Mumafekitori, maPID controllers anozivikanwa nekuti ari nyore uye anoshanda nemazvo. Ivo vanoshandiswa mumaindasitiri mazhinji:
Kugadzira mota yekudziya uye welding.
Ndege dzekutonga kwakarurama.
Electronics kuchengetedza mhando yepamusoro.
Kugadzira mbatya kudzora kupisa.
Zvokudya uye zvinwiwa zvezvinhu zvakaita sekuvirisa.
Mushonga uye makemikari ekutsiga maitiro.
Sezvo tekinoroji ichivandudza, maindasitiri anoda akasimba ekudzora masisitimu. Nekuchinja mumafekitori, zvishandiso zvakaita sePID controllers zvakanyanya kukosha.
Nzira nyowani, senge Fuzzy Logic Control uye Model Predictive Control, inoshanda zvirinani kune anonyengera masisitimu. Idzi nzira dzinogadzirisa matambudziko ayo vatongi vePID vanogona kuwana zvakaoma, sekubata maitiro asina kuenzana kana shanduko nekukurumidza.
Zvitsva Zvitsva
PID controllers iri nyore kushandisa uye inoshanda nemazvo kune yakagadzikana masisitimu. Izvo zvakajairika mumafekitori uye maindasitiri emagetsi.
Zvidzoreso zvepamberi seFuzzy Logic Control (FLC) uye Model Predictive Control (MPC) zviri nani kune akaomarara masisitimu. Vanogadzirisa kuchinja uye kubata maitiro akaoma zvakanyatsonaka.
Kumisikidza PID controller kunogona kuve kwakaoma. Iwe unofanirwa kuzvigadzirisa zvakanyatsoita kuti masisitimu arambe akagadzikana kana aine maitiro akaomarara.
Kusanganisa PID nemadhiraivha epamberi anogona kugadzirisa mhedzisiro. Izvi zvinosanganisa kureruka kwePID nekuchinjika kwenzira dzepamusoro.
Sarudza rudzi rwako rwekutonga zvichienderana nekuoma kwakaita system. Shandisa PID yemabasa akareruka uye zvidzoreso zvepamberi zvemabasa akaomarara.
Kunzwisisa PID Controllers
Tsanangudzo yePID Control
PID controller sisitimu inoita kuti zvinhu zvirambe zvakagadzikana. "PID" zvinoreva Proportional , Integral , uye Derivative , izvo zvikamu zvayo zvitatu. Zvikamu izvi zvinoshanda pamwe chete kudzora mashandiro anoita sisitimu. Mafekitori anoishandisa kuona kuti michina inoshanda zvakanaka uye nemazvo. Semuenzaniso, inogona kudzora kupisa, kumanikidzwa, kana kumhanya mukugadzirwa.
Tinoyera kuti PID controller yakanaka sei nemimwe miedzo. Imwe bvunzo inguva yekukwira, inoratidza kuti inokurumidza sei kusvika pachinangwa. Imwe inguva yekugadzika, iyo inoratidza kuti zvinotora nguva yakareba sei kuti irambe yakadzikama. Mimwe miedzo, senge overshoot uye steady-state error, inotarisa kana ikaramba iri pachinangwa pasina kuchinja kukuru.
Zvikamu zvePID Controller
Chinodzora chePID chine zvikamu zvitatu zvikuru:
Kuwana Kwakaenzana (Kp): Chikamu ichi chinogadzirisa zvikanganiso zviripo nekuita nekukurumidza. Kp yakakura zvinoreva mhinduro yakasimba.
Kuwana Kwakakosha (Ki): Chikamu ichi chinotarisa zvikanganiso zvekare uye chinozvigadzirisa nekufamba kwenguva. Chinobatsira sisitimu kusvika pachinangwa chayo pasina kupotsa.
