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Parameter self-tuning of relay feedback PID controller
2022-07-06 07:42:00 【ba_ wang_ mao】
Today, we will introduce a method of automatic tuning of control algorithm parameters , This method is called relay feedback based self-tuning .
One 、 Relay feedback principle
By adding a non-linear link with relay characteristics to the circuit, a continuous and stable oscillation can be obtained , Then the intermediate parameters are obtained : Critical gain and critical period , Combine with the setting formula to realize PID Parameter setting of . Generate continuous oscillation through relay feedback as a pair Z-N An improvement of critical proportionality method .
chart 1.1 Structure block diagram of relay self-tuning
,
h Is the relay amplitude ,a- Is the output signal amplitude .
chart 1.2 Frequency domain response curve of relay and control object
From the Nyquist stability criterion :
have to :
The critical value can be roughly obtained :
Two 、 be based on Z-N French PID Parameter setting
Controller type | KP | Tn | Tv | Ki | Kd |
P | 0.5*Kμ | --- | --- | --- | --- |
PD | 0.8*Kμ | --- | 0.12*Tμ | --- | KP*Tn |
PI | 0.45*Kμ | 0.85*Tμ | --- | KP/ Tn | --- |
PID | 0.6*Kμ | 0.5*Tμ | 0.12*Tμ | KP/ Tn | KP*Tn |
3、 ... and 、 relay feedback PID Introduction to self-tuning process
1、 First use the relay to make the system vibrate , The process of oscillation is : When feedback is less than expected , Output positive full control quantity ; When feedback is greater than expected , Output negative full control quantity , Force the system to vibrate .
2、 Measure the amplitude and period when the system vibrates , The critical gain and oscillation period of the system can be obtained ( The oscillation period is obtained from the adjacent peaks of the curve )
3、 According to the obtained critical gain and oscillation period , from Z-N Table get the required PID Parameters .
chart 3.1 Relay feedback self-tuning PID Controller rendering
chart 3.2 Effect diagram of system vibration
Four 、 summary
Relay feedback setting PID Parameters can be set PID Parameters , It is better to . But in the simulation process ,PI The effect is not satisfactory . The overall scheme is simple , Strong applicability . Relay feedback method self-tuning PID Parameters are widely used in temperature control systems , Other applicable scenarios are not clear .
relay feedback PID Controller parameter self-tuning - You know (zhihu.com)
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