CN109062033B - Parameter self-tuning method of PID system - Google Patents
Parameter self-tuning method of PID system Download PDFInfo
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Abstract
The invention discloses a parameter self-tuning method of a PID system. The parameter self-setting method of the PID system effectively prevents oscillation of system output waves near a target value SV or a deviation value (SV _ n) in the self-setting process, and stops applying excitation to a control object when a system sampling value PV reaches the target value SV, so that the system output waves can always reach the control target value SV, PID control parameters calculated by a controller are more accurate, and in addition, the self-setting method collects working condition signals firstly no matter the initial state of the system, and judges whether to apply excitation to the control object according to the comparison of the collected value PV and the deviation value (SV _ n), namely the working condition judgment is prior to the control output, so that the occurrence of an overshoot condition is effectively prevented, and industrial accidents are avoided; the self-setting process does not need complete waveforms, namely corresponding periods, and the time of the self-setting process is shortened, so that the detection speed of the system self-setting is increased, and industrial accidents are avoided.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a parameter self-tuning method of a PID system.
Background
In the industrial process control, a control system for controlling the proportion, the integral and the differential of the error generated by comparing the real-time data acquisition information of the controlled object with a given value is called a PID control system for short. The PID control has the advantages of simple structure, good stability, reliable work and the like, and is still the most common control method in industrial process control at present. The classical PID control method simultaneously comprises proportional regulation, integral regulation and differential regulation. Integral split PID control methods have emerged in the prior art because integral regulation often causes overshoot or oscillation problems. The main principle is that integral adjustment is not put into when the error is large so as to avoid overlarge control quantity due to error accumulation; and when the error is small, integral adjustment is put into use so as to realize non-static control by using the advantage of integral adjustment. However, this method cancels the effect of integral adjustment in the early stage of adjustment, i.e., when the error is large, thereby reducing the adjustment speed of the system.
The parameters of the PID controller must be considered according to the specific requirements of the engineering problem. In industrial process control, it is common to ensure that a closed loop system is stable, can track changes of a given amount quickly, and has a small overshoot. The output can be kept near a given value under different interferences, the control quantity is as small as possible, and the control is kept stable when system and environment parameters are changed. Generally, it is difficult to satisfy these requirements at the same time, and it is necessary to satisfy the main performance indexes and consider the requirements of other aspects according to the specific conditions of the system.
The self-tuning of the existing PID system needs several complete waveforms, and therefore a corresponding complete period is needed, and the period of the self-tuning process is lengthened, so that the detection speed of the self-tuning of the system is reduced, excessive overshoot is not allowed under a plurality of working conditions, and industrial accidents are easy to occur.
Disclosure of Invention
The invention aims to provide a parameter self-tuning method of a PID system, which determines a parameter group to be measured by detecting the inertia and the change rate of a target system and solves the problem of difficulty in obtaining an optimal PID controller parameter group.
The technical purpose of the invention is realized by the following technical scheme:
a parameter self-tuning method of a PID system comprises the following steps:
step A, determining an output target value SV of a system, a deviation value (SV _ m) positioned in the opposite direction of an excitation action of the target value SV and a deviation value (SV _ n) positioned in the extending direction of the deviation value (SV _ m), starting self-tuning, and comparing and judging an acquisition value PV with the deviation value (SV _ n);
b, if the collection value PV is located at the deviation value (SV _ n) along the positive direction of the excitation action, closing the control output signal, not applying excitation to the control object, waiting for the regression of the output wave of the system, and when the collection value PV is located at the deviation value (SV _ n) along the negative direction of the excitation action, sending the opening control output signal, applying excitation to the control object, entering the first step of setting, and waiting for the generation of the output wave of the system;
step C, starting timing when the collection value PV reaches a deviation value (SV _ m), stopping timing when the collection value PV reaches a target value SV to obtain time t, simultaneously sending a closing control output signal, not applying excitation to a control object, entering a setting second step, and returning after the output wave of the system reaches a wave crest;
and D, when the collected value PV reaches the peak value and then regresses, obtaining a peak value PV _ m, calculating parameters of the PID system according to the formula, and finishing self-tuning.
The parameter self-tuning method of the PID system further comprises a step B1, if the collection value PV is located in the direction opposite to the excitation action of the deviation value (SV _ n), a control output signal is switched on, excitation is applied to a control object, the first step of tuning is carried out, and the generation of system output waves is waited.
In the parameter self-tuning method of the PID system, the deviation value (SV _ m) is used for timing trigger, and the deviation value (SV _ n) is used for excitation control.
In the above method for self-tuning parameters of a PID system, the formula according to which the control parameters of the PID system are calculated in step D is: p = (| PV _ m-SV |) × a, I = (PV _ m-SV) × t/(SV-SV _ m)/B +1, D = I/4, where A, B are system fixed coefficients, respectively.
