CN102426431A - Anti-integral saturation control method and system of cascade control system - Google Patents
Anti-integral saturation control method and system of cascade control system Download PDFInfo
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Abstract
The invention provides an anti-integral saturation control method of a cascade control system. The method comprises the following steps of: judging an anti-integral saturation direction according to input quantity and outputting logic judging quantity; delaying the output of the logic judging quantity; sending one part of the logic judging quantity output in a delayed way into a tracking condition pin of the cascade control system; selecting preset tracking quantity according to the other part of the logic judging quantity output in a delayed way; obtaining leading quantity; and sending the leading quantity and the selected tracking quantity into a tracking quantity pin of the cascade control system. The invention also provides an anti-integral saturation control system of the cascade control system; and by using the system, the integral saturation phenomenon in the industrial control process can be reduced and the adjusting quality of the industrial process control can be improved.
Description
Technical field
The present invention relates to industrial control field, be specifically related to a kind of saturated control method and system of anti-integration of cascade control system.
Background technology
Many industrial process controlling object have big inertia, characteristics such as delay greatly, belong to one of object of difficult control.And tandem control is a kind of effective control strategy that puts forward to this type controlled device.For this reason, in industrial control field, adopt the loop of tandem control more.But, since lectotype selection, operating mode are comparatively extreme and the situation of extraneous significantly disturbance under, the tandem control loop often all can face the saturated phenomenon of integration.After the tandem control loop generation integration saturated phenomenon, the governing speed of control system will further reduce, and regulation quality will sharply descend.At present, particularly the integration saturated phenomenon of the external loop of tandem control all can't directly be solved in the pid function block of existing control configuration software.
Have a following problem to anti-integration is saturated in the current tandem control loop: 1) in design of whole tandem loop and configuration process, the saturated function of anti-integration is failed to be designed with in the loop.2) even the PID functional module has the saturated function of anti-integration, this only plays the generation of anti-integration saturated phenomenon to inner looping, but the tandem external loop still can't be broken away from the saturated puzzlement of integration.3) saturated the cutting manually through the loop of the anti-integration in tandem loop implemented, and promptly comes the saturated effect of link integration through manual tracking.The saturated phenomenon of tandem control loop integration is failed thoroughly, scientifically solved to this means on the one hand; Coincidence circuit manually may cause in other flow process technology controlling and process to be cut manually; Be unfavorable for the stable of whole process of production, influence the regulation quality of industrial process control.
Summary of the invention
The objective of the invention is to propose a kind of saturated control method of anti-integration of cascade control system, can reduce the integration saturated phenomenon in the industrial control process, improve the regulation quality of industrial process control.
For achieving the above object the technical scheme of employing:
A kind of saturated control method of anti-integration of cascade control system comprises step:
(1) judge the saturated direction of integration according to input quantity, and the output logic decision content;
(2) postpone the said logic determines amount of output, and the said logic determines amount part that will postpone to export is sent into the tracking condition pin of cascade control system;
(3) the said logic determines amount that postpones to export according to another part is selected preset tracking amount; Obtain the leading amount, and the tracking amount of said leading amount and selection is sent into the tracking amount pin of cascade control system.
The present invention judges that according to the input quantity in the industrial process (like the instruction or the feedback quantity of topworks) whether industrial process control the integration saturated phenomenon takes place, and exports corresponding logic determines amount; The delay logic decision content, and the logic determines amount that a part postpones output introduced the tracking condition pin of industrial process cascade control system; The logic determines amount that postpones output according to another part is selected preset tracking amount; And obtain the leading amount of cascade control system; The tracking amount of selecting and the leading amount obtained are introduced the tracking amount pin of cascade control system; Thereby can effectively realize the anti-integration saturated phenomenon in the industrial process, can improve the regulation quality of industrial process control.
The objective of the invention is to propose a kind of saturated control system of anti-integration of cascade control system, can reduce the integration saturated phenomenon in the industrial control process, improve the regulation quality of industrial process control.
For achieving the above object the technical scheme of employing:
A kind of saturated control system of anti-integration of cascade control system comprises:
The saturated decision logic of integration loop is used for judging the saturated direction of integration according to input quantity, and the output logic decision content;
The tracking condition pin of cascade control system be used for postponing the said logic determines amount of output, and the said logic determines amount part that will postpone to export is sent in anti-operation time sequence mistake loop;
Follow the tracks of the set logic loop, be used for postponing the preset tracking amount of said logic determines amount selection of output according to another part; Obtain the leading amount, and the tracking amount of said leading amount and selection is sent into the tracking amount pin of cascade control system.
