防超调增强型PI控制器研究

乐万德; 初建杰; 程传旭; 任静; 刘洲洲

doi:10.13433/j.cnki.1003-8728.20240005

防超调增强型PI控制器研究

doi: 10.13433/j.cnki.1003-8728.20240005

1.
西安航空学院计算机学院, 西安 710077
2.
西北工业大学机电学院, 西安 710072

基金项目:

陕西省重点研发计划 2023-YBGY-014

西安市科学技术局科技计划 21XJZZ0030

西安航空学院高等教育研究项目 2022GJ1018

详细信息

作者简介:
乐万德, 高级工程师, 博士, wondreyue@qq.com

中图分类号: TP29
计量
- 文章访问数: 7
- HTML全文浏览量: 4
- PDF下载量: 1
- 被引次数: 0
出版历程
- 收稿日期: 2023-11-16
- 刊出日期: 2024-07-25

Research on Anti-overshoot Enhanced PI Controller

1.
Computer School, Xi′an Aeronautical Institute, Xi′an 710077, China
2.
School of Mechanical Engineering, Northwestern Polytechnical University, Xi′an 710072, China

摘要

摘要: 针对电机PI控制器参数整定过程中容易出现的转速超调问题, 提出了积分凸包概念、积分凸包分析方法。在此基础上, 设计了基于积分凸包抑制的防超调增强型PI(enhaced PI, ePI)控制器。在PI控制参数基础上, 设计新增了积分阈值参数, 该参数控制积分项的累积, 并加入到驱动电机的PWM值的计算公式中。通过可视化消除积分凸包, 快速调试出防止转速超调的包括比例、积分及积分阈值参数的ePI控制器参数。基于Arduino及proteus, 构建了仿真平台。通过实验, 对比了PI控制器与基于积分凸包抑制的ePI控制器防超调仿真结果。实验结果表明: ePI控制器对超调控制有效, 且超调率随积分阈值减小而减小。
- ePI控制器 /
- 防超调 /
- 积分阈值参数 /
- 积分凸包 /
- 参数整定
Abstract: In response to the speed overshoot problem that is prone to occur during the parameter tuning process of motor Proportional Integral (PI) controller, the concept of integral convex hull and the analysis method of integral convex hull are proposed. On this basis, an anti-overshoot enhanced Proportional Integral (ePI) controller based on integral convex hull suppression was designed. On the basis of PI control parameters, an integral threshold parameter was designed to control the accumulation of integral terms and added to the calculation formula of the pulse-width modulation (PWM) value of the driving motor. By visualizing the elimination of integral convex hulls, the ePI controller parameters such as the proportional, integral, and integral threshold parameters, can be quickly debugged to prevent speed overshoot. A simulation platform was constructed based on Arduino and proteus. Through experiments, the anti-overshoot simulation results of PI controller and ePI controller based on integral convex hull suppression were compared. The experimental results show that the ePI controller is more effective in overshoot control, and overshoot rate decreases with the decrease of the integral threshold.
- ePI controller /
- anti-overshoot /
- integral threshold parameter /
- integral convex hull /
- parameter tuning

HTML全文

图 1 PI控制电机转速超调现象

Figure 1. PI control motor speed overshoot

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图 2 积分凸包与比例脉冲

Figure 2. Integral convex hull and proportional pulse

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图 3 防超调ePI控制器

Figure 3. Anti-overshoot ePI controller

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图 4 系统硬件

Figure 4. System hardware

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图 5 软件设计

Figure 5. Software design

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图 6 PI调节器积分凸包和明显超调

Figure 6. Integral convex hull and obvious overshoot of PI controller

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图 7 增强型ePI控制器(intThr=50)

Figure 7. Enhanced ePI controller (intThr=50)

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图 8 增强型ePI控制器(intThr=15)

Figure 8. Enhanced ePI controller (intThr=15)

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图 9 PI调节器公式实验验证

Figure 9. PI controller formula experimental verification

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图 10 积分阈值太小出现静差(intThr=10)

Figure 10. Static error due to too small integral threshold (intThr=10)

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表 1 控制器超调对比

Table 1. Comparison of controller overshoot

控制器类型	实际转速/(r·min^-1)	目标转速/(r·min^-1)	超调率/%
PI	415.53	400.00	3.88
ePI(intThr=50)	405.77	400.00	1.44
ePI(intThr=15)	400.00	400.00	0.00
ePI(intThr=10)	379.31	400.00	-5.17

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