters;
in particular, a reference model is utilized
The output of the ideal PICS compensator and the PID controller can be obtained as follows:
in the formula (I), the compound is shown in the specification,
for the frequency domain input of the ideal damped oscillating object calculated by the reference model,
for correspondingly attenuating the oscillating object input
Is output in the frequency domain of (a),
in order to control the compensator in an ideal manner,
for the gain of an ideal compensator
Time lag of an ideal compensator when
And
the closer the distance is to each other,
the closer the PICS compensation parameter and the PID control parameter are to the ideal design value. Thus, the design issues of the PICS compensator and the PID controller are translated into
And
the minimization of the difference, a complex design problem, can be translated into an easily understood mathematical expression.
The expression equation of the optimization problem of the solvable target PICS compensator and the PID controller is as follows:
in the formula (I), the compound is shown in the specification,
the value of the objective function is,
three adjustable parameters in the overall objective function, the time lag of the ideal loop transfer function, the gain of the ideal compensator and the time lag of the ideal compensator,
the PID control parameters are designed for the target,
，
is the frequency domain input of the oscillation attenuating object,
the frequency domain input of an oscillation attenuation object under the control of an ideal PICS compensator and a PID controller is realized;
in the formula (I), the compound is shown in the specification,
for corresponding to the damped oscillation object
Is output in the frequency domain of (a),
in order to control the compensator in an ideal manner,
for the gain of an ideal compensator
Is the time lag of an ideal compensator.
In a specific implementation of S13: testing the attenuation oscillation object to obtain input and output data of the test; referring to fig. 3, this step may include the steps of:
s131: if closed-loop test is carried out on the oscillation attenuation object, pulse excitation signals are given to the whole control system unit to obtain input and output data of the oscillation attenuation object in the closed-loop test;
in particular, as in a proportional controller
Controlled damping of oscillating objects
Giving the closed loop system a pulse excitation signal for a certain time and giving a sufficient test time until the output data of the object is stable, and obtaining the input and output data of the object attenuating the oscillation in the test, as shown in fig. 4, wherein u1 is the object attenuating the oscillation after giving the pulse excitation signal to the closed loop system
Y1 is the object of damping oscillations in the closed-loop test
The corresponding output signal. For a ringing subject that is itself under closed-loop control, closed-loop testing is typically easier on the subject, and the output data of the closed-loop control can typically converge faster, i.e., the test time is shorter.
S132: and if the attenuated oscillation object is subjected to the open loop test, giving a unit time pulse excitation signal to the attenuated oscillation object to obtain input and output data of the attenuated oscillation object in the open loop test.
Specifically, the method can be used for carrying out an open-loop test on the oscillation-damping object, such as the oscillation-damping object
Giving a unit time unit pulse excitation signal to the oscillation-attenuating object to obtain input and output data of the oscillation-attenuating object in the open loop test, as shown in fig. 5, where u2 is given to the oscillation-attenuating object
Y2 is the object of damping oscillations in the open loop test
The corresponding output signal. By inputting the excitation signal, the oscillation attenuation object can obtain a convergent output, and the convergence is faster, namely the test time is shorter.
In a specific implementation of S14: substituting the tested input and output data into the expression equation of the optimization problem and solving the expression equation of the optimization problem by changing the adjustable parameters to obtain an optimal adjustable parameter array; referring to fig. 6, this step may include the steps of:
s141: giving the range of each adjustable parameter, substituting the input and output data of the test into the expression equation of the optimization problem, and solving the corresponding optimal value under each group of adjustable parameters
And its objective function value;
specifically, the test output data is used
Substituting into the formula of S12 to obtain the corresponding
The above-mentioned
And the test input data
Substituting into the optimization problem expression equation, and setting the range of adjustable parameters, such as for the damping oscillation object
Ranges for three adjustable parameters are given separately
Calculating the corresponding optimal value under each group of adjustable parameters
And its objective function value. Therefore, the optimal objective function value obtained by comparison and the corresponding optimal adjustable parameter array can be obtained
。
S142: obtaining an optimal adjustable parameter array by comparing the objective function values, and obtaining the optimal adjustable parameter array corresponding to the optimal adjustable parameter array
I.e. the optimal PICS compensator, optimal
The optimal PID controller parameter is obtained;
specifically, an optimal adjustable parameter array is obtained by comparing the objective function values,
，
and
the gain and time lag of the PICS compensator respectively designed for the method are under the optimal adjustable parameter array
PID controller parameters are designed corresponding to the method.