In conclusion, the invention has the following beneficial effects: the parameter self-setting method of the PID system sets the deviation value (SV _ n) and the deviation value (SV _ m) in the opposite direction of the excitation action of the control target value SV, so that the oscillation of system output waves near the target value SV or the deviation value (SV _ n) in the self-setting process is effectively prevented, the excitation application to a control object is stopped when the system sampling value PV reaches the target value SV, the system output waves can always reach the control target value SV, the PID control parameters calculated by the controller are more accurate, and in addition, no matter the initial state of the system, working condition signals are firstly collected, and then whether the excitation is applied to the control object is judged and determined according to the comparison of the collected value PV and the deviation value (SV _ n), namely the working condition judgment is prior to the control output, the occurrence of an overshoot condition is effectively prevented, and the occurrence of industrial accidents is avoided; the self-setting engineering does not need complete waveforms, namely corresponding periods, and the time of the self-setting process is shortened, so that the detection speed of the system self-setting is increased, and industrial accidents are avoided.
Detailed Description
The present invention will be described in further detail below.
A parameter self-tuning method of a PID system is characterized in that: the method comprises the following steps:
step A, determining an output target value SV of a system, a deviation value (SV _ m) positioned in the opposite direction of an excitation action of the target value SV and a deviation value (SV _ n) positioned in the extending direction of the deviation value (SV _ m), starting self-tuning, and comparing and judging an acquisition value PV with the deviation value (SV _ n);
b, if the collection value PV is located at the deviation value (SV _ n) along the positive direction of the excitation action, closing the control output signal, not applying excitation to the control object, waiting for the regression of the output wave of the system, and when the collection value PV is located at the deviation value (SV _ n) along the negative direction of the excitation action, sending the opening control output signal, applying excitation to the control object, entering the first step of setting, and waiting for the generation of the output wave of the system;
step C, starting timing when the collection value PV reaches a deviation value (SV _ m), stopping timing when the collection value PV reaches a target value SV to obtain time t, simultaneously sending a closing control output signal, not applying excitation to a control object, entering a setting second step, and returning after the output wave of the system reaches a wave crest;
and D, when the collected value PV reaches the peak value and then regresses, obtaining a peak value PV _ m, calculating parameters of the PID system according to the formula, and finishing self-tuning.
Further, in a preferred embodiment of the parameter self-tuning method for the PID system according to the present invention, the method further includes a step B1, where if the collected value PV is located at the deviation value (SV _ n) in the opposite direction to the excitation action, the control output signal is turned on to apply excitation to the controlled object, and the first step of tuning is performed to wait for the generation of the output wave of the system.
Further, in a preferred embodiment of the parameter self-tuning method of the PID system of the present invention, the deviation value (SV _ m) is used for time-keeping triggering, and the deviation value (SV _ n) is used for excitation control.
Preferably, the controller concludes that the boundary points of whether the excitation is applied or not are the target value SV and the deviation value (SV _ n), respectively, rather than the target value SV or deviation value (SV _ n) alone, this effectively prevents oscillation of the system output wave around the target value SV or deviation value (SV _ n) during self-tuning, and the system sampling value PV reaches the target value SV, the excitation application to the control object is stopped, the system output wave can always reach the control target value SV, the PID control parameter calculated by the controller is more accurate, in addition, the self-tuning method firstly collects the working condition signal no matter the system initial state, then judges and determines whether to apply the excitation to the control object according to the comparison of the collected value PV and the deviation value (SV _ n), the working condition judgment is prior to the control output, so that the occurrence of the overshoot condition is effectively prevented, and the industrial accident is avoided.
Further, in a preferred embodiment of the parameter self-tuning method of the PID system of the present invention, the formula according to which the control parameter of the PID system is calculated in step D is: p = (| PV _ m-SV |) × a, I = (PV _ m-SV) × t/(SV-SV _ m)/B +1, D = I/4, where A, B are system fixed coefficients, respectively.
Preferably, the system fixation factor a =1.5 and B = 0.8.
The invention comprises a controller circuit and a power supply thereof, wherein the controller circuit comprises a control processing module, a key module, an acquisition module, a display module, a memory, a control output module, a timer and a counter which are respectively and electrically connected with the control processing module, the acquisition module acquires an industrial signal and transmits the industrial signal to the control processing module, the control processing module transmits an acquisition value PV to the display module for displaying, compares the acquisition value PV with a system input target value SV and a deviation value (SV _ n) input by the key module, the control processing module transmits a related instruction to the control output module according to a comparison result, the counter records a setting step number in the setting process, the control processing module transmits a control instruction to the timer according to the setting step number recorded by the counter, the timer records the time t used by the setting period, and the control processing module stores PV _ m of system output waves acquired by the acquisition module in two adjacent steps of the whole period and the time t used by the whole period into a memory, reads the peak value PV _ m acquired in two adjacent steps and the time t used by the whole period from the memory and calculates the PID control parameters of the system.
