Method for designing self-adaptive PID controller based on inverse dynamics model

Abstract

The invention relates to a method for designing a self-adaptive PID controller based on an inverse dynamics model, and the method inputs vectors by selecting the proper inverse dynamics model of a control object, realizes the organic combination of PID control and self-adaptive inverse control, obtains PID control characteristic parameters which are matched with the control object by online identification of the inverse dynamics model of the control object, and forms the self-adaptive PID controller which adapts to the characteristics of the control object. Compared with the prior self-adaptive inverse control method, the method belongs to the closed-loop control, significantly reduces the dependence of the control performance on the precision of the inverse dynamics model and improves the robustness of a control system; and compared with the prior self-adaptive PID control algorithm, the method summarizes the self-adaptive PID control algorithm as the identification problem of the inverse dynamics fuzzy rule model of the control object and adopts the RLS algorithm for carrying out the online identification on the parameters and the vectors of a back piece of the inverse dynamics fuzzy rule model of the control object, thereby improving the self-adaptive capacity of the control process.

Description

technical field [0001] The invention belongs to the field of automatic control of industrial processes, in particular to the technology of adaptive PID control for industrial processes. Background technique [0002] Adaptive control is a kind of control method that can automatically modify the control law and control characteristics to adapt to the dynamic characteristics of objects and disturbances. Adaptive PID control and adaptive inverse control are two typical adaptive control methods. [0003] PID controller is simple in structure, strong in robustness and high in reliability, and occupies a dominant position in industrial process control. Adaptive PID control belongs to a class of parameter self-tuning PID control. Adaptive PID control can adjust the characteristic parameters of the PID controller online according to the change of the characteristics of the controlled object, so as to improve the adaptive ability of the PID controller to the controlled object. At p...

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Problems solved by technology

This invention, like the existing adaptive inverse control method, belongs to open-loop control in essence, the robustness of the control system is poor, and the control performance has a very obvious dependence on the accuracy of the inverse dynamics model, thus directly affecting The practical application effect of this kind of control system

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