The present invention judges that according to the input quantity in the industrial process (like the instruction or the feedback quantity of topworks) whether industrial process control the integration saturated phenomenon takes place, and exports corresponding logic determines amount; The delay logic decision content, and the logic determines amount that a part postpones output introduced the tracking condition pin of industrial process cascade control system; The logic determines amount that postpones output according to another part is selected preset tracking amount; And obtain the leading amount of cascade control system; The tracking amount of selecting and the leading amount obtained are introduced the tracking amount pin of cascade control system; Thereby can effectively realize the anti-integration saturated phenomenon in the industrial process, can improve the regulation quality of industrial process control.
Description of drawings
Fig. 1 is the block diagram of industrial process cascade control system;
Fig. 2 is an embodiment process flow diagram of the inventive method;
Fig. 3 is a structural representation of system of the present invention;
Fig. 4 is a preferred embodiment of the present invention synoptic diagram;
Fig. 5 is another preferred embodiment synoptic diagram of the present invention.
Embodiment
For ease of understanding the present invention, will combine accompanying drawing to set forth below.
At first introduce the industrial process cascade control system, please refer to Fig. 1, cascade control system comprises: external loop PID (Proportional-Integral-Differential; The PID control law), inner looping PID, actuator, leading district, inertia district and measurement mechanism; Wherein, external loop PID comprises TR (Tracking follows the tracks of) pin and TS (Tracking Switch; Tracking condition) pin, inner looping PID comprise tracking amount pin TR and tracking condition pin TS.
Then introduce concretism of the present invention, please refer to Fig. 2, a kind of saturated control method of anti-integration of cascade control system comprises step:
201, the saturated judgement of integration, and output logic decision content;
Judge the direction that anti-integration is saturated according to input quantity, and the output logic decision content.
202, postpone the output logic decision content;
The tracking condition pin that 203, will partly postpone the logic determines amount introducing of output;
A logic determines amount part that postpones output is sent into the tracking condition pin of cascade control system.
204, select the tracking amount according to the delay output of another part;
The logic determines amount that postpones output according to another part is selected preset tracking amount.
205, obtain the leading amount;
206, the tracking amount of leading amount and selection is introduced tracking amount pin.
The tracking amount of leading amount and selection is sent into the tracking amount pin of cascade control system.
The present invention judges that according to the input quantity in the industrial process (like the instruction or the feedback quantity of topworks) whether industrial process control the integration saturated phenomenon takes place, and exports corresponding logic determines amount; The delay logic decision content, and the logic determines amount that a part postpones output introduced the tracking condition pin of industrial process cascade control system; The logic determines amount that postpones output according to another part is selected preset tracking amount; And obtain the leading amount of cascade control system; The tracking amount of selecting and the leading amount obtained are introduced the tracking amount pin of cascade control system; Thereby can effectively realize the anti-integration saturated phenomenon in the industrial process, can improve the regulation quality of industrial process control.
Wherein, step 201 is specially:
Receive input quantity, and carry out the judgement of the saturated direction of integration,, judge the saturated direction of integration for upwards, and export first decision content when input quantity during greater than preset higher limit according to input quantity, preset higher limit and preset lower limit; When input quantity during, export second decision content smaller or equal to preset higher limit; When input quantity during, judge that the saturated direction of integration be downward, and export the 3rd decision content less than preset lower limit; When input quantity during, export the 4th decision content more than or equal to preset lower limit;
Export the first pulse output quantity according to the first logic determines amount or the second logic determines amount;
Export the second pulse output quantity according to the 3rd logic determines amount or the 4th logic determines amount;
Carry out exclusive disjunction, the output logic decision content according to the first pulse output quantity and the second pulse output quantity.
