Novel method for self-coupling PID cooperative control theory

Abstract

The invention discloses a novel method for a self-coupling PID cooperative control theory. Aiming at the problems that PID and various improved PID are poor in gain robustness and disturbance-resistant robustness, the novel method for the self-coupling PID (ACPID) cooperative control theory independent of a controlled object model is invented. According to the method, all unknown internal and external complex factors of a system are defined as sum disturbance, so that an unknown nonlinear time-varying system is mapped into an equivalent unknown linear system, and a controlled error system under sum disturbance inverse excitation is constructed; and a value range of transition process time is obtained according to a dynamic characteristic test of an unknown controlled object, and a minimumspeed factor model and an adaptive speed factor model are designed according to the value range. The global robust stability of an ACPID cooperative controller system is theoretically analyzed. According to the method, scientific theoretical basis and technical guarantee are provided for technical evaluation and technical upgrading of various PID controllers in existing operation, and the method has wide application values in the fields of electric power, machinery, chemical engineering, light industry, traffic, aviation, spaceflight and the like.

Description

technical field [0001] The invention relates to an unknown nonlinear complex system control, in particular to an auto-coupling PID cooperative control. Background technique [0002] For more than half a century, the classical control theory based on cybernetics and the modern control theory based on model theory have developed independently and formed their own methodological systems. In actual control engineering, the error between the control target and the actual behavior of the controlled object is easy to obtain and can be properly dealt with. Therefore, the PID controller of the control strategy of "eliminating error based on error" has been obtained in the field of actual industrial control. widely used. For actual control engineering, it is usually difficult to give an "accurate description of the internal mechanism", so the control strategy given by modern control theory based on mathematical models is difficult to be effectively applied in actual control engineeri...

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Problems solved by technology

[0006] However, the adaptive speed factor model z established by the disturbance-aware control method of the authorized invention c =h -α (1.1-e -βt ) still has limitations: one is that it is not convenient to adjust the speed factor according to the integration step size h; the other is that although the adaptive speed factor model is generally effective, however, during the period of sudden change in the desired trajectory may fail

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