Anti-saturation variable-speed integration method and system based on PID control

Abstract

The invention discloses an anti-saturation variable-speed integration method based on PID control. The method comprises the following steps: S1, carrying out calculation to obtain an original controlquantity through conventional PID control and control with deviation value feedback; S2, limiting the control quantity and the change rate range of the control quantity, and calculating to obtain an effective control quantity; and S3, judging an integral saturation direction according to the control quantity or the change rate over-limit direction and the integral direction, and giving a corresponding deviation value for weakening the integral. According to the invention, extra control parameters are not added, the structure is simple, the robustness and reliability of the control system are not influenced, and the application range is wide; the method is often applied to systems, such as a vehicle power assembly controller, which are quick in control input change and limited in output andeasily generate integral saturation. The control quantity can be quickly separated from a saturation region, and the large-amplitude overshoot of the system is avoided.

Description

technical field [0001] The invention relates to the technical field of control, in particular to an anti-saturation variable speed integration method and system based on PID control. Background technique [0002] PID algorithm is based on the input deviation, combined with three independent closed-loop control algorithms of proportional, integral and differential, calculates the control output, corrects the deviation of the controlled object, and realizes the steady-state control with the target of the given value. PID controllers are widely used in industrial control systems because of their simple structure, independent of the controlled object model, and excellent control qualities such as fast response, small oscillation, and small static error. [0003] When the input deviation jumps, the output of the PID controller increases or decreases sharply, exceeding the input limit of the actuator. Because the input of the actuator is limited, the control response becomes slow,...

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Problems solved by technology

In addition, the integral item prediction anti-saturation method realizes the early exit of the integrator from saturation by reversely integrating the integrator in time when the input deviation is small, and reduces the system overshoot, but it depends on the controlled object, the structure is complex, and the parameter settings are relatively difficulty

[0005] The above methods have a common disadvantage that it is difficult to select optimization parameters, and when the controlled object or system parameters change, the optimization parameters must be reselected; in addition, the above methods are aimed at weakening the integral strength, without digesting the hindering control amount Integral quantity out of the saturation area, so when the input deviation is reversed, the control quantity cannot respond quickly and in time

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