As a kind of embodiment, step 202 to 206 can for:
Postpone a part of logic determines amount of output, when this partial logic decision content is high level, postpone to export high level after predetermined a period of time; When this partial logic decision content is low level, output low level immediately; And will postpone the high level of output or the tracking condition pin of the external loop PID that low level is sent into cascade control system;
Postpone output another part logic determines amount, when this another part logic determines amount is high level, export high level immediately, when this another part logic determines amount is low level, output low level after a period of time that postpones to be scheduled to; And will postpone the high level of output or the tracking condition pin of the inner looping PID that low level is sent into cascade control system;
And postpone the output second pulse output quantity, when the second pulse output quantity is high level, export high level immediately; When the second pulse output quantity is low level, after a period of time that postpones to be scheduled to, output low level;
Obtain the leading amount, and the leading amount is introduced the external loop PID tracking amount pin of cascade control system;
Produce first constant and second constant; Wherein, first constant is less than preset higher limit, and second constant is greater than preset lower limit;
Select first constant or second constant according to the second pulse output quantity that postpones output, when this output quantity is high level, select second constant; When this output quantity is low level, select first constant; And will select first constant or second constant to send into the inner looping PID tracking amount pin of cascade control system.
As another embodiment, step 202 to 206 can also for:
Postpone a part of logic determines amount of output, when this partial logic decision content is high level, postpone to export high level after predetermined a period of time; When this partial logic decision content is low level, output low level immediately; And will postpone the high level of output or the tracking condition pin of the external loop PID that low level is sent into cascade control system;
Postpone output another part logic determines amount, when this another part logic determines amount is high level, export high level immediately, when this another part logic determines amount is low level, output low level after a period of time that postpones to be scheduled to; And will postpone the high level of output or the tracking condition pin of the inner looping PID that low level is sent into cascade control system;
And postpone the output first pulse output quantity, and when the first pulse output quantity is high level, after a period of time that postpones to be scheduled to, the output high level; When the first pulse output quantity is low level, output low level immediately;
Obtain the leading amount, and the leading amount is introduced the external loop PID tracking amount pin of cascade control system;
Produce first constant and second constant; Wherein, first constant is less than preset higher limit, and second constant is greater than preset lower limit;
Select first constant or second constant according to the first pulse output quantity that postpones output, when this output quantity is high level, select first constant; When this output quantity is low level, select second constant; And will select first constant or second constant to send into the inner looping PID tracking amount pin of cascade control system.
Introduce system of the present invention below, please refer to Fig. 3, a kind of saturated control system of anti-integration of cascade control system comprises:
The saturated decision logic of integration loop T1 is used for judging the saturated direction of integration according to input quantity, and the output logic decision content;
Anti-operation time sequence mistake loop T2 is used to postpone the output logic decision content, and the logic determines amount part that will postpone to export is sent into the tracking condition pin of cascade control system;
Follow the tracks of set logic loop T3, be used for postponing the preset tracking amount of logic determines amount selection of output according to another part; Obtain the leading amount, and the tracking amount of leading amount and selection is sent into the tracking amount pin of cascade control system.
The present invention judges that according to the input quantity in the industrial process (like the instruction or the feedback quantity of topworks) whether industrial process control the integration saturated phenomenon takes place, and exports corresponding logic determines amount; The delay logic decision content, and the logic determines amount that a part postpones output introduced the tracking condition pin of industrial process cascade control system; The logic determines amount that postpones output according to another part is selected preset tracking amount; And obtain the leading amount of cascade control system; The tracking amount of selecting and the leading amount obtained are introduced the tracking amount pin of cascade control system; Thereby can effectively realize the anti-integration saturated phenomenon in the industrial process, can improve the regulation quality of industrial process control.
