System control method based on maintenance type human-simulating PID

Abstract

The invention discloses a system control method based on a maintenance type human-simulating PID, which comprises the following steps: 1, acquiring an error signal; 2, carrying out maintenance type human-simulating PID control calculation for the error signal: dividing the control process of a controller into a plurality of time intervals, classifying the time intervals into integral maintenance intervals and integral action intervals for processing according to a chronological sequence, wherein the integral action maintains the final integral value of a previous time interval in the integral maintenance intervals, and the integral operation is carried out based on the integral action of the previous time interval in the integral action intervals; and outputting a control signal to control an actuator; and 3, controlling the actuator, making adjustment through the actuator according to the controlled variable of a controlled object, and promptly detecting the controlled variable with a measuring device. The invention has the advantages of reasonable design, delicate concept, convenient realization, wide scope of application and good control effect, and the control system adopting the maintenance type human-simulating PID control method has the advantages of short control period, small overshoot and high anti-interference capability.

Description

technical field [0001] The invention belongs to the technical field of PID automatic control, and in particular relates to a system control method based on a holding type humanoid PID. Background technique [0002] Nowadays, negative feedback control systems are widely used in the field of industrial automation, combining figure 1 , a complete closed-loop negative feedback control system generally consists of four links: controller 1, actuator 2, controlled object 3 and measuring device 4. Among them, the measuring device 4 is used to measure the controlled variable y of the controlled object 3, and transform it into the signal required by the controller 1; the controller 1 according to the set value r 0 (t) The deviation signal e(t) obtained by comparing with the measured value r(t) sent by the measuring device is calculated according to a certain operation rule to obtain the corresponding control signal u(t), and the control signal The actuator 2 receives the control sig...

AI Technical Summary

Problems solved by technology

[0004] ① The integral function of the ordinary PID controller treats all deviation signals e(t) equally, without selectivity;

[0005] ②As long as the deviation signal e(t) exists, the ordinary PID controller will always integrate, so it is easy to cause "integral saturation"

[0009] ①The controller is at (t 0 , t 1 ) interval has only proportional action and no integral action. If the proportional gain is not selected properly, the deviation signal e(t) may not be reduced to 0, but it will become larger in reverse, resulting in system residual error;

[0010] ② in (t 1 , t 2 ), (t 3 , t 4 ), (t 5 , t 6 ) and (t 7 , t 8 ) interval, the integral action gradually increases inversely, but in (t 2 , t 3 ), (t 4 , t 5 ), (t 6 , t 7 ) and (t 8 , t 9 ) The integral action in the interval suddenly decreases to 0, so the system control action changes frequently, resulting in system instability

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