In conclusion, the parameter self-tuning method of the PID system sets the deviation value (SV _ n) and the deviation value (SV _ m) in the opposite direction of the excitation action of the control target value SV, this effectively prevents oscillation of the system output wave around the target value SV or deviation value (SV _ n) during self-tuning, and the system sampling value PV reaches the target value SV, the excitation application to the control object is stopped, the system output wave can always reach the control target value SV, the PID control parameter calculated by the controller is more accurate, in addition, the self-tuning method firstly collects the working condition signal no matter the system initial state, then judges and determines whether to apply the excitation to the control object according to the comparison of the collected value PV and the deviation value (SV _ n), the working condition judgment is prior to the control output, so that the occurrence of the overshoot condition is effectively prevented, and the occurrence of industrial accidents is avoided; the complete waveform, namely the corresponding period, is not needed in the self-setting project, and the period of the self-setting process is shortened, so that the detection speed of the system self-setting is increased, and industrial accidents are avoided.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications without inventive contribution to the present embodiment as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (4)
1. A parameter self-tuning method of a PID system is characterized in that: the method comprises the following steps:
step A, determining an output target value SV of a system, a deviation value (SV _ m) positioned in the opposite direction of an excitation action of the target value SV and a deviation value (SV _ n) positioned in the extending direction of the deviation value (SV _ m), starting self-tuning, and comparing and judging an acquisition value PV with the deviation value (SV _ n);
b, if the collection value PV is located at the deviation value (SV _ n) along the positive direction of the excitation action, closing the control output signal, not applying excitation to the control object, waiting for the regression of the output wave of the system, and when the collection value PV is located at the deviation value (SV _ n) along the negative direction of the excitation action, sending the opening control output signal, applying excitation to the control object, entering the first step of setting, and waiting for the generation of the output wave of the system;
step C, starting timing when the collection value PV reaches a deviation value (SV _ m), stopping timing when the collection value PV reaches a target value SV to obtain time t, simultaneously sending a closing control output signal, not applying excitation to a control object, entering a setting second step, and returning after the output wave of the system reaches a wave crest;
and D, when the collected value PV reaches the peak value and then regresses, obtaining a peak value PV _ m, calculating parameters of the PID system according to the formula, and finishing self-tuning.
2. The parameter self-tuning method of the PID system according to claim 1, wherein: and step B1, if the collection value PV is located at the deviation value (SV _ n) along the opposite direction of the excitation action, switching on a control output signal, exciting the control object, entering the first setting step, and waiting for the generation of system output waves.
3. The parameter self-tuning method of the PID system according to claim 1, wherein: the offset value (SV _ m) is used for timing triggering, and the offset value (SV _ n) is used for excitation control.
4. The parameter self-tuning method of the PID system according to claim 1, wherein: the formula used for calculating the control parameters of the PID system in the step D is as follows: p = (| PV _ m-SV |) × a, I = (PV _ m-SV) × t/(SV-SV _ m)/B +1, D = I/4, where A, B are system fixed coefficients, respectively.
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| CN109828456B (en) * | 2019-03-04 | 2022-02-01 | 沈阳华控科技发展有限公司 | Self-adaptive PID control method |
| CN113009939B (en) * | 2019-12-18 | 2022-09-09 | 合肥通用制冷设备有限公司 | Temperature control method, system and computer readable storage medium |
| CN114488774B (en) * | 2021-12-16 | 2022-09-27 | 上海中韩杜科泵业制造有限公司 | PID control parameter acquisition method, device, equipment and medium |
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| CN101859097A (en) * | 2010-06-02 | 2010-10-13 | 西安科技大学 | System control method based on maintenance type human-simulating PID |
| CN105588179A (en) * | 2016-02-15 | 2016-05-18 | 中国石化集团胜利石油管理局热电联供中心 | Heat supply network control loop based on fuzzy PID algorithm |
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| CN106557023A (en) * | 2017-01-18 | 2017-04-05 | 武汉拓优测控科技有限公司 | Based on one key automatic setting method of nozzle flapper technology |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR100507835B1 (en) * | 2003-02-03 | 2005-08-17 | 한국과학기술원 | A Being Most Suitable Gain Selection Method of PID Controller |
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|---|---|---|---|---|
| CN1564091A (en) * | 2004-04-08 | 2005-01-12 | 上海理工大学 | Fast parameter self-setting method |
| CN101859097A (en) * | 2010-06-02 | 2010-10-13 | 西安科技大学 | System control method based on maintenance type human-simulating PID |
| CN105588179A (en) * | 2016-02-15 | 2016-05-18 | 中国石化集团胜利石油管理局热电联供中心 | Heat supply network control loop based on fuzzy PID algorithm |
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