After the optimal parameter array is determined, the corresponding parameter array can be accurately obtained
Corresponding to the minimum objective function
Thus, the PID controller designed by the method is
。
In a specific implementation of S15: calculating to obtain parameters of the PICS compensator and the PID controller through the optimal adjustable parameter array;
specifically, parameters of the PICS compensator and the PID controller are obtained through calculation through the optimal adjustable parameter array, the calculated PICS compensator is connected with the oscillation attenuation object in series to obtain a series system, and the open-loop response of the series system basically has no oscillation attenuation compared with the open-loop response of the oscillation attenuation object under the action of the PICS compensator. And applying the calculated PID controller to the series system to construct a closed-loop negative feedback control system. Further, the PICS compensator obtained by calculation
And said object attenuating oscillations
Connected in series to obtain a series system
The open loop response of the series system is implemented in the PICS compensatorThe system output is shown as y3 in fig. 7, where the system output is substantially free of attenuating the oscillation as compared to the open loop response of the oscillating object. Applying a calculated PID controller to the series system
And constructing a closed-loop negative feedback control system. The closed loop negative feedback control system was given unit step excitation and selected as a comparison between Vrandic and Oliveira model driven PICS compensator and PID controller Design methods (from Vran č i ć, D., and P. Moura Oliveira. "Design of feedback control for an underlying system." IFAC procedures Volumes 45.3 (2012): 98-103.) and Wang et al model driven PID controller Design methods (from Wang, Qing-Guo, et al. "PID tuning for improved performance." IEEE Transactions on control systems technology 7.4 (1999): Bu.465.) as shown in FIG. 8. It can be seen from the figure that the method can give better control effect than the two methods and the design method of introducing the PICS compensator has better control effect than the direct PID controller design method.
Corresponding to the embodiments of the design method of the PICS compensator and the PID controller, the application also provides embodiments of a PICS compensator and a PID controller design device.
Fig. 9 is a block diagram illustrating a PICS compensator and PID controller design apparatus according to an exemplary embodiment. Referring to fig. 9, the apparatus includes a design module 21, a problem expression module 22, a data acquisition module 23, a solving module 24, and a calculation module 25.
The design module 21 determines a VRFT-based reference model according to the dynamic characteristics of the PICS compensator, the PID controller and the oscillation attenuation object;
the problem expression module 22 is used for obtaining an optimization problem expression equation capable of solving the target PICS compensator and the PID controller based on the target function of the VRFT method and the reference model, and the optimization problem expression equation contains three adjustable parameters;
the data acquisition module 23 is configured to test the attenuated oscillation object to obtain input and output data of the test;
a solving module 24, configured to substitute the input and output data of the test into the optimization problem expression equation and solve the optimization problem expression equation by changing the adjustable parameters, so as to obtain an optimal adjustable parameter array;
and the calculation module 25 is used for calculating parameters of the PICS compensator and the PID controller according to the optimal adjustable parameter array.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and 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 place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the application. One of ordinary skill in the art can understand and implement it without inventive effort.
Correspondingly, the present application also provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; when executed by the one or more processors, the one or more programs cause the one or more processors to implement the PICS compensator and PID controller design methods as described above.
Accordingly, the present application also provides a computer readable storage medium having computer instructions stored thereon, wherein the instructions, when executed by a processor, implement the PICS compensator and PID controller design method as described above.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A design method for a PICS compensator and a PID controller is characterized by comprising the following steps:
determining a VRFT-based reference model according to the dynamic characteristics of the PICS compensator, the PID controller and the oscillation attenuation object;
obtaining an optimization problem expression equation capable of solving a target PICS compensator and a PID controller based on a target function of a VRFT method and the reference model, wherein the optimization problem expression equation contains three adjustable parameters;
testing the attenuation oscillation object to obtain input and output data of the test;
substituting the tested input and output data into the expression equation of the optimization problem and solving the expression equation of the optimization problem by changing the adjustable parameters to obtain an optimal adjustable parameter array;
and calculating to obtain parameters of the PICS compensator and the PID controller through the optimal adjustable parameter array.