Kuwana Kunobva (Kd): Chikamu ichi chinofanotaura zvikanganiso zveramangwana nekutarisa kuti zvinhu zvinochinja nekukurumidza sei. Chinomisa sisitimu kuti isadengenyeke zvakanyanya.
Zvikamu izvi zvinoshanda seboka kuti ridzore zvinhu zvakanaka. Chikamu chakaenzana chinogadzirisa zvikanganiso pakarepo. Chikamu chakakosha chinogadzirisa matambudziko enguva refu. The derivative chikamu chinochengeta zvese zvakatsetseka uye zvakatsiga.
Nei PID Controllers Vakakurumbira
MaPID controllers anodiwa nekuti ari nyore uye anoshanda zvakanaka. Ari nyore kuisa, kunyangwe kune vanotanga. Anoshandawo mumamiriro akasiyana-siyana, saka anoshandiswa mumaindasitiri akawanda.
Mumafekitori, maPID controllers achiri sarudzo yepamusoro nekuti anochinjika zviri nyore. Zvinhu zvitsva, zvakaita seIoT uye kuzvigadzirisa, zvinoita kuti zvive nani. Zvishandiso zvakaita seLabVIEW zvinovabatsirawo kuti varambe vakavimbika uye vachishanda pamabasa akakosha.
Sezvo mafekitori achishandisa michina yakangwara, kudiwa kwevanodzora PID kuri kuwedzera. Kugona kwavo kudzora zvinhu nemazvo kunoita kuti zvive zvakakosha nhasi.
Kuganhurirwa kwePID Controllers
Tuning Matambudziko
Kugadzirisa PID controller kunogona kuoma kune masisitimu akaomarara. Unofanira kunyatso gadzirisa proportional, integral, uye derivative gains. Maitiro ese anoita zvakasiyana kune aya marongero, zvichiita kuti zviome kuita nemazvo.
Mamwe masisitimu anogadzika nekukurumidza, nepo mamwe anogona kuzununguka kana kupfura. Tafura iri pazasi inoratidza mhando dzakasiyana dzemhinduro dzehurongwa:
Complex Dynamic Response | tsananguro |
|---|---|
kuzvitonga, kurongeka kwechipiri, kuwedzeredza | A sisitimu inodzika zvishoma nezvishoma pane imwe kukosha. |
kuzvitonga, kurongeka kwechipiri, kuderedzwa | Sisitimu inozununguka isati yagadzikana pane imwe kukosha. |
kuzvitonga, second order plus lead | Sisitimu ine chikamu che lead inokanganisa maitiro ayo. |
kuzvitonga, kurongeka kwechipiri pamwe nekutungamira ne overshoot | A system inodarika chinangwa chayo isati yagadzirisa. |
kuzvitonga, kurongeka kwechipiri, chikamu chisiri chidiki | Hurongwa hune hunhu husina kujairika hunokanganisa mhinduro yayo. |
integrator plus first-order lag | Hurongwa hunochinja nekufamba kwenguva asi hunoita zvishoma nezvishoma. |
integrator plus first-order lead | Sisitimu inoshanduka nekufamba kwenguva nekukasira kuita. |
integrator plus nonminimum phase | Sisitimu inoshanduka nekufamba kwenguva nemaitiro asina kujairika. |
Kana iwe ukaridza zvine hukasha, sisitimu inogona kuzununguka kana kusagadzikana. Chenjerera kana uchigadzirisa masisitimu ane kunonoka kana tight dynamics.
Kubata Complex Dynamics
MaPID controllers akanakira masisitimu ari nyore asi anonetseka neakaoma. Masisitimu ane kunonoka, maitiro asina kurongeka, kana akawanda mavari anogona kuavhiringidza. Semuenzaniso, kana sisitimu iine mhinduro dzisingawanzoitiki kana shanduko nekufamba kwenguva, controller inogona kusashanda zvakanaka.
