防超调增强型PI控制器研究

Research on Anti-overshoot Enhanced PI Controller

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。

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.