27-05-2021 дата публикации
Номер: US20210157281A1
Принадлежит:
For more than 80 years, although the traditional Proportional-integral-differential (PID) controller and all kinds of improved PID controller have been in the leading position in the field of industrial control, and played a huge role, but the tuning of the three gains for PID has been a prominent problem in the field of control theory and control engineering, and the lack of anti-disturbance ability. The intelligent PID or wisdom PID (WPID) control method of the invention establishes the tuning rule of three gains for PID controller through the speed factor irrelevant to the controlled system, which effectively solves the tuning problem of the three gains for the traditional PID, and has the global robust stability and good anti-disturbance robustness. The invention subverts the control theory system of nearly a century, and has a wide application value in the fields of electric power, transportation, machinery, chemical industry, light industry, aerospace etc. 1{'sub': d', '1', '1', '0', '1, 'claim-text': {'br': None, 'i': e', '=y', '−y, e', 'e', 'dτ, 'sub': 1', 'd', '0', '0', '1, 'sup': 't', '=∫'}, '(1) according to the known desired output swing angular yand the known actual output swing angular y=yin the inverted pendulum system, the tracking error eof the swing angle and the integral eof the error eare established as follows{'sub': 1', '2, 'claim-text': {'br': None, 'i': e', '={dot over (y)}', '−y, 'sub': 2', 'd', '2}, '(2) after obtaining the swing angular error eaccording to step (1), calculating the differential of the swing angular error to obtain the angular speed error eas follows{'sub': d', '2', '1, 'Wherein, {dot over (y)}is the known desired angular speed and y={dot over (y)}={dot over (y)} is the known actual angular speed;'}{'sub': 1', '0', '2, 'claim-text': {'br': None, 'i': u=b', 'ÿ', '+k', 'e', '+k', 'e', '+k', 'e, 'sub': 0', 'd', 'p', '1', 'i', '0', 'd', '2, 'sup': '−1', '()'}, '(3) after obtaining e, eand eaccording to the steps (1) and (2), ...
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