2. The method of claim 1, wherein determining a VRFT based reference model based on dynamics of the PICS compensator, the PID controller, and the concussion-attenuating object comprises:
analyzing an ideal control loop transfer function according to the dynamic characteristics of the PICS compensator, the PID controller and the oscillation attenuation object;
and determining the reference model based on the VRFT based on the architectural relation between the reference model in the VRFT and the simplified ideal loop transfer function.
3. The method of claim 2, wherein the ideal control loop transfer function
Comprises the following steps:
in the formula (I), the compound is shown in the specification,
is the time lag of the ideal loop transfer function and is also an adjustable parameter in the whole VRFT model;
the VRFT-based reference model
Comprises the following steps:
4. the method of claim 3, wherein the solvable optimization problem expression equation for the target PICS compensator and the PID controller is as follows:
in the formula (I), the compound is shown in the specification,
the value of the objective function is,
the three adjustable parameters in the overall objective function, the time lag of the ideal loop transfer function, the gain of the ideal compensator and the time lag of the ideal compensator,
the PID control parameters are designed for the target,
，
is the frequency domain input of the oscillation attenuating object,
the frequency domain input of an oscillation attenuation object under the control of an ideal PICS compensator and a PID controller is realized;
in the formula (I), the compound is shown in the specification,
for corresponding to the damped oscillation object
Is output in the frequency domain of (a),
in order to control the compensator in an ideal manner,
for the gain of an ideal compensator
Is the time lag of an ideal compensator.
5. The method of claim 1, wherein testing the oscillation attenuating object to obtain input and output data comprises:
if closed-loop test is carried out on the oscillation attenuation object, pulse excitation signals are given to the whole control system unit to obtain input and output data of the oscillation attenuation object in the closed-loop test;
and if the attenuated oscillation object is subjected to the open loop test, giving a unit time unit pulse excitation signal to the attenuated oscillation object to obtain input and output data of the attenuated oscillation object in the open loop test.
6. The method of claim 4, wherein substituting the input and output data of the test into the optimization problem expression equation and solving the optimization problem expression equation by changing the adjustable parameters to obtain optimal adjustable parameters comprises:
giving the range of each adjustable parameter, substituting the input and output data of the test into the expression equation of the optimization problem, and solving the corresponding optimal value under each group of adjustable parameters
And its objective function value;
obtaining an optimal adjustable parameter array by comparing the objective function values, wherein the optimal adjustable parameter array corresponds to
I.e. the optimal PICS compensator, optimal
I.e. the optimal PID controller parameters.
7. A PICS compensator and PID controller design device, its characterized in that includes:
the design module is used for determining a VRFT-based reference model according to the dynamic characteristics of the PICS compensator, the PID controller and the oscillation attenuation object;
the problem expression module is used for obtaining an optimization problem expression equation capable of solving the target PICS compensator and the PID controller based on the target function of the VRFT method and the reference model, and the optimization problem expression equation contains three adjustable parameters;
the data acquisition module is used for testing the attenuation oscillation object to obtain input and output data of the test;
the solving module is used for substituting the tested input and output data into the optimization problem expression equation and solving the optimization problem expression equation by changing the adjustable parameters to obtain an optimal adjustable parameter array;
and the calculation module is used for calculating to obtain parameters of the PICS compensator and the PID controller through the optimal adjustable parameter array.
8. The apparatus of claim 7, wherein determining the VRFT-based reference model based on dynamics of the PICS compensator and the PID controller and the concussion-attenuating object comprises:
determining an ideal control loop transfer function according to the dynamic characteristics of the PICS compensator, the PID controller and the oscillation attenuation object;
and obtaining a VRFT-based reference model based on the structural relation between the VRFT reference model and the simplified ideal loop transfer function.
9. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-6.
10. A computer-readable storage medium having stored thereon computer instructions, which, when executed by a processor, carry out the steps of the method according to any one of claims 1-6.
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