As a kind of preferred implementation, please refer to Fig. 4, a kind of saturated control system of anti-integration of cascade control system, the saturated decision logic of integration loop T1 comprises:
Bound alarm module T11 receives input quantity; And carry out the judgement of the saturated direction of integration according to input quantity, preset higher limit (being made as 99.9) and preset lower limit (being made as 0.01); When input quantity greater than 99.9 the time, judge the saturated direction of integration for upwards, and output high level " 1 "; When input quantity smaller or equal to 99.9 the time, output low level " 0 "; When input quantity less than 0.01 the time, judge that the saturated direction of integration be downwards, and export high level " 1 "; When input quantity more than or equal to 0.01 the time, output low level " 0 ";
The output of bound alarm module T11 when the saturated direction of first pulse generating module T12 introducing integration makes progress when bound alarm module T11 output high level " 1 ", just produces the logic high " 1 " of certain width, and general pulse can be taken as 2-3S; If bound alarm module T11 output low level " 0 " then produces logic low " 0 ";
The second pulse generating module T13 introduces the output of the bound alarm module T11 when integration is saturated to be directed downwards, when bound alarm module T11 output high level " 1 ", just produces the logic high " 1 " of certain width, and general pulse can be taken as 2-3S; If bound alarm module T11 output low level " 0 " then produces logic low " 0 ";
Logical operation module T14 carries out exclusive disjunction according to the first pulse output quantity and the second pulse output quantity; The output logic decision content; As long as one of them of the first pulse generating module T12 and the second pulse generating module T13 is output as logic high " 1 ", logical operation module T14 is output logic high level " 1 "; As the first pulse generating module T12 and the second pulse generating module T13 all during output logic low level " 0 ", logical operation module T14 is output logic low level " 0 ";
Anti-operation time sequence mistake loop T2 comprises: the first rising edge time delay module T21 postpones the output quantity of output logic computing module T14, when the output quantity of logical operation module T14 is high level, postpones to export high level " 1 " after predetermined a period of time; When the output quantity of logical operation module T14 is low level " 0 ", output low level " 0 " immediately; And will postpone the high level " 1 " of output or the TS pin (tracking condition pin) that low level " 0 " is sent into the external loop PID of cascade control system;
The first negative edge time delay module T22 postpones the output quantity of output logic computing module T14, and when the output quantity of logical operation module T14 was high level " 1 ", the first negative edge time delay module T22 exported high level " 1 " immediately; When the output quantity of logical operation module T14 is low level " 0 ", output low level " 0 " after the first negative edge time delay module T22 postpones predetermined a period of time; And first negative edge time delay module T22 will postpone the TS pin that high level " 1 " or the low level " 0 " of output are sent into the inner looping PID of cascade control system;
The second negative edge time delay module T23 postpones the output quantity of the output second pulse generating module T13, when the second pulse output quantity is high level " 1 ", exports high level " 1 " immediately; When the second pulse output quantity is low level " 0 ", after a period of time that postpones to be scheduled to, output low level " 0 ";
Following the tracks of set logic loop T3 comprises: the leading amount is introduced module T31 and is obtained the leading amount, and the leading amount is introduced the TR pin of the external loop PID of cascade control system;
The first constant generation module T32 produces first constant (being made as 98);
The second constant generation module T33 produces second constant (being made as 1);
First constant selects module T34 to select 98 or 1 according to the output quantity of the second negative edge time delay module T23, when this output quantity is high level " 1 ", selects 1; When this output quantity is low level " 0 ", select 98; And will select 98 or 1 send into the inner looping PID of cascade control system the TR pin.
As another kind of preferred implementation, please refer to Fig. 5, a kind of saturated control system of anti-integration of cascade control system, the saturated decision logic of integration loop T1 comprises:
Bound alarm module T11 receives input quantity; And carry out the judgement of the saturated direction of integration according to input quantity, preset higher limit (being made as 99.9) and preset lower limit (being made as 0.01); When input quantity greater than 99.9 the time, judge the saturated direction of integration for upwards, and output high level " 1 "; When input quantity smaller or equal to 99.9 the time, output low level " 0 "; When input quantity less than 0.01 the time, judge that the saturated direction of integration be downwards, and export high level " 1 "; When input quantity more than or equal to 0.01 the time, output low level " 0 ";
The output of bound alarm module T11 when the saturated direction of first pulse generating module T12 introducing integration makes progress; When bound alarm module T11 output high level " 1 "; Just produce the logic high " 1 " of certain width, general pulse length can be taken as 2-3S; If bound alarm module T11 output low level " 0 " then produces logic low " 0 ";
The second pulse generating module T13 introduces the output of the bound alarm module T11 when integration is saturated to be directed downwards, when bound alarm module T11 output high level " 1 ", just produces the logic high " 1 " of certain width, and general pulse can be taken as 2-3S; If bound alarm module T11 output low level " 0 " then produces logic low " 0 ";
