CN116256967A - PID (proportion integration differentiation) adjusting system and method - Google Patents
PID (proportion integration differentiation) adjusting system and method Download PDFInfo
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Abstract
The invention provides a PID regulating system and a PID regulating method. The system comprises a first calculation module, wherein the output end of the first calculation module is respectively connected with the input ends of a proportion adjustment module, an integral adjustment module and a differential adjustment module, the output end of the first calculation module is also connected with the input end of a process adjustment module, the output ends of the proportion adjustment module, the integral adjustment module and the differential adjustment module are respectively connected with the input end of a second calculation module, the output end of the second calculation module and the output end of the process adjustment module are respectively connected with the input end of a third calculation module, the output end of the third calculation module is connected with the input end of an actuator, the output end of the actuator is respectively connected with the input ends of the first calculation module and a control target, and the output end of the control target is connected with the input end of the process adjustment module. The method readjusts the parameters of the actuator by adjusting the proportional adjustment parameters, the integral adjustment parameters, the differential adjustment parameters and the process adjustment parameters, and finally reaches the parameter values set by the actuator to obtain a stable dynamic balance system.
Description
Technical Field
The invention relates to the technical field of PID regulation, in particular to a PID regulation system and a PID regulation method.
Background
In process control, a PID controller that controls in terms of the proportion (P), integral (I) and derivative (D) of the deviation is one of the most widely used automatic controllers. The method has the advantages of simple principle, easy realization, wide application range, mutually independent control parameters, simple parameter selection and the like. A schematic diagram of the control principle of a general PID control system is shown in fig. 1, and the time domain function is as follows:
wherein U (t) is the output quantity of the PID regulating system, e (t) is the input quantity of the PID regulating system, K p 、T i And T d P, I and D, respectively. K (K) p The current deviation e (t) of the reaction system has large coefficient, can speed up adjustment and reduce errors, but the overlarge proportion reduces the stability of the system and even causes the instability of the system. T (T) i The accumulated deviation of the system is reflected, so that the system eliminates steady-state errors and improves no-difference degree, and integral adjustment is performed until no error exists because of the errors. T (T) d The change rate e (t) -e (t-1) reflecting the system deviation signal is the representation of the system approaching target speed, and the value coefficient is the control function of controlling the system approaching target speed to generate the advance. The general PID regulating system controls the response time through the P parameter, the steady-state tolerance bandwidth through the I parameter and the dynamic response through the D parameter, and the three parameters jointly control the convergence of the output curve. The general PID regulating system has slow output response, easy overshoot and steady state error, and how to provide a PID regulating method with fast reaction speed, short stabilizing period and small dynamic load fluctuation is a problem to be solved.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a PID regulating system, which comprises a first computing module, wherein the output end of the first computing module is respectively connected with the input ends of a proportional regulating module, an integral regulating module and a differential regulating module, the output end of the first computing module is also connected with the input end of a process regulating module, the output ends of the proportional regulating module, the integral regulating module and the differential regulating module are respectively connected with the input end of a second computing module, the output ends of the second computing module and the process regulating module are respectively connected with the input end of a third computing module, the output end of the third computing module is connected with the input end of an actuator, the output end of the actuator is respectively connected with the input ends of the first computing module and a control target, and the output end of the control target is connected with the input end of the process regulating module.
As a further improvement of the invention, the first calculation module is used for calculating the deviation value e (t) of the preset set value r (t) and the actual output value y (t) of the actuator, the proportion adjustment module, the integral adjustment module, the differential adjustment module and the process adjustment module are respectively used for calculating the sum of the proportion adjustment parameter P [ e (t) ], the integral adjustment parameter I [ e (t) ], the differential adjustment parameter D [ e (t) ] and the process adjustment parameter D [ z (t) ], the second calculation module is used for calculating the sum of the proportion adjustment parameter P [ e (t) ], the integral adjustment parameter I [ e (t) ], the differential adjustment parameter D [ e (t) ], the process adjustment parameter D [ z (t) ] and the parameter value U (t-1) set by the actuator of the previous time period, wherein t is the time period value.
As a further improvement of the invention, the actuator is a temperature controller, and the control target is a temperature control target.
The invention also provides a PID regulating method, which comprises the following steps:
step one, obtaining a preset set value r (t) and an actual output value y (t) of an actuator, and calculating a deviation value e (t) of r (t) and y (t), wherein t is a time period value;
step two, adjusting the constant K through proportion p Regulating the response speed of the output parameter U (t) by K p To adjust the quick response capability to obtain the proportional adjustment parameter P [ e (t) ]]Wherein e (t) is the current deviation value and t is the time period value;
step three, adjusting the constant K through integration i Adjusting the accumulated deviation to obtain an integral adjustment parameter I [ e (t) ]]；
Step four, adjusting the constant K through differentiation d Adjusting the rate of change of the deviation signal to obtain a differential adjustment parameter D [ e (t)]；
Step five, adjusting a constant K through a process dz Regulating the relation between the actual output value z (t) of the control target and the deviation value e (t) to obtain a process regulating parameter D [ z (t)]；
And step six, readjusting the parameters of the actuator by the adjusted proportional adjustment parameters, integral adjustment parameters, differential adjustment parameters and process adjustment parameters, and finally obtaining a stable dynamic balance system by reaching the parameter values set by the actuator.