Muzviitiko izvi, mutariri anogona kunyanyisa kana kusaita zvakakwana. Izvi zvinoitika nekuti vanodzora vePID vanoshandisa magadzirirwo akagadziriswa asingakwanise kugadzirisa shanduko. Nzira dzepamusoro, dzakadai seModel Predictive Control, dzinoshanda zvirinani mumamiriro ezvinhu akaoma aya.
Sensitivity kune Noise uye kuyerwa Kukanganisa
Ruzha nezvikanganiso zvinogona kukanganisa mashandiro ePID controller . Chikamu chakakosha chinoderedza ruzha, asi chikamu chinobuda chinogona kuita kuti ruwedzere kuipa. Izvi zvinonyanya kuitika kana D gain yakakwira zvakanyanya.
Kuti ugadzirise izvi, chenesa zviratidzo zvako zvakanyatsonaka. Shandisa nhovo nemasefa kuderedza ruzha muzviyero. Dzimwe nguva, kuseta iyo inotorwa kuwana kune zero inobatsira munzvimbo dzine ruzha.
Zano: Gara uchitarisa kuti masensa ako akarurama uye akadzivirirwa kubva pakukanganiswa. Izvi zvichabatsira PID controller yako kushanda zviri nani.
Advanced Control Techniques
Chii chinonzi Fuzzy Logic Control (FLC)?
Fuzzy Logic Control (FLC) inobatsira kubata masisitimu anonyengera. Inoshanda zvakanaka nemasisitimu asiri nyore kana ane zvikamu zvisingazivikanwi. Panzvimbo pekushandisa masvomhu akasimba, FLC inoshandisa mitemo sekufunga kunoita vanhu. Zvakafanana nehurongwa hunoita sarudzo, saka zvakanakira zvinhu zvakaita semidziyo yemumba kana marobhoti.
Sei FLC yakakosha?
Inogadzirisa zvirinani kuchinja pane PID controllers.
Inoshanda nemashoko akadai se "kudziya" kana "kutonhorera" pane nhamba.
Iwe unogona kuwedzera mitemo kugadzirisa matambudziko PID controllers haigone kubata.
Method Control | Strengths | Utera |
|---|---|---|
Fuzzy Logic Control | Yakanaka kune anonyengera uye asina chokwadi masisitimu | Inoda kumwe kuseta uye inogona kunetsa kushandisa |
PID Controllers | Inoshanda zvakanaka kune masisitimu ari nyore | Kunetsana nemanomano kana kuchinja masisitimu |
FLC inochinjika uye inogona kuchinjirwa kune chaiwo mabasa. Semuenzaniso, kusanganisa FLC nePID kunogona kuvandudza mhedzisiro mumamiriro akaoma.
Chii chinonzi Model Predictive Control (MPC)?
Model Predictive Control (MPC) yakanakira kubata masisitimu akaomarara ane zvikamu zvakawanda. Kusiyana nePID, MPC inofungidzira zviito zvemangwana uchishandisa masvomhu. Izvi zvinoita kuti zvive zvakakosha munzvimbo dzakaita semarobhoti, mota dzinozvityaira, uye mafekitori.
Sei MPC ichibatsira?
Inoshanda zvakanaka nekunonoka kana miganhu mumasitimu.
Inoronga mberi kuita sarudzo dziri nani dzekutonga.
Inochengeta zvinhu zvakatsiga zvirinani pane PID controllers.
Semuenzaniso, mukurapa, MPC yakachengeta mazinga eshuga eropa akadzikama 12.57% zviri nani pane PID. Izvi zvinoratidza kuti MPC yakakura sei kune masisitimu anoda kurongeka kwepamusoro.
Dzimwe Nzira dzepamberi (semuenzaniso, LQR, LQG)
Dzimwe nzira seLinear Quadratic Regulator (LQR) uye Linear Quadratic Gaussian (LQG) inopa kunyange zvirinani kutonga. Aya anokurumidza uye anoshanda zvirinani pane PID controller, kunyanya kune zvinhu zvakaita semagetsi masisitimu.