Logical operation module T14 carries out exclusive disjunction according to the first pulse output quantity and the second pulse output quantity; The output logic decision content; As long as one of them of the first pulse generating module T12 and the second pulse generating module T13 is output as logic high " 1 ", logical operation module T14 is output logic high level " 1 "; As the first pulse generating module T12 and the second pulse generating module T13 all during output logic low level " 0 ", logical operation module T14 is output logic low level " 0 ";
Anti-operation time sequence mistake loop T2 comprises: the first rising edge time delay module T21 postpones the output quantity of output logic computing module T14, when the output quantity of logical operation module T14 is high level, postpones to export after 1 second high level " 1 "; When the output quantity of logical operation module T14 is low level " 0 ", output low level " 0 " immediately; And will postpone the high level " 1 " of output or the TS pin that low level " 0 " is sent into the external loop PID of cascade control system;
The first negative edge time delay module T22 postpones the output quantity of output logic computing module T14, and when the output quantity of logical operation module T14 was high level " 1 ", the first negative edge time delay module T22 exported high level " 1 " immediately; When the output quantity of logical operation module T14 was low level " 0 ", the first negative edge time delay module T22 postponed output low level " 0 " after 1 second; And first negative edge time delay module T22 will postpone the TS pin that high level " 1 " or the low level " 0 " of output are sent into the inner looping PID of cascade control system;
The second rising edge time delay module T24 postpones the output quantity of the output first pulse generating module T12, when the output quantity of the first pulse generating module T12 is high level " 1 ", postpones after 1 second, and the second rising edge time delay module T24 exports high level " 1 "; When the output quantity of the first pulse generating module T12 was low level " 0 ", the second rising edge time delay module T24 is output low level " 0 " immediately;
Following the tracks of set logic loop T3 comprises: the leading amount is introduced module T31 and is obtained the leading amount, and the leading amount is introduced the TR pin of the external loop PID of cascade control system;
The first constant generation module T32 produces first constant 98;
The second constant generation module T33 produces second constant 1;
Second constant selects module T35 to select 98 or 1 according to the output quantity of the second rising edge time delay module T24, when this output quantity is high level " 1 ", selects 98 numbers; When this output quantity is low level " 0 ", select 1; And will select 98 or 1 send into the inner looping PID of cascade control system the TR pin.
Above-described embodiment of the present invention does not constitute the qualification to protection domain of the present invention.Any modification of within spirit of the present invention and principle, being done, be equal to replacement and improvement etc., all should be included within the claim protection domain of the present invention.
Claims (12)
1. the saturated control method of anti-integration of a cascade control system is characterized in that, comprises step:
(1) judge the saturated direction of integration according to input quantity, and the output logic decision content;
(2) postpone the said logic determines amount of output, and the said logic determines amount part that will postpone to export is sent into the tracking condition pin of cascade control system;
(3) the said logic determines amount that postpones to export according to another part is selected preset tracking amount; Obtain the leading amount, and the tracking amount of said leading amount and selection is sent into the tracking amount pin of cascade control system.
2. the saturated control method of anti-integration of cascade control system according to claim 1 is characterized in that, said step (1) is specially:
Receive input quantity, and carry out the judgement of the saturated direction of integration,, judge the saturated direction of integration for upwards, and export first decision content when input quantity during greater than said preset higher limit according to input quantity, preset higher limit and preset lower limit; When input quantity during, export second decision content smaller or equal to said preset higher limit; When input quantity during, judge that the saturated direction of integration be downward, and export the 3rd decision content less than said preset lower limit; When input quantity during, export the 4th decision content more than or equal to said preset lower limit;
Export the first pulse output quantity according to the said first logic determines amount or the second logic determines amount;
Export the second pulse output quantity according to said the 3rd logic determines amount or the 4th logic determines amount;
Carry out exclusive disjunction, the output logic decision content according to the said first pulse output quantity and the second pulse output quantity.
3. the saturated control method of anti-integration of cascade control system according to claim 2 is characterized in that, said logic determines amount comprises high level signal or low level signal; Said step (2) is specially:
Postpone a part of logic determines amount of output, when this partial logic decision content is high level, postpone to export high level after predetermined a period of time; When this partial logic decision content is low level, output low level immediately; And will postpone the high level of output or the tracking condition pin of the external loop PID that low level is sent into cascade control system;
Postpone output another part logic determines amount, when this another part logic determines amount is high level, export high level immediately, when this another part logic determines amount is low level, output low level after a period of time that postpones to be scheduled to; And will postpone the high level of output or the tracking condition pin of the inner looping PID that low level is sent into cascade control system;
And postpone the said second pulse output quantity of output, when the said second pulse output quantity is high level, export high level immediately; When the said second pulse output quantity is low level, after a period of time that postpones to be scheduled to, output low level.
