KR940002429B1 - Digital pid control method having a linear proportional gain - Google Patents

Digital pid control method having a linear proportional gain Download PDF

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KR940002429B1
KR940002429B1 KR1019910004285A KR910004285A KR940002429B1 KR 940002429 B1 KR940002429 B1 KR 940002429B1 KR 1019910004285 A KR1019910004285 A KR 1019910004285A KR 910004285 A KR910004285 A KR 910004285A KR 940002429 B1 KR940002429 B1 KR 940002429B1
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gain
value
deviation
pid control
control method
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KR1019910004285A
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KR920018544A (en
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오상윤
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삼성전자 주식회사
강진구
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)

Abstract

The method changes the proportional (P) gain on an error signal e to obtain a fast response and a little overshoot. At a large error, a high P gain gives a fast response and at a small error, a low P gain reduces an overshoot. The method employs two comparing sections (A), (B) and 3 steps (101,102,103). Section A compares the error with a fixed function α and section B compares with -α, step (101) outputs a low gain K and error e when the error signal lies between α and -α, steps (102) and (103) output a high gain K2 and α when the error signal e is larger than -α.

Description

비선형 P이득을 갖는 디지탈 PID 제어방법Digital PID Control Method with Nonlinear P Gain

제1도는 본 발명의 동작흐름도(플로우챠트).1 is a flow chart (flow chart) of the present invention.

제2도는 본 발명의 비선형 P이득의 그래프.2 is a graph of the nonlinear P gain of the present invention.

제3도는 일반적인 PID제어 구성도.3 is a general PID control configuration.

제4도는 P 이득이 큰 경우의 목표치와 응답시간과의 관계도.4 is a relationship between a target value and a response time when P gain is large.

제5도는 P 이득이 작은 경우의 목표치와 응답시간과의 관계도.5 is a relationship between the target value and the response time when the P gain is small.

본 발명은 비선형 P이득을 갖는 디지탈 PID 제어방법에 관한 것으로, 특히 목표치와 제어대상물의 제어치와 같도록 편차에 대한 P이득을 가변하여 비선형적으로 제어하도록된 비선형 P이득을 갖는 디지탈 PID제어방법에 관한것이다. 일반적으로 로보트 등의 모터를 이용하여 제어하는 방식은 도면 제3도에서 보는 바와같이, 제어대상물의 제어를 목표치 V로 제어하면서 목표치 V와 제어대상물의 제어치 Vf의 차 e를 구하여 e에 p 이득을, 편차적분치에 I 이득을, 미분치에 D이득을 곱하고, 가산기와 상하한 리미터를 통하여 제어대상에 통작신호를 보내게되는 계통구조로 이루어져, 목표치 V와 제어치 Vf값이 같도록, 즉, 제어대상물의 출력이 Vf값이 되도록 PID 제어기가 동작하게 되는데, 도면 제4도에서 보는 바와같이 P이득을 높이게되면, 응답 시간은 빠르지만 오버슈트(Over Shoot)가 심하게 발생되고, 도면 제5도에서 보는 바와같이 P이득을 줄이게 되면 응답시간이 늦게되는 문제점이 있었다.The present invention relates to a digital PID control method having a non-linear P gain, and more particularly, to a digital PID control method having a non-linear P gain such that the P gain for the deviation is varied to be equal to the control value of the target value and the control object. It's about. In general, the method of controlling by using a motor such as a robot, as shown in FIG. 3, controls the control of the control object to the target value V while calculating the difference e between the target value V and the control value Vf of the control object and gains p to e. In order to make the target value V and the control value Vf equal, the system consists of a deviation integral value I gain multiplied by the derivative value D gain and the control signal through the adder and the upper and lower limiters. That is, the PID controller is operated so that the output of the control object becomes the Vf value. As shown in FIG. 4, when the P gain is increased, the response time is fast but the overshoot is severely generated. As shown in FIG. 5, if the P gain is reduced, the response time is late.

이에 본 발명은 상술한 바와같은 종래의 제반 문제점을 감안하여 안출된것으로 목표치 V와 제어치 Vf의 편차 e가 클때에는, P값이 큰값으로 제어하고, 편차가 작아지면 작은 P값을 가지고 제어하도록된, 비선형 P이득을 갖는 디지탈 PIP 제어방법을 제공함에 그 목적이 있는것이다.Accordingly, the present invention has been made in view of the above-described conventional problems. When the deviation e between the target value V and the control value Vf is large, the P value is controlled to a large value, and when the deviation is small, the P value is controlled to have a small P value. It is an object of the present invention to provide a digital PIP control method having a nonlinear P gain.

이하 첨부된 도면을 참조하여 본 발명의 방법을 구체적으로 설명하면 다음과 같다.Hereinafter, a method of the present invention will be described in detail with reference to the accompanying drawings.