Sei uchishandisa LQR uye LQG?
Vanoderedza zvikanganiso uye vanoita kuti masisitimu agadzikane nekukurumidza.
Ivo vanoshanda zvakatonaka kana vakagadziridzwa nematurusi akangwara seGenetic Algorithms.
Idzi nzira dzakanakisa kune masisitimu anoda kukurumidza uye nemazvo. Kushandisa LQR kana LQG kunogona kupa mhedzisiro iri nani uko vatongi vePID vasingashande nemazvo.
Kuenzanisa Kuongorora kweKudzora Nzira
Kuita mune Nyore vs. Complex Systems
Pakusarudza nzira yekudzora, funga nezve mashandiro ayo mumasisitimu ari nyore uye akaoma. PID controller yakanaka pamabasa ari nyore ane maitiro akagadzikana uye anofanotaurwa. Semuenzaniso, inogona kudzora kupisa muchoto kana kumhanya kwemota zvakanaka. Asi mumasisitimu akaoma ane zvikamu zvakawanda, kunonoka, kana maitiro asina kuenzana, haishande zvakanaka.
Nzira dzepamusoro dzakadai seModel Predictive Control (MPC) neFuzzy Logic Control (FLC) dzakanaka mumamiriro ezvinhu akaoma aya. MPC inoshandisa masvomhu kufungidzira zvichaitika zvinotevera, zvichiita kuti ive yakanaka kune masisitimu ane kunonoka kana miganhu. FLC inoita sekufunga kwevanhu, saka inobata masisitimu akaomarara uye asina chokwadi zviri nani pane PID controller.
Tafura iri pazasi inoratidza kuti nzira dzakasiyana dzinoshanda sei:
Kuenzanisa Aspect | Data-Driven Control | Model-Based Control |
|---|---|---|
Nguva Yekuverengera Yakanyanya Kudzora | Shanduko nehukuru hwehurongwa | Shanduko nehukuru hwehurongwa |
Zvikanganiso muFinal State | Kuongororwa uye kuenzaniswa | Kuongororwa uye kuenzaniswa |
Numerical Accuracy | Mari dzemhosho dzakadzidzwa | Mari dzemhosho dzakadzidzwa |
Izvi zvinoratidza kuti nzira dzepamusoro dzakanyatsojeka uye dzinochinjika mumasisitimu akaomarara. MaPID controller achiri akanaka pamabasa ari nyore.
Kuchinjika kune Kuchinja Mamiriro
Kujairana nekuchinja kwakakosha kune masisitimu anochinja zvakanyanya. PID controller ine dambudziko nekuchinja kamwe kamwe kana kushamisika. Semuenzaniso, kana sisitimu ikafamba-famba kana kuita zvisina kurongeka, marongero akagadzika ePID controller angasashanda zvakanaka.
Nzira dzepamberi senge adaptive control, feedforward control, uye neural network zvigadzirise pachazvo zvinhu pazvinoshanduka. Idzi nzira dzinoramba dzichishanda zvakanaka kunyange kana sisitimu ichichinja. Tafura iri pazasi inofananidza kuti nzira idzi dzinogona kuchinjika sei:
Kudzora Technique | Kuchinja muDynamic Conditions | Kuganhurirwa kwePID Kudzora |
|---|---|---|
PID Kudzora | Low | Kunetsekana nekudonha uye kusaenzana mhinduro |
Adaptive Kudzora | High | N / A |
Feedforward Control | High | N / A |
Neural Network Integration | High | N / A |
Kudzora kwePID kunoshanda zvakanaka mumasisitimu akatsiga asi kunokundikana nekushamisika.
Adaptive uye feedforward zvidzoreso zvinogadzirisa zvirinani, zvichiita kuti zvive zvakanaka pakuchinja masisitimu.
Kutora nzira yepamberi kunobatsira sisitimu yako kuti igare yakatsiga uye ishande nemazvo, kunyangwe kana zvinhu zvachinja.
Kukodzera Kwekushandisa Nemienzaniso
Nzira imwe neimwe ine simba rayo, zvichiita kuti ive yakanaka kune mamwe mabasa. PID controller ndiyo yakanakira masisitimu ari nyore asingachinji zvakanyanya. Semuenzaniso, inowanzoshandiswa mumafekitori kudzora kupisa, kumanikidzwa, kana kumhanya. Iri nyore uye yakachipa, izvo zvinoita kuti ive inonyanya kufarirwa pamabasa aya.
Nzira dzepamusoro dziri nani kumabasa akaoma. Semuyenzaniso:
Kudzora Kufanotaura Kwemuenzaniso (MPC): Kunobatsira mota dzinozvityaira dzoga kuronga shanduko dzemugwagwa.
Fuzzy Logic Control (FLC): Inoshandiswa mumichina yekuwachisa kugadzirisa marongero emitoro yakasiyana.
Kubatanidzwa kweNeural Network: Kunobatsira marobhoti kuita sarudzo nekukurumidza uye kuchinja nekukurumidza.
Nekuziva nzira imwe neimwe inoshanda zvakanaka, unogona kusarudza chaiyo. Pamabasa ari nyore, PID controller inoshanda zvakanaka. Kune masisitimu akaoma uye anochinja, nzira dzepamusoro dzinopa kururama uye kushanduka kwaunoda.
Kune masisitimu ari nyore, maPID controller akavimbika uye anodhura zvishoma. Ari nyore kushandisa uye anoshanda zvakanaka pamabasa akagadzikana.
Kune masisitimu akaomarara, nzira dzepamusoro dzakadai seFuzzy Logic Control (FLC) neModel Predictive Control (MPC) dzinoshanda zviri nani. Dzinobata maitiro anochinja uye akaomarara nekururama kwakanyanya.
Zano: Sarudza nzira yako yekudzora zvichienderana nekuti system yako yakaoma sei. Shandisa maPID controllers pamabasa ari nyore. Kune masisitimu akaoma, nzira dzepamusoro dzinoshanda zvakanyanya.
FAQ
PID uye nzira dzepamusoro dzekudzora dzakasiyana sei?
Vatongi vePID vanotevera mitemo yakatarwa yekudzora masisitimu. Nzira dzepamberi, senge Fuzzy Logic Control (FLC) uye Model Predictive Control (MPC), gadzirisa kune shanduko uye kubata yakaoma masisitimu. Sarudza imwe zvichienderana nekuti inonyengera sei system yako.
PID inogona kushanda nenzira dzepamusoro here?
Ehe, unogona kusanganisa PID nemaitiro epamberi kuti uwane mhedzisiro iri nani. Semuenzaniso, kuwedzera Fuzzy Logic kuPID kunobatsira nemasisitimu anonyengera. Musanganiswa uyu unokupa PID iri nyore uye nzira dzepamusoro 'kushanduka.
Nzira dzepamusoro dzakaoma kushandisa here?
Nzira dzepamberi dzinoda kuseta uye hunyanzvi kupfuura PID controllers. Ungangoda kugadzira modhi kana kumisa mitemo. Asi zvishandiso zvemazuva ano zvinoita kuti zvive nyore, kunyange kune vanotanga.
Ndirini pausingafaniri kushandisa PID controllers?
Usashandise PID controller kune masisitimu ane kunonoka kana shanduko nekukurumidza. Havagadzirisi zvakanaka kumatambudziko aya. Nzira dzepamberi senge MPC kana adaptive control inoshanda zvirinani pano.
Nzira dzepamusoro dzinodhura kupfuura PID here?
Ehe, nzira dzepamberi dzinowanzodhura zvakanyanya nekuti dzakaoma. Asi ivo vanochengetedza mari gare gare nekushanda zvirinani uye kuderedza zvikanganiso mumasisitimu akaoma.