As a further improvement of the invention, in the second step, the parameters are adjusted proportionally
As a further improvement of the invention, in step three, the integral adjustment parameter
As a further improvement of the invention, in step four, the differential adjustment parameter
Wherein C1 is a debug parameter.
As a further improvement of the invention, in step five, the process control parameters
Wherein C1 is a debug parameter.
As a further improvement of the present invention, in the sixth step, the final actuator set parameter value U (t) =u (t-1) +dz (t) ]+de (t) ]+ie (t) ]+p e (t) ], where U (t-1) is the actuator set parameter value of the previous time period.
As a further improvement of the invention, the executor in the PID regulation method is a temperature controller, and the control target is a temperature control target.
Compared with the prior art, the PID regulating system and the PID regulating method have the advantages of high reaction speed, short stability period and small dynamic load fluctuation.
Drawings
FIG. 1 is a schematic diagram of a control principle of a general PID regulator system;
FIG. 2 is a schematic diagram illustrating a control principle of a PID adjustment method according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a control principle of a temperature control device applying a PID adjustment method according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention is described in further detail below with reference to the attached drawing figures:
the invention provides a PID (proportion integration differentiation) regulating system which comprises a first computing module, wherein the output end of the first computing module is respectively connected with the input ends of a proportional regulating module, an integral regulating module and a differential regulating module, the output end of the first computing module is also connected with the input end of a process regulating module, the output ends of the proportional regulating module, the integral regulating module and the differential regulating module are respectively connected with the input end of a second computing module, the output end of the second computing module and the output end of the process regulating module are respectively connected with the input end of a third computing module, the output end of the third computing module is connected with the input end of an actuator, the output end of the actuator is respectively connected with the input ends of the first computing module and a control target, and the output end of the control target is connected with the input end of the process regulating module. In the PID regulating system, a first calculating module is used for calculating a deviation value e (t) of a preset set value r (t) and an actual output value y (t) of an actuator, and a proportion regulating module, an integral regulating module, a differential regulating module and a process regulating module are respectively used for calculating a sum of a proportion regulating parameter P [ e (t) ], an integral regulating parameter I [ e (t) ], a differential regulating parameter D [ e (t) ] and a process regulating parameter D [ z (t) ], a second calculating module is used for calculating the sum of the proportion regulating parameter P [ e (t) ], the integral regulating parameter I [ e (t) ], the differential regulating parameter D [ e (t) ], the process regulating parameter D [ z (t) ] and a parameter value U (t-1) set by the actuator of a previous time period, wherein t is a time period value.
The invention provides a PID regulating method, which comprises the following steps:
step one, obtaining a preset set value r (t) and an actual output value y (t) of an actuator, and calculating a deviation value e (t) of r (t) and y (t), wherein t is a time period value;
step two, adjusting the constant K through proportion p Regulating the response speed of the output parameter U (t) by K p To adjust the quick response capability to obtain the proportional adjustment parameter P [ e (t) ]]Proportional adjustment parameter
Wherein e (t) is the current deviation value, t is the time period value;
step three, adjusting the constant K through integration i Adjusting the accumulated deviation to obtain an integral adjustment parameter I [ e (t) ]]Integral adjustment parameter
Step four, adjusting the constant K through differentiation d Adjusting the rate of change of the deviation signal to obtain a differential adjustment parameter D [ e (t)]Differential adjustment parameter
Wherein C1 is a debug parameter;
step five, regulating the normal state through the processNumber K dz Regulating the relation between the actual output value z (t) of the control target and the deviation value e (t) to obtain a process regulating parameter D [ z (t)]Process control parameters
Wherein C1 is a debug parameter;
and step six, readjusting the adjusted proportional adjustment parameters, integral adjustment parameters, differential adjustment parameters and process adjustment parameters to finally reach the parameter values set by the actuator, wherein the parameter values set by the actuator are U (t) =U (t-1) +Dz (t) ]+De (t) ]+ie+Pe (t), and a stable dynamic balance system is obtained.
Control principle of PID regulation method:
as shown in fig. 2, the first acquisition module obtains a preset set value r (t), the second acquisition module obtains an actual output value y (t) of the actuator, the third acquisition module obtains an actual output value z (t) of the control target, z (t) obtains a process adjustment parameter D [ z (t) ] through the process adjustment module, the first calculation module obtains a deviation value e (t) of r (t) and y (t), e (t) obtains a proportional adjustment parameter P [ e (t) ] through the proportional adjustment module, e (t) obtains an integral adjustment parameter I [ e (t) ] through the integral adjustment module, e (t) obtains a differential adjustment parameter D [ e (t) ] through the differential adjustment module, P [ e (t) ], ie (t) ] and D [ e (t) ] obtain a sum D [ e (t) ] +ie (t) ] +p [ e (t) ] of the three through the second calculation module, D [ e (t) ] +p [ e (t) ] and then obtains a dynamic calculation parameter in a set period of the actuator and the actuator through the third calculation module and the adjustment parameter D [ z (t) ] +p [ e (t) ], and the dynamic operation parameter is obtained in the set period of the actuator and the actuator.
Embodiment one, application of PID regulating method in temperature control device
As shown in fig. 3, the first acquisition module obtains a preset temperature value r ' (t), the second acquisition module obtains an actual output temperature value y ' (t) of the temperature controller, the third acquisition module obtains an actual output temperature value z ' (t) of the temperature control target, z ' (t) obtains a process adjustment parameter D [ z ' (t) ] through the process adjustment module, the first calculation module obtains a deviation temperature value e ' (t) of r ' (t) and y ' (t), e ' (t) obtains a proportional adjustment parameter P [ e ' (t) ] through the proportion adjustment module, e ' (t) obtains an integral adjustment parameter ie ' (t) through the integral adjustment module, e ' (t) obtains a differential adjustment parameter D [ e ' (t) ] through the differential adjustment module, P [ e ' (t) ], ie ' (t) ] and D [ e t) ] obtain a sum D [ e ' (t) ]+ie ' (t) ] of the three through the second calculation module, and the third calculation module and the temperature controller sets a value of the temperature controller and the temperature controller at a time period of the temperature controller at the time of one set up t ' (U), u' (t) is input into the temperature controller to obtain a stable dynamic balance system.
Conclusion:
the PID regulating system and the PID regulating method have the advantages of high reaction speed, short stability period and small dynamic load fluctuation.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The PID regulating system comprises a first calculating module, wherein the output end of the first calculating module is respectively connected with the input ends of a proportional regulating module, an integral regulating module and a differential regulating module, the PID regulating system is characterized in that the output end of the first calculating module is also connected with the input end of a process regulating module, the output ends of the proportional regulating module, the integral regulating module and the differential regulating module are respectively connected with the input end of a second calculating module, the output ends of the second calculating module and the process regulating module are respectively connected with the input end of a third calculating module, the output end of the third calculating module is connected with the input end of an actuator, the output end of the actuator is respectively connected with the input ends of the first calculating module and a control target, and the output end of the control target is connected with the input end of the process regulating module.
2. The PID control system according to claim 1, wherein the first calculation module is configured to calculate a sum of a preset set value r (t) and an actual output value y (t) of the actuator, and the proportional adjustment module, the integral adjustment module, the differential adjustment module, and the process adjustment module are configured to calculate a sum of a proportional adjustment parameter P [ e (t) ], an integral adjustment parameter ie (t) ], a differential adjustment parameter D [ e (t) ], and a process adjustment parameter D [ z (t) ], respectively, and the second calculation module calculates a sum of the proportional adjustment parameter P [ e (t) ], the integral adjustment parameter ie (t) ], and the differential adjustment parameter D [ e (t) ], the process adjustment parameter D [ z (t) ], and the actuator-set parameter value U (t-1) of a previous time period, wherein t is a time period value.
3. The PID control system of claim 1, wherein the actuator is a temperature controller and the control target is a temperature control target.
4. A method of PID regulation, comprising:
step one, obtaining a preset set value r (t) and an actual output value y (t) of an actuator, and calculating a deviation value e (t) of r (t) and y (t), wherein t is a time period value;
step two, adjusting the constant K through proportion p Regulating the response speed of the output parameter U (t) by K p To adjust the quick response capability to obtain the proportional adjustment parameter P [ e (t) ]]；
Step three, adjusting the constant K through integration i Adjusting the accumulated deviation to obtain an integral adjustment parameter I [ e (t) ]]；
Step four, adjusting the constant K through differentiation d Adjusting the rate of change of the deviation signal to obtain a differential adjustment parameter D [ e (t)]；
Step five, adjusting a constant K through a process dz Regulating control purposesThe relation between the actual output value z (t) and the deviation value e (t) is marked to obtain a process regulating parameter D [ z (t)]；
And step six, readjusting the parameters of the actuator by the adjusted proportional adjustment parameters, integral adjustment parameters, differential adjustment parameters and process adjustment parameters, and finally obtaining a stable dynamic balance system by reaching the parameter values set by the actuator.
5. The PID tuning method according to claim 4, wherein in the second step, the proportional tuning parameter is adjusted
6. The PID tuning method of claim 4, wherein in step three, the tuning parameter is integrated
7. The PID tuning method of claim 4, wherein in the fourth step, the parameters are differentially tuned
Wherein C1 is a debug parameter.
8. The PID tuning method of claim 4, wherein in step five, the process tuning parameter is
Wherein C1 is a debug parameter.
9. The PID control method according to claim 4, wherein the final actuator set parameter value U (t) =u (t-1) +dz (t) ]+de (t) ]+ie (t) ]+p [ e (t) ], wherein U (t-1) is the actuator set parameter value of the previous time period.
10. The PID control method of claim 4, wherein the actuator is a temperature controller and the control target is a temperature control target.
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