도면 제2도에서 보는 바와같이 P출력이 일정하면 편차값에 대한 P이득이 출력이 선형으로 되지만 편차값에 따라 P이득이 바뀌면 비선형이 된다. 여기에서 P는 PID 제어에서 가산기로 입력되는 양 e : V-Vf의 편차, K1,K2는 기울기라 볼때 다음과 같은 식이 성립된다. 편차 e는 실지 제어대상물과 제어기에 의해서 결정되는 양로, 제어대상물의 성능과 제어방법(제어기)에 의해서 결정되는 양이다. 그리고 e 값을 입력으로 제어기가 수행되어 제어대상물을 제어하게 된다.As shown in FIG. 2, when the P output is constant, the P gain for the deviation value is linear, but when the P gain is changed according to the deviation value, it is nonlinear. Here, P is the deviation of the amount e: V-Vf input to the adder in PID control, and K 1 and K 2 are slopes. The deviation e is an amount determined by the actual control object and the controller, and an amount determined by the performance of the control object and the control method (controller). And the controller is performed by inputting the e value to control the control object.

즉 편차 e에 대한 P이득의 출력은That is, the output of P gain for deviation e is

P(e)=-α＜e＜ α 이면 K1, eIf P (e) =-α <e <α, then K 1 , e

또한 e＞α이면 K2(e-α)+K1, αIf e> α, K 2 (e-α) + K 1 , α

또한 e＜-α 이면 K2(e+α)-K1, αIf e <-α, K 2 (e + α ) -K 1 , α

(여기에서 일정함수 α는 실험에 의하여 P이득값이 큰경우와 작은경우의 데이타를 근거로 안정성과 성능을 고려하여 실험적으로 정한것이다)(Here, constant function α is experimentally determined in consideration of stability and performance based on data of large and small P gain value by experiment)

고로 편차가 클때에는 P값이 큰값으로 제어하고 편차가 적어지면 P값이 작은값으로 제어하여 응답속도도 빠르고 오버슈트로 적어지게된다.Therefore, when the deviation is large, the P value is controlled to a large value, and when the deviation is small, the P value is controlled to a small value so that the response speed is fast and overshoot is reduced.

즉, P이득의 출력값은 모터서보에서 제공되는 펄스를 카운트하는 카운트를 설정하여, 마이크로프로세서에서 이 카운터로 부터 데이터를 읽어들여, 모터의 위치를 알아내고, 설정된 설정치와의 차이로써 위치편차값을 구하게 된다.That is, the output of P gain sets a count that counts the pulses provided by the motor servo, reads data from this counter in the microprocessor, finds the position of the motor, and sets the position deviation value by the difference from the set value. You will get it.

또한, 이값에 P이득으로 설정된값을 곱하면 P이득 출력을 구한결과가 되고, 비선형 P이득은 스위칭(Switching) 원리를 사용한 것으로 편차가 클때는 P값이 큰 갑스로 제어함에 의하여 응답속도를 높이고 어느정도 목표치에 도달하면, 즉, 편차가 작은경우에는 작은값으로 변환하여 편차가 적은데도 불구하고 큰값의 P이득을 곱함으로서 오버슈트가 커지는것을 방지하기 위한 것이다. 즉, P이득이 큰경우와 작은경우의 장점만을 취하게 된것이다.In addition, multiply this value by the P gain value to obtain the P gain output, and the nonlinear P gain is based on the switching principle. When the target value is reached to some extent, that is, when the deviation is small, it is converted to a small value and multiplied by a large value P gain in spite of the small deviation to prevent the overshoot from becoming large. That is, only the advantages of the large and small P gains are taken.

Claims (1)

디지탈 PID 제어방법에서, 목표치 V와 제어대상물의 제어치 Vf와의 편차 e가 일정함수 -α와 α사이의 값인가를 판단하는 수단을 구비하여, 편차 e에 대한 P의 출력신호를 작은기울기 K1과 편차 e로 내도록 하는 단계(101)를 거치도록함과, 편차 e가 일정함수 -α보다 작은값인가를 판단하는 수단을 구비하여 작은 값일경우에 P의 출력신호를 큰기울기 K2(e+α)- 작은기울기 K1, α로 내도록하는 단계(102)를 거치면서, 편차 e가 일정함수 -α보다 큰값일경우에는 P의 출력신호를 큰기울기 K2(e-α)+ 작은기울기 K1, α로 내도록하는 단계(103)를 포함하여 된것으로, 디지탈 PID 제어시 P이득을 가변하여 비선형적으로 제어함을 특징으로 하는 비선형 P이득을 갖는 디지탈 PID 제어방법.In the digital PID control method, a target value V and by having the control value Vf with the deviation e is means for determining the value is between predetermined function -α and α of the controlled object, the smaller the slope of the output signal P to the deviation e K 1 And a step (101) to produce a deviation e, and means for determining whether the deviation e is a value less than a constant function- α , whereby the output signal of P is raised to a large slope K 2 (e + α)-The small slope K 1 , α step (102), if the deviation e is greater than the constant function -α, the output signal of P large slope K 2 (e-α) + small slope K1 and a step (103) of outputting to α, wherein the digital PID control method having a nonlinear P gain is characterized in that the P gain is controlled by varying the P gain in the digital PID control.
KR1019910004285A 1991-03-18 1991-03-18 Digital pid control method having a linear proportional gain KR940002429B1 (en)

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