4. the saturated control method of anti-integration of cascade control system according to claim 2 is characterized in that, said logic determines amount comprises high level signal or low level signal; Said step (2) is specially:
Postpone a part of logic determines amount of output, when this partial logic decision content is high level, postpone to export high level after predetermined a period of time; When this partial logic decision content is low level, output low level immediately; And will postpone the high level of output or the tracking condition pin of the external loop PID that low level is sent into cascade control system;
Postpone output another part logic determines amount, when this another part logic determines amount is high level, export high level immediately, when this another part logic determines amount is low level, output low level after a period of time that postpones to be scheduled to; And will postpone the high level of output or the tracking condition pin of the inner looping PID that low level is sent into cascade control system;
And postpone the said first pulse output quantity of output, and when the said first pulse output quantity is high level, after a period of time that postpones to be scheduled to, the output high level; When the said first pulse output quantity is low level, output low level immediately.
5. the saturated control method of anti-integration of cascade control system according to claim 3 is characterized in that, said step (3) is specially:
Obtain the leading amount, and said leading amount is introduced the external loop PID tracking amount pin of cascade control system;
Produce first constant and second constant; Wherein, said first constant is less than said preset higher limit, and said second constant is greater than said preset lower limit;
Select said first constant or said second constant according to the said second pulse output quantity that postpones output, when this output quantity is high level, select said second constant; When this output quantity is low level, select said first constant; And will select said first constant or said second constant to send into the inner looping PID tracking amount pin of cascade control system.
6. the saturated control method of anti-integration of cascade control system according to claim 4 is characterized in that, said step (3) is specially:
Obtain the leading amount, and said leading amount is introduced the external loop PID tracking amount pin of cascade control system;
Produce first constant and second constant; Wherein, said first constant is less than said preset higher limit, and said second constant is greater than said preset lower limit;
Select said first constant or said second constant according to the said first pulse output quantity that postpones output, when this output quantity is high level, select said first constant; When this output quantity is low level, select said second constant; And will select said first constant or said second constant to send into the inner looping PID tracking amount pin of cascade control system.
7. the saturated control system of anti-integration of a cascade control system is characterized in that, comprising:
The saturated decision logic of integration loop is used for judging the saturated direction of integration according to input quantity, and the output logic decision content;
The tracking condition pin of cascade control system be used for postponing the said logic determines amount of output, and the said logic determines amount part that will postpone to export is sent in anti-operation time sequence mistake loop;
Follow the tracks of the set logic loop, be used for postponing the preset tracking amount of said logic determines amount selection of output according to another part; Obtain the leading amount, and the tracking amount of said leading amount and selection is sent into the tracking amount pin of cascade control system.
8. the saturated control system of anti-integration of cascade control system according to claim 7 is characterized in that, the saturated decision logic of said integration loop comprises:
The bound alarm module; Be used to receive input quantity, and carry out the judgement of the saturated direction of integration, when input quantity during greater than preset higher limit according to input quantity, preset higher limit and preset lower limit; Judge that the saturated direction of integration is upwards, and export first decision content; When input quantity during, export second decision content smaller or equal to preset higher limit; When input quantity during, judge that the saturated direction of integration be downward, and export the 3rd decision content less than preset lower limit; When input quantity during, export the 4th decision content more than or equal to preset lower limit;
First pulse generating module is used for exporting the first pulse output quantity according to the said first logic determines amount or the second logic determines amount;
Second pulse generating module is used for exporting the second pulse output quantity according to said the 3rd logic determines amount or the 4th logic determines amount;
Logical operation module is used for carrying out exclusive disjunction, the output logic decision content according to the said first pulse output quantity and the second pulse output quantity.
9. the saturated control system of anti-integration of cascade control system according to claim 8 is characterized in that,
The logic determines amount of said logical operation module output comprises high level signal or low level signal;
Said anti-operation time sequence mistake loop comprises:
The first rising edge time delay module is used to postpone the output logic decision content, when the logic determines amount is high level, postpones to export high level after predetermined a period of time; When the logic determines amount is low level, output low level immediately; And will postpone the high level of output or the tracking condition pin of the external loop PID that low level is sent into cascade control system;
The first negative edge time delay module is used to postpone the output logic decision content, when the logic determines amount is high level, exports high level immediately; When the logic determines amount is low level, output low level after a period of time that postpones to be scheduled to; And will postpone the high level of output or the tracking condition pin of the inner looping PID that low level is sent into cascade control system;
The second negative edge time delay module is used for postponing the said second pulse output quantity of output, when the said second pulse output quantity is high level, exports high level immediately; When the said second pulse output quantity is low level, after a period of time that postpones to be scheduled to, output low level.
10. the saturated control system of anti-integration of cascade control system according to claim 8 is characterized in that,
The logic determines amount of said logical operation module output comprises high level signal or low level signal;
Said anti-operation time sequence mistake loop comprises:
The first rising edge time delay module is used to postpone the output logic decision content, when the logic determines amount is high level, postpones to export high level after predetermined a period of time; When the logic determines amount is low level, output low level immediately;
The first negative edge time delay module is used to postpone the output logic decision content, when the logic determines amount is high level, exports high level immediately, when the logic determines amount is low level, and output low level after a period of time that postpones to be scheduled to;
The second rising edge time delay module is used for postponing the said first pulse output quantity of output, when the said first pulse output quantity is high level, and after a period of time that postpones to be scheduled to, the output high level; When the said first pulse output quantity is low level, output low level immediately.
11. the saturated control system of anti-integration of cascade control system according to claim 9 is characterized in that, said tracking set logic loop comprises:
The leading amount is introduced module, is used to obtain the leading amount, and said leading amount is introduced the external loop PID tracking amount pin of cascade control system;
The first constant generation module is used to produce first constant, and said first constant is less than said preset higher limit;
The second constant generation module is used to produce second constant, and said second constant is greater than said preset lower limit;
First constant is selected module, is used for selecting said first constant or said second constant according to the output quantity of the said second negative edge time delay module, when this output quantity is high level, selects said second constant; When this output quantity is low level, select said first constant; And will select said first constant or said second constant to send into the inner looping PID tracking amount pin of cascade control system.
12. the saturated control system of anti-integration of cascade control system according to claim 10 is characterized in that, said tracking set logic loop comprises:
The leading amount is introduced module, is used to obtain the leading amount, and said leading amount is introduced the external loop PID tracking amount pin of cascade control system;
The first constant generation module is used to produce first constant, and said first constant is less than said preset higher limit;
The second constant generation module is used to produce second constant, and said second constant is greater than said preset lower limit;
Second constant is selected module, is used for selecting said first constant or said second constant according to the output quantity of the said second rising edge time delay module, when this output quantity is high level, selects said first constant; When this output quantity is low level, select said second constant; And will select said first constant or said second constant to send into the inner looping PID tracking amount pin of cascade control system.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110386509 CN102426431B (en) | 2011-11-28 | 2011-11-28 | Anti-integral saturation control method and system of cascade control system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109856958A (en) * | 2017-11-30 | 2019-06-07 | 中国大唐集团科学技术研究院有限公司华中分公司 | A kind of control method for preventing integral to be saturated |
| CN111928232A (en) * | 2020-06-24 | 2020-11-13 | 中国大唐集团科学技术研究院有限公司火力发电技术研究院 | Integral saturation resisting method for PID controller in steam temperature control system |
| CN112230541A (en) * | 2020-10-28 | 2021-01-15 | 东风汽车集团有限公司 | Anti-saturation variable speed integration method and system based on PID control |
| CN113110026A (en) * | 2021-04-09 | 2021-07-13 | 西安热工研究院有限公司 | Anti-integral saturation control method for cascade control system |
| CN114035426A (en) * | 2021-11-17 | 2022-02-11 | 华电电力科学研究院有限公司 | Control method, device and equipment of cascade regulation system and storage medium |
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| CN109856958A (en) * | 2017-11-30 | 2019-06-07 | 中国大唐集团科学技术研究院有限公司华中分公司 | A kind of control method for preventing integral to be saturated |
| CN109856958B (en) * | 2017-11-30 | 2022-03-18 | 中国大唐集团科学技术研究院有限公司中南电力试验研究院 | Control method for preventing integral saturation |
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| CN113110026A (en) * | 2021-04-09 | 2021-07-13 | 西安热工研究院有限公司 | Anti-integral saturation control method for cascade control system |
| CN114035426A (en) * | 2021-11-17 | 2022-02-11 | 华电电力科学研究院有限公司 | Control method, device and equipment of cascade regulation system and storage medium |
| CN114035426B (en) * | 2021-11-17 | 2023-06-30 | 华电电力科学研究院有限公司 | Control method, device, equipment and storage medium of